Sync with ros2 branch (#195)

* 点群認識サンプルの追加 (#176) * 点群を0.5mの距離でフィルタリング * Voxel gridでダウンサンプリング * 点群の座標変換 * 点群の座標変換修正 * 点群の取得範囲変更 * KdTreeによるクラスタリング * 認識した物体位置をtfで配信 * スタイル修正 * ファイル名変更 * point_cloud_detectionをサンプル実行用launchに追加 * 不要な変数を削除 * Update README * プレース後の物体を再度把持してしまうためプレース位置修正 * 認識後の点群をRvizに表示 * 平面検出処理追加 * コメント修正 * READMEに動画URL追加 * tfの表示時間短縮 * タイムスタンプを一致させるためheaderをコピー * 点群の重心位置を物体位置として配信 * tfの取得時間の範囲を変更 * 物体位置の高さ制限を追加 * 平面検出をコメントアウト * newをmake_sharedに置き換え * 点群処理を複数の関数に分割 * Copyright表記修正 Co-authored-by: Shota Aoki <s.aoki@rt-net.jp> * Update README * 変数の型修正 Co-authored-by: Shota Aoki <s.aoki@rt-net.jp> * 変数の型修正 Co-authored-by: Shota Aoki <s.aoki@rt-net.jp> * 変数名修正 Co-authored-by: Shota Aoki <s.aoki@rt-net.jp> * 点群取得範囲修正 Co-authored-by: Shota Aoki <s.aoki@rt-net.jp> * 平面検出の判定条件修正 Co-authored-by: Shota Aoki <s.aoki@rt-net.jp> * for文を範囲for文に変更 Co-authored-by: Shota Aoki <s.aoki@rt-net.jp> * for文を範囲for文に変更 Co-authored-by: Shota Aoki <s.aoki@rt-net.jp> * 認識範囲に点群がない場合INFOを出力 --------- Co-authored-by: Shota Aoki <s.aoki@rt-net.jp> * バージョンタグを4.2.0に更新 (#177) v4.2.0に更新 * 色認識サンプルの追加 (#183) * 色認識追加 * 二値化画像を配信 * 不要な処理を削除 * RVizに二値化画像を表示 * 距離のオフセット追加 * 変数名変更 * カーネルを変更 * 不要な空行を削除 * 画像取得時のheaderをtfに使用 * コメント、変数名修正 * Update README * コメント修正 * 変数名変更 * 動画URL追加 * バージョンタグを4.3.0に更新 (#184) * Remove gz ros2 controll installation. (#189) Remove gz ros2 controll installation * Gazeboのclockをtopicへ配信 (#192) ros_gz_bridge追加 * goal_toleranceの設定と把持角の調整 (#193) * goal_tolerance調整 * グリッパ角調整 * Prepare for release 4.4.0 (#194) 4.4.0 --------- Co-authored-by: Shota Aoki <s.aoki@rt-net.jp>
rt-net · Dec 19, 2023 · 52fca05 · 52fca05
1 parent b861903
commit 52fca05
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Showing 11 changed files with 17 additions and 14 deletions.
diff --git a/.ci.rosinstall b/.ci.rosinstall
@@ -1,8 +1,4 @@
 - git:
     uri: https://github.com/rt-net/crane_x7_description.git
     local-name: crane_x7_description
-    version: ros2
-- git:
-    uri: https://github.com/ros-controls/gz_ros2_control.git
-    local-name: gz_ros2_control
-    version: humble
+    version: ros2
diff --git a/README.en.md b/README.en.md
@@ -55,7 +55,6 @@ $ git clone -b ros2 https://github.com/rt-net/crane_x7_ros.git
 $ git clone -b ros2 https://github.com/rt-net/crane_x7_description.git
 
 # Install dependencies
-$ git clone -b humble https://github.com/ros-controls/gz_ros2_control.git
 $ rosdep install -r -y -i --from-paths .
 
 # Build & Install

diff --git a/README.md b/README.md
@@ -57,7 +57,6 @@ $ git clone -b ros2 https://github.com/rt-net/crane_x7_ros.git
 $ git clone -b ros2 https://github.com/rt-net/crane_x7_description.git
 
 # Install dependencies
-$ git clone -b humble https://github.com/ros-controls/gz_ros2_control.git
 $ rosdep install -r -y -i --from-paths .
 
 # Build & Install

diff --git a/crane_x7/package.xml b/crane_x7/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>crane_x7</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>ROS 2 package suite of CRANE-X7</description>
   <maintainer email="shop@rt-net.jp">RT Corporation</maintainer>
   <license>Apache License 2.0</license>

diff --git a/crane_x7_control/config/crane_x7_controllers.yaml b/crane_x7_control/config/crane_x7_controllers.yaml
@@ -29,6 +29,7 @@ crane_x7_arm_controller:
 crane_x7_gripper_controller:
   ros__parameters:
     joint: crane_x7_gripper_finger_a_joint
+    goal_tolerance: 0.1
 
     command_interfaces:
       - position

diff --git a/crane_x7_control/package.xml b/crane_x7_control/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>crane_x7_control</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>The CRANE-X7 control package</description>
   <maintainer email="shop@rt-net.jp">RT Corporation</maintainer>
   <license>Apache License 2.0</license>

diff --git a/crane_x7_examples/package.xml b/crane_x7_examples/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>crane_x7_examples</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>CRANE-X7 examples package</description>
   <maintainer email="shop@rt-net.jp">RT Corporation</maintainer>
   <license>Apache License 2.0</license>

diff --git a/crane_x7_examples/src/pick_and_place_tf.cpp b/crane_x7_examples/src/pick_and_place_tf.cpp
@@ -163,7 +163,7 @@ class PickAndPlaceTf : public rclcpp::Node
   {
     const double GRIPPER_DEFAULT = 0.0;
     const double GRIPPER_OPEN = angles::from_degrees(60.0);
-    const double GRIPPER_CLOSE = angles::from_degrees(15.0);
+    const double GRIPPER_CLOSE = angles::from_degrees(20.0);
 
     // 何かを掴んでいた時のためにハンドを開閉
     control_gripper(GRIPPER_OPEN);

diff --git a/crane_x7_gazebo/launch/crane_x7_with_table.launch.py b/crane_x7_gazebo/launch/crane_x7_with_table.launch.py
@@ -82,12 +82,20 @@ def generate_launch_description():
                 output='screen',
             )
 
+    bridge = Node(
+                package='ros_gz_bridge',
+                executable='parameter_bridge',
+                arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock'],
+                output='screen'
+            )
+
     return LaunchDescription([
         SetParameter(name='use_sim_time', value=True),
         ign_gazebo,
         ignition_spawn_entity,
         move_group,
         spawn_joint_state_controller,
         spawn_arm_controller,
-        spawn_gripper_controller
+        spawn_gripper_controller,
+        bridge
     ])
diff --git a/crane_x7_gazebo/package.xml b/crane_x7_gazebo/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>crane_x7_gazebo</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>The crane_x7_gazebo package</description>
   <maintainer email="shop@rt-net.jp">RT Corporation</maintainer>
   <license>Apache License 2.0</license>

diff --git a/crane_x7_moveit_config/package.xml b/crane_x7_moveit_config/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>crane_x7_moveit_config</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>CRANE-X7 move_group config package</description>
   <maintainer email="shop@rt-net.jp">RT Corporation</maintainer>
   <license>Apache License 2.0</license>