From f7fb843504c7bcf504973f001af03b908d9d7cda Mon Sep 17 00:00:00 2001
From: irilab <fherrero@iri.upc.edu>
Date: Wed, 30 Nov 2022 18:15:01 +0100
Subject: [PATCH] Updated to last version of modules
---
...iago_dual_left_gripper_module_default.yaml | 18 ++++++++++
...ago_dual_right_gripper_module_default.yaml | 18 ++++++++++
config/tiago_gripper_module_default.yaml | 2 +-
.../tiago_dual_left_gripper_bt_client.launch | 36 +++++++++++++++++++
launch/tiago_dual_left_gripper_client.launch | 29 +++++++++++++++
.../tiago_dual_right_gripper_bt_client.launch | 36 +++++++++++++++++++
launch/tiago_dual_right_gripper_client.launch | 29 +++++++++++++++
launch/tiago_gripper_bt_client.launch | 8 ++---
launch/tiago_gripper_client.launch | 2 +-
9 files changed, 172 insertions(+), 6 deletions(-)
create mode 100644 config/tiago_dual_left_gripper_module_default.yaml
create mode 100644 config/tiago_dual_right_gripper_module_default.yaml
create mode 100644 launch/tiago_dual_left_gripper_bt_client.launch
create mode 100644 launch/tiago_dual_left_gripper_client.launch
create mode 100644 launch/tiago_dual_right_gripper_bt_client.launch
create mode 100644 launch/tiago_dual_right_gripper_client.launch
diff --git a/config/tiago_dual_left_gripper_module_default.yaml b/config/tiago_dual_left_gripper_module_default.yaml
new file mode 100644
index 0000000..29ec493
--- /dev/null
+++ b/config/tiago_dual_left_gripper_module_default.yaml
@@ -0,0 +1,18 @@
+gripper_module_rate_hz: 1.0
+
+grasp_num_retries: 1
+grasp_enabled: True
+
+move_num_retries: 1
+move_feedback_watchdog_time_s: 10.0
+move_enable_watchdog: True
+move_timeout_s: 5.0
+move_enable_timeout: True
+move_enabled: True
+
+close_dist: 0.01
+open_dist: 0.035
+default_duration: 1.0
+left_finger_frame_id: gripper_left_left_finger_joint
+right_finger_frame_id: gripper_left_right_finger_joint
+
diff --git a/config/tiago_dual_right_gripper_module_default.yaml b/config/tiago_dual_right_gripper_module_default.yaml
new file mode 100644
index 0000000..14eda87
--- /dev/null
+++ b/config/tiago_dual_right_gripper_module_default.yaml
@@ -0,0 +1,18 @@
+gripper_module_rate_hz: 1.0
+
+grasp_num_retries: 1
+grasp_enabled: True
+
+move_num_retries: 1
+move_feedback_watchdog_time_s: 10.0
+move_enable_watchdog: True
+move_timeout_s: 5.0
+move_enable_timeout: True
+move_enabled: True
+
+close_dist: 0.01
+open_dist: 0.035
+default_duration: 1.0
+left_finger_frame_id: gripper_right_left_finger_joint
+right_finger_frame_id: gripper_right_right_finger_joint
+
diff --git a/config/tiago_gripper_module_default.yaml b/config/tiago_gripper_module_default.yaml
index 5814026..3c5c254 100644
--- a/config/tiago_gripper_module_default.yaml
+++ b/config/tiago_gripper_module_default.yaml
@@ -6,7 +6,7 @@ grasp_enabled: True
move_num_retries: 1
move_feedback_watchdog_time_s: 10.0
move_enable_watchdog: True
-move_timeout_s: 1.0
+move_timeout_s: 5.0
move_enable_timeout: True
move_enabled: True
diff --git a/launch/tiago_dual_left_gripper_bt_client.launch b/launch/tiago_dual_left_gripper_bt_client.launch
new file mode 100644
index 0000000..9b09911
--- /dev/null
+++ b/launch/tiago_dual_left_gripper_bt_client.launch
@@ -0,0 +1,36 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+ <arg name="node_name" default="gripper_client" />
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
+ <arg name="config_file" default="$(find tiago_gripper_module)/config/tiago_dual_left_gripper_module_default.yaml" />
+ <arg name="gripper_action" default="/gripper_left_controller/follow_joint_trajectory"/>
+ <arg name="grasp_service" default="/parallel_gripper_left_controller/grasp"/>
+
+ <arg name="tree_path" default="$(find tiago_gripper_module)/src/xml" />
+ <arg name="tree_file" default="bt_test" />
+ <arg name="bt_client_rate" default="10" />
+
+ <node name="$(arg node_name)"
+ pkg="tiago_gripper_module"
+ type="tiago_gripper_bt_client"
+ output="$(arg output)"
+ launch-prefix="$(arg launch_prefix)">
+ <!--Actions-->
+ <remap from="~/gripper_module/gripper_trajectory"
+ to="$(arg gripper_action)"/>
+ <!--Services-->
+ <remap from="~/gripper_module/grasp"
+ to="$(arg grasp_service)"/>
+ <!--Params-->
+ <rosparam file="$(arg config_file)" command="load" ns="gripper_module" />
+ <param name="path" value="$(arg tree_path)"/>
+ <param name="tree_xml_file" value="$(arg tree_file)"/>
+ <param name="bt_client_rate" value="$(arg bt_client_rate)"/>
+ </node>
+
+ <!-- launch dynamic reconfigure -->
+ <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+ output="screen"/>
+
+</launch>
diff --git a/launch/tiago_dual_left_gripper_client.launch b/launch/tiago_dual_left_gripper_client.launch
new file mode 100644
index 0000000..686309e
--- /dev/null
+++ b/launch/tiago_dual_left_gripper_client.launch
@@ -0,0 +1,29 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+ <arg name="node_name" default="gripper_client" />
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
+ <arg name="config_file" default="$(find tiago_gripper_module)/config/tiago_dual_left_gripper_module_default.yaml" />
+ <arg name="gripper_action" default="/gripper_left_controller/follow_joint_trajectory"/>
+ <arg name="grasp_service" default="/parallel_gripper_left_controller/grasp"/>
+
+
+ <node name="$(arg node_name)"
+ pkg="tiago_gripper_module"
+ type="tiago_gripper_client"
+ output="$(arg output)"
+ launch-prefix="$(arg launch_prefix)">
+ <!--Actions-->
+ <remap from="~/gripper_module/gripper_trajectory"
+ to="$(arg gripper_action)"/>
+ <!--Services-->
+ <remap from="~/gripper_module/grasp"
+ to="$(arg grasp_service)"/>
+ <rosparam file="$(arg config_file)" command="load" ns="gripper_module" />
+ </node>
+
+ <!-- launch dynamic reconfigure -->
+ <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+ output="screen"/>
+
+</launch>
diff --git a/launch/tiago_dual_right_gripper_bt_client.launch b/launch/tiago_dual_right_gripper_bt_client.launch
new file mode 100644
index 0000000..556c10a
--- /dev/null
+++ b/launch/tiago_dual_right_gripper_bt_client.launch
@@ -0,0 +1,36 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+ <arg name="node_name" default="gripper_client" />
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
+ <arg name="config_file" default="$(find tiago_gripper_module)/config/tiago_dual_right_gripper_module_default.yaml" />
+ <arg name="gripper_action" default="/gripper_right_controller/follow_joint_trajectory"/>
+ <arg name="grasp_service" default="/parallel_gripper_right_controller/grasp"/>
+
+ <arg name="tree_path" default="$(find tiago_gripper_module)/src/xml" />
+ <arg name="tree_file" default="bt_test" />
+ <arg name="bt_client_rate" default="10" />
+
+ <node name="$(arg node_name)"
+ pkg="tiago_gripper_module"
+ type="tiago_gripper_bt_client"
+ output="$(arg output)"
+ launch-prefix="$(arg launch_prefix)">
+ <!--Actions-->
+ <remap from="~/gripper_module/gripper_trajectory"
+ to="$(arg gripper_action)"/>
+ <!--Services-->
+ <remap from="~/gripper_module/grasp"
+ to="$(arg grasp_service)"/>
+ <!--Params-->
+ <rosparam file="$(arg config_file)" command="load" ns="gripper_module" />
+ <param name="path" value="$(arg tree_path)"/>
+ <param name="tree_xml_file" value="$(arg tree_file)"/>
+ <param name="bt_client_rate" value="$(arg bt_client_rate)"/>
+ </node>
+
+ <!-- launch dynamic reconfigure -->
+ <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+ output="screen"/>
+
+</launch>
diff --git a/launch/tiago_dual_right_gripper_client.launch b/launch/tiago_dual_right_gripper_client.launch
new file mode 100644
index 0000000..76c79dd
--- /dev/null
+++ b/launch/tiago_dual_right_gripper_client.launch
@@ -0,0 +1,29 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+ <arg name="node_name" default="gripper_client" />
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
+ <arg name="config_file" default="$(find tiago_gripper_module)/config/tiago_dual_right_gripper_module_default.yaml" />
+ <arg name="gripper_action" default="/gripper_right_controller/follow_joint_trajectory"/>
+ <arg name="grasp_service" default="/parallel_gripper_right_controller/grasp"/>
+
+
+ <node name="$(arg node_name)"
+ pkg="tiago_gripper_module"
+ type="tiago_gripper_client"
+ output="$(arg output)"
+ launch-prefix="$(arg launch_prefix)">
+ <!--Actions-->
+ <remap from="~/gripper_module/gripper_trajectory"
+ to="$(arg gripper_action)"/>
+ <!--Services-->
+ <remap from="~/gripper_module/grasp"
+ to="$(arg grasp_service)"/>
+ <rosparam file="$(arg config_file)" command="load" ns="gripper_module" />
+ </node>
+
+ <!-- launch dynamic reconfigure -->
+ <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+ output="screen"/>
+
+</launch>
diff --git a/launch/tiago_gripper_bt_client.launch b/launch/tiago_gripper_bt_client.launch
index e01a9b5..381719e 100644
--- a/launch/tiago_gripper_bt_client.launch
+++ b/launch/tiago_gripper_bt_client.launch
@@ -5,7 +5,7 @@
<arg name="launch_prefix" default="" />
<arg name="config_file" default="$(find tiago_gripper_module)/config/tiago_gripper_module_default.yaml" />
<arg name="gripper_action" default="/gripper_controller/follow_joint_trajectory"/>
- <arg name="grasp_service" default="/gripper_controller/grasp"/>
+ <arg name="grasp_service" default="/parallel_gripper_controller/grasp"/>
<arg name="tree_path" default="$(find tiago_gripper_module)/src/xml" />
<arg name="tree_file" default="bt_test" />
@@ -17,13 +17,13 @@
output="$(arg output)"
launch-prefix="$(arg launch_prefix)">
<!--Actions-->
- <remap from="~/tiago_gripper_module/gripper_trajectory"
+ <remap from="~/gripper_module/gripper_trajectory"
to="$(arg gripper_action)"/>
<!--Services-->
- <remap from="~/tiago_gripper_module/grasp"
+ <remap from="~/gripper_module/grasp"
to="$(arg grasp_service)"/>
<!--Params-->
- <rosparam file="$(arg config_file)" command="load" ns="tiago_gripper_module" />
+ <rosparam file="$(arg config_file)" command="load" ns="gripper_module" />
<param name="path" value="$(arg tree_path)"/>
<param name="tree_xml_file" value="$(arg tree_file)"/>
<param name="bt_client_rate" value="$(arg bt_client_rate)"/>
diff --git a/launch/tiago_gripper_client.launch b/launch/tiago_gripper_client.launch
index e509047..1083573 100644
--- a/launch/tiago_gripper_client.launch
+++ b/launch/tiago_gripper_client.launch
@@ -5,7 +5,7 @@
<arg name="launch_prefix" default="" />
<arg name="config_file" default="$(find tiago_gripper_module)/config/tiago_gripper_module_default.yaml" />
<arg name="gripper_action" default="/gripper_controller/follow_joint_trajectory"/>
- <arg name="grasp_service" default="/gripper_controller/grasp"/>
+ <arg name="grasp_service" default="/parallel_gripper_controller/grasp"/>
<node name="$(arg node_name)"
--
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