Commit a9a07b6a authored by Lorenz Halt's avatar Lorenz Halt 🔀
Browse files

more cleanup

I was unable to correct for evalution of the current date
parent d2d02950
...@@ -9,35 +9,34 @@ ...@@ -9,35 +9,34 @@
<arg name="paused" value="$(arg paused)"/> <arg name="paused" value="$(arg paused)"/>
<arg name="gui" value="$(arg gui)"/> <arg name="gui" value="$(arg gui)"/>
</include> --> </include> -->
<arg name="limited" default="false"/> <arg name="limited" default="false"/>
<arg name="debug" default="false" /> <arg name="debug" default="false" />
<arg name="sim" default="true" /> <arg name="sim" default="true" />
<!-- rviz --> <!-- rviz -->
<node pkg="rviz" type="rviz" name="rviz" <node pkg="rviz" type="rviz" name="rviz"
args="-d $(find pitasc_common)/launch/pitasc_3d.rviz" if="$(arg gui)"/> args="-d $(find pitasc_common)/launch/pitasc_3d.rviz" if="$(arg gui)"/>
<node name="simulator" pkg="microsim" type="micro_simulator.py" output="screen"> <node name="simulator" pkg="microsim" type="micro_simulator.py" output="screen">
<param name="tool_frame" value="ee_link"/> <param name="tool_frame" value="ee_link"/>
<rosparam param="initial_state"> <rosparam param="initial_state">
shoulder_pan_joint: 0.0 shoulder_pan_joint: 0.0
shoulder_lift_joint: -1.57 shoulder_lift_joint: -1.57
elbow_joint: 1.57 elbow_joint: 1.57
wrist_1_joint: -1.57 wrist_1_joint: -1.57
wrist_2_joint: -1.57 wrist_2_joint: -1.57
wrist_3_joint: -1.57 wrist_3_joint: -1.57
</rosparam> </rosparam>
<rosparam param="delay">0</rosparam> <rosparam param="delay">0</rosparam>
<rosparam param="position_noise_std">0</rosparam> <rosparam param="position_noise_std">0</rosparam>
<rosparam param="wrench_noise_std">0</rosparam> <rosparam param="wrench_noise_std">0</rosparam>
</node> </node>
<!-- republish the joint velocities from a C++ node (https://gitlab.cc-asp.fraunhofer.de/pitasc/pitasc/-/issues/367) --> <!-- republish the joint velocities from a C++ node (https://gitlab.cc-asp.fraunhofer.de/pitasc/pitasc/-/issues/367) -->
<node name="joint_vel_republisher" pkg="microsim" type="joint_vel_republisher_node" output="screen" /> <node name="joint_vel_republisher" pkg="microsim" type="joint_vel_republisher_node" output="screen" />
<!-- <param name="robot_description" command="$(find xacro)/xacro - -inorder '$(find peg_in_hole)/urdf/ur10_robotiq2F.urdf.xacro'" /> --> <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />
<!-- <node name="robot_model" pkg="gazebo_ros" type="spawn_model" <!-- <node name="robot_model" pkg="gazebo_ros" type="spawn_model"
args="-urdf -param robot_description -model robot args="-urdf -param robot_description -model robot
...@@ -51,9 +50,9 @@ ...@@ -51,9 +50,9 @@
-unpause" -unpause"
respawn="false" output="screen" /> --> respawn="false" output="screen" /> -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"/> <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"/>
<!-- <rosparam file="$(find ur_gazebo)/controller/joint_state_controller.yaml" command="load" /> <!-- <rosparam file="$(find ur_gazebo)/controller/joint_state_controller.yaml" command="load" />
<rosparam file="$(find pitasc_controller)/controller/pitasc_controller.yaml" command="load" /> <rosparam file="$(find pitasc_controller)/controller/pitasc_controller.yaml" command="load" />
<node name="joint_state_controller_spawner" pkg="controller_manager" type="controller_manager" <node name="joint_state_controller_spawner" pkg="controller_manager" type="controller_manager"
...@@ -63,7 +62,7 @@ ...@@ -63,7 +62,7 @@
<!-- <param name="box/robot_description" command="$(find xacro)/xacro - -inorder '$(find peg_in_hole)/urdf/bin.urdf'" /> --> <!-- <param name="box/robot_description" command="$(find xacro)/xacro - -inorder '$(find peg_in_hole)/urdf/bin.urdf'" /> -->
<!-- <node name="bin" pkg="gazebo_ros" type="spawn_model" <!-- <node name="bin" pkg="gazebo_ros" type="spawn_model"
args="-urdf -param box/robot_description -model bin -y 0.6 -z 0.05 " respawn="false" output="screen" /> --> args="-urdf -param box/robot_description -model bin -y 0.6 -z 0.05 " respawn="false" output="screen" /> -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="box_state_publisher" ns="box"/> <node pkg="robot_state_publisher" type="robot_state_publisher" name="box_state_publisher" ns="box"/>
...@@ -72,17 +71,17 @@ ...@@ -72,17 +71,17 @@
args="-0.05 0.6 0.5 1 0 0 0 world start_position 100"/> args="-0.05 0.6 0.5 1 0 0 0 world start_position 100"/>
<node name="goal_pos_publisher" pkg="tf" type="static_transform_publisher" <node name="goal_pos_publisher" pkg="tf" type="static_transform_publisher"
args="-0.05 0.6 0.45 1 0 0 0 world goal_position 100"/> args="-0.05 0.6 0.45 1 0 0 0 world goal_position 100"/>
<!-- args="-0.05 0.6 0.45 1 0 0 0 world goal_position 100"/> --> <!-- args="-0.05 0.6 0.45 1 0 0 0 world goal_position 100"/> -->
<node name="intermediate_pos_v_high_publisher" pkg="tf" type="static_transform_publisher" <node name="intermediate_pos_v_high_publisher" pkg="tf" type="static_transform_publisher"
args="-0.05 0.6 0.3 1 0 0 0 world intermediate_position_v_high 100"/> args="-0.05 0.6 0.3 1 0 0 0 world intermediate_position_v_high 100"/>
<node name="intermediate_pos_high2_publisher" pkg="tf" type="static_transform_publisher" <node name="intermediate_pos_high2_publisher" pkg="tf" type="static_transform_publisher"
args="-0.05 0.6 0.2 1 0 0 0 world intermediate_position_high2 100"/> args="-0.05 0.6 0.2 1 0 0 0 world intermediate_position_high2 100"/>
<node name="intermediate_pos_high_publisher" pkg="tf" type="static_transform_publisher" <node name="intermediate_pos_high_publisher" pkg="tf" type="static_transform_publisher"
args="-0.05 0.6 0.03 1 0 0 0 world intermediate_position_high 100"/> args="-0.05 0.6 0.03 1 0 0 0 world intermediate_position_high 100"/>
<node name="intermediate_pos_low_publisher" pkg="tf" type="static_transform_publisher" <node name="intermediate_pos_low_publisher" pkg="tf" type="static_transform_publisher"
args="-0.05 0.6 0 1 0 0 0 world intermediate_position_low 100"/> args="-0.05 0.6 0 1 0 0 0 world intermediate_position_low 100"/>
...@@ -92,8 +91,8 @@ ...@@ -92,8 +91,8 @@
<!-- <node name="pitasc_http_server" pkg="pitasc_http" type="http_server.py" /> --> <!-- <node name="pitasc_http_server" pkg="pitasc_http" type="http_server.py" /> -->
<node name="ilc_rosproxy" pkg="ilc" type="ilc_rosproxy.py" output="screen" > <node name="ilc_rosproxy" pkg="ilc" type="ilc_rosproxy.py" output="screen" >
<rosparam param="T">8</rosparam> <param name="T" value="8" />
<rosparam param="folder">/home/ipa325/Documents/test</rosparam> <param name="folder" value="$(find ilc)/logs/ilc_proxy" />
</node> </node>
<!-- <node name="ilc_rosproxy2" pkg="ilc" type="ilc_rosproxy.py" output="screen" > <!-- <node name="ilc_rosproxy2" pkg="ilc" type="ilc_rosproxy.py" output="screen" >
......
...@@ -147,7 +147,7 @@ class Ilc_serviceproxy: ...@@ -147,7 +147,7 @@ class Ilc_serviceproxy:
ilc_lib.external_data_store(self.folder + "/read_error", "read_error", data_org, header) ilc_lib.external_data_store(self.folder + "/read_error", "read_error", data_org, header)
ilc_lib.external_data_store(self.folder + "/resampled_error", "resampled_error", data_rs ,header) ilc_lib.external_data_store(self.folder + "/resampled_error", "resampled_error", data_rs ,header)
ilc_lib.external_data_store(self.folder + "/trajectory", "trajectory", trajectory, header) ilc_lib.external_data_store(self.folder + "/trajectory", "trajectory", trajectory, header)
ilc_lib.external_data_store(self.folder + "/ff_data_shift", "ff_data_shift", data_ff_shift, header) ilc_lib.external_data_store(self.folder + "/ff_data_shift", "ff_data_shift", data_ff_shift, header)
ilc_lib.external_data_store(self.folder + "/ff_data", "ff_data", data_ff, header) ilc_lib.external_data_store(self.folder + "/ff_data", "ff_data", data_ff, header)
ilc_lib.external_data_store(self.folder + "/ilc_data", "ilc_data", data_ilc, header) ilc_lib.external_data_store(self.folder + "/ilc_data", "ilc_data", data_ilc, header)
ilc_lib.external_data_store(self.folder + "/filtered_ilc_data", "filtered_ilc_data", data_ilc_q, header) ilc_lib.external_data_store(self.folder + "/filtered_ilc_data", "filtered_ilc_data", data_ilc_q, header)
......
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