cleaned up configs and launch files

SemRoCo · Jul 27, 2023 · 8501134 · 8501134
1 parent 69b32b6
commit 8501134
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Showing 7 changed files with 9 additions and 58 deletions.
diff --git a/launch/giskardpy_donbot.launch b/launch/giskardpy_donbot.launch
@@ -1,7 +1,7 @@
 <launch>
 
  <node pkg="giskardpy" type="giskard.py" name="giskard" output="screen">
- <param name="config" value="Donbot"/>
+ <param name="config" value="Donbot_IAI"/>
  </node>
 
  <node pkg="giskardpy" type="interactive_marker.py" name="giskard_interactive_marker" output="screen">

diff --git a/launch/giskardpy_hsr_gazebo.launch b/launch/giskardpy_hsr_gazebo.launch
diff --git a/launch/giskardpy_hsr_mujoco.launch b/launch/giskardpy_hsr_mujoco.launch
diff --git a/launch/giskardpy_tracy.launch b/launch/giskardpy_tracy.launch
diff --git a/launch/giskardpy_hsr_iai.launch → launch/giskardpy_tracy_standalone.launch b/launch/giskardpy_hsr_iai.launch → launch/giskardpy_tracy_standalone.launch
@@ -1,15 +1,16 @@
 <launch>
 
+ <include file="$(find iai_tracy_description)/launch/upload.launch"/>
+
  <node pkg="giskardpy" type="giskard.py" name="giskard" output="screen">
- <param name="config" value="HSR_IAI"/>
+ <param name="config" value="TracyStandAlone"/>
  </node>
 
  <node pkg="giskardpy" type="interactive_marker.py" name="giskard_interactive_marker" output="screen">
  <rosparam param="enable_self_collision">False</rosparam>
  <rosparam param="interactive_marker_chains">
- - [odom, base_footprint]
- - [odom, head_rgbd_sensor_link]
- - [odom, hand_palm_link]
+ - [tracy/world, tracy/l_gripper_tool_frame]
+ - [tracy/world, tracy/r_gripper_tool_frame]
  </rosparam>
  </node>
 

diff --git a/src/giskardpy/configs/hsr.py b/src/giskardpy/configs/hsr.py
@@ -2,7 +2,7 @@
 
 import numpy as np
 
-from giskardpy.configs.data_types import ControlModes, SupportedQPSolver
+from giskardpy.configs.data_types import ControlModes, SupportedQPSolver, TfPublishingModes
 from giskardpy.configs.default_giskard import Giskard
 from giskardpy.my_types import PrefixName, Derivatives
 
@@ -98,6 +98,7 @@ def configure_execution(self):
  def configure_behavior_tree(self):
  self.behavior_tree.add_visualization_marker_publisher(add_to_sync=True,
  add_to_control_loop=True)
+ self.behavior_tree.add_tf_publisher(include_prefix=True, mode=TfPublishingModes.all)
 
  def configure_robot_interface(self):
  super().configure_robot_interface()

diff --git a/src/giskardpy/model/collision_world_syncer.py b/src/giskardpy/model/collision_world_syncer.py
@@ -330,6 +330,7 @@ def load_self_collision_matrix_from_srdf(self, path: str, group_name: str) \
  if not self.is_collision_checking_enabled():
  return {}, set()
  path_to_srdf = resolve_ros_iris(path)
+ logging.loginfo(f'loading self collision matrix: {path_to_srdf}')
  if not os.path.exists(path_to_srdf):
  raise AttributeError(f'file {path_to_srdf} does not exist')
  srdf = etree.parse(path_to_srdf)