From 0d09c818024b2b66f788a979ff2df187d189739c Mon Sep 17 00:00:00 2001 From: David Sharpe Date: Tue, 19 Aug 2025 12:49:53 -0500 Subject: [PATCH] fix: remove space from joint name --- .../config/ASTRA_Arm.ros2_control.xacro | 4 +-- .../config/ASTRA_Arm.srdf | 4 +-- .../config/initial_positions.yaml | 2 +- .../config/joint_limits.yaml | 34 +++++++++---------- .../config/kinematics.yaml | 2 +- .../config/moveit_controllers.yaml | 2 +- .../joint_names_URDF v2 - axes added.yaml | 2 +- src/rover_urdf_pkg/urdf/ASTRA_Arm.csv | 2 +- src/rover_urdf_pkg/urdf/ASTRA_Arm.urdf | 16 ++++----- 9 files changed, 34 insertions(+), 34 deletions(-) diff --git a/src/astra_arm_moveit_config/config/ASTRA_Arm.ros2_control.xacro b/src/astra_arm_moveit_config/config/ASTRA_Arm.ros2_control.xacro index 717c34d..7ae0d65 100644 --- a/src/astra_arm_moveit_config/config/ASTRA_Arm.ros2_control.xacro +++ b/src/astra_arm_moveit_config/config/ASTRA_Arm.ros2_control.xacro @@ -56,11 +56,11 @@ - + - ${initial_positions['Gripper _Slider_Right']} + ${initial_positions['Gripper_Slider_Right']} diff --git a/src/astra_arm_moveit_config/config/ASTRA_Arm.srdf b/src/astra_arm_moveit_config/config/ASTRA_Arm.srdf index d3db148..3e93041 100644 --- a/src/astra_arm_moveit_config/config/ASTRA_Arm.srdf +++ b/src/astra_arm_moveit_config/config/ASTRA_Arm.srdf @@ -45,12 +45,12 @@ - + - + diff --git a/src/astra_arm_moveit_config/config/initial_positions.yaml b/src/astra_arm_moveit_config/config/initial_positions.yaml index 84d7aae..2ce5fd6 100644 --- a/src/astra_arm_moveit_config/config/initial_positions.yaml +++ b/src/astra_arm_moveit_config/config/initial_positions.yaml @@ -5,7 +5,7 @@ initial_positions: Axis_1_Joint: 0 Axis_2_Joint: 0 Axis_3_Joint: 0 - Gripper _Slider_Right: 0 + Gripper_Slider_Right: 0 Gripper_Slider_Left: 0 Wrist-EF_Roll_Joint: 0 Wrist_Differential_Joint: 0 \ No newline at end of file diff --git a/src/astra_arm_moveit_config/config/joint_limits.yaml b/src/astra_arm_moveit_config/config/joint_limits.yaml index edb58e5..f2d4ed8 100644 --- a/src/astra_arm_moveit_config/config/joint_limits.yaml +++ b/src/astra_arm_moveit_config/config/joint_limits.yaml @@ -10,41 +10,41 @@ default_acceleration_scaling_factor: 1 joint_limits: Axis_0_Joint: has_velocity_limits: true - max_velocity: 0.3141593 + max_velocity: 3.141593 has_acceleration_limits: true - max_acceleration: 0.1 + max_acceleration: 0.5 Axis_1_Joint: has_velocity_limits: true - max_velocity: 0.3141593 + max_velocity: 3.141593 has_acceleration_limits: true - max_acceleration: 0.1 + max_acceleration: 0.5 Axis_2_Joint: has_velocity_limits: true - max_velocity: 0.3141593 + max_velocity: 3.141593 has_acceleration_limits: true - max_acceleration: 0.1 + max_acceleration: 0.5 Axis_3_Joint: has_velocity_limits: true - max_velocity: 0.3141593 + max_velocity: 3.141593 has_acceleration_limits: true - max_acceleration: 0.1 + max_acceleration: 0.5 Gripper_Slider_Left: has_velocity_limits: true - max_velocity: 0.3141593 + max_velocity: 3.141593 has_acceleration_limits: true - max_acceleration: 0.1 - Gripper _Slider_Right: + max_acceleration: 0.5 + Gripper_Slider_Right: has_velocity_limits: true - max_velocity: 0.3141593 + max_velocity: 3.141593 has_acceleration_limits: true - max_acceleration: 0.1 + max_acceleration: 0.5 Wrist_Differential_Joint: has_velocity_limits: true - max_velocity: 0.3141593 + max_velocity: 3.141593 has_acceleration_limits: true - max_acceleration: 0.1 + max_acceleration: 0.5 Wrist-EF_Roll_Joint: has_velocity_limits: true - max_velocity: 0.3141593 + max_velocity: 3.141593 has_acceleration_limits: true - max_acceleration: 0.1 \ No newline at end of file + max_acceleration: 0.5 \ No newline at end of file diff --git a/src/astra_arm_moveit_config/config/kinematics.yaml b/src/astra_arm_moveit_config/config/kinematics.yaml index 6fc93c3..92ecc46 100644 --- a/src/astra_arm_moveit_config/config/kinematics.yaml +++ b/src/astra_arm_moveit_config/config/kinematics.yaml @@ -1,4 +1,4 @@ astra_arm: kinematics_solver: pick_ik/PickIkPlugin kinematics_solver_search_resolution: 0.0050000000000000001 - kinematics_solver_timeout: 0.0050000000000000001 \ No newline at end of file + kinematics_solver_timeout: 0.010000000000000001 \ No newline at end of file diff --git a/src/astra_arm_moveit_config/config/moveit_controllers.yaml b/src/astra_arm_moveit_config/config/moveit_controllers.yaml index f1e3ee9..21b0152 100644 --- a/src/astra_arm_moveit_config/config/moveit_controllers.yaml +++ b/src/astra_arm_moveit_config/config/moveit_controllers.yaml @@ -22,6 +22,6 @@ moveit_simple_controller_manager: joints: - Wrist-EF_Roll_Joint - Gripper_Slider_Left - - Gripper _Slider_Right + - Gripper_Slider_Right action_ns: gripper_cmd default: true \ No newline at end of file diff --git a/src/rover_urdf_pkg/config/joint_names_URDF v2 - axes added.yaml b/src/rover_urdf_pkg/config/joint_names_URDF v2 - axes added.yaml index ecfa08f..77ca8fd 100755 --- a/src/rover_urdf_pkg/config/joint_names_URDF v2 - axes added.yaml +++ b/src/rover_urdf_pkg/config/joint_names_URDF v2 - axes added.yaml @@ -1 +1 @@ -controller_joint_names: ['', 'Axis_0_Joint', 'Axis_1_Joint', 'Axis_2_Joint', 'Axis_3_Joint', 'Wrist_Differential_Joint', 'Wrist-EF_Roll_Joint', 'Gripper _Slider_Right', 'Gripper_Slider_Left', ] +controller_joint_names: ['', 'Axis_0_Joint', 'Axis_1_Joint', 'Axis_2_Joint', 'Axis_3_Joint', 'Wrist_Differential_Joint', 'Wrist-EF_Roll_Joint', 'Gripper_Slider_Right', 'Gripper_Slider_Left', ] diff --git a/src/rover_urdf_pkg/urdf/ASTRA_Arm.csv b/src/rover_urdf_pkg/urdf/ASTRA_Arm.csv index 72678c5..47250c8 100755 --- a/src/rover_urdf_pkg/urdf/ASTRA_Arm.csv +++ b/src/rover_urdf_pkg/urdf/ASTRA_Arm.csv @@ -6,5 +6,5 @@ Axis 2 Segment,0.179701426719665,-0.0176131583689303,5.71147464441535E-05,0,0,0, Wrist,0.0258890113931529,-0.0205223442970055,6.01641698143966E-05,0,0,0,1.95105877103309,0.00117490634970832,8.14355696873965E-06,2.37060433355634E-09,0.0025492938141431,-4.81227026285992E-09,0.00159235737231991,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Wrist.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Wrist.STL,,ASTRA-03-00-000-1/ASTRA-02-00-003-1;ASTRA-03-00-000-1/ASTRA-03-00-004-1;ASTRA-03-00-000-1/ASTRA-02-00-003-2;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board Arm 2030-1;Wrist Interface-1;FULLWristAssembly-1/Servobox-1/ServoBoxTruss-1;FULLWristAssembly-1/Servobox-1/LSS-Public-2/LSS-Public.STEP-1/LSS - Casing_LSS Generic.STEP-1;FULLWristAssembly-1/Servobox-1/LSS-Public-1/LSS-Public.STEP-1/LSS - Casing_LSS Generic.STEP-1;FULLWristAssembly-1/Servobox-1/ServoBoxBottomPlate-1;FULLWristAssembly-1/Servobox-1/GearBoxMountingPlate-1;FULLWristAssembly-1/Servobox-1/ServoBoxTruss-2;FULLWristAssembly-1/Servobox-1/ServoMountingWall-1;FULLWristAssembly-1/Servobox-1/ServoMountingWall-2;FULLWristAssembly-1/Differential Gear box-1/ShaftSupport-2;FULLWristAssembly-1/Differential Gear box-1/ShaftSupport-1;FULLWristAssembly-1/Servobox-1/Modified 266N381 For interface-1;FULLWristAssembly-1/Differential Gear box-1/2664N381_Metal Gear - 20 Degree Pressure Angle-3;FULLWristAssembly-1/TensionBar-1;FULLWristAssembly-1/Servobox-1/ServoHornAdapater-1;FULLWristAssembly-1/Servobox-1/ServoHornAdapater-2;FULLWristAssembly-1/Servobox-1/Modified 266N381 For interface-2;FULLWristAssembly-1/Differential Gear box-1/2664N381_Metal Gear - 20 Degree Pressure Angle-4;FULLWristAssembly-1/TensionBar-2,Origin_Axis_3_Joint,Axis4,Axis_3_Joint,revolute,0.393826999999998,0,0,0,-0.000409495780687665,0,Axis 2 Segment,0,-1,0,0,0,0,0,,,,,,,, Diff Carrier,-8.64620358677695E-06,-0.00516792807449162,-7.22608790769408E-07,0,0,0,0.0655351660884378,1.65846526943977E-05,3.62206129298215E-09,5.09422122565314E-10,4.25479683866677E-05,2.86164802173259E-10,3.87760449919773E-05,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Diff Carrier.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Diff Carrier.STL,,FULLWristAssembly-1/Differential Gear box-1/Endefector plate-2;FULLWristAssembly-1/Differential Gear box-1/2515N313_Metal Pinion-1;FULLWristAssembly-1/Differential Gear box-1/2515N314_Metal Bevel Gear-1;FULLWristAssembly-1/Differential Gear box-1/2515N313_Metal Pinion-2,Origin_Wrist_Differential_Joint,Axis5,Wrist_Differential_Joint,revolute,0.176692001200001,-0.00622300000004081,0,-3.05263944120951,1.57079631189374,1.65994236547327,Wrist,-1,0,0,0,0,0,0,,,,,,,, End Effector,-0.00327558376591462,0.00327411156667146,-0.0553569354578649,0,0,0,0.397605677640027,0.000631368000075726,-1.01357929540856E-09,-3.06601632900158E-06,0.000105800099414061,2.32813748604228E-09,0.000592001119919064,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/End Effector.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/End Effector.STL,,Assembley-1/Copy End_Effector_Mount-1;Assembley-1/Real Shit - Pin-1;Assembley-1/copy End Effector Mount Center Block-1;Assembley-1/copy Real Shit - Middle Spacer Plate-1;Assembley-1/Copy Real Shit - Right Plate-1;Assembley-1/Copy Real Shit - Left Plate-1;Assembley-1/motor end deffector-1;Assembley-1/Motor adapter-2;Assembley-1/Copy Carbon Rod-1;Assembley-1/Copy Lead Screw-1;Assembley-1/Copy Carbon Rod-2,Origin_Wrist-EF_Roll_Joint,Axis6,Wrist-EF_Roll_Joint,continuous,0,0.01,0,-1.5708,-0.21566,-3.1416,Diff Carrier,0,0,1,,,,,,,,,,,, -EF Gripper Right,3.60822483003176E-16,0.0395187564799554,-0.0785892929086096,0,0,0,0.0859306256217421,8.1015302646778E-05,2.5410988417629E-21,3.75123099070348E-19,8.51028632685389E-05,1.00631950096307E-08,5.50169350148622E-06,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Right.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Right.STL,,Assembley-1/Copy Left_Jaw_Bracket-3;Assembley-1/Gripper-2;Assembley-1/Copy Real Shit - Left Jaw Plate-2;Assembley-1/lead screw nut-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-4,Origin_Gripper _Slider_Right,Axis7,Gripper _Slider_Right,prismatic,0,0,-0.031677,0,0,3.1416,End Effector,0,1,0,0,0,0,0,,,,,,,, +EF Gripper Right,3.60822483003176E-16,0.0395187564799554,-0.0785892929086096,0,0,0,0.0859306256217421,8.1015302646778E-05,2.5410988417629E-21,3.75123099070348E-19,8.51028632685389E-05,1.00631950096307E-08,5.50169350148622E-06,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Right.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Right.STL,,Assembley-1/Copy Left_Jaw_Bracket-3;Assembley-1/Gripper-2;Assembley-1/Copy Real Shit - Left Jaw Plate-2;Assembley-1/lead screw nut-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-4,Origin_Gripper_Slider_Right,Axis7,Gripper_Slider_Right,prismatic,0,0,-0.031677,0,0,3.1416,End Effector,0,1,0,0,0,0,0,,,,,,,, EF Gripper Left,0.000260261090099842,0.0391877753208171,-0.0810862651363518,0,0,0,0.0813132558225319,7.92230074239095E-05,8.60239969339994E-10,-3.27617434511821E-07,8.29877943429396E-05,9.84609377733742E-09,4.98027032334885E-06,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Left.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Left.STL,,Assembley-1/Copy Left_Jaw_Bracket-1;Assembley-1/Copy Real Shit - Left Jaw Plate-1;Assembley-1/Gripper-1;Assembley-1/lead screw nut-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-3,Origin_Gripper_Slider_Left,Axis7,Gripper_Slider_Left,prismatic,0,0,-0.031677,0,0,0,End Effector,0,-1,0,0,0,0,0,,,,,,,, diff --git a/src/rover_urdf_pkg/urdf/ASTRA_Arm.urdf b/src/rover_urdf_pkg/urdf/ASTRA_Arm.urdf index f80dc84..94c79f7 100755 --- a/src/rover_urdf_pkg/urdf/ASTRA_Arm.urdf +++ b/src/rover_urdf_pkg/urdf/ASTRA_Arm.urdf @@ -103,7 +103,7 @@ lower="-3.14" upper="3.14" effort="0" - velocity="0.05" /> + velocity="3.1415963" /> + velocity="3.1415963" /> + velocity="3.1415963" /> + velocity="3.1415963" /> + velocity="3.1415963" /> + velocity="3.1415963" /> + velocity="3.1415963" /> \ No newline at end of file