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Removed prefix code which prevented the plugin from being used for mu… #248

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Removed prefix code which prevented the plugin from being used for mu… #248

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0daaaac
Removed prefix code which prevented the plugin from being used for mu…
TheClearpathDash Jun 21, 2016
692f4bc
It now is agnostic to how many arms there are - and the plugin works …
TheClearpathDash Jun 21, 2016
ed5a834
Update ur_moveit_plugin.cpp
UltronDestroyer Jun 23, 2016
4b8a17a
Update ur_moveit_plugin.cpp
UltronDestroyer Jul 12, 2016
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28 changes: 9 additions & 19 deletions ur_kinematics/src/ur_moveit_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -325,22 +325,9 @@ bool URKinematicsPlugin::initialize(const std::string &robot_description,

private_handle.param<std::string>("arm_prefix", arm_prefix_, "");

ur_joint_names_.push_back(arm_prefix_ + "shoulder_pan_joint");
ur_joint_names_.push_back(arm_prefix_ + "shoulder_lift_joint");
ur_joint_names_.push_back(arm_prefix_ + "elbow_joint");
ur_joint_names_.push_back(arm_prefix_ + "wrist_1_joint");
ur_joint_names_.push_back(arm_prefix_ + "wrist_2_joint");
ur_joint_names_.push_back(arm_prefix_ + "wrist_3_joint");

ur_link_names_.push_back(arm_prefix_ + "base_link"); // 0
ur_link_names_.push_back(arm_prefix_ + "ur_base_link"); // 1
ur_link_names_.push_back(arm_prefix_ + "shoulder_link"); // 2
ur_link_names_.push_back(arm_prefix_ + "upper_arm_link"); // 3
ur_link_names_.push_back(arm_prefix_ + "forearm_link"); // 4
ur_link_names_.push_back(arm_prefix_ + "wrist_1_link"); // 5
ur_link_names_.push_back(arm_prefix_ + "wrist_2_link"); // 6
ur_link_names_.push_back(arm_prefix_ + "wrist_3_link"); // 7
ur_link_names_.push_back(arm_prefix_ + "ee_link"); // 8
// Load the joint names from the group model
ur_joint_names_ = joint_model_group->getJointModelNames();
ur_link_names_ = joint_model_group->getLinkModelNames();

ur_joint_inds_start_ = getJointIndex(ur_joint_names_[0]);
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@Jmeyer1292 Jmeyer1292 Jul 12, 2016 •
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Nm


Expand All @@ -362,10 +349,13 @@ bool URKinematicsPlugin::initialize(const std::string &robot_description,
}
last_ur_joint_ind = cur_ur_joint_ind;
}
// if successful, the kinematic chain includes a serial chain of the UR joints
// if successful, the kinematic chain includes a serial chain of the UR joints

kdl_tree.getChain(getBaseFrame(), ur_link_names_.front(), kdl_base_chain_);
kdl_tree.getChain(ur_link_names_.back(), getTipFrame(), kdl_tip_chain_);
// Change this to use the link names provided by model, not by hard coded naming. (base_frame provided as arg)
ROS_INFO("Using base frame %s from model", base_frame.c_str());
ROS_INFO("Using tip frame %s from model", tip_frame.c_str());
kdl_tree.getChain(getBaseFrame(), base_frame, kdl_base_chain_);
kdl_tree.getChain(tip_frame, getTipFrame(), kdl_tip_chain_);

// weights for redundant solution selection
ik_weights_.resize(6);
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