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franka-ros fixes

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This commit is contained in:
Michel Breyer 2022-12-15 13:07:18 +01:00
parent 10e67287af
commit f48c5e76f1
2 changed files with 4 additions and 2 deletions
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2
README.md
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@ -20,7 +20,7 @@ pip install -r requirements.txt
Run `catkin build active_grasp` to build the package. Run `catkin build active_grasp` to build the package.
Finally, download the [assets folder](https://drive.google.com/file/d/1tvPg1yIiEiY6r_lsZi6sND2D5wyvqD5b/view) and extract it inside the repository. Finally, download the [assets folder](https://drive.google.com/file/d/1xJF9Cd82ybCH3nCdXtQRktTr4swDcNFD/view) and extract it inside the repository.
## Experiments ## Experiments

4
launch/env.launch
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@ -8,7 +8,9 @@
<!-- Launch MoveIt --> <!-- Launch MoveIt -->
<node pkg="tf2_ros" type="static_transform_publisher" name="to_panda" args="0 0 0 0 0 0 world panda_link0" /> <node pkg="tf2_ros" type="static_transform_publisher" name="to_panda" args="0 0 0 0 0 0 world panda_link0" />
<include file="$(find panda_moveit_config)/launch/move_group.launch" /> <include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="transmission" value="position" />
</include>
<!-- Simulated environment --> <!-- Simulated environment -->
<group if="$(arg sim)"> <group if="$(arg sim)">