feat(les5): Add basic moveit2 robot arm

2025-10-02 11:45:13 +02:00
parent 4531e8166a
commit 277b07c61e
33 changed files with 1079 additions and 1 deletions
--- a/src/robot_moveit_config/config/sensors_3d.yaml
+++ b/src/robot_moveit_config/config/sensors_3d.yaml
@@ -0,0 +1,23 @@
+sensors:
+  - kinect_pointcloud
+  - kinect_depthimage
+kinect_pointcloud:
+  filtered_cloud_topic: filtered_cloud
+  max_range: 5.0
+  max_update_rate: 1.0
+  padding_offset: 0.1
+  padding_scale: 1.0
+  point_cloud_topic: /head_mount_kinect/depth_registered/points
+  point_subsample: 1
+  sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
+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