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Issue 304 #305

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Issue 304 #305

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357db0e
Update
MShields1986 Nov 17, 2023
542c193
Fix for issue 304 and service name corrected
MShields1986 Mar 21, 2024
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87 changes: 53 additions & 34 deletions iiwa_moveit/launch/moveit.rviz
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -5,16 +5,19 @@ Panels:
Property Tree Widget:
Expanded:
- /MotionPlanning1
- /MotionPlanning1/Status1
Splitter Ratio: 0.74256
Tree Height: 532
Splitter Ratio: 0.7425600290298462
Tree Height: 367
- Class: rviz/Help
Name: Help
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
Expand All @@ -24,7 +27,7 @@ Visualization Manager:
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.03
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Expand All @@ -36,17 +39,31 @@ Visualization Manager:
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: moveit_rviz_plugin/MotionPlanning
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
MoveIt_Goal_Tolerance: 0
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: true
MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Warehouse_Host: 127.0.0.1
MoveIt_Warehouse_Port: 33829
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 2
Y: 2
Z: 2
Name: MotionPlanning
Planned Path:
Color Enabled: false
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Down Expand Up @@ -97,28 +114,27 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
tool0:
Alpha: 1
Show Axes: false
Show Trail: false
world:
Alpha: 1
Show Axes: false
Show Trail: false
Loop Animation: true
Loop Animation: false
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 0.05 s
Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path
Use Sim Time: false
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.08
TextHeight: 0.07999999821186066
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Expand All @@ -136,7 +152,7 @@ Visualization Manager:
Scene Geometry:
Scene Alpha: 1
Scene Color: 50; 230; 50
Scene Display Time: 0.2
Scene Display Time: 0.20000000298023224
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Expand Down Expand Up @@ -192,10 +208,6 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
tool0:
Alpha: 1
Show Axes: false
Show Trail: false
world:
Alpha: 1
Show Axes: false
Expand All @@ -204,9 +216,11 @@ Visualization Manager:
Show Robot Collision: false
Show Robot Visual: true
Value: true
Velocity_Scaling_Factor: 0.1
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: world
Frame Rate: 30
Name: root
Expand All @@ -219,36 +233,41 @@ Visualization Manager:
Views:
Current:
Class: rviz/XYOrbit
Distance: 3.34699
Distance: 3.3469901084899902
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0.113567
Y: 0.10592
Z: 2.23518e-07
X: 0.11356700211763382
Y: 0.10592000186443329
Z: 2.2351800055275817e-07
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.359797
Near Clip Distance: 0.009999999776482582
Pitch: 0.8497965335845947
Target Frame: world
Value: XYOrbit (rviz)
Yaw: 5.67496
Yaw: 3.7849502563476562
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1138
Height: 1016
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
Motion Planning:
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002a200000422fc0200000005fb000000100044006900730070006c0061007900730100000033000002a5000000d801000005fb0000000800480065006c00700000000342000000bb0000007101000005fb0000000a0056006900650077007300000003b0000000b0000000ab01000005fb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000002db0000017a00000171010000050000047f0000042200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000100000000000002a20000039efc0200000007fb000000100044006900730070006c006100790073010000003d00000200000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000002db0000017a0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000243000001980000017d00ffffff000004a80000039e00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1828
X: 88
Y: 0
Width: 1872
X: 48
Y: 27
5 changes: 3 additions & 2 deletions iiwa_ros/src/service/path_parameters_lin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ namespace service {
void PathParametersLinService::init(const std::string& robot_namespace) {
setup(robot_namespace);
ros::NodeHandle node_handle{};
service_name_ = ros_namespace_ + "configuration/setSmartServoLinSpeedLimits";
service_name_ = ros_namespace_ + "configuration/setSmartServoLinLimits";
client_ = node_handle.serviceClient<iiwa_msgs::SetSmartServoLinSpeedLimits>(service_name_);
service_ready_ = true;
}
Expand All @@ -48,7 +48,7 @@ bool PathParametersLinService::callService() {
service_error_ = config_.response.error;
ROS_ERROR_STREAM(service_name_ << " failed, Java error: " << service_error_);
} else if (verbose_) {
ROS_INFO_STREAM(ros::this_node::getName() << ":" << service_name_ << " successfully called.");
ROS_INFO_STREAM(ros::this_node::getName() << ": " << service_name_ << " successfully called.");
}
} else if (verbose_) {
ROS_ERROR_STREAM(service_name_ << " could not be called");
Expand All @@ -60,6 +60,7 @@ bool PathParametersLinService::callService() {

bool PathParametersLinService::setMaxCartesianVelocity(const geometry_msgs::Twist max_cartesian_velocity) {
config_.request.max_cartesian_velocity = max_cartesian_velocity;
return callService();
}

} // namespace service
Expand Down