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destoglAndyZe
destogl
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AndyZe
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Use Launch Arguments to reuse the files (#58)
* Launch Arguments for xacro are working, not all params added * Moved files and one step further with the Arguemnts * Add launch for all version of UR robots * Minor comment and xacro cleanup Co-authored-by: AndyZe <[email protected]>
1 parent 3506801 commit 5d1af17

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-116
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‎README.md‎

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@@ -83,3 +83,15 @@ Code is auto-formatted with clang-format 10 whenever a git commit is made. Pleas
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Prepare the pre-commit formatting to run like this:
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`pre-commit install`
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## Stuff to add
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1. Explation of packages
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2. How to start:
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- Simple simulation with FakeSystem
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- Hardware
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3. How to test:
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- Using forward_command_controller
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- Using joint_trajectory_controller

‎ur_description/CMakeLists.txt‎

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@@ -3,10 +3,10 @@ project(ur_description)
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find_package(ament_cmake REQUIRED)
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6-
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY meshes DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
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install(
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DIRECTORY config meshes launch urdf rviz
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DESTINATION share/${PROJECT_NAME}
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)
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ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
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‎ur_description/config/rviz/view_robot.rviz‎ renamed to ‎ur_description/rviz/view_robot.rviz‎

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@@ -1,12 +1,12 @@
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Panels:
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- Class: rviz_common/Displays
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Help Height: 78
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Help Height: 87
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /RobotModel1/Description Topic1
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Splitter Ratio: 0.5
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Tree Height: 623
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Tree Height: 1096
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
@@ -67,12 +67,15 @@ Visualization Manager:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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ee_link:
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base_link_inertia:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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flange:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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forearm_link:
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Alpha: 1
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Show Axes: false
@@ -92,10 +95,6 @@ Visualization Manager:
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Show Axes: false
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Show Trail: false
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Value: true
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world:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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wrist_1_link:
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Alpha: 1
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Show Axes: false
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 10
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Distance: 3.493516445159912
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 0
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Y: 0
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Z: 0
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X: -0.0457618348300457
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Y: -0.07058511674404144
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Z: 0.49734944105148315
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Window Geometry:
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Displays:
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collapsed: false
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Height: 846
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Height: 1379
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd000000040000000000000156000002f8fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002f8000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002f8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000023f000002f800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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QMainWindow State: 000000ff00000000fd00000004000000000000016a000004f0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000048000004f00000010101000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004f0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000048000004f0000000db01000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000004f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1200
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X: 446
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Y: 473
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Width: 2560
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X: 0
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Y: 30

‎ur_description/urdf/inc/ur_common.xacro‎

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@@ -1,9 +1,12 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://wiki.ros.org/xacro">
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<!--
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NOTE: the macros defined in this file are NOT part of the public API of this
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package. Users CANNOT rely on this file being available, or stored in
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this location. Nor can they rely on the existence of the two macros.
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NOTE the macros defined in this file are NOT part of the public API of this
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package. Users CANNOT rely on this file being available, or stored in
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this location. Nor can they rely on the existence of the two macros.
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The macros store the defined properties in the scope of the caller.
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However, users MUST NOT rely on these properties, their contents or their
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names.
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Author: Ludovic Delval
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Contributor: Felix Messmer
@@ -18,15 +21,6 @@
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</inertial>
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</xacro:macro>
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<!--
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NOTE: this macro stores the defined properties in the scope of the caller.
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However, users MUST NOT rely on these properties, their contents or
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their names.
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This macro is NOT part of the public API of the ur_description pkg,
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and as such should be considered to be for internal use only.
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-->
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<xacro:macro name="read_model_data" params="joint_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file">
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<!-- Read .yaml files from disk, load content into properties -->
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<xacro:property name="__joint_limit_parameters" value="${load_yaml(joint_limits_parameters_file)}"/>

‎ur_description/urdf/inc/ur_transmissions.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://wiki.ros.org/xacro">
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<!--
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NOTE: the macro defined in this file is NOT part of the public API of this
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NOTE the macro defined in this file is NOT part of the public API of this
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package. Users CANNOT rely on this file being available, or stored in
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this location. Nor can they rely on the existence of the macro.
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-->

‎ur_ros2_control_demos/urdf/ur.ros2_control.xacro‎ renamed to ‎ur_description/urdf/ur.ros2_control.xacro‎

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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="ur5_system_position_only" params="name prefix
5+
use_fake_hardware:=^|false fake_sensor_commands:=^|false
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script_filename output_recipe_filename
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input_recipe_filename tf_prefix
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hash_kinematics robot_ip">
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<ros2_control name="${name}" type="system">
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<hardware>
11-
<plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
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<param name="robot_ip">${robot_ip}</param>
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<param name="script_filename">${script_filename}</param>
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<param name="output_recipe_filename">${output_recipe_filename}</param>
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<param name="input_recipe_filename">${input_recipe_filename}</param>
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<param name="headless_mode">0</param>
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<param name="reverse_port">50001</param>
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<param name="script_sender_port">50002</param>
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<param name="tf_prefix">"${tf_prefix}"</param>
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<param name="non_blocking_read">0</param>
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<param name="servoj_gain">2000</param>
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<param name="servoj_lookahead_time">0.03</param>
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<param name="use_tool_communication">0</param>
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<param name="kinematics/hash">"${hash_kinematics}"</param>
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<param name="tool_voltage">0</param>
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<param name="tool_parity">0</param>
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<param name="tool_baud_rate">115200</param>
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<param name="tool_stop_bits">1</param>
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<param name="tool_rx_idle_chars">1.5</param>
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<param name="tool_tx_idle_chars">3.5</param>
31-
<param name="tool_device_name">/tmp/ttyUR</param>
32-
<param name="tool_tcp_port">54321</param>
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<xacro:if value="${use_fake_hardware}">
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<plugin>fake_components/GenericSystem</plugin>
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<param name="fake_sensor_commands">${fake_sensor_commands}</param>
15+
<param name="state_following_offset">0.0</param>
16+
</xacro:if>
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<xacro:unless value="${use_fake_hardware}">
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<plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
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<param name="robot_ip">${robot_ip}</param>
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<param name="script_filename">${script_filename}</param>
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<param name="output_recipe_filename">${output_recipe_filename}</param>
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<param name="input_recipe_filename">${input_recipe_filename}</param>
23+
<param name="headless_mode">0</param>
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<param name="reverse_port">50001</param>
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<param name="script_sender_port">50002</param>
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<param name="tf_prefix">"${tf_prefix}"</param>
27+
<param name="non_blocking_read">0</param>
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<param name="servoj_gain">2000</param>
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<param name="servoj_lookahead_time">0.03</param>
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<param name="use_tool_communication">0</param>
31+
<param name="kinematics/hash">"${hash_kinematics}"</param>
32+
<param name="tool_voltage">0</param>
33+
<param name="tool_parity">0</param>
34+
<param name="tool_baud_rate">115200</param>
35+
<param name="tool_stop_bits">1</param>
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<param name="tool_rx_idle_chars">1.5</param>
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<param name="tool_tx_idle_chars">3.5</param>
38+
<param name="tool_device_name">/tmp/ttyUR</param>
39+
<param name="tool_tcp_port">54321</param>
40+
</xacro:unless>
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</hardware>
34-
<joint name="shoulder_pan_joint">
42+
<joint name="${prefix}shoulder_pan_joint">
3543
<command_interface name="position">
3644
<param name="min">{-2*pi}</param>
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<param name="max">{2*pi}</param>
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<state_interface name="velocity"/>
4553
<state_interface name="effort"/>
4654
</joint>
47-
<joint name="shoulder_lift_joint">
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<joint name="${prefix}shoulder_lift_joint">
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<command_interface name="position">
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<param name="min">{-2*pi}</param>
5058
<param name="max">{2*pi}</param>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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<param name="initial_position">-1.57</param> <!-- initial position for the FakeSystem -->
5968
</joint>
60-
<joint name="elbow_joint">
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<joint name="${prefix}elbow_joint">
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<command_interface name="position">
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<param name="min">{-pi}</param>
6372
<param name="max">{pi}</param>
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7079
<state_interface name="velocity"/>
7180
<state_interface name="effort"/>
7281
</joint>
73-
<joint name="wrist_1_joint">
82+
<joint name="${prefix}wrist_1_joint">
7483
<command_interface name="position">
7584
<param name="min">{-2*pi}</param>
7685
<param name="max">{2*pi}</param>
@@ -83,7 +92,7 @@
8392
<state_interface name="velocity"/>
8493
<state_interface name="effort"/>
8594
</joint>
86-
<joint name="wrist_2_joint">
95+
<joint name="${prefix}wrist_2_joint">
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<command_interface name="position">
8897
<param name="min">{-2*pi}</param>
8998
<param name="max">{2*pi}</param>
@@ -96,7 +105,7 @@
96105
<state_interface name="velocity"/>
97106
<state_interface name="effort"/>
98107
</joint>
99-
<joint name="wrist_3_joint">
108+
<joint name="${prefix}wrist_3_joint">
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<command_interface name="position">
101110
<param name="min">{-2*pi}</param>
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<param name="max">{2*pi}</param>
@@ -110,12 +119,12 @@
110119
<state_interface name="effort"/>
111120
</joint>
112121
<sensor name="tcp_fts_sensor">
113-
<state_interface name="fx"/>
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<state_interface name="fy"/>
115-
<state_interface name="fz"/>
116-
<state_interface name="tx"/>
117-
<state_interface name="ty"/>
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<state_interface name="tz"/>
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<state_interface name="force.x"/>
123+
<state_interface name="force.y"/>
124+
<state_interface name="force.z"/>
125+
<state_interface name="torque.x"/>
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<state_interface name="torque.y"/>
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<state_interface name="torque.z"/>
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</sensor>
120129
</ros2_control>
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</xacro:macro>

‎ur_description/urdf/ur.xacro‎ renamed to ‎ur_description/urdf/ur.urdf.xacro‎

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<xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
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<!-- parameters -->
9+
<xacro:arg name="prefix" default="" />
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<xacro:arg name="joint_limit_params" default=""/>
1011
<xacro:arg name="kinematics_params" default=""/>
1112
<xacro:arg name="physical_params" default=""/>
@@ -14,16 +15,21 @@
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<xacro:arg name="safety_limits" default="false"/>
1516
<xacro:arg name="safety_pos_margin" default="0.15"/>
1617
<xacro:arg name="safety_k_position" default="20"/>
18+
<!-- ros2_control related parameters -->
19+
<xacro:arg name="use_fake_hardware" default="false" />
20+
<xacro:arg name="fake_sensor_commands" default="false" />
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1822
<!-- arm -->
1923
<xacro:ur_robot
20-
prefix=""
24+
prefix="$(arg prefix)"
2125
joint_limits_parameters_file="$(arg joint_limit_params)"
2226
kinematics_parameters_file="$(arg kinematics_params)"
2327
physical_parameters_file="$(arg physical_params)"
2428
visual_parameters_file="$(arg visual_params)"
2529
transmission_hw_interface="$(arg transmission_hw_interface)"
2630
safety_limits="$(arg safety_limits)"
2731
safety_pos_margin="$(arg safety_pos_margin)"
28-
safety_k_position="$(arg safety_k_position)"/>
32+
safety_k_position="$(arg safety_k_position)"
33+
use_fake_hardware="$(arg use_fake_hardware)"
34+
fake_sensor_commands="$(arg fake_sensor_commands)" />
2935
</robot>

‎ur_description/urdf/ur5.urdf.xacro‎

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355355
<link name="${prefix}base"/>
356356
<joint name="${prefix}base_link-base_fixed_joint" type="fixed">
357357
<!-- NOTE: this rotation is only needed as long as base_link itself is
358-
not corrected wrt the real robot (ie: rotated over 180
358+
not corrected wrt the real robot (i.e., rotated over 180
359359
degrees)
360360
-->
361361
<origin xyz="0 0 0" rpy="0 0 ${-pi}"/>

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