From 52fca058c7c46af63bc35fc5f5873dfc4c2fc08d Mon Sep 17 00:00:00 2001 From: Kuwamai Date: Tue, 19 Dec 2023 10:19:27 +0900 Subject: [PATCH] Sync with ros2 branch (#195) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * 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 * Update README * 変数の型修正 Co-authored-by: Shota Aoki * 変数の型修正 Co-authored-by: Shota Aoki * 変数名修正 Co-authored-by: Shota Aoki * 点群取得範囲修正 Co-authored-by: Shota Aoki * 平面検出の判定条件修正 Co-authored-by: Shota Aoki * for文を範囲for文に変更 Co-authored-by: Shota Aoki * for文を範囲for文に変更 Co-authored-by: Shota Aoki * 認識範囲に点群がない場合INFOを出力 --------- Co-authored-by: Shota Aoki * 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 --- .ci.rosinstall | 6 +----- README.en.md | 1 - README.md | 1 - crane_x7/package.xml | 2 +- crane_x7_control/config/crane_x7_controllers.yaml | 1 + crane_x7_control/package.xml | 2 +- crane_x7_examples/package.xml | 2 +- crane_x7_examples/src/pick_and_place_tf.cpp | 2 +- crane_x7_gazebo/launch/crane_x7_with_table.launch.py | 10 +++++++++- crane_x7_gazebo/package.xml | 2 +- crane_x7_moveit_config/package.xml | 2 +- 11 files changed, 17 insertions(+), 14 deletions(-) diff --git a/.ci.rosinstall b/.ci.rosinstall index dbb5477f..d5d7a9ed 100644 --- 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 \ No newline at end of file diff --git a/README.en.md b/README.en.md index 87bc3af2..68e5b3e6 100644 --- 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 index 49d38764..8eb5fc2e 100644 --- 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 index 90783e93..c5f54c82 100644 --- a/crane_x7/package.xml +++ b/crane_x7/package.xml @@ -2,7 +2,7 @@ crane_x7 - 4.3.0 + 4.4.0 ROS 2 package suite of CRANE-X7 RT Corporation Apache License 2.0 diff --git a/crane_x7_control/config/crane_x7_controllers.yaml b/crane_x7_control/config/crane_x7_controllers.yaml index 43e74bd2..7bdfa64c 100644 --- 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 index 43578cd8..7c5173cc 100644 --- a/crane_x7_control/package.xml +++ b/crane_x7_control/package.xml @@ -2,7 +2,7 @@ crane_x7_control - 4.3.0 + 4.4.0 The CRANE-X7 control package RT Corporation Apache License 2.0 diff --git a/crane_x7_examples/package.xml b/crane_x7_examples/package.xml index 1b8eea2a..f5157997 100644 --- a/crane_x7_examples/package.xml +++ b/crane_x7_examples/package.xml @@ -2,7 +2,7 @@ crane_x7_examples - 4.3.0 + 4.4.0 CRANE-X7 examples package RT Corporation Apache License 2.0 diff --git a/crane_x7_examples/src/pick_and_place_tf.cpp b/crane_x7_examples/src/pick_and_place_tf.cpp index a875c23f..82c0fe83 100644 --- 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 index 59801bf5..f68e0570 100644 --- a/crane_x7_gazebo/launch/crane_x7_with_table.launch.py +++ b/crane_x7_gazebo/launch/crane_x7_with_table.launch.py @@ -82,6 +82,13 @@ 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, @@ -89,5 +96,6 @@ def generate_launch_description(): 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 index de03b7ef..878b6c56 100644 --- a/crane_x7_gazebo/package.xml +++ b/crane_x7_gazebo/package.xml @@ -2,7 +2,7 @@ crane_x7_gazebo - 4.3.0 + 4.4.0 The crane_x7_gazebo package RT Corporation Apache License 2.0 diff --git a/crane_x7_moveit_config/package.xml b/crane_x7_moveit_config/package.xml index 50edc60f..372c33f5 100644 --- a/crane_x7_moveit_config/package.xml +++ b/crane_x7_moveit_config/package.xml @@ -2,7 +2,7 @@ crane_x7_moveit_config - 4.3.0 + 4.4.0 CRANE-X7 move_group config package RT Corporation Apache License 2.0