final version

stevensu1838 · Mar 30, 2018 · 185fc5f · 185fc5f
1 parent 5093e4a
commit 185fc5f
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Showing 11 changed files with 939 additions and 104 deletions.
diff --git a/blocks_spawner.cpp b/blocks_spawner.cpp
@@ -91,7 +91,7 @@
       red_xmlStr = red_strStream.str();
      // ROS_INFO_STREAM("urdf: \n" <<red_xmlStr);
       // prepare the pawn model service message
-      spawn_model_req.initial_pose.position.x = 4.5;
+      spawn_model_req.initial_pose.position.x = 2;
       spawn_model_req.initial_pose.position.z = 0.2;
       spawn_model_req.initial_pose.orientation.x=0.0;
       spawn_model_req.initial_pose.orientation.y=0.0;
@@ -101,7 +101,7 @@
 
       ros::Time time_temp(0, 0);
       ros::Duration duration_temp(0, 1000000);
-      apply_wrench_req.wrench.force.x = -5.5;
+      apply_wrench_req.wrench.force.x = -5.1;
       apply_wrench_req.wrench.force.y = 0.0;
       apply_wrench_req.wrench.force.z = 0.0;
       apply_wrench_req.start_time = time_temp;
@@ -165,7 +165,7 @@
           ROS_INFO_STREAM("");
 
           ros::spinOnce();
-          ros::Duration(10.0).sleep();  // frequency control, spawn one cylinder in each loop
+          ros::Duration(20.0).sleep();  // frequency control, spawn one cylinder in each loop
           // delay time decides density of the cylinders
 
 

diff --git a/launch/initialize.launch b/launch/initialize.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="red_box_path" type="str" value="/home/lihuang/ur5_ws/src/ur5_notebook/urdf/red_box.urdf"/>
+  <param name="red_box_path" type="str" value="/home/haoran/ros_hw/src/ur5_notebook/urdf/red_box.urdf"/>
 
   <arg name="limited" default="true"/>
   <arg name="paused" default="false"/>
@@ -40,7 +40,9 @@
 
   <!-- spawn the conveyor_belt in gazebo -->
   <node name="spawn_conveyor_belt" pkg="gazebo_ros" type="spawn_model" args="-file $(find ur5_notebook)/urdf/conveyor_belt.urdf -urdf -model conveyor_belt" />
-  <!-- the cylinder blocks spawner node -->
+  <!-- spawn the conveyor_belt in gazebo -->
+  <node name="bin" pkg="gazebo_ros" type="spawn_model" args="-file $(find ur5_notebook)/urdf/bin.urdf -urdf -model bin -y 0.8 -x -0.5 -z 0.05" />
+  <!-- the red blocks spawner node -->
   <node name="blocks_spawner" pkg="ur5_notebook" type="blocks_spawner" output="screen" />
 
   <!-- the cylinder poses publisher node -->