From 42b3209017257a3d4e37d5d963727aca928f5ac3 Mon Sep 17 00:00:00 2001 From: Yadu Date: Thu, 7 Mar 2024 21:03:13 +0800 Subject: [PATCH] Properly configure moveit controllers (#60) * Properly configure moveit controllers Signed-off-by: Yadunund * Fix controller state topic name in tests Signed-off-by: Yadunund --------- Signed-off-by: Yadunund --- abb_bringup/test/test_command_topics.cpp | 2 +- .../config/moveit_controllers.yaml | 28 ++++++++++--------- 2 files changed, 16 insertions(+), 14 deletions(-) diff --git a/abb_bringup/test/test_command_topics.cpp b/abb_bringup/test/test_command_topics.cpp index 631d049..4938b18 100644 --- a/abb_bringup/test/test_command_topics.cpp +++ b/abb_bringup/test/test_command_topics.cpp @@ -27,7 +27,7 @@ TEST_F(TaskPlanningFixture, ControllerTopicsTest) // Define a map of the topics to check and their types std::map expected_topic_names_and_types = { { "/joint_trajectory_controller/joint_trajectory", "trajectory_msgs/msg/JointTrajectory" }, - { "/joint_trajectory_controller/state", "control_msgs/msg/JointTrajectoryControllerState" } + { "/joint_trajectory_controller/controller_state", "control_msgs/msg/JointTrajectoryControllerState" } }; for (const auto& [topic_name, topic_type] : expected_topic_names_and_types) { diff --git a/robot_specific_config/abb_irb1200_5_90_moveit_config/config/moveit_controllers.yaml b/robot_specific_config/abb_irb1200_5_90_moveit_config/config/moveit_controllers.yaml index 00690b4..9ba0f00 100644 --- a/robot_specific_config/abb_irb1200_5_90_moveit_config/config/moveit_controllers.yaml +++ b/robot_specific_config/abb_irb1200_5_90_moveit_config/config/moveit_controllers.yaml @@ -2,20 +2,22 @@ trajectory_execution: allowed_execution_duration_scaling: 1.2 allowed_goal_duration_margin: 0.5 allowed_start_tolerance: 0.01 + trajectory_duration_monitoring: true moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager -controller_names: - - joint_trajectory_controller +moveit_simple_controller_manager: + controller_names: + - joint_trajectory_controller -joint_trajectory_controller: - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: true - joints: - - joint_1 - - joint_2 - - joint_3 - - joint_4 - - joint_5 - - joint_6 + joint_trajectory_controller: + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6