From e8a218cbafd03111298c7752f9b272e3b0b623bd Mon Sep 17 00:00:00 2001 From: ValentinPitre Date: Mon, 30 Nov 2020 15:39:28 +0100 Subject: [PATCH] Lowering the limit of joint 2 --- niryo_one/package.xml | 2 +- niryo_one_bringup/package.xml | 2 +- niryo_one_camera/package.xml | 2 +- niryo_one_commander/package.xml | 2 +- niryo_one_debug/package.xml | 2 +- niryo_one_description/package.xml | 2 +- .../urdf/v2/niryo_one.urdf.xacro | 2 +- .../urdf/v2/without_mesh_niryo_one.urdf.xacro | 2 +- .../include/niryo_one_driver/test_motors.h | 2 +- niryo_one_driver/package.xml | 2 +- niryo_one_driver/src/ros_interface.cpp | 18 ++++++++++++++---- niryo_one_driver/src/test_motors.cpp | 4 ++-- niryo_one_modbus/package.xml | 2 +- niryo_one_moveit_config/package.xml | 2 +- niryo_one_msgs/package.xml | 2 +- niryo_one_pose_converter/package.xml | 2 +- niryo_one_python_api/package.xml | 2 +- niryo_one_rpi/package.xml | 2 +- niryo_one_tcp_server/package.xml | 2 +- niryo_one_tools/package.xml | 2 +- .../blockly_code_generator/package-lock.json | 6 +++--- niryo_one_user_interface/package.xml | 2 +- 22 files changed, 38 insertions(+), 28 deletions(-) diff --git a/niryo_one/package.xml b/niryo_one/package.xml index d403b581..aeb34aad 100644 --- a/niryo_one/package.xml +++ b/niryo_one/package.xml @@ -1,6 +1,6 @@ niryo_one - 2.3.2 + 2.3.3 Niryo One metapackage Edouard Renard Rémi Lux diff --git a/niryo_one_bringup/package.xml b/niryo_one_bringup/package.xml index 514de6b2..1863ed93 100644 --- a/niryo_one_bringup/package.xml +++ b/niryo_one_bringup/package.xml @@ -1,7 +1,7 @@ niryo_one_bringup - 2.3.2 + 2.3.3 Provides roslaunch scripts to start Niryo One packages and ros params Edouard Renard Rémi Lux diff --git a/niryo_one_camera/package.xml b/niryo_one_camera/package.xml index aa8a8f83..ecbdf6c0 100644 --- a/niryo_one_camera/package.xml +++ b/niryo_one_camera/package.xml @@ -1,7 +1,7 @@ niryo_one_camera - 2.3.2 + 2.3.3 Niryo vision package Rémi Lux Andreas Voigt diff --git a/niryo_one_commander/package.xml b/niryo_one_commander/package.xml index 39af2713..69e58605 100644 --- a/niryo_one_commander/package.xml +++ b/niryo_one_commander/package.xml @@ -1,7 +1,7 @@ niryo_one_commander - 2.3.2 + 2.3.3 Interface between user and Moveit! to easily control Niryo One (arm + tools). Validates params, checks if previous trajectory has not finished, ... Edouard Renard Rémi Lux diff --git a/niryo_one_debug/package.xml b/niryo_one_debug/package.xml index 9eda1675..25480474 100644 --- a/niryo_one_debug/package.xml +++ b/niryo_one_debug/package.xml @@ -1,7 +1,7 @@ niryo_one_debug - 2.3.2 + 2.3.3 Niryo One debug tools Edouard Renard Etienne Rey-Coquais diff --git a/niryo_one_description/package.xml b/niryo_one_description/package.xml index bfc82238..9f141653 100644 --- a/niryo_one_description/package.xml +++ b/niryo_one_description/package.xml @@ -1,7 +1,7 @@ niryo_one_description - 2.3.2 + 2.3.3 Provides URDF files for Moveit! and IKfast plugin Edouard Renard Rémi Lux diff --git a/niryo_one_description/urdf/v2/niryo_one.urdf.xacro b/niryo_one_description/urdf/v2/niryo_one.urdf.xacro index 6be31bf5..eceea2fb 100644 --- a/niryo_one_description/urdf/v2/niryo_one.urdf.xacro +++ b/niryo_one_description/urdf/v2/niryo_one.urdf.xacro @@ -38,7 +38,7 @@ - + diff --git a/niryo_one_description/urdf/v2/without_mesh_niryo_one.urdf.xacro b/niryo_one_description/urdf/v2/without_mesh_niryo_one.urdf.xacro index 71d7a5d5..30dc8991 100644 --- a/niryo_one_description/urdf/v2/without_mesh_niryo_one.urdf.xacro +++ b/niryo_one_description/urdf/v2/without_mesh_niryo_one.urdf.xacro @@ -38,7 +38,7 @@ - + diff --git a/niryo_one_driver/include/niryo_one_driver/test_motors.h b/niryo_one_driver/include/niryo_one_driver/test_motors.h index d4c9a1d0..a9a12c19 100644 --- a/niryo_one_driver/include/niryo_one_driver/test_motors.h +++ b/niryo_one_driver/include/niryo_one_driver/test_motors.h @@ -39,7 +39,7 @@ class NiryoOneTestMotor { TrajClient* traj_client_; - std::vector pose_start{0.0, 0.0, 0.3, 0.0, 0.0, 0.0}; + std::vector pose_start{0.0, 0.0, 0.0, 0.0, 0.0, 0.0}; bool enable_test; int _n_joints = 6; diff --git a/niryo_one_driver/package.xml b/niryo_one_driver/package.xml index c29a878c..f317ed7a 100644 --- a/niryo_one_driver/package.xml +++ b/niryo_one_driver/package.xml @@ -1,7 +1,7 @@ niryo_one_driver - 2.3.2 + 2.3.3 Niryo One driver. Provides a hardware interface between ros_control and RPI3 hardware. Also provides user interface to directly interact with hardware diff --git a/niryo_one_driver/src/ros_interface.cpp b/niryo_one_driver/src/ros_interface.cpp index 7ba2cc92..054a0eb3 100644 --- a/niryo_one_driver/src/ros_interface.cpp +++ b/niryo_one_driver/src/ros_interface.cpp @@ -80,10 +80,20 @@ bool RosInterface::callbackTestMotors(niryo_one_msgs::SetInt::Request &req, niry learning_mode_on = true; comm->activateLearningMode(learning_mode_on); - motor_test_status = status ? 0 : -1; - res.status = status ? 200 : 400; - res.message = status ? "Success" : "Fail"; - + if (status) + { + motor_test_status = 0; + res.status = 200; + res.message = "Success"; + ROS_INFO("Motor debug has ended with success"); + } + else + { + motor_test_status = -1; + res.status = 400; + res.message = "Fail"; + ROS_ERROR("Motor debug has ended with failure"); + } return true; } diff --git a/niryo_one_driver/src/test_motors.cpp b/niryo_one_driver/src/test_motors.cpp index be41f4c8..945e3f51 100644 --- a/niryo_one_driver/src/test_motors.cpp +++ b/niryo_one_driver/src/test_motors.cpp @@ -112,8 +112,8 @@ bool NiryoOneTestMotor::getJointsLimits() { if (urdf_joint->type != urdf::Joint::CONTINUOUS) { - _joint_upper_limits[i] = urdf_joint->limits->upper; - _joint_lower_limits[i] = urdf_joint->limits->lower; + _joint_upper_limits[i] = urdf_joint->limits->upper - 0.2; + _joint_lower_limits[i] = urdf_joint->limits->lower + 0.2; _joint_has_position_limits[i] = true; } else diff --git a/niryo_one_modbus/package.xml b/niryo_one_modbus/package.xml index 438e7c4b..e5e979b4 100644 --- a/niryo_one_modbus/package.xml +++ b/niryo_one_modbus/package.xml @@ -1,7 +1,7 @@ niryo_one_modbus - 2.3.2 + 2.3.3 Niryo One Modbus Server Edouard Renard Etienne Rey-Coquais diff --git a/niryo_one_moveit_config/package.xml b/niryo_one_moveit_config/package.xml index cf9ced06..1074df55 100644 --- a/niryo_one_moveit_config/package.xml +++ b/niryo_one_moveit_config/package.xml @@ -1,7 +1,7 @@ niryo_one_moveit_config - 2.3.2 + 2.3.3 An automatically generated package with all the configuration and launch files for using the niryo_one with the MoveIt! Motion Planning Framework diff --git a/niryo_one_msgs/package.xml b/niryo_one_msgs/package.xml index f13e61aa..0b2955d6 100644 --- a/niryo_one_msgs/package.xml +++ b/niryo_one_msgs/package.xml @@ -1,7 +1,7 @@ niryo_one_msgs - 2.3.2 + 2.3.3 Niryo One ROS messages used in other Niryo One packages Edouard Renard Rémi Lux diff --git a/niryo_one_pose_converter/package.xml b/niryo_one_pose_converter/package.xml index b3c21a57..732942c7 100644 --- a/niryo_one_pose_converter/package.xml +++ b/niryo_one_pose_converter/package.xml @@ -1,7 +1,7 @@ niryo_one_pose_converter - 2.3.2 + 2.3.3 Handles the convertion of workspace-relative poses to robot poses Andreas Voigt Rémi Lux diff --git a/niryo_one_python_api/package.xml b/niryo_one_python_api/package.xml index 6054a09d..c0694178 100644 --- a/niryo_one_python_api/package.xml +++ b/niryo_one_python_api/package.xml @@ -1,7 +1,7 @@ niryo_one_python_api - 2.3.2 + 2.3.3 Python API to get Niryo One ROS functionalities, without knowing ROS Edouard Renard Rémi Lux diff --git a/niryo_one_rpi/package.xml b/niryo_one_rpi/package.xml index 1a4381fa..941c206d 100644 --- a/niryo_one_rpi/package.xml +++ b/niryo_one_rpi/package.xml @@ -1,7 +1,7 @@ niryo_one_rpi - 2.3.2 + 2.3.3 Specific utilities for Niryo One's RPI3 + custom Niryo One shield Edouard Renard Maxime Catrice diff --git a/niryo_one_tcp_server/package.xml b/niryo_one_tcp_server/package.xml index b9485bd7..84f216a4 100644 --- a/niryo_one_tcp_server/package.xml +++ b/niryo_one_tcp_server/package.xml @@ -1,7 +1,7 @@ niryo_one_tcp_server - 2.3.2 + 2.3.3 Niryo One TCP Server Corentin Ducatez Corentin Ducatez diff --git a/niryo_one_tools/package.xml b/niryo_one_tools/package.xml index 9bdc7633..8cb2fcb7 100644 --- a/niryo_one_tools/package.xml +++ b/niryo_one_tools/package.xml @@ -1,7 +1,7 @@ niryo_one_tools - 2.3.2 + 2.3.3 Provides functionalities to control end-effectors and accessories for Niryo One Edouard Renard Etienne Rey-Coquais diff --git a/niryo_one_user_interface/blockly_code_generator/package-lock.json b/niryo_one_user_interface/blockly_code_generator/package-lock.json index 10ec6eb2..905742e5 100644 --- a/niryo_one_user_interface/blockly_code_generator/package-lock.json +++ b/niryo_one_user_interface/blockly_code_generator/package-lock.json @@ -249,7 +249,7 @@ "combined-stream": "~1.0.6", "extend": "~3.0.2", "forever-agent": "~0.6.1", - "form-data": "~2.3.2", + "form-data": "~2.3.3", "har-validator": "~5.1.3", "http-signature": "~1.2.0", "is-typedarray": "~1.0.0", @@ -444,8 +444,8 @@ "integrity": "sha1-+8cfDEGt6zf5bFd60e1C2P2sypE=" }, "form-data": { - "version": "2.3.2", - "resolved": "https://registry.npmjs.org/form-data/-/form-data-2.3.2.tgz", + "version": "2.3.3", + "resolved": "https://registry.npmjs.org/form-data/-/form-data-2.3.3.tgz", "integrity": "sha1-SXBJi+YEwgwAXU9cI67NIda0kJk=", "requires": { "asynckit": "^0.4.0", diff --git a/niryo_one_user_interface/package.xml b/niryo_one_user_interface/package.xml index d5e6c755..54390447 100644 --- a/niryo_one_user_interface/package.xml +++ b/niryo_one_user_interface/package.xml @@ -1,7 +1,7 @@ niryo_one_user_interface - 2.3.2 + 2.3.3 Handles high level commands from user (joystik, sequences, blockly), and calls appropriates Niryo One utilities Edouard Renard Corentin Ducatez