Difference between revisions of "Integration of MYRAbot in moveIt! (gazebo+moveIt!)"
From robotica.unileon.es
| Line 1,050: | Line 1,050: | ||
<launch> | <launch> | ||
| − | + | Set the param that trajectory_execution_manager needs to find the controller plugin | |
<arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" /> | <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" /> | ||
<param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> | <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> | ||
| − | + | load controller_list | |
<rosparam file="$(find myrabot_moveit_generated)/config/controllers.yaml"/> | <rosparam file="$(find myrabot_moveit_generated)/config/controllers.yaml"/> | ||
| Line 1,099: | Line 1,099: | ||
... | ... | ||
| − | + | MoveGroup capabilities to load | |
<param name="capabilities" value="move_group/MoveGroupCartesianPathService | <param name="capabilities" value="move_group/MoveGroupCartesianPathService | ||
move_group/MoveGroupExecuteService | move_group/MoveGroupExecuteService | ||
| Line 1,233: | Line 1,233: | ||
<include file="$(find myrabot_fer_modelo)/launch/myrabot_gazebo_moveit.launch" /> | <include file="$(find myrabot_fer_modelo)/launch/myrabot_gazebo_moveit.launch" /> | ||
| − | + | Load models table and cans | |
<node name="spawn_mesa" pkg="gazebo_ros" type="spawn_model" args="-file $(find myrabot_objects_models_b)/urdf/mesa.urdf -urdf -x 0.545 -y 0 -z 0 -Y -1.57 -model mesa" respawn="false" output="screen" /> | <node name="spawn_mesa" pkg="gazebo_ros" type="spawn_model" args="-file $(find myrabot_objects_models_b)/urdf/mesa.urdf -urdf -x 0.545 -y 0 -z 0 -Y -1.57 -model mesa" respawn="false" output="screen" /> | ||
| − | + | node name="spawn_lata_coca_cola" pkg="gazebo_ros" type="spawn_model" args="-file $(find myrabot_objects_models_b)/urdf/lata_coca_cola.urdf -urdf -x 0.32 -y -0.18 -z 0.74 -Y -1.57 -model lata_Coca_Cola" respawn="false" output="screen" / | |
<node name="spawn_lata_amstel" pkg="gazebo_ros" type="spawn_model" args="-file $(find myrabot_objects_models_b)/urdf/lata_amstel.urdf -urdf -x 0.32 -y 0.0 -z 0.74 -Y -1.57 -model lata_Amstel" respawn="false" output="screen" /> | <node name="spawn_lata_amstel" pkg="gazebo_ros" type="spawn_model" args="-file $(find myrabot_objects_models_b)/urdf/lata_amstel.urdf -urdf -x 0.32 -y 0.0 -z 0.74 -Y -1.57 -model lata_Amstel" respawn="false" output="screen" /> | ||
Revision as of 19:39, 10 March 2014
Contents
Previous steps
Installation of moveIt!
MoveIt! is a package that provides a software tool for all types of manipulation tasks both industrial level and domestic level. It is available for the ROS distributions groovy and hydro, for this reason we must have installed some of these. We will execute the next command in a terminal in order to install moveIt!, where "ROS_DISTRIBUCION" is our installed distribution:
sudo apt-get install ros-ROS_DISTRIBUCION-moveit-full