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Add support for UR15 (#97)
(cherry picked from commit 9dc25fb) # Conflicts: # ur_simulation_gz/test/test_description.py # ur_simulation_gz/urdf/ur_gz.urdf.xacro
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‎ur_simulation_gz/launch/ur_sim_control.launch.py‎

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@@ -225,6 +225,7 @@ def generate_launch_description():
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"ur10e",
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"ur12e",
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"ur16e",
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"ur15",
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"ur20",
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"ur30",
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],

‎ur_simulation_gz/launch/ur_sim_moveit.launch.py‎

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@@ -106,6 +106,7 @@ def generate_launch_description():
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"ur10e",
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"ur12e",
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"ur16e",
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"ur15",
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"ur20",
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"ur30",
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],

‎ur_simulation_gz/test/test_description.py‎

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# Copyright (c) 2023 FZI Forschungszentrum Informatik
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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#
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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# * Neither the name of the {copyright_holder} nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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# Author: Lukas Sackewitz
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import os
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import shutil
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import subprocess
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import tempfile
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import pytest
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from ament_index_python.packages import get_package_share_directory
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@pytest.mark.parametrize(
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"ur_type",
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[
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"ur3",
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"ur3e",
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"ur5",
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"ur5e",
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"ur7e",
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"ur10",
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"ur10e",
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"ur12e",
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"ur16e",
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"ur15",
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"ur20",
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"ur30",
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],
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)
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@pytest.mark.parametrize("prefix", ["", "my_ur_"])
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def test_ur_urdf_xacro(ur_type, prefix):
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# Initialize Arguments
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safety_limits = "true"
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safety_pos_margin = "0.15"
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safety_k_position = "20"
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# General Arguments
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description_package = "ur_description"
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joint_limit_params = os.path.join(
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get_package_share_directory(description_package), "config", ur_type, "joint_limits.yaml"
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)
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kinematics_params = os.path.join(
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get_package_share_directory(description_package),
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"config",
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ur_type,
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"default_kinematics.yaml",
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)
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physical_params = os.path.join(
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get_package_share_directory(description_package),
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"config",
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ur_type,
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"physical_parameters.yaml",
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)
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visual_params = os.path.join(
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get_package_share_directory(description_package),
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"config",
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ur_type,
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"visual_parameters.yaml",
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)
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description_file_path = os.path.join(
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get_package_share_directory("ur_simulation_gz"), "urdf", "ur_gz.urdf.xacro"
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)
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(_, tmp_urdf_output_file) = tempfile.mkstemp(suffix=".urdf")
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# Compose `xacro` and `check_urdf` command
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xacro_command = (
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f"{shutil.which('xacro')}"
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f" {description_file_path}"
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f" joint_limit_params:={joint_limit_params}"
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f" kinematics_params:={kinematics_params}"
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f" physical_params:={physical_params}"
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f" visual_params:={visual_params}"
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f" safety_limits:={safety_limits}"
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f" safety_pos_margin:={safety_pos_margin}"
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f" safety_k_position:={safety_k_position}"
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f" name:={ur_type}"
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f" prefix:={prefix}"
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f" > {tmp_urdf_output_file}"
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)
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check_urdf_command = f"{shutil.which('check_urdf')} {tmp_urdf_output_file}"
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# Try to call processes but finally remove the temp file
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try:
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xacro_process = subprocess.run(
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xacro_command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, shell=True
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)
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assert xacro_process.returncode == 0, " --- XACRO command failed ---"
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check_urdf_process = subprocess.run(
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check_urdf_command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, shell=True
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)
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assert (
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check_urdf_process.returncode == 0
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), "\n --- URDF check failed! --- \nYour xacro does not unfold into a proper urdf robot description. Please check your xacro file."
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finally:
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os.remove(tmp_urdf_output_file)
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if __name__ == "__main__":
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test_ur_urdf_xacro()

‎ur_simulation_gz/test/test_gz.py‎

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# might change, once the gz launch system migration is done using gzserver and such....
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# @launch_testing.parametrize(
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# "ur_type",
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# ["ur3", "ur3e", "ur5", "ur5e", "ur7e", "ur10", "ur10e", "ur12e", "ur16e", "ur20", "ur30"],
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# ["ur3", "ur3e", "ur5", "ur5e", "ur7e", "ur10", "ur10e", "ur12e", "ur16e", "ur15", "ur20", "ur30"],
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# )
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@pytest.mark.launch_test
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def generate_test_description():

‎ur_simulation_gz/urdf/ur_gz.urdf.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
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<!-- robot name parameter -->
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<xacro:arg name="name" default="ur"/>
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<!-- import main macro -->
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<xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
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<xacro:include filename="$(find ur_simulation_gz)/urdf/ur_gz.ros2_control.xacro" />
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<!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur7e, ur10, ur10e, ur12e, ur16e, ur15, ur20, ur30 -->
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<!-- the default value should raise an error in case this was called without defining the type -->
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<xacro:arg name="ur_type" default="ur5x"/>
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<!-- parameters -->
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<xacro:arg name="tf_prefix" default="" />
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<xacro:arg name="joint_limit_params" default="$(find ur_description)/config/$(arg ur_type)/joint_limits.yaml"/>
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<xacro:arg name="kinematics_params" default="$(find ur_description)/config/$(arg ur_type)/default_kinematics.yaml"/>
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<xacro:arg name="physical_params" default="$(find ur_description)/config/$(arg ur_type)/physical_parameters.yaml"/>
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<xacro:arg name="visual_params" default="$(find ur_description)/config/$(arg ur_type)/visual_parameters.yaml"/>
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<xacro:arg name="transmission_hw_interface" default=""/>
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<xacro:arg name="safety_limits" default="false"/>
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<xacro:arg name="safety_pos_margin" default="0.15"/>
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<xacro:arg name="safety_k_position" default="20"/>
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<xacro:arg name="simulation_controllers" default="" />
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<xacro:arg name="ros_namespace" default="" />
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<!-- create link fixed to the "world" -->
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<link name="world" />
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<link name="ground_plane">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="5 5 0"/>
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</geometry>
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<material name="ground_white">
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<color rgba="1 1 1 0.5"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="5 5 0"/>
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</geometry>
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</collision>
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</link>
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<joint name="ground_plane_joint" type="fixed">
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<origin xyz="0 0 -0.01" rpy="0 0 0"/>
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<parent link="world"/>
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<child link="ground_plane"/>
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</joint>
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<!-- arm -->
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<xacro:ur_robot
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name="$(arg name)"
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tf_prefix="$(arg tf_prefix)"
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parent="world"
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joint_limits_parameters_file="$(arg joint_limit_params)"
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kinematics_parameters_file="$(arg kinematics_params)"
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physical_parameters_file="$(arg physical_params)"
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visual_parameters_file="$(arg visual_params)"
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safety_limits="$(arg safety_limits)"
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safety_pos_margin="$(arg safety_pos_margin)"
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safety_k_position="$(arg safety_k_position)"
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force_abs_paths="true"
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>
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<origin xyz="0 0 0" rpy="0 0 0" /> <!-- position robot in the world -->
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</xacro:ur_robot>
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<gazebo reference="world">
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</gazebo>
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<gazebo>
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<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
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<parameters>$(arg simulation_controllers)</parameters>
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<ros>
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<namespace>$(arg ros_namespace)</namespace>
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</ros>
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</plugin>
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</gazebo>
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<!-- ros2 control instance -->
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<xacro:ur_ros2_control
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name="$(arg name)"
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tf_prefix="$(arg tf_prefix)"
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transmission_hw_interface="$(arg transmission_hw_interface)"
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/>
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</robot>

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