Make the integration with MoveIt and Gazebo working #2
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Although, Gazebo doesn't support mimic joints natively, FrankaHWSim does and MoveIt - for planning - should know that the fingers will move in sync.
using coarse vs. detailed collision models
... in the center between and aligned with the fingers
…frankaemika#191 (drop-joint-states-desired) and frankaemika#189 (rework-hand-collision) into develop
This commit moves the finger collision geometries to the finger joints. This was done to prevent errors in third party libaries. Moveit for example expects a collision geometry in each joint that can be controlled.
This commit makes sure that the gravity calculation uses the gravity values of gazebo instead of using the default values.
This commit fixes a bug that was introduced by frankaemika#147. In frankaemika#147 the finger collision geometries were replaced by more accurate meshes. These more accurate messages however broke the 'gripper_action' action. This commit migrates back to using geometries for the finger collision geometries. The action server works fine when geometriesare used.
Features: - This commit adds the 'hardware_interface/PositionJointInterface' and 'hardware_interface/VelocityJointInterface' interfaces to the FrankaHWSim module. When a user chooses these interfaces, motion generators (i.e. PID controllers) are used for controlling the robot. - This commit adds the 'transmission' arg to the 'panda_arm.urdf.xacro' file. By doing this, users now can set the hardware_interface that is used in the panda arm joints when loading the 'panda_arm.urdf.xacro' file. - This commit adds the `effort_joint_trajectory_controller` and `position_joint_trajectory_controller` controllers to the franka_gazebo `sim_controllers.yaml` config.
... in the center between and aligned with the fingers
rhaschke
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I have collected all required changes in https://github.com/rhaschke/franka_ros/tree/develop. Closing here. |
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Needs:
All of your changes @rhaschke and @rickstaa, needed to realize this integration. I have added
hand_tcpframe to gazebo xacro, which was the last missing bit.