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refactor: formalize Arm URDF joint and link names

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This commit is contained in:
David Sharpe
2026-03-07 16:36:58 -06:00
parent bfa0d79840
commit 169ab85607
3 changed files with 10 additions and 10 deletions
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16
src/arm_pkg/arm_pkg/arm_node.py
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@@ -87,13 +87,13 @@ class ArmNode(Node):
) )
self.saved_joint_state = JointState() self.saved_joint_state = JointState()
self.saved_joint_state.name = [ self.saved_joint_state.name = [
"Axis_0_Joint", "axis_0_joint",
"Axis_1_Joint", "axis_1_joint",
"Axis_2_Joint", "axis_2_joint",
"Axis_3_Joint", "axis_3_joint",
"Wrist_Differential_Joint", "wrist_yaw_joint",
"Wrist-EF_Roll_Joint", "wrist_roll_joint",
"Gripper_Slider_Left", "ef_gripper_left_joint",
] ]
self.saved_joint_state.position = [0.0] * len( self.saved_joint_state.position = [0.0] * len(
self.saved_joint_state.name self.saved_joint_state.name
@@ -133,7 +133,7 @@ class ArmNode(Node):
return # command needs either position or velocity for all 7 joints return # command needs either position or velocity for all 7 joints
# Assumed order: Axis0, Axis1, Axis2, Axis3, Wrist_Yaw, Wrist_Roll, Gripper # Assumed order: Axis0, Axis1, Axis2, Axis3, Wrist_Yaw, Wrist_Roll, Gripper
# TODO: formalize joint names in URDF, refactor here to depend on joint names # TODO: refactor to depend on joint names
# Embedded takes deg*10, ROS2 uses Radians # Embedded takes deg*10, ROS2 uses Radians
velocities = [ velocities = [
math.degrees(vel) * 10 if abs(vel) > 0.05 else 0.0 for vel in msg.velocity math.degrees(vel) * 10 if abs(vel) > 0.05 else 0.0 for vel in msg.velocity

2
src/astra_descriptions

Submodule src/astra_descriptions updated: add9e47469...72d3c223af

2
src/headless_pkg/src/headless_node.py
View File

@@ -474,7 +474,7 @@ class Headless(Node):
# Triggers: EF Grippers # Triggers: EF Grippers
if left_trigger > 0 or right_trigger > 0: if left_trigger > 0 or right_trigger > 0:
arm_jointjog.joint_names.append( arm_jointjog.joint_names.append(
"Gripper_Slider_Left" # TODO: Update joint name "ef_gripper_left_joint"
) )
arm_jointjog.velocities.append(float(right_trigger - left_trigger)) arm_jointjog.velocities.append(float(right_trigger - left_trigger))