From 68b3aa6da8e1dbe0e5d4465de52fd0dbf5375ed3 Mon Sep 17 00:00:00 2001 From: Syrine Date: Fri, 12 Jul 2024 14:45:37 +0000 Subject: [PATCH 1/2] remove robot-type restriction --- abb_bringup/launch/abb_moveit.launch.py | 4 ---- 1 file changed, 4 deletions(-) diff --git a/abb_bringup/launch/abb_moveit.launch.py b/abb_bringup/launch/abb_moveit.launch.py index 53ffa76..f122f86 100644 --- a/abb_bringup/launch/abb_moveit.launch.py +++ b/abb_bringup/launch/abb_moveit.launch.py @@ -157,28 +157,24 @@ def generate_launch_description(): DeclareLaunchArgument( "robot_xacro_file", description="Xacro describing the robot.", - choices=["irb1200_5_90.xacro"], ) ) declared_arguments.append( DeclareLaunchArgument( "support_package", description="Name of the support package", - choices=["abb_irb1200_support"], ) ) declared_arguments.append( DeclareLaunchArgument( "moveit_config_package", description="Name of the support package", - choices=["abb_irb1200_5_90_moveit_config"], ) ) declared_arguments.append( DeclareLaunchArgument( "moveit_config_file", description="Name of the SRDF file", - choices=["abb_irb1200_5_90.srdf.xacro"], ) ) From f89ae623dc3fb86772a5ce7fcdb0072f81802a23 Mon Sep 17 00:00:00 2001 From: Syrine Date: Mon, 22 Jul 2024 14:47:19 +0000 Subject: [PATCH 2/2] add abb_irb4600_ prefix to joint names --- abb_bringup/config/abb_controllers.yaml | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/abb_bringup/config/abb_controllers.yaml b/abb_bringup/config/abb_controllers.yaml index 5960d78..4a432a8 100644 --- a/abb_bringup/config/abb_controllers.yaml +++ b/abb_bringup/config/abb_controllers.yaml @@ -14,12 +14,12 @@ controller_manager: joint_trajectory_controller: ros__parameters: joints: - - joint_1 - - joint_2 - - joint_3 - - joint_4 - - joint_5 - - joint_6 + - abb_irb4600_joint_1 + - abb_irb4600_joint_2 + - abb_irb4600_joint_3 + - abb_irb4600_joint_4 + - abb_irb4600_joint_5 + - abb_irb4600_joint_6 command_interfaces: - position - velocity @@ -36,10 +36,10 @@ joint_trajectory_controller: forward_command_controller_position: ros__parameters: joints: - - joint_1 - - joint_2 - - joint_3 - - joint_4 - - joint_5 - - joint_6 + - abb_irb4600_joint_1 + - abb_irb4600_joint_2 + - abb_irb4600_joint_3 + - abb_irb4600_joint_4 + - abb_irb4600_joint_5 + - abb_irb4600_joint_6 interface_name: position