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Patrick Goebel
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Jul 23, 2014
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| Alpha level code. Not yet released! |
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| moveit_setup_assistant_config: | ||
| URDF: | ||
| package: rbx2_description | ||
| relative_path: urdf/pedestal_pi/pedestal_pi_no_gripper.urdf | ||
| SRDF: | ||
| relative_path: config/pedestal_pi_no_gripper.srdf | ||
| CONFIG: | ||
| generated_timestamp: 1401242014 |
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| cmake_minimum_required(VERSION 2.8.3) | ||
| project(pedestal_pi_no_gripper_moveit_config) | ||
|
|
||
| find_package(catkin REQUIRED) | ||
|
|
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| catkin_package() | ||
|
|
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| install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) | ||
| install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) |
20 changes: 20 additions & 0 deletions
20
pedestal_pi_no_gripper_moveit_config/config/controllers.yaml
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| controller_list: | ||
| - name: right_arm_controller | ||
| action_ns: follow_joint_trajectory | ||
| type: FollowJointTrajectory | ||
| default: true | ||
| joints: | ||
| - right_arm_shoulder_pan_joint | ||
| - right_arm_shoulder_lift_joint | ||
| - right_arm_shoulder_roll_joint | ||
| - right_arm_elbow_flex_joint | ||
| - right_arm_forearm_flex_joint | ||
| - right_arm_wrist_flex_joint | ||
| - name: head_controller | ||
| action_ns: follow_joint_trajectory | ||
| type: FollowJointTrajectory | ||
| default: true | ||
| joints: | ||
| - head_pan_joint | ||
| - head_tilt_joint | ||
|
|
20 changes: 20 additions & 0 deletions
20
pedestal_pi_no_gripper_moveit_config/config/controllers_arbotix.yaml
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| controller_list: | ||
| - name: right_arm_controller | ||
| ns: follow_joint_trajectory | ||
| type: FollowJointTrajectory | ||
| default: true | ||
| joints: | ||
| - right_arm_shoulder_pan_joint | ||
| - right_arm_shoulder_lift_joint | ||
| - right_arm_shoulder_roll_joint | ||
| - right_arm_elbow_flex_joint | ||
| - right_arm_forearm_flex_joint | ||
| - right_arm_wrist_flex_joint | ||
| - name: head_controller | ||
| ns: follow_joint_trajectory | ||
| type: FollowJointTrajectory | ||
| default: true | ||
| joints: | ||
| - head_pan_joint | ||
| - head_tilt_joint | ||
|
|
16 changes: 16 additions & 0 deletions
16
pedestal_pi_no_gripper_moveit_config/config/fake_controllers.yaml
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| controller_list: | ||
| - name: fake_right_arm_controller | ||
| joints: | ||
| - right_arm_shoulder_pan_joint | ||
| - right_arm_shoulder_lift_joint | ||
| - right_arm_shoulder_roll_joint | ||
| - right_arm_elbow_flex_joint | ||
| - right_arm_forearm_flex_joint | ||
| - right_arm_wrist_flex_joint | ||
| - name: fake_right_hand_controller | ||
| joints: | ||
| [] | ||
| - name: fake_head_controller | ||
| joints: | ||
| - head_pan_joint | ||
| - head_tilt_joint |
41 changes: 41 additions & 0 deletions
41
pedestal_pi_no_gripper_moveit_config/config/joint_limits.yaml
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| joint_limits: | ||
| right_arm_wrist_flex_joint: | ||
| has_velocity_limits: true | ||
| max_velocity: 1.571 | ||
| has_acceleration_limits: false | ||
| max_acceleration: 0 | ||
| right_arm_shoulder_pan_joint: | ||
| has_velocity_limits: true | ||
| max_velocity: 1.571 | ||
| has_acceleration_limits: false | ||
| max_acceleration: 0 | ||
| right_arm_forearm_flex_joint: | ||
| has_velocity_limits: true | ||
| max_velocity: 1.571 | ||
| has_acceleration_limits: false | ||
| max_acceleration: 0 | ||
| head_pan_joint: | ||
| has_velocity_limits: true | ||
| max_velocity: 1.571 | ||
| has_acceleration_limits: false | ||
| max_acceleration: 0 | ||
| right_arm_shoulder_roll_joint: | ||
| has_velocity_limits: true | ||
| max_velocity: 1.571 | ||
| has_acceleration_limits: false | ||
| max_acceleration: 0 | ||
| head_tilt_joint: | ||
| has_velocity_limits: true | ||
| max_velocity: 1.571 | ||
| has_acceleration_limits: false | ||
| max_acceleration: 0 | ||
| right_arm_elbow_flex_joint: | ||
| has_velocity_limits: true | ||
| max_velocity: 1.571 | ||
| has_acceleration_limits: false | ||
| max_acceleration: 0 | ||
| right_arm_shoulder_lift_joint: | ||
| has_velocity_limits: true | ||
| max_velocity: 1.571 | ||
| has_acceleration_limits: false | ||
| max_acceleration: 0 |
10 changes: 10 additions & 0 deletions
10
pedestal_pi_no_gripper_moveit_config/config/kinematics.yaml
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| right_arm: | ||
| kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin | ||
| kinematics_solver_search_resolution: 0.005 | ||
| kinematics_solver_timeout: 0.05 | ||
| kinematics_solver_attempts: 3 | ||
| head: | ||
| kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin | ||
| kinematics_solver_search_resolution: 0.005 | ||
| kinematics_solver_timeout: 0.05 | ||
| kinematics_solver_attempts: 3 |
62 changes: 62 additions & 0 deletions
62
pedestal_pi_no_gripper_moveit_config/config/ompl_planning.yaml
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| planner_configs: | ||
| SBLkConfigDefault: | ||
| type: geometric::SBL | ||
| ESTkConfigDefault: | ||
| type: geometric::EST | ||
| LBKPIECEkConfigDefault: | ||
| type: geometric::LBKPIECE | ||
| BKPIECEkConfigDefault: | ||
| type: geometric::BKPIECE | ||
| KPIECEkConfigDefault: | ||
| type: geometric::KPIECE | ||
| RRTkConfigDefault: | ||
| type: geometric::RRT | ||
| RRTConnectkConfigDefault: | ||
| type: geometric::RRTConnect | ||
| RRTstarkConfigDefault: | ||
| type: geometric::RRTstar | ||
| TRRTkConfigDefault: | ||
| type: geometric::TRRT | ||
| PRMkConfigDefault: | ||
| type: geometric::PRM | ||
| PRMstarkConfigDefault: | ||
| type: geometric::PRMstar | ||
| right_arm: | ||
| planner_configs: | ||
| - SBLkConfigDefault | ||
| - ESTkConfigDefault | ||
| - LBKPIECEkConfigDefault | ||
| - BKPIECEkConfigDefault | ||
| - KPIECEkConfigDefault | ||
| - RRTkConfigDefault | ||
| - RRTConnectkConfigDefault | ||
| - RRTstarkConfigDefault | ||
| - TRRTkConfigDefault | ||
| - PRMkConfigDefault | ||
| - PRMstarkConfigDefault | ||
| right_hand: | ||
| planner_configs: | ||
| - SBLkConfigDefault | ||
| - ESTkConfigDefault | ||
| - LBKPIECEkConfigDefault | ||
| - BKPIECEkConfigDefault | ||
| - KPIECEkConfigDefault | ||
| - RRTkConfigDefault | ||
| - RRTConnectkConfigDefault | ||
| - RRTstarkConfigDefault | ||
| - TRRTkConfigDefault | ||
| - PRMkConfigDefault | ||
| - PRMstarkConfigDefault | ||
| head: | ||
| planner_configs: | ||
| - SBLkConfigDefault | ||
| - ESTkConfigDefault | ||
| - LBKPIECEkConfigDefault | ||
| - BKPIECEkConfigDefault | ||
| - KPIECEkConfigDefault | ||
| - RRTkConfigDefault | ||
| - RRTConnectkConfigDefault | ||
| - RRTstarkConfigDefault | ||
| - TRRTkConfigDefault | ||
| - PRMkConfigDefault | ||
| - PRMstarkConfigDefault |
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