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Load srdf in upload_robot.launch #480

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merged 6 commits into from
Jun 8, 2016
Merged

Load srdf in upload_robot.launch #480

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2b73eb0
add SRDF to cob_hardware_config (initially empty)
ipa-nhg May 24, 2016
527c855
load srdf in upload_robot.launch
ipa-nhg May 24, 2016
1551b2f
update collision monitor launch file
ipa-nhg May 24, 2016
4d7839f
Merge pull request #6 from ipa-nhg/collisionMonitor
ipa-nhg May 24, 2016
f4acd37
removed unnecesary argument
ipa-nhg May 31, 2016
17d2753
removed unused arguments
ipa-nhg Jun 8, 2016
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1 change: 0 additions & 1 deletion cob_bringup/robots/cob4-1.xml
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Expand Up @@ -46,7 +46,6 @@
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_bringup)/tools/collision_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
</include>

<include file="$(find cob_bringup)/drivers/canopen_402.launch" >
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1 change: 0 additions & 1 deletion cob_bringup/robots/cob4-2.xml
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Expand Up @@ -46,7 +46,6 @@
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_bringup)/tools/collision_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
</include>

<include file="$(find cob_bringup)/drivers/canopen_402.launch" >
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13 changes: 0 additions & 13 deletions cob_bringup/tools/collision_monitor.launch
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@@ -1,19 +1,6 @@
<?xml version="1.0"?>
<launch>

<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>

<arg name="load_robot_description" default="false"/>
<arg name="pkg_moveit_config" default="$(find cob_moveit_config)"/>

<!-- Load SRDF -->
<include file="$(arg pkg_moveit_config)/launch/planning_context.xml">
<arg name="load_robot_description" value="$(arg load_robot_description)" />
<arg name="robot" value="$(arg robot)" />
<arg name="config_path" value="$(arg pkg_moveit_config)/$(arg robot)/config" />
</include>

<!-- start collision monitor node -->
<node pkg="cob_collision_monitor" type="cob_collision_monitor_node" name="cob_collision_monitor_node">
<remap from="/cob_collision_monitor_node/state_is_valid" to="/safety_controller/state_is_valid"/>
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3 changes: 3 additions & 0 deletions cob_hardware_config/cob3-2/srdf/cob3-2.srdf
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@@ -0,0 +1,3 @@
<?xml version="1.0" ?>
<robot name="cob3-2">
</robot>
3 changes: 3 additions & 0 deletions cob_hardware_config/cob3-6/srdf/cob3-6.srdf
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@@ -0,0 +1,3 @@
<?xml version="1.0" ?>
<robot name="cob3-6">
</robot>
3 changes: 3 additions & 0 deletions cob_hardware_config/cob3-9/srdf/cob3-9.srdf
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@@ -0,0 +1,3 @@
<?xml version="1.0" ?>
<robot name="cob3-9">
</robot>
3 changes: 3 additions & 0 deletions cob_hardware_config/cob4-1/srdf/cob4-1.srdf
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<?xml version="1.0" ?>
<robot name="cob4-1">
</robot>
3 changes: 3 additions & 0 deletions cob_hardware_config/cob4-2/srdf/cob4-2.srdf
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<?xml version="1.0" ?>
<robot name="cob4-2">
</robot>
3 changes: 3 additions & 0 deletions cob_hardware_config/cob4-3/srdf/cob4-3.srdf
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<?xml version="1.0" ?>
<robot name="cob4-3">
</robot>
3 changes: 3 additions & 0 deletions cob_hardware_config/cob4-4/srdf/cob4-4.srdf
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@@ -0,0 +1,3 @@
<?xml version="1.0" ?>
<robot name="cob4-4">
</robot>
3 changes: 3 additions & 0 deletions cob_hardware_config/cob4-6/srdf/cob4-6.srdf
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<?xml version="1.0" ?>
<robot name="cob4-6">
</robot>
3 changes: 3 additions & 0 deletions cob_hardware_config/common/upload_robot.launch
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Expand Up @@ -7,4 +7,7 @@
<!-- send cob urdf to param server -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(arg pkg_hardware_config)/$(arg robot)/urdf/$(arg robot).urdf.xacro'" />

<!-- The semantic description that corresponds to the URDF -->
<param name="robot_description_semantic" textfile="$(arg pkg_hardware_config)/$(arg robot)/srdf/$(arg robot).srdf" />

</launch>
3 changes: 3 additions & 0 deletions cob_hardware_config/raw3-1/srdf/raw3-1.srdf
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<?xml version="1.0" ?>
<robot name="raw3-1">
</robot>
3 changes: 3 additions & 0 deletions cob_hardware_config/raw3-2/srdf/raw3-2.srdf
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<?xml version="1.0" ?>
<robot name="raw3-2">
</robot>
3 changes: 3 additions & 0 deletions cob_hardware_config/raw3-3/srdf/raw3-3.srdf
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<?xml version="1.0" ?>
<robot name="raw3-3">
</robot>
3 changes: 3 additions & 0 deletions cob_hardware_config/raw3-4/srdf/raw3-4.srdf
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<?xml version="1.0" ?>
<robot name="raw3-4">
</robot>
3 changes: 3 additions & 0 deletions cob_hardware_config/raw3-5/srdf/raw3-5.srdf
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<?xml version="1.0" ?>
<robot name="raw3-5">
</robot>
3 changes: 3 additions & 0 deletions cob_hardware_config/raw3-6/srdf/raw3-6.srdf
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<?xml version="1.0" ?>
<robot name="raw3-6">
</robot>