Commit e3f49a60 authored by Lorenz Halt's avatar Lorenz Halt 🔀
Browse files

cherrypicked usb commit

parent ae2c5149
<?xml version="1.0" encoding="UTF-8"?>
<pitasc>
<models>
<include package="pitasc_library" file="models/pitasc.xml"/>
<include package="ilc" file="models/ilc_controllers.xml"/>
<include package="ilc" file="models/ilc_scripts.xml"/>
<include package="pitasc_library" file="skills/skill_cartesian_tracking.xml"/>
<include package="pitasc_library" file="monitors/geometry.xml"/>
<include package="pitasc_library" file="universal_robots/ur.xml"/>
<include package="pitasc_library" file="weiss_robotics/wsg50.xml"/>
</models>
<!-- Create a project -->
<clone prototype="project">
<member id="configuration">
<!-- Use the default configuration with recommended settings -->
<clone id="configuration" prototype="default_configuration"/>
</member>
<member id="environment">
<!-- Add a UR5 -->
<clone prototype="robot_ur5">
<member id="robot_driver.max_velocity">10</member>
<member id="robot_driver.max_acceleration">10</member>
<member id="components">
<clone prototype="force_sensor">
<member id="wrench_topic">wrench</member>
</clone>
<clone id="gripper" prototype="weiss_wsg50">
</clone>
</member>
</clone>
</member>
<member id="applications">
<!-- Use a skill sequence as a container -->
<clone prototype="skill_sequence">
<!-- Use the UR5 for this skill (and for its subskill) -->
<member id="robot" reference_id="environment.robot_ur5"/>
<!-- Add subskill(s) -->
<member id="skills">
<!-- Move to target1 (lin) -->
<!-- <clone id ="start_skill" prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">usb_in_pos_0</member>
</clone> -->
<clone prototype="weiss_wsg50_homing">
<member id="to_open">False</member>
</clone>
<clone id ="start_skill" prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">usb_pre_in_pos_0</member>
</clone>
<!-- <clone prototype="weiss_wsg50_grip">
<member id="position">13</member>
<member id="speed">50</member>
</clone>
<clone prototype="weiss_wsg50_set_force">
<member id="force">100</member>
</clone> -->
<clone prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">usb_pre_in_pos_0</member>
</clone>
<clone id="ilc_push_settle" prototype="skill_push_settle">
<member id="tool_frame">ee_link</member>
<member id="force.force_frame">kms40_low</member>
<member id="force.axes">y</member>
<member id="force.target_forces">10</member>
<member id="force.compliance">0.0005</member>
<member id="force.corner_frequency">7</member>
<member id="thresholds">1.0</member>
<member id="samples">20</member>
<member id="monitors">
<clone prototype="monitor_relative_distance">
<member id="reference_frame">kms40_low</member>
<member id="frame">ee_link</member>
<member id="coordinates">z</member>
<member id="distances">0.00015</member>
<member id="operator">absolute_greater</member>
</clone>
</member>
</clone>
<clone id="ilc_push_settle" prototype="skill_push_settle">
<member id="tool_frame">ee_link</member>
<member id="force.force_frame">kms40_low</member>
<member id="force.axes">y</member>
<member id="force.target_forces">0</member>
<member id="force.compliance">0.0005</member>
<member id="force.corner_frequency">7</member>
<member id="thresholds">1.0</member>
<member id="samples">20</member>
<member id="monitors">
<clone prototype="monitor_relative_distance">
<member id="reference_frame">kms40_low</member>
<member id="frame">ee_link</member>
<member id="coordinates">z</member>
<member id="distances">0.00015</member>
<member id="operator">absolute_greater</member>
</clone>
</member>
</clone>
<clone prototype="skill_idle_duration">
<member id ="duration"> 0.5 </member>
<member id="transitions">
<clone prototype="transition">
<member id="event">succeeded</member>
<member id="target">start_skill</member>
</clone>
</member>
</clone>
<!--
<clone prototype="weiss_wsg50_release">
<member id="position">50</member>
<member id="speed">100</member>
</clone>
-->
<!-- <clone prototype="skill_cartesian_tracking">
<member id="tool_frame">ee_link</member>
<member id="target_frame">marker</member>
<member id="linear_controller_gain">0.5</member>
<member id="max_linear_velocity">5</member>
</clone> -->
</member>
</clone>
</member>
</clone>
</pitasc>
...@@ -34,7 +34,7 @@ ...@@ -34,7 +34,7 @@
<node pkg="weiss_kms40" type="Kms40Driver" name="kms40" output="screen" cwd="node"> <node pkg="weiss_kms40" type="Kms40Driver" name="kms40" output="screen" cwd="node">
<rosparam param="host">192.168.0.30</rosparam> <rosparam param="host">192.168.0.30</rosparam>
<rosparam param="port">1000</rosparam> <rosparam param="port">1000</rosparam>
<rosparam param="frame">kms40</rosparam> <rosparam param="frame">kms40_low</rosparam>
</node> </node>
<node name="kms_frame_meas" pkg="tf" type="static_transform_publisher" <node name="kms_frame_meas" pkg="tf" type="static_transform_publisher"
...@@ -43,5 +43,9 @@ ...@@ -43,5 +43,9 @@
<node name="kms_frame_rel" pkg="tf" type="static_transform_publisher" <node name="kms_frame_rel" pkg="tf" type="static_transform_publisher"
args="0 0 0 1 1 1 1 kms40_meas kms40 100"/> args="0 0 0 1 1 1 1 kms40_meas kms40 100"/>
<node name="ipa325_wsg50" pkg="ipa325_wsg50" type="schunk_gripper">
<param name="ip" value="192.168.1.20"/>
<param name="port" value="1000"/>
</node>
</launch> </launch>
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