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Dual arm tutorial for ROS2 #3

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f3cd1e4
Extend single arm description to dual arm
ShahhhVihaan Jun 24, 2024
78fc1d8
Remove ur_type from tf_prefix
ShahhhVihaan Jun 24, 2024
5942dda
Add ros2 control parameters to dual arm urdf for dual arm driver
ShahhhVihaan Jun 24, 2024
ab6232e
Modify ur_control.launch.py to launch controllers for both arms
ShahhhVihaan Jun 24, 2024
8cd6f11
Generate dual_robot_cell moveit config using moveit setup assistant
ShahhhVihaan Jun 24, 2024
1976b71
Add acceleration limits
ShahhhVihaan Jun 25, 2024
6de9d5d
Add IK plugins for the two manipulators
ShahhhVihaan Jun 25, 2024
6f86075
Remove unwanted launch files + configuration files
ShahhhVihaan Jul 3, 2024
24bf6e1
Add io/status and forward velocity controllers
ShahhhVihaan Jul 3, 2024
458bcca
Calibrate arms
ShahhhVihaan Jul 3, 2024
9b4558f
Merge branch 'UniversalRobots:main' into dual_arm_tutorials
ShahhhVihaan Jul 3, 2024
998c2c1
Update arguments for alice and bob
ShahhhVihaan Jul 3, 2024
a0feb01
Merge branch 'dual_arm_tutorials' of https://github.com/ShahhhVihaan/…
ShahhhVihaan Jul 3, 2024
1695e55
Fix ur_type and mock_sensor_commands arguments
ShahhhVihaan Jul 3, 2024
55cbee3
Update rviz config for description launch
ShahhhVihaan Jul 3, 2024
b1a637a
Use rviz config file for moveit
ShahhhVihaan Jul 3, 2024
f080d11
Re use mesh files from custom_workcell in the my_robot_cell package
ShahhhVihaan Feb 12, 2025
443caa8
Add myself as author
ShahhhVihaan Feb 12, 2025
a60342c
Move alice and bob robots to a slightly better position
ShahhhVihaan Feb 12, 2025
d675d52
Remove redundant joint_state_broadcaster
ShahhhVihaan Feb 12, 2025
aa89633
Default to ur3e
ShahhhVihaan Feb 12, 2025
25430cd
Use alice and bob instead of a generic robot
ShahhhVihaan Feb 12, 2025
6ea2489
Add author
ShahhhVihaan Feb 12, 2025
140e4a0
Use single joint_state_broadcaster and update consistent_controllers
ShahhhVihaan Feb 12, 2025
e01dead
Use both alice and bob instead of generic robot
ShahhhVihaan Feb 12, 2025
b9434f7
Merge branch 'UniversalRobots:main' into dual_arm_tutorials
ShahhhVihaan Feb 12, 2025
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Calibrate arms
ShahhhVihaan committed Jul 3, 2024
commit 458bcca768b24235997b4c238371e76ea9dc4942
Original file line number Diff line number Diff line change
@@ -0,0 +1,44 @@
kinematics:
shoulder:
x: 0
y: 0
z: 0.15188497379686153
roll: -0
pitch: 0
yaw: 6.0977137363254793e-05
upper_arm:
x: -5.6533207234432926e-06
y: 0
z: 0
roll: 1.570844251867735
pitch: 0
yaw: 2.541818406001163e-05
forearm:
x: -0.24357369892909492
y: 0
z: 0
roll: 3.1408819727448281
pitch: 3.1414601607728438
yaw: -3.1415265155090113
wrist_1:
x: -0.21292841478821867
y: 0.00048506402454531479
z: 0.11301075109662011
roll: 3.1373004863304383
pitch: 3.1363886827765697
yaw: 3.1415791419793657
wrist_2:
x: 4.074182080180165e-05
y: -0.085310893242290478
z: -6.4346805950626749e-05
roll: 1.5715505891323607
pitch: 0
yaw: -1.1414933636491948e-05
wrist_3:
x: -7.319426521397714e-05
y: 0.08232894752301384
z: -5.8521744863255091e-05
roll: 1.5700854986261004
pitch: 3.1415926535897931
yaw: -3.1415870300000677
hash: calib_3443727564195709335
Original file line number Diff line number Diff line change
@@ -0,0 +1,44 @@
kinematics:
shoulder:
x: 0
y: 0
z: 0.15192390485501492
roll: -0
pitch: 0
yaw: 7.5207672895458863e-05
upper_arm:
x: 1.1565754681822927e-07
y: 0
z: 0
roll: 1.5701230398196422
pitch: 0
yaw: -3.745754755790643e-05
forearm:
x: -0.24342623565759611
y: 0
z: 0
roll: 0.0062667292139209178
pitch: -0.0013839232587116385
yaw: 3.5263175677186283e-05
wrist_1:
x: -0.21319918045377464
y: -0.00042101985050556432
z: 0.11194857450023041
roll: 0.0037608148871306722
pitch: 0.00014433964301166516
yaw: -5.7788592498697277e-05
wrist_2:
x: 3.3301180434358473e-05
y: -0.085304702494341758
z: -2.7251181339165215e-05
roll: 1.5711157837487961
pitch: 0
yaw: -3.3083428877200004e-05
wrist_3:
x: -4.675513506427485e-05
y: 0.082256832990903556
z: -5.7204020078096673e-05
roll: 1.5701008950748028
pitch: 3.1415926535897931
yaw: 3.1415605336065866
hash: calib_10683367749926797482