64 lines
1.3 KiB
YAML
64 lines
1.3 KiB
YAML
harvest_arm_rm:
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ros__parameters:
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robot_ip: "192.168.1.19"
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host_ip: "192.168.1.101"
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port: 8089
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tool_name: "scissor"
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initial_joint: [-82.60, 20.28, -32.15, 50.28, 17.28, 64.055, -20.62]
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max_joint: [155.0, 115.0, 172.0, 130.0, 175.0, 125.0, 179.0]
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min_joint: [-155.0, -30.0, -172.0, -130.0, -175.0, -125.0, -179.0]
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max_joint_speed: 180.0 # deg/s
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max_joint_acc: 600.0
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max_cartesian_speed: 1.0 # m/s
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max_cartesian_angular_speed: 1.5 # rad/s
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max_cartesian_acc: 1.0
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max_cartesian_angular_acc: 2.0
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arm_installation: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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# 0~2 position, x, y, z, m
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# 3~6 orientation, quaternion, x, y, z, w
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# 7 mass, kg
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# 8~11 center of mass, x, y, z, m
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tools_in_ee.scissor: [
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0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0,
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0.66, 0.0, 0.0, 0.06
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]
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tools_in_ee.omnipic: [
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0.0, 0.0, 0.16, 0.0, 0.0, 0.0, 1.0,
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0.43, 0.0, 0.0, 0.06
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]
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tools_in_ee.minisci: [
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0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0,
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0.46, 0.0, 0.0, 0.06
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]
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tools_in_ee.no_tool: [
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0,
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0.0, 0.0, 0.0, 0.0
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]
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joint_cmd_topic: "/joint_cmd"
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joint_state_topic: "/joint_sts"
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arm_enable_topic: "/arm_enable"
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tool_cmd_topic: "/tool_cmd"
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