Commit 96ed8141 authored by Philipp Tenbrock's avatar Philipp Tenbrock
Browse files

siemens ur cell config

parent 7cc1f294
kinematics:
shoulder:
x: 0
y: 0
z: 0.08946977465412456
roll: -0
pitch: 0
yaw: 1.607711547623444e-05
upper_arm:
x: 0.000120877256184585
y: 0
z: 0
roll: 1.570488380128409
pitch: 0
yaw: 7.677037151580485e-05
forearm:
x: -0.4251268272606241
y: 0
z: 0
roll: 3.140163988540243
pitch: 3.140633523835144
yaw: 3.141589636411828
wrist_1:
x: -0.3928897756715428
y: 0.0009944106531630001
z: 0.1103662022502873
roll: 3.132582796180469
pitch: -3.139151689841066
yaw: 3.141548735590431
wrist_2:
x: 4.084421520623296e-05
y: -0.09511273826598415
z: 5.879456061764483e-05
roll: 1.570178170339718
pitch: 0
yaw: -9.329705017689279e-05
wrist_3:
x: 0.000143510867682773
y: 0.08259910301021339
z: 1.249195131722678e-05
roll: 1.570947562713529
pitch: 3.141592653589793
yaw: 3.141550644408338
hash: calib_6949341662159042075
\ No newline at end of file
<?xml version="1.0"?>
<launch>
<arg name="gui" default="true"/>
<!-- rviz -->
<node pkg="rviz" type="rviz" name="rviz"
args="-d $(find pitasc_common)/launch/pitasc_3d.rviz" if="$(arg gui)"/>
<!--node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"/-->
<!-- ROS control -->
<rosparam command="load" file="$(find pitasc_controller)/controller/pitasc_controller.yaml"/>
<!-- robot driver (official) -->
<include file="$(find ur_robot_driver)/launch/ur5_bringup.launch">
<arg name="robot_ip" value="172.16.10.20"/>
<arg name="headless_mode" value="true"/>
<arg name="controller_config_file" value="$(find ur_robot_driver)/config/ur5_controllers.yaml"/>
<arg name="robot_description_file" value="$(find ur_description)/launch/ur5_upload.launch"/>
<arg name="tf_prefix" value=""/>
<arg name="controllers" default="joint_state_controller speed_scaling_state_controller force_torque_sensor_controller pitasc_vel_control"/>
<arg name="stopped_controllers" default="joint_group_vel_controller"/>
<arg name="kinematics_config" default="$(find ilc)/cfg/ur5_siemens.yaml"/>
</include>
<node name="ilc_rosproxy" pkg="ilc" type="ilc_rosproxy.py" output="screen" >
<rosparam param="T">8</rosparam>
<!-- <rosparam param="folder">/tmp/ilc_folder</rosparam> -->
</node>
</launch>
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