TCPリンクを追加 #91
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TCPリンクを追加 #91
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Kuwamai
requested changes
Jun 19, 2025
Co-authored-by: Kuwamai <[email protected]>
Co-authored-by: Kuwamai <[email protected]>
Co-authored-by: Kuwamai <[email protected]>
Co-authored-by: Kuwamai <[email protected]>
Co-authored-by: Kuwamai <[email protected]>
Co-authored-by: Kuwamai <[email protected]>
Co-authored-by: Kuwamai <[email protected]>
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Cubeの位置を下記を参考に調整してGazebo上で把持できることを確認しました。 |
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@Kuwamai |
Kuwamai
requested changes
Jul 18, 2025
| target_pose.position.z = 0.17; | ||
| q.setRPY(to_radians(0), to_radians(90), to_radians(-90)); | ||
| target_pose.orientation = tf2::toMsg(q); | ||
| move_group_arm.setPoseTarget(target_pose); | ||
| move_group_arm.move(); | ||
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| target_pose.position.y = -0.09; |
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ここはboxの位置でいいかと思います。
Suggested change
| target_pose.position.y = -0.09; | |
| target_pose.position.y = -0.1; |
| move_group_arm.setPoseTarget(target_pose); | ||
| move_group_arm.move(); | ||
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| // ----- Placing Preparation ----- | ||
| move_group_arm.setNamedTarget("home"); | ||
| move_group_arm.move(); | ||
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| target_pose.position.x = 0.15; | ||
| target_pose.position.x = 0.27; |
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ここは適当にきりのいい位置でいいかと思います。
Suggested change
| target_pose.position.x = 0.27; | |
| target_pose.position.x = 0.25; |
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| // 下ろす | ||
| control_arm(0.0, -0.15, 0.05, 0, 90, -90); | ||
| control_arm(0.0, -0.27, 0.05, 0, 90, -90); |
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ここもきりのいい位置に置くとよさそうです。
Suggested change
| control_arm(0.0, -0.27, 0.05, 0, 90, -90); | |
| control_arm(0.0, -0.25, 0.05, 0, 90, -90); |
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| // ハンドを開く | ||
| control_gripper(GRIPPER_OPEN); | ||
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| // 少しだけハンドを持ち上げる | ||
| control_arm(0.0, -0.15, 0.10, 0, 90, -90); | ||
| control_arm(0.0, -0.27, 0.10, 0, 90, -90); |
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Suggested change
| control_arm(0.0, -0.27, 0.10, 0, 90, -90); | |
| control_arm(0.0, -0.25, 0.10, 0, 90, -90); |
Co-authored-by: Kuwamai <[email protected]>
Co-authored-by: Kuwamai <[email protected]>
Co-authored-by: Kuwamai <[email protected]>
Co-authored-by: Kuwamai <[email protected]>
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レビューありがとうございます。 |
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実機でも動作確認できました。 |
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What does this implement/fix?
目標とする手先の位置をlink4からグリッパの中心に変更するために新しくTCPリンクを追加します。
また、TCPリンクをデフォルトとしてサンプルも変更します。
Does this close any currently open issues?
#80
How has this been tested?
実機、Gazebo、mock_componentですべてのサンプルが動くことを確認しました。
Any other comments?
私の環境だけかもしれませんが、実機動作中、controller_managerがあらかじめ設定している100Hzの周期に達していないという警告が出ました。
80Hzに設定するとこの警告が出ないことも確認できました。
使用しているPCに依存する可能性が高そうであるため修正は行っていません。
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