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openarm_ros2/openarm_bimanual_moveit_config/config/sensors_3d.yaml

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Add openarm_bimanual_moveit_config and deploy to physical openarm (#3) See https://github.com/reazon-research/openarm_ros2/pull/3 for video
2025-04-10 09:31:15 +00:00
sensors:
- default_sensor
- kinect_depthimage
default_sensor:
filtered_cloud_topic: filtered_cloud
Add moveit2 package with dual arm/gripper (#5) * Create mujoco_ros2_control package * Enable Mujoco hardware interface for OpenArm * Verify connection with ros2_control * Update actuators to pos/vel * Add motor after creation * Tune KD for smoother motion * Restore realsense camera * Change camera to be 10 tilt from vertical to match physical model * Repair urdf to match physical robot * Checkpoint moveit2_configuration * Remove collision between camera and pedestal and remove additional ros2_control interfaces for mock * Enable octomap perception * Fix base_link to world transform * Update openarm to support moveit2 bimanual planning with end effectors * Improve safety of openarm_hardware zero position autocalibration * Remove openarm_mujoco_ros2_control from moveit2 branch * Restore sensor functionality
2025-04-22 09:46:27 +00:00
max_range: 5.0
Add openarm_bimanual_moveit_config and deploy to physical openarm (#3) See https://github.com/reazon-research/openarm_ros2/pull/3 for video
2025-04-10 09:31:15 +00:00
max_update_rate: 1.0
Add moveit2 package with dual arm/gripper (#5) * Create mujoco_ros2_control package * Enable Mujoco hardware interface for OpenArm * Verify connection with ros2_control * Update actuators to pos/vel * Add motor after creation * Tune KD for smoother motion * Restore realsense camera * Change camera to be 10 tilt from vertical to match physical model * Repair urdf to match physical robot * Checkpoint moveit2_configuration * Remove collision between camera and pedestal and remove additional ros2_control interfaces for mock * Enable octomap perception * Fix base_link to world transform * Update openarm to support moveit2 bimanual planning with end effectors * Improve safety of openarm_hardware zero position autocalibration * Remove openarm_mujoco_ros2_control from moveit2 branch * Restore sensor functionality
2025-04-22 09:46:27 +00:00
padding_offset: 0.1
padding_scale: 1.0
point_cloud_topic: /camera/camera/depth/color/points
point_subsample: 1
sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
Add openarm_bimanual_moveit_config and deploy to physical openarm (#3) See https://github.com/reazon-research/openarm_ros2/pull/3 for video
2025-04-10 09:31:15 +00:00
kinect_depthimage:
far_clipping_plane_distance: 5.0
filtered_cloud_topic: filtered_cloud
image_topic: /head_mount_kinect/depth_registered/image_raw
max_update_rate: 1.0
near_clipping_plane_distance: 0.3
padding_offset: 0.03
padding_scale: 4.0
queue_size: 5
sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
shadow_threshold: 0.2
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