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Properly configure moveit controllers #60

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merged 2 commits into from
Mar 7, 2024
Merged

Properly configure moveit controllers #60

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00cc4e2
Properly configure moveit controllers
Yadunund Feb 28, 2024
a439dab
Fix controller state topic name in tests
Yadunund Feb 28, 2024
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2 changes: 1 addition & 1 deletion abb_bringup/test/test_command_topics.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@ TEST_F(TaskPlanningFixture, ControllerTopicsTest)
// Define a map of the topics to check and their types
std::map<std::string, std::string> 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)
{
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28 changes: 15 additions & 13 deletions robot_specific_config/abb_irb1200_5_90_moveit_config/config/moveit_controllers.yaml
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Expand Up @@ -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
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