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ValentinPitre
committed
Lowering the limit of joint 2
1 parent 4b1862e commit e8a218c

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22 files changed

+38
-28
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22 files changed

+38
-28
lines changed

‎niryo_one/package.xml

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@@ -1,6 +1,6 @@
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<package>
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<name>niryo_one</name>
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<version>2.3.2</version>
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<version>2.3.3</version>
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<description>Niryo One metapackage</description>
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<author>Edouard Renard</author>
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<maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>

‎niryo_one_bringup/package.xml

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<?xml version="1.0"?>
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<package>
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<name>niryo_one_bringup</name>
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<version>2.3.2</version>
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<version>2.3.3</version>
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<description>Provides roslaunch scripts to start Niryo One packages and ros params</description>
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<author>Edouard Renard</author>
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<maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>

‎niryo_one_camera/package.xml

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<?xml version="1.0"?>
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<package format="2">
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<name>niryo_one_camera</name>
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<version>2.3.2</version>
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<version>2.3.3</version>
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<description>Niryo vision package</description>
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<author>Rémi Lux</author>
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<author>Andreas Voigt</author>

‎niryo_one_commander/package.xml

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<?xml version="1.0"?>
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<package>
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<name>niryo_one_commander</name>
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<version>2.3.2</version>
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<version>2.3.3</version>
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<description>Interface between user and Moveit! to easily control Niryo One (arm + tools). Validates params, checks if previous trajectory has not finished, ...</description>
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<author>Edouard Renard</author>
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<maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>

‎niryo_one_debug/package.xml

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<?xml version="1.0"?>
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<package>
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<name>niryo_one_debug</name>
4-
<version>2.3.2</version>
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<version>2.3.3</version>
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<description>Niryo One debug tools</description>
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<author>Edouard Renard</author>
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<maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>

‎niryo_one_description/package.xml

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<?xml version="1.0"?>
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<package>
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<name>niryo_one_description</name>
4-
<version>2.3.2</version>
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<version>2.3.3</version>
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<description>Provides URDF files for Moveit! and IKfast plugin</description>
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<author>Edouard Renard</author>
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<maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>

‎niryo_one_description/urdf/v2/niryo_one.urdf.xacro

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@@ -38,7 +38,7 @@
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<xacro:property name="limit_low_shoulder_rotation" value="-3.05433" />
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<xacro:property name="limit_up_shoulder_rotation" value="3.05433" />
41-
<xacro:property name="limit_low_arm_rotation" value="-1.91986" />
41+
<xacro:property name="limit_low_arm_rotation" value="-1.57080" />
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<xacro:property name="limit_up_arm_rotation" value="0.640187" />
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<xacro:property name="limit_low_elbow_rotation" value="-1.397485" />
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<xacro:property name="limit_up_elbow_rotation" value="${PI/2}" />

‎niryo_one_description/urdf/v2/without_mesh_niryo_one.urdf.xacro

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<xacro:property name="limit_low_shoulder_rotation" value="-3.05433" />
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<xacro:property name="limit_up_shoulder_rotation" value="3.05433" />
41-
<xacro:property name="limit_low_arm_rotation" value="-1.91986" />
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<xacro:property name="limit_low_arm_rotation" value="-1.57080" />
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<xacro:property name="limit_up_arm_rotation" value="0.640187" />
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<xacro:property name="limit_low_elbow_rotation" value="-1.397485" />
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<xacro:property name="limit_up_elbow_rotation" value="${PI/2}" />

‎niryo_one_driver/include/niryo_one_driver/test_motors.h

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@@ -39,7 +39,7 @@ class NiryoOneTestMotor {
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TrajClient* traj_client_;
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42-
std::vector<double> pose_start{0.0, 0.0, 0.3, 0.0, 0.0, 0.0};
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std::vector<double> pose_start{0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
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bool enable_test;
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int _n_joints = 6;

‎niryo_one_driver/package.xml

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<?xml version="1.0"?>
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<package>
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<name>niryo_one_driver</name>
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<version>2.3.2</version>
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<version>2.3.3</version>
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<description>Niryo One driver. Provides a hardware interface between ros_control and RPI3 hardware. Also provides
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user interface to directly interact with hardware
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</description>

‎niryo_one_driver/src/ros_interface.cpp

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@@ -80,10 +80,20 @@ bool RosInterface::callbackTestMotors(niryo_one_msgs::SetInt::Request &req, niry
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learning_mode_on = true;
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comm->activateLearningMode(learning_mode_on);
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motor_test_status = status ? 0 : -1;
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res.status = status ? 200 : 400;
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res.message = status ? "Success" : "Fail";
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if (status)
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{
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motor_test_status = 0;
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res.status = 200;
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res.message = "Success";
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ROS_INFO("Motor debug has ended with success");
89+
}
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else
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{
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motor_test_status = -1;
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res.status = 400;
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res.message = "Fail";
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ROS_ERROR("Motor debug has ended with failure");
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}
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return true;
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}
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‎niryo_one_driver/src/test_motors.cpp

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@@ -112,8 +112,8 @@ bool NiryoOneTestMotor::getJointsLimits()
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{
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if (urdf_joint->type != urdf::Joint::CONTINUOUS)
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{
115-
_joint_upper_limits[i] = urdf_joint->limits->upper;
116-
_joint_lower_limits[i] = urdf_joint->limits->lower;
115+
_joint_upper_limits[i] = urdf_joint->limits->upper - 0.2;
116+
_joint_lower_limits[i] = urdf_joint->limits->lower + 0.2;
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_joint_has_position_limits[i] = true;
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}
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else

‎niryo_one_modbus/package.xml

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<?xml version="1.0"?>
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<package>
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<name>niryo_one_modbus</name>
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<version>2.3.2</version>
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<version>2.3.3</version>
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<description>Niryo One Modbus Server</description>
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<author>Edouard Renard</author>
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<maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>

‎niryo_one_moveit_config/package.xml

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<package>
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<name>niryo_one_moveit_config</name>
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<version>2.3.2</version>
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<version>2.3.3</version>
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<description>
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An automatically generated package with all the configuration and launch files for using the niryo_one with the
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MoveIt! Motion Planning Framework

‎niryo_one_msgs/package.xml

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<?xml version="1.0"?>
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<package>
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<name>niryo_one_msgs</name>
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<version>2.3.2</version>
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<version>2.3.3</version>
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<description>Niryo One ROS messages used in other Niryo One packages</description>
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<author>Edouard Renard</author>
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<maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>

‎niryo_one_pose_converter/package.xml

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<?xml version="1.0"?>
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<package>
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<name>niryo_one_pose_converter</name>
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<version>2.3.2</version>
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<version>2.3.3</version>
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<description>Handles the convertion of workspace-relative poses to robot poses</description>
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<author email="a.voigt@niryo.com">Andreas Voigt</author>
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<maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>

‎niryo_one_python_api/package.xml

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<?xml version="1.0"?>
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<package>
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<name>niryo_one_python_api</name>
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<version>2.3.2</version>
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<version>2.3.3</version>
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<description>Python API to get Niryo One ROS functionalities, without knowing ROS</description>
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<author>Edouard Renard</author>
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<maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>

‎niryo_one_rpi/package.xml

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<?xml version="1.0"?>
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<package>
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<name>niryo_one_rpi</name>
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<version>2.3.2</version>
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<version>2.3.3</version>
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<description>Specific utilities for Niryo One's RPI3 + custom Niryo One shield</description>
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<author>Edouard Renard</author>
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<author>Maxime Catrice</author>

‎niryo_one_tcp_server/package.xml

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<?xml version="1.0"?>
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<package>
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<name>niryo_one_tcp_server</name>
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<version>2.3.2</version>
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<version>2.3.3</version>
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<description>Niryo One TCP Server</description>
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<author>Corentin Ducatez</author>
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<maintainer email="c.ducatez@niryo.com">Corentin Ducatez</maintainer>

‎niryo_one_tools/package.xml

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<?xml version="1.0"?>
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<package>
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<name>niryo_one_tools</name>
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<version>2.3.2</version>
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<version>2.3.3</version>
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<description>Provides functionalities to control end-effectors and accessories for Niryo One</description>
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<author>Edouard Renard</author>
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<maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>

‎niryo_one_user_interface/blockly_code_generator/package-lock.json

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‎niryo_one_user_interface/package.xml

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<?xml version="1.0"?>
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<package>
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<name>niryo_one_user_interface</name>
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<version>2.3.2</version>
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<version>2.3.3</version>
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<description>Handles high level commands from user (joystik, sequences, blockly), and calls appropriates Niryo One utilities</description>
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<author>Edouard Renard</author>
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<maintainer email="c.ducatez@niryo.com">Corentin Ducatez</maintainer>

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