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Felix Exner
authored
Merge pull request #5 from UniversalRobots/simulation
Add URDF files for simulation.
2 parents 223822e + f7f9f6a commit 4690e90

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3 files changed

+199
-130
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3 files changed

+199
-130
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‎urdf/ur.ros2_control.xacro‎

Lines changed: 155 additions & 128 deletions
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,12 @@
11
<?xml version="1.0"?>
22
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
33

4-
<xacro:macro name="ur_ros2_control" params="name prefix
4+
<xacro:macro name="ur_ros2_control" params="
5+
name
6+
prefix
57
use_fake_hardware:=false fake_sensor_commands:=false
8+
sim_gazebo:=false
9+
sim_ignition:=false
610
headless_mode:=false
711
initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
812
use_tool_communication:=false
@@ -12,12 +16,18 @@
1216

1317
<ros2_control name="${name}" type="system">
1418
<hardware>
19+
<xacro:if value="${sim_gazebo}">
20+
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
21+
</xacro:if>
22+
<xacro:if value="${sim_ignition}">
23+
<plugin>ign_ros2_control/IgnitionSystem</plugin>
24+
</xacro:if>
1525
<xacro:if value="${use_fake_hardware}">
1626
<plugin>fake_components/GenericSystem</plugin>
1727
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
1828
<param name="state_following_offset">0.0</param>
1929
</xacro:if>
20-
<xacro:unless value="${use_fake_hardware}">
30+
<xacro:unless value="${use_fake_hardware or sim_gazebo or sim_ignition}">
2131
<plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
2232
<param name="robot_ip">${robot_ip}</param>
2333
<param name="script_filename">${script_filename}</param>
@@ -51,10 +61,12 @@
5161
<param name="min">-3.15</param>
5262
<param name="max">3.15</param>
5363
</command_interface>
54-
<state_interface name="position"/>
64+
<state_interface name="position">
65+
<!-- initial position for the FakeSystem and simulation -->
66+
<param name="initial_value">${initial_positions['shoulder_pan_joint']}</param>
67+
</state_interface>
5568
<state_interface name="velocity"/>
5669
<state_interface name="effort"/>
57-
<param name="initial_position">${initial_positions['shoulder_pan_joint']}</param> <!-- initial position for the FakeSystem -->
5870
</joint>
5971
<joint name="${prefix}shoulder_lift_joint">
6072
<command_interface name="position">
@@ -65,10 +77,12 @@
6577
<param name="min">-3.15</param>
6678
<param name="max">3.15</param>
6779
</command_interface>
68-
<state_interface name="position"/>
80+
<state_interface name="position">
81+
<!-- initial position for the FakeSystem and simulation -->
82+
<param name="initial_value">${initial_positions['shoulder_lift_joint']}</param>
83+
</state_interface>
6984
<state_interface name="velocity"/>
7085
<state_interface name="effort"/>
71-
<param name="initial_position">${initial_positions['shoulder_lift_joint']}</param> <!-- initial position for the FakeSystem -->
7286
</joint>
7387
<joint name="${prefix}elbow_joint">
7488
<command_interface name="position">
@@ -79,10 +93,12 @@
7993
<param name="min">-3.15</param>
8094
<param name="max">3.15</param>
8195
</command_interface>
82-
<state_interface name="position"/>
96+
<state_interface name="position">
97+
<!-- initial position for the FakeSystem and simulation -->
98+
<param name="initial_value">${initial_positions['elbow_joint']}</param>
99+
</state_interface>
83100
<state_interface name="velocity"/>
84101
<state_interface name="effort"/>
85-
<param name="initial_position">${initial_positions['elbow_joint']}</param> <!-- initial position for the FakeSystem -->
86102
</joint>
87103
<joint name="${prefix}wrist_1_joint">
88104
<command_interface name="position">
@@ -93,10 +109,12 @@
93109
<param name="min">-3.2</param>
94110
<param name="max">3.2</param>
95111
</command_interface>
96-
<state_interface name="position"/>
112+
<state_interface name="position">
113+
<!-- initial position for the FakeSystem and simulation -->
114+
<param name="initial_value">${initial_positions['wrist_1_joint']}</param>
115+
</state_interface>
97116
<state_interface name="velocity"/>
98117
<state_interface name="effort"/>
99-
<param name="initial_position">${initial_positions['wrist_1_joint']}</param> <!-- initial position for the FakeSystem -->
100118
</joint>
101119
<joint name="${prefix}wrist_2_joint">
102120
<command_interface name="position">
@@ -107,10 +125,12 @@
107125
<param name="min">-3.2</param>
108126
<param name="max">3.2</param>
109127
</command_interface>
110-
<state_interface name="position"/>
128+
<state_interface name="position">
129+
<!-- initial position for the FakeSystem and simulation -->
130+
<param name="initial_value">${initial_positions['wrist_2_joint']}</param>
131+
</state_interface>
111132
<state_interface name="velocity"/>
112133
<state_interface name="effort"/>
113-
<param name="initial_position">${initial_positions['wrist_2_joint']}</param> <!-- initial position for the FakeSystem -->
114134
</joint>
115135
<joint name="${prefix}wrist_3_joint">
116136
<command_interface name="position">
@@ -121,143 +141,150 @@
121141
<param name="min">-3.2</param>
122142
<param name="max">3.2</param>
123143
</command_interface>
124-
<state_interface name="position"/>
144+
<state_interface name="position">
145+
<!-- initial position for the FakeSystem and simulation -->
146+
<param name="initial_value">${initial_positions['wrist_3_joint']}</param>
147+
</state_interface>
125148
<state_interface name="velocity"/>
126149
<state_interface name="effort"/>
127-
<param name="initial_position">${initial_positions['wrist_3_joint']}</param> <!-- initial position for the FakeSystem -->
128150
</joint>
129-
<sensor name="tcp_fts_sensor">
130-
<state_interface name="force.x"/>
131-
<state_interface name="force.y"/>
132-
<state_interface name="force.z"/>
133-
<state_interface name="torque.x"/>
134-
<state_interface name="torque.y"/>
135-
<state_interface name="torque.z"/>
136-
</sensor>
137151

138-
<!-- NOTE The following are joints used only for testing with fake hardware and will change in the future -->
139-
<joint name="speed_scaling">
140-
<state_interface name="speed_scaling_factor"/>
141-
<param name="initial_speed_scaling_factor">1</param>
142-
<command_interface name="target_speed_fraction_cmd"/>
143-
<command_interface name="target_speed_fraction_async_success"/>
144-
</joint>
152+
<xacro:unless value="${sim_gazebo or sim_ignition}">
153+
<sensor name="tcp_fts_sensor">
154+
<state_interface name="force.x"/>
155+
<state_interface name="force.y"/>
156+
<state_interface name="force.z"/>
157+
<state_interface name="torque.x"/>
158+
<state_interface name="torque.y"/>
159+
<state_interface name="torque.z"/>
160+
</sensor>
145161

146-
<joint name="gpio">
147-
<command_interface name="standard_digital_output_cmd_0"/>
148-
<command_interface name="standard_digital_output_cmd_1"/>
149-
<command_interface name="standard_digital_output_cmd_2"/>
150-
<command_interface name="standard_digital_output_cmd_3"/>
151-
<command_interface name="standard_digital_output_cmd_4"/>
152-
<command_interface name="standard_digital_output_cmd_5"/>
153-
<command_interface name="standard_digital_output_cmd_6"/>
154-
<command_interface name="standard_digital_output_cmd_7"/>
155-
<command_interface name="standard_digital_output_cmd_8"/>
156-
<command_interface name="standard_digital_output_cmd_9"/>
157-
<command_interface name="standard_digital_output_cmd_10"/>
158-
<command_interface name="standard_digital_output_cmd_11"/>
159-
<command_interface name="standard_digital_output_cmd_12"/>
160-
<command_interface name="standard_digital_output_cmd_13"/>
161-
<command_interface name="standard_digital_output_cmd_14"/>
162-
<command_interface name="standard_digital_output_cmd_15"/>
163-
<command_interface name="standard_digital_output_cmd_16"/>
164-
<command_interface name="standard_digital_output_cmd_17"/>
162+
<!-- NOTE The following are joints used only for testing with fake hardware and will change in the future -->
163+
<joint name="speed_scaling">
164+
<state_interface name="speed_scaling_factor"/>
165+
<param name="initial_speed_scaling_factor">1</param>
166+
<command_interface name="target_speed_fraction_cmd"/>
167+
<command_interface name="target_speed_fraction_async_success"/>
168+
</joint>
165169

166-
<command_interface name="standard_analog_output_cmd_0"/>
167-
<command_interface name="standard_analog_output_cmd_1"/>
170+
<joint name="gpio">
171+
<command_interface name="standard_digital_output_cmd_0"/>
172+
<command_interface name="standard_digital_output_cmd_1"/>
173+
<command_interface name="standard_digital_output_cmd_2"/>
174+
<command_interface name="standard_digital_output_cmd_3"/>
175+
<command_interface name="standard_digital_output_cmd_4"/>
176+
<command_interface name="standard_digital_output_cmd_5"/>
177+
<command_interface name="standard_digital_output_cmd_6"/>
178+
<command_interface name="standard_digital_output_cmd_7"/>
179+
<command_interface name="standard_digital_output_cmd_8"/>
180+
<command_interface name="standard_digital_output_cmd_9"/>
181+
<command_interface name="standard_digital_output_cmd_10"/>
182+
<command_interface name="standard_digital_output_cmd_11"/>
183+
<command_interface name="standard_digital_output_cmd_12"/>
184+
<command_interface name="standard_digital_output_cmd_13"/>
185+
<command_interface name="standard_digital_output_cmd_14"/>
186+
<command_interface name="standard_digital_output_cmd_15"/>
187+
<command_interface name="standard_digital_output_cmd_16"/>
188+
<command_interface name="standard_digital_output_cmd_17"/>
168189

169-
<command_interface name="io_async_success"/>
190+
<command_interface name="standard_analog_output_cmd_0"/>
191+
<command_interface name="standard_analog_output_cmd_1"/>
170192

171-
<state_interface name="digital_output_0"/>
172-
<state_interface name="digital_output_1"/>
173-
<state_interface name="digital_output_2"/>
174-
<state_interface name="digital_output_3"/>
175-
<state_interface name="digital_output_4"/>
176-
<state_interface name="digital_output_5"/>
177-
<state_interface name="digital_output_6"/>
178-
<state_interface name="digital_output_7"/>
179-
<state_interface name="digital_output_8"/>
180-
<state_interface name="digital_output_9"/>
181-
<state_interface name="digital_output_10"/>
182-
<state_interface name="digital_output_11"/>
183-
<state_interface name="digital_output_12"/>
184-
<state_interface name="digital_output_13"/>
185-
<state_interface name="digital_output_14"/>
186-
<state_interface name="digital_output_15"/>
187-
<state_interface name="digital_output_16"/>
188-
<state_interface name="digital_output_17"/>
193+
<command_interface name="io_async_success"/>
189194

190-
<state_interface name="digital_input_0"/>
191-
<state_interface name="digital_input_1"/>
192-
<state_interface name="digital_input_2"/>
193-
<state_interface name="digital_input_3"/>
194-
<state_interface name="digital_input_4"/>
195-
<state_interface name="digital_input_5"/>
196-
<state_interface name="digital_input_6"/>
197-
<state_interface name="digital_input_7"/>
198-
<state_interface name="digital_input_8"/>
199-
<state_interface name="digital_input_9"/>
200-
<state_interface name="digital_input_10"/>
201-
<state_interface name="digital_input_11"/>
202-
<state_interface name="digital_input_12"/>
203-
<state_interface name="digital_input_13"/>
204-
<state_interface name="digital_input_14"/>
205-
<state_interface name="digital_input_15"/>
206-
<state_interface name="digital_input_16"/>
207-
<state_interface name="digital_input_17"/>
195+
<state_interface name="digital_output_0"/>
196+
<state_interface name="digital_output_1"/>
197+
<state_interface name="digital_output_2"/>
198+
<state_interface name="digital_output_3"/>
199+
<state_interface name="digital_output_4"/>
200+
<state_interface name="digital_output_5"/>
201+
<state_interface name="digital_output_6"/>
202+
<state_interface name="digital_output_7"/>
203+
<state_interface name="digital_output_8"/>
204+
<state_interface name="digital_output_9"/>
205+
<state_interface name="digital_output_10"/>
206+
<state_interface name="digital_output_11"/>
207+
<state_interface name="digital_output_12"/>
208+
<state_interface name="digital_output_13"/>
209+
<state_interface name="digital_output_14"/>
210+
<state_interface name="digital_output_15"/>
211+
<state_interface name="digital_output_16"/>
212+
<state_interface name="digital_output_17"/>
208213

209-
<state_interface name="standard_analog_output_0"/>
210-
<state_interface name="standard_analog_output_1"/>
214+
<state_interface name="digital_input_0"/>
215+
<state_interface name="digital_input_1"/>
216+
<state_interface name="digital_input_2"/>
217+
<state_interface name="digital_input_3"/>
218+
<state_interface name="digital_input_4"/>
219+
<state_interface name="digital_input_5"/>
220+
<state_interface name="digital_input_6"/>
221+
<state_interface name="digital_input_7"/>
222+
<state_interface name="digital_input_8"/>
223+
<state_interface name="digital_input_9"/>
224+
<state_interface name="digital_input_10"/>
225+
<state_interface name="digital_input_11"/>
226+
<state_interface name="digital_input_12"/>
227+
<state_interface name="digital_input_13"/>
228+
<state_interface name="digital_input_14"/>
229+
<state_interface name="digital_input_15"/>
230+
<state_interface name="digital_input_16"/>
231+
<state_interface name="digital_input_17"/>
211232

212-
<state_interface name="standard_analog_input_0"/>
213-
<state_interface name="standard_analog_input_1"/>
233+
<state_interface name="standard_analog_output_0"/>
234+
<state_interface name="standard_analog_output_1"/>
214235

215-
<state_interface name="analog_io_type_0"/>
216-
<state_interface name="analog_io_type_1"/>
217-
<state_interface name="analog_io_type_2"/>
218-
<state_interface name="analog_io_type_3"/>
236+
<state_interface name="standard_analog_input_0"/>
237+
<state_interface name="standard_analog_input_1"/>
219238

220-
<state_interface name="tool_mode"/>
221-
<state_interface name="tool_output_voltage"/>
222-
<state_interface name="tool_output_current"/>
223-
<state_interface name="tool_temperature"/>
239+
<state_interface name="analog_io_type_0"/>
240+
<state_interface name="analog_io_type_1"/>
241+
<state_interface name="analog_io_type_2"/>
242+
<state_interface name="analog_io_type_3"/>
224243

225-
<state_interface name="tool_analog_input_0"/>
226-
<state_interface name="tool_analog_input_1"/>
244+
<state_interface name="tool_mode"/>
245+
<state_interface name="tool_output_voltage"/>
246+
<state_interface name="tool_output_current"/>
247+
<state_interface name="tool_temperature"/>
227248

228-
<state_interface name="tool_analog_input_type_0"/>
229-
<state_interface name="tool_analog_input_type_1"/>
249+
<state_interface name="tool_analog_input_0"/>
250+
<state_interface name="tool_analog_input_1"/>
230251

231-
<state_interface name="robot_mode"/>
232-
<state_interface name="robot_status_bit_0"/>
233-
<state_interface name="robot_status_bit_1"/>
234-
<state_interface name="robot_status_bit_2"/>
235-
<state_interface name="robot_status_bit_3"/>
252+
<state_interface name="tool_analog_input_type_0"/>
253+
<state_interface name="tool_analog_input_type_1"/>
236254

237-
<state_interface name="safety_mode"/>
238-
<state_interface name="safety_status_bit_0"/>
239-
<state_interface name="safety_status_bit_1"/>
240-
<state_interface name="safety_status_bit_2"/>
241-
<state_interface name="safety_status_bit_3"/>
242-
<state_interface name="safety_status_bit_4"/>
243-
<state_interface name="safety_status_bit_5"/>
244-
<state_interface name="safety_status_bit_6"/>
245-
<state_interface name="safety_status_bit_7"/>
246-
<state_interface name="safety_status_bit_8"/>
247-
<state_interface name="safety_status_bit_9"/>
248-
<state_interface name="safety_status_bit_10"/>
249-
</joint>
255+
<state_interface name="robot_mode"/>
256+
<state_interface name="robot_status_bit_0"/>
257+
<state_interface name="robot_status_bit_1"/>
258+
<state_interface name="robot_status_bit_2"/>
259+
<state_interface name="robot_status_bit_3"/>
250260

251-
<joint name="resend_robot_program">
252-
<command_interface name="resend_robot_program_cmd"/>
253-
<command_interface name="resend_robot_program_async_success"/>
254-
</joint>
261+
<state_interface name="safety_mode"/>
262+
<state_interface name="safety_status_bit_0"/>
263+
<state_interface name="safety_status_bit_1"/>
264+
<state_interface name="safety_status_bit_2"/>
265+
<state_interface name="safety_status_bit_3"/>
266+
<state_interface name="safety_status_bit_4"/>
267+
<state_interface name="safety_status_bit_5"/>
268+
<state_interface name="safety_status_bit_6"/>
269+
<state_interface name="safety_status_bit_7"/>
270+
<state_interface name="safety_status_bit_8"/>
271+
<state_interface name="safety_status_bit_9"/>
272+
<state_interface name="safety_status_bit_10"/>
273+
</joint>
255274

256-
<joint name="system_interface">
257-
<state_interface name="initialized"/>
258-
</joint>
275+
<joint name="resend_robot_program">
276+
<command_interface name="resend_robot_program_cmd"/>
277+
<command_interface name="resend_robot_program_async_success"/>
278+
</joint>
279+
280+
<joint name="system_interface">
281+
<state_interface name="initialized"/>
282+
</joint>
283+
284+
</xacro:unless>
259285

260286
</ros2_control>
287+
261288
</xacro:macro>
262289

263290
</robot>

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