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urdf and srdf are not passed as dicts but as {'robot_description': <launch.substitutions.command.Command object at 0x7358a27fb6d0>} -> maybe the mistake

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This commit is contained in:
Niko Feith 2024-03-20 19:11:53 +01:00
parent e7d0da0c07
commit a8088a404c
33 changed files with 901 additions and 1480 deletions
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66
.vscode/c_cpp_properties.json vendored
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{
"configurations": [
{
"browse": {
"databaseFilename": "${default}",
"limitSymbolsToIncludedHeaders": false
},
"includePath": [
"/home/fotis/UR_Robotiq/install/ur_calibration/include/**",
"/home/fotis/UR_Robotiq/install/ur_robot_driver/include/**",
"/home/fotis/UR_Robotiq/install/ur_controllers/include/**",
"/home/fotis/UR_Robotiq/install/ur_dashboard_msgs/include/**",
"/home/fotis/UR_Robotiq/install/robotiq_driver/include/**",
"/home/fotis/UR_Robotiq/install/serial/include/**",
"/home/fotis/UR_Robotiq/install/robotiq_controllers/include/**",
"/home/fotis/ws_moveit2/install/pilz_industrial_motion_planner_testutils/include/**",
"/home/fotis/ws_moveit2/install/pilz_industrial_motion_planner/include/**",
"/home/fotis/ws_moveit2/install/moveit_visual_tools/include/**",
"/home/fotis/ws_moveit2/install/moveit_task_constructor_visualization/include/**",
"/home/fotis/ws_moveit2/install/moveit_task_constructor_demo/include/**",
"/home/fotis/ws_moveit2/install/moveit_task_constructor_core/include/**",
"/home/fotis/ws_moveit2/install/moveit_ros_control_interface/include/**",
"/home/fotis/ws_moveit2/install/moveit_simple_controller_manager/include/**",
"/home/fotis/ws_moveit2/install/moveit_setup_assistant/include/**",
"/home/fotis/ws_moveit2/install/moveit_setup_srdf_plugins/include/**",
"/home/fotis/ws_moveit2/install/moveit_setup_core_plugins/include/**",
"/home/fotis/ws_moveit2/install/moveit_setup_controllers/include/**",
"/home/fotis/ws_moveit2/install/moveit_setup_app_plugins/include/**",
"/home/fotis/ws_moveit2/install/moveit_setup_framework/include/**",
"/home/fotis/ws_moveit2/install/moveit_servo/include/**",
"/home/fotis/ws_moveit2/install/moveit_ros_visualization/include/**",
"/home/fotis/ws_moveit2/install/moveit_hybrid_planning/include/**",
"/home/fotis/ws_moveit2/install/moveit_ros_planning_interface/include/**",
"/home/fotis/ws_moveit2/install/moveit_ros_benchmarks/include/**",
"/home/fotis/ws_moveit2/install/moveit_ros_warehouse/include/**",
"/home/fotis/ws_moveit2/install/moveit_ros_robot_interaction/include/**",
"/home/fotis/ws_moveit2/install/moveit_ros_perception/include/**",
"/home/fotis/ws_moveit2/install/moveit_ros_move_group/include/**",
"/home/fotis/ws_moveit2/install/moveit_planners_ompl/include/**",
"/home/fotis/ws_moveit2/install/moveit_ros_planning/include/**",
"/home/fotis/ws_moveit2/install/moveit_ros_occupancy_map_monitor/include/**",
"/home/fotis/ws_moveit2/install/moveit_kinematics/include/**",
"/home/fotis/ws_moveit2/install/chomp_motion_planner/include/**",
"/home/fotis/ws_moveit2/install/moveit_core/include/**",
"/home/fotis/ws_moveit2/install/srdfdom/include/**",
"/home/fotis/ws_moveit2/install/rviz_marker_tools/include/**",
"/home/fotis/ws_moveit2/install/rosparam_shortcuts/include/**",
"/home/fotis/ws_moveit2/install/moveit_task_constructor_msgs/include/**",
"/opt/ros/humble/include/**",
"/home/fotis/UR_Robotiq/src/Universal_Robots_ROS2_Driver/ur_calibration/include/**",
"/home/fotis/UR_Robotiq/src/Universal_Robots_ROS2_Driver/ur_controllers/include/**",
"/home/fotis/UR_Robotiq/src/Universal_Robots_ROS2_Driver/ur_robot_driver/include/**",
"/home/fotis/UR_Robotiq/src/ros2_robotiq_gripper/robotiq_controllers/include/**",
"/home/fotis/UR_Robotiq/src/ros2_robotiq_gripper/robotiq_driver/include/**",
"/home/fotis/UR_Robotiq/src/serial/include/**",
"/usr/include/**"
],
"name": "ROS",
"intelliSenseMode": "gcc-x64",
"compilerPath": "/usr/bin/gcc",
"cStandard": "gnu11",
"cppStandard": "c++14"
}
],
"version": 4
}

26
.vscode/settings.json vendored
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{
"python.autoComplete.extraPaths": [
"/home/fotis/UR_Robotiq/install/ur_robot_driver/local/lib/python3.10/dist-packages",
"/home/fotis/UR_Robotiq/install/ur_moveit_config/local/lib/python3.10/dist-packages",
"/home/fotis/UR_Robotiq/install/ur_dashboard_msgs/local/lib/python3.10/dist-packages",
"/home/fotis/UR_Robotiq/install/my-test-package/lib/python3.10/site-packages",
"/home/fotis/ws_moveit2/install/moveit_configs_utils/lib/python3.10/site-packages",
"/home/fotis/ws_moveit2/install/srdfdom/local/lib/python3.10/dist-packages",
"/home/fotis/ws_moveit2/install/moveit_task_constructor_msgs/local/lib/python3.10/dist-packages",
"/home/fotis/ws_moveit2/install/launch_param_builder/lib/python3.10/site-packages",
"/opt/ros/humble/lib/python3.10/site-packages",
"/opt/ros/humble/local/lib/python3.10/dist-packages"
],
"python.analysis.extraPaths": [
"/home/fotis/UR_Robotiq/install/ur_robot_driver/local/lib/python3.10/dist-packages",
"/home/fotis/UR_Robotiq/install/ur_moveit_config/local/lib/python3.10/dist-packages",
"/home/fotis/UR_Robotiq/install/ur_dashboard_msgs/local/lib/python3.10/dist-packages",
"/home/fotis/UR_Robotiq/install/my-test-package/lib/python3.10/site-packages",
"/home/fotis/ws_moveit2/install/moveit_configs_utils/lib/python3.10/site-packages",
"/home/fotis/ws_moveit2/install/srdfdom/local/lib/python3.10/dist-packages",
"/home/fotis/ws_moveit2/install/moveit_task_constructor_msgs/local/lib/python3.10/dist-packages",
"/home/fotis/ws_moveit2/install/launch_param_builder/lib/python3.10/site-packages",
"/opt/ros/humble/lib/python3.10/site-packages",
"/opt/ros/humble/local/lib/python3.10/dist-packages"
]
}

2
src/Universal_Robots_ROS2_Driver

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Subproject commit 8bc95d773f2476eeb18370a128b9f0c02ee98fd3 Subproject commit 856a050e2f51bd931226f1e68cf1556ff406cb00

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src/ur_robotiq_description/urdf/ur_robotiq.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from ur_robotiq.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="ur3e_robotiq">
<!--
Base UR robot series xacro macro.
NOTE this is NOT a URDF. It cannot directly be loaded by consumers
expecting a flattened '.urdf' file. See the top-level '.xacro' for that
(but note that .xacro must still be processed by the xacro command).
This file models the base kinematic chain of a UR robot, which then gets
parameterised by various configuration files to convert it into a UR3(e),
UR5(e), UR10(e) or UR16e.
NOTE the default kinematic parameters (i.e., link lengths, frame locations,
offsets, etc) do not correspond to any particular robot. They are defaults
only. There WILL be non-zero offsets between the Forward Kinematics results
in TF (i.e., robot_state_publisher) and the values reported by the Teach
Pendant.
For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
parameter MUST point to a .yaml file containing the appropriate values for
the targeted robot.
If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
described in the readme of that repository to extract the kinematic
calibration from the controller and generate the required .yaml file.
Main author of the migration to yaml configs Ludovic Delval.
Contributors to previous versions (in no particular order)
- Denis Stogl
- Lovro Ivanov
- Felix Messmer
- Kelsey Hawkins
- Wim Meeussen
- Shaun Edwards
- Nadia Hammoudeh Garcia
- Dave Hershberger
- G. vd. Hoorn
- Philip Long
- Dave Coleman
- Miguel Prada
- Mathias Luedtke
- Marcel Schnirring
- Felix von Drigalski
- Felix Exner
- Jimmy Da Silva
- Ajit Krisshna N L
- Muhammad Asif Rana
-->
<!--
NOTE the macro defined in this file is NOT part of the public API of this
package. Users CANNOT rely on this file being available, or stored in
this location. Nor can they rely on the existence of the macro.
-->
<link name="world"/>
<ros2_control name="ur_arm" type="system">
<hardware>
<plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
<param name="robot_ip">0.0.0.0</param>
<param name="script_filename"></param>
<param name="output_recipe_filename"></param>
<param name="input_recipe_filename"></param>
<param name="headless_mode">False</param>
<param name="reverse_port">50001</param>
<param name="script_sender_port">50002</param>
<param name="reverse_ip">0.0.0.0</param>
<param name="script_command_port">50004</param>
<param name="trajectory_port">50003</param>
<param name="tf_prefix"></param>
<param name="non_blocking_read">True</param>
<param name="servoj_gain">2000</param>
<param name="servoj_lookahead_time">0.03</param>
<param name="use_tool_communication">False</param>
<param name="kinematics/hash">calib_16756443741236045476</param>
<param name="tool_voltage">0</param>
<param name="tool_parity">0</param>
<param name="tool_baud_rate">115200</param>
<param name="tool_stop_bits">1</param>
<param name="tool_rx_idle_chars">1.5</param>
<param name="tool_tx_idle_chars">3.5</param>
<param name="tool_device_name">/tmp/ttyUR</param>
<param name="tool_tcp_port">54321</param>
<param name="keep_alive_count">2</param>
</hardware>
<joint name="shoulder_pan_joint">
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.15</param>
<param name="max">3.15</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the FakeSystem and simulation -->
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="shoulder_lift_joint">
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.15</param>
<param name="max">3.15</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the FakeSystem and simulation -->
<param name="initial_value">-1.57</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="elbow_joint">
<command_interface name="position">
<param name="min">{-pi}</param>
<param name="max">{pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.15</param>
<param name="max">3.15</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the FakeSystem and simulation -->
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="wrist_1_joint">
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.2</param>
<param name="max">3.2</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the FakeSystem and simulation -->
<param name="initial_value">-1.57</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="wrist_2_joint">
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.2</param>
<param name="max">3.2</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the FakeSystem and simulation -->
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="wrist_3_joint">
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-3.2</param>
<param name="max">3.2</param>
</command_interface>
<state_interface name="position">
<!-- initial position for the FakeSystem and simulation -->
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<sensor name="tcp_fts_sensor">
<state_interface name="force.x"/>
<state_interface name="force.y"/>
<state_interface name="force.z"/>
<state_interface name="torque.x"/>
<state_interface name="torque.y"/>
<state_interface name="torque.z"/>
</sensor>
<!-- NOTE The following are joints used only for testing with fake hardware and will change in the future -->
<gpio name="speed_scaling">
<state_interface name="speed_scaling_factor"/>
<param name="initial_speed_scaling_factor">1</param>
<command_interface name="target_speed_fraction_cmd"/>
<command_interface name="target_speed_fraction_async_success"/>
</gpio>
<gpio name="gpio">
<command_interface name="standard_digital_output_cmd_0"/>
<command_interface name="standard_digital_output_cmd_1"/>
<command_interface name="standard_digital_output_cmd_2"/>
<command_interface name="standard_digital_output_cmd_3"/>
<command_interface name="standard_digital_output_cmd_4"/>
<command_interface name="standard_digital_output_cmd_5"/>
<command_interface name="standard_digital_output_cmd_6"/>
<command_interface name="standard_digital_output_cmd_7"/>
<command_interface name="standard_digital_output_cmd_8"/>
<command_interface name="standard_digital_output_cmd_9"/>
<command_interface name="standard_digital_output_cmd_10"/>
<command_interface name="standard_digital_output_cmd_11"/>
<command_interface name="standard_digital_output_cmd_12"/>
<command_interface name="standard_digital_output_cmd_13"/>
<command_interface name="standard_digital_output_cmd_14"/>
<command_interface name="standard_digital_output_cmd_15"/>
<command_interface name="standard_digital_output_cmd_16"/>
<command_interface name="standard_digital_output_cmd_17"/>
<command_interface name="standard_analog_output_cmd_0"/>
<command_interface name="standard_analog_output_cmd_1"/>
<command_interface name="tool_voltage_cmd"/>
<command_interface name="io_async_success"/>
<state_interface name="digital_output_0"/>
<state_interface name="digital_output_1"/>
<state_interface name="digital_output_2"/>
<state_interface name="digital_output_3"/>
<state_interface name="digital_output_4"/>
<state_interface name="digital_output_5"/>
<state_interface name="digital_output_6"/>
<state_interface name="digital_output_7"/>
<state_interface name="digital_output_8"/>
<state_interface name="digital_output_9"/>
<state_interface name="digital_output_10"/>
<state_interface name="digital_output_11"/>
<state_interface name="digital_output_12"/>
<state_interface name="digital_output_13"/>
<state_interface name="digital_output_14"/>
<state_interface name="digital_output_15"/>
<state_interface name="digital_output_16"/>
<state_interface name="digital_output_17"/>
<state_interface name="digital_input_0"/>
<state_interface name="digital_input_1"/>
<state_interface name="digital_input_2"/>
<state_interface name="digital_input_3"/>
<state_interface name="digital_input_4"/>
<state_interface name="digital_input_5"/>
<state_interface name="digital_input_6"/>
<state_interface name="digital_input_7"/>
<state_interface name="digital_input_8"/>
<state_interface name="digital_input_9"/>
<state_interface name="digital_input_10"/>
<state_interface name="digital_input_11"/>
<state_interface name="digital_input_12"/>
<state_interface name="digital_input_13"/>
<state_interface name="digital_input_14"/>
<state_interface name="digital_input_15"/>
<state_interface name="digital_input_16"/>
<state_interface name="digital_input_17"/>
<state_interface name="standard_analog_output_0"/>
<state_interface name="standard_analog_output_1"/>
<state_interface name="standard_analog_input_0"/>
<state_interface name="standard_analog_input_1"/>
<state_interface name="analog_io_type_0"/>
<state_interface name="analog_io_type_1"/>
<state_interface name="analog_io_type_2"/>
<state_interface name="analog_io_type_3"/>
<state_interface name="tool_mode"/>
<state_interface name="tool_output_voltage"/>
<state_interface name="tool_output_current"/>
<state_interface name="tool_temperature"/>
<state_interface name="tool_analog_input_0"/>
<state_interface name="tool_analog_input_1"/>
<state_interface name="tool_analog_input_type_0"/>
<state_interface name="tool_analog_input_type_1"/>
<state_interface name="robot_mode"/>
<state_interface name="robot_status_bit_0"/>
<state_interface name="robot_status_bit_1"/>
<state_interface name="robot_status_bit_2"/>
<state_interface name="robot_status_bit_3"/>
<state_interface name="safety_mode"/>
<state_interface name="safety_status_bit_0"/>
<state_interface name="safety_status_bit_1"/>
<state_interface name="safety_status_bit_2"/>
<state_interface name="safety_status_bit_3"/>
<state_interface name="safety_status_bit_4"/>
<state_interface name="safety_status_bit_5"/>
<state_interface name="safety_status_bit_6"/>
<state_interface name="safety_status_bit_7"/>
<state_interface name="safety_status_bit_8"/>
<state_interface name="safety_status_bit_9"/>
<state_interface name="safety_status_bit_10"/>
<state_interface name="program_running"/>
</gpio>
<gpio name="payload">
<command_interface name="mass"/>
<command_interface name="cog.x"/>
<command_interface name="cog.y"/>
<command_interface name="cog.z"/>
<command_interface name="payload_async_success"/>
</gpio>
<gpio name="resend_robot_program">
<command_interface name="resend_robot_program_cmd"/>
<command_interface name="resend_robot_program_async_success"/>
</gpio>
<gpio name="hand_back_control">
<command_interface name="hand_back_control_cmd"/>
<command_interface name="hand_back_control_async_success"/>
</gpio>
<gpio name="zero_ftsensor">
<command_interface name="zero_ftsensor_cmd"/>
<command_interface name="zero_ftsensor_async_success"/>
</gpio>
<gpio name="system_interface">
<state_interface name="initialized"/>
</gpio>
</ros2_control>
<!-- Add URDF transmission elements (for ros_control) -->
<!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
<!-- Placeholder for ros2_control transmission which don't yet exist -->
<!-- links - main serial chain -->
<link name="base_link"/>
<link name="base_link_inertia">
<visual>
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur3e/visual/base.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur3e/collision/base.stl"/>
</geometry>
</collision>
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0030531654454" ixy="0.0" ixz="0.0" iyy="0.0030531654454" iyz="0.0" izz="0.005625"/>
</inertial>
</link>
<link name="shoulder_link">
<visual>
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur3e/visual/shoulder.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur3e/collision/shoulder.stl"/>
</geometry>
</collision>
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.008093163429399999" ixy="0.0" ixz="0.0" iyy="0.008093163429399999" iyz="0.0" izz="0.005625"/>
</inertial>
</link>
<link name="upper_arm_link">
<visual>
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.12"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur3e/visual/upperarm.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.12"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur3e/collision/upperarm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="3.42"/>
<origin rpy="0 1.5707963267948966 0" xyz="-0.121825 0.0 0.12"/>
<inertia ixx="0.021728483221103233" ixy="0.0" ixz="0.0" iyy="0.021728483221103233" iyz="0.0" izz="0.00961875"/>
</inertial>
</link>
<link name="forearm_link">
<visual>
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.027"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur3e/visual/forearm.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.027"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur3e/collision/forearm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="1.26"/>
<origin rpy="0 1.5707963267948966 0" xyz="-0.1066 0.0 0.027"/>
<inertia ixx="0.0065445675821719194" ixy="0.0" ixz="0.0" iyy="0.0065445675821719194" iyz="0.0" izz="0.00354375"/>
</inertial>
</link>
<link name="wrist_1_link">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.104"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur3e/visual/wrist1.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.104"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur3e/collision/wrist1.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.8"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.002084999166" ixy="0.0" ixz="0.0" iyy="0.002084999166" iyz="0.0" izz="0.00225"/>
</inertial>
</link>
<link name="wrist_2_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.08535"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur3e/visual/wrist2.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.08535"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur3e/collision/wrist2.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.8"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.002084999166" ixy="0.0" ixz="0.0" iyy="0.002084999166" iyz="0.0" izz="0.00225"/>
</inertial>
</link>
<link name="wrist_3_link">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0921"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur3e/visual/wrist3.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0921"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur3e/collision/wrist3.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.35"/>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.02"/>
<inertia ixx="0.00013626661215999998" ixy="0.0" ixz="0.0" iyy="0.00013626661215999998" iyz="0.0" izz="0.0001792"/>
</inertial>
</link>
<!-- base_joint fixes base_link to the environment -->
<joint name="base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base_link"/>
</joint>
<!-- joints - main serial chain -->
<joint name="base_link-base_link_inertia" type="fixed">
<parent link="base_link"/>
<child link="base_link_inertia"/>
<!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
frames of the robot/controller have X+ pointing backwards.
Use the joint between 'base_link' and 'base_link_inertia' (a dummy
link/frame) to introduce the necessary rotation over Z (of pi rad).
-->
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
</joint>
<joint name="shoulder_pan_joint" type="revolute">
<parent link="base_link_inertia"/>
<child link="shoulder_link"/>
<origin rpy="0 0 0" xyz="0 0 0.15185"/>
<axis xyz="0 0 1"/>
<limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
<dynamics damping="0" friction="0"/>
</joint>
<joint name="shoulder_lift_joint" type="revolute">
<parent link="shoulder_link"/>
<child link="upper_arm_link"/>
<origin rpy="1.570796327 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="56.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
<dynamics damping="0" friction="0"/>
</joint>
<joint name="elbow_joint" type="revolute">
<parent link="upper_arm_link"/>
<child link="forearm_link"/>
<origin rpy="0 0 0" xyz="-0.24355 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="28.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
<dynamics damping="0" friction="0"/>
</joint>
<joint name="wrist_1_joint" type="revolute">
<parent link="forearm_link"/>
<child link="wrist_1_link"/>
<origin rpy="0 0 0" xyz="-0.2132 0 0.13105"/>
<axis xyz="0 0 1"/>
<limit effort="12.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="6.283185307179586"/>
<dynamics damping="0" friction="0"/>
</joint>
<joint name="wrist_2_joint" type="revolute">
<parent link="wrist_1_link"/>
<child link="wrist_2_link"/>
<origin rpy="1.570796327 0 0" xyz="0 -0.08535 -1.750557762378351e-11"/>
<axis xyz="0 0 1"/>
<limit effort="12.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="6.283185307179586"/>
<dynamics damping="0" friction="0"/>
</joint>
<joint name="wrist_3_joint" type="revolute">
<parent link="wrist_2_link"/>
<child link="wrist_3_link"/>
<origin rpy="1.570796326589793 3.141592653589793 3.141592653589793" xyz="0 0.0921 -1.8890025766262e-11"/>
<axis xyz="0 0 1"/>
<limit effort="12.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="6.283185307179586"/>
<dynamics damping="0" friction="0"/>
</joint>
<link name="ft_frame"/>
<joint name="wrist_3_link-ft_frame" type="fixed">
<parent link="wrist_3_link"/>
<child link="ft_frame"/>
<origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
</joint>
<!-- ROS-Industrial 'base' frame - base_link to UR 'Base' Coordinates transform -->
<link name="base"/>
<joint name="base_link-base_fixed_joint" type="fixed">
<!-- Note the rotation over Z of pi radians - as base_link is REP-103
aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
to correctly align 'base' with the 'Base' coordinate system of
the UR controller.
-->
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="base"/>
</joint>
<!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
<link name="flange"/>
<joint name="wrist_3-flange" type="fixed">
<parent link="wrist_3_link"/>
<child link="flange"/>
<origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
</joint>
<!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
<link name="tool0"/>
<joint name="flange-tool0" type="fixed">
<!-- default toolframe - X+ left, Y+ up, Z+ front -->
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
<parent link="flange"/>
<child link="tool0"/>
</joint>
<ros2_control name="gripper" type="system">
<!-- Plugins -->
<hardware>
<plugin>robotiq_driver/RobotiqGripperHardwareInterface</plugin>
<param name="gripper_closed_position">0.695</param>
<param name="COM_port">/dev/ttyUSB0</param>
<param name="gripper_speed_multiplier">1.0</param>
<param name="gripper_force_multiplier">0.5</param>
</hardware>
<!-- Joint interfaces -->
<!-- With Ignition or Hardware, they handle mimic joints, so we only need this command interface activated -->
<joint name="finger_joint">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.695</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<gpio name="reactivate_gripper">
<command_interface name="reactivate_gripper_cmd"/>
<command_interface name="reactivate_gripper_response"/>
</gpio>
</ros2_control>
<!-- this is a temporary link to rotate the 2f-140 gripper to match the 2f-85 -->
<link name="robotiq_base_link"/>
<joint name="robotiq_base_joint" type="fixed">
<parent link="ft_frame"/>
<child link="robotiq_base_link"/>
<origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
</joint>
<link name="robotiq_140_base_link">
<inertial>
<origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
<mass value="0.22652"/>
<inertia ixx="0.00020005" ixy="-4.2442E-10" ixz="-2.9069E-10" iyy="0.00017832" iyz="-3.4402E-08" izz="0.00013478"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_base_link.stl"/>
</geometry>
<material name="">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_base_link.stl"/>
</geometry>
</collision>
</link>
<joint name="robotiq_140_base_joint" type="fixed">
<parent link="robotiq_base_link"/>
<child link="robotiq_140_base_link"/>
<origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
</joint>
<link name="left_outer_knuckle">
<inertial>
<origin rpy="0 0 0" xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331"/>
<mass value="0.00853198276973456"/>
<inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_outer_knuckle.stl"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_outer_knuckle.stl"/>
</geometry>
</collision>
</link>
<link name="left_outer_finger">
<inertial>
<origin rpy="0 0 0" xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385"/>
<mass value="0.022614240507152"/>
<inertia ixx="1.52518312458174E-05" ixy="9.76583423954399E-10" ixz="-5.43838577022588E-10" iyy="6.17694243867776E-06" iyz="6.78636130740228E-06" izz="1.16494917907219E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_outer_finger.stl"/>
</geometry>
<material name="">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_outer_finger.stl"/>
</geometry>
</collision>
</link>
<link name="left_inner_finger">
<inertial>
<origin rpy="0 0 0" xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257"/>
<mass value="0.0104003125914103"/>
<inertia ixx="2.71909453810972E-06" ixy="1.35402465472579E-21" ixz="-7.1817349065269E-22" iyy="7.69100314106116E-07" iyz="6.74715432769696E-07" izz="2.30315190420171E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_inner_finger.stl"/>
</geometry>
<material name="">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_inner_finger.stl"/>
</geometry>
</collision>
</link>
<link name="left_inner_finger_pad">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.027 0.065 0.0075"/>
</geometry>
<material name="">
<color rgba="0.9 0.9 0.9 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.03 0.07 0.0075"/>
</geometry>
<material name="">
<color rgba="0.9 0.0 0.0 1"/>
</material>
</collision>
</link>
<link name="left_inner_knuckle">
<inertial>
<origin rpy="0 0 0" xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166"/>
<mass value="0.0271177346495152"/>
<inertia ixx="2.61910379223783E-05" ixy="-2.43616858946494E-07" ixz="-6.37789906117123E-09" iyy="2.8270243746167E-06" iyz="-5.37200748039765E-07" izz="2.83695868220296E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_inner_knuckle.stl"/>
</geometry>
<material name="">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_inner_knuckle.stl"/>
</geometry>
</collision>
</link>
<link name="right_outer_knuckle">
<inertial>
<origin rpy="0 0 0" xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331"/>
<mass value="0.00853198276973456"/>
<inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_outer_knuckle.stl"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_outer_knuckle.stl"/>
</geometry>
</collision>
</link>
<link name="right_outer_finger">
<inertial>
<origin rpy="0 0 0" xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385"/>
<mass value="0.022614240507152"/>
<inertia ixx="1.52518312458174E-05" ixy="9.76583423954399E-10" ixz="-5.43838577022588E-10" iyy="6.17694243867776E-06" iyz="6.78636130740228E-06" izz="1.16494917907219E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_outer_finger.stl"/>
</geometry>
<material name="">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_outer_finger.stl"/>
</geometry>
</collision>
</link>
<link name="right_inner_finger">
<inertial>
<origin rpy="0 0 0" xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257"/>
<mass value="0.0104003125914103"/>
<inertia ixx="2.71909453810972E-06" ixy="1.35402465472579E-21" ixz="-7.1817349065269E-22" iyy="7.69100314106116E-07" iyz="6.74715432769696E-07" izz="2.30315190420171E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_inner_finger.stl"/>
</geometry>
<material name="">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_inner_finger.stl"/>
</geometry>
</collision>
</link>
<link name="right_inner_finger_pad">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.027 0.065 0.0075"/>
</geometry>
<material name="">
<color rgba="0.9 0.9 0.9 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.03 0.07 0.0075"/>
</geometry>
<material name="">
<color rgba="0.9 0.0 0.0 1"/>
</material>
</collision>
</link>
<link name="right_inner_knuckle">
<inertial>
<origin rpy="0 0 0" xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166"/>
<mass value="0.0271177346495152"/>
<inertia ixx="2.61910379223783E-05" ixy="-2.43616858946494E-07" ixz="-6.37789906117123E-09" iyy="2.8270243746167E-06" iyz="-5.37200748039765E-07" izz="2.83695868220296E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_inner_knuckle.stl"/>
</geometry>
<material name="">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_inner_knuckle.stl"/>
</geometry>
</collision>
</link>
<joint name="finger_joint" type="revolute">
<origin rpy="2.2957963267948966 0 0" xyz="0 -0.030601 0.054905"/>
<parent link="robotiq_140_base_link"/>
<child link="left_outer_knuckle"/>
<axis xyz="-1 0 0"/>
<limit effort="1000" lower="0" upper="0.7" velocity="2.0"/>
</joint>
<joint name="left_outer_finger_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.01821998610742 0.0260018192872234"/>
<parent link="left_outer_knuckle"/>
<child link="left_outer_finger"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="left_inner_knuckle_joint" type="revolute">
<origin rpy="2.2957963267948966 0 0.0" xyz="0 -0.0127 0.06142"/>
<parent link="robotiq_140_base_link"/>
<child link="left_inner_knuckle"/>
<axis xyz="1 0 0"/>
<limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
<mimic joint="finger_joint" multiplier="-1" offset="0"/>
</joint>
<joint name="left_inner_finger_joint" type="revolute">
<origin rpy="-0.725 0 0" xyz="0 0.0817554015893473 -0.0282203446692936"/>
<parent link="left_outer_finger"/>
<child link="left_inner_finger"/>
<axis xyz="1 0 0"/>
<limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
<mimic joint="finger_joint" multiplier="1" offset="0"/>
</joint>
<joint name="left_inner_finger_pad_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.0457554015893473 -0.0272203446692936"/>
<parent link="left_inner_finger"/>
<child link="left_inner_finger_pad"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="right_outer_knuckle_joint" type="revolute">
<origin rpy="2.2957963267948966 0 3.141592653589793" xyz="0 0.030601 0.054905"/>
<parent link="robotiq_140_base_link"/>
<child link="right_outer_knuckle"/>
<axis xyz="1 0 0"/>
<limit effort="1000" lower="-0.725" upper="0.725" velocity="2.0"/>
<mimic joint="finger_joint" multiplier="-1" offset="0"/>
</joint>
<joint name="right_outer_finger_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.01821998610742 0.0260018192872234"/>
<parent link="right_outer_knuckle"/>
<child link="right_outer_finger"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="right_inner_knuckle_joint" type="revolute">
<origin rpy="2.2957963267948966 0 -3.141592653589793" xyz="0 0.0127 0.06142"/>
<parent link="robotiq_140_base_link"/>
<child link="right_inner_knuckle"/>
<axis xyz="1 0 0"/>
<limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
<mimic joint="finger_joint" multiplier="-1" offset="0"/>
</joint>
<joint name="right_inner_finger_joint" type="revolute">
<origin rpy="-0.725 0 0" xyz="0 0.0817554015893473 -0.0282203446692936"/>
<parent link="right_outer_finger"/>
<child link="right_inner_finger"/>
<axis xyz="1 0 0"/>
<limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
<mimic joint="finger_joint" multiplier="1" offset="0"/>
</joint>
<joint name="right_inner_finger_pad_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.0457554015893473 -0.0272203446692936"/>
<parent link="right_inner_finger"/>
<child link="right_inner_finger_pad"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="ft_frame-gripper" type="fixed">
<parent link="ft_frame"/>
<child link="robotiq_base_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
</robot>

102
src/ur_robotiq_description/urdf/ur_robotiq.urdf.xacro
View File

@ -1,10 +1,11 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur3e_robotiq"> <robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur_robotiq">
<!-- parameters --> <!-- parameters -->
<xacro:arg name="name" default="ur_arm"/> <xacro:arg name="name" default="ur"/>
<!-- import main macro --> <!-- import main macro -->
<xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/> <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
<xacro:include filename="$(find robotiq_description)/urdf/ur_to_robotiq_adapter.urdf.xacro" />
<xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_140_macro.urdf.xacro" /> <xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_140_macro.urdf.xacro" />
<!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20 --> <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20 -->
@ -57,54 +58,59 @@
<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/> <xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
<link name="world"/> <link name="world"/>
<xacro:ur_robot <xacro:ur_robot
name="$(arg name)" name="$(arg name)"
tf_prefix="$(arg tf_prefix)" tf_prefix="$(arg tf_prefix)"
parent="world" parent="world"
joint_limits_parameters_file="$(arg joint_limit_params)" joint_limits_parameters_file="$(arg joint_limit_params)"
kinematics_parameters_file="$(arg kinematics_params)" kinematics_parameters_file="$(arg kinematics_params)"
physical_parameters_file="$(arg physical_params)" physical_parameters_file="$(arg physical_params)"
visual_parameters_file="$(arg visual_params)" visual_parameters_file="$(arg visual_params)"
transmission_hw_interface="$(arg transmission_hw_interface)" transmission_hw_interface="$(arg transmission_hw_interface)"
safety_limits="$(arg safety_limits)" safety_limits="$(arg safety_limits)"
safety_pos_margin="$(arg safety_pos_margin)" safety_pos_margin="$(arg safety_pos_margin)"
safety_k_position="$(arg safety_k_position)" safety_k_position="$(arg safety_k_position)"
use_fake_hardware="$(arg use_fake_hardware)" use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)" fake_sensor_commands="$(arg fake_sensor_commands)"
sim_gazebo="$(arg sim_gazebo)" sim_gazebo="$(arg sim_gazebo)"
sim_ignition="$(arg sim_ignition)" sim_ignition="$(arg sim_ignition)"
headless_mode="$(arg headless_mode)" headless_mode="$(arg headless_mode)"
initial_positions="${xacro.load_yaml(initial_positions_file)}" initial_positions="${xacro.load_yaml(initial_positions_file)}"
use_tool_communication="$(arg use_tool_communication)" use_tool_communication="$(arg use_tool_communication)"
tool_voltage="$(arg tool_voltage)" tool_voltage="$(arg tool_voltage)"
tool_parity="$(arg tool_parity)" tool_parity="$(arg tool_parity)"
tool_baud_rate="$(arg tool_baud_rate)" tool_baud_rate="$(arg tool_baud_rate)"
tool_stop_bits="$(arg tool_stop_bits)" tool_stop_bits="$(arg tool_stop_bits)"
tool_rx_idle_chars="$(arg tool_rx_idle_chars)" tool_rx_idle_chars="$(arg tool_rx_idle_chars)"
tool_tx_idle_chars="$(arg tool_tx_idle_chars)" tool_tx_idle_chars="$(arg tool_tx_idle_chars)"
tool_device_name="$(arg tool_device_name)" tool_device_name="$(arg tool_device_name)"
tool_tcp_port="$(arg tool_tcp_port)" tool_tcp_port="$(arg tool_tcp_port)"
robot_ip="$(arg robot_ip)" robot_ip="$(arg robot_ip)"
script_filename="$(arg script_filename)" script_filename="$(arg script_filename)"
output_recipe_filename="$(arg output_recipe_filename)" output_recipe_filename="$(arg output_recipe_filename)"
input_recipe_filename="$(arg input_recipe_filename)" input_recipe_filename="$(arg input_recipe_filename)"
reverse_ip="$(arg reverse_ip)" reverse_ip="$(arg reverse_ip)"
script_command_port="$(arg script_command_port)" script_command_port="$(arg script_command_port)"
reverse_port="$(arg reverse_port)" reverse_port="$(arg reverse_port)"
script_sender_port="$(arg script_sender_port)" script_sender_port="$(arg script_sender_port)"
trajectory_port="$(arg trajectory_port)" trajectory_port="$(arg trajectory_port)"
> >
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- position robot in the world --> <origin xyz="0 0 0" rpy="0 0 0" /> <!-- position robot in the world -->
</xacro:ur_robot> </xacro:ur_robot>
<xacro:robotiq_gripper name="gripper" prefix="" parent="ft_frame" use_fake_hardware="$(arg use_fake_hardware)">
<origin xyz="0 0 0" rpy="3.141592653589793 0 0" />
</xacro:robotiq_gripper>
<joint name="ft_frame-gripper" type="fixed"> <xacro:robotiq_gripper name="$(arg tf_prefix)gripper"
<parent link="ft_frame"/> prefix="$(arg tf_prefix)"
<child link="robotiq_base_link"/> parent="$(arg tf_prefix)ur_to_robotiq_link"
<origin xyz="0 0 0" rpy="0 0 0"/> use_fake_hardware="$(arg use_fake_hardware)"
</joint> >
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:robotiq_gripper>
<xacro:ur_to_robotiq prefix="$(arg tf_prefix)"
parent="$(arg tf_prefix)tool0"
child="$(arg tf_prefix)robotiq_base_link"
>
</xacro:ur_to_robotiq>
</robot> </robot>

27
src/ur_robotiq_moveit_config/.setup_assistant
View File

@ -1,27 +0,0 @@
moveit_setup_assistant_config:
urdf:
package: ur_robotiq_description
relative_path: urdf/ur_robotiq.urdf
srdf:
relative_path: config/ur3e_robotiq.srdf
package_settings:
author_name: Fotios Lygerakis
author_email: fotios.lygerakis@unileoben.ac.at
generated_timestamp: 1709822028
control_xacro:
command:
- position
- velocity
state:
- position
- velocity
modified_urdf:
xacros:
- control_xacro
control_xacro:
command:
- position
- velocity
state:
- position
- velocity

3
src/ur_robotiq_moveit_config/CMakeLists.txt
View File

@ -8,4 +8,5 @@ ament_package()
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME} install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}
PATTERN "setup_assistant.launch" EXCLUDE) PATTERN "setup_assistant.launch" EXCLUDE)
install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME}) install(DIRECTORY srdf DESTINATION share/${PROJECT_NAME})
install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})

29
src/ur_robotiq_moveit_config/config/controllers.yaml Normal file
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@ -0,0 +1,29 @@
controller_names:
- scaled_joint_trajectory_controller
- joint_trajectory_controller
scaled_joint_trajectory_controller:
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
joint_trajectory_controller:
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: false
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint

10
src/ur_robotiq_moveit_config/config/initial_positions.yaml
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@ -1,10 +0,0 @@
# Default initial positions for ur3e_robotiq's ros2_control fake system
initial_positions:
elbow_joint: 0
finger_joint: 0
shoulder_lift_joint: 0
shoulder_pan_joint: 0
wrist_1_joint: 0
wrist_2_joint: 0
wrist_3_joint: 0

7
src/ur_robotiq_moveit_config/config/joint_limits.yaml
View File

@ -13,7 +13,12 @@ joint_limits:
max_velocity: 3.1415926535897931 max_velocity: 3.1415926535897931
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 0 max_acceleration: 0
finger_joint: left_inner_knuckle_joint:
has_velocity_limits: true
max_velocity: 2
has_acceleration_limits: false
max_acceleration: 0
right_inner_knuckle_joint:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 2 max_velocity: 2
has_acceleration_limits: false has_acceleration_limits: false

16
src/ur_robotiq_moveit_config/config/kinematics.yaml
View File

@ -1,4 +1,12 @@
arm: ur_manipulator:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin ros__parameters:
kinematics_solver_search_resolution: 0.0050000000000000001 kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_timeout: 0.0050000000000000001 kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3
robotiq_gripper:
ros__parameters:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3

26
src/ur_robotiq_moveit_config/config/moveit_controllers.yaml
View File

@ -1,26 +0,0 @@
# MoveIt uses this configuration for controller management
moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
moveit_simple_controller_manager:
controller_names:
- arm_controller
- gripper_controller
arm_controller:
type: FollowJointTrajectory
action_ns: follow_joint_trajectory
default: true
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
gripper_controller:
type: FollowJointTrajectory
action_ns: follow_joint_trajectory
default: true
joints:
- finger_joint

70
src/ur_robotiq_moveit_config/config/ompl_planning.yaml Normal file
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@ -0,0 +1,70 @@
planner_configs:
SBLkConfigDefault:
type: geometric::SBL
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
ESTkConfigDefault:
type: geometric::EST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
LBKPIECEkConfigDefault:
type: geometric::LBKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
BKPIECEkConfigDefault:
type: geometric::BKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
KPIECEkConfigDefault:
type: geometric::KPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
RRTkConfigDefault:
type: geometric::RRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
RRTConnectkConfigDefault:
type: geometric::RRTConnect
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
RRTstarkConfigDefault:
type: geometric::RRTstar
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
TRRTkConfigDefault:
type: geometric::TRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
max_states_failed: 10 # when to start increasing temp. default: 10
temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
init_temperature: 10e-6 # initial temperature. default: 10e-6
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
k_constant: 0.0 # value used to normalize expression. default: 0.0 set in setup()
PRMkConfigDefault:
type: geometric::PRM
max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
PRMstarkConfigDefault:
type: geometric::PRMstar
ur_arm:
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault
- LBKPIECEkConfigDefault
- BKPIECEkConfigDefault
- KPIECEkConfigDefault
- RRTkConfigDefault
- RRTConnectkConfigDefault
- RRTstarkConfigDefault
- TRRTkConfigDefault
- PRMkConfigDefault
- PRMstarkConfigDefault
##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE
#projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
longest_valid_segment_fraction: 0.01

6
src/ur_robotiq_moveit_config/config/pilz_cartesian_limits.yaml
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@ -1,6 +0,0 @@
# Limits for the Pilz planner
cartesian_limits:
max_trans_vel: 1.0
max_trans_acc: 2.25
max_trans_dec: -5.0
max_rot_vel: 1.57

41
src/ur_robotiq_moveit_config/config/ros2_controllers.yaml
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@ -1,41 +0,0 @@
# This config file is used by ros2_control
controller_manager:
ros__parameters:
update_rate: 100 # Hz
arm_controller:
type: joint_trajectory_controller/JointTrajectoryController
gripper_controller:
type: joint_trajectory_controller/JointTrajectoryController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
arm_controller:
ros__parameters:
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
command_interfaces:
- position
- velocity
state_interfaces:
- position
- velocity
gripper_controller:
ros__parameters:
joints:
- finger_joint
command_interfaces:
- position
- velocity
state_interfaces:
- position
- velocity

70
src/ur_robotiq_moveit_config/config/ur3e_robotiq.ros2_control.xacro
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@ -1,70 +0,0 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="ur3e_robotiq_ros2_control" params="name initial_positions_file">
<xacro:property name="initial_positions" value="${load_yaml(initial_positions_file)['initial_positions']}"/>
<ros2_control name="${name}" type="system">
<hardware>
<!-- By default, set up controllers for simulation. This won't work on real hardware -->
<plugin>mock_components/GenericSystem</plugin>
</hardware>
<joint name="shoulder_pan_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['shoulder_pan_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="shoulder_lift_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['shoulder_lift_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="elbow_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['elbow_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="wrist_1_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['wrist_1_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="wrist_2_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['wrist_2_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="wrist_3_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['wrist_3_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="finger_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['finger_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
</ros2_control>
</xacro:macro>
</robot>

164
src/ur_robotiq_moveit_config/config/ur3e_robotiq.srdf
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@ -1,164 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot name="ur3e_robotiq">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="arm">
<joint name="shoulder_pan_joint"/>
<joint name="shoulder_lift_joint"/>
<joint name="elbow_joint"/>
<joint name="wrist_1_joint"/>
<joint name="wrist_2_joint"/>
<joint name="wrist_3_joint"/>
</group>
<group name="gripper">
<joint name="finger_joint"/>
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="arm_default" group="arm">
<joint name="elbow_joint" value="0"/>
<joint name="shoulder_lift_joint" value="0"/>
<joint name="shoulder_pan_joint" value="0"/>
<joint name="wrist_1_joint" value="0"/>
<joint name="wrist_2_joint" value="0"/>
<joint name="wrist_3_joint" value="0"/>
</group_state>
<group_state name="arm_up" group="arm">
<joint name="elbow_joint" value="0"/>
<joint name="shoulder_lift_joint" value="-1.57"/>
<joint name="shoulder_pan_joint" value="0"/>
<joint name="wrist_1_joint" value="0"/>
<joint name="wrist_2_joint" value="0"/>
<joint name="wrist_3_joint" value="0"/>
</group_state>
<group_state name="gripper_open" group="gripper">
<joint name="finger_joint" value="0"/>
</group_state>
<group_state name="gripper_closed" group="gripper">
<joint name="finger_joint" value="0.7"/>
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="ee" parent_link="wrist_3_link" group="gripper" parent_group="arm"/>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="virtual_base" type="fixed" parent_frame="world" child_link="base_link"/>
<!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
<passive_joint name="left_inner_finger_joint"/>
<passive_joint name="left_inner_knuckle_joint"/>
<passive_joint name="right_inner_knuckle_joint"/>
<passive_joint name="right_outer_knuckle_joint"/>
<passive_joint name="right_inner_finger_joint"/>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base_link_inertia" link2="shoulder_link" reason="Adjacent"/>
<disable_collisions link1="base_link_inertia" link2="upper_arm_link" reason="Never"/>
<disable_collisions link1="base_link_inertia" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="base_link_inertia" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent"/>
<disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent"/>
<disable_collisions link1="left_inner_finger" link2="left_inner_finger" reason="Default"/>
<disable_collisions link1="left_inner_finger" link2="left_inner_finger_pad" reason="Adjacent"/>
<disable_collisions link1="left_inner_finger" link2="left_inner_knuckle" reason="Default"/>
<disable_collisions link1="left_inner_finger" link2="left_outer_finger" reason="Adjacent"/>
<disable_collisions link1="left_inner_finger" link2="left_outer_knuckle" reason="Never"/>
<disable_collisions link1="left_inner_finger" link2="right_inner_finger" reason="Never"/>
<disable_collisions link1="left_inner_finger" link2="right_inner_finger_pad" reason="Never"/>
<disable_collisions link1="left_inner_finger" link2="right_inner_knuckle" reason="Never"/>
<disable_collisions link1="left_inner_finger" link2="right_outer_finger" reason="Never"/>
<disable_collisions link1="left_inner_finger" link2="right_outer_knuckle" reason="Never"/>
<disable_collisions link1="left_inner_finger" link2="robotiq_140_base_link" reason="Never"/>
<disable_collisions link1="left_inner_finger" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="left_inner_finger" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="left_inner_finger" link2="wrist_3_link" reason="Never"/>
<disable_collisions link1="left_inner_finger_pad" link2="left_inner_finger_pad" reason="Default"/>
<disable_collisions link1="left_inner_finger_pad" link2="left_outer_knuckle" reason="Never"/>
<disable_collisions link1="left_inner_finger_pad" link2="right_inner_finger" reason="Never"/>
<disable_collisions link1="left_inner_finger_pad" link2="right_inner_knuckle" reason="Never"/>
<disable_collisions link1="left_inner_finger_pad" link2="right_outer_finger" reason="Never"/>
<disable_collisions link1="left_inner_finger_pad" link2="right_outer_knuckle" reason="Never"/>
<disable_collisions link1="left_inner_finger_pad" link2="robotiq_140_base_link" reason="Never"/>
<disable_collisions link1="left_inner_finger_pad" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="left_inner_finger_pad" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="left_inner_finger_pad" link2="wrist_3_link" reason="Never"/>
<disable_collisions link1="left_inner_knuckle" link2="left_inner_knuckle" reason="Default"/>
<disable_collisions link1="left_inner_knuckle" link2="left_outer_knuckle" reason="Default"/>
<disable_collisions link1="left_inner_knuckle" link2="right_inner_finger" reason="Never"/>
<disable_collisions link1="left_inner_knuckle" link2="right_inner_finger_pad" reason="Never"/>
<disable_collisions link1="left_inner_knuckle" link2="right_inner_knuckle" reason="Never"/>
<disable_collisions link1="left_inner_knuckle" link2="right_outer_finger" reason="Never"/>
<disable_collisions link1="left_inner_knuckle" link2="right_outer_knuckle" reason="Never"/>
<disable_collisions link1="left_inner_knuckle" link2="robotiq_140_base_link" reason="Adjacent"/>
<disable_collisions link1="left_inner_knuckle" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="left_inner_knuckle" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="left_inner_knuckle" link2="wrist_3_link" reason="Never"/>
<disable_collisions link1="left_outer_finger" link2="left_outer_finger" reason="Default"/>
<disable_collisions link1="left_outer_finger" link2="left_outer_knuckle" reason="Adjacent"/>
<disable_collisions link1="left_outer_finger" link2="right_inner_finger" reason="Never"/>
<disable_collisions link1="left_outer_finger" link2="right_inner_finger_pad" reason="Never"/>
<disable_collisions link1="left_outer_finger" link2="right_inner_knuckle" reason="Never"/>
<disable_collisions link1="left_outer_finger" link2="right_outer_finger" reason="Never"/>
<disable_collisions link1="left_outer_finger" link2="right_outer_knuckle" reason="Never"/>
<disable_collisions link1="left_outer_finger" link2="robotiq_140_base_link" reason="Never"/>
<disable_collisions link1="left_outer_finger" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="left_outer_finger" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="left_outer_finger" link2="wrist_3_link" reason="Never"/>
<disable_collisions link1="left_outer_knuckle" link2="left_outer_knuckle" reason="Default"/>
<disable_collisions link1="left_outer_knuckle" link2="right_inner_finger" reason="Never"/>
<disable_collisions link1="left_outer_knuckle" link2="right_inner_finger_pad" reason="Never"/>
<disable_collisions link1="left_outer_knuckle" link2="right_inner_knuckle" reason="Never"/>
<disable_collisions link1="left_outer_knuckle" link2="right_outer_finger" reason="Never"/>
<disable_collisions link1="left_outer_knuckle" link2="right_outer_knuckle" reason="Never"/>
<disable_collisions link1="left_outer_knuckle" link2="robotiq_140_base_link" reason="Adjacent"/>
<disable_collisions link1="left_outer_knuckle" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="left_outer_knuckle" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="left_outer_knuckle" link2="wrist_3_link" reason="Never"/>
<disable_collisions link1="right_inner_finger" link2="right_inner_finger" reason="Default"/>
<disable_collisions link1="right_inner_finger" link2="right_inner_finger_pad" reason="Adjacent"/>
<disable_collisions link1="right_inner_finger" link2="right_inner_knuckle" reason="Default"/>
<disable_collisions link1="right_inner_finger" link2="right_outer_finger" reason="Adjacent"/>
<disable_collisions link1="right_inner_finger" link2="right_outer_knuckle" reason="Never"/>
<disable_collisions link1="right_inner_finger" link2="robotiq_140_base_link" reason="Never"/>
<disable_collisions link1="right_inner_finger" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="right_inner_finger" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="right_inner_finger" link2="wrist_3_link" reason="Never"/>
<disable_collisions link1="right_inner_finger_pad" link2="right_inner_finger_pad" reason="Default"/>
<disable_collisions link1="right_inner_finger_pad" link2="right_inner_knuckle" reason="Never"/>
<disable_collisions link1="right_inner_finger_pad" link2="right_outer_finger" reason="Never"/>
<disable_collisions link1="right_inner_finger_pad" link2="right_outer_knuckle" reason="Never"/>
<disable_collisions link1="right_inner_finger_pad" link2="robotiq_140_base_link" reason="Never"/>
<disable_collisions link1="right_inner_finger_pad" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="right_inner_finger_pad" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="right_inner_finger_pad" link2="wrist_3_link" reason="Never"/>
<disable_collisions link1="right_inner_knuckle" link2="right_inner_knuckle" reason="Default"/>
<disable_collisions link1="right_inner_knuckle" link2="right_outer_finger" reason="Never"/>
<disable_collisions link1="right_inner_knuckle" link2="right_outer_knuckle" reason="Default"/>
<disable_collisions link1="right_inner_knuckle" link2="robotiq_140_base_link" reason="Adjacent"/>
<disable_collisions link1="right_inner_knuckle" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="right_inner_knuckle" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="right_inner_knuckle" link2="wrist_3_link" reason="Never"/>
<disable_collisions link1="right_outer_finger" link2="right_outer_finger" reason="Default"/>
<disable_collisions link1="right_outer_finger" link2="right_outer_knuckle" reason="Adjacent"/>
<disable_collisions link1="right_outer_finger" link2="robotiq_140_base_link" reason="Never"/>
<disable_collisions link1="right_outer_finger" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="right_outer_finger" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="right_outer_finger" link2="wrist_3_link" reason="Never"/>
<disable_collisions link1="right_outer_knuckle" link2="right_outer_knuckle" reason="Default"/>
<disable_collisions link1="right_outer_knuckle" link2="robotiq_140_base_link" reason="Adjacent"/>
<disable_collisions link1="right_outer_knuckle" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="right_outer_knuckle" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="right_outer_knuckle" link2="wrist_3_link" reason="Never"/>
<disable_collisions link1="robotiq_140_base_link" link2="robotiq_140_base_link" reason="Adjacent"/>
<disable_collisions link1="robotiq_140_base_link" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="robotiq_140_base_link" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="robotiq_140_base_link" link2="wrist_3_link" reason="Adjacent"/>
<disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent"/>
<disable_collisions link1="shoulder_link" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="shoulder_link" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="wrist_1_link" link2="wrist_2_link" reason="Adjacent"/>
<disable_collisions link1="wrist_1_link" link2="wrist_3_link" reason="Never"/>
<disable_collisions link1="wrist_2_link" link2="wrist_3_link" reason="Adjacent"/>
</robot>

14
src/ur_robotiq_moveit_config/config/ur3e_robotiq.urdf.xacro
View File

@ -1,14 +0,0 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="ur3e_robotiq">
<xacro:arg name="initial_positions_file" default="initial_positions.yaml" />
<!-- Import ur3e_robotiq urdf file -->
<xacro:include filename="$(find ur_robotiq_description)/urdf/ur_robotiq.urdf" />
<!-- Import control_xacro -->
<xacro:include filename="ur3e_robotiq.ros2_control.xacro" />
<xacro:ur3e_robotiq_ros2_control name="FakeSystem" initial_positions_file="$(arg initial_positions_file)"/>
</robot>

76
src/ur_robotiq_moveit_config/config/ur_servo.yaml Normal file
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@ -0,0 +1,76 @@
###############################################
# Modify all parameters related to servoing here
###############################################
use_gazebo: false # Whether the robot is started in a Gazebo simulation environment
## Properties of incoming commands
command_in_type: "speed_units" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
scale:
# Scale parameters are only used if command_in_type=="unitless"
linear: 0.6 # Max linear velocity. Meters per publish_period. Unit is [m/s]. Only used for Cartesian commands.
rotational: 0.3 # Max angular velocity. Rads per publish_period. Unit is [rad/s]. Only used for Cartesian commands.
# Max joint angular/linear velocity. Rads or Meters per publish period. Only used for joint commands on joint_command_in_topic.
joint: 0.01
# This is a fudge factor to account for any latency in the system, e.g. network latency or poor low-level
# controller performance. It essentially increases the timestep when calculating the target pose, to move the target
# pose farther away. [seconds]
system_latency_compensation: 0.04
## Properties of outgoing commands
publish_period: 0.004 # 1/Nominal publish rate [seconds]
low_latency_mode: false # Set this to true to publish as soon as an incoming Twist command is received (publish_period is ignored)
# What type of topic does your robot driver expect?
# Currently supported are std_msgs/Float64MultiArray or trajectory_msgs/JointTrajectory
command_out_type: std_msgs/Float64MultiArray
# What to publish? Can save some bandwidth as most robots only require positions or velocities
publish_joint_positions: true
publish_joint_velocities: false
publish_joint_accelerations: false
## Plugins for smoothing outgoing commands
smoothing_filter_plugin_name: "online_signal_smoothing::ButterworthFilterPlugin"
## Incoming Joint State properties
low_pass_filter_coeff: 10.0 # Larger --> trust the filtered data more, trust the measurements less.
## MoveIt properties
move_group_name: ur_manipulator # Often 'manipulator' or 'arm'
planning_frame: base_link # The MoveIt planning frame. Often 'base_link' or 'world'
## Other frames
ee_frame_name: tool0 # The name of the end effector link, used to return the EE pose
robot_link_command_frame: tool0 # commands must be given in the frame of a robot link. Usually either the base or end effector
## Stopping behaviour
incoming_command_timeout: 0.1 # Stop servoing if X seconds elapse without a new command
# If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish.
# Important because ROS may drop some messages and we need the robot to halt reliably.
num_outgoing_halt_msgs_to_publish: 4
## Configure handling of singularities and joint limits
lower_singularity_threshold: 100.0 # Start decelerating when the condition number hits this (close to singularity)
hard_stop_singularity_threshold: 200.0 # Stop when the condition number hits this
joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
## Topic names
cartesian_command_in_topic: ~/delta_twist_cmds # Topic for incoming Cartesian twist commands
joint_command_in_topic: ~/delta_joint_cmds # Topic for incoming joint angle commands
joint_topic: /joint_states
status_topic: ~/status # Publish status to this topic
command_out_topic: /forward_position_controller/commands # Publish outgoing commands here
## Collision checking for the entire robot body
check_collisions: true # Check collisions?
collision_check_rate: 5.0 # [Hz] Collision-checking can easily bog down a CPU if done too often.
# Two collision check algorithms are available:
# "threshold_distance" begins slowing down when nearer than a specified distance. Good if you want to tune collision thresholds manually.
# "stop_distance" stops if a collision is nearer than the worst-case stopping distance and the distance is decreasing. Requires joint acceleration limits
collision_check_type: threshold_distance
# Parameters for "threshold_distance"-type collision checking
self_collision_proximity_threshold: 0.01 # Start decelerating when a self-collision is this far [m]
scene_collision_proximity_threshold: 0.02 # Start decelerating when a scene collision is this far [m]
# Parameters for "stop_distance"-type collision checking
collision_distance_safety_factor: 1000.0 # Must be >= 1. A large safety factor is recommended to account for latency
min_allowable_collision_distance: 0.01 # Stop if a collision is closer than this [m]

4
src/ur_robotiq_moveit_config/launch/demo.launch.py
View File

@ -3,7 +3,5 @@ from moveit_configs_utils.launches import generate_demo_launch
def generate_launch_description(): def generate_launch_description():
builder = MoveItConfigsBuilder("ur3_robotiq_2f_140.urdf", robot_description= "urdf/ur_robotiq.urdf", package_name="ur_robotiq_moveit_config") moveit_config = MoveItConfigsBuilder("ur_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs()
print(builder)
moveit_config = builder.to_moveit_configs()
return generate_demo_launch(moveit_config) return generate_demo_launch(moveit_config)

2
src/ur_robotiq_moveit_config/launch/move_group.launch.py
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@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_move_group_launch
def generate_launch_description(): def generate_launch_description():
moveit_config = MoveItConfigsBuilder("ur3e_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs() moveit_config = MoveItConfigsBuilder("ur_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs()
return generate_move_group_launch(moveit_config) return generate_move_group_launch(moveit_config)

4
src/ur_robotiq_moveit_config/launch/moveit_rviz.launch.py
View File

@ -3,7 +3,5 @@ from moveit_configs_utils.launches import generate_moveit_rviz_launch
def generate_launch_description(): def generate_launch_description():
moveit_config = MoveItConfigsBuilder("ur3e_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs() moveit_config = MoveItConfigsBuilder("ur_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs()
print(moveit_config.robot_description_kinematics)
return generate_moveit_rviz_launch(moveit_config) return generate_moveit_rviz_launch(moveit_config)

2
src/ur_robotiq_moveit_config/launch/rsp.launch.py
View File

@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_rsp_launch
def generate_launch_description(): def generate_launch_description():
moveit_config = MoveItConfigsBuilder("ur3e_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs() moveit_config = MoveItConfigsBuilder("ur_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs()
return generate_rsp_launch(moveit_config) return generate_rsp_launch(moveit_config)

7
src/ur_robotiq_moveit_config/launch/setup_assistant.launch.py
View File

@ -1,7 +0,0 @@
from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_setup_assistant_launch
def generate_launch_description():
moveit_config = MoveItConfigsBuilder("ur3e_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs()
return generate_setup_assistant_launch(moveit_config)

2
src/ur_robotiq_moveit_config/launch/spawn_controllers.launch.py
View File

@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_spawn_controllers_launch
def generate_launch_description(): def generate_launch_description():
moveit_config = MoveItConfigsBuilder("ur3e_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs() moveit_config = MoveItConfigsBuilder("ur_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs()
return generate_spawn_controllers_launch(moveit_config) return generate_spawn_controllers_launch(moveit_config)

2
src/ur_robotiq_moveit_config/launch/static_virtual_joint_tfs.launch.py
View File

@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_laun
def generate_launch_description(): def generate_launch_description():
moveit_config = MoveItConfigsBuilder("ur3e_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs() moveit_config = MoveItConfigsBuilder("ur_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs()
return generate_static_virtual_joint_tfs_launch(moveit_config) return generate_static_virtual_joint_tfs_launch(moveit_config)

280
src/ur_robotiq_moveit_config/launch/ur3e_robotiq.launch.py Normal file
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@ -0,0 +1,280 @@
import os
import launch_ros
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import OpaqueFunction
from launch.conditions import IfCondition
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch_ros.parameter_descriptions import ParameterValue
from ament_index_python.packages import get_package_share_directory
import yaml
def load_yaml(package_name, file_path):
package_path = get_package_share_directory(package_name)
absolute_file_path = os.path.join(package_path, file_path)
try:
with open(absolute_file_path, 'r') as file:
return yaml.safe_load(file)
except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
return None
def generate_launch_description():
# Initialize Arguments
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
# General arguments
robot_name = LaunchConfiguration("robot_name")
prefix = LaunchConfiguration("prefix")
use_sim_time = LaunchConfiguration("use_sim_time")
launch_rviz = LaunchConfiguration("launch_rviz")
launch_servo = LaunchConfiguration("launch_servo")
ur_type = "ur3e"
# File and package names
ur_description_package = "ur_description"
ur_robotiq_description_package = "ur_robotiq_description"
ur_robotiq_description_file = "ur_robotiq.urdf.xacro"
moveit_config_package = "ur_robotiq_moveit_config"
moveit_config_file = "ur_robotiq_macro.srdf.xacro"
joint_limit_params = PathJoinSubstitution(
[FindPackageShare(ur_description_package), "config", ur_type, "joint_limits.yaml"]
)
kinematics_params = PathJoinSubstitution(
[FindPackageShare(ur_description_package), "config", ur_type, "default_kinematics.yaml"]
)
physical_params = PathJoinSubstitution(
[FindPackageShare(ur_description_package), "config", ur_type, "physical_parameters.yaml"]
)
visual_params = PathJoinSubstitution(
[FindPackageShare(ur_description_package), "config", ur_type, "visual_parameters.yaml"]
)
robot_description_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution([FindPackageShare(ur_robotiq_description_package), "urdf", ur_robotiq_description_file]),
" ",
"robot_ip:=xxx.yyy.zzz.www",
" ",
"use_fake_hardware:=",
use_fake_hardware,
" ",
"joint_limit_params:=",
joint_limit_params,
" ",
"kinematics_params:=",
kinematics_params,
" ",
"physical_params:=",
physical_params,
" ",
"visual_params:=",
visual_params,
" ",
"safety_limits:=true",
" ",
"safety_pos_margin:=0.15",
" ",
"safety_k_position:=20",
" ",
"name:=",
robot_name,
" ",
"ur_type:=",
ur_type,
" ",
"script_filename:=ros_control.urscript",
" ",
"input_recipe_filename:=rtde_input_recipe.txt",
" ",
"output_recipe_filename:=rtde_output_recipe.txt",
" ",
"prefix:=",
prefix,
" ",
]
)
robot_description = {"robot_description": robot_description_content}
# MoveIt Configuration
robot_description_semantic_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution([FindPackageShare(moveit_config_package), "srdf", moveit_config_file]),
" ",
"name:=",
robot_name,
" ",
"prefix:=",
prefix,
" "
]
)
robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}
robot_description_kinematics = load_yaml(moveit_config_package, "config/kinematics.yaml")
# robot_description_planning = {
# "robot_description_planning": load_yaml_abs(str(joint_limit_params.perform(context)))
# }
# Planning Configuration
ompl_planning_pipeline_config = {
"move_group": {
"planning_plugin": "ompl_interface/OMPLPlanner",
"request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
"start_state_max_bounds_error": 0.1,
}
}
ompl_planning_yaml = load_yaml(moveit_config_package, "config/ompl_planning.yaml")
ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
# Trajectory Execution Configuration
controllers_yaml = load_yaml(moveit_config_package, "config/controllers.yaml")
# the scaled_joint_trajectory_controller does not work on fake hardware
change_controllers = use_fake_hardware
if change_controllers == "true":
controllers_yaml["scaled_joint_trajectory_controller"]["default"] = False
controllers_yaml["joint_trajectory_controller"]["default"] = True
moveit_controllers = {
"moveit_simple_controller_manager": controllers_yaml,
"moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager",
}
trajectory_execution = {
"moveit_manage_controllers": False,
"trajectory_execution.allowed_execution_duration_scaling": 1.2,
"trajectory_execution.allowed_goal_duration_margin": 0.5,
"trajectory_execution.allowed_start_tolerance": 0.01,
}
planning_scene_monitor_parameters = {
"publish_planning_scene": True,
"publish_geometry_updates": True,
"publish_state_updates": True,
"publish_transforms_updates": True,
}
print(robot_description,
robot_description_semantic,
robot_description_kinematics,
ompl_planning_pipeline_config,
trajectory_execution,
moveit_controllers,
planning_scene_monitor_parameters)
# Start the actual move_group node/action server
move_group_node = Node(
package="moveit_ros_move_group",
executable="move_group",
output="screen",
parameters=[
robot_description,
robot_description_semantic,
robot_description_kinematics,
# robot_description_planning,
ompl_planning_pipeline_config,
trajectory_execution,
moveit_controllers,
planning_scene_monitor_parameters,
{"use_sim_time": use_sim_time},
],
)
robot_state_publisher_node = launch_ros.actions.Node(
package="robot_state_publisher",
executable="robot_state_publisher",
parameters=[robot_description],
)
# rviz with moveit configuration
rviz_config_file = PathJoinSubstitution(
[FindPackageShare(moveit_config_package), "rviz", "view_robot.rviz"]
)
rviz_node = Node(
package="rviz2",
condition=IfCondition(launch_rviz),
executable="rviz2",
name="rviz2_moveit",
output="log",
arguments=["-d", rviz_config_file],
parameters=[
robot_description,
robot_description_semantic,
ompl_planning_pipeline_config,
robot_description_kinematics,
# robot_description_planning,
],
)
# Servo node for realtime control
servo_yaml = load_yaml(moveit_config_package, "config/ur_servo.yaml")
servo_params = {"moveit_servo": servo_yaml}
# servo_node = Node(
# package="moveit_servo",
# condition=IfCondition(launch_servo),
# executable="servo_node_main",
# parameters=[
# servo_params,
# robot_description,
# robot_description_semantic,
# ],
# output="screen",
# )
# Declare the Launch arguments
# UR specific arguments
robot_name_arg = DeclareLaunchArgument(
"robot_name",
default_value= "ur",
description="Name of the Universal Robot"
)
use_fake_hardware_arg = DeclareLaunchArgument(
"use_fake_hardware",
default_value="true",
description="Indicate whether robot is running with fake hardware mirroring command to its states.",
)
# General arguments
use_sim_time_arg = DeclareLaunchArgument(
"use_sim_time",
default_value="false",
description="Make MoveIt to use simulation time. This is needed for the trajectory planing in simulation.",
)
prefix_arg = DeclareLaunchArgument(
"prefix",
default_value='""',
description="Prefix of the joint names, useful for \
multi-robot setup. If changed than also joint names in the controllers' configuration \
have to be updated.",
)
launch_rviz_arg = DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")
launch_servo_arg = DeclareLaunchArgument("launch_servo", default_value="true", description="Launch Servo?")
launch_args = [
robot_name_arg,
prefix_arg,
use_fake_hardware_arg,
use_sim_time_arg,
launch_rviz_arg,
launch_servo_arg
]
# servo_node,
nodes_to_start = [move_group_node, rviz_node, robot_state_publisher_node]
return LaunchDescription(launch_args + nodes_to_start)

40
src/ur_robotiq_moveit_config/launch/ur3e_robotiq_description.launch.py
View File

@ -1,40 +0,0 @@
from launch import LaunchDescription
from launch_ros.actions import Node
import os
from ament_index_python.packages import get_package_share_directory
import xacro
def generate_launch_description():
# Define the path to the Xacro file
ur_robotiq_desc_pkg_path = get_package_share_directory('ur_robotiq_description')
xacro_file_path = os.path.join(ur_robotiq_desc_pkg_path, 'urdf', 'ur_robotiq.urdf.xacro')
# Process the Xacro file to generate URDF
doc = xacro.process_file(xacro_file_path)
robot_description = {'robot_description': doc.toxml()}
# Node to publish robot state to TF
robot_state_publisher_node = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='both',
parameters=[robot_description],
)
# Node to launch RViz
rviz_node = Node(
package='rviz2',
executable='rviz2',
name='rviz2',
arguments=['-d', os.path.join(ur_robotiq_desc_pkg_path, 'rviz', 'ur3e_robotiq.rviz')],
output='screen'
)
# Define and return LaunchDescription
return LaunchDescription([
robot_state_publisher_node,
rviz_node,
# Add other necessary nodes and configurations here
])

7
src/ur_robotiq_moveit_config/launch/warehouse_db.launch.py
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@ -1,7 +0,0 @@
from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_warehouse_db_launch
def generate_launch_description():
moveit_config = MoveItConfigsBuilder("ur3e_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs()
return generate_warehouse_db_launch(moveit_config)

10
src/ur_robotiq_moveit_config/package.xml
View File

@ -4,9 +4,9 @@
<name>ur_robotiq_moveit_config</name> <name>ur_robotiq_moveit_config</name>
<version>0.3.0</version> <version>0.3.0</version>
<description> <description>
An automatically generated package with all the configuration and launch files for using the ur3e_robotiq with the MoveIt Motion Planning Framework An automatically generated package with all the configuration and launch files for using the ur_robotiq with the MoveIt Motion Planning Framework
</description> </description>
<maintainer email="fotios.lygerakis@unileoben.ac.at">Fotios Lygerakis</maintainer> <maintainer email="nikolaus.feith@unileoben.ac.at">Nikolaus Feith</maintainer>
<license>BSD</license> <license>BSD</license>
@ -14,7 +14,7 @@
<url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url> <url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url>
<url type="repository">https://github.com/ros-planning/moveit2</url> <url type="repository">https://github.com/ros-planning/moveit2</url>
<author email="fotios.lygerakis@unileoben.ac.at">Fotios Lygerakis</author> <author email="nikolaus.feith@unileoben.ac.at">Nikolaus Feith</author>
<buildtool_depend>ament_cmake</buildtool_depend> <buildtool_depend>ament_cmake</buildtool_depend>
@ -34,17 +34,13 @@
<exec_depend>moveit_configs_utils</exec_depend> <exec_depend>moveit_configs_utils</exec_depend>
<exec_depend>moveit_ros_move_group</exec_depend> <exec_depend>moveit_ros_move_group</exec_depend>
<exec_depend>moveit_ros_visualization</exec_depend> <exec_depend>moveit_ros_visualization</exec_depend>
<exec_depend>moveit_ros_warehouse</exec_depend>
<exec_depend>moveit_setup_assistant</exec_depend>
<exec_depend>robot_state_publisher</exec_depend> <exec_depend>robot_state_publisher</exec_depend>
<exec_depend>rviz2</exec_depend> <exec_depend>rviz2</exec_depend>
<exec_depend>rviz_common</exec_depend> <exec_depend>rviz_common</exec_depend>
<exec_depend>rviz_default_plugins</exec_depend> <exec_depend>rviz_default_plugins</exec_depend>
<exec_depend>tf2_ros</exec_depend> <exec_depend>tf2_ros</exec_depend>
<exec_depend>ur_robotiq_description</exec_depend> <exec_depend>ur_robotiq_description</exec_depend>
<exec_depend>warehouse_ros_mongo</exec_depend>
<exec_depend>xacro</exec_depend> <exec_depend>xacro</exec_depend>
<exec_depend>ament_index_python</exec_depend>
<export> <export>

0
src/ur_robotiq_moveit_config/config/moveit.rviz → src/ur_robotiq_moveit_config/rviz/moveit.rviz
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285
src/ur_robotiq_moveit_config/rviz/view_robot.rviz Normal file
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@ -0,0 +1,285 @@
Panels:
- Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
- /RobotModel1/Status1
- /RobotModel1/Links1
Splitter Ratio: 0.5
Tree Height: 746
- 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
base:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
base_link_inertia:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
flange:
Alpha: 1
Show Axes: false
Show Trail: false
forearm_link:
Alpha: 1
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
Show Trail: false
Value: true
tool0:
Alpha: 1
Show Axes: false
Show Trail: false
upper_arm_link:
Alpha: 1
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
Show Trail: false
Value: true
wrist_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist_3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
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: 1.6701574325561523
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
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: 1043
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000002a000000375fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000375000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000375fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000375000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003c50000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1920
X: 0
Y: 0

77
src/ur_robotiq_moveit_config/srdf/ur_robotiq_macro.srdf.xacro Normal file
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@ -0,0 +1,77 @@
<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:macro name="ur_robotiq_srdf" params="name prefix">
<!--GROUPS - Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS - When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS - When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS - When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS - Groups can also be formed by referencing to already defined group names-->
<group name="${prefix}${name}_manipulator">
<chain base_link="${prefix}base_link" tip_link="${prefix}tool0" />
</group>
<group name="${prefix}gripper">
<link name="${prefix}robotiq_base_link"/>
<link name="${prefix}left_inner_knuckle"/>
</group>
<!--GROUP STATES - Purpose - Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="${prefix}home" group="${prefix}${name}_manipulator">
<joint name="${prefix}elbow_joint" value="0" />
<joint name="${prefix}shoulder_lift_joint" value="-1.5707" />
<joint name="${prefix}shoulder_pan_joint" value="0" />
<joint name="${prefix}wrist_1_joint" value="0" />
<joint name="${prefix}wrist_2_joint" value="0" />
<joint name="${prefix}wrist_3_joint" value="0" />
</group_state>
<group_state name="${prefix}up" group="${prefix}${name}_manipulator">
<joint name="${prefix}elbow_joint" value="0" />
<joint name="${prefix}shoulder_lift_joint" value="-1.5707" />
<joint name="${prefix}shoulder_pan_joint" value="0" />
<joint name="${prefix}wrist_1_joint" value="-1.5707" />
<joint name="${prefix}wrist_2_joint" value="0" />
<joint name="${prefix}wrist_3_joint" value="0" />
</group_state>
<group_state name="${prefix}test_configuration" group="${prefix}${name}_manipulator">
<joint name="${prefix}elbow_joint" value="1.4" />
<joint name="${prefix}shoulder_lift_joint" value="-1.62" />
<joint name="${prefix}shoulder_pan_joint" value="1.54" />
<joint name="${prefix}wrist_1_joint" value="-1.2" />
<joint name="${prefix}wrist_2_joint" value="-1.6" />
<joint name="${prefix}wrist_3_joint" value="-0.11" />
</group_state>
<!--END EFFECTOR - Purpose - Represent information about an end effector.-->
<!--VIRTUAL JOINT - Purpose - this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<!--DISABLE COLLISIONS - By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<!--UR-Robot-->
<disable_collisions link1="${prefix}base_link" link2="${prefix}base_link_inertia" reason="Adjacent" />
<disable_collisions link1="${prefix}base_link_inertia" link2="${prefix}shoulder_link" reason="Adjacent" />
<disable_collisions link1="${prefix}tool0" link2="${prefix}wrist_1_link" reason="Never" />
<disable_collisions link1="${prefix}tool0" link2="${prefix}wrist_2_link" reason="Never" />
<disable_collisions link1="${prefix}tool0" link2="${prefix}wrist_3_link" reason="Adjacent" />
<disable_collisions link1="${prefix}forearm_link" link2="${prefix}upper_arm_link" reason="Adjacent" />
<disable_collisions link1="${prefix}forearm_link" link2="${prefix}wrist_1_link" reason="Adjacent" />
<disable_collisions link1="${prefix}shoulder_link" link2="${prefix}upper_arm_link" reason="Adjacent" />
<disable_collisions link1="${prefix}wrist_1_link" link2="${prefix}wrist_2_link" reason="Adjacent" />
<disable_collisions link1="${prefix}wrist_1_link" link2="${prefix}wrist_3_link" reason="Never" />
<disable_collisions link1="${prefix}wrist_2_link" link2="${prefix}wrist_3_link" reason="Adjacent" />
<!--Robotiq-Gripper-->
<disable_collisions link1="${prefix}tool0" link2="${prefix}robotiq_base_link" reason="Adjacent"/>
<disable_collisions link1="${prefix}robotiq_base_link" link2="${prefix}robotiq_140_base_link" reason="Adjacent"/>
<disable_collisions link1="${prefix}robotiq_140_base_link" link2="left_outer_knuckle" reason="Adjacent"/>
<disable_collisions link1="${prefix}robotiq_140_base_link" link2="${prefix}left_outer_finger" reason="Adjacent"/>
<disable_collisions link1="${prefix}left_outer_knuckle" link2="${prefix}left_inner_knuckle" reason="Adjacent"/>
<disable_collisions link1="${prefix}left_outer_knuckle" link2="${prefix}left_outer_finger" reason="Adjacent"/>
<disable_collisions link1="${prefix}robotiq_140_base_link" link2="${prefix}left_inner_knuckle" reason="Adjacent"/>
<disable_collisions link1="${prefix}left_inner_knuckle" link2="${prefix}left_inner_finger" reason="Adjacent"/>
<disable_collisions link1="${prefix}left_outer_finger" link2="${prefix}left_inner_finger" reason="Adjacent"/>
<disable_collisions link1="${prefix}left_inner_finger" link2="${prefix}left_inner_finger_pad" reason="Adjacent"/>
<disable_collisions link1="${prefix}robotiq_140_base_link" link2="right_outer_knuckle" reason="Adjacent"/>
<disable_collisions link1="${prefix}robotiq_140_base_link" link2="${prefix}right_outer_finger" reason="Adjacent"/>
<disable_collisions link1="${prefix}robotiq_140_base_link" link2="${prefix}right_inner_knuckle" reason="Adjacent"/>
<disable_collisions link1="${prefix}right_outer_knuckle" link2="${prefix}right_inner_knuckle" reason="Adjacent"/>
<disable_collisions link1="${prefix}right_outer_knuckle" link2="${prefix}right_outer_finger" reason="Adjacent"/>
<disable_collisions link1="${prefix}right_inner_knuckle" link2="${prefix}right_inner_finger" reason="Adjacent"/>
<disable_collisions link1="${prefix}right_outer_finger" link2="${prefix}right_inner_finger" reason="Adjacent"/>
<disable_collisions link1="${prefix}right_inner_finger" link2="${prefix}right_inner_finger_pad" reason="Adjacent"/>
<disable_collisions link1="${prefix}left_inner_finger_pad" link2="${prefix}right_inner_finger_pad" reason="Never"/>
</xacro:macro>
</robot>