From a1d22b67348374e03312f164799a6fb5fbe1f941 Mon Sep 17 00:00:00 2001 From: carebare47 Date: Fri, 5 Feb 2021 14:40:52 +0000 Subject: [PATCH 1/5] testing --- .../sr_multi_moveit_config/config/sensors_rgbd_depth.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/sr_multi_moveit/sr_multi_moveit_config/config/sensors_rgbd_depth.yaml b/sr_multi_moveit/sr_multi_moveit_config/config/sensors_rgbd_depth.yaml index d9b3eaf87..bb9ff6060 100644 --- a/sr_multi_moveit/sr_multi_moveit_config/config/sensors_rgbd_depth.yaml +++ b/sr_multi_moveit/sr_multi_moveit_config/config/sensors_rgbd_depth.yaml @@ -1,6 +1,7 @@ sensors: - sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater - image_topic: /camera/depth_registered/image_raw + # image_topic: /camera/depth_registered/image_raw + image_topic: /camera/depth/image_rect_raw queue_size: 5 near_clipping_plane_distance: 0.3 far_clipping_plane_distance: 5.0 From d9dbd13ac067719b30186486cca35de7c1741a10 Mon Sep 17 00:00:00 2001 From: carebare47 Date: Fri, 5 Mar 2021 11:51:06 +0000 Subject: [PATCH 2/5] update --- .../sr_box_ur10_moveit_config/launch/sensor_manager.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sr_multi_moveit/sr_box_ur10_moveit_config/launch/sensor_manager.launch.xml b/sr_multi_moveit/sr_box_ur10_moveit_config/launch/sensor_manager.launch.xml index 7a08a4439..236967b1e 100644 --- a/sr_multi_moveit/sr_box_ur10_moveit_config/launch/sensor_manager.launch.xml +++ b/sr_multi_moveit/sr_box_ur10_moveit_config/launch/sensor_manager.launch.xml @@ -1,6 +1,6 @@ - + From b313bcc27eae3e78801bd1b2b037249dfeab08d4 Mon Sep 17 00:00:00 2001 From: carebare47 Date: Tue, 9 Mar 2021 13:58:12 +0000 Subject: [PATCH 3/5] fix defaults --- .../sr_box_ur10_moveit_config/launch/sensor_manager.launch.xml | 2 +- .../sr_multi_moveit_config/launch/sensor_manager.launch.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/sr_multi_moveit/sr_box_ur10_moveit_config/launch/sensor_manager.launch.xml b/sr_multi_moveit/sr_box_ur10_moveit_config/launch/sensor_manager.launch.xml index 236967b1e..9d1ff2725 100644 --- a/sr_multi_moveit/sr_box_ur10_moveit_config/launch/sensor_manager.launch.xml +++ b/sr_multi_moveit/sr_box_ur10_moveit_config/launch/sensor_manager.launch.xml @@ -1,6 +1,6 @@ - + diff --git a/sr_multi_moveit/sr_multi_moveit_config/launch/sensor_manager.launch.xml b/sr_multi_moveit/sr_multi_moveit_config/launch/sensor_manager.launch.xml index 99a9abc1d..b9b466f79 100644 --- a/sr_multi_moveit/sr_multi_moveit_config/launch/sensor_manager.launch.xml +++ b/sr_multi_moveit/sr_multi_moveit_config/launch/sensor_manager.launch.xml @@ -1,6 +1,6 @@ - + From 0cb4111fe4e7e95f0ad9cfdccfe76a1c31e0dc4c Mon Sep 17 00:00:00 2001 From: carebare47 Date: Thu, 11 Mar 2021 13:14:23 +0000 Subject: [PATCH 4/5] play with padding --- .../sr_multi_moveit_config/config/sensors_rgbd_depth.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/sr_multi_moveit/sr_multi_moveit_config/config/sensors_rgbd_depth.yaml b/sr_multi_moveit/sr_multi_moveit_config/config/sensors_rgbd_depth.yaml index bb9ff6060..a4c9a65ec 100644 --- a/sr_multi_moveit/sr_multi_moveit_config/config/sensors_rgbd_depth.yaml +++ b/sr_multi_moveit/sr_multi_moveit_config/config/sensors_rgbd_depth.yaml @@ -6,8 +6,8 @@ sensors: near_clipping_plane_distance: 0.3 far_clipping_plane_distance: 5.0 shadow_threshold: 0.2 - padding_scale: 1.0 - padding_offset: 0.00 + padding_scale: 3.0 + padding_offset: 0.12 max_update_rate: 1.0 filtered_cloud_topic: filtered_cloud From 931b7a01087aadd9bfa5c9d36ebefd8c118c0929 Mon Sep 17 00:00:00 2001 From: carebare47 Date: Thu, 18 Mar 2021 16:47:09 +0000 Subject: [PATCH 5/5] testing --- sr_robot_launch/config/right_ur10e_arm_robot_hw.yaml | 4 ++-- sr_robot_launch/config/right_ur_arm_robot_hw.yaml | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/sr_robot_launch/config/right_ur10e_arm_robot_hw.yaml b/sr_robot_launch/config/right_ur10e_arm_robot_hw.yaml index c1caa73b7..f5becdc08 100644 --- a/sr_robot_launch/config/right_ur10e_arm_robot_hw.yaml +++ b/sr_robot_launch/config/right_ur10e_arm_robot_hw.yaml @@ -14,11 +14,11 @@ ra_sr_ur_robot_hw: # for sending robot programs # aurora (https://github.com/shadow-robot/aurora) uses sed to replace this IP with the user-defined IP - robot_ip: 10.8.1.1 + robot_ip: 192.168.1.1 # for the server that moves the robot # aurora (https://github.com/shadow-robot/aurora) uses sed to replace this IP with the user-defined IP - control_pc_ip_address: 10.8.1.100 + control_pc_ip_address: 192.168.1.100 input_recipe_file: /home/user/projects/shadow_robot/base/src/Universal_Robots_ROS_Driver/ur_robot_driver/resources/rtde_input_recipe.txt diff --git a/sr_robot_launch/config/right_ur_arm_robot_hw.yaml b/sr_robot_launch/config/right_ur_arm_robot_hw.yaml index dd79fe2f4..246385863 100644 --- a/sr_robot_launch/config/right_ur_arm_robot_hw.yaml +++ b/sr_robot_launch/config/right_ur_arm_robot_hw.yaml @@ -14,11 +14,11 @@ ra_sr_ur_robot_hw: # for sending robot programs # aurora (https://github.com/shadow-robot/aurora) uses sed to replace this IP with the user-defined IP - robot_ip: 10.8.1.1 + robot_ip: 192.168.1.1 # for the server that moves the robot # aurora (https://github.com/shadow-robot/aurora) uses sed to replace this IP with the user-defined IP - control_pc_ip_address: 10.8.1.100 + control_pc_ip_address: 192.168.1.100 input_recipe_file: /home/user/projects/shadow_robot/base/src/Universal_Robots_ROS_Driver/ur_robot_driver/resources/rtde_input_recipe.txt