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3d11a0cc50
1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动
45 lines
661 B
YAML
45 lines
661 B
YAML
joint_limits:
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arm_base_joint:
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effort: 50
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velocity: 1.0
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lower: 0
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upper: 1.5
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arm_link_1_joint:
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effort: 50
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velocity: 1.0
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lower: 0
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upper: 0.6
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arm_link_2_joint:
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effort: 50
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velocity: 1.0
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lower: !degrees -95
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upper: !degrees 95
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arm_link_3_joint:
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effort: 50
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velocity: 1.0
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lower: !degrees -195
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upper: !degrees 195
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gripper_base_joint:
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effort: 50
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velocity: 1.0
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lower: !degrees -95
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upper: !degrees 95
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gripper_right_joint:
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effort: 50
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velocity: 1.0
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lower: 0
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upper: 0.03
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gripper_left_joint:
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effort: 50
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velocity: 1.0
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lower: 0
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upper: 0.03
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