1a1084c627
* 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
23 lines
688 B
YAML
23 lines
688 B
YAML
sensors:
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- default_sensor
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- kinect_depthimage
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default_sensor:
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filtered_cloud_topic: filtered_cloud
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max_range: 5.0
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max_update_rate: 1.0
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padding_offset: 0.1
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padding_scale: 1.0
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point_cloud_topic: /camera/camera/depth/color/points
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point_subsample: 1
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sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
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kinect_depthimage:
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far_clipping_plane_distance: 5.0
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filtered_cloud_topic: filtered_cloud
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image_topic: /head_mount_kinect/depth_registered/image_raw
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max_update_rate: 1.0
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near_clipping_plane_distance: 0.3
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padding_offset: 0.03
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padding_scale: 4.0
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queue_size: 5
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sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
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shadow_threshold: 0.2 |