issue with Gripper controllers
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@ -5,9 +5,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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install(DIRECTORY urdf/
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DESTINATION share/${PROJECT_NAME}/urdf)
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install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})
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# find dependencies
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find_package(ament_cmake REQUIRED)
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144
src/ur_robotiq_description/config/ur_robotiq_controllers.yaml
Normal file
144
src/ur_robotiq_description/config/ur_robotiq_controllers.yaml
Normal file
@ -0,0 +1,144 @@
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controller_manager:
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ros__parameters:
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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io_and_status_controller:
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type: ur_controllers/GPIOController
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speed_scaling_state_broadcaster:
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type: ur_controllers/SpeedScalingStateBroadcaster
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force_torque_sensor_broadcaster:
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type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
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joint_trajectory_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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scaled_joint_trajectory_controller:
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type: ur_controllers/ScaledJointTrajectoryController
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forward_velocity_controller:
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type: velocity_controllers/JointGroupVelocityController
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forward_position_controller:
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type: position_controllers/JointGroupPositionController
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robotiq_gripper_controller:
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type: position_controllers/GripperActionController
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robotiq_activation_controller:
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type: robotiq_controllers/RobotiqActivationController
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speed_scaling_state_broadcaster:
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ros__parameters:
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state_publish_rate: 100.0
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tf_prefix: "$(var tf_prefix)"
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io_and_status_controller:
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ros__parameters:
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tf_prefix: "$(var tf_prefix)"
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force_torque_sensor_broadcaster:
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ros__parameters:
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sensor_name: $(var tf_prefix)tcp_fts_sensor
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state_interface_names:
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- force.x
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- force.y
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- force.z
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- torque.x
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- torque.y
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- torque.z
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frame_id: $(var tf_prefix)tool0
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topic_name: ft_data
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joint_trajectory_controller:
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ros__parameters:
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joints:
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- $(var tf_prefix)shoulder_pan_joint
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- $(var tf_prefix)shoulder_lift_joint
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- $(var tf_prefix)elbow_joint
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- $(var tf_prefix)wrist_1_joint
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- $(var tf_prefix)wrist_2_joint
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- $(var tf_prefix)wrist_3_joint
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command_interfaces:
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- position
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state_interfaces:
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- position
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- velocity
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state_publish_rate: 100.0
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action_monitor_rate: 20.0
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allow_partial_joints_goal: false
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constraints:
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stopped_velocity_tolerance: 0.2
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goal_time: 0.0
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$(var tf_prefix)shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
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$(var tf_prefix)shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
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$(var tf_prefix)elbow_joint: { trajectory: 0.2, goal: 0.1 }
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$(var tf_prefix)wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
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$(var tf_prefix)wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
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$(var tf_prefix)wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
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scaled_joint_trajectory_controller:
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ros__parameters:
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joints:
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- $(var tf_prefix)shoulder_pan_joint
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- $(var tf_prefix)shoulder_lift_joint
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- $(var tf_prefix)elbow_joint
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- $(var tf_prefix)wrist_1_joint
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- $(var tf_prefix)wrist_2_joint
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- $(var tf_prefix)wrist_3_joint
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command_interfaces:
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- position
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state_interfaces:
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- position
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- velocity
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state_publish_rate: 100.0
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action_monitor_rate: 20.0
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allow_partial_joints_goal: false
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constraints:
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stopped_velocity_tolerance: 0.2
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goal_time: 0.0
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$(var tf_prefix)shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
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$(var tf_prefix)shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
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$(var tf_prefix)elbow_joint: { trajectory: 0.2, goal: 0.1 }
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$(var tf_prefix)wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
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$(var tf_prefix)wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
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$(var tf_prefix)wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
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speed_scaling_interface_name: $(var tf_prefix)speed_scaling/speed_scaling_factor
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forward_velocity_controller:
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ros__parameters:
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joints:
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- $(var tf_prefix)shoulder_pan_joint
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- $(var tf_prefix)shoulder_lift_joint
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- $(var tf_prefix)elbow_joint
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- $(var tf_prefix)wrist_1_joint
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- $(var tf_prefix)wrist_2_joint
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- $(var tf_prefix)wrist_3_joint
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interface_name: velocity
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forward_position_controller:
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ros__parameters:
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joints:
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- $(var tf_prefix)shoulder_pan_joint
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- $(var tf_prefix)shoulder_lift_joint
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- $(var tf_prefix)elbow_joint
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- $(var tf_prefix)wrist_1_joint
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- $(var tf_prefix)wrist_2_joint
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- $(var tf_prefix)wrist_3_joint
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robotiq_gripper_controller:
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ros__parameters:
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default: true
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joint: $(var tf_prefix)robotiq_140_left_knuckle_joint
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use_effort_interface: true
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use_speed_interface: true
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robotiq_activation_controller:
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ros__parameters:
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default: true
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@ -0,0 +1,614 @@
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from launch_ros.actions import Node
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from launch_ros.parameter_descriptions import ParameterFile
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from launch_ros.substitutions import FindPackageShare
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction
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from launch.conditions import IfCondition, UnlessCondition
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution, TextSubstitution
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def launch_setup(context, *args, **kwargs):
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# Initialize Arguments
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ur_type = LaunchConfiguration("ur_type")
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robot_ip = LaunchConfiguration("robot_ip")
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safety_limits = LaunchConfiguration("safety_limits")
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safety_pos_margin = LaunchConfiguration("safety_pos_margin")
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safety_k_position = LaunchConfiguration("safety_k_position")
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# General arguments
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runtime_config_package = LaunchConfiguration("runtime_config_package")
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controllers_file = LaunchConfiguration("controllers_file")
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description_package = LaunchConfiguration("description_package")
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ur_description_package = LaunchConfiguration("ur_description_package")
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description_file = LaunchConfiguration("description_file")
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tf_prefix = LaunchConfiguration("tf_prefix")
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use_fake_hardware = LaunchConfiguration("use_fake_hardware")
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fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
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controller_spawner_timeout = LaunchConfiguration("controller_spawner_timeout")
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initial_joint_controller = LaunchConfiguration("initial_joint_controller")
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activate_joint_controller = LaunchConfiguration("activate_joint_controller")
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launch_rviz = LaunchConfiguration("launch_rviz")
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headless_mode = LaunchConfiguration("headless_mode")
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launch_dashboard_client = LaunchConfiguration("launch_dashboard_client")
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use_tool_communication = LaunchConfiguration("use_tool_communication")
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tool_parity = LaunchConfiguration("tool_parity")
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tool_baud_rate = LaunchConfiguration("tool_baud_rate")
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tool_stop_bits = LaunchConfiguration("tool_stop_bits")
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tool_rx_idle_chars = LaunchConfiguration("tool_rx_idle_chars")
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tool_tx_idle_chars = LaunchConfiguration("tool_tx_idle_chars")
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tool_device_name = LaunchConfiguration("tool_device_name")
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tool_tcp_port = LaunchConfiguration("tool_tcp_port")
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tool_voltage = LaunchConfiguration("tool_voltage")
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reverse_ip = LaunchConfiguration("reverse_ip")
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script_command_port = LaunchConfiguration("script_command_port")
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reverse_port = LaunchConfiguration("reverse_port")
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script_sender_port = LaunchConfiguration("script_sender_port")
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trajectory_port = LaunchConfiguration("trajectory_port")
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# Config Paths UR
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joint_limit_params = PathJoinSubstitution(
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[FindPackageShare(ur_description_package), "config", ur_type, "joint_limits.yaml"]
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)
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kinematics_params = PathJoinSubstitution(
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[FindPackageShare(ur_description_package), "config", ur_type, "default_kinematics.yaml"]
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)
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physical_params = PathJoinSubstitution(
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[FindPackageShare(ur_description_package), "config", ur_type, "physical_parameters.yaml"]
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)
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visual_params = PathJoinSubstitution(
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[FindPackageShare(ur_description_package), "config", ur_type, "visual_parameters.yaml"]
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)
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script_filename = PathJoinSubstitution(
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[FindPackageShare("ur_client_library"), "resources", "external_control.urscript"]
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)
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input_recipe_filename = PathJoinSubstitution(
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[FindPackageShare("ur_robot_driver"), "resources", "rtde_input_recipe.txt"]
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)
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output_recipe_filename = PathJoinSubstitution(
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[FindPackageShare("ur_robot_driver"), "resources", "rtde_output_recipe.txt"]
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)
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# URDF
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robot_description_content = Command(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution([FindPackageShare(description_package), "urdf", description_file]),
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" ",
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"robot_ip:=",
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robot_ip,
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" ",
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"joint_limit_params:=",
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joint_limit_params,
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" ",
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"kinematics_params:=",
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kinematics_params,
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" ",
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"physical_params:=",
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physical_params,
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" ",
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"visual_params:=",
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visual_params,
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" ",
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"safety_limits:=",
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safety_limits,
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" ",
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"safety_pos_margin:=",
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safety_pos_margin,
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" ",
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"safety_k_position:=",
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safety_k_position,
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" ",
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"name:=",
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ur_type,
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" ",
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"script_filename:=",
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script_filename,
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" ",
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"input_recipe_filename:=",
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input_recipe_filename,
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" ",
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"output_recipe_filename:=",
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output_recipe_filename,
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" ",
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"tf_prefix:=",
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tf_prefix,
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" ",
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"use_fake_hardware:=",
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use_fake_hardware,
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" ",
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"fake_sensor_commands:=",
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fake_sensor_commands,
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" ",
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"headless_mode:=",
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headless_mode,
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" ",
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"use_tool_communication:=",
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use_tool_communication,
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" ",
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"tool_parity:=",
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tool_parity,
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" ",
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"tool_baud_rate:=",
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tool_baud_rate,
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" ",
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"tool_stop_bits:=",
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tool_stop_bits,
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" ",
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"tool_rx_idle_chars:=",
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tool_rx_idle_chars,
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" ",
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"tool_tx_idle_chars:=",
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tool_tx_idle_chars,
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" ",
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"tool_device_name:=",
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tool_device_name,
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" ",
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"tool_tcp_port:=",
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tool_tcp_port,
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" ",
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"tool_voltage:=",
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tool_voltage,
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" ",
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"reverse_ip:=",
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reverse_ip,
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" ",
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"script_command_port:=",
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script_command_port,
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" ",
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"reverse_port:=",
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reverse_port,
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" ",
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"script_sender_port:=",
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script_sender_port,
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" ",
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"trajectory_port:=",
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trajectory_port,
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" ",
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]
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)
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robot_description = {"robot_description": robot_description_content}
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initial_joint_controllers = PathJoinSubstitution(
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[FindPackageShare(description_package), "config", controllers_file]
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)
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rviz_config_file = PathJoinSubstitution(
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[FindPackageShare(description_package), "rviz", "view_robot.rviz"]
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)
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# define update rate
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update_rate_config_file = PathJoinSubstitution(
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[
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FindPackageShare(runtime_config_package),
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"config",
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ur_type.perform(context) + "_update_rate.yaml",
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]
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)
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control_node = Node(
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package="controller_manager",
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executable="ros2_control_node",
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parameters=[
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robot_description,
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update_rate_config_file,
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ParameterFile(initial_joint_controllers, allow_substs=True),
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],
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output="screen",
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condition=IfCondition(use_fake_hardware),
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)
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ur_control_node = Node(
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package="ur_robot_driver",
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executable="ur_ros2_control_node",
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parameters=[
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robot_description,
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update_rate_config_file,
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ParameterFile(initial_joint_controllers, allow_substs=True),
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],
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output="screen",
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condition=UnlessCondition(use_fake_hardware),
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)
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robotiq_gripper_controller_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["robotiq_gripper_controller", "-c", "/controller_manager"],
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)
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robotiq_activation_controller_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["robotiq_activation_controller", "-c", "/controller_manager"],
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)
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dashboard_client_node = Node(
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package="ur_robot_driver",
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condition=IfCondition(launch_dashboard_client) and UnlessCondition(use_fake_hardware),
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executable="dashboard_client",
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name="dashboard_client",
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output="screen",
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emulate_tty=True,
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parameters=[{"robot_ip": robot_ip}],
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)
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tool_communication_node = Node(
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package="ur_robot_driver",
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condition=IfCondition(use_tool_communication),
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executable="tool_communication.py",
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name="ur_tool_comm",
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output="screen",
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parameters=[
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{
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"robot_ip": robot_ip,
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"tcp_port": tool_tcp_port,
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"device_name": tool_device_name,
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}
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],
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)
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urscript_interface = Node(
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package="ur_robot_driver",
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executable="urscript_interface",
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parameters=[{"robot_ip": robot_ip}],
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output="screen",
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)
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controller_stopper_node = Node(
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package="ur_robot_driver",
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executable="controller_stopper_node",
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name="controller_stopper",
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output="screen",
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emulate_tty=True,
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condition=UnlessCondition(use_fake_hardware),
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parameters=[
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{"headless_mode": headless_mode},
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{"joint_controller_active": activate_joint_controller},
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{
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"consistent_controllers": [
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"io_and_status_controller",
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"force_torque_sensor_broadcaster",
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"joint_state_broadcaster",
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"speed_scaling_state_broadcaster",
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]
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},
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],
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)
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robot_state_publisher_node = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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output="both",
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parameters=[robot_description],
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)
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rviz_node = Node(
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package="rviz2",
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condition=IfCondition(launch_rviz),
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executable="rviz2",
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name="rviz2",
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output="log",
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arguments=["-d", rviz_config_file],
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)
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# Spawn controllers
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def controller_spawner(name, active=True):
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inactive_flags = ["--inactive"] if not active else []
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return Node(
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package="controller_manager",
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executable="spawner",
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arguments=[
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name,
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"--controller-manager",
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"/controller_manager",
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"--controller-manager-timeout",
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controller_spawner_timeout,
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]
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+ inactive_flags,
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)
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controller_spawner_names = [
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"joint_state_broadcaster",
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"io_and_status_controller",
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"speed_scaling_state_broadcaster",
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"force_torque_sensor_broadcaster",
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]
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controller_spawner_inactive_names = ["forward_position_controller"]
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controller_spawners = [controller_spawner(name) for name in controller_spawner_names] + [
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||||
controller_spawner(name, active=False) for name in controller_spawner_inactive_names
|
||||
]
|
||||
|
||||
# There may be other controllers of the joints, but this is the initially-started one
|
||||
initial_joint_controller_spawner_started = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=[
|
||||
initial_joint_controller,
|
||||
"-c",
|
||||
"/controller_manager",
|
||||
"--controller-manager-timeout",
|
||||
controller_spawner_timeout,
|
||||
],
|
||||
condition=IfCondition(activate_joint_controller),
|
||||
)
|
||||
initial_joint_controller_spawner_stopped = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=[
|
||||
initial_joint_controller,
|
||||
"-c",
|
||||
"/controller_manager",
|
||||
"--controller-manager-timeout",
|
||||
controller_spawner_timeout,
|
||||
"--inactive",
|
||||
],
|
||||
condition=UnlessCondition(activate_joint_controller),
|
||||
)
|
||||
|
||||
nodes_to_start = [
|
||||
control_node,
|
||||
ur_control_node,
|
||||
robotiq_gripper_controller_spawner,
|
||||
robotiq_activation_controller_spawner,
|
||||
dashboard_client_node,
|
||||
tool_communication_node,
|
||||
controller_stopper_node,
|
||||
urscript_interface,
|
||||
robot_state_publisher_node,
|
||||
rviz_node,
|
||||
initial_joint_controller_spawner_stopped,
|
||||
initial_joint_controller_spawner_started,
|
||||
] + controller_spawners
|
||||
|
||||
return nodes_to_start
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Declare Arguments
|
||||
declared_arguments = []
|
||||
# UR specific arguments
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"ur_type",
|
||||
description="Type/series of used UR robot.",
|
||||
default_value="ur3e",
|
||||
choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20"],
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"robot_ip", description="IP address by which the robot can be reached."
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"safety_limits",
|
||||
default_value="true",
|
||||
description="Enables the safety limits controller if true.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"safety_pos_margin",
|
||||
default_value="0.15",
|
||||
description="The margin to lower and upper limits in the safety controller.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"safety_k_position",
|
||||
default_value="20",
|
||||
description="k-position factor in the safety controller.",
|
||||
)
|
||||
)
|
||||
# General arguments
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"runtime_config_package",
|
||||
default_value="ur_robot_driver",
|
||||
description='Package with the controller\'s configuration in "config" folder. \
|
||||
Usually the argument is not set, it enables use of a custom setup.',
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"controllers_file",
|
||||
default_value="ur_robotiq_controllers.yaml",
|
||||
description="YAML file with the controllers configuration.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"description_package",
|
||||
default_value="ur_robotiq_description",
|
||||
description="Description package with robot URDF/XACRO files. Usually the argument \
|
||||
is not set, it enables use of a custom description.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"ur_description_package",
|
||||
default_value="ur_description",
|
||||
description="Description package with robot URDF/XACRO files. Usually the argument \
|
||||
is not set, it enables use of a custom description.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"description_file",
|
||||
default_value="ur_robotiq.urdf.xacro",
|
||||
description="URDF/XACRO description file with the robot.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"tf_prefix",
|
||||
default_value="",
|
||||
description="tf_prefix of the joint names, useful for \
|
||||
multi-robot setup. If changed, also joint names in the controllers' configuration \
|
||||
have to be updated.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"use_fake_hardware",
|
||||
default_value="true",
|
||||
description="Start robot with fake hardware mirroring command to its states.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"fake_sensor_commands",
|
||||
default_value="false",
|
||||
description="Enable fake command interfaces for sensors used for simple simulations. \
|
||||
Used only if 'use_fake_hardware' parameter is true.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"headless_mode",
|
||||
default_value="false",
|
||||
description="Enable headless mode for robot control",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"controller_spawner_timeout",
|
||||
default_value="10",
|
||||
description="Timeout used when spawning controllers.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"initial_joint_controller",
|
||||
default_value="scaled_joint_trajectory_controller",
|
||||
description="Initially loaded robot controller.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"activate_joint_controller",
|
||||
default_value="true",
|
||||
description="Activate loaded joint controller.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"launch_dashboard_client", default_value="true", description="Launch Dashboard Client?"
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"use_tool_communication",
|
||||
default_value="false",
|
||||
description="Only available for e series!",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"tool_parity",
|
||||
default_value="0",
|
||||
description="Parity configuration for serial communication. Only effective, if \
|
||||
use_tool_communication is set to True.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"tool_baud_rate",
|
||||
default_value="115200",
|
||||
description="Baud rate configuration for serial communication. Only effective, if \
|
||||
use_tool_communication is set to True.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"tool_stop_bits",
|
||||
default_value="1",
|
||||
description="Stop bits configuration for serial communication. Only effective, if \
|
||||
use_tool_communication is set to True.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"tool_rx_idle_chars",
|
||||
default_value="1.5",
|
||||
description="RX idle chars configuration for serial communication. Only effective, \
|
||||
if use_tool_communication is set to True.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"tool_tx_idle_chars",
|
||||
default_value="3.5",
|
||||
description="TX idle chars configuration for serial communication. Only effective, \
|
||||
if use_tool_communication is set to True.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"tool_device_name",
|
||||
default_value="/tmp/ttyUR",
|
||||
description="File descriptor that will be generated for the tool communication device. \
|
||||
The user has be be allowed to write to this location. \
|
||||
Only effective, if use_tool_communication is set to True.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"tool_tcp_port",
|
||||
default_value="54321",
|
||||
description="Remote port that will be used for bridging the tool's serial device. \
|
||||
Only effective, if use_tool_communication is set to True.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"tool_voltage",
|
||||
default_value="0", # 0 being a conservative value that won't destroy anything
|
||||
description="Tool voltage that will be setup.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"reverse_ip",
|
||||
default_value="0.0.0.0",
|
||||
description="IP that will be used for the robot controller to communicate back to the driver.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"script_command_port",
|
||||
default_value="50004",
|
||||
description="Port that will be opened to forward URScript commands to the robot.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"reverse_port",
|
||||
default_value="50001",
|
||||
description="Port that will be opened to send cyclic instructions from the driver to the robot controller.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"script_sender_port",
|
||||
default_value="50002",
|
||||
description="The driver will offer an interface to query the external_control URScript on this port.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"trajectory_port",
|
||||
default_value="50003",
|
||||
description="Port that will be opened for trajectory control.",
|
||||
)
|
||||
)
|
||||
|
||||
|
||||
return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])
|
||||
@ -9,6 +9,26 @@
|
||||
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
|
||||
<exec_depend>joint_state_publisher_gui</exec_depend>
|
||||
<exec_depend>launch</exec_depend>
|
||||
<exec_depend>launch_ros</exec_depend>
|
||||
<exec_depend>robot_state_publisher</exec_depend>
|
||||
<exec_depend>rviz2</exec_depend>
|
||||
<exec_depend>urdf</exec_depend>
|
||||
<exec_depend>xacro</exec_depend>
|
||||
|
||||
<exec_depend>ros2_control</exec_depend>
|
||||
<exec_depend>ros2_controllers</exec_depend>
|
||||
|
||||
<exec_depend>ur_description</exec_depend>
|
||||
<exec_depend>ur_robot_driver</exec_depend>
|
||||
<exec_depend>ur_controllers</exec_depend>
|
||||
<exec_depend>robotiq_description</exec_depend>
|
||||
<exec_depend>robotiq_driver</exec_depend>
|
||||
<exec_depend>robotiq_controllers</exec_depend>
|
||||
<exec_depend>gripper_controllers</exec_depend>
|
||||
<exec_depend>joint_state_broadcaster</exec_depend>
|
||||
|
||||
<test_depend>ament_lint_auto</test_depend>
|
||||
<test_depend>ament_lint_common</test_depend>
|
||||
|
||||
|
||||
@ -1,16 +1,12 @@
|
||||
Panels:
|
||||
- Class: rviz_common/Displays
|
||||
Help Height: 78
|
||||
Help Height: 87
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
- /RobotModel1
|
||||
- /RobotModel1/Status1
|
||||
- /RobotModel1/Links1
|
||||
- /RobotModel1/Description Topic1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 746
|
||||
Tree Height: 1096
|
||||
- Class: rviz_common/Selection
|
||||
Name: Selection
|
||||
- Class: rviz_common/Tool Properties
|
||||
@ -24,11 +20,6 @@ Panels:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz_common/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
@ -90,69 +81,6 @@ Visualization Manager:
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
ft_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
left_inner_finger:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
left_inner_finger_pad:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
left_inner_knuckle:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
left_outer_finger:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
left_outer_knuckle:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_inner_finger:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_inner_finger_pad:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_inner_knuckle:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_outer_finger:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_outer_knuckle:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
robotiq_140_base_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
robotiq_base_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
shoulder_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
@ -167,15 +95,6 @@ Visualization Manager:
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
ur_to_robotiq_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
world:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
wrist_1_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
@ -191,9 +110,6 @@ Visualization Manager:
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Mass Properties:
|
||||
Inertia: false
|
||||
Mass: false
|
||||
Name: RobotModel
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
@ -202,7 +118,7 @@ Visualization Manager:
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: world
|
||||
Fixed Frame: base_link
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
@ -214,9 +130,6 @@ Visualization Manager:
|
||||
- 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
|
||||
@ -245,41 +158,39 @@ Visualization Manager:
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz_default_plugins/Orbit
|
||||
Distance: 1.6701574325561523
|
||||
Distance: 3.493516445159912
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
X: -0.0457618348300457
|
||||
Y: -0.07058511674404144
|
||||
Z: 0.49734944105148315
|
||||
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
|
||||
Pitch: 0.15039828419685364
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 0.785398006439209
|
||||
Yaw: 0.5353983640670776
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1043
|
||||
Height: 1379
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd0000000400000000000002a000000375fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000375000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000375fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000375000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003c50000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a000004f0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000048000004f00000010101000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004f0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000048000004f0000000db01000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000004f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1920
|
||||
Width: 2560
|
||||
X: 0
|
||||
Y: 0
|
||||
Y: 30
|
||||
@ -5,7 +5,7 @@
|
||||
<xacro:arg name="name" default="ur"/>
|
||||
<!-- import main macro -->
|
||||
<xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
|
||||
<xacro:include filename="$(find robotiq_description)/urdf/ur_to_robotiq_adapter.urdf.xacro" />
|
||||
<xacro:include filename="$(find ur_robotiq_description)/urdf/ur_to_robotiq_adapter.urdf.xacro" />
|
||||
<xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_140_macro.urdf.xacro" />
|
||||
|
||||
<!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20 -->
|
||||
|
||||
@ -0,0 +1,39 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:macro name="ur_to_robotiq" params="prefix parent child rotation:=^|${0.0}">
|
||||
|
||||
<joint name="${prefix}ur_to_robotiq_joint" type="fixed">
|
||||
<!-- The parent link must be read from the robot model it is attached to. -->
|
||||
<parent link="${parent}"/>
|
||||
<child link="${prefix}ur_to_robotiq_link"/>
|
||||
<origin xyz="0 0 0" rpy="0 0 ${rotation}"/>
|
||||
</joint>
|
||||
|
||||
<link name="${prefix}ur_to_robotiq_link">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://robotiq_description/meshes/visual/2f_85/ur_to_robotiq_adapter.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://robotiq_description/meshes/collision/2f_85/ur_to_robotiq_adapter.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.01" />
|
||||
<origin xyz="0 0 0" />
|
||||
<inertia ixx="0.000044" ixy="0.0" ixz="0.0" iyy="0.000027" iyz="0.0" izz="0.000027" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${prefix}gripper_side_joint" type="fixed">
|
||||
<parent link="${prefix}ur_to_robotiq_link"/>
|
||||
<child link="${child}"/>
|
||||
<!-- <origin xyz="0 0 0.011" rpy="0 ${-pi/2} ${pi/2}"/> -->
|
||||
<origin xyz="0 0 0.011" rpy="0 0 0"/>
|
||||
</joint>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
@ -5,8 +5,7 @@ find_package(ament_cmake REQUIRED)
|
||||
|
||||
ament_package()
|
||||
|
||||
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}
|
||||
PATTERN "setup_assistant.launch" EXCLUDE)
|
||||
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
|
||||
install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
|
||||
install(DIRECTORY srdf DESTINATION share/${PROJECT_NAME})
|
||||
install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})
|
||||
|
||||
@ -1,6 +1,8 @@
|
||||
controller_names:
|
||||
- scaled_joint_trajectory_controller
|
||||
- joint_trajectory_controller
|
||||
- robotiq_gripper_controller
|
||||
- robotiq_activation_controller
|
||||
|
||||
|
||||
scaled_joint_trajectory_controller:
|
||||
@ -27,3 +29,16 @@ joint_trajectory_controller:
|
||||
- wrist_1_joint
|
||||
- wrist_2_joint
|
||||
- wrist_3_joint
|
||||
|
||||
robotiq_gripper_controller:
|
||||
action_ns: antipodal_gripper_action_controller
|
||||
type: GripperActionController
|
||||
default: true
|
||||
joint: robotiq_85_left_knuckle_joint
|
||||
use_effort_interface: true
|
||||
use_speed_interface: true
|
||||
|
||||
robotiq_activation_controller:
|
||||
action_ns: robotiq_controllers
|
||||
type: RobotiqActivationController
|
||||
default: true
|
||||
|
||||
@ -7,3 +7,4 @@ initial_positions:
|
||||
wrist_1_joint: 0
|
||||
wrist_2_joint: 0
|
||||
wrist_3_joint: 0
|
||||
finger_joint: 0.695
|
||||
@ -0,0 +1,3 @@
|
||||
controller_manager:
|
||||
ros__parameters:
|
||||
update_rate: 500 # Hz
|
||||
Loading…
Reference in New Issue
Block a user