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MikeWrockMikeWrock
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fixing-kinovas (#26)
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+139
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‎src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/kortex_robot.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="load_robot" params="
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parent
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*origin
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prefix
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arm
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gripper
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gripper_joint_name
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dof
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vision
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robot_ip
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username
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password
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port
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port_realtime
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session_inactivity_timeout_ms
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connection_inactivity_timeout_ms
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use_internal_bus_gripper_comm:=false
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use_fake_hardware:=false
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fake_sensor_commands:=false
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sim_gazebo:=false
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sim_ignition:=false
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sim_isaac:=false
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isaac_joint_commands:=/isaac_joint_commands
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isaac_joint_states:=/isaac_joint_states
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use_external_cable:=false
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initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0,joint_7=0.0)}
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gripper_max_velocity:=100.0
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gripper_max_force:=100.0
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gripper_com_port:=/dev/ttyUSB0
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moveit_active:=false">
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<!-- Include and load arm macro files -->
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<xacro:include filename="$(find kortex_description)/arms/${arm}/${dof}dof/urdf/${arm}_macro.xacro" />
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<!-- Load the arm -->
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<xacro:load_arm
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parent="${parent}"
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dof="${dof}"
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vision="${vision}"
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robot_ip="${robot_ip}"
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username="${username}"
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password="${password}"
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port="${port}"
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port_realtime="${port_realtime}"
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session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
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connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
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prefix="${prefix}"
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use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
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use_fake_hardware="${use_fake_hardware}"
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fake_sensor_commands="${fake_sensor_commands}"
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sim_gazebo="${sim_gazebo}"
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sim_ignition="${sim_ignition}"
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sim_isaac="${sim_isaac}"
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isaac_joint_commands="${isaac_joint_commands}"
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isaac_joint_states="${isaac_joint_states}"
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gripper_joint_name="${gripper_joint_name}"
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gripper_max_velocity="${gripper_max_velocity}"
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gripper_max_force="${gripper_max_force}"
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use_external_cable="${use_external_cable}"
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initial_positions="${initial_positions}"
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moveit_active="${moveit_active}">
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<xacro:insert_block name="origin" />
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</xacro:load_arm>
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<!-- If no gripper, define tool frame here -->
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<xacro:if value="${not gripper}">
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<link name="${prefix}tool_frame"/>
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<joint name="${prefix}tool_frame_joint" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 0" />
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<parent link="${prefix}${last_arm_link}" />
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<child link="${prefix}tool_frame" />
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<axis xyz="0 0 0" />
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</joint>
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</xacro:if>
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<!-- Include and load the gripper if defined -->
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<xacro:unless value="${not gripper}">
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<xacro:include filename="$(find kinova_gen3_base_config)/description/robotiq_2f_85_macro.xacro" />
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<!-- last_arm_link is defined in "$(find kortex_description)/arms/${arm}/urdf/${arm}_macro.xacro" -->
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<xacro:load_gripper
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parent="${prefix}${last_arm_link}"
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prefix="${prefix}"
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use_fake_hardware="${use_fake_hardware}"
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fake_sensor_commands="${fake_sensor_commands}"
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sim_ignition="${sim_ignition}"
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sim_isaac="${sim_isaac}"
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isaac_joint_commands="${isaac_joint_commands}"
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isaac_joint_states="${isaac_joint_states}"
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com_port="${gripper_com_port}"
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use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
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moveit_active="${moveit_active}"/>
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</xacro:unless>
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</xacro:macro>
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</robot>

‎src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/picknik_kinova_gen3.xacro‎

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<xacro:arg name="wrist_realsense" default="true" />
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<!-- Import macros for main hardware components -->
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<xacro:include filename="$(find kortex_description)/robots/kortex_robot.xacro" />
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<xacro:include filename="$(find kinova_gen3_base_config)/description/kortex_robot.xacro" />
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<xacro:include filename="$(find picknik_accessories)/descriptions/sensors/realsense_d415.urdf.xacro"/>
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<!-- Import environment macros -->

‎src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_macro.xacro‎

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<?xml version="1.0"?>
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<robot name="robotiq_2f_85_model" xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="load_gripper" params="
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parent
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prefix
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use_fake_hardware:=false
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fake_sensor_commands:=false
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sim_ignition:=false
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sim_isaac:=false
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isaac_joint_commands:=/isaac_joint_commands
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isaac_joint_states:=/isaac_joint_states
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use_internal_bus_gripper_comm:=false
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com_port:=/dev/ttyUSB0
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moveit_active:=false">
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<xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_85_macro.urdf.xacro" />
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<!-- Hardware talks directly to the gripper so we don't need ros2_control unless we are simulating -->
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<xacro:property name="include_ros2_control" value="false"/>
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<xacro:if value="${sim_ignition or sim_isaac or use_fake_hardware or not use_internal_bus_gripper_comm}">
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<xacro:property name="include_ros2_control" value="true"/>
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</xacro:if>
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<xacro:robotiq_gripper
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name="RobotiqGripperHardwareInterface"
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prefix="${prefix}"
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parent="${parent}"
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include_ros2_control="${include_ros2_control}"
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com_port="${com_port}"
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use_fake_hardware="${use_fake_hardware}"
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mock_sensor_commands="${fake_sensor_commands}"
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sim_ignition="${sim_ignition}"
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sim_isaac="${sim_isaac}"
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isaac_joint_commands="${isaac_joint_commands}"
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isaac_joint_states="${isaac_joint_states}">
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<origin xyz="0 0 0" rpy="0 0 0" />
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</xacro:robotiq_gripper>
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</xacro:macro>
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</robot>

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