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Dual arm tutorial for ROS2 #3

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Dual arm tutorial for ROS2 #3

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Commits on Jun 24, 2024

  1. Extend single arm description to dual arm

    @ShahhhVihaan
    ShahhhVihaan committed Jun 24, 2024
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  2. Remove ur_type from tf_prefix

    @ShahhhVihaan
    ShahhhVihaan committed Jun 24, 2024
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  3. Add ros2 control parameters to dual arm urdf for dual arm driver 

    - Add ros2 control tags/parameters for each robot arm
- Some parameters are specific to each arm and some common to both
- Ports and IP different for each arm
- RTDE scripts, mock hardware, headless mode common to the arms
    @ShahhhVihaan
    ShahhhVihaan committed Jun 24, 2024
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  4. Modify ur_control.launch.py to launch controllers for both arms 

    - Instantiates one controller manager for both arms and passes the controller configs and update rate
- Receives the robot_description param from the robot_description_topic (robot_state_publisher)
- Does not yet implement io_and_status_controller and forward_velocity_controller
- Has functionality to spawn and stop controllers for both arms
- Only works in simulation and not with real hardware
- Limited number of launch parameters as of now
    @ShahhhVihaan
    ShahhhVihaan committed Jun 24, 2024
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  5. Generate dual_robot_cell moveit config using moveit setup assistant

    @ShahhhVihaan
    ShahhhVihaan committed Jun 24, 2024
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Commits on Jun 25, 2024

  1. Add acceleration limits

    @ShahhhVihaan
    ShahhhVihaan committed Jun 25, 2024
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  2. Add IK plugins for the two manipulators

    @ShahhhVihaan
    ShahhhVihaan committed Jun 25, 2024
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Commits on Jul 3, 2024

  1. Remove unwanted launch files + configuration files

    @ShahhhVihaan
    ShahhhVihaan committed Jul 3, 2024
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  2. Add io/status and forward velocity controllers

    @ShahhhVihaan
    ShahhhVihaan committed Jul 3, 2024
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  3. Calibrate arms

    @ShahhhVihaan
    ShahhhVihaan committed Jul 3, 2024
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  4. Merge branch 'UniversalRobots:main' into dual_arm_tutorials

    @ShahhhVihaan
    ShahhhVihaan authored Jul 3, 2024
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  5. Update arguments for alice and bob

    @ShahhhVihaan
    ShahhhVihaan committed Jul 3, 2024
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  6. Merge branch 'dual_arm_tutorials' of https://github.com/ShahhhVihaan/… 

    …Universal_Robots_ROS2_Tutorials into dual_arm_tutorials
    @ShahhhVihaan
    ShahhhVihaan committed Jul 3, 2024
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  7. Fix ur_type and mock_sensor_commands arguments

    @ShahhhVihaan
    ShahhhVihaan committed Jul 3, 2024
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  8. Update rviz config for description launch

    @ShahhhVihaan
    ShahhhVihaan committed Jul 3, 2024
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  9. Use rviz config file for moveit

    @ShahhhVihaan
    ShahhhVihaan committed Jul 3, 2024
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