Modified default controlled link

Author: YoungWook0533

cyclo_motion_controller_ros/config/ai_worker_config.yaml

@@ -27,8 +27,8 @@ ai_worker_movel_controller:
 
     r_gripper_pose_topic: "/r_gripper_pose"
     l_gripper_pose_topic: "/l_gripper_pose"
-    r_gripper_name: "arm_r_link7"
-    l_gripper_name: "arm_l_link7"
+    r_gripper_name: "end_effector_r_link"
+    l_gripper_name: "end_effector_l_link"
     right_gripper_joint: "gripper_r_joint1"
     left_gripper_joint: "gripper_l_joint1"
     controller_error_topic: "~/controller_error"

cyclo_motion_controller_ros/config/omx_config.yaml

@@ -1,30 +1,3 @@
-omx_controller:
-  ros__parameters:
-    control_frequency: 100.0
-    time_step: 0.01
-    trajectory_time: 0.0
-
-    kp_position: 50.0
-    kp_orientation: 50.0
-
-    weight_task_position: 10.0
-    weight_task_orientation: 1.0
-    weight_damping: 0.001
-
-    collision_buffer: 0.01
-    collision_safe_distance: 0.005
-    slack_penalty: 1000.0
-    cbf_alpha: 50.0
-
-    base_frame: "link0"
-    controlled_link: "end_effector_link"
-
-    joint_states_topic: "/joint_states"
-    joint_command_topic: "/leader/joint_trajectory"
-    marker_goal_topic: "/eef_goal_pose"
-    ee_pose_topic: "~/current_pose"
-    controller_error_topic: "~/controller_error"
-
 omx_movej_controller:
   ros__parameters:
     control_frequency: 100.0

cyclo_motion_controller_ros/config/omy_config.yaml

@@ -1,30 +1,3 @@
-omy_controller:
-  ros__parameters:
-    control_frequency: 100.0
-    time_step: 0.01
-    trajectory_time: 0.0
-
-    kp_position: 50.0
-    kp_orientation: 50.0
-
-    weight_task_position: 10.0
-    weight_task_orientation: 1.0
-    weight_damping: 0.001
-
-    collision_buffer: 0.03
-    collision_safe_distance: 0.01
-    slack_penalty: 1000.0
-    cbf_alpha: 50.0
-
-    base_frame: "link0"
-    controlled_link: "end_effector_flange_link"
-
-    joint_states_topic: "/joint_states"
-    joint_command_topic: "/leader/joint_trajectory"
-    marker_goal_topic: "/omy_eef_goal_pose"
-    ee_pose_topic: "~/current_pose"
-    controller_error_topic: "~/controller_error"
-
 omy_movej_controller:
   ros__parameters:
     control_frequency: 100.0
@@ -42,7 +15,7 @@ omy_movej_controller:
     collision_safe_distance: 0.01
 
     base_frame: "link0"
-    controlled_link: "end_effector_flange_link"
+    controlled_link: "end_effector_link"
 
     joint_states_topic: "/joint_states"
     joint_command_topic: "/leader/joint_trajectory"
@@ -69,7 +42,7 @@ omy_movel_controller:
     collision_safe_distance: 0.01
 
     base_frame: "link0"
-    controlled_link: "end_effector_flange_link"
+    controlled_link: "end_effector_link"
 
     joint_states_topic: "/joint_states"
     joint_command_topic: "/leader/joint_trajectory"

cyclo_motion_controller_ros/launch/ai_worker_controller.launch.py

@@ -57,12 +57,12 @@ def generate_launch_description():
         ),
         DeclareLaunchArgument(
             'right_controlled_link',
-            default_value='arm_r_link7',
+            default_value='end_effector_r_link',
             description='Controlled link for the right interactive marker.',
         ),
         DeclareLaunchArgument(
             'left_controlled_link',
-            default_value='arm_l_link7',
+            default_value='end_effector_l_link',
             description='Controlled link for the left interactive marker.',
         ),
         DeclareLaunchArgument(

cyclo_motion_controller_ros/launch/omy_controller.launch.py

@@ -84,7 +84,7 @@ def generate_launch_description():
         ),
         DeclareLaunchArgument(
             'controlled_link',
-            default_value='end_effector_flange_link',
+            default_value='end_effector_link',
             description='Controlled end-effector link name.',
         ),
         DeclareLaunchArgument(