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Sync with ros2 branch #196

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Sync with ros2 branch #196

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c4bf451
Remove gz ros2 controll installation. (#189)
Aug 24, 2023
d1614cf
Gazeboのclockをtopicへ配信 (#192)
Kuwamai Oct 12, 2023
0b8d153
goal_toleranceの設定と把持角の調整 (#193)
Kuwamai Oct 17, 2023
b544c3f
Prepare for release 4.4.0 (#194)
Kuwamai Dec 18, 2023
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6 changes: 1 addition & 5 deletions .ci.rosinstall
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Original file line number Diff line number Diff line change
@@ -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
1 change: 0 additions & 1 deletion README.en.md
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Expand Up @@ -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
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1 change: 0 additions & 1 deletion README.md
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Expand Up @@ -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
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2 changes: 1 addition & 1 deletion crane_x7/package.xml
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Expand Up @@ -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>
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1 change: 1 addition & 0 deletions crane_x7_control/config/crane_x7_controllers.yaml
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Expand Up @@ -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
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2 changes: 1 addition & 1 deletion crane_x7_control/package.xml
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Expand Up @@ -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>
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2 changes: 1 addition & 1 deletion crane_x7_examples/package.xml
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Expand Up @@ -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>
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2 changes: 1 addition & 1 deletion crane_x7_examples/src/pick_and_place_tf.cpp
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Expand Up @@ -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);
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10 changes: 9 additions & 1 deletion crane_x7_gazebo/launch/crane_x7_with_table.launch.py
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Expand Up @@ -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
])
2 changes: 1 addition & 1 deletion crane_x7_gazebo/package.xml
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Expand Up @@ -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>
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2 changes: 1 addition & 1 deletion crane_x7_moveit_config/package.xml
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Expand Up @@ -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>
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