Integration of Articutool Description and MoveIt Configuration #60
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…standalone.xacro" This reverts commit b3785d5.
This reverts commit 130922f.
…rm required remapping to namespaced topics
… as passive so that they aren't actuated when planning a trajectory. Despite not being actuated, the planner still seems to incorporate the Articutool joints into the planned trajectory, so we need to find a way to also have the planner ignore the joints entirely, as if the Articutool were a rigid extension from the Jaco's hand
…ool planning group will consider the Articutool's joint as fixed, effectively circumventing an issue where planning with the group would use all joints in the kinematic chain when it was only desired to use the Jaco joints.
…solver to use the passive joints from the Articutool, but we will try to use joint constraints during planning instead to prevent this in both the IK solution as well as the generated trajectory
…ol. If either has no up to date data, we use the previous valid joint state message.
… of a desired link relative to some base frame. We use this to simulated an ideal orientation estimate from the IMU on the Articutool
…t actually propagates through to the argument in the Xacro. We should really consider simplifying all these launch files, they are not modular at all
…y the unified joint state publisher if they are locked
… increase the performance of the Articutool's planning success rate with lower planning times
…l joint limits back down to +/- pi
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Description
This PR updates the
ada_ros2repository to fully support the Articutool hardware. It refactors the robot description to allow for modular attachment of the tool, updates the MoveIt configuration to plan with the extended kinematic chain (jaco_arm_with_articutool), and introduces new utility nodes for joint state aggregation and simulation.Key Changes:
URDF & Description Refactor (
ada_description):Converted
ada.xacrointo a reusable macro.Created
ada_standalone.xacrofor legacy/standalone ADA usage.Added support for dynamically attaching the Articutool to the end-effector via the
ada.urdf.xacroconfiguration.MoveIt Configuration (
ada_moveit):New Planning Groups: Added
articutoolandjaco_arm_with_articutoolgroups to the SRDF.Kinematics: Switched to
pick_ikas the kinematics solver for improved performance with the extended chain. Added specific solver configurations for the new groups.Collision Checking: Updated the SRDF collision matrix to account for the Articutool geometry and remove outdated collision pairs.
Controllers: Updated controller configurations (
real,mock,isaac) to reference the correct end-effector links (tool_tipvsj2n6s200_end_effector) and updated F/T sensor topics to/ft_sensor/wrench_raw.Launch System:
Added
end_effector_tool(fork/spoon) arguments to all standard launch files (demo,move_group,rsp, etc.).These arguments are now passed directly into the
MoveItConfigsBuildermappings to dynamically generate the correct robot description at runtime.New Nodes:
unified_joint_state_publisher.py: A new node that subscribes to both/ada/joint_statesand/articutool/joint_states, merging them into a single/joint_statestopic for MoveIt.Before opening a pull request
pre-commit run --all-filespylint --recursive=y --rcfile=.pylintrc .. All warnings butfixmemust be addressed.Before Merging
Squash & Merge