Skip to content
This repository has been archived by the owner on Sep 8, 2021. It is now read-only.

Use interactive markers to control iiwa14 joints #3

Merged
merged 33 commits into from
Dec 3, 2020
Merged

Use interactive markers to control iiwa14 joints #3

merged 33 commits into from
Dec 3, 2020

Commits on Nov 30, 2020

  1. Whatever is here - segfaults 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    0f92a4a View commit details
    Browse the repository at this point in the history

  2. Marker controls robot-ish 

    Quickly gets stuck in singularity
Maybe add routine to re-home robot in joint space when Diff_ik fails?

Signed-off-by: Shane Loretz<[email protected]>
Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    bf1b654 View commit details
    Browse the repository at this point in the history

  3. Remove print statements 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    293b432 View commit details
    Browse the repository at this point in the history

  4. Almost does what I want, diffik fails pretty quickly 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    a459c22 View commit details
    Browse the repository at this point in the history

  5. At least it runs - does nothing useful but outputs to RViz again 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    dd59fa9 View commit details
    Browse the repository at this point in the history

  6. Add changes for joint space control - not sure what works 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    5e3ebbb View commit details
    Browse the repository at this point in the history

  7. Better view 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    5c021ed View commit details
    Browse the repository at this point in the history

  8. Almost does the right rotation of marker 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    b6ea7a0 View commit details
    Browse the repository at this point in the history

  9. Fix bug where axis was affected by translation to F 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    6f0572c View commit details
    Browse the repository at this point in the history

  10. Faster update rate! 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    9af2a09 View commit details
    Browse the repository at this point in the history

  11. Increment joint angle (still two joints go opposite of what I'd expect) 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    6d2e79e View commit details
    Browse the repository at this point in the history

  12. Get rid of computed sdf 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    f582a68 View commit details
    Browse the repository at this point in the history

  13. Marker in child frame 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    3e93951 View commit details
    Browse the repository at this point in the history

  14. Behaves as expected 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    ce9221f View commit details
    Browse the repository at this point in the history

  15. Cleanup unused code 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    af8bd1a View commit details
    Browse the repository at this point in the history

  16. Delete unused file 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    c390f4e View commit details
    Browse the repository at this point in the history

  17. Copy view.rviz -> interactive_demo.rviz 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    bbf5a05 View commit details
    Browse the repository at this point in the history

  18. Reset view.rviz for ros2_demo.py 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    f4c8b70 View commit details
    Browse the repository at this point in the history

  19. Removed unused imports 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    3177e88 View commit details
    Browse the repository at this point in the history

  20. Wrap in main() 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    277d64f View commit details
    Browse the repository at this point in the history

  21. Use drake's isort settings 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    0423c90 View commit details
    Browse the repository at this point in the history

  22. Moveable -> Movable 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    935e414 View commit details
    Browse the repository at this point in the history

  23. moveable -> movable 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    becd67d View commit details
    Browse the repository at this point in the history

  24. Workaround manipulation station python binding bug 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    c17d305 View commit details
    Browse the repository at this point in the history

  25. Update drake_ros/drake_ros/systems/movable_joints.py 

    Co-authored-by: Addisu Z. Taddese <[email protected]>
    @sloretz @azeey
    sloretz and azeey committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    870efc3 View commit details
    Browse the repository at this point in the history

  26. Import ComputeBasisFromAxis 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    f34bee3 View commit details
    Browse the repository at this point in the history

  27. Remove unused PadVector system 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    b26f908 View commit details
    Browse the repository at this point in the history

  28. Remove unused MovablePoint system 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    265b5d6 View commit details
    Browse the repository at this point in the history

  29. Use package:// URIs for ur10 ros2 demo 

    Uses stub package.xml files and an extra ament index to convince both
ROS and Drake that the SDFormat XML files and meshes live in a ROS
package. This allows using `package://` URLs instead of the temporary
file made from populating a template with absolute `file://` URIs.

To launch:
AMENT_PREFIX_PATH="$AMENT_PREFIX_PATH:$(pwd)" python3 ros2_demo.py
AMENT_PREFIX_PATH="$AMENT_PREFIX_PATH:$(pwd)" rviz2 -d view.rviz

Signed-off-by: Shane Loretz <[email protected]>
Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    96ec5c0 View commit details
    Browse the repository at this point in the history

  30. os.path.join() instead of + 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    a092f27 View commit details
    Browse the repository at this point in the history

  31. Make Interactive demo use ament_index 

    Gets rid of templated sdformat file

To launch:
AMENT_PREFIX_PATH="$AMENT_PREFIX_PATH:$(pwd)" python3 interactive_demo.py
AMENT_PREFIX_PATH="$AMENT_PREFIX_PATH:$(pwd)" rviz2 -d interactive_demo.rviz

Signed-off-by: Shane Loretz <[email protected]>
Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    4aa3eea View commit details
    Browse the repository at this point in the history

  32. Suppress diffs on obj files 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    2c3224a View commit details
    Browse the repository at this point in the history

  33. Update README for AMENT_PREFIX_PATH and interactive demo 

    Signed-off-by: Shane Loretz <[email protected]>
    @sloretz
    sloretz committed Nov 30, 2020
    Configuration menu
    Copy the full SHA
    4bd74d1 View commit details
    Browse the repository at this point in the history