From 9f8cde61d313501cf4b56fe13672d99234d5efa2 Mon Sep 17 00:00:00 2001 From: Niko Date: Thu, 29 Feb 2024 11:43:02 +0100 Subject: [PATCH 1/7] initial commit --- src/ur_robotiq_description/CMakeLists.txt | 26 + src/ur_robotiq_description/package.xml | 18 + .../urdf/ur_robotiq.urdf | 904 ++++++++++++++++++ .../urdf/ur_robotiq.urdf.xacro | 110 +++ 4 files changed, 1058 insertions(+) create mode 100644 src/ur_robotiq_description/CMakeLists.txt create mode 100644 src/ur_robotiq_description/package.xml create mode 100644 src/ur_robotiq_description/urdf/ur_robotiq.urdf create mode 100644 src/ur_robotiq_description/urdf/ur_robotiq.urdf.xacro diff --git a/src/ur_robotiq_description/CMakeLists.txt b/src/ur_robotiq_description/CMakeLists.txt new file mode 100644 index 0000000..5e86e05 --- /dev/null +++ b/src/ur_robotiq_description/CMakeLists.txt @@ -0,0 +1,26 @@ +cmake_minimum_required(VERSION 3.8) +project(ur_robotiq_description) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/src/ur_robotiq_description/package.xml b/src/ur_robotiq_description/package.xml new file mode 100644 index 0000000..00c2660 --- /dev/null +++ b/src/ur_robotiq_description/package.xml @@ -0,0 +1,18 @@ + + + + ur_robotiq_description + 0.0.0 + TODO: Package description + niko + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/ur_robotiq_description/urdf/ur_robotiq.urdf b/src/ur_robotiq_description/urdf/ur_robotiq.urdf new file mode 100644 index 0000000..7678bf1 --- /dev/null +++ b/src/ur_robotiq_description/urdf/ur_robotiq.urdf @@ -0,0 +1,904 @@ + + + + + + + + + + + + ur_robot_driver/URPositionHardwareInterface + 0.0.0.0 + + + + False + 50001 + 50002 + 0.0.0.0 + 50004 + 50003 + + True + 2000 + 0.03 + False + calib_16756443741236045476 + 0 + 0 + 115200 + 1 + 1.5 + 3.5 + /tmp/ttyUR + 54321 + 2 + + + + {-2*pi} + {2*pi} + + + -3.15 + 3.15 + + + + 0.0 + + + + + + + {-2*pi} + {2*pi} + + + -3.15 + 3.15 + + + + -1.57 + + + + + + + {-pi} + {pi} + + + -3.15 + 3.15 + + + + 0.0 + + + + + + + {-2*pi} + {2*pi} + + + -3.2 + 3.2 + + + + -1.57 + + + + + + + {-2*pi} + {2*pi} + + + -3.2 + 3.2 + + + + 0.0 + + + + + + + {-2*pi} + {2*pi} + + + -3.2 + 3.2 + + + + 0.0 + + + + + + + + + + + + + + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + robotiq_driver/RobotiqGripperHardwareInterface + 0.695 + /dev/ttyUSB0 + 1.0 + 0.5 + + + + + + + 0.695 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/ur_robotiq_description/urdf/ur_robotiq.urdf.xacro b/src/ur_robotiq_description/urdf/ur_robotiq.urdf.xacro new file mode 100644 index 0000000..d2d05e0 --- /dev/null +++ b/src/ur_robotiq_description/urdf/ur_robotiq.urdf.xacro @@ -0,0 +1,110 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 82dc45f1cf3c44ee15a38b110e978a772a9a8f8b Mon Sep 17 00:00:00 2001 From: Niko Date: Thu, 29 Feb 2024 13:54:35 +0100 Subject: [PATCH 2/7] initial commit --- .gitignore | 4 ++++ src/Universal_Robots_ROS2_Description | 1 + src/Universal_Robots_ROS2_Driver | 1 + src/ros2_robotiq_gripper | 1 + src/serial | 1 + 5 files changed, 8 insertions(+) create mode 100644 .gitignore create mode 160000 src/Universal_Robots_ROS2_Description create mode 160000 src/Universal_Robots_ROS2_Driver create mode 160000 src/ros2_robotiq_gripper create mode 160000 src/serial diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..a90592d --- /dev/null +++ b/.gitignore @@ -0,0 +1,4 @@ +/build/ +/install/ +/log/ +.idea \ No newline at end of file diff --git a/src/Universal_Robots_ROS2_Description b/src/Universal_Robots_ROS2_Description new file mode 160000 index 0000000..c1c8ac9 --- /dev/null +++ b/src/Universal_Robots_ROS2_Description @@ -0,0 +1 @@ +Subproject commit c1c8ac92cd09e1b550837ad3566b427a957caf7c diff --git a/src/Universal_Robots_ROS2_Driver b/src/Universal_Robots_ROS2_Driver new file mode 160000 index 0000000..8bc95d7 --- /dev/null +++ b/src/Universal_Robots_ROS2_Driver @@ -0,0 +1 @@ +Subproject commit 8bc95d773f2476eeb18370a128b9f0c02ee98fd3 diff --git a/src/ros2_robotiq_gripper b/src/ros2_robotiq_gripper new file mode 160000 index 0000000..25c6e0f --- /dev/null +++ b/src/ros2_robotiq_gripper @@ -0,0 +1 @@ +Subproject commit 25c6e0f2b67c9b4ccf06b72078105b6154583ac9 diff --git a/src/serial b/src/serial new file mode 160000 index 0000000..d8d1606 --- /dev/null +++ b/src/serial @@ -0,0 +1 @@ +Subproject commit d8d160678aa0b31cdf467c052b954fa287cc6cdf From 3bb43308d0aba3ee932b6058c8848949899a084d Mon Sep 17 00:00:00 2001 From: Niko Date: Thu, 29 Feb 2024 14:15:00 +0100 Subject: [PATCH 3/7] initial commit --- .gitmodules | 15 +++++++++++++++ 1 file changed, 15 insertions(+) create mode 100644 .gitmodules diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..59919fa --- /dev/null +++ b/.gitmodules @@ -0,0 +1,15 @@ +[submodule "src/Universal_Robots_ROS2_Description"] + path = src/Universal_Robots_ROS2_Description + url = https://github.com/username/Universal_Robots_ROS2_Description + branch = humble +[submodule "src/serial"] + path = src/serial + url = https://github.com/tylerjw/serial.git + branch = ros2 +[submodule "src/Universal_Robots_ROS2_Driver"] + path = src/Universal_Robots_ROS2_Driver + url = https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git + branch = humble +[submodule "src/ros2_robotiq_gripper"] + path = src/ros2_robotiq_gripper + url = https://github.com/PickNikRobotics/ros2_robotiq_gripper.git From 87dc4b4c85b2c14cc1145dee87249b5909e38d68 Mon Sep 17 00:00:00 2001 From: Niko Date: Thu, 29 Feb 2024 14:15:19 +0100 Subject: [PATCH 4/7] initial commit --- src/serial | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/serial b/src/serial index d8d1606..c1e1585 160000 --- a/src/serial +++ b/src/serial @@ -1 +1 @@ -Subproject commit d8d160678aa0b31cdf467c052b954fa287cc6cdf +Subproject commit c1e158565dd98e897bb0f944e226793957d2df47 From 14619a8d907755d0b8d6cc3e2e54d9425b0fec05 Mon Sep 17 00:00:00 2001 From: Niko Date: Thu, 29 Feb 2024 14:32:31 +0100 Subject: [PATCH 5/7] added docker --- Dockerfile | 33 +++++++++++++++++++++++++++++++++ docker-compose.yaml | 14 ++++++++++++++ requirements.txt | 3 +++ 3 files changed, 50 insertions(+) create mode 100644 Dockerfile create mode 100644 docker-compose.yaml create mode 100644 requirements.txt diff --git a/Dockerfile b/Dockerfile new file mode 100644 index 0000000..a0b2b4d --- /dev/null +++ b/Dockerfile @@ -0,0 +1,33 @@ +# Use ROS 2 Humble Hawksbill base image +FROM osrf/ros:humble-desktop-full-jammy + +# Update and install dependencies +RUN apt-get update && apt-get install -y \ + python3-colcon-common-extensions python3-pip \ + ros-humble-xacro + +COPY requirements.txt ./ +RUN pip install --no-cache-dir -r requirements.txt + +# Create a workspace +WORKDIR /ros2_ws + +# Copy your ROS 2 package into the workspace +COPY ./src /ros2_ws/src + +# get all the ros dependencies +RUN rosdep update && rosdep install --ignore-src --from-paths src -y + +# remove unnecessary pkgs +RUN rm -rf /var/lib/apt/lists/* + +# Build your package +RUN . /opt/ros/humble/setup.sh && \ + colcon build + +RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc + +ENV PATH="/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin" + +# Source the workspace +CMD ["/bin/bash"] diff --git a/docker-compose.yaml b/docker-compose.yaml new file mode 100644 index 0000000..2789079 --- /dev/null +++ b/docker-compose.yaml @@ -0,0 +1,14 @@ +version: '3.8' +services: + ros2: + build: . + volumes: + - ./src:/ros2_ws/src + networks: + - ros_network + tty: true + stdin_open: true + +networks: + ros_network: + driver: bridge diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000..c0af066 --- /dev/null +++ b/requirements.txt @@ -0,0 +1,3 @@ +pytest~=6.2.5 +PyYAML~=5.4.1 +setuptools~=58.2.0 \ No newline at end of file From 00264cd163192cd9f211a2c01b76b6ebdcbaf513 Mon Sep 17 00:00:00 2001 From: Niko Feith Date: Sat, 2 Mar 2024 16:51:39 +0000 Subject: [PATCH 6/7] =?UTF-8?q?=E2=80=9E.gitmodules=E2=80=9C=20=C3=A4ndern?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitmodules | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.gitmodules b/.gitmodules index 59919fa..6a47b3e 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,6 +1,6 @@ [submodule "src/Universal_Robots_ROS2_Description"] path = src/Universal_Robots_ROS2_Description - url = https://github.com/username/Universal_Robots_ROS2_Description + url = https://github.com/UniversalRobots/Universal_Robots_ROS2_Description branch = humble [submodule "src/serial"] path = src/serial From 551132c24cea6f41ee5b6dcaed6f59defc8142b2 Mon Sep 17 00:00:00 2001 From: Niko Date: Mon, 4 Mar 2024 11:11:21 +0100 Subject: [PATCH 7/7] Update serial submodule to latest --- src/serial | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/serial b/src/serial index c1e1585..d8d1606 160000 --- a/src/serial +++ b/src/serial @@ -1 +1 @@ -Subproject commit c1e158565dd98e897bb0f944e226793957d2df47 +Subproject commit d8d160678aa0b31cdf467c052b954fa287cc6cdf