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shadow-robot / sr-ros-interface

A ROS interface for Shadow Robot's hand.
GNU General Public License v2.0
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F#333 kuka arm #340

Closed nrontsis closed 9 years ago

nrontsis commented 9 years ago

Working Kuka arm with shadow hand, with MoveIt! integrated! :)

You have to first install my fork of kuka-lwr (branch adaptations_for_SHADOW): https://github.com/nrontsis/kuka-lwr/tree/adaptations_for_SHADOW

Then you can run the combined robot (including MoveIt!) with: roslaunch sr_robot_launch right_srhand_lwrarm.launch load_moveit:=true

This solves only partially F#333.

nrontsis commented 9 years ago

@ugocupcic Sorry for the big delta, it is mostly caused from the newly created MoveIt! package for the shadow+kuka combination.

landscape-bot commented 9 years ago

Code Health Code quality remained the same when pulling 07574c0 on nrontsis:F#333_kuka_arm into 0887b0d on shadow-robot:indigo-devel.

ugocupcic commented 9 years ago

@nrontsis could you update the project.rosinstall to use your kuka branch?

nrontsis commented 9 years ago

Sure!

landscape-bot commented 9 years ago

Code Health Code quality remained the same when pulling da5e3a5 on nrontsis:F#333_kuka_arm into 0887b0d on shadow-robot:indigo-devel.

landscape-bot commented 9 years ago

Code Health Code quality remained the same when pulling 33ab10d on nrontsis:F#333_kuka_arm into 0887b0d on shadow-robot:indigo-devel.

nrontsis commented 9 years ago

@ugocupcic Is it normal for shippable to fail?

ugocupcic commented 9 years ago

@nrontsis some of the tests are failing (due to a timeout). It has nothing to do with your pull request as far as I can tell. We recently added the tools to this repo, so we have a huge amount of roslint errors etc... which makes the result harder to use.

nrontsis commented 9 years ago

@ugocupcic @carlosjoserg Following this discussion, I am closing the PR.

I will do a new PR when I have a better implementation of the Kuka+SHADOW combination.

carlosjoserg commented 9 years ago

@nrontsis I recently updated the kuka package, now there is no more dependency on https://github.com/CentroEPiaggio/ros_control/tree/multi-robot-test

There is a pretty definite structure of the arm HW real/sim. Now there is a particular lwr 4+ plugin that uses a very simple gazebo interface (all ros control code is in the abstract class lwr_hw).

The plugin can read a full robot description, since it wukk handle only the joints that belong to the arm instance by name, and then parses only transmissions of those joints (it is the opposite way in the gazebo_ros_control plugin). That's what I meant as a suggestion for the shadow hand plugin, you can write it that it handles only hand joints, and parse the sr transmission types, so both can coexist without problems.

Looking forward to see the shadow :hand: mounted on the kuka.