fixing-kinovas

src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/kortex_robot.xacro

@@ -0,0 +1,100 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="load_robot" params="
+    parent
+    *origin
+    prefix
+    arm
+    gripper
+    gripper_joint_name
+    dof
+    vision
+    robot_ip
+    username
+    password
+    port
+    port_realtime
+    session_inactivity_timeout_ms
+    connection_inactivity_timeout_ms
+    use_internal_bus_gripper_comm:=false
+    use_fake_hardware:=false
+    fake_sensor_commands:=false
+    sim_gazebo:=false
+    sim_ignition:=false
+    sim_isaac:=false
+    isaac_joint_commands:=/isaac_joint_commands
+    isaac_joint_states:=/isaac_joint_states
+    use_external_cable:=false
+    initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0,joint_7=0.0)}
+    gripper_max_velocity:=100.0
+    gripper_max_force:=100.0
+    gripper_com_port:=/dev/ttyUSB0
+    moveit_active:=false">
+
+    <!-- Include and load arm macro files -->
+    <xacro:include filename="$(find kortex_description)/arms/${arm}/${dof}dof/urdf/${arm}_macro.xacro" />
+
+    <!-- Load the arm -->
+    <xacro:load_arm
+      parent="${parent}"
+      dof="${dof}"
+      vision="${vision}"
+      robot_ip="${robot_ip}"
+      username="${username}"
+      password="${password}"
+      port="${port}"
+      port_realtime="${port_realtime}"
+      session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
+      connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
+      prefix="${prefix}"
+      use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
+      use_fake_hardware="${use_fake_hardware}"
+      fake_sensor_commands="${fake_sensor_commands}"
+      sim_gazebo="${sim_gazebo}"
+      sim_ignition="${sim_ignition}"
+      sim_isaac="${sim_isaac}"
+      isaac_joint_commands="${isaac_joint_commands}"
+      isaac_joint_states="${isaac_joint_states}"
+      gripper_joint_name="${gripper_joint_name}"
+      gripper_max_velocity="${gripper_max_velocity}"
+      gripper_max_force="${gripper_max_force}"
+      use_external_cable="${use_external_cable}"
+      initial_positions="${initial_positions}"
+      moveit_active="${moveit_active}">
+      <xacro:insert_block name="origin" />
+    </xacro:load_arm>
+
+    <!-- If no gripper, define tool frame here -->
+    <xacro:if value="${not gripper}">
+      <link name="${prefix}tool_frame"/>
+      <joint name="${prefix}tool_frame_joint" type="fixed">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <parent link="${prefix}${last_arm_link}" />
+        <child link="${prefix}tool_frame" />
+        <axis xyz="0 0 0" />
+      </joint>
+    </xacro:if>
+
+    <!-- Include and load the gripper if defined -->
+    <xacro:unless value="${not gripper}">
+      <xacro:include filename="$(find kinova_gen3_base_config)/description/robotiq_2f_85_macro.xacro" />
+      <!-- last_arm_link is defined in "$(find kortex_description)/arms/${arm}/urdf/${arm}_macro.xacro" -->
+      <xacro:load_gripper
+        parent="${prefix}${last_arm_link}"
+        prefix="${prefix}"
+        use_fake_hardware="${use_fake_hardware}"
+        fake_sensor_commands="${fake_sensor_commands}"
+        sim_ignition="${sim_ignition}"
+        sim_isaac="${sim_isaac}"
+        isaac_joint_commands="${isaac_joint_commands}"
+        isaac_joint_states="${isaac_joint_states}"
+        com_port="${gripper_com_port}"
+        use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
+        moveit_active="${moveit_active}"/>
+    </xacro:unless>
+
+  </xacro:macro>
+
+</robot>

src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/picknik_kinova_gen3.xacro

@@ -26,7 +26,7 @@
     <xacro:arg name="wrist_realsense" default="true" />
 
     <!-- Import macros for main hardware components -->
-    <xacro:include filename="$(find kortex_description)/robots/kortex_robot.xacro" />
+    <xacro:include filename="$(find kinova_gen3_base_config)/description/kortex_robot.xacro" />
     <xacro:include filename="$(find picknik_accessories)/descriptions/sensors/realsense_d415.urdf.xacro"/>
 
     <!-- Import environment macros -->

src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_macro.xacro

@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<robot name="robotiq_2f_85_model" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="load_gripper" params="
+    parent
+    prefix
+    use_fake_hardware:=false
+    fake_sensor_commands:=false
+    sim_ignition:=false
+    sim_isaac:=false
+    isaac_joint_commands:=/isaac_joint_commands
+    isaac_joint_states:=/isaac_joint_states
+    use_internal_bus_gripper_comm:=false
+    com_port:=/dev/ttyUSB0
+    moveit_active:=false">
+    <xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_85_macro.urdf.xacro" />
+
+    <!-- Hardware talks directly to the gripper so we don't need ros2_control unless we are simulating -->
+    <xacro:property name="include_ros2_control" value="false"/>
+    <xacro:if value="${sim_ignition or sim_isaac or use_fake_hardware or not use_internal_bus_gripper_comm}">
+      <xacro:property name="include_ros2_control" value="true"/>
+    </xacro:if>
+
+    <xacro:robotiq_gripper
+        name="RobotiqGripperHardwareInterface"
+        prefix="${prefix}"
+        parent="${parent}"
+        include_ros2_control="${include_ros2_control}"
+        com_port="${com_port}"
+        use_fake_hardware="${use_fake_hardware}"
+        mock_sensor_commands="${fake_sensor_commands}"
+        sim_ignition="${sim_ignition}"
+        sim_isaac="${sim_isaac}"
+        isaac_joint_commands="${isaac_joint_commands}"
+        isaac_joint_states="${isaac_joint_states}">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+    </xacro:robotiq_gripper>
+  </xacro:macro>
+</robot>