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1.2.0 Add tm12s and tm25s moveit configuration, launch files and relative README.md.
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‎README.md‎

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@@ -126,6 +126,14 @@ This chapter describes that the user can use a script program to extract specifi
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**Note 2**: The tm_description package contains description files and meshes, available for the TM5S, TM7S, TM12S, TM14S, and TM25S model, and some Cobot models will be added later.
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<div> </div>
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## __7. Contact us / Technical support__
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## __7. Related ROS Projects and Tutorials Usage__
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&#10148; For example, you can try to run __MoveIt__ on the TM robot
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The user can use MoveIt to control the TM robot in the motion planning to plan paths or run the TM Robot simulation into your scene description for operations such as _collision checking_ or _obstacle avoidance_.
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See [MoveIt2 tutorial](https://moveit.ros.org/install-moveit2/binary/) to install the MoveIt2 packages.<br/>
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- External TM ROS Driver [Usage Guideline](./doc/tm_humble_extension.md)
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- Embedded TM ROS Driver [Usage Guideline](./doc/tm_humble_extension_e.md)
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<div> </div>
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## __8. Contact us / Technical support__
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More Support & Service, please contact us. [@TECHMAN ROBOT](https://www.tm-robot.com/zh-hant/contact-us/)``[https://www.tm-robot.com/zh-hant/contact-us/] ``<br/>
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<div> </div>

‎doc/tm_humble_extension.md‎

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# __Related Projects and Tutorials Usage__
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## &sect; ROS2 driver usage
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>
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> After the user has set up the ROS2 environment (example : [Debian packages for ROS 2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)) and built the TM driver based on the specific workspace, please enter your workspace `<workspace>` by launching the terminal, and remember to make the workspace visible to ROS.
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>
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>
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> ```bash
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> source /opt/ros/humble/setup.bash
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> cd <workspace>
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> source ./install/setup.bash
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> ```
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> :bulb: Do you prepare the __TM Robot__ ready ? Make sure that TM Robot's operating software (__TMflow__) network settings are ready and the __Listen node__ is running.
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>
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> Then, run the driver to test whether the complete communication interface is properly working with TM Robot by typing
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>
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>```bash
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> ros2 run tm_driver tm_driver robot_ip:=<robot_ip_address>
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>```
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> Example :``ros2 run tm_driver tm_driver robot_ip:=192.168.10.2``, if the <robot_ip_address> is 192.168.10.2
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>
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> Now, the user can use a new terminal to run each ROS node or command, but don't forget to source the correct setup shell files as starting a new terminal.
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> Note: When you finish executing your developed scripts or motion commands through the TM ROS driver connection, press CTRL + C in all terminal windows to shut everything down.
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## &sect; Usage with MoveIt2-humble (Binary)
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>
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> See [MoveIt2 tutorial](https://moveit.ros.org/install-moveit2/binary/) to install the MoveIt2 packages.<br/>
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> ```bash
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> sudo apt install ros-humble-moveit
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> ```
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> Then, use the following command to install these ROS2 Humble dependency packages
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> ```bash
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> sudo apt-get install ros-humble-controller-manager
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> sudo apt install ros-humble-joint-trajectory-controller
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> sudo apt install ros-humble-joint-state-broadcaster
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> ```
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>
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> If you plan to use MoveIt, it is recommended to install and use Cyclone DDS.
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> ```bash
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> sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp
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> export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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> ```
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>
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> The `<tm2_ws>` means TM driver workspace, for example `tm2_ws` .<br/>
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>
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>
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> Then to build the TM driver based on the <tm2_ws> workspace, please enter the specific workspace `tm2_ws` by launching the terminal, and remember to make the workspace visible to ROS.<br/>
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>
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>
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> ```bash
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> source /opt/ros/humble/setup.bash
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> export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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> cd ~/tm2_ws
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> colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
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> source ./install/setup.bash
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> ```
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>
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> :bulb: If you have built the TM driver before, it is recommended that you delete the build, install and log folders by the command `rm -rf build install log`, and rebuild it. For example,<br/>
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>
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>
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> ```bash
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> source /opt/ros/humble/setup.bash
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> export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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> cd ~/tm2_ws
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> rm -rf build install log
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> colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
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> source ./install/setup.bash
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> ```
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>
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> The demo launches the RViz GUI and demonstrates planning and execution of a simple collision-free motion plan with TM Robot.<br/>
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> :bulb: Do you prepare the __TM Robot__ ready ? Make sure that TM Robot's operating software (__TMflow__) network settings are ready and the __Listen node__ is running.<br/>
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>
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> * To bring up the MoveIt2 - MoveGroup demo in simulation mode with the virtual TM Robot, by typing<br/>
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>
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>
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> ```bash
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> ros2 launch <tm_robot_type>_moveit_config <tm_robot_type>_run_move_group.launch.py
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> ```
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>
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>> The prefix `<tm_robot_type>` means the TM Robot type, available for tm5s, tm7s, tm12s, tm14s, and tm25s models.
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>
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> Taking the TM12S robot as an example, use the commands introduced above, by typing
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> ```bash
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> ros2 launch tm12s_moveit_config tm12s_run_move_group.launch.py
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> ```
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>
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> * The user can also manipulate the real TM Robot to run, by typing<br/>
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>
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> ```bash
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> roslaunch <tm_robot_type>_moveit_config <tm_robot_type>_run_move_group.launch.py robot_ip:=<robot_ip_address>
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> ```
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> :warning:[CAUTION] This demo will let the real TM Robot move, please be careful. If the user are a beginner or unfamiliar with the arm movement path, it is recommended that the user place your hand on the big red emergency _Stick Stop Button_ at any time, and press the button appropriately in the event of any accident that may occur.<br/>
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>
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> Taking the TM12S robot as an example, use the commands introduced above, by typing<br/>
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>
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> ```bash
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> ros2 launch tm12s_moveit_config tm12s_run_move_group.launch.py robot_ip:=<robot_ip_address>
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> ```
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>
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>> The parameter `<robot_ip_address>` means the IP address of the TM Robot.<br/>
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>
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> Note: When you have finished, press CTRL + C in all terminal windows to shut everything down.<br/>
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> :bookmark_tabs: Note1: There will be several built-in TM Robot nominal robot model settings, available for TM5S, TM7S, TM12S, TM14S, and TM25S models.<br/>
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> :bookmark_tabs: Note2: TM Robot set the default to read the Xacro file, such as _TM5S_ model, to read the file _tm5s.urdf.xacro_ into robot_description or such as _TM12S_ model, to read the file _tm12s.urdf.xacro_ into robot_description. If the user wants to use the specific model parameters instead of the nominal model to control the robot, please go back to the section __6. Generate your TM Robot-Specific Kinematics Parameters Files__ to modify the Xacro file.<br/>
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<div> </div>
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‎doc/tm_humble_extension_e.md‎

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# __Related Projects and Tutorials Usage__
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## &sect; ROS2 driver usage
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>
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> :bulb: Do you prepare the __TM Robot__ ready ? Make sure that TM Robot's operating software (__TMflow__) network settings and __ROS Settings__ _(ROS Drive status: &rArr; __`Running`__)_ are ready and the __Listen node__ is running. Do you build TM relative ROS apps <sup>1</sup> on your (remote) computer?
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> After the user has set up the ROS2 environment (example : [Debian packages for ROS 2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)) and built the TM relative ROS apps <sup>1</sup> based on the specific workspace, please enter your workspace `<workspace>` by launching the terminal, and remember to make the workspace visible to ROS.
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>
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>
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> ```bash
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> source /opt/ros/humble/setup.bash
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> cd <workspace>
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> export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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> export ROS_DOMAIN_ID=<ROS_DOMAIN_ID>
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> source ./install/setup.bash
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> ```
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>> **Note**: Domain ID is the key to ROS communication, and please make sure the ROS node works under the ROS environment setup with the same Domain ID as the robot.
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>
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> Now, the user can use the terminal to run the ROS node or command, but don't forget to export the correct <u>Domain ID</u> setup and source the correct setup shell files as starting a new terminal.
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> Note: When you finish executing your developed scripts or motion commands through the TM ROS driver connection, press CTRL + C in all terminal windows to shut everything down.
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## &sect; Usage with MoveIt2-humble (Binary)
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>
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> See [MoveIt2 tutorial](https://moveit.ros.org/install-moveit2/binary/) to install the MoveIt2 packages.<br/>
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> ```bash
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> sudo apt install ros-humble-moveit
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> ```
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> Then, use the following command to install these ROS2 Humble dependency packages
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> ```bash
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> sudo apt-get install ros-humble-controller-manager
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> sudo apt install ros-humble-joint-trajectory-controller
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> sudo apt install ros-humble-joint-state-broadcaster
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> ```
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>
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>
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> The `<tm2_ws>` means TM driver workspace, for example `tm2_ws` .<br/>
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>
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>
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> Then to build the TM driver based on the <tm2_ws> workspace, please enter the specific workspace `tm2_ws` by launching the terminal, and remember to make the workspace visible to ROS.<br/>
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>
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>
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> ```bash
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> source /opt/ros/humble/setup.bash
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> export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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> cd ~/tm2_ws
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> colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
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> export ROS_DOMAIN_ID=<ROS_DOMAIN_ID>
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> source ./install/setup.bash
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> ```
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>
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> :bulb: If you have built the TM driver before, it is recommended that you delete the build, install and log folders by the command `rm -rf build install log`, and rebuild it. For example,<br/>
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>
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>
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> ```bash
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> source /opt/ros/humble/setup.bash
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> export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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> cd ~/tm2_ws
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> rm -rf build install log
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> colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
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> export ROS_DOMAIN_ID=<ROS_DOMAIN_ID>
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> source ./install/setup.bash
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> ```
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>
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> The demo launches the RViz GUI and demonstrates planning and execution of a simple collision-free motion plan with TM Robot.<br/>
63+
> :bulb: Do you prepare the __TM Robot__ ready ? Make sure that TM Robot's operating software (__TMflow__) network settings are ready and the __Listen node__ is running.<br/>
64+
>
65+
> * To bring up the MoveIt2 - MoveGroup demo in simulation mode with the virtual TM Robot, by typing<br/>
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>
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>
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> ```bash
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> ros2 launch <tm_robot_type>_moveit_config <tm_robot_type>_run_move_group.launch.py
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> ```
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>
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>> The prefix `<tm_robot_type>` means the TM Robot type, available for tm5s, tm7s, tm12s, tm14s, and tm25s models.
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>
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> Taking the TM12S robot as an example, use the commands introduced above, by typing
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> ```bash
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> ros2 launch tm12s_moveit_config tm12s_run_move_group.launch.py
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> ```
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>
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> * The user can also manipulate the real TM Robot to run, by typing<br/>
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>
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> ```bash
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> roslaunch <tm_robot_type>_moveit_config <tm_robot_type>_run_move_group.launch.py robot_ip:=<robot_ip_address>
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> ```
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> :warning:[CAUTION] This demo will let the real TM Robot move, please be careful. If the user are a beginner or unfamiliar with the arm movement path, it is recommended that the user place your hand on the big red emergency _Stick Stop Button_ at any time, and press the button appropriately in the event of any accident that may occur.<br/>
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>
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> Taking the TM12S robot as an example, use the commands introduced above, by typing<br/>
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>
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> ```bash
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> ros2 launch tm12s_moveit_config tm12s_run_move_group.launch.py robot_ip:=<robot_ip_address>
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> ```
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>
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>> The parameter `<robot_ip_address>` means the IP address of the TM Robot.<br/>
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>
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> Note: When you have finished, press CTRL + C in all terminal windows to shut everything down.<br/>
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> :bookmark_tabs: Note1: There will be several built-in TM Robot nominal robot model settings, available for TM5S, TM7S, TM12S, TM14S, and TM25S models.<br/>
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> :bookmark_tabs: Note2: TM Robot set the default to read the Xacro file, such as _TM5S_ model, to read the file _tm5s.urdf.xacro_ into robot_description or such as _TM12S_ model, to read the file _tm12s.urdf.xacro_ into robot_description. If the user wants to use the specific model parameters instead of the nominal model to control the robot, please go back to the section __6. Generate your TM Robot-Specific Kinematics Parameters Files__ to modify the Xacro file.<br/>
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<div> </div>
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‎tm_driver/src/tm_ros2_svr.cpp‎

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pm.fbs_msg.joint_tor_max = state.joint_torque_max();
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/* MC-001:start */
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if((state.get_receive_state() != TmCommRC::TIMEOUT) || (fbs_lock_ != false)) {
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if((state.get_receive_state() != TmCommRC::TIMEOUT) || (fbs_lock_ != false)) {
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state.mtx_unlock();
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fbs_lock_ = false;
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}

‎tm_moveit/tm12s_moveit_config/.setup_assistant‎

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moveit_setup_assistant_config:
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urdf:
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package: tm_description
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relative_path: xacro/tm12s.urdf.xacro
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srdf:
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relative_path: config/tm12s.srdf
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package_settings:
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author_name: Yh Wang
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author_email: [email protected]
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generated_timestamp: 1719571103
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control_xacro:
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command:
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- position
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state:
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- position
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- velocity
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modified_urdf:
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xacros:
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- control_xacro
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control_xacro:
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command:
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- position
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state:
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- position
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- velocity

‎tm_moveit/tm12s_moveit_config/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.22)
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project(tm12s_moveit_config)
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find_package(ament_cmake REQUIRED)
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ament_package()
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install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}
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PATTERN "setup_assistant.launch" EXCLUDE)
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install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})
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install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME})

‎tm_moveit/tm12s_moveit_config/config/chomp_planning.yaml‎

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planning_plugin: chomp_interface/CHOMPPlanner
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request_adapters: >-
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default_planner_request_adapters/AddTimeParameterization
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default_planner_request_adapters/FixWorkspaceBounds
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default_planner_request_adapters/FixStartStateBounds
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default_planner_request_adapters/FixStartStateCollision
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default_planner_request_adapters/FixStartStatePathConstraints
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start_state_max_bounds_error: 0.1
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planning_time_limit: 10.0
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max_iterations: 200
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max_iterations_after_collision_free: 5
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smoothness_cost_weight: 0.1
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obstacle_cost_weight: 1.0
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learning_rate: 0.01
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smoothness_cost_velocity: 0.0
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smoothness_cost_acceleration: 1.0
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smoothness_cost_jerk: 0.0
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ridge_factor: 0.01
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use_pseudo_inverse: false
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pseudo_inverse_ridge_factor: 1e-4
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joint_update_limit: 0.1
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collision_clearance: 0.2
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collision_threshold: 0.07
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use_stochastic_descent: true
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enable_failure_recovery: true
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max_recovery_attempts: 5

‎tm_moveit/tm12s_moveit_config/config/controllers.yaml‎

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controller_names:
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- tmr_arm_controller
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tmr_arm_controller:
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action_ns: follow_joint_trajectory
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type: FollowJointTrajectory
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default: true
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joints:
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- joint_1
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- joint_2
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- joint_3
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- joint_4
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- joint_5
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- joint_6
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constraints:
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stopped_velocity_tolerance: 0.05
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goal_time: 0.0

‎tm_moveit/tm12s_moveit_config/config/initial_positions.yaml‎

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# Default initial positions for the TM arm's ros2_control fake system
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initial_positions:
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joint_1: 0.0
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joint_2: 0.0
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joint_3: 0.0
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joint_4: 0.0
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joint_5: 0.0
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joint_6: 0.0

‎tm_moveit/tm12s_moveit_config/config/joint_limits.yaml‎

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# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
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# For beginners, we downscale velocity and acceleration limits.
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# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
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default_velocity_scaling_factor: 0.1
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default_acceleration_scaling_factor: 0.1
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# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
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# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
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joint_limits:
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joint_1:
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has_velocity_limits: true
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max_velocity: 2.2689280275926285
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has_acceleration_limits: false
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max_acceleration: 0
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joint_2:
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has_velocity_limits: true
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max_velocity: 2.2689280275926285
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has_acceleration_limits: false
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max_acceleration: 0
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joint_3:
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has_velocity_limits: true
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max_velocity: 3.6651914291880923
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has_acceleration_limits: false
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max_acceleration: 0
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joint_4:
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has_velocity_limits: true
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max_velocity: 3.9269908169872414
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has_acceleration_limits: false
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max_acceleration: 0
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joint_5:
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has_velocity_limits: true
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max_velocity: 3.9269908169872414
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has_acceleration_limits: false
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max_acceleration: 0
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joint_6:
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has_velocity_limits: true
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max_velocity: 7.8539816339744828
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has_acceleration_limits: false
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max_acceleration: 0

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