ZhengLiu-cart/HarvestingRealman
1
1
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

move tool frame/task frame to ctrl pkg

Browse Source
This commit is contained in:
LiuzhengSJ
2026-07-13 16:54:14 +01:00
parent 97e3cc00d3
commit 120a252ccc
5 changed files with 261 additions and 69 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
harvest_arm_rm/config/config.yaml
View File

@ -6,12 +6,23 @@
min_joint: [-155.0, -30.0, -172.0, -130.0, -175.0, -125.0, -179.0]
interval: 0.02
tool_name: "scissor"
action_topic: "/action/arm"
observation_topic: "/observation/arm"
action_pose_topic: "/action/pose"
action_tool_topic: "/action/tool"
action_arm_enable_topic: "/action/arm_enable"
harvest_arm_ctrl:
ros__parameters:
tool_name: "scissor"
pos_task_in_base = [-0.1, 0.2, -0.025]
quat_task_in_base = [-0.5, -0.5, 0.5, 0.5]
work_frame: ["base", "task"]
tool_names: ["scissor", "omnipic", "minisci", "vacuum", "no_tool"]
@ -43,6 +54,9 @@ harvest_arm_ctrl:
0.0, 0.0, 0.0, 0.0
]
bound_cartesian: [ -0.3, -0.5, -0.1, 0.3, 0.5, 0.6 ]
harvest_arm_rm:
ros__parameters:
@ -60,15 +74,6 @@ harvest_arm_rm:
max_cartesian_acc: 1.0
max_cartesian_angular_acc: 2.0
bound_cartesian: [
-0.3, -0.5, -0.1, 0.3, 0.5, 0.6
]
action_topic: "/action/arm"
observation_topic: "/observation/arm"
action_rviz_topic: "/action/arm_rviz"
observation_rviz_topic: "/observation/arm_rviz"