search

davetcoleman / baxter_cpp

Additional Baxter packages for MoveIt, written entirely in C++
57 stars 39 forks source link

Actuated fingers with SDK 1.0 #22

Closed davetcoleman closed 9 years ago

davetcoleman commented 9 years ago

I've just re-made the URDF for Baxter with fingers, using the internal URDF that ships on the robot with SDK 1.0. I used their new kinematics layout, making as few modifications as necessary to restore actuated finger capabilities. You can find the new branch (not fully tested) here: https://github.com/davetcoleman/baxter_common/tree/cu_robot_sdkv1_fingers

@brawner would you be interested in testing this and potentially adding back your reduced collision models for the fingers?

davetcoleman commented 9 years ago

I'm also interested in working on making the finger size selection more dynamic, open for suggestions.

lehnert commented 9 years ago

Hi Dave,

I've recently acquired a Baxter robot and have been slowly learning about moveit. Just cloned this repository to get the fingers actuated in the moveit package but there is no state_publisher for the left and right fingers on the current SDK1.0. Have you been able to get the state of the fingers on the real baxter synced to the urdf, and if so I would love to know how you did it?

Kind regards,

Chris

davetcoleman commented 9 years ago

Yes, the https://github.com/davetcoleman/baxter_cpp/tree/indigo-devel/baxter_state_publisher has been modified to only publish the two fingers. You can launch it using https://github.com/davetcoleman/baxter_cpp/blob/indigo-devel/baxter_gripper_server/launch/baxter_gripper_server.launch.

Note that I actually haven't synced all my latest changes from the past month and I have a lot of improvements. I could do that now if you don't mind re-pulling everything.

brawner commented 9 years ago

Yes. Try Dave Colemans repo.

On Oct 27, 2014, at 10:48 PM, lehnert notifications@github.com wrote:

Hi Dave,

I've recently acquired a Baxter robot and have been slowly learning about moveit. Just cloned this repository to get the fingers actuated in the moveit package but there is no state_publisher for the left and right fingers on the current SDK1.0. Have you been able to get the state of the fingers on the real baxter synced to the urdf, and if so I would love to know how you did it?

Kind regards,

Chris

— Reply to this email directly or view it on GitHub.

lehnert commented 9 years ago

Okay great thank you for the quick reply. That would great if you don't mind syncing your current work I would be happy to re-pull it. I tried your baxter_cpp repo but was having difficulty with some runtime errors. I will have a go again and if I run into problems I can let you know if you want. Thanks again.

davetcoleman commented 9 years ago

It was a lot of work that required releasing a new ROS package https://github.com/ros/rosdistro/pull/6096 and updating two older ones https://github.com/ros/rosdistro/pull/6097 https://github.com/ros/rosdistro/pull/6098 but it is ready. I tested building everything in a new workspace, and I made sure the documentation was ready.

brawner commented 9 years ago

Excellent work!

On Tue, Oct 28, 2014 at 12:34 AM, Dave Coleman notifications@github.com wrote:

It was a lot of work that required releasing a new ROS package ros/rosdistro#6096 https://github.com/ros/rosdistro/pull/6096 and updating two older ones ros/rosdistro#6097 https://github.com/ros/rosdistro/pull/6097 ros/rosdistro#6098 https://github.com/ros/rosdistro/pull/6098 but it is ready. I tested building everything in a new workspace, and I made sure the documentation was ready.

— Reply to this email directly or view it on GitHub https://github.com/davetcoleman/baxter_cpp/issues/22#issuecomment-60708909 .

lehnert commented 9 years ago

awesome thank you I will give it go now.

davetcoleman commented 9 years ago

Of course I'm sure you'll still find runtime bugs ;-)