ZhengLiu-cart/HarvestingRealman
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add kine pkg pub/sub

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This commit is contained in:
LiuzhengSJ
2026-07-16 17:11:56 +01:00
parent 120a252ccc
commit 9119837294
4 changed files with 86 additions and 36 deletions
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29
harvest_arm_rm/config/config.yaml
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@ -19,21 +19,24 @@
harvest_arm_ctrl:
ros__parameters:
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"]
# set the position and quaternion of the task frame in the base frame.
arm_installation : [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
tool_names: ["scissor", "omnipic", "minisci", "camera", "gripper_bh", "no_tool"]
qp_iteration: 200
arm_installation: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
# 0~2 position, x, y, z, m
# 3~6 orientation, quaternion, x, y, z, w
# 7 mass, kg
# 8~10 center of mass, x, y, z, m
# The tool parameters are defined in the following order:
# 0~2 position, x, y, z, m
# 3~6 orientation, quaternion, x, y, z, w
# 7 mass, kg
# 8~10 center of mass, x, y, z, m
tools_in_ee.scissor: [
0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0,
0.66, 0.0, 0.0, 0.06
@ -49,6 +52,16 @@ harvest_arm_ctrl:
0.46, 0.0, 0.0, 0.06
]
tools_in_ee.camera: [
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0,
0.0, 0.0, 0.0, 0.0
]
tools_in_ee.gripper_bh: [
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0,
0.0, 0.0, 0.0, 0.0
]
tools_in_ee.no_tool: [
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0,
0.0, 0.0, 0.0, 0.0