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PickNikRobotics / UR10e_welding_demo

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Add IPA demo description, moveit config, and bringup #11

Closed AdamPettinger closed 3 years ago

AdamPettinger commented 3 years ago

Addresses #3 and #4. I combined @christianlandgraf's branch and mine as they were somewhat dependent (e.g. the demo description package needed ur_description which I added in the repos file (it's in UR ROS 2 driver)

After this you should be able to install and run the launch file as in the README and get to move a UR10e with welding gun around in RViz

AdamPettinger commented 3 years ago

I do not understand why precommit failed the CI here but passed locally when I committed (I have it installed for this repo)

christianlandgraf commented 3 years ago

Hey @AdamPettinger , I added an option to the pre-commit config and formatted the description, it seems to work now! I just pushed it to your branch ... Besides that, the Moveit config works for me. I will test it on the real robot but I guess it could be already merged anyway. A minor observation: Should we keep only one rviz.config file?

AdamPettinger commented 3 years ago

Besides that, the Moveit config works for me. I will test it on the real robot but I guess it could be already merged anyway.

Beware that I haven't actually tested this on real hardware yet! But I would be interested in knowing how it goes

A minor observation: Should we keep only one rviz.config file?

Good catch, fixed it

christianlandgraf commented 3 years ago

Another thought: Is it cleaner to merge the calibration/ into the config/ directory in ipa_demo_cell_description? The DH kinematics of the real robot are currently written in calibration_ur10e.yaml, but could replace default_kinematics.yaml.

AdamPettinger commented 3 years ago

Makes sense to me, done. I renamed from default_kinematics.yaml to calibrated_kinematics to try and get the point across that the UR10e was using... calibrated numbers

christianlandgraf commented 3 years ago

I succesfully tested it on the real robot. I think we should merge it into main to continue work on top of that, if you do not have any remaining concerns?