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8b3c40bbe7
...
08bec7a499
25
README.md
25
README.md
@ -78,17 +78,11 @@ ros2 launch ur_robotiq_moveit_config ur_robotiq_moveit.launch.py use_fake_hardwa
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||||
```
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### servoing
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#### PS5 controller
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Terminal 3:\
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**At the moment the servoing doesnt work with the collision checker (self collision still works).**
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```bash
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ros2 launch ur_robotiq_servo ps5_servo.launch.py
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```
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#### Keyboard
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Terminal 3:
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```bash
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ros2 run servo_keyboard servo_keyboard_input
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```
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After launching you need to change the controller to enable the servo mode.\
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Terminal 4:
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@ -98,22 +92,3 @@ ros2 control switch_controllers --deactivate robotiq_gripper_joint_trajectory_co
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ros2 control switch_controllers --activate forward_position_controller
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ros2 control switch_controllers --activate forward_gripper_position_controller
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```
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For the real robot you need to change to the scaled position controller:
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```bash
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ros2 control switch_controllers --deactivate scaled_joint_trajectory_controller
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ros2 control switch_controllers --deactivate robotiq_gripper_joint_trajectory_controller
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ros2 control switch_controllers --activate scaled_forward_position_controller
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ros2 control switch_controllers --activate forward_gripper_position_controller
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```
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Terminal 5:
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Activate the Servo Node
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```bash
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ros2 service call ros2 service call /servo_node/start_servo std_srvs/srv/Trigger {}
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```
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### extract the urdf from xacro file
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```bash
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ros2 run xacro xacro src/ur_robotiq_description/urdf/ur_robotiq.urdf.xacro > src/ur_robotiq_description/urdf/ur_robotiq.urdf name:=ur3e
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```
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@ -7,14 +7,7 @@ repositories:
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type: git
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url: https://github.com/NikoFeith/Universal_Robots_ROS2_Driver.git
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version: humble
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serial:
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type: git
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url: https://github.com/tylerjw/serial.git
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version: ros2
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ros2_robotiq_gripper:
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type: git
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url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git
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version: main
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cartesian_controllers:
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type: git
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url: https://github.com/NikoFeith/cartesian_controllers.git
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version: ros2
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0
src/robotiq_2f/README.md
Normal file
0
src/robotiq_2f/README.md
Normal file
20
src/robotiq_2f/robotiq_2f_description/CMakeLists.txt
Normal file
20
src/robotiq_2f/robotiq_2f_description/CMakeLists.txt
Normal file
@ -0,0 +1,20 @@
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cmake_minimum_required(VERSION 3.8)
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project(robotiq_2f_description)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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install(
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DIRECTORY
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config
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launch
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meshes
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rviz
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urdf
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DESTINATION
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share/${PROJECT_NAME}
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)
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ament_package()
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@ -0,0 +1,8 @@
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robotiq_2f_gripper:
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# Physical limits
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min_position: 0.0 # Meters (fully closed)
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max_position: 0.14 # Meters (fully open)
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min_speed: 0.02 # Meters per second
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max_speed: 0.15 # Meters per second
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min_force: 20.0 # Newtons
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max_force: 235.0 # Newtons
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@ -0,0 +1,8 @@
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robotiq_2f_gripper:
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# Physical limits
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min_position: 0.0 # Meters (fully closed)
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max_position: 0.085 # Meters (fully open)
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min_speed: 0.02 # Meters per second
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max_speed: 0.15 # Meters per second
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min_force: 20.0 # Newtons
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max_force: 235.0 # Newtons
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@ -0,0 +1,20 @@
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controller_manager:
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ros__parameters:
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update_rate: 500 # Hz
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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robotiq_gripper_controller:
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type: position_controllers/GripperActionController
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robotiq_activation_controller:
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type: robotiq_controllers/RobotiqActivationController
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robotiq_gripper_controller:
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ros__parameters:
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default: true
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joint: finger_joint
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use_effort_interface: true
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use_speed_interface: true
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robotiq_activation_controller:
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ros__parameters:
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default: true
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32
src/robotiq_2f/robotiq_2f_description/package.xml
Normal file
32
src/robotiq_2f/robotiq_2f_description/package.xml
Normal file
@ -0,0 +1,32 @@
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>robotiq_2f_description</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<maintainer email="nikolaus.feith@unileoben.ac.at">niko</maintainer>
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<license>TODO: License declaration</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<exec_depend>joint_state_publisher_gui</exec_depend>
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<exec_depend>launch</exec_depend>
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<exec_depend>launch_ros</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>rviz2</exec_depend>
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<exec_depend>urdf</exec_depend>
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<exec_depend>xacro</exec_depend>
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<exec_depend>ros2_control</exec_depend>
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<exec_depend>ros2_controllers</exec_depend>
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||||
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<exec_depend>gripper_controllers</exec_depend>
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<exec_depend>joint_state_broadcaster</exec_depend>
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||||
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||||
<test_depend>ament_lint_auto</test_depend>
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||||
<test_depend>ament_lint_common</test_depend>
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||||
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<export>
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||||
<build_type>ament_cmake</build_type>
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</export>
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</package>
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@ -0,0 +1,97 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="robotiq_gripper_ros2_control" params="
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name
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||||
prefix
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||||
use_fake_hardware
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fake_sensor_commands
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robot_ip
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robot_port
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min_position
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||||
max_position
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||||
min_speed
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||||
max_speed
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||||
min_force
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||||
max_force">
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<ros2_control name="${name}" type="system">
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||||
<!-- Plugins -->
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||||
<hardware>
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<plugin>robotiq_2f_interface/RobotiqGripperHardwareInterface</plugin>
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<xacro:if value="${use_fake_hardware}">
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||||
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
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<param name="state_following_offset">0.0</param>
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</xacro:if>
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<param name="gripper_closed_position">0.695</param>
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<param name="robot_ip">${robot_ip}</param>
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<param name="robot_port">${robot_port}</param>
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<param name="use_fake_hardware">${use_fake_hardware}</param>
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<param name="gripper_speed_multiplier">1.0</param>
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<param name="gripper_force_multiplier">0.5</param>
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<param name="min_position">${min_position}</param>
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<param name="max_position">${max_position}</param>
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<param name="min_speed">${min_speed}</param>
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<param name="max_speed">${max_speed}</param>
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<param name="min_force">${min_force}</param>
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||||
<param name="max_force">${max_force}</param>
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</hardware>
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<!-- Joint interfaces -->
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<!-- With Hardware, they handle mimic joints, so we only need this command interface activated -->
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<joint name="${prefix}finger_joint">
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<command_interface name="position" />
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<state_interface name="position">
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||||
<param name="initial_value">0.695</param>
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||||
</state_interface>
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||||
<state_interface name="velocity"/>
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</joint>
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<!-- When simulating we need to include the rest of the gripper joints -->
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<xacro:if value="false">
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||||
<joint name="${prefix}left_inner_knuckle_joint">
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||||
<param name="mimic">${prefix}finger_joint</param>
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||||
<param name="multiplier">-1</param>
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||||
<command_interface name="position"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${prefix}left_inner_finger_joint">
|
||||
<param name="mimic">${prefix}finger_joint</param>
|
||||
<param name="multiplier">1</param>
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${prefix}right_outer_knuckle_joint">
|
||||
<param name="mimic">${prefix}finger_joint</param>
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||||
<param name="multiplier">-1</param>
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${prefix}robotiq_140_left_finger_tip_joint">
|
||||
<param name="mimic">${prefix}robotiq_140_left_knuckle_joint</param>
|
||||
<param name="multiplier">-1</param>
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${prefix}robotiq_140_right_finger_tip_joint">
|
||||
<param name="mimic">${prefix}robotiq_140_left_knuckle_joint</param>
|
||||
<param name="multiplier">1</param>
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
</xacro:if>
|
||||
|
||||
<!-- Only add this with fake hardware mode -->
|
||||
<gpio name="reactivate_gripper">
|
||||
<command_interface name="reactivate_gripper_cmd" />
|
||||
<command_interface name="reactivate_gripper_response" />
|
||||
</gpio>
|
||||
|
||||
</ros2_control>
|
||||
</xacro:macro>
|
||||
|
||||
</robot>
|
||||
@ -0,0 +1,13 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="robotiq_gripper">
|
||||
<!-- parameters -->
|
||||
<xacro:arg name="use_fake_hardware" default="false" />
|
||||
|
||||
<!-- Import macros -->
|
||||
<xacro:include filename="$(find robotiq_2f_description)/urdf/robotiq_2f_140_macro.urdf.xacro" />
|
||||
|
||||
<link name="world" />
|
||||
<xacro:robotiq_gripper name="RobotiqGripperHardwareInterface" prefix="" parent="world" use_fake_hardware="$(arg use_fake_hardware)">
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
</xacro:robotiq_gripper>
|
||||
</robot>
|
||||
@ -0,0 +1,437 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="robotiq_gripper">
|
||||
<xacro:macro name="robotiq_gripper" params="
|
||||
name
|
||||
prefix
|
||||
parent
|
||||
*origin
|
||||
include_ros2_control:=true
|
||||
use_fake_hardware:=false
|
||||
fake_sensor_commands:=false
|
||||
robot_ip:=192.168.1.1
|
||||
robot_port:=63352">
|
||||
|
||||
|
||||
<xacro:property name="config_file" value="$(find robotiq_2f_description)/config/robotiq_2f_140_config.yaml" />
|
||||
<xacro:property name="config_dict" value="${xacro.load_yaml(config_file)}" />
|
||||
<xacro:property name="robotiq_2f_gripper_dict" value="${config_dict['robotiq_2f_gripper']}" />
|
||||
<xacro:property name="min_position" value="${robotiq_2f_gripper_dict['min_position']}" />
|
||||
<xacro:property name="max_position" value="${robotiq_2f_gripper_dict['max_position']}" />
|
||||
<xacro:property name="min_speed" value="${robotiq_2f_gripper_dict['min_speed']}" />
|
||||
<xacro:property name="max_speed" value="${robotiq_2f_gripper_dict['max_speed']}" />
|
||||
<xacro:property name="min_force" value="${robotiq_2f_gripper_dict['min_force']}" />
|
||||
<xacro:property name="max_force" value="${robotiq_2f_gripper_dict['max_force']}" />
|
||||
<!-- ros2 control include -->
|
||||
<xacro:include filename="$(find robotiq_2f_description)/urdf/robotiq_2f_140.ros2_control.xacro" />
|
||||
<!-- if we are simulating or directly communicating with the gripper we need a ros2 control instance -->
|
||||
<xacro:if value="${include_ros2_control}">
|
||||
<xacro:robotiq_gripper_ros2_control
|
||||
name="${name}" prefix="${prefix}"
|
||||
use_fake_hardware="${use_fake_hardware}"
|
||||
fake_sensor_commands="${fake_sensor_commands}"
|
||||
robot_ip="${robot_ip}"
|
||||
robot_port="${robot_port}"
|
||||
min_position="${min_position}"
|
||||
max_position="${max_position}"
|
||||
min_speed="${min_speed}"
|
||||
max_speed="${max_speed}"
|
||||
min_force="${min_force}"
|
||||
max_force="${max_force}"/>
|
||||
</xacro:if>
|
||||
|
||||
<!-- this is a temporary link to rotate the 2f-140 gripper to match the 2f-85 -->
|
||||
<link name="${prefix}robotiq_base_link"/>
|
||||
<joint name="${prefix}robotiq_base_joint" type="fixed">
|
||||
<parent link="${parent}" />
|
||||
<child link="${prefix}robotiq_base_link" />
|
||||
<origin xyz="0 0 0" rpy="0 0 ${pi/2}" />
|
||||
</joint>
|
||||
|
||||
<link name="${prefix}robotiq_140_base_link">
|
||||
<inertial>
|
||||
<origin xyz="8.625E-08 -4.6583E-06 0.03145" rpy="0 0 0" />
|
||||
<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 xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/visual/2f_140/robotiq_2f_140_base_link.stl" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.1 0.1 0.1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/collision/2f_140/robotiq_2f_140_base_link.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="${prefix}robotiq_140_left_outer_knuckle">
|
||||
<inertial>
|
||||
<origin xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331" rpy="0 0 0" />
|
||||
<mass value="0.00853198276973456" />
|
||||
<inertia
|
||||
ixx="2.89328108496468E-06"
|
||||
ixy="-1.57935047237397E-19"
|
||||
ixz="-1.93980378593255E-19"
|
||||
iyy="1.86719750325683E-06"
|
||||
iyz="-1.21858577871576E-06"
|
||||
izz="1.21905238907251E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_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 xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/collision/2f_140/robotiq_2f_140_outer_knuckle.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="${prefix}robotiq_140_right_outer_knuckle">
|
||||
<inertial>
|
||||
<origin xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331" rpy="0 0 0" />
|
||||
<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 xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/visual/2f_140/robotiq_2f_140_outer_knuckle.stl" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/collision/2f_140/robotiq_2f_140_outer_knuckle.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="${prefix}robotiq_140_left_outer_finger">
|
||||
<inertial>
|
||||
<origin xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385" rpy="0 0 0" />
|
||||
<mass value="0.022614240507152" />
|
||||
<inertia
|
||||
ixx="1.52518312458174E-05"
|
||||
ixy="9.76583423954399E-10"
|
||||
ixz="-5.43838577022588E-10"
|
||||
iyy="6.17694243867776E-06"
|
||||
iyz="6.78636130740228E-06"
|
||||
izz="1.16494917907219E-05" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_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 xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/collision/2f_140/robotiq_2f_140_outer_finger.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="${prefix}robotiq_140_right_outer_finger">
|
||||
<inertial>
|
||||
<origin xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385" rpy="0 0 0" />
|
||||
<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 xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/visual/2f_140/robotiq_2f_140_outer_finger.stl" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.1 0.1 0.1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/collision/2f_140/robotiq_2f_140_outer_finger.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="${prefix}robotiq_140_left_inner_knuckle">
|
||||
<inertial>
|
||||
<origin xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166" rpy="0 0 0" />
|
||||
<mass value="0.0271177346495152" />
|
||||
<inertia
|
||||
ixx="2.61910379223783E-05"
|
||||
ixy="-2.43616858946494E-07"
|
||||
ixz="-6.37789906117123E-09"
|
||||
iyy="2.8270243746167E-06"
|
||||
iyz="-5.37200748039765E-07"
|
||||
izz="2.83695868220296E-05" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_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 xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/collision/2f_140/robotiq_2f_140_inner_knuckle.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="${prefix}robotiq_140_right_inner_knuckle">
|
||||
<inertial>
|
||||
<origin xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166" rpy="0 0 0" />
|
||||
<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 xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/visual/2f_140/robotiq_2f_140_inner_knuckle.stl" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.1 0.1 0.1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/collision/2f_140/robotiq_2f_140_inner_knuckle.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="${prefix}robotiq_140_left_inner_finger">
|
||||
<inertial>
|
||||
<origin xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257" rpy="0 0 0" />
|
||||
<mass value="0.0104003125914103" />
|
||||
<inertia
|
||||
ixx="2.71909453810972E-06"
|
||||
ixy="1.35402465472579E-21"
|
||||
ixz="-7.1817349065269E-22"
|
||||
iyy="7.69100314106116E-07"
|
||||
iyz="6.74715432769696E-07"
|
||||
izz="2.30315190420171E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_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 xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/collision/2f_140/robotiq_2f_140_inner_finger.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="${prefix}robotiq_140_right_inner_finger">
|
||||
<inertial>
|
||||
<origin xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257" rpy="0 0 0" />
|
||||
<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 xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/visual/2f_140/robotiq_2f_140_inner_finger.stl" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.1 0.1 0.1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/collision/2f_140/robotiq_2f_140_inner_finger.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="${prefix}robotiq_140_left_inner_finger_pad">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="0.027 0.065 0.0075"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.9 0.9 0.9 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="0.03 0.07 0.0075"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.9 0.0 0.0 1" />
|
||||
</material>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="${prefix}robotiq_140_right_inner_finger_pad">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="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 xyz="0 0 0" rpy="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>
|
||||
|
||||
|
||||
|
||||
<!-- Joints-->
|
||||
<joint name="${prefix}robotiq_140_base_joint" type="fixed">
|
||||
<parent link="${prefix}robotiq_base_link" />
|
||||
<child link="${prefix}robotiq_140_base_link" />
|
||||
<xacro:insert_block name="origin" />
|
||||
</joint>
|
||||
|
||||
<joint name="${prefix}finger_joint" type="revolute">
|
||||
<origin xyz="0 -0.030601 0.054905" rpy="${pi / 2 + .725} 0 0" />
|
||||
<parent link="${prefix}robotiq_140_base_link" />
|
||||
<child link="${prefix}robotiq_140_left_outer_knuckle" />
|
||||
<axis xyz="-1 0 0" />
|
||||
<limit lower="0" upper="0.7" velocity="2.0" effort="1000" />
|
||||
</joint>
|
||||
|
||||
<joint name="${prefix}right_outer_knuckle_joint" type="revolute">
|
||||
<origin xyz="0 0.030601 0.054905" rpy="${pi / 2 + .725} 0 ${pi}" />
|
||||
<parent link="${prefix}robotiq_140_base_link" />
|
||||
<child link="${prefix}robotiq_140_right_outer_knuckle" />
|
||||
<axis xyz="1 0 0" />
|
||||
<limit lower="-0.725" upper="0.725" velocity="2.0" effort="1000" />
|
||||
<mimic joint="${prefix}finger_joint" multiplier="-1" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="${prefix}left_outer_finger_joint" type="fixed">
|
||||
<origin xyz="0 0.01821998610742 0.0260018192872234" rpy="0 0 0" />
|
||||
<parent link="${prefix}robotiq_140_left_outer_knuckle" />
|
||||
<child link="${prefix}robotiq_140_left_outer_finger" />
|
||||
<axis xyz="1 0 0" />
|
||||
</joint>
|
||||
|
||||
<joint name="${prefix}right_outer_finger_joint" type="fixed">
|
||||
<origin xyz="0 0.01821998610742 0.0260018192872234" rpy="0 0 0" />
|
||||
<parent link="${prefix}robotiq_140_right_outer_knuckle" />
|
||||
<child link="${prefix}robotiq_140_right_outer_finger" />
|
||||
<axis xyz="1 0 0" />
|
||||
</joint>
|
||||
|
||||
<joint name="${prefix}left_inner_knuckle_joint" type="revolute">
|
||||
<origin xyz="0 -0.0127 0.06142" rpy="${pi / 2 + .725} 0 0" />
|
||||
<parent link="${prefix}robotiq_140_base_link" />
|
||||
<child link="${prefix}robotiq_140_left_inner_knuckle" />
|
||||
<axis xyz="1 0 0" />
|
||||
<limit lower="-0.8757" upper="0.8757" velocity="2.0" effort="1000" />
|
||||
<mimic joint="${prefix}finger_joint" multiplier="-1" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="${prefix}right_inner_knuckle_joint" type="revolute">
|
||||
<origin xyz="0 0.0127 0.06142" rpy="${pi / 2 + .725} 0 ${-pi}" />
|
||||
<parent link="${prefix}robotiq_140_base_link" />
|
||||
<child link="${prefix}robotiq_140_right_inner_knuckle" />
|
||||
<axis xyz="1 0 0" />
|
||||
<limit lower="-0.8757" upper="0.8757" velocity="2.0" effort="1000" />
|
||||
<mimic joint="${prefix}finger_joint" multiplier="-1" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="${prefix}left_inner_finger_joint" type="revolute">
|
||||
<origin xyz="0 0.0817554015893473 -0.0282203446692936" rpy="-0.725 0 0" />
|
||||
<parent link="${prefix}robotiq_140_left_outer_finger" />
|
||||
<child link="${prefix}robotiq_140_left_inner_finger" />
|
||||
<axis xyz="1 0 0" />
|
||||
<limit lower="-0.8757" upper="0.8757" velocity="2.0" effort="1000" />
|
||||
<mimic joint="${prefix}finger_joint" multiplier="1" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="${prefix}right_inner_finger_joint" type="revolute">
|
||||
<origin xyz="0 0.0817554015893473 -0.0282203446692936" rpy="-0.725 0 0" />
|
||||
<parent link="${prefix}robotiq_140_right_outer_finger" />
|
||||
<child link="${prefix}robotiq_140_right_inner_finger" />
|
||||
<axis xyz="1 0 0" />
|
||||
<limit lower="-0.8757" upper="0.8757" velocity="2.0" effort="1000" />
|
||||
<mimic joint="${prefix}finger_joint" multiplier="1" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="${prefix}left_inner_finger_pad_joint" type="fixed">
|
||||
<origin xyz="0 0.0457554015893473 -0.0272203446692936" rpy="0 0 0" />
|
||||
<parent link="${prefix}robotiq_140_left_inner_finger" />
|
||||
<child link="${prefix}robotiq_140_left_inner_finger_pad" />
|
||||
<axis xyz="0 0 1" />
|
||||
</joint>
|
||||
|
||||
<joint name="${prefix}right_inner_finger_pad_joint" type="fixed">
|
||||
<origin xyz="0 0.0457554015893473 -0.0272203446692936" rpy="0 0 0" />
|
||||
<parent link="${prefix}robotiq_140_right_inner_finger" />
|
||||
<child link="${prefix}robotiq_140_right_inner_finger_pad" />
|
||||
<axis xyz="0 0 1" />
|
||||
</joint>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
@ -0,0 +1,100 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:macro name="robotiq_gripper_ros2_control" params="
|
||||
name
|
||||
prefix
|
||||
use_fake_hardware
|
||||
fake_sensor_commands
|
||||
robot_ip
|
||||
robot_port
|
||||
min_position
|
||||
max_position
|
||||
min_speed
|
||||
max_speed
|
||||
min_force
|
||||
max_force">
|
||||
|
||||
<ros2_control name="${name}" type="system">
|
||||
<!-- Plugins -->
|
||||
<hardware>
|
||||
<xacro:if value="${use_fake_hardware}">
|
||||
<plugin>mock_components/GenericSystem</plugin>
|
||||
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
|
||||
<param name="state_following_offset">0.0</param>
|
||||
</xacro:if>
|
||||
<xacro:unless value="${use_fake_hardware}">
|
||||
<plugin>robotiq_2f_interface/RobotiqGripperHardwareInterface</plugin>
|
||||
<param name="gripper_closed_position">0.7929</param>
|
||||
<param name="robot_ip">${robot_ip}</param>
|
||||
<param name="robot_port">${robot_port}</param>
|
||||
<param name="use_fake_hardware">${use_fake_hardware}</param>
|
||||
<param name="gripper_speed_multiplier">1.0</param>
|
||||
<param name="gripper_force_multiplier">0.5</param>
|
||||
<param name="min_position">${min_position}</param>
|
||||
<param name="max_position">${max_position}</param>
|
||||
<param name="min_speed">${min_speed}</param>
|
||||
<param name="max_speed">${max_speed}</param>
|
||||
<param name="min_force">${min_force}</param>
|
||||
<param name="max_force">${max_force}</param>
|
||||
</xacro:unless>
|
||||
</hardware>
|
||||
|
||||
<!-- Joint interfaces -->
|
||||
<!-- With Hardware, they handle mimic joints, so we only need this command interface activated -->
|
||||
<joint name="${prefix}finger_joint">
|
||||
<command_interface name="position" />
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">0.7929</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<!-- When simulating we need to include the rest of the gripper joints -->
|
||||
<xacro:if value="${use_fake_hardware}">
|
||||
<joint name="${prefix}left_inner_knuckle_joint">
|
||||
<param name="mimic">${prefix}finger_joint</param>
|
||||
<param name="multiplier">-1</param>
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${prefix}left_inner_finger_joint">
|
||||
<param name="mimic">${prefix}finger_joint</param>
|
||||
<param name="multiplier">1</param>
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${prefix}right_outer_knuckle_joint">
|
||||
<param name="mimic">${prefix}finger_joint</param>
|
||||
<param name="multiplier">-1</param>
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${prefix}robotiq_140_left_finger_tip_joint">
|
||||
<param name="mimic">${prefix}robotiq_140_left_knuckle_joint</param>
|
||||
<param name="multiplier">-1</param>
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${prefix}robotiq_140_right_finger_tip_joint">
|
||||
<param name="mimic">${prefix}robotiq_140_left_knuckle_joint</param>
|
||||
<param name="multiplier">1</param>
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
</xacro:if>
|
||||
|
||||
<!-- Only add this with fake hardware mode -->
|
||||
<gpio name="reactivate_gripper">
|
||||
<command_interface name="reactivate_gripper_cmd" />
|
||||
<command_interface name="reactivate_gripper_response" />
|
||||
</gpio>
|
||||
|
||||
</ros2_control>
|
||||
</xacro:macro>
|
||||
|
||||
</robot>
|
||||
@ -0,0 +1,13 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="robotiq_gripper">
|
||||
<!-- parameters -->
|
||||
<xacro:arg name="use_fake_hardware" default="false" />
|
||||
|
||||
<!-- Import macros -->
|
||||
<xacro:include filename="$(find robotiq_2f_description)/urdf/robotiq_2f_85_macro.urdf.xacro" />
|
||||
|
||||
<link name="world" />
|
||||
<xacro:robotiq_gripper name="RobotiqGripperHardwareInterface" prefix="" parent="world" use_fake_hardware="$(arg use_fake_hardware)">
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
</xacro:robotiq_gripper>
|
||||
</robot>
|
||||
@ -0,0 +1,307 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="robotiq_gripper">
|
||||
<xacro:macro name="robotiq_gripper" params="
|
||||
name
|
||||
prefix
|
||||
parent
|
||||
*origin
|
||||
include_ros2_control:=true
|
||||
use_fake_hardware:=false
|
||||
fake_sensor_commands:=false
|
||||
robot_ip:=192.168.1.1
|
||||
robot_port:=63352">
|
||||
|
||||
<xacro:property name="config_file" value="$(find robotiq_2f_description)/config/robotiq_2f_85_config.yaml" />
|
||||
<xacro:property name="config_dict" value="${xacro.load_yaml(config_file)}" />
|
||||
<xacro:property name="robotiq_2f_gripper_dict" value="${config_dict['robotiq_2f_gripper']}" />
|
||||
<xacro:property name="min_position" value="${robotiq_2f_gripper_dict['min_position']}" />
|
||||
<xacro:property name="max_position" value="${robotiq_2f_gripper_dict['max_position']}" />
|
||||
<xacro:property name="min_speed" value="${robotiq_2f_gripper_dict['min_speed']}" />
|
||||
<xacro:property name="max_speed" value="${robotiq_2f_gripper_dict['max_speed']}" />
|
||||
<xacro:property name="min_force" value="${robotiq_2f_gripper_dict['min_force']}" />
|
||||
<xacro:property name="max_force" value="${robotiq_2f_gripper_dict['max_force']}" />
|
||||
|
||||
<!-- ros2 control include -->
|
||||
<xacro:include filename="$(find robotiq_2f_description)/urdf/robotiq_2f_85.ros2_control.xacro" />
|
||||
<!-- if we are simulating or directly communicating with the gripper we need a ros2 control instance -->
|
||||
<xacro:if value="${include_ros2_control}">
|
||||
<xacro:robotiq_gripper_ros2_control
|
||||
name="${name}" prefix="${prefix}"
|
||||
use_fake_hardware="${use_fake_hardware}"
|
||||
fake_sensor_commands="${fake_sensor_commands}"
|
||||
robot_ip="${robot_ip}"
|
||||
robot_port="${robot_port}"
|
||||
min_position="${min_position}"
|
||||
max_position="${max_position}"
|
||||
min_speed="${min_speed}"
|
||||
max_speed="${max_speed}"
|
||||
min_force="${min_force}"
|
||||
max_force="${max_force}"/>
|
||||
</xacro:if>
|
||||
|
||||
<link name="${prefix}robotiq_85_base_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/visual/2f_85/robotiq_base.dae" />
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/collision/2f_85/robotiq_base.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0.0 2.274e-05 0.03232288" rpy="0 0 0" />
|
||||
<mass value="6.6320197e-01" />
|
||||
<inertia ixx="5.1617816e-04" iyy="5.8802208e-04" izz="3.9462776e-04" ixy="2.936e-8" ixz="0.0" iyz="-3.2296e-7" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="${prefix}robotiq_85_left_knuckle_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/visual/2f_85/left_knuckle.dae" />
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/collision/2f_85/left_knuckle.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0.01213197 0.0002 -0.00058647" rpy="0 0 0" />
|
||||
<mass value="1.384773208e-02" />
|
||||
<inertia ixx="3.5232e-7" iyy="2.31944e-6" izz="2.23136e-6" ixy="0.0" ixz="1.1744e-7" iyz="0" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="${prefix}robotiq_85_right_knuckle_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/visual/2f_85/right_knuckle.dae" />
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/collision/2f_85/right_knuckle.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="-0.01213197 0.0002 -0.00058647" rpy="0 0 0" />
|
||||
<mass value="1.384773208e-02" />
|
||||
<inertia ixx="3.5232e-7" iyy="2.31944e-6" izz="2.23136e-6" ixy="0.0" ixz="-1.1744e-7" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="${prefix}robotiq_85_left_finger_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/visual/2f_85/left_finger.dae" />
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/collision/2f_85/left_finger.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0.00346899 -0.00079447 0.01867121" rpy="0 0 0" />
|
||||
<mass value="4.260376752e-02" />
|
||||
<inertia ixx="1.385792000000000e-05" iyy="1.183208e-05" izz="5.19672e-06" ixy="0.0" ixz="-2.17264e-06" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="${prefix}robotiq_85_right_finger_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/visual/2f_85/right_finger.dae" />
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/collision/2f_85/right_finger.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="-0.00346899 -5.53e-06 0.01867121" rpy="0 0 0" />
|
||||
<mass value="4.260376752000000e-02" />
|
||||
<inertia ixx="1.385792e-05" iyy="1.183208e-05" izz="5.19672e-06" ixy="0.0" ixz="2.17264e-06" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="${prefix}robotiq_85_left_inner_knuckle_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/visual/2f_85/left_inner_knuckle.dae" />
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/collision/2f_85/left_inner_knuckle.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0.01897699 0.00015001 0.02247101" rpy="0 0 0" />
|
||||
<mass value="2.969376448e-02" />
|
||||
<inertia ixx="9.57136e-06" iyy="8.69056e-06" izz="8.19144e-06" ixy="0.0" ixz="-3.93424e-06" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="${prefix}robotiq_85_right_inner_knuckle_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/visual/2f_85/right_inner_knuckle.dae" />
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/collision/2f_85/right_inner_knuckle.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="-0.01926824 5.001e-05 0.02222178" rpy="0 0 0" />
|
||||
<mass value="2.969376448e-02" />
|
||||
<inertia ixx="9.42456e-06" iyy="8.69056e-06" izz="8.33824e-06" ixy="0.0" ixz="3.9636e-06" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="${prefix}robotiq_85_left_finger_tip_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/visual/2f_85/left_finger_tip.dae" />
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/collision/2f_85/left_finger_tip.stl" />
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu1>100000.0</mu1>
|
||||
<mu2>100000.0</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<minDepth>0.002</minDepth>
|
||||
<maxVel>0</maxVel>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="-0.01456706 -0.0008 0.01649701" rpy="0 0 0" />
|
||||
<mass value="4.268588744e-02" />
|
||||
<inertia ixx="1.048152e-05" iyy="1.197888e-05" izz="4.22784e-06" ixy="0.0" ixz="3.5232e-6" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="${prefix}robotiq_85_right_finger_tip_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/visual/2f_85/right_finger_tip.dae" />
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find robotiq_2f_description)/meshes/collision/2f_85/right_finger_tip.stl" />
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu1>100000.0</mu1>
|
||||
<mu2>100000.0</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<minDepth>0.002</minDepth>
|
||||
<maxVel>0</maxVel>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0.01456706 5e-05 0.01649701" rpy="0 0 0" />
|
||||
<mass value="4.268588744e-02" />
|
||||
<inertia ixx="1.048152e-05" iyy="1.197888e-05" izz="4.22784e-06" ixy="0.0" ixz="-3.5232e-06" iyz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${prefix}robotiq_85_base_joint" type="fixed">
|
||||
<parent link="${parent}" />
|
||||
<child link="${prefix}robotiq_85_base_link" />
|
||||
<xacro:insert_block name="origin" />
|
||||
</joint>
|
||||
|
||||
<joint name="${prefix}robotiq_85_left_knuckle_joint" type="revolute">
|
||||
<parent link="${prefix}robotiq_85_base_link" />
|
||||
<child link="${prefix}robotiq_85_left_knuckle_link" />
|
||||
<axis xyz="0 -1 0" />
|
||||
<origin xyz="0.03060114 0.0 0.05490452" rpy="0 0 0" />
|
||||
<limit lower="0.0" upper="0.8" velocity="0.5" effort="50" />
|
||||
</joint>
|
||||
|
||||
<joint name="${prefix}robotiq_85_right_knuckle_joint" type="revolute">
|
||||
<parent link="${prefix}robotiq_85_base_link" />
|
||||
<child link="${prefix}robotiq_85_right_knuckle_link" />
|
||||
<axis xyz="0 -1 0" />
|
||||
<origin xyz="-0.03060114 0.0 0.05490452" rpy="0 0 0" />
|
||||
<limit lower="-0.8" upper="0.0" velocity="0.5" effort="50" />
|
||||
<mimic joint="${prefix}robotiq_85_left_knuckle_joint" multiplier="-1" />
|
||||
</joint>
|
||||
|
||||
<joint name="${prefix}robotiq_85_left_finger_joint" type="fixed">
|
||||
<parent link="${prefix}robotiq_85_left_knuckle_link" />
|
||||
<child link="${prefix}robotiq_85_left_finger_link" />
|
||||
<origin xyz="0.03152616 0.0 -0.00376347" rpy="0 0 0" />
|
||||
</joint>
|
||||
|
||||
<joint name="${prefix}robotiq_85_right_finger_joint" type="fixed">
|
||||
<parent link="${prefix}robotiq_85_right_knuckle_link" />
|
||||
<child link="${prefix}robotiq_85_right_finger_link" />
|
||||
<origin xyz="-0.03152616 0.0 -0.00376347" rpy="0 0 0" />
|
||||
</joint>
|
||||
|
||||
<joint name="${prefix}robotiq_85_left_inner_knuckle_joint" type="continuous">
|
||||
<parent link="${prefix}robotiq_85_base_link" />
|
||||
<child link="${prefix}robotiq_85_left_inner_knuckle_link" />
|
||||
<axis xyz="0 -1 0" />
|
||||
<origin xyz="0.0127 0.0 0.06142" rpy="0 0 0" />
|
||||
<mimic joint="${prefix}robotiq_85_left_knuckle_joint" />
|
||||
</joint>
|
||||
|
||||
<joint name="${prefix}robotiq_85_right_inner_knuckle_joint" type="continuous">
|
||||
<parent link="${prefix}robotiq_85_base_link" />
|
||||
<child link="${prefix}robotiq_85_right_inner_knuckle_link" />
|
||||
<axis xyz="0 -1 0" />
|
||||
<origin xyz="-0.0127 0.0 0.06142" rpy="0 0 0" />
|
||||
<mimic joint="${prefix}robotiq_85_left_knuckle_joint" multiplier="-1" />
|
||||
</joint>
|
||||
|
||||
<joint name="${prefix}robotiq_85_left_finger_tip_joint" type="continuous">
|
||||
<parent link="${prefix}robotiq_85_left_finger_link" />
|
||||
<child link="${prefix}robotiq_85_left_finger_tip_link" />
|
||||
<axis xyz="0 -1 0" />
|
||||
<origin xyz="0.00563134 0.0 0.04718515" rpy="0 0 0" />
|
||||
<mimic joint="${prefix}robotiq_85_left_knuckle_joint" multiplier="-1" />
|
||||
</joint>
|
||||
|
||||
<joint name="${prefix}robotiq_85_right_finger_tip_joint" type="continuous">
|
||||
<parent link="${prefix}robotiq_85_right_finger_link" />
|
||||
<child link="${prefix}robotiq_85_right_finger_tip_link" />
|
||||
<axis xyz="0 -1 0" />
|
||||
<origin xyz="-0.00563134 0.0 0.04718515" rpy="0 0 0" />
|
||||
<mimic joint="${prefix}robotiq_85_left_knuckle_joint" />
|
||||
</joint>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
48
src/robotiq_2f/robotiq_2f_interface/CMakeLists.txt
Normal file
48
src/robotiq_2f/robotiq_2f_interface/CMakeLists.txt
Normal file
@ -0,0 +1,48 @@
|
||||
cmake_minimum_required(VERSION 3.8)
|
||||
project(robotiq_2f_interface)
|
||||
|
||||
# Default to C++17
|
||||
if(NOT CMAKE_CXX_STANDARD)
|
||||
set(CMAKE_CXX_STANDARD 17)
|
||||
endif()
|
||||
|
||||
find_package(ament_cmake REQUIRED)
|
||||
find_package(rclcpp REQUIRED)
|
||||
find_package(hardware_interface REQUIRED)
|
||||
find_package(pluginlib REQUIRED)
|
||||
|
||||
include_directories(include)
|
||||
|
||||
# Declare a C++ library
|
||||
add_library(${PROJECT_NAME} SHARED
|
||||
src/hardware_interface.cpp
|
||||
src/Robotiq2fSocketAdapter.cpp
|
||||
)
|
||||
|
||||
ament_target_dependencies(${PROJECT_NAME}
|
||||
rclcpp
|
||||
hardware_interface
|
||||
pluginlib
|
||||
)
|
||||
|
||||
pluginlib_export_plugin_description_file(hardware_interface hardware_interface_plugin.xml)
|
||||
|
||||
# Install targets
|
||||
install(TARGETS ${PROJECT_NAME}
|
||||
ARCHIVE DESTINATION lib
|
||||
LIBRARY DESTINATION lib
|
||||
RUNTIME DESTINATION bin
|
||||
)
|
||||
|
||||
# Install header files
|
||||
install(DIRECTORY include/
|
||||
DESTINATION include
|
||||
)
|
||||
|
||||
# Install plugin description file
|
||||
install(FILES
|
||||
hardware_interface_plugin.xml
|
||||
DESTINATION share/${PROJECT_NAME}
|
||||
)
|
||||
|
||||
ament_package()
|
||||
@ -0,0 +1,9 @@
|
||||
<library path="robotiq_2f_interface">
|
||||
<class name="robotiq_2f_interface/RobotiqGripperHardwareInterface"
|
||||
type="robotiq_interface::RobotiqGripperHardwareInterface"
|
||||
base_class_type="hardware_interface::SystemInterface">
|
||||
<description>
|
||||
ROS2 controller for the Robotiq gripper.
|
||||
</description>
|
||||
</class>
|
||||
</library>
|
||||
@ -0,0 +1,95 @@
|
||||
// MockRobotiq2fSocketAdapter.hpp
|
||||
|
||||
#ifndef MOCK_ROBOTIQ2F_SOCKET_ADAPTER_HPP
|
||||
#define MOCK_ROBOTIQ2F_SOCKET_ADAPTER_HPP
|
||||
|
||||
#include <string>
|
||||
#include <map>
|
||||
#include <atomic>
|
||||
#include <tuple>
|
||||
|
||||
#include "robotiq_2f_interface/SocketAdapterBase.hpp"
|
||||
|
||||
namespace robotiq_interface
|
||||
{
|
||||
class MockRobotiq2fSocketAdapter : public SocketAdapterBase {
|
||||
public:
|
||||
MockRobotiq2fSocketAdapter() : isConnected(false), gripperPosition(0), gripperForce(0), gripperSpeed(0), isActive(false) {}
|
||||
|
||||
~MockRobotiq2fSocketAdapter() override {
|
||||
if (movementThread && movementThread->joinable()) {
|
||||
movementThread->join();
|
||||
}
|
||||
}
|
||||
|
||||
bool connect(const std::string& hostname, int port) override {
|
||||
isConnected.store(true);
|
||||
return true; // Simulate successful connection
|
||||
}
|
||||
|
||||
void disconnect() override {
|
||||
isConnected.store(false);
|
||||
}
|
||||
|
||||
int force() override {
|
||||
return gripperForce.load();
|
||||
}
|
||||
|
||||
int speed() override {
|
||||
return gripperSpeed.load();
|
||||
}
|
||||
|
||||
int position() override {
|
||||
return gripperPosition.load();
|
||||
}
|
||||
|
||||
bool is_active() override {
|
||||
return isActive.load();
|
||||
}
|
||||
|
||||
void activate(bool autoCalibrate = true) override {
|
||||
isActive.store(true);
|
||||
}
|
||||
|
||||
void deactivate() override {
|
||||
isActive.store(false);
|
||||
}
|
||||
|
||||
std::tuple<bool, int> move(int targetPosition, int speed, int force) override{
|
||||
// Ensure only one movement operation is active at a time
|
||||
if (movementThread && movementThread->joinable()) {
|
||||
movementThread->join(); // Wait for any ongoing movement to complete
|
||||
}
|
||||
|
||||
// Start a new movement operation in a background thread
|
||||
movementThread = std::make_unique<std::thread>(&MockRobotiq2fSocketAdapter::simulateMovement, this, targetPosition, speed, force);
|
||||
|
||||
return std::make_tuple(true, targetPosition); // Immediately return success and the target position
|
||||
}
|
||||
|
||||
private:
|
||||
std::atomic<bool> isConnected;
|
||||
std::atomic<int> gripperPosition;
|
||||
std::atomic<int> gripperForce;
|
||||
std::atomic<int> gripperSpeed;
|
||||
std::atomic<bool> isActive;
|
||||
|
||||
std::unique_ptr<std::thread> movementThread;
|
||||
|
||||
void simulateMovement(int targetPosition, int speed, int force) {
|
||||
int step = (targetPosition > gripperPosition) ? 1 : -1;
|
||||
|
||||
// Simulate moving towards the target position
|
||||
while (gripperPosition != targetPosition) {
|
||||
gripperPosition += step;
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100)); // Simulate time to move a step
|
||||
}
|
||||
|
||||
// Here, you simulate setting the speed and force, though for simplicity, we're just logging it
|
||||
// In a real mock, you might update some internal state to reflect these changes
|
||||
std::cout << "Simulated movement to position " << targetPosition << " with speed " << speed << " and force " << force << std::endl;
|
||||
}
|
||||
};
|
||||
} // end robotiq_interface
|
||||
|
||||
#endif // MOCK_ROBOTIQ2F_SOCKET_ADAPTER_HPP
|
||||
@ -0,0 +1,360 @@
|
||||
// Robotiq2fSocketAdapter.hpp
|
||||
|
||||
#ifndef ROBOTIQ2F_SOCKET_ADAPTER_HPP
|
||||
#define ROBOTIQ2F_SOCKET_ADAPTER_HPP
|
||||
|
||||
#include <mutex>
|
||||
#include <thread>
|
||||
|
||||
#include <string>
|
||||
#include <map>
|
||||
#include <vector>
|
||||
#include <sys/time.h>
|
||||
#include <sstream>
|
||||
#include <tuple>
|
||||
|
||||
#include <sys/socket.h>
|
||||
#include <netinet/in.h>
|
||||
#include <arpa/inet.h>
|
||||
|
||||
#include <unistd.h> // For close()
|
||||
#include <cstring> // For memset()
|
||||
#include <sys/select.h> // For select() system call
|
||||
|
||||
#include <stdexcept> // For std::runtime_error
|
||||
#include <cerrno> // For errno
|
||||
#include <iostream>
|
||||
|
||||
#include "robotiq_2f_interface/SocketAdapterBase.hpp"
|
||||
|
||||
namespace robotiq_interface
|
||||
{
|
||||
// Enum for Gripper Status
|
||||
enum class GripperStatus {
|
||||
RESET = 0,
|
||||
ACTIVATING = 1,
|
||||
// UNUSED = 2, // This value is currently not used by the gripper firmware
|
||||
ACTIVE = 3
|
||||
};
|
||||
|
||||
// Enum for Object Status
|
||||
enum class ObjectStatus {
|
||||
MOVING = 0,
|
||||
STOPPED_OUTER_OBJECT = 1,
|
||||
STOPPED_INNER_OBJECT = 2,
|
||||
AT_DEST = 3
|
||||
};
|
||||
|
||||
class Robotiq2fSocketAdapter : public SocketAdapterBase {
|
||||
public:
|
||||
|
||||
Robotiq2fSocketAdapter() ;
|
||||
~Robotiq2fSocketAdapter() override;
|
||||
|
||||
// Connection management
|
||||
/**
|
||||
* Establishes a TCP connection to the Robotiq gripper.
|
||||
*
|
||||
* Attempts to open a socket and connect to the specified hostname and port. If the adapter
|
||||
* is already connected, it will disconnect and attempt to reconnect.
|
||||
*
|
||||
* @param hostname The IP address or hostname of the Robotiq gripper.
|
||||
* @param port The port number on which the gripper is listening for connections.
|
||||
* @return True if the connection was successfully established, False otherwise.
|
||||
*
|
||||
* @throws std::runtime_error if socket creation fails.
|
||||
*/
|
||||
bool connect(const std::string& hostname, int port) override;
|
||||
/**
|
||||
* Closes the connection to the Robotiq gripper.
|
||||
*
|
||||
* Safely shuts down and closes the current socket connection to the gripper. If the socket
|
||||
* is already closed or was never connected, this method has no effect. This method is
|
||||
* thread-safe and can be called concurrently with other operations on the adapter.
|
||||
*/
|
||||
void disconnect() override;
|
||||
|
||||
|
||||
/**
|
||||
* Sets multiple gripper variables using a map of variable names to integer/double values.
|
||||
*
|
||||
* This method allows setting multiple configuration parameters of the gripper simultaneously.
|
||||
* The variable names must match the expected variable identifiers used by the gripper.
|
||||
* Integer/double values are used directly in the command sent to the gripper.
|
||||
*
|
||||
* @param variableMap A map where each key is a string representing the variable name and
|
||||
* each value is an integer representing the variable's desired value.
|
||||
* @return True if the command was successfully sent and acknowledged by the gripper, False otherwise.
|
||||
*
|
||||
* @throws std::runtime_error if the adapter is not connected to the gripper or if sending the command fails.
|
||||
*/
|
||||
bool setGripperVariables(const std::map<std::string, int>& variableMap);
|
||||
bool setGripperVariables(const std::map<std::string, double>& variableMap);
|
||||
|
||||
/**
|
||||
* Sets a single gripper variable.
|
||||
*
|
||||
* Allows setting a single configuration parameter of the gripper. The method overloads allow
|
||||
* specifying the variable value as either an integer or a double, depending on the expected
|
||||
* variable type.
|
||||
*
|
||||
* @param variable The variable name, matching the gripper's expected variable identifiers.
|
||||
* @param value The desired value for the variable, either as an int or a double.
|
||||
* @return True if the command was successfully sent and acknowledged by the gripper, False otherwise.
|
||||
*
|
||||
* @throws std::runtime_error if the adapter is not connected to the gripper or if sending the command fails.
|
||||
*/
|
||||
bool setGripperVariable(const std::string& variable, int value);
|
||||
bool setGripperVariable(const std::string& variable, double value);
|
||||
|
||||
/**
|
||||
* Retrieves the current value of a specified gripper variable.
|
||||
*
|
||||
* Sends a command to the gripper to report the current value of a specific configuration parameter.
|
||||
* The method parses the gripper's response to extract the variable value.
|
||||
*
|
||||
* @param variable The variable name, matching the gripper's expected variable identifiers.
|
||||
* @return The current value of the variable as an integer. Returns -1 if the command fails or
|
||||
* if the variable is not recognized by the gripper.
|
||||
*
|
||||
* @throws std::runtime_error if the adapter is not connected to the gripper, if sending the command fails,
|
||||
* or if the response from the gripper is malformed.
|
||||
*/
|
||||
int getGripperVariable(const std::string& variable);
|
||||
|
||||
// Gripper status
|
||||
int force() override;
|
||||
int speed() override;
|
||||
int position() override;
|
||||
|
||||
/**
|
||||
* Checks if the gripper is currently active.
|
||||
*
|
||||
* Queries the current state of the gripper to determine if it is active. This method interprets
|
||||
* the gripper's status based on the last known communication and does not initiate a new request
|
||||
* to the gripper.
|
||||
*
|
||||
* @return True if the gripper is in the ACTIVE state, False otherwise.
|
||||
*
|
||||
* @throws std::runtime_error if unable to retrieve the gripper's status, typically due to communication issues.
|
||||
*/
|
||||
bool is_active() override;
|
||||
|
||||
|
||||
// Activates the gripper and optionally performs auto-calibration
|
||||
/**
|
||||
* Activates the Robotiq gripper and optionally performs auto-calibration.
|
||||
*
|
||||
* This method sends an activation command to the gripper, bringing it from a RESET or INACTIVE
|
||||
* state to an ACTIVE state. If autoCalibrate is set to true, it also initiates an auto-calibration
|
||||
* procedure to determine the maximum and minimum positions of the gripper's motion range.
|
||||
*
|
||||
* @param autoCalibrate A boolean flag indicating whether to perform auto-calibration after
|
||||
* activation. Default is true.
|
||||
*
|
||||
* @note Activation and auto-calibration may take several seconds to complete. The method
|
||||
* waits for the gripper to acknowledge activation before returning.
|
||||
*
|
||||
* @throws std::runtime_error if the adapter is not connected to the gripper, if sending the
|
||||
* activation command fails, or if the gripper does not reach the expected state within
|
||||
* a reasonable timeframe.
|
||||
*/
|
||||
void activate(bool autoCalibrate = true) override;
|
||||
/**
|
||||
* Performs auto-calibration of the gripper.
|
||||
*
|
||||
* This method initiates an auto-calibration sequence where the gripper fully opens and closes to determine
|
||||
* its operational range. This is useful for ensuring accurate position control, especially if the mechanical
|
||||
* setup of the gripper has been altered or if it is being used for the first time.
|
||||
*
|
||||
* @param log A boolean flag indicating whether to log the calibration results. Defaults to true. When set
|
||||
* to true, the final calibration values will be logged to the standard output.
|
||||
*
|
||||
* @note This method assumes the gripper is already activated. If the gripper is not in an active state,
|
||||
* the calibration sequence may fail. Ensure the gripper is activated before calling this method.
|
||||
*
|
||||
* @throws std::runtime_error if the adapter is not connected to the gripper, if the gripper is not in an
|
||||
* active state, or if the calibration sequence fails.
|
||||
*/
|
||||
void auto_calibrate(bool log=true);
|
||||
|
||||
/**
|
||||
* Deactivates the gripper.
|
||||
*
|
||||
* Sends a command to transition the gripper from an active state back to a reset state. This method
|
||||
* is useful for safely shutting down the gripper or preparing it for a state change.
|
||||
*
|
||||
* @note This method should be called before disconnecting from the gripper or when the gripper is not
|
||||
* needed for an extended period to ensure it is left in a safe state.
|
||||
*
|
||||
* @throws std::runtime_error if the adapter is not connected to the gripper or if the deactivation command fails.
|
||||
*/
|
||||
void deactivate() override;
|
||||
|
||||
// Move Commands
|
||||
/**
|
||||
* Commands the gripper to move to a specified position.
|
||||
*
|
||||
* Instructs the gripper to move to a given position with specified speed and force. The position,
|
||||
* speed, and force parameters are automatically clipped to the valid range supported by the gripper.
|
||||
*
|
||||
* @param position The target position for the gripper, typically in the range [0, 255].
|
||||
* @param speed The speed at which the gripper should move, typically in the range [0, 255].
|
||||
* @param force The force to be applied by the gripper, typically in the range [0, 255].
|
||||
* @return A tuple containing a boolean indicating success of the command, and an integer representing the clipped target position.
|
||||
*
|
||||
* @throws std::runtime_error if there's an error in sending the move command or if the adapter is not connected to a gripper.
|
||||
*/
|
||||
std::tuple<bool, int> move(int position, int speed, int force) override;
|
||||
/**
|
||||
* Commands the gripper to move to a specified position and waits for the move to complete.
|
||||
*
|
||||
* This method instructs the gripper to move to the given position with specified speed and force,
|
||||
* then blocks until the gripper acknowledges reaching the target position or stops moving due to
|
||||
* detecting an object.
|
||||
*
|
||||
* @param position The target position for the gripper, typically in the range [0, 255].
|
||||
* @param speed The speed at which the gripper should move, typically in the range [0, 255].
|
||||
* @param force The force to be applied by the gripper, typically in the range [0, 255].
|
||||
* @return A tuple containing the final position of the gripper as an integer and the object status
|
||||
* as an `ObjectStatus` enumeration value.
|
||||
*
|
||||
* @throws std::runtime_error if there's an error in sending the move command, if the adapter is not
|
||||
* connected to a gripper, or if the gripper does not reach the target position within a
|
||||
* reasonable time frame.
|
||||
*/
|
||||
std::tuple<int, ObjectStatus> move_and_wait_for_pos(int position, int speed, int force);
|
||||
|
||||
private:
|
||||
// Custom deleter for the smart pointer managing the socket descriptor
|
||||
struct SocketDeleter {
|
||||
void operator()(int* ptr) {
|
||||
if (ptr && *ptr >= 0) {
|
||||
close(*ptr);
|
||||
}
|
||||
delete ptr;
|
||||
}
|
||||
};
|
||||
|
||||
// Smart pointer to manage the socket descriptor with the custom deleter
|
||||
std::unique_ptr<int, SocketDeleter> sockfd_;
|
||||
std::mutex socket_mutex_; // Mutex for socket access synchronization
|
||||
|
||||
// bounds of the encoded gripper states
|
||||
int min_position_ = 0;
|
||||
int max_position_ = 255;
|
||||
int min_speed_ = 0;
|
||||
int max_speed_ = 255;
|
||||
int min_force_ = 0;
|
||||
int max_force_ = 255;
|
||||
|
||||
int open_position_ = min_position_;
|
||||
int closed_position_ = max_position_;
|
||||
|
||||
|
||||
/**
|
||||
* Sends a command to the connected Robotiq gripper.
|
||||
*
|
||||
* Constructs and sends a command string to the gripper over the established socket connection.
|
||||
* This method ensures thread-safe access to the socket and handles low-level socket write operations.
|
||||
*
|
||||
* @param cmd The command string to be sent to the gripper. Must conform to the gripper's protocol.
|
||||
* @return True if the command was successfully sent, False if there was an error sending the command.
|
||||
*
|
||||
* @throws std::runtime_error if attempted on a disconnected socket.
|
||||
*/
|
||||
bool sendCommand(const std::string& cmd);
|
||||
|
||||
/**
|
||||
* Receives a response from the Robotiq gripper.
|
||||
*
|
||||
* Waits for and reads a response from the gripper within a specified timeout period. This method
|
||||
* is blocking but allows specifying a timeout to prevent indefinite waiting. It ensures thread-safe
|
||||
* access to the socket and handles low-level socket read operations.
|
||||
*
|
||||
* @param timeout_ms The timeout in milliseconds to wait for a response. Defaults to 2000 milliseconds.
|
||||
* @return A string containing the response from the gripper. If the operation times out or fails, an empty string is returned.
|
||||
*
|
||||
* @throws std::runtime_error if attempted on a disconnected socket or if a select() call fails.
|
||||
*/
|
||||
std::string receiveResponse(int timeout_ms=2000);
|
||||
|
||||
|
||||
/**
|
||||
* Checks if the received data is an acknowledgement message from the gripper.
|
||||
*
|
||||
* This method parses the received data string to determine if it matches the expected acknowledgement
|
||||
* pattern or message, indicating that a previously sent command was received and executed by the gripper.
|
||||
*
|
||||
* @param data The raw string data received from the gripper.
|
||||
* @return True if the data represents an acknowledgement message, False otherwise.
|
||||
*/
|
||||
bool isAck(const std::string& data);
|
||||
|
||||
// Helper Functions
|
||||
/**
|
||||
* Clips a variable to ensure it falls within a specified range.
|
||||
*
|
||||
* This helper function ensures that a given value does not exceed the minimum and maximum bounds
|
||||
* defined for it. It is particularly useful for sanitizing command parameters like position, speed,
|
||||
* and force values before sending them to the gripper.
|
||||
*
|
||||
* @param min_value The minimum allowable value for the variable.
|
||||
* @param variable The current value of the variable to be clipped.
|
||||
* @param max_value The maximum allowable value for the variable.
|
||||
* @return The clipped value, constrained within the specified min and max bounds.
|
||||
*/
|
||||
int clip_val(int min_value, int variable, int max_value);
|
||||
/**
|
||||
* Blocks until the gripper reaches a specified status.
|
||||
*
|
||||
* This method polls the gripper's status at regular intervals until it matches the expected status
|
||||
* or until a timeout occurs. It is used internally to synchronize actions like activation, deactivation,
|
||||
* and calibration with the gripper's state transitions.
|
||||
*
|
||||
* @param expectedStatus The GripperStatus enumeration value the method waits for the gripper to achieve.
|
||||
*
|
||||
* @throws std::runtime_error if the gripper does not reach the expected status within a reasonable time frame,
|
||||
* indicating a possible communication issue or a failure in executing the command.
|
||||
*/
|
||||
void waitForGripperStatus(GripperStatus expectedStatus);
|
||||
|
||||
// Resets the gripper
|
||||
/**
|
||||
* Resets the gripper to its initial state.
|
||||
*
|
||||
* Sends a command to the gripper to transition it to the RESET state. This is often used as a first step
|
||||
* in a sequence of commands that prepare the gripper for operation, ensuring it starts from a known state.
|
||||
*
|
||||
* @note This method can be used to recover the gripper from error states or to prepare it for reactivation.
|
||||
*
|
||||
* @throws std::runtime_error if the adapter is not connected to the gripper or if the reset command fails.
|
||||
*/
|
||||
void reset();
|
||||
|
||||
// Define the command strings and encoding used for communication
|
||||
const std::string SET_COMMAND = "SET";
|
||||
const std::string GET_COMMAND = "GET";
|
||||
const std::string ACK_MESSAGE = "ack";
|
||||
|
||||
// Commands
|
||||
const std::string CMD_ACT = "ACT"; // Activation
|
||||
const std::string CMD_GTO = "GTO"; // GoTo
|
||||
const std::string CMD_ATR = "ATR"; // Automatic Release
|
||||
const std::string CMD_ADR = "ADR"; // Advanced Control
|
||||
const std::string CMD_FOR = "FOR"; // Force
|
||||
const std::string CMD_SPE = "SPE"; // Speed
|
||||
const std::string CMD_POS = "POS"; // Position
|
||||
const std::string CMD_STA = "STA"; // Status
|
||||
const std::string CMD_PRE = "PRE"; // Position Request
|
||||
const std::string CMD_OBJ = "OBJ"; // Object Detection
|
||||
const std::string CMD_FLT = "FLT"; // Fault
|
||||
|
||||
// Constants buffer sizes
|
||||
const size_t BUFFER_SIZE = 1024; // Adjust as necessary
|
||||
const int MAX_RETRIES = 5;
|
||||
const int RETRY_DELAY_MS = 20;
|
||||
};
|
||||
} // end robotiq_interface
|
||||
|
||||
#endif // ROBOTIQ2F_SOCKET_ADAPTER_HPP
|
||||
@ -0,0 +1,26 @@
|
||||
// SocketAdapterBase.hpp
|
||||
|
||||
#ifndef SOCKET_ADAPTER_BASE_HPP
|
||||
#define SOCKET_ADAPTER_BASE_HPP
|
||||
|
||||
#include <string>
|
||||
#include <tuple>
|
||||
|
||||
namespace robotiq_interface
|
||||
{
|
||||
class SocketAdapterBase {
|
||||
public:
|
||||
virtual ~SocketAdapterBase() = default;
|
||||
|
||||
virtual bool connect(const std::string& hostname, int port) = 0;
|
||||
virtual void disconnect() = 0;
|
||||
virtual int force() = 0;
|
||||
virtual int speed() = 0;
|
||||
virtual int position() = 0;
|
||||
virtual bool is_active() = 0;
|
||||
virtual void activate(bool autoCalibrate = true) = 0;
|
||||
virtual void deactivate() = 0;
|
||||
virtual std::tuple<bool, int> move(int position, int speed, int force) = 0;
|
||||
};
|
||||
} // end robotiq_interface
|
||||
#endif // SOCKET_ADAPTER_BASE_HPP
|
||||
@ -0,0 +1,117 @@
|
||||
// hardware_interface.hpp
|
||||
|
||||
#ifndef ROBOTIQ2F_HARDWARE_INTERFACE_HPP
|
||||
#define ROBOTIQ2F_HARDWARE_INTERFACE_HPP
|
||||
|
||||
#include <chrono>
|
||||
#include <cmath>
|
||||
#include <limits>
|
||||
#include <memory>
|
||||
#include <vector>
|
||||
#include <atomic>
|
||||
|
||||
#include "robotiq_2f_interface/visibility_control.hpp"
|
||||
|
||||
#include "robotiq_2f_interface/SocketAdapterBase.hpp"
|
||||
#include "robotiq_2f_interface/Robotiq2fSocketAdapter.hpp"
|
||||
#include "robotiq_2f_interface/MockRobotiq2fSocketAdapter.hpp"
|
||||
|
||||
#include <hardware_interface/handle.hpp>
|
||||
#include <hardware_interface/hardware_info.hpp>
|
||||
#include <hardware_interface/system_interface.hpp>
|
||||
#include <hardware_interface/types/hardware_interface_type_values.hpp>
|
||||
#include <hardware_interface/types/hardware_interface_return_values.hpp>
|
||||
|
||||
#include <rclcpp/rclcpp.hpp>
|
||||
#include <rclcpp/clock.hpp>
|
||||
|
||||
#include <stdexcept>
|
||||
|
||||
namespace robotiq_interface
|
||||
{
|
||||
class RobotiqGripperHardwareInterface : public hardware_interface::SystemInterface
|
||||
{
|
||||
public:
|
||||
// Constructors
|
||||
ROBOTIQ_INTERFACE_PUBLIC RobotiqGripperHardwareInterface();
|
||||
ROBOTIQ_INTERFACE_PUBLIC ~RobotiqGripperHardwareInterface();
|
||||
// ROBOTIQ_DRIVER_PUBLIC explicit RobotiqGripperHardwareInterface(std::unique_ptr<SocketFactory> socket_factory);
|
||||
|
||||
// Lifecycle Management
|
||||
ROBOTIQ_INTERFACE_PUBLIC CallbackReturn on_init(const hardware_interface::HardwareInfo& info) override;
|
||||
ROBOTIQ_INTERFACE_PUBLIC CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) override;
|
||||
ROBOTIQ_INTERFACE_PUBLIC CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override;
|
||||
ROBOTIQ_INTERFACE_PUBLIC CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override;
|
||||
|
||||
// State and Command Interfaces
|
||||
ROBOTIQ_INTERFACE_PUBLIC std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
|
||||
ROBOTIQ_INTERFACE_PUBLIC std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
|
||||
|
||||
// Data Access (Read/Write)
|
||||
ROBOTIQ_INTERFACE_PUBLIC hardware_interface::return_type read(const rclcpp::Time& time, const rclcpp::Duration& period) override;
|
||||
ROBOTIQ_INTERFACE_PUBLIC hardware_interface::return_type write(const rclcpp::Time& time, const rclcpp::Duration& period) override;
|
||||
|
||||
protected: // Likely changes the access to protected from private
|
||||
// Members for driver interaction
|
||||
bool use_mock_hardware_;
|
||||
std::unique_ptr<SocketAdapterBase> socket_adapter_;
|
||||
void configureAdapter(bool useMock);
|
||||
|
||||
// Background communication thread
|
||||
std::thread communication_thread_;
|
||||
std::atomic<bool> communication_thread_is_running_;
|
||||
std::mutex resource_mutex_;
|
||||
void background_task();
|
||||
|
||||
static constexpr double NO_NEW_CMD_ = std::numeric_limits<double>::quiet_NaN();
|
||||
|
||||
// Conversion Methods
|
||||
double convertRawToPosition(int raw_position);
|
||||
int convertPositionToRaw(double position);
|
||||
int convertSpeedToRaw(double speed);
|
||||
int convertForceToRaw(double force);
|
||||
|
||||
// Gripper Commands
|
||||
std::atomic<uint8_t> write_command_;
|
||||
std::atomic<uint8_t> write_force_;
|
||||
std::atomic<uint8_t> write_speed_;
|
||||
std::atomic<uint8_t> gripper_current_state_;
|
||||
|
||||
|
||||
// Gripper State Tracking
|
||||
double gripper_position_ = 0.0;
|
||||
double gripper_velocity_ = 0.0;
|
||||
double gripper_position_command_ = 0.0;
|
||||
|
||||
rclcpp::Clock::SharedPtr clock_ = std::make_shared<rclcpp::Clock>(RCL_ROS_TIME);
|
||||
rclcpp::Time last_update_time_ = clock_ -> now();
|
||||
rclcpp::Time current_time_ = clock_ -> now();
|
||||
|
||||
double reactivate_gripper_cmd_ = 0.0;
|
||||
std::atomic<bool> reactivate_gripper_async_cmd_;
|
||||
double reactivate_gripper_response_ = 0.0;
|
||||
double gripper_force_ = 0.0;
|
||||
double gripper_speed_ = 0.0;
|
||||
std::atomic<std::optional<bool>> reactivate_gripper_async_response_;
|
||||
|
||||
// Connection Variables
|
||||
std::string robot_ip_;
|
||||
int robot_port_;
|
||||
|
||||
// Parameters for physical limits and configuration
|
||||
double min_position_;
|
||||
double max_position_;
|
||||
double min_speed_;
|
||||
double max_speed_;
|
||||
double min_force_;
|
||||
double max_force_;
|
||||
|
||||
// loop time
|
||||
const std::chrono::milliseconds gripperCommsLoopPeriod = std::chrono::milliseconds{ 10 };
|
||||
|
||||
// Logger
|
||||
const rclcpp::Logger logger_ = rclcpp::get_logger("RobotiqGripperHardwareInterface");
|
||||
};
|
||||
} // end robotiq_interface
|
||||
|
||||
#endif //ROBOTIQ2F_HARDWARE_INTERFACE_HPP
|
||||
@ -0,0 +1,56 @@
|
||||
// Copyright 2017 Open Source Robotics Foundation, Inc.
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
/* This header must be included by all rclcpp headers which declare symbols
|
||||
* which are defined in the rclcpp library. When not building the rclcpp
|
||||
* library, i.e. when using the headers in other package's code, the contents
|
||||
* of this header change the visibility of certain symbols which the rclcpp
|
||||
* library cannot have, but the consuming code must have inorder to link.
|
||||
*/
|
||||
|
||||
#ifndef ROBOTIQ_INTERFACE__VISIBILITY_CONTROL_HPP_
|
||||
#define ROBOTIQ_INTERFACE__VISIBILITY_CONTROL_HPP_
|
||||
|
||||
// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
|
||||
// https://gcc.gnu.org/wiki/Visibility
|
||||
|
||||
#if defined _WIN32 || defined __CYGWIN__
|
||||
#ifdef __GNUC__
|
||||
#define ROBOTIQ_INTERFACE_EXPORT __attribute__((dllexport))
|
||||
#define ROBOTIQ_INTERFACE_IMPORT __attribute__((dllimport))
|
||||
#else
|
||||
#define ROBOTIQ_INTERFACE_EXPORT __declspec(dllexport)
|
||||
#define ROBOTIQ_INTERFACE_IMPORT __declspec(dllimport)
|
||||
#endif
|
||||
#ifdef ROBOTIQ_INTERFACE_BUILDING_DLL
|
||||
#define ROBOTIQ_INTERFACE_PUBLIC ROBOTIQ_INTERFACE_EXPORT
|
||||
#else
|
||||
#define ROBOTIQ_INTERFACE_PUBLIC ROBOTIQ_INTERFACE_IMPORT
|
||||
#endif
|
||||
#define ROBOTIQ_INTERFACE_PUBLIC_TYPE ROBOTIQ_INTERFACE_PUBLIC
|
||||
#define ROBOTIQ_INTERFACE_LOCAL
|
||||
#else
|
||||
#define ROBOTIQ_INTERFACE_EXPORT __attribute__((visibility("default")))
|
||||
#define ROBOTIQ_INTERFACE_IMPORT
|
||||
#if __GNUC__ >= 4
|
||||
#define ROBOTIQ_INTERFACE_PUBLIC __attribute__((visibility("default")))
|
||||
#define ROBOTIQ_INTERFACE_LOCAL __attribute__((visibility("hidden")))
|
||||
#else
|
||||
#define ROBOTIQ_INTERFACE_PUBLIC
|
||||
#define ROBOTIQ_INTERFACE_LOCAL
|
||||
#endif
|
||||
#define ROBOTIQ_INTERFACE_PUBLIC_TYPE
|
||||
#endif
|
||||
|
||||
#endif // ROBOTIQ_DRIVER__VISIBILITY_CONTROL_HPP_
|
||||
23
src/robotiq_2f/robotiq_2f_interface/package.xml
Normal file
23
src/robotiq_2f/robotiq_2f_interface/package.xml
Normal file
@ -0,0 +1,23 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>robotiq_2f_interface</name>
|
||||
<version>0.0.0</version>
|
||||
<description>TODO: Package description</description>
|
||||
<maintainer email="root@todo.todo">root</maintainer>
|
||||
<license>TODO: License declaration</license>
|
||||
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
|
||||
<depend>rclcpp</depend>
|
||||
<depend>rclcpp_lifecycle</depend>
|
||||
<depend>hardware_interface</depend>
|
||||
<depend>pluginlib</depend>
|
||||
|
||||
<test_depend>ament_lint_auto</test_depend>
|
||||
<test_depend>ament_lint_common</test_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
</export>
|
||||
</package>
|
||||
@ -0,0 +1,372 @@
|
||||
#include "robotiq_2f_interface/Robotiq2fSocketAdapter.hpp"
|
||||
|
||||
|
||||
namespace robotiq_interface
|
||||
{
|
||||
Robotiq2fSocketAdapter::Robotiq2fSocketAdapter() : sockfd_(new int(-1)) {
|
||||
}
|
||||
|
||||
|
||||
Robotiq2fSocketAdapter::~Robotiq2fSocketAdapter() {
|
||||
disconnect(); // Ensure the socket is closed properly.
|
||||
}
|
||||
|
||||
// Connection and disconnection
|
||||
bool Robotiq2fSocketAdapter::connect(const std::string& hostname, int port) {
|
||||
std::lock_guard<std::mutex> lock(socket_mutex_);
|
||||
if (*sockfd_ >= 0) {
|
||||
std::cerr << "Already connected. Disconnecting to reconnect.\n";
|
||||
disconnect();
|
||||
}
|
||||
|
||||
int sock = socket(AF_INET, SOCK_STREAM, 0);
|
||||
if (sock < 0) {
|
||||
std::cerr << "Socket creation failed: " << strerror(errno) << "\n";
|
||||
return false;
|
||||
}
|
||||
*sockfd_ = sock;
|
||||
|
||||
sockaddr_in serv_addr{};
|
||||
memset(&serv_addr, 0, sizeof(serv_addr));
|
||||
serv_addr.sin_family = AF_INET;
|
||||
serv_addr.sin_port = htons(port);
|
||||
|
||||
if (inet_pton(AF_INET, hostname.c_str(), &serv_addr.sin_addr) <= 0) {
|
||||
std::cerr << "Invalid address: " << hostname << "\n";
|
||||
close(*sockfd_);
|
||||
*sockfd_ = -1;
|
||||
return false;
|
||||
}
|
||||
|
||||
if (::connect(*sockfd_, (struct sockaddr*)&serv_addr, sizeof(serv_addr)) < 0) {
|
||||
std::cerr << "Connection to " << hostname << ":" << port << " failed: " << strerror(errno) << "\n";
|
||||
close(*sockfd_);
|
||||
*sockfd_ = -1;
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void Robotiq2fSocketAdapter::disconnect() {
|
||||
std::lock_guard<std::mutex> lock(socket_mutex_);
|
||||
if (*sockfd_ >= 0) {
|
||||
if (close(*sockfd_) == -1) {
|
||||
std::cerr << "Error closing socket: " << strerror(errno) << "\n";
|
||||
} else {
|
||||
std::cout << "Disconnected successfully.\n";
|
||||
}
|
||||
*sockfd_ = -1;
|
||||
}
|
||||
}
|
||||
|
||||
// Utility methods
|
||||
bool Robotiq2fSocketAdapter::sendCommand(const std::string& cmd) {
|
||||
std::lock_guard<std::mutex> lock(socket_mutex_);
|
||||
if (*sockfd_ < 0) {
|
||||
std::cerr << "Attempted to send command on a disconnected socket.\n";
|
||||
return false;
|
||||
}
|
||||
|
||||
ssize_t result = send(*sockfd_, cmd.c_str(), cmd.length(), 0);
|
||||
if (result < 0) {
|
||||
std::cerr << "Failed to send command: " << strerror(errno) << "\n";
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
std::string Robotiq2fSocketAdapter::receiveResponse(int timeout_ms) {
|
||||
std::lock_guard<std::mutex> lock(socket_mutex_);
|
||||
if (*sockfd_ < 0) {
|
||||
std::cerr << "Attempted to receive response on a disconnected socket.\n";
|
||||
return "";
|
||||
}
|
||||
|
||||
std::string result;
|
||||
char buffer[BUFFER_SIZE];
|
||||
bool complete_response = false;
|
||||
|
||||
timeval tv;
|
||||
tv.tv_sec = timeout_ms / 1000;
|
||||
tv.tv_usec = (timeout_ms % 1000) * 1000;
|
||||
|
||||
// Loop to receive data until a complete response is obtained or a timeout occurs
|
||||
while (!complete_response) {
|
||||
fd_set readfds;
|
||||
FD_ZERO(&readfds);
|
||||
FD_SET(*sockfd_, &readfds);
|
||||
|
||||
int activity = select(*sockfd_ + 1, &readfds, nullptr, nullptr, &tv);
|
||||
if (activity == -1) {
|
||||
std::cerr << "[receiveResponse] Error in select(): " << strerror(errno) << "\n";
|
||||
return "";
|
||||
} else if (activity == 0) {
|
||||
std::cerr << "Timeout occurred while waiting for response.\n";
|
||||
return "";
|
||||
}
|
||||
|
||||
ssize_t bytes_read = recv(*sockfd_, buffer, BUFFER_SIZE - 1, 0);
|
||||
if (bytes_read < 0) {
|
||||
if (errno != EAGAIN && errno != EWOULDBLOCK) {
|
||||
std::cerr << "Failed to receive response: " << strerror(errno) << "\n";
|
||||
}
|
||||
return "";
|
||||
} else if (bytes_read == 0) {
|
||||
std::cerr << "Connection closed by peer.\n";
|
||||
return "";
|
||||
} else {
|
||||
buffer[bytes_read] = '\0';
|
||||
result += buffer;
|
||||
|
||||
// Check if we have a complete response:
|
||||
if (result.find("\n") != std::string::npos) {
|
||||
complete_response = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
bool Robotiq2fSocketAdapter::isAck(const std::string& data) {
|
||||
return data == ACK_MESSAGE;
|
||||
}
|
||||
|
||||
int Robotiq2fSocketAdapter::clip_val(int min_value, int value, int max_value) {
|
||||
return std::max(min_value, std::min(value, max_value));
|
||||
}
|
||||
|
||||
void Robotiq2fSocketAdapter::waitForGripperStatus(GripperStatus expectedStatus) {
|
||||
int retries = 0;
|
||||
int status = getGripperVariable(CMD_STA);
|
||||
while (static_cast<GripperStatus>(status) != expectedStatus && retries < MAX_RETRIES) {
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(RETRY_DELAY_MS));
|
||||
status = getGripperVariable(CMD_STA);
|
||||
retries++;
|
||||
}
|
||||
if (retries >= MAX_RETRIES) {
|
||||
throw std::runtime_error("Gripper failed to reach expected status.");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// Gripper variable Getter and Setter
|
||||
bool Robotiq2fSocketAdapter::setGripperVariables(const std::map<std::string, int>& variableMap) {
|
||||
return setGripperVariables(reinterpret_cast<const std::map<std::string, double>&>(variableMap));
|
||||
}
|
||||
|
||||
bool Robotiq2fSocketAdapter::setGripperVariables(const std::map<std::string, double>& variableMap) {
|
||||
// Build the command string
|
||||
std::string cmd = SET_COMMAND;
|
||||
for (const auto& [variable, value] : variableMap) {
|
||||
std::stringstream ss;
|
||||
ss << value;
|
||||
cmd += " " + variable + " " + ss.str();
|
||||
}
|
||||
cmd += "\n";
|
||||
|
||||
// Send the command and receive the response
|
||||
std::lock_guard<std::mutex> lock(socket_mutex_);
|
||||
if (*sockfd_ < 0) {
|
||||
throw std::runtime_error("Cannot set variables on a disconnected socket.");
|
||||
return false;
|
||||
}
|
||||
|
||||
if (!sendCommand(cmd)) {
|
||||
throw std::runtime_error("[setGripperVariables] Sending command failed.");
|
||||
return false;
|
||||
}
|
||||
|
||||
std::string response = receiveResponse();
|
||||
return isAck(response);
|
||||
}
|
||||
|
||||
bool Robotiq2fSocketAdapter::setGripperVariable(const std::string& variable, int value) {
|
||||
return setGripperVariable(variable, static_cast<double>(value)); // Convert int to double
|
||||
}
|
||||
|
||||
bool Robotiq2fSocketAdapter::setGripperVariable(const std::string& variable, double value) {
|
||||
std::stringstream ss;
|
||||
ss << value; // Convert the value to a string
|
||||
|
||||
std::string cmd = SET_COMMAND + " " + variable + " " + ss.str() + "\n";
|
||||
|
||||
std::lock_guard<std::mutex> lock(socket_mutex_);
|
||||
if (*sockfd_ < 0) {
|
||||
throw std::runtime_error("Cannot set variables on a disconnected socket.");
|
||||
return false;
|
||||
}
|
||||
|
||||
if (!sendCommand(cmd)) {
|
||||
throw std::runtime_error("[setGripperVariable] Sending command failed.");
|
||||
return false; // Sending command failed
|
||||
}
|
||||
|
||||
std::string response = receiveResponse();
|
||||
return isAck(response);
|
||||
}
|
||||
|
||||
int Robotiq2fSocketAdapter::getGripperVariable(const std::string& variable) {
|
||||
std::string cmd = GET_COMMAND + " " + variable + "\n";
|
||||
|
||||
std::lock_guard<std::mutex> lock(socket_mutex_);
|
||||
if (*sockfd_ < 0) {
|
||||
throw std::runtime_error("Cannot get variables on a disconnected socket.");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (!sendCommand(cmd)) {
|
||||
throw std::runtime_error("[getGripperVariable] Sending command failed.");
|
||||
return -1; // Error sending command
|
||||
}
|
||||
|
||||
std::string response = receiveResponse();
|
||||
|
||||
// Parse the response (assuming format: "variable_name value")
|
||||
std::istringstream iss(response);
|
||||
std::string var_name, value_str;
|
||||
|
||||
if (!(iss >> var_name >> value_str)) {
|
||||
throw std::runtime_error("Invalid gripper response format.");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (var_name != variable) {
|
||||
throw std::runtime_error("Unexpected response - variable name mismatch.");
|
||||
return -1;
|
||||
}
|
||||
|
||||
try {
|
||||
return std::stoi(value_str);
|
||||
} catch (const std::exception& ex) {
|
||||
std::cerr << "Failed to parse gripper response: " << ex.what() << std::endl;
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
// Activation, deactivation and reset of the Gripper
|
||||
void Robotiq2fSocketAdapter::activate(bool autoCalibrate) {
|
||||
reset(); // Always start with a reset to ensure a known state
|
||||
setGripperVariable(CMD_ACT, 1); // Activate the gripper
|
||||
waitForGripperStatus(GripperStatus::ACTIVE); // Wait until active
|
||||
|
||||
if (autoCalibrate) {
|
||||
auto_calibrate();
|
||||
}
|
||||
}
|
||||
|
||||
void Robotiq2fSocketAdapter::reset() {
|
||||
setGripperVariable(CMD_ACT, 0);
|
||||
setGripperVariable(CMD_ATR, 0);
|
||||
waitForGripperStatus(GripperStatus::RESET);
|
||||
}
|
||||
|
||||
|
||||
void Robotiq2fSocketAdapter::deactivate() {
|
||||
if (is_active()) {
|
||||
reset();
|
||||
}
|
||||
}
|
||||
|
||||
// State subsscriber
|
||||
bool Robotiq2fSocketAdapter::is_active(){
|
||||
GripperStatus status = static_cast<GripperStatus>(getGripperVariable(CMD_STA));
|
||||
return GripperStatus::ACTIVE == status;
|
||||
}
|
||||
|
||||
int Robotiq2fSocketAdapter::force(){
|
||||
return getGripperVariable(CMD_FOR);
|
||||
}
|
||||
|
||||
int Robotiq2fSocketAdapter::speed(){
|
||||
return getGripperVariable(CMD_SPE);
|
||||
}
|
||||
|
||||
int Robotiq2fSocketAdapter::position(){
|
||||
return getGripperVariable(CMD_POS);
|
||||
}
|
||||
|
||||
// Movement Methods
|
||||
std::tuple<bool, int> Robotiq2fSocketAdapter::move(int position, int speed, int force) {
|
||||
int clippedPosition = clip_val(min_position_, position, max_position_);
|
||||
int clippedSpeed = clip_val(min_speed_, speed, max_speed_);
|
||||
int clippedForce = clip_val(min_force_, force, max_force_);
|
||||
|
||||
// Create a map for gripper variables (similar to Python's OrderedDict)
|
||||
std::map<std::string, int> variableMap = {
|
||||
{ CMD_POS, clippedPosition },
|
||||
{ CMD_SPE, clippedSpeed },
|
||||
{ CMD_FOR, clippedForce },
|
||||
{ CMD_GTO, 1 }
|
||||
};
|
||||
|
||||
bool setResult = setGripperVariables(variableMap);
|
||||
return std::make_tuple(setResult, clippedPosition);
|
||||
}
|
||||
|
||||
std::tuple<int, ObjectStatus> Robotiq2fSocketAdapter::move_and_wait_for_pos(int position, int speed, int force) {
|
||||
int clippedPosition = clip_val(min_position_, position, max_position_);
|
||||
int clippedSpeed = clip_val(min_speed_, speed, max_speed_);
|
||||
int clippedForce = clip_val(min_force_, force, max_force_);
|
||||
|
||||
// Set gripper variables to initiate the move
|
||||
std::map<std::string, int> variableMap = {
|
||||
{ CMD_POS, clippedPosition },
|
||||
{ CMD_SPE, clippedSpeed },
|
||||
{ CMD_FOR, clippedForce },
|
||||
{ CMD_GTO, 1 }
|
||||
};
|
||||
bool setResult = setGripperVariables(variableMap);
|
||||
if (!setResult) {
|
||||
// Handle the error case, e.g., throw an exception
|
||||
throw std::runtime_error("Failed to set variables for move.");
|
||||
}
|
||||
|
||||
// Wait until position is acknowledged:
|
||||
while(getGripperVariable(CMD_PRE) != clippedPosition) {
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(10)); // Adjust sleep as needed
|
||||
}
|
||||
|
||||
// Wait until not moving
|
||||
int currentObjectStatus = getGripperVariable(CMD_OBJ);
|
||||
while (ObjectStatus(currentObjectStatus) == ObjectStatus::MOVING) {
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(10)); // Adjust sleep as needed
|
||||
currentObjectStatus = getGripperVariable(CMD_OBJ);
|
||||
}
|
||||
|
||||
// Report final position and object status
|
||||
int finalPosition = getGripperVariable(CMD_POS);
|
||||
ObjectStatus finalStatus = static_cast<ObjectStatus>(currentObjectStatus);
|
||||
return std::make_tuple(finalPosition, finalStatus);
|
||||
}
|
||||
|
||||
|
||||
void Robotiq2fSocketAdapter::auto_calibrate(bool log) {
|
||||
// Open in case we are holding an object
|
||||
std::tuple<int, ObjectStatus> result = move_and_wait_for_pos(open_position_, 64, 1);
|
||||
if (std::get<1>(result) != ObjectStatus::AT_DEST) {
|
||||
throw std::runtime_error("Calibration failed opening to start.");
|
||||
}
|
||||
|
||||
// Close as far as possible
|
||||
result = move_and_wait_for_pos(closed_position_, 64, 1);
|
||||
if (std::get<1>(result) != ObjectStatus::AT_DEST) {
|
||||
throw std::runtime_error("Calibration failed because of an object.");
|
||||
}
|
||||
max_position_ = std::get<0>(result); // Update max position
|
||||
|
||||
// Open as far as possible
|
||||
result = move_and_wait_for_pos(open_position_, 64, 1);
|
||||
if (std::get<1>(result) != ObjectStatus::AT_DEST) {
|
||||
throw std::runtime_error("Calibration failed because of an object.");
|
||||
}
|
||||
min_position_ = std::get<0>(result); // Update min position
|
||||
|
||||
if (log) {
|
||||
std::cout << "Gripper auto-calibrated to ["
|
||||
<< min_position_ << ", " << max_position_ << "]\n";
|
||||
}
|
||||
}
|
||||
} // end robotiq_interface
|
||||
469
src/robotiq_2f/robotiq_2f_interface/src/hardware_interface.cpp
Normal file
469
src/robotiq_2f/robotiq_2f_interface/src/hardware_interface.cpp
Normal file
@ -0,0 +1,469 @@
|
||||
#include "robotiq_2f_interface/hardware_interface.hpp"
|
||||
|
||||
namespace robotiq_interface
|
||||
{
|
||||
|
||||
const std::string robot_ip_parameter_name = "robot_ip";
|
||||
const std::string robot_ip_default = "192.168.1.1";
|
||||
|
||||
const std::string robot_port_parameter_name = "robot_port";
|
||||
const int robot_port_default = 63352;
|
||||
|
||||
const std::string use_mock_hardware_parameter_name = "use_fake_hardware";
|
||||
const bool use_mock_hardware_default = true;
|
||||
|
||||
const std::string min_position_parameter_name = "min_position";
|
||||
const double min_position_default = 0.01;
|
||||
|
||||
const std::string max_position_parameter_name = "max_position";
|
||||
const double max_position_default = 0.0;
|
||||
|
||||
const std::string min_speed_parameter_name = "min_speed";
|
||||
const double min_speed_default = 0.0;
|
||||
|
||||
const std::string max_speed_parameter_name = "max_speed";
|
||||
const double max_speed_default = 0.0;
|
||||
|
||||
const std::string min_force_parameter_name = "min_force";
|
||||
const double min_force_default = 0.0;
|
||||
|
||||
const std::string max_force_parameter_name = "max_force";
|
||||
const double max_force_default = 0.0;
|
||||
|
||||
RobotiqGripperHardwareInterface::RobotiqGripperHardwareInterface()
|
||||
: communication_thread_is_running_(false)
|
||||
{
|
||||
RCLCPP_INFO(logger_, "Constructor");
|
||||
}
|
||||
|
||||
RobotiqGripperHardwareInterface::~RobotiqGripperHardwareInterface()
|
||||
{
|
||||
if (communication_thread_is_running_.load())
|
||||
{
|
||||
communication_thread_is_running_.store(false);
|
||||
if (communication_thread_.joinable())
|
||||
{
|
||||
communication_thread_.join();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_init(const hardware_interface::HardwareInfo& info)
|
||||
{
|
||||
RCLCPP_DEBUG(logger_, "on_init");
|
||||
|
||||
if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
|
||||
{
|
||||
return CallbackReturn::ERROR;
|
||||
}
|
||||
|
||||
try
|
||||
{
|
||||
if (info.hardware_parameters.count(robot_ip_parameter_name) > 0) {
|
||||
robot_ip_ = info.hardware_parameters.at(robot_ip_parameter_name);
|
||||
} else {
|
||||
robot_ip_ = robot_ip_default;
|
||||
}
|
||||
RCLCPP_INFO(logger_, "Accessing parameter: Robot IP, Value: %s", robot_ip_.c_str());
|
||||
|
||||
if (info.hardware_parameters.count(robot_port_parameter_name) > 0) {
|
||||
robot_port_ = std::stoi(info.hardware_parameters.at(robot_port_parameter_name));
|
||||
} else {
|
||||
robot_port_ = robot_port_default;
|
||||
}
|
||||
RCLCPP_INFO(logger_, "Accessing parameter: Robot Port, Value: %d", robot_port_);
|
||||
|
||||
std::string param_value;
|
||||
if (info.hardware_parameters.count(use_mock_hardware_parameter_name) > 0) {
|
||||
param_value = info.hardware_parameters.at(use_mock_hardware_parameter_name);
|
||||
use_mock_hardware_ = (param_value == "true" || param_value == "True");
|
||||
} else {
|
||||
use_mock_hardware_ = use_mock_hardware_default;
|
||||
}
|
||||
RCLCPP_INFO(logger_, "Accessing parameter: use fake hardware , Value: %s", param_value.c_str());
|
||||
|
||||
if (info.hardware_parameters.count(min_position_parameter_name) > 0) {
|
||||
min_position_ = std::stod(info.hardware_parameters.at(min_position_parameter_name));
|
||||
} else {
|
||||
min_position_ = min_position_default;
|
||||
}
|
||||
RCLCPP_INFO(logger_, "Accessing parameter: min position, Value: %f", min_position_);
|
||||
|
||||
if (info.hardware_parameters.count(max_position_parameter_name) > 0) {
|
||||
max_position_ = std::stod(info.hardware_parameters.at(max_position_parameter_name));
|
||||
} else {
|
||||
max_position_ = max_position_default;
|
||||
}
|
||||
RCLCPP_INFO(logger_, "Accessing parameter: max position, Value: %f", max_position_);
|
||||
|
||||
if (info.hardware_parameters.count(min_speed_parameter_name) > 0) {
|
||||
min_speed_ = std::stod(info.hardware_parameters.at(min_speed_parameter_name));
|
||||
} else {
|
||||
min_speed_ = min_speed_default;
|
||||
}
|
||||
RCLCPP_INFO(logger_, "Accessing parameter: min speed, Value: %f", min_speed_);
|
||||
|
||||
if (info.hardware_parameters.count(max_speed_parameter_name) > 0) {
|
||||
max_speed_ = std::stod(info.hardware_parameters.at(max_speed_parameter_name));
|
||||
} else {
|
||||
max_speed_ = max_speed_default;
|
||||
}
|
||||
RCLCPP_INFO(logger_, "Accessing parameter: max speed, Value: %f", max_speed_);
|
||||
|
||||
if (info.hardware_parameters.count(min_force_parameter_name) > 0) {
|
||||
min_force_ = std::stod(info.hardware_parameters.at(min_force_parameter_name));
|
||||
} else {
|
||||
min_force_ = robot_port_default;
|
||||
}
|
||||
RCLCPP_INFO(logger_, "Accessing parameter: min force, Value: %f", min_force_);
|
||||
|
||||
if (info.hardware_parameters.count(max_force_parameter_name) > 0) {
|
||||
max_force_ = std::stod(info.hardware_parameters.at(max_force_parameter_name));
|
||||
} else {
|
||||
max_force_ = max_force_default;
|
||||
}
|
||||
RCLCPP_INFO(logger_, "Accessing parameter: max force, Value: %f", max_force_);
|
||||
}
|
||||
catch (const std::exception& e)
|
||||
{
|
||||
RCLCPP_FATAL(logger_, "Failed to load parameters: %s", e.what());
|
||||
return CallbackReturn::ERROR;
|
||||
}
|
||||
|
||||
gripper_position_ = std::numeric_limits<double>::quiet_NaN();
|
||||
gripper_velocity_ = std::numeric_limits<double>::quiet_NaN();
|
||||
gripper_position_command_ = std::numeric_limits<double>::quiet_NaN();
|
||||
reactivate_gripper_cmd_ = NO_NEW_CMD_;
|
||||
reactivate_gripper_async_cmd_.store(false);
|
||||
|
||||
const hardware_interface::ComponentInfo& joint = info_.joints[0];
|
||||
|
||||
// There is one command interface: position.
|
||||
if (joint.command_interfaces.size() != 1)
|
||||
{
|
||||
RCLCPP_FATAL(logger_, "Joint '%s' has %zu command interfaces found. 1 expected.", joint.name.c_str(),
|
||||
joint.command_interfaces.size());
|
||||
return CallbackReturn::ERROR;
|
||||
}
|
||||
|
||||
if (joint.command_interfaces[0].name != hardware_interface::HW_IF_POSITION)
|
||||
{
|
||||
RCLCPP_FATAL(logger_, "Joint '%s' has %s command interfaces found. '%s' expected.", joint.name.c_str(),
|
||||
joint.command_interfaces[0].name.c_str(), hardware_interface::HW_IF_POSITION);
|
||||
return CallbackReturn::ERROR;
|
||||
}
|
||||
|
||||
// There are two state interfaces: position and velocity.
|
||||
if (joint.state_interfaces.size() != 2)
|
||||
{
|
||||
RCLCPP_FATAL(logger_, "Joint '%s' has %zu state interface. 2 expected.", joint.name.c_str(),
|
||||
joint.state_interfaces.size());
|
||||
return CallbackReturn::ERROR;
|
||||
}
|
||||
|
||||
for (int i = 0; i < 2; ++i)
|
||||
{
|
||||
if (!(joint.state_interfaces[i].name == hardware_interface::HW_IF_POSITION ||
|
||||
joint.state_interfaces[i].name == hardware_interface::HW_IF_VELOCITY))
|
||||
{
|
||||
RCLCPP_FATAL(logger_, "Joint '%s' has %s state interface. Expected %s or %s.", joint.name.c_str(),
|
||||
joint.state_interfaces[i].name.c_str(), hardware_interface::HW_IF_POSITION,
|
||||
hardware_interface::HW_IF_VELOCITY);
|
||||
return CallbackReturn::ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
return CallbackReturn::SUCCESS;
|
||||
}
|
||||
|
||||
hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_configure(const rclcpp_lifecycle::State& previous_state)
|
||||
{
|
||||
RCLCPP_DEBUG(logger_, "on_configure");
|
||||
try
|
||||
{
|
||||
if (hardware_interface::SystemInterface::on_configure(previous_state) != CallbackReturn::SUCCESS)
|
||||
{
|
||||
return CallbackReturn::ERROR;
|
||||
}
|
||||
|
||||
configureAdapter(use_mock_hardware_);
|
||||
if (!socket_adapter_->connect(robot_ip_, robot_port_))
|
||||
{
|
||||
RCLCPP_ERROR(logger_, "Cannot connect to the Robotiq gripper at %s:%d", robot_ip_.c_str(), robot_port_);
|
||||
return CallbackReturn::ERROR;
|
||||
}
|
||||
}
|
||||
catch (const std::exception& e)
|
||||
{
|
||||
RCLCPP_ERROR(logger_, "Cannot configure the Robotiq gripper: %s", e.what());
|
||||
return CallbackReturn::ERROR;
|
||||
}
|
||||
|
||||
return CallbackReturn::SUCCESS;
|
||||
}
|
||||
|
||||
hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_activate(const rclcpp_lifecycle::State& /*previous_state*/)
|
||||
{
|
||||
RCLCPP_DEBUG(logger_, "on_activate");
|
||||
|
||||
// set some default values for joints
|
||||
if (std::isnan(gripper_position_))
|
||||
{
|
||||
gripper_position_ = 0;
|
||||
gripper_velocity_ = 0;
|
||||
gripper_position_command_ = 0;
|
||||
}
|
||||
|
||||
// Activate the gripper.
|
||||
try
|
||||
{
|
||||
socket_adapter_->deactivate();
|
||||
socket_adapter_->activate();
|
||||
|
||||
communication_thread_is_running_.store(true);
|
||||
communication_thread_ = std::thread([this] { this->background_task(); });
|
||||
}
|
||||
catch (const std::exception& e)
|
||||
{
|
||||
RCLCPP_FATAL(logger_, "Failed to communicate with the Robotiq gripper: %s", e.what());
|
||||
return CallbackReturn::ERROR;
|
||||
}
|
||||
|
||||
RCLCPP_INFO(logger_, "Robotiq Gripper successfully activated!");
|
||||
return CallbackReturn::SUCCESS;
|
||||
}
|
||||
|
||||
hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_deactivate(const rclcpp_lifecycle::State& /*previous_state*/)
|
||||
{
|
||||
RCLCPP_DEBUG(logger_, "on_deactivate");
|
||||
|
||||
communication_thread_is_running_.store(false);
|
||||
communication_thread_.join();
|
||||
if (communication_thread_.joinable())
|
||||
{
|
||||
communication_thread_.join();
|
||||
}
|
||||
|
||||
try
|
||||
{
|
||||
socket_adapter_->deactivate();
|
||||
}
|
||||
catch (const std::exception& e)
|
||||
{
|
||||
RCLCPP_ERROR(logger_, "Failed to deactivate the Robotiq gripper: %s", e.what());
|
||||
return CallbackReturn::ERROR;
|
||||
}
|
||||
RCLCPP_INFO(logger_, "Robotiq Gripper successfully deactivated!");
|
||||
return CallbackReturn::SUCCESS;
|
||||
}
|
||||
|
||||
std::vector<hardware_interface::StateInterface> RobotiqGripperHardwareInterface::export_state_interfaces()
|
||||
{
|
||||
RCLCPP_DEBUG(logger_, "export_state_interfaces");
|
||||
|
||||
std::vector<hardware_interface::StateInterface> state_interfaces;
|
||||
|
||||
state_interfaces.emplace_back(
|
||||
hardware_interface::StateInterface(info_.joints[0].name, hardware_interface::HW_IF_POSITION, &gripper_position_));
|
||||
state_interfaces.emplace_back(
|
||||
hardware_interface::StateInterface(info_.joints[0].name, hardware_interface::HW_IF_VELOCITY, &gripper_velocity_));
|
||||
|
||||
for (const auto& interface : state_interfaces) {
|
||||
RCLCPP_DEBUG(logger_, "Exporting state interface for joint: %s type: %s",
|
||||
interface.get_name().c_str(), interface.get_interface_name().c_str());
|
||||
}
|
||||
|
||||
return state_interfaces;
|
||||
}
|
||||
|
||||
std::vector<hardware_interface::CommandInterface> RobotiqGripperHardwareInterface::export_command_interfaces()
|
||||
{
|
||||
RCLCPP_DEBUG(logger_, "export_command_interfaces");
|
||||
|
||||
std::vector<hardware_interface::CommandInterface> command_interfaces;
|
||||
|
||||
command_interfaces.emplace_back(
|
||||
hardware_interface::CommandInterface(
|
||||
info_.joints[0].name, hardware_interface::HW_IF_POSITION, &gripper_position_command_
|
||||
)
|
||||
);
|
||||
|
||||
// Handling potential uninitialized parameter 'gripper_speed_multiplier'
|
||||
double gripper_speed_multiplier = 1.0;
|
||||
if (info_.hardware_parameters.find("gripper_speed_multiplier") != info_.hardware_parameters.end()) {
|
||||
gripper_speed_multiplier = std::stod(info_.hardware_parameters["gripper_speed_multiplier"]);
|
||||
}
|
||||
gripper_speed_ = gripper_speed_multiplier;
|
||||
|
||||
// Handling potential uninitialized parameter 'gripper_force_multiplier'
|
||||
double gripper_force_multiplier = 1.0;
|
||||
if (info_.hardware_parameters.find("gripper_force_multiplier") != info_.hardware_parameters.end()) {
|
||||
gripper_force_multiplier = std::stod(info_.hardware_parameters["gripper_force_multiplier"]);
|
||||
}
|
||||
gripper_force_ = gripper_force_multiplier;
|
||||
|
||||
command_interfaces.emplace_back(
|
||||
hardware_interface::CommandInterface(info_.joints[0].name, "set_gripper_max_velocity", &gripper_speed_));
|
||||
command_interfaces.emplace_back(
|
||||
hardware_interface::CommandInterface(info_.joints[0].name, "set_gripper_max_effort", &gripper_force_));
|
||||
command_interfaces.emplace_back(
|
||||
hardware_interface::CommandInterface("reactivate_gripper", "reactivate_gripper_cmd", &reactivate_gripper_cmd_));
|
||||
command_interfaces.emplace_back(
|
||||
hardware_interface::CommandInterface("reactivate_gripper", "reactivate_gripper_response", &reactivate_gripper_response_));
|
||||
|
||||
for (const auto& interface : command_interfaces) {
|
||||
RCLCPP_DEBUG(logger_, "Exporting command interface for joint: %s type: %s",
|
||||
interface.get_name().c_str(), interface.get_interface_name().c_str());
|
||||
}
|
||||
|
||||
return command_interfaces;
|
||||
}
|
||||
|
||||
hardware_interface::return_type RobotiqGripperHardwareInterface::read(const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/)
|
||||
{
|
||||
RCLCPP_DEBUG(logger_, "Reading state from the gripper");
|
||||
|
||||
// Ensure that the node uses the appropriate clock source
|
||||
|
||||
current_time_ = clock_->now();
|
||||
|
||||
try {
|
||||
int raw_position = socket_adapter_->position();
|
||||
double new_position = convertRawToPosition(raw_position);
|
||||
|
||||
if (!std::isnan(gripper_position_)) {
|
||||
double time_difference = (current_time_ - last_update_time_).seconds();
|
||||
if (time_difference > 0) {
|
||||
gripper_velocity_ = (new_position - gripper_position_) / time_difference;
|
||||
}
|
||||
}
|
||||
|
||||
gripper_position_ = new_position;
|
||||
last_update_time_ = current_time_;
|
||||
|
||||
} catch (const std::exception& e) {
|
||||
RCLCPP_ERROR(logger_, "Failed to read from Robotiq gripper: %s", e.what());
|
||||
return hardware_interface::return_type::ERROR;
|
||||
}
|
||||
|
||||
// Process asynchronous reactivation response if available
|
||||
if (reactivate_gripper_async_response_.load().has_value()) {
|
||||
reactivate_gripper_response_ = reactivate_gripper_async_response_.load().value();
|
||||
reactivate_gripper_async_response_.store(std::nullopt); // Reset response
|
||||
}
|
||||
|
||||
return hardware_interface::return_type::OK;
|
||||
}
|
||||
|
||||
hardware_interface::return_type RobotiqGripperHardwareInterface::write(const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/)
|
||||
{
|
||||
try {
|
||||
// Use the conversion methods to scale the command values to the range expected by the hardware
|
||||
int scaled_position = convertPositionToRaw(gripper_position_command_);
|
||||
int scaled_speed = convertSpeedToRaw(gripper_speed_);
|
||||
int scaled_force = convertForceToRaw(gripper_force_);
|
||||
|
||||
// Store the scaled values into atomic variables
|
||||
write_command_.store(scaled_position);
|
||||
write_speed_.store(scaled_speed);
|
||||
write_force_.store(scaled_force);
|
||||
|
||||
} catch (const std::exception& e) {
|
||||
RCLCPP_ERROR(logger_, "Failed to write to Robotiq gripper: %s", e.what());
|
||||
return hardware_interface::return_type::ERROR;
|
||||
}
|
||||
|
||||
return hardware_interface::return_type::OK;
|
||||
}
|
||||
|
||||
void RobotiqGripperHardwareInterface::background_task()
|
||||
{
|
||||
while (communication_thread_is_running_.load())
|
||||
{
|
||||
std::lock_guard<std::mutex> guard(resource_mutex_);
|
||||
try
|
||||
{
|
||||
// Re-activate the gripper
|
||||
// This can be used, for example, to re-run the auto-calibration.
|
||||
if (reactivate_gripper_async_cmd_.load())
|
||||
{
|
||||
socket_adapter_->deactivate();
|
||||
socket_adapter_->activate();
|
||||
reactivate_gripper_async_cmd_.store(false);
|
||||
reactivate_gripper_async_response_.store(true);
|
||||
}
|
||||
|
||||
// Write the latest command to the gripper.
|
||||
int scaled_position = write_command_.load();
|
||||
int scaled_speed = write_speed_.load();
|
||||
int scaled_force = write_force_.load();
|
||||
|
||||
auto result = socket_adapter_->move(scaled_position, scaled_speed, scaled_force);
|
||||
if (!std::get<0>(result)) {
|
||||
throw std::runtime_error("Failed to send move command to Robotiq gripper.");
|
||||
}
|
||||
|
||||
// Read the state of the gripper.
|
||||
int raw_position = socket_adapter_->position();
|
||||
gripper_current_state_.store(convertRawToPosition(raw_position));
|
||||
}
|
||||
catch (const std::exception& e)
|
||||
{
|
||||
RCLCPP_ERROR(logger_, "Error in background task: %s", e.what());
|
||||
}
|
||||
|
||||
std::this_thread::sleep_for(gripperCommsLoopPeriod); // Sleep for a predefined period
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// Mock Hardware
|
||||
void RobotiqGripperHardwareInterface::configureAdapter(bool useMock) {
|
||||
if (useMock) {
|
||||
RCLCPP_INFO(logger_, "Using Mock Robotiq Adapter");
|
||||
socket_adapter_ = std::make_unique<MockRobotiq2fSocketAdapter>();
|
||||
} else {
|
||||
RCLCPP_INFO(logger_, "Using Real Robotiq Adapter");
|
||||
socket_adapter_ = std::make_unique<Robotiq2fSocketAdapter>();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// Conversion methods
|
||||
double RobotiqGripperHardwareInterface::convertRawToPosition(int raw_position) {
|
||||
if (std::isnan(min_position_) || std::isnan(max_position_) || min_position_ >= max_position_) {
|
||||
throw std::runtime_error("Invalid gripper position limits: min_position_ or max_position_ are not configured correctly.");
|
||||
}
|
||||
double scaled_position = min_position_ + (static_cast<double>(raw_position) / 255.0) * (max_position_ - min_position_);
|
||||
return std::max(min_position_, std::min(scaled_position, max_position_));
|
||||
}
|
||||
|
||||
int RobotiqGripperHardwareInterface::convertPositionToRaw(double position) {
|
||||
if (std::isnan(min_position_) || std::isnan(max_position_) || min_position_ >= max_position_) {
|
||||
throw std::runtime_error("Invalid gripper position limits: min_position_ or max_position_ are not configured correctly.");
|
||||
}
|
||||
double scaled = (position - min_position_) / (max_position_ - min_position_) * 255.0;
|
||||
return static_cast<uint8_t>(std::clamp(scaled, 0.0, 255.0));
|
||||
}
|
||||
|
||||
int RobotiqGripperHardwareInterface::convertSpeedToRaw(double speed) {
|
||||
if (std::isnan(min_speed_) || std::isnan(max_speed_) || min_speed_ >= max_speed_) {
|
||||
throw std::runtime_error("Invalid gripper speed limits: min_speed_ or max_speed_ are not configured correctly.");
|
||||
}
|
||||
double scaled = (speed - min_speed_) / (max_speed_ - min_speed_) * 255.0;
|
||||
return static_cast<uint8_t>(std::clamp(scaled, 0.0, 255.0));
|
||||
}
|
||||
|
||||
int RobotiqGripperHardwareInterface::convertForceToRaw(double force) {
|
||||
if (std::isnan(min_force_) || std::isnan(max_force_) || min_force_ >= max_force_) {
|
||||
throw std::runtime_error("Invalid gripper force limits: min_force_ or max_force_ are not configured correctly.");
|
||||
}
|
||||
double scaled = (force - min_force_) / (max_force_ - min_force_) * 255.0;
|
||||
return static_cast<uint8_t>(std::clamp(scaled, 0.0, 255.0));
|
||||
}
|
||||
|
||||
} // namespace robotiq_interface
|
||||
|
||||
#include "pluginlib/class_list_macros.hpp"
|
||||
|
||||
PLUGINLIB_EXPORT_CLASS(robotiq_interface::RobotiqGripperHardwareInterface, hardware_interface::SystemInterface)
|
||||
@ -0,0 +1,69 @@
|
||||
#include <gtest/gtest.h>
|
||||
#include "RobotiqGripperHardwareInterface.hpp"
|
||||
|
||||
class TestableRobotiqGripperHardwareInterface : public robotiq_driver::RobotiqGripperHardwareInterface {
|
||||
public:
|
||||
using robotiq_driver::RobotiqGripperHardwareInterface::convertPositionToRaw;
|
||||
using robotiq_driver::RobotiqGripperHardwareInterface::convertRawToPosition;
|
||||
using robotiq_driver::RobotiqGripperHardwareInterface::convertSpeedToRaw;
|
||||
using robotiq_driver::RobotiqGripperHardwareInterface::convertForceToRaw;
|
||||
};
|
||||
|
||||
class RobotiqGripperConversionTests : public ::testing::Test {
|
||||
protected:
|
||||
TestableRobotiqGripperHardwareInterface gripper_interface;
|
||||
|
||||
void SetUp() override {
|
||||
gripper_interface.min_position_ = 0.0;
|
||||
gripper_interface.max_position_ = 0.14;
|
||||
gripper_interface.min_speed_ = 0.02;
|
||||
gripper_interface.max_speed_ = 0.15;
|
||||
gripper_interface.min_force_ = 20.0;
|
||||
gripper_interface.max_force_ = 235.0;
|
||||
}
|
||||
};
|
||||
|
||||
// Test for convertPositionToRaw
|
||||
TEST_F(RobotiqGripperConversionTests, PositionToRawValidInput) {
|
||||
EXPECT_EQ(gripper_interface.convertPositionToRaw(0.07), 128);
|
||||
}
|
||||
|
||||
TEST_F(RobotiqGripperConversionTests, PositionToRawBoundaryInput) {
|
||||
EXPECT_EQ(gripper_interface.convertPositionToRaw(0.0), 0);
|
||||
EXPECT_EQ(gripper_interface.convertPositionToRaw(0.14), 255);
|
||||
}
|
||||
|
||||
// Test for convertRawToPosition
|
||||
TEST_F(RobotiqGripperConversionTests, RawToPositionValidInput) {
|
||||
ASSERT_NEAR(gripper_interface.convertRawToPosition(128), 0.07, 0.01);
|
||||
}
|
||||
|
||||
TEST_F(RobotiqGripperConversionTests, RawToPositionBoundaryInput) {
|
||||
ASSERT_NEAR(gripper_interface.convertRawToPosition(0), 0.0, 0.01);
|
||||
ASSERT_NEAR(gripper_interface.convertRawToPosition(255), 0.14, 0.01);
|
||||
}
|
||||
|
||||
// Test for convertSpeedToRaw
|
||||
TEST_F(RobotiqGripperConversionTests, SpeedToRawValidInput) {
|
||||
EXPECT_EQ(gripper_interface.convertSpeedToRaw(0.085), 128);
|
||||
}
|
||||
|
||||
TEST_F(RobotiqGripperConversionTests, SpeedToRawBoundaryInput) {
|
||||
EXPECT_EQ(gripper_interface.convertSpeedToRaw(0.02), 0);
|
||||
EXPECT_EQ(gripper_interface.convertSpeedToRaw(0.15), 255);
|
||||
}
|
||||
|
||||
// Test for convertForceToRaw
|
||||
TEST_F(RobotiqGripperConversionTests, ForceToRawValidInput) {
|
||||
EXPECT_EQ(gripper_interface.convertForceToRaw(127.5), 128);
|
||||
}
|
||||
|
||||
TEST_F(RobotiqGripperConversionTests, ForceToRawBoundaryInput) {
|
||||
EXPECT_EQ(gripper_interface.convertForceToRaw(20.0), 0);
|
||||
EXPECT_EQ(gripper_interface.convertForceToRaw(235.0), 255);
|
||||
}
|
||||
|
||||
int main(int argc, char **argv) {
|
||||
::testing::InitGoogleTest(&argc, argv);
|
||||
return RUN_ALL_TESTS();
|
||||
}
|
||||
@ -11,17 +11,11 @@
|
||||
|
||||
<!-- Dependencies -->
|
||||
<depend>rclcpp</depend>
|
||||
<<<<<<<< HEAD:src/servo_keyboard/package.xml
|
||||
<depend>control_msgs</depend>
|
||||
<depend>geometry_msgs</depend>
|
||||
<build_depend>controller_manager_msgs</build_depend>
|
||||
<exec_depend>controller_manager_msgs</exec_depend>
|
||||
|
||||
========
|
||||
<depend>rclcpp_lifecycle</depend>
|
||||
<depend>hardware_interface</depend>
|
||||
<depend>pluginlib</depend>
|
||||
>>>>>>>> origin/main:src/robotiq_2f/robotiq_2f_interface/package.xml
|
||||
|
||||
<test_depend>ament_lint_auto</test_depend>
|
||||
<test_depend>ament_lint_common</test_depend>
|
||||
|
||||
@ -1,9 +1,9 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from src/ur_robotiq_description/urdf/ur_robotiq.urdf.xacro | -->
|
||||
<!-- | This document was autogenerated by xacro from ur_robotiq.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="ur">
|
||||
<robot name="ur_manipulator">
|
||||
<!--
|
||||
Base UR robot series xacro macro.
|
||||
|
||||
@ -59,7 +59,7 @@
|
||||
this location. Nor can they rely on the existence of the macro.
|
||||
-->
|
||||
<link name="world"/>
|
||||
<ros2_control name="ur" type="system">
|
||||
<ros2_control name="ur_manipulator" type="system">
|
||||
<hardware>
|
||||
<plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
|
||||
<param name="robot_ip">0.0.0.0</param>
|
||||
@ -99,7 +99,7 @@
|
||||
</command_interface>
|
||||
<state_interface name="position">
|
||||
<!-- initial position for the FakeSystem and simulation -->
|
||||
<param name="initial_value">1.4</param>
|
||||
<param name="initial_value">0.0</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
@ -131,7 +131,7 @@
|
||||
</command_interface>
|
||||
<state_interface name="position">
|
||||
<!-- initial position for the FakeSystem and simulation -->
|
||||
<param name="initial_value">1.57</param>
|
||||
<param name="initial_value">0.0</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
@ -163,7 +163,7 @@
|
||||
</command_interface>
|
||||
<state_interface name="position">
|
||||
<!-- initial position for the FakeSystem and simulation -->
|
||||
<param name="initial_value">-1.57</param>
|
||||
<param name="initial_value">0.0</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
@ -591,7 +591,7 @@
|
||||
<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"/>
|
||||
<mesh filename="file:///home/niko/PycharmProjects/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"/>
|
||||
@ -600,7 +600,7 @@
|
||||
<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"/>
|
||||
<mesh filename="file:///home/niko/PycharmProjects/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_base_link.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
@ -618,7 +618,7 @@
|
||||
<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"/>
|
||||
<mesh filename="file:///home/niko/PycharmProjects/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"/>
|
||||
@ -627,7 +627,7 @@
|
||||
<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"/>
|
||||
<mesh filename="file:///home/niko/PycharmProjects/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_outer_knuckle.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
@ -640,7 +640,7 @@
|
||||
<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"/>
|
||||
<mesh filename="file:///home/niko/PycharmProjects/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"/>
|
||||
@ -649,7 +649,7 @@
|
||||
<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"/>
|
||||
<mesh filename="file:///home/niko/PycharmProjects/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_outer_finger.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
@ -662,7 +662,7 @@
|
||||
<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"/>
|
||||
<mesh filename="file:///home/niko/PycharmProjects/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"/>
|
||||
@ -671,7 +671,7 @@
|
||||
<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"/>
|
||||
<mesh filename="file:///home/niko/PycharmProjects/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_inner_finger.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
@ -704,7 +704,7 @@
|
||||
<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"/>
|
||||
<mesh filename="file:///home/niko/PycharmProjects/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"/>
|
||||
@ -713,7 +713,7 @@
|
||||
<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"/>
|
||||
<mesh filename="file:///home/niko/PycharmProjects/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_inner_knuckle.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
@ -726,7 +726,7 @@
|
||||
<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"/>
|
||||
<mesh filename="file:///home/niko/PycharmProjects/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"/>
|
||||
@ -735,7 +735,7 @@
|
||||
<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"/>
|
||||
<mesh filename="file:///home/niko/PycharmProjects/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_outer_knuckle.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
@ -748,7 +748,7 @@
|
||||
<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"/>
|
||||
<mesh filename="file:///home/niko/PycharmProjects/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"/>
|
||||
@ -757,7 +757,7 @@
|
||||
<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"/>
|
||||
<mesh filename="file:///home/niko/PycharmProjects/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_outer_finger.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
@ -770,7 +770,7 @@
|
||||
<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"/>
|
||||
<mesh filename="file:///home/niko/PycharmProjects/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"/>
|
||||
@ -779,7 +779,7 @@
|
||||
<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"/>
|
||||
<mesh filename="file:///home/niko/PycharmProjects/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_inner_finger.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
@ -812,7 +812,7 @@
|
||||
<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"/>
|
||||
<mesh filename="file:///home/niko/PycharmProjects/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"/>
|
||||
@ -821,7 +821,7 @@
|
||||
<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"/>
|
||||
<mesh filename="file:///home/niko/PycharmProjects/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_inner_knuckle.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
@ -0,0 +1,39 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="ur_robotiq_adapter">
|
||||
<xacro:macro name="ur_to_robotiq" params="prefix parent child rotation:=^|${0.0}">
|
||||
|
||||
<joint name="${prefix}ur_to_robotiq_joint" type="fixed">
|
||||
<!-- The parent link must be read from the robot model it is attached to. -->
|
||||
<parent link="${parent}"/>
|
||||
<child link="${prefix}ur_to_robotiq_link"/>
|
||||
<origin xyz="0 0 0" rpy="0 0 ${rotation}"/>
|
||||
</joint>
|
||||
|
||||
<link name="${prefix}ur_to_robotiq_link">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://robotiq_description/meshes/visual/2f_85/ur_to_robotiq_adapter.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://robotiq_description/meshes/collision/2f_85/ur_to_robotiq_adapter.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.01" />
|
||||
<origin xyz="0 0 0" />
|
||||
<inertia ixx="0.000044" ixy="0.0" ixz="0.0" iyy="0.000027" iyz="0.0" izz="0.000027" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${prefix}gripper_side_joint" type="fixed">
|
||||
<parent link="${prefix}ur_to_robotiq_link"/>
|
||||
<child link="${child}"/>
|
||||
<!-- <origin xyz="0 0 0.011" rpy="0 ${-pi/2} ${pi/2}"/> -->
|
||||
<origin xyz="0 0 0.011" rpy="0 0 0"/>
|
||||
</joint>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
Loading…
Reference in New Issue
Block a user