Commit a2c95fb8 authored by Jayant Khatkar's avatar Jayant Khatkar

move project specific launch files to this repo, calibration file defaults to correct file (#5)

parent 7576d8db
kinematics:
shoulder:
x: 0
y: 0
z: 0.1628478753468296
roll: -0
pitch: 0
yaw: -5.58750008969322e-08
upper_arm:
x: 0.0001770297199013742
y: 0
z: 0
roll: 1.570785518696474
pitch: 0
yaw: -8.0933065274264e-07
forearm:
x: -0.4252798032688985
y: 0
z: 0
roll: 3.139959465893043
pitch: 3.139626984670217
yaw: 3.141590406081313
wrist_1:
x: -0.3922288097470416
y: -0.0001416215834194927
z: 0.1340722819370981
roll: 0.001056307304539258
pitch: 4.9506422460134e-05
yaw: 2.65627570925782e-06
wrist_2:
x: 0.0001298544782625798
y: -0.09976359952922063
z: 7.92977238160711e-05
roll: 1.570001470680139
pitch: 0
yaw: 2.700997719017442e-06
wrist_3:
x: 6.768535655401006e-06
y: 0.09951082047538783
z: 4.976809234727783e-05
roll: 1.571296454197726
pitch: 3.141592653589793
yaw: -3.14159258043723
hash: calib_8114852671317546258
\ No newline at end of file
kinematics:
shoulder:
x: 0
y: 0
z: 0.1624898541114357
roll: -0
pitch: 0
yaw: -2.993110372051522e-08
upper_arm:
x: 0.000199748901491388
y: 0
z: 0
roll: 1.570191651791959
pitch: 0
yaw: 3.467196906109897e-06
forearm:
x: -0.4253389613409334
y: 0
z: 0
roll: 0.0005830482518067511
pitch: 0.0001777360512510511
yaw: 3.757108206717486e-07
wrist_1:
x: -0.3923171577167464
y: 7.90305563733867e-05
z: 0.1334493080654863
roll: 3.141000439600227
pitch: 3.140844198415325
yaw: 3.141590492022485
wrist_2:
x: 8.747259714909744e-05
y: -0.0998032513631754
z: -3.408488090727067e-05
roll: 1.571137847528105
pitch: 0
yaw: -1.455051852330621e-07
wrist_3:
x: 5.251979966562787e-06
y: 0.09980276859784269
z: -2.957416730143468e-06
roll: 1.570766694182787
pitch: 3.141592653589793
yaw: 3.141592441374947
hash: calib_17767642431275351403
\ No newline at end of file
Subproject commit d46044262840d60d1be85a0e339762858242b904
Subproject commit 201eabc5d45bd608a4787a9969cf2c1caa3ac490
<?xml version="1.0"?>
<launch>
<arg name="r1_kinematics_config" default="$(find twins_utils)/calibrations/r1_cal.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
<arg name="r2_kinematics_config" default="$(find twins_utils)/calibrations/r2_cal.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
<arg name="r1_robot_ip" default="192.168.1.101"/>
<arg name="r2_robot_ip" default="192.168.1.103"/>
<group ns="r1">
<include file="$(find ur_robot_driver)/launch/r1_bringup.launch">
<arg name="robot_ip" value="$(arg r1_robot_ip)"/>
<arg name="kinematics_config" value="$(arg r1_kinematics_config)"/>
</include>
<!--include file="$(find ur5_e_moveit_config)/launch/ur5_e_moveit_planning_execution.launch"/-->
</group>
<!--
<group ns="r2">
<include file="$(find ur_robot_driver)/launch/ur5e_bringup.launch">
<arg name="robot_ip" value="$(arg r2_robot_ip)"/>
<arg name="kinematics_config" value="$(arg r2_kinematics_config)"/>
</include>
<include file="$(find ur5_e_moveit_config)/launch/ur5_e_moveit_planning_execution.launch"/>
</group>
-->
</launch>
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