Merge remote-tracking branch 'origin/main'
# Conflicts: # UR_Robotiq.humble.repos # src/robotiq_2f/robotiq_2f_description/CMakeLists.txt # src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_140_config.yaml # src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_85_config.yaml # src/robotiq_2f/robotiq_2f_description/config/robotiq_controllers.yaml # src/robotiq_2f/robotiq_2f_description/package.xml # src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140.ros2_control.xacro # src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140.urdf.xacro # src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140_macro.urdf.xacro # src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_85.ros2_control.xacro # src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_85.urdf.xacro # src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_85_macro.urdf.xacro # src/robotiq_2f/robotiq_2f_interface/CMakeLists.txt # src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/Robotiq2fSocketAdapter.hpp # src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/hardware_interface.hpp # src/robotiq_2f/robotiq_2f_interface/src/Robotiq2fSocketAdapter.cpp # src/robotiq_2f/robotiq_2f_interface/src/hardware_interface.cpp # src/servo_keyboard/hardware_interface_plugin.xml # src/servo_keyboard/include/robotiq_2f_interface/MockRobotiq2fSocketAdapter.hpp # src/servo_keyboard/include/robotiq_2f_interface/SocketAdapterBase.hpp # src/servo_keyboard/include/robotiq_2f_interface/visibility_control.hpp # src/servo_keyboard/package.xml
This commit is contained in:
ligerfotis
commit
8b3c40bbe7
@ -5,7 +5,5 @@
|
|||||||
<mapping directory="$PROJECT_DIR$/src/Universal_Robots_ROS2_Description" vcs="Git" />
|
<mapping directory="$PROJECT_DIR$/src/Universal_Robots_ROS2_Description" vcs="Git" />
|
||||||
<mapping directory="$PROJECT_DIR$/src/Universal_Robots_ROS2_Driver" vcs="Git" />
|
<mapping directory="$PROJECT_DIR$/src/Universal_Robots_ROS2_Driver" vcs="Git" />
|
||||||
<mapping directory="$PROJECT_DIR$/src/cartesian_controllers" vcs="Git" />
|
<mapping directory="$PROJECT_DIR$/src/cartesian_controllers" vcs="Git" />
|
||||||
<mapping directory="$PROJECT_DIR$/src/ros2_robotiq_gripper" vcs="Git" />
|
|
||||||
<mapping directory="$PROJECT_DIR$/src/serial" vcs="Git" />
|
|
||||||
</component>
|
</component>
|
||||||
</project>
|
</project>
|
||||||
@ -0,0 +1,148 @@
|
|||||||
|
# Copyright (c) 2022 PickNik, Inc.
|
||||||
|
#
|
||||||
|
# Redistribution and use in source and binary forms, with or without
|
||||||
|
# modification, are permitted provided that the following conditions are met:
|
||||||
|
#
|
||||||
|
# * Redistributions of source code must retain the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer.
|
||||||
|
#
|
||||||
|
# * Redistributions in binary form must reproduce the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer in the
|
||||||
|
# documentation and/or other materials provided with the distribution.
|
||||||
|
#
|
||||||
|
# * Neither the name of the {copyright_holder} nor the names of its
|
||||||
|
# contributors may be used to endorse or promote products derived from
|
||||||
|
# this software without specific prior written permission.
|
||||||
|
#
|
||||||
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||||
|
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||||
|
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||||
|
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||||
|
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||||
|
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||||
|
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||||
|
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||||
|
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||||
|
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
# POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
|
||||||
|
import launch
|
||||||
|
from launch.substitutions import (
|
||||||
|
Command,
|
||||||
|
FindExecutable,
|
||||||
|
LaunchConfiguration,
|
||||||
|
PathJoinSubstitution,
|
||||||
|
)
|
||||||
|
from launch.conditions import IfCondition
|
||||||
|
import launch_ros
|
||||||
|
import os
|
||||||
|
|
||||||
|
|
||||||
|
def generate_launch_description():
|
||||||
|
description_pkg_share = launch_ros.substitutions.FindPackageShare(
|
||||||
|
package="robotiq_description"
|
||||||
|
).find("robotiq_2f_description")
|
||||||
|
default_model_path = os.path.join(
|
||||||
|
description_pkg_share, "urdf", "robotiq_2f_140.urdf.xacro"
|
||||||
|
)
|
||||||
|
default_rviz_config_path = os.path.join(
|
||||||
|
description_pkg_share, "rviz", "view_urdf.rviz"
|
||||||
|
)
|
||||||
|
|
||||||
|
args = []
|
||||||
|
args.append(
|
||||||
|
launch.actions.DeclareLaunchArgument(
|
||||||
|
name="model",
|
||||||
|
default_value=default_model_path,
|
||||||
|
description="Absolute path to gripper URDF file",
|
||||||
|
)
|
||||||
|
)
|
||||||
|
args.append(
|
||||||
|
launch.actions.DeclareLaunchArgument(
|
||||||
|
name="rvizconfig",
|
||||||
|
default_value=default_rviz_config_path,
|
||||||
|
description="Absolute path to rviz config file",
|
||||||
|
)
|
||||||
|
)
|
||||||
|
args.append(
|
||||||
|
launch.actions.DeclareLaunchArgument(
|
||||||
|
name="launch_rviz", default_value="true", description="Launch RViz?"
|
||||||
|
)
|
||||||
|
)
|
||||||
|
|
||||||
|
robot_description_content = Command(
|
||||||
|
[
|
||||||
|
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
||||||
|
" ",
|
||||||
|
LaunchConfiguration("model"),
|
||||||
|
" ",
|
||||||
|
"use_fake_hardware:=true",
|
||||||
|
]
|
||||||
|
)
|
||||||
|
robot_description_param = {
|
||||||
|
"robot_description": launch_ros.parameter_descriptions.ParameterValue(
|
||||||
|
robot_description_content, value_type=str
|
||||||
|
)
|
||||||
|
}
|
||||||
|
|
||||||
|
controllers_file = "robotiq_controllers.yaml"
|
||||||
|
initial_joint_controllers = PathJoinSubstitution(
|
||||||
|
[description_pkg_share, "config", controllers_file]
|
||||||
|
)
|
||||||
|
|
||||||
|
control_node = launch_ros.actions.Node(
|
||||||
|
package="controller_manager",
|
||||||
|
executable="ros2_control_node",
|
||||||
|
parameters=[
|
||||||
|
robot_description_param,
|
||||||
|
initial_joint_controllers,
|
||||||
|
],
|
||||||
|
)
|
||||||
|
|
||||||
|
robot_state_publisher_node = launch_ros.actions.Node(
|
||||||
|
package="robot_state_publisher",
|
||||||
|
executable="robot_state_publisher",
|
||||||
|
parameters=[robot_description_param],
|
||||||
|
)
|
||||||
|
|
||||||
|
rviz_node = launch_ros.actions.Node(
|
||||||
|
package="rviz2",
|
||||||
|
executable="rviz2",
|
||||||
|
name="rviz2",
|
||||||
|
output="log",
|
||||||
|
arguments=["-d", LaunchConfiguration("rvizconfig")],
|
||||||
|
condition=IfCondition(LaunchConfiguration("launch_rviz")),
|
||||||
|
)
|
||||||
|
|
||||||
|
joint_state_broadcaster_spawner = launch_ros.actions.Node(
|
||||||
|
package="controller_manager",
|
||||||
|
executable="spawner",
|
||||||
|
arguments=[
|
||||||
|
"joint_state_broadcaster",
|
||||||
|
"--controller-manager",
|
||||||
|
"/controller_manager",
|
||||||
|
],
|
||||||
|
)
|
||||||
|
|
||||||
|
robotiq_gripper_controller_spawner = launch_ros.actions.Node(
|
||||||
|
package="controller_manager",
|
||||||
|
executable="spawner",
|
||||||
|
arguments=["robotiq_gripper_controller", "-c", "/controller_manager"],
|
||||||
|
)
|
||||||
|
|
||||||
|
robotiq_activation_controller_spawner = launch_ros.actions.Node(
|
||||||
|
package="controller_manager",
|
||||||
|
executable="spawner",
|
||||||
|
arguments=["robotiq_activation_controller", "-c", "/controller_manager"],
|
||||||
|
)
|
||||||
|
|
||||||
|
nodes = [
|
||||||
|
control_node,
|
||||||
|
robot_state_publisher_node,
|
||||||
|
joint_state_broadcaster_spawner,
|
||||||
|
robotiq_gripper_controller_spawner,
|
||||||
|
robotiq_activation_controller_spawner,
|
||||||
|
rviz_node,
|
||||||
|
]
|
||||||
|
|
||||||
|
return launch.LaunchDescription(args + nodes)
|
||||||
@ -0,0 +1,75 @@
|
|||||||
|
import launch
|
||||||
|
from launch.substitutions import (
|
||||||
|
Command,
|
||||||
|
FindExecutable,
|
||||||
|
LaunchConfiguration,
|
||||||
|
PathJoinSubstitution,
|
||||||
|
)
|
||||||
|
import launch_ros
|
||||||
|
import os
|
||||||
|
|
||||||
|
|
||||||
|
def generate_launch_description():
|
||||||
|
pkg_share = launch_ros.substitutions.FindPackageShare(
|
||||||
|
package="robotiq_2f_description"
|
||||||
|
).find("robotiq_2f_description")
|
||||||
|
default_model_path = os.path.join(
|
||||||
|
pkg_share, "urdf", "robotiq_2f_85.urdf.xacro"
|
||||||
|
)
|
||||||
|
default_rviz_config_path = os.path.join(pkg_share, "rviz", "view_urdf.rviz")
|
||||||
|
|
||||||
|
args = []
|
||||||
|
args.append(
|
||||||
|
launch.actions.DeclareLaunchArgument(
|
||||||
|
name="model",
|
||||||
|
default_value=default_model_path,
|
||||||
|
description="Absolute path to gripper URDF file",
|
||||||
|
)
|
||||||
|
)
|
||||||
|
args.append(
|
||||||
|
launch.actions.DeclareLaunchArgument(
|
||||||
|
name="rvizconfig",
|
||||||
|
default_value=default_rviz_config_path,
|
||||||
|
description="Absolute path to rviz config file",
|
||||||
|
)
|
||||||
|
)
|
||||||
|
|
||||||
|
robot_description_content = Command(
|
||||||
|
[
|
||||||
|
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
||||||
|
" ",
|
||||||
|
LaunchConfiguration("model"),
|
||||||
|
]
|
||||||
|
)
|
||||||
|
robot_description_param = {
|
||||||
|
"robot_description": launch_ros.parameter_descriptions.ParameterValue(
|
||||||
|
robot_description_content, value_type=str
|
||||||
|
)
|
||||||
|
}
|
||||||
|
|
||||||
|
robot_state_publisher_node = launch_ros.actions.Node(
|
||||||
|
package="robot_state_publisher",
|
||||||
|
executable="robot_state_publisher",
|
||||||
|
parameters=[robot_description_param],
|
||||||
|
)
|
||||||
|
|
||||||
|
joint_state_publisher_node = launch_ros.actions.Node(
|
||||||
|
package="joint_state_publisher_gui",
|
||||||
|
executable="joint_state_publisher_gui",
|
||||||
|
)
|
||||||
|
|
||||||
|
rviz_node = launch_ros.actions.Node(
|
||||||
|
package="rviz2",
|
||||||
|
executable="rviz2",
|
||||||
|
name="rviz2",
|
||||||
|
output="screen",
|
||||||
|
arguments=["-d", LaunchConfiguration("rvizconfig")],
|
||||||
|
)
|
||||||
|
|
||||||
|
nodes = [
|
||||||
|
robot_state_publisher_node,
|
||||||
|
joint_state_publisher_node,
|
||||||
|
rviz_node,
|
||||||
|
]
|
||||||
|
|
||||||
|
return launch.LaunchDescription(args + nodes)
|
||||||
234
src/robotiq_2f/robotiq_2f_description/rviz/view_urdf.rviz
Normal file
234
src/robotiq_2f/robotiq_2f_description/rviz/view_urdf.rviz
Normal file
@ -0,0 +1,234 @@
|
|||||||
|
Panels:
|
||||||
|
- Class: rviz_common/Displays
|
||||||
|
Help Height: 78
|
||||||
|
Name: Displays
|
||||||
|
Property Tree Widget:
|
||||||
|
Expanded:
|
||||||
|
- /Status1
|
||||||
|
Splitter Ratio: 0.6264705657958984
|
||||||
|
Tree Height: 555
|
||||||
|
- Class: rviz_common/Selection
|
||||||
|
Name: Selection
|
||||||
|
- Class: rviz_common/Tool Properties
|
||||||
|
Expanded:
|
||||||
|
- /2D Goal Pose1
|
||||||
|
- /Publish Point1
|
||||||
|
Name: Tool Properties
|
||||||
|
Splitter Ratio: 0.5886790156364441
|
||||||
|
- Class: rviz_common/Views
|
||||||
|
Expanded:
|
||||||
|
- /Current View1
|
||||||
|
Name: Views
|
||||||
|
Splitter Ratio: 0.5
|
||||||
|
- Class: rviz_common/Time
|
||||||
|
Experimental: false
|
||||||
|
Name: Time
|
||||||
|
SyncMode: 0
|
||||||
|
SyncSource: ""
|
||||||
|
Visualization Manager:
|
||||||
|
Class: ""
|
||||||
|
Displays:
|
||||||
|
- Alpha: 0.5
|
||||||
|
Cell Size: 1
|
||||||
|
Class: rviz_default_plugins/Grid
|
||||||
|
Color: 160; 160; 164
|
||||||
|
Enabled: true
|
||||||
|
Line Style:
|
||||||
|
Line Width: 0.029999999329447746
|
||||||
|
Value: Lines
|
||||||
|
Name: Grid
|
||||||
|
Normal Cell Count: 0
|
||||||
|
Offset:
|
||||||
|
X: 0
|
||||||
|
Y: 0
|
||||||
|
Z: 0
|
||||||
|
Plane: XY
|
||||||
|
Plane Cell Count: 10
|
||||||
|
Reference Frame: <Fixed Frame>
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Class: rviz_default_plugins/RobotModel
|
||||||
|
Collision Enabled: false
|
||||||
|
Description File: ""
|
||||||
|
Description Source: Topic
|
||||||
|
Description Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: robot_description
|
||||||
|
Enabled: true
|
||||||
|
Links:
|
||||||
|
All Links Enabled: true
|
||||||
|
Expand Joint Details: false
|
||||||
|
Expand Link Details: false
|
||||||
|
Expand Tree: false
|
||||||
|
Link Tree Style: Links in Alphabetic Order
|
||||||
|
arm_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
base_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
dummy_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
end_effector_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
forearm_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
gripper_base_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
left_finger_dist_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
left_finger_prox_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
lower_wrist_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
right_finger_dist_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
right_finger_prox_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
shoulder_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
table:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
tool_frame:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
upper_wrist_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
world:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Mass Properties:
|
||||||
|
Inertia: false
|
||||||
|
Mass: false
|
||||||
|
Name: RobotModel
|
||||||
|
TF Prefix: ""
|
||||||
|
Update Interval: 0
|
||||||
|
Value: true
|
||||||
|
Visual Enabled: true
|
||||||
|
Enabled: true
|
||||||
|
Global Options:
|
||||||
|
Background Color: 48; 48; 48
|
||||||
|
Fixed Frame: world
|
||||||
|
Frame Rate: 30
|
||||||
|
Name: root
|
||||||
|
Tools:
|
||||||
|
- Class: rviz_default_plugins/Interact
|
||||||
|
Hide Inactive Objects: true
|
||||||
|
- Class: rviz_default_plugins/MoveCamera
|
||||||
|
- Class: rviz_default_plugins/Select
|
||||||
|
- Class: rviz_default_plugins/FocusCamera
|
||||||
|
- Class: rviz_default_plugins/Measure
|
||||||
|
Line color: 128; 128; 0
|
||||||
|
- Class: rviz_default_plugins/SetInitialPose
|
||||||
|
Covariance x: 0.25
|
||||||
|
Covariance y: 0.25
|
||||||
|
Covariance yaw: 0.06853891909122467
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /initialpose
|
||||||
|
- Class: rviz_default_plugins/SetGoal
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /goal_pose
|
||||||
|
- Class: rviz_default_plugins/PublishPoint
|
||||||
|
Single click: true
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /clicked_point
|
||||||
|
Transformation:
|
||||||
|
Current:
|
||||||
|
Class: rviz_default_plugins/TF
|
||||||
|
Value: true
|
||||||
|
Views:
|
||||||
|
Current:
|
||||||
|
Class: rviz_default_plugins/Orbit
|
||||||
|
Distance: 2.1567115783691406
|
||||||
|
Enable Stereo Rendering:
|
||||||
|
Stereo Eye Separation: 0.05999999865889549
|
||||||
|
Stereo Focal Distance: 1
|
||||||
|
Swap Stereo Eyes: false
|
||||||
|
Value: false
|
||||||
|
Focal Point:
|
||||||
|
X: -0.09681572020053864
|
||||||
|
Y: -0.10843408107757568
|
||||||
|
Z: 0.1451336145401001
|
||||||
|
Focal Shape Fixed Size: true
|
||||||
|
Focal Shape Size: 0.05000000074505806
|
||||||
|
Invert Z Axis: false
|
||||||
|
Name: Current View
|
||||||
|
Near Clip Distance: 0.009999999776482582
|
||||||
|
Pitch: 0.785398006439209
|
||||||
|
Target Frame: <Fixed Frame>
|
||||||
|
Value: Orbit (rviz)
|
||||||
|
Yaw: 0.785398006439209
|
||||||
|
Saved: ~
|
||||||
|
Window Geometry:
|
||||||
|
Displays:
|
||||||
|
collapsed: false
|
||||||
|
Height: 846
|
||||||
|
Hide Left Dock: false
|
||||||
|
Hide Right Dock: false
|
||||||
|
QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024400fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||||
|
Selection:
|
||||||
|
collapsed: false
|
||||||
|
Time:
|
||||||
|
collapsed: false
|
||||||
|
Tool Properties:
|
||||||
|
collapsed: false
|
||||||
|
Views:
|
||||||
|
collapsed: false
|
||||||
|
Width: 1200
|
||||||
|
X: 1989
|
||||||
|
Y: 261
|
||||||
9
src/robotiq_2f/robotiq_controllers/CHANGELOG.rst
Normal file
9
src/robotiq_2f/robotiq_controllers/CHANGELOG.rst
Normal file
@ -0,0 +1,9 @@
|
|||||||
|
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||||
|
Changelog for package robotiq_controllers
|
||||||
|
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||||
|
|
||||||
|
0.0.1 (2023-07-17)
|
||||||
|
------------------
|
||||||
|
* Initial ROS 2 release of robotiq_controllers
|
||||||
|
* This package is not supported by Robotiq but is being maintained by PickNik Robotics
|
||||||
|
* Contributors: Alex Moriarty, Cory Crean
|
||||||
84
src/robotiq_2f/robotiq_controllers/CMakeLists.txt
Normal file
84
src/robotiq_2f/robotiq_controllers/CMakeLists.txt
Normal file
@ -0,0 +1,84 @@
|
|||||||
|
cmake_minimum_required(VERSION 3.8)
|
||||||
|
project(robotiq_controllers)
|
||||||
|
|
||||||
|
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)
|
||||||
|
find_package(controller_interface REQUIRED)
|
||||||
|
find_package(std_srvs REQUIRED)
|
||||||
|
|
||||||
|
set(THIS_PACKAGE_INCLUDE_DEPENDS
|
||||||
|
controller_interface
|
||||||
|
std_srvs
|
||||||
|
)
|
||||||
|
|
||||||
|
include_directories(include)
|
||||||
|
|
||||||
|
add_library(${PROJECT_NAME} SHARED
|
||||||
|
src/robotiq_activation_controller.cpp
|
||||||
|
)
|
||||||
|
|
||||||
|
target_include_directories(${PROJECT_NAME} PRIVATE
|
||||||
|
include
|
||||||
|
)
|
||||||
|
|
||||||
|
ament_target_dependencies(${PROJECT_NAME}
|
||||||
|
${THIS_PACKAGE_INCLUDE_DEPENDS}
|
||||||
|
)
|
||||||
|
|
||||||
|
pluginlib_export_plugin_description_file(controller_interface controller_plugins.xml)
|
||||||
|
|
||||||
|
# # INSTALL
|
||||||
|
install(
|
||||||
|
TARGETS ${PROJECT_NAME}
|
||||||
|
EXPORT export_${PROJECT_NAME}
|
||||||
|
ARCHIVE DESTINATION lib/${PROJECT_NAME}
|
||||||
|
LIBRARY DESTINATION lib
|
||||||
|
RUNTIME DESTINATION bin
|
||||||
|
)
|
||||||
|
install(
|
||||||
|
DIRECTORY include/
|
||||||
|
DESTINATION include
|
||||||
|
)
|
||||||
|
|
||||||
|
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)
|
||||||
|
|
||||||
|
# the following skips uncrustify
|
||||||
|
# ament_uncrustify and ament_clang_format cannot both be satisfied
|
||||||
|
set(ament_cmake_uncrustify_FOUND TRUE)
|
||||||
|
|
||||||
|
# the following skips xmllint
|
||||||
|
# ament_xmllint requires network and can timeout if on throttled networks
|
||||||
|
set(ament_cmake_xmllint_FOUND TRUE)
|
||||||
|
|
||||||
|
ament_lint_auto_find_test_dependencies()
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# # EXPORTS
|
||||||
|
ament_export_include_directories(
|
||||||
|
include
|
||||||
|
)
|
||||||
|
ament_export_libraries(
|
||||||
|
${PROJECT_NAME}
|
||||||
|
)
|
||||||
|
ament_export_targets(
|
||||||
|
export_${PROJECT_NAME}
|
||||||
|
)
|
||||||
|
ament_export_dependencies(
|
||||||
|
${THIS_PACKAGE_INCLUDE_DEPENDS}
|
||||||
|
)
|
||||||
|
|
||||||
|
ament_package()
|
||||||
@ -0,0 +1,7 @@
|
|||||||
|
<library path="robotiq_controllers">
|
||||||
|
<class name="robotiq_controllers/RobotiqActivationController" type="robotiq_controllers::RobotiqActivationController" base_class_type="controller_interface::ControllerInterface">
|
||||||
|
<description>
|
||||||
|
This controller provides an interface to (re-)activate the Robotiq gripper.
|
||||||
|
</description>
|
||||||
|
</class>
|
||||||
|
</library>
|
||||||
@ -0,0 +1,64 @@
|
|||||||
|
// Copyright (c) 2022 PickNik, Inc.
|
||||||
|
//
|
||||||
|
// Redistribution and use in source and binary forms, with or without
|
||||||
|
// modification, are permitted provided that the following conditions are met:
|
||||||
|
//
|
||||||
|
// * Redistributions of source code must retain the above copyright
|
||||||
|
// notice, this list of conditions and the following disclaimer.
|
||||||
|
//
|
||||||
|
// * Redistributions in binary form must reproduce the above copyright
|
||||||
|
// notice, this list of conditions and the following disclaimer in the
|
||||||
|
// documentation and/or other materials provided with the distribution.
|
||||||
|
//
|
||||||
|
// * Neither the name of the {copyright_holder} nor the names of its
|
||||||
|
// contributors may be used to endorse or promote products derived from
|
||||||
|
// this software without specific prior written permission.
|
||||||
|
//
|
||||||
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||||
|
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||||
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||||
|
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||||
|
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||||
|
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||||
|
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||||
|
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||||
|
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||||
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
// POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include "controller_interface/controller_interface.hpp"
|
||||||
|
#include "std_srvs/srv/trigger.hpp"
|
||||||
|
|
||||||
|
namespace robotiq_controllers
|
||||||
|
{
|
||||||
|
class RobotiqActivationController : public controller_interface::ControllerInterface
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
controller_interface::InterfaceConfiguration command_interface_configuration() const override;
|
||||||
|
|
||||||
|
controller_interface::InterfaceConfiguration state_interface_configuration() const override;
|
||||||
|
|
||||||
|
controller_interface::return_type update(const rclcpp::Time& time, const rclcpp::Duration& period) override;
|
||||||
|
|
||||||
|
CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override;
|
||||||
|
|
||||||
|
CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override;
|
||||||
|
|
||||||
|
CallbackReturn on_init() override;
|
||||||
|
|
||||||
|
private:
|
||||||
|
bool reactivateGripper(std_srvs::srv::Trigger::Request::SharedPtr req,
|
||||||
|
std_srvs::srv::Trigger::Response::SharedPtr resp);
|
||||||
|
|
||||||
|
static constexpr double ASYNC_WAITING = 2.0;
|
||||||
|
enum CommandInterfaces
|
||||||
|
{
|
||||||
|
REACTIVATE_GRIPPER_CMD,
|
||||||
|
REACTIVATE_GRIPPER_RESPONSE
|
||||||
|
};
|
||||||
|
|
||||||
|
rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr reactivate_gripper_srv_;
|
||||||
|
};
|
||||||
|
} // namespace robotiq_controllers
|
||||||
23
src/robotiq_2f/robotiq_controllers/package.xml
Normal file
23
src/robotiq_2f/robotiq_controllers/package.xml
Normal file
@ -0,0 +1,23 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||||
|
<package format="3">
|
||||||
|
<name>robotiq_controllers</name>
|
||||||
|
<version>0.0.1</version>
|
||||||
|
<description>Controllers for the Robotiq gripper.</description>
|
||||||
|
<maintainer email="alex.moriarty@picknik.ai">Alex Moriarty</maintainer>
|
||||||
|
<maintainer email="marq.rasmussen@picknik.ai">Marq Rasmussen</maintainer>
|
||||||
|
<license>BSD 3-Clause</license>
|
||||||
|
<author>Cory Crean</author>
|
||||||
|
|
||||||
|
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||||
|
|
||||||
|
<depend>controller_interface</depend>
|
||||||
|
<depend>std_srvs</depend>
|
||||||
|
|
||||||
|
<test_depend>ament_lint_auto</test_depend>
|
||||||
|
<test_depend>ament_lint_common</test_depend>
|
||||||
|
|
||||||
|
<export>
|
||||||
|
<build_type>ament_cmake</build_type>
|
||||||
|
</export>
|
||||||
|
</package>
|
||||||
@ -0,0 +1,123 @@
|
|||||||
|
// Copyright (c) 2022 PickNik, Inc.
|
||||||
|
//
|
||||||
|
// Redistribution and use in source and binary forms, with or without
|
||||||
|
// modification, are permitted provided that the following conditions are met:
|
||||||
|
//
|
||||||
|
// * Redistributions of source code must retain the above copyright
|
||||||
|
// notice, this list of conditions and the following disclaimer.
|
||||||
|
//
|
||||||
|
// * Redistributions in binary form must reproduce the above copyright
|
||||||
|
// notice, this list of conditions and the following disclaimer in the
|
||||||
|
// documentation and/or other materials provided with the distribution.
|
||||||
|
//
|
||||||
|
// * Neither the name of the {copyright_holder} nor the names of its
|
||||||
|
// contributors may be used to endorse or promote products derived from
|
||||||
|
// this software without specific prior written permission.
|
||||||
|
//
|
||||||
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||||
|
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||||
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||||
|
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||||
|
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||||
|
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||||
|
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||||
|
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||||
|
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||||
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
// POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
|
||||||
|
#include "robotiq_controllers/robotiq_activation_controller.hpp"
|
||||||
|
|
||||||
|
namespace robotiq_controllers
|
||||||
|
{
|
||||||
|
controller_interface::InterfaceConfiguration RobotiqActivationController::command_interface_configuration() const
|
||||||
|
{
|
||||||
|
controller_interface::InterfaceConfiguration config;
|
||||||
|
config.type = controller_interface::interface_configuration_type::INDIVIDUAL;
|
||||||
|
|
||||||
|
config.names.emplace_back("reactivate_gripper/reactivate_gripper_cmd");
|
||||||
|
config.names.emplace_back("reactivate_gripper/reactivate_gripper_response");
|
||||||
|
|
||||||
|
return config;
|
||||||
|
}
|
||||||
|
|
||||||
|
controller_interface::InterfaceConfiguration RobotiqActivationController::state_interface_configuration() const
|
||||||
|
{
|
||||||
|
controller_interface::InterfaceConfiguration config;
|
||||||
|
config.type = controller_interface::interface_configuration_type::INDIVIDUAL;
|
||||||
|
|
||||||
|
return config;
|
||||||
|
}
|
||||||
|
|
||||||
|
controller_interface::return_type RobotiqActivationController::update(const rclcpp::Time& /*time*/,
|
||||||
|
const rclcpp::Duration& /*period*/)
|
||||||
|
{
|
||||||
|
return controller_interface::return_type::OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
|
||||||
|
RobotiqActivationController::on_activate(const rclcpp_lifecycle::State& /*previous_state*/)
|
||||||
|
{
|
||||||
|
// Check command interfaces.
|
||||||
|
if (command_interfaces_.size() != 2)
|
||||||
|
{
|
||||||
|
RCLCPP_ERROR(get_node()->get_logger(), "Expected %d command interfaces, but got %zu.", 2,
|
||||||
|
command_interfaces_.size());
|
||||||
|
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
|
||||||
|
}
|
||||||
|
|
||||||
|
try
|
||||||
|
{
|
||||||
|
// Create service for re-activating the gripper.
|
||||||
|
reactivate_gripper_srv_ = get_node()->create_service<std_srvs::srv::Trigger>(
|
||||||
|
"~/reactivate_gripper",
|
||||||
|
[this](std_srvs::srv::Trigger::Request::SharedPtr req, std_srvs::srv::Trigger::Response::SharedPtr resp) {
|
||||||
|
this->reactivateGripper(req, resp);
|
||||||
|
});
|
||||||
|
}
|
||||||
|
catch (...)
|
||||||
|
{
|
||||||
|
return LifecycleNodeInterface::CallbackReturn::ERROR;
|
||||||
|
}
|
||||||
|
return LifecycleNodeInterface::CallbackReturn::SUCCESS;
|
||||||
|
}
|
||||||
|
|
||||||
|
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
|
||||||
|
RobotiqActivationController::on_deactivate(const rclcpp_lifecycle::State& /*previous_state*/)
|
||||||
|
{
|
||||||
|
try
|
||||||
|
{
|
||||||
|
reactivate_gripper_srv_.reset();
|
||||||
|
}
|
||||||
|
catch (...)
|
||||||
|
{
|
||||||
|
return LifecycleNodeInterface::CallbackReturn::ERROR;
|
||||||
|
}
|
||||||
|
|
||||||
|
return LifecycleNodeInterface::CallbackReturn::SUCCESS;
|
||||||
|
}
|
||||||
|
|
||||||
|
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn RobotiqActivationController::on_init()
|
||||||
|
{
|
||||||
|
return LifecycleNodeInterface::CallbackReturn::SUCCESS;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool RobotiqActivationController::reactivateGripper(std_srvs::srv::Trigger::Request::SharedPtr /*req*/,
|
||||||
|
std_srvs::srv::Trigger::Response::SharedPtr resp)
|
||||||
|
{
|
||||||
|
command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].set_value(ASYNC_WAITING);
|
||||||
|
command_interfaces_[REACTIVATE_GRIPPER_CMD].set_value(1.0);
|
||||||
|
|
||||||
|
while (command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_value() == ASYNC_WAITING)
|
||||||
|
{
|
||||||
|
std::this_thread::sleep_for(std::chrono::milliseconds(50));
|
||||||
|
}
|
||||||
|
resp->success = command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_value();
|
||||||
|
|
||||||
|
return resp->success;
|
||||||
|
}
|
||||||
|
} // namespace robotiq_controllers
|
||||||
|
|
||||||
|
#include "pluginlib/class_list_macros.hpp"
|
||||||
|
|
||||||
|
PLUGINLIB_EXPORT_CLASS(robotiq_controllers::RobotiqActivationController, controller_interface::ControllerInterface)
|
||||||
@ -11,11 +11,17 @@
|
|||||||
|
|
||||||
<!-- Dependencies -->
|
<!-- Dependencies -->
|
||||||
<depend>rclcpp</depend>
|
<depend>rclcpp</depend>
|
||||||
|
<<<<<<<< HEAD:src/servo_keyboard/package.xml
|
||||||
<depend>control_msgs</depend>
|
<depend>control_msgs</depend>
|
||||||
<depend>geometry_msgs</depend>
|
<depend>geometry_msgs</depend>
|
||||||
<build_depend>controller_manager_msgs</build_depend>
|
<build_depend>controller_manager_msgs</build_depend>
|
||||||
<exec_depend>controller_manager_msgs</exec_depend>
|
<exec_depend>controller_manager_msgs</exec_depend>
|
||||||
|
|
||||||
|
========
|
||||||
|
<depend>rclcpp_lifecycle</depend>
|
||||||
|
<depend>hardware_interface</depend>
|
||||||
|
<depend>pluginlib</depend>
|
||||||
|
>>>>>>>> origin/main:src/robotiq_2f/robotiq_2f_interface/package.xml
|
||||||
|
|
||||||
<test_depend>ament_lint_auto</test_depend>
|
<test_depend>ament_lint_auto</test_depend>
|
||||||
<test_depend>ament_lint_common</test_depend>
|
<test_depend>ament_lint_common</test_depend>
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user