From ad299fe757cf46300924ec64df07fe0d030cbb85 Mon Sep 17 00:00:00 2001 From: ligerfotis Date: Tue, 16 Apr 2024 11:48:44 +0200 Subject: [PATCH] working keyboard example --- .idea/.gitignore | 2 + README.md | 25 ++ UR_Robotiq.humble.repos | 5 +- src/{robotiq_2f/README.md => __init__.py} | 0 .../robotiq_2f_controllers/CMakeLists.txt | 26 -- .../robotiq_2f_controllers/package.xml | 18 - .../robotiq_2f_description/CMakeLists.txt | 26 -- .../config/robotiq_2f_140_config.yaml | 9 - .../config/robotiq_2f_85_config.yaml | 11 - .../2f_140/robotiq_2f_140_base_link.stl | Bin 86384 -> 0 bytes .../2f_140/robotiq_2f_140_coupling.stl | Bin 21184 -> 0 bytes .../2f_140/robotiq_2f_140_inner_finger.stl | Bin 7284 -> 0 bytes .../2f_140/robotiq_2f_140_inner_knuckle.stl | Bin 5484 -> 0 bytes .../2f_140/robotiq_2f_140_outer_finger.stl | Bin 11684 -> 0 bytes .../2f_140/robotiq_2f_140_outer_knuckle.stl | Bin 9784 -> 0 bytes .../meshes/collision/2f_85/left_finger.stl | Bin 19684 -> 0 bytes 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.../src/Robotiq2fSocketAdapter.cpp | 369 ----------------- .../src/hardware_interface.cpp | 385 ----------------- .../tests/test_conversions.cpp | 69 ---- src/servo_keyboard/CMakeLists.txt | 52 +++ src/servo_keyboard/LICENSE | 202 +++++++++ .../package.xml | 16 +- .../src/servo_keyboard_input.cpp | 389 ++++++++++++++++++ .../config/ur_robotiq_calibration.yaml | 44 ++ .../launch/ur_robotiq_control.launch.py | 38 +- .../urdf/ur_robotiq.urdf | 48 +-- .../urdf/ur_to_robotiq_adapter.urdf.xacro | 39 -- .../__init__.py} | 0 src/ur_robotiq_servo/config/joy-params.yaml | 3 +- src/ur_robotiq_servo/config/kb-params.yaml | 6 + .../launch/kb_servo.launch.py | 46 +++ src/ur_robotiq_servo/package.xml | 1 + src/ur_robotiq_servo/servo_keyboard_input.py | 196 +++++++++ src/ur_robotiq_servo/setup.py | 4 +- .../ur_robotiq_servo/kb_control.py | 142 +++++++ 70 files changed, 1182 insertions(+), 2845 deletions(-) rename src/{robotiq_2f/README.md => __init__.py} (100%) delete mode 100644 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src/servo_keyboard/CMakeLists.txt create mode 100644 src/servo_keyboard/LICENSE rename src/{robotiq_2f/robotiq_2f_interface => servo_keyboard}/package.xml (59%) create mode 100644 src/servo_keyboard/src/servo_keyboard_input.cpp create mode 100644 src/ur_robotiq_description/config/ur_robotiq_calibration.yaml delete mode 100644 src/ur_robotiq_description/urdf/ur_to_robotiq_adapter.urdf.xacro rename src/{robotiq_2f/robotiq_2f_description/config/robotiq_controllers.yaml => ur_robotiq_servo/__init__.py} (100%) create mode 100644 src/ur_robotiq_servo/config/kb-params.yaml create mode 100644 src/ur_robotiq_servo/launch/kb_servo.launch.py create mode 100644 src/ur_robotiq_servo/servo_keyboard_input.py create mode 100644 src/ur_robotiq_servo/ur_robotiq_servo/kb_control.py diff --git a/.idea/.gitignore b/.idea/.gitignore index 13566b8..a9d7db9 100644 --- a/.idea/.gitignore +++ b/.idea/.gitignore @@ -6,3 +6,5 @@ # Datasource local storage ignored files /dataSources/ /dataSources.local.xml +# GitHub Copilot persisted chat sessions +/copilot/chatSessions diff --git a/README.md b/README.md index 68964df..c862aff 100644 --- a/README.md +++ b/README.md @@ -78,11 +78,17 @@ ros2 launch ur_robotiq_moveit_config ur_robotiq_moveit.launch.py use_fake_hardwa ``` ### servoing +#### PS5 controller Terminal 3:\ **At the moment the servoing doesnt work with the collision checker (self collision still works).** ```bash ros2 launch ur_robotiq_servo ps5_servo.launch.py ``` +#### Keyboard +Terminal 3: +```bash +ros2 run servo_keyboard servo_keyboard_input +``` After launching you need to change the controller to enable the servo mode.\ Terminal 4: @@ -91,4 +97,23 @@ ros2 control switch_controllers --deactivate joint_trajectory_controller ros2 control switch_controllers --deactivate robotiq_gripper_joint_trajectory_controller ros2 control switch_controllers --activate forward_position_controller ros2 control switch_controllers --activate forward_gripper_position_controller +``` + +For the real robot you need to change to the scaled position controller: +```bash +ros2 control switch_controllers --deactivate scaled_joint_trajectory_controller +ros2 control switch_controllers --deactivate robotiq_gripper_joint_trajectory_controller +ros2 control switch_controllers --activate scaled_forward_position_controller +ros2 control switch_controllers --activate forward_gripper_position_controller +``` + +Terminal 5: +Activate the Servo Node +```bash +ros2 service call ros2 service call /servo_node/start_servo std_srvs/srv/Trigger {} +``` + +### extract the urdf from xacro file +```bash +ros2 run xacro xacro src/ur_robotiq_description/urdf/ur_robotiq.urdf.xacro > src/ur_robotiq_description/urdf/ur_robotiq.urdf name:=ur3e ``` \ No newline at end of file diff --git a/UR_Robotiq.humble.repos b/UR_Robotiq.humble.repos index aa37cd5..8fd9130 100644 --- a/UR_Robotiq.humble.repos +++ b/UR_Robotiq.humble.repos @@ -13,9 +13,8 @@ repositories: version: ros2 ros2_robotiq_gripper: type: git - url: https://github.com/NikoFeith/ros2_robotiq_gripper.git + url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git version: main cartesian_controllers: type: git - url: https://github.com/NikoFeith/cartesian_controllers.git - version: ros2 \ No newline at end of file + url: https://github.com/NikoFeith/cartesian_controllers.git \ No newline at end of file diff --git a/src/robotiq_2f/README.md b/src/__init__.py similarity index 100% rename from src/robotiq_2f/README.md rename to src/__init__.py diff --git a/src/robotiq_2f/robotiq_2f_controllers/CMakeLists.txt b/src/robotiq_2f/robotiq_2f_controllers/CMakeLists.txt deleted file mode 100644 index f96d87b..0000000 --- a/src/robotiq_2f/robotiq_2f_controllers/CMakeLists.txt +++ /dev/null @@ -1,26 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(robotiq_2f_controllers) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -# uncomment the following section in order to fill in -# further dependencies manually. -# find_package( REQUIRED) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # comment the line when a copyright and license is added to all source files - set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # comment the line when this package is in a git repo and when - # a copyright and license is added to all source files - set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/src/robotiq_2f/robotiq_2f_controllers/package.xml b/src/robotiq_2f/robotiq_2f_controllers/package.xml deleted file mode 100644 index ab0ddb2..0000000 --- a/src/robotiq_2f/robotiq_2f_controllers/package.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - robotiq_2f_controllers - 0.0.0 - TODO: Package description - niko - TODO: License declaration - - ament_cmake - - ament_lint_auto - ament_lint_common - - - ament_cmake - - diff --git a/src/robotiq_2f/robotiq_2f_description/CMakeLists.txt b/src/robotiq_2f/robotiq_2f_description/CMakeLists.txt deleted file mode 100644 index 20cbfc6..0000000 --- a/src/robotiq_2f/robotiq_2f_description/CMakeLists.txt +++ /dev/null @@ -1,26 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(robotiq_2f_description) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -# uncomment the following section in order to fill in -# further dependencies manually. -# find_package( REQUIRED) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # comment the line when a copyright and license is added to all source files - set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # comment the line when this package is in a git repo and when - # a copyright and license is added to all source files - set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_140_config.yaml b/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_140_config.yaml deleted file mode 100644 index ce06c22..0000000 --- a/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_140_config.yaml +++ /dev/null @@ -1,9 +0,0 @@ -robotiq_2f_140_gripper: - ros__parameters: - # Physical limits - min_position: 0.0 # Meters (fully closed) - max_position: 0.14 # Meters (fully open) - min_speed: 0.02 # Meters per second - max_speed: 0.15 # Meters per second - min_force: 20.0 # Newtons - max_force: 235.0 # Newtons \ No newline at end of file diff --git a/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_85_config.yaml b/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_85_config.yaml deleted file mode 100644 index 6a106a5..0000000 --- a/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_85_config.yaml +++ /dev/null @@ -1,11 +0,0 @@ -robotiq_2f_140_gripper: - ros__parameters: - robot_ip: "192.168.1.11" - robot_port: 63352 - # Physical limits - min_position: 0.0 # Meters (fully closed) - max_position: 0.085 # Meters (fully open) - min_speed: 0.02 # Meters per second - max_speed: 0.15 # Meters per second - min_force: 20.0 # Newtons - max_force: 235.0 # Newtons \ No newline at end of file diff --git a/src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_140/robotiq_2f_140_base_link.stl b/src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_140/robotiq_2f_140_base_link.stl deleted file mode 100644 index 7eccbbbe91af5647ca1a0d4d2cc1b24ba827ef32..0000000000000000000000000000000000000000 GIT binary patch literal 0 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