diff --git a/full_husky/full_husky_control/CMakeLists.txt b/full_husky/full_husky_control/CMakeLists.txt new file mode 100644 index 0000000..d12dba7 --- /dev/null +++ b/full_husky/full_husky_control/CMakeLists.txt @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 3.8) +project(full_husky_control) + +find_package(ament_cmake REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(rclcpp REQUIRED) + +add_executable(static_state_publisher src/static_state_publisher.cpp) +ament_target_dependencies(static_state_publisher rclcpp sensor_msgs) +install(TARGETS + static_state_publisher +DESTINATION lib/${PROJECT_NAME}) + +install( + DIRECTORY launch config urdf + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/full_husky/full_husky_control/LICENSE b/full_husky/full_husky_control/LICENSE new file mode 100644 index 0000000..48fb689 --- /dev/null +++ b/full_husky/full_husky_control/LICENSE @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2022, Universal Robots A/S +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/full_husky/full_husky_control/config/my_robot_calibration.yaml b/full_husky/full_husky_control/config/my_robot_calibration.yaml new file mode 100644 index 0000000..dc69bff --- /dev/null +++ b/full_husky/full_husky_control/config/my_robot_calibration.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.16272426310862534 + roll: -0 + pitch: 0 + yaw: -4.5709925010350982e-07 + upper_arm: + x: 0.00019379813467043831 + y: 0 + z: 0 + roll: 1.5706520581553929 + pitch: 0 + yaw: -3.6410252466367869e-06 + forearm: + x: -0.42504980106801638 + y: 0 + z: 0 + roll: 0.0025160263202623446 + pitch: -0.00033895810441263049 + yaw: 2.3673358755801655e-05 + wrist_1: + x: -0.39271124046388295 + y: -0.00095727880026714313 + z: 0.1326644817298441 + roll: 0.0072156629559113113 + pitch: -0.0028759082553286397 + yaw: 3.1087788595795942e-07 + wrist_2: + x: 1.8891076800006509e-05 + y: -0.099707767611820833 + z: 1.7018396386939214e-05 + roll: 1.570625644042396 + pitch: 0 + yaw: 1.5317567644210217e-06 + wrist_3: + x: 3.6145501165240635e-05 + y: 0.099585286028588696 + z: 7.1494831296936063e-05 + roll: 1.571514252322501 + pitch: 3.1415926535897931 + yaw: -3.1415926117084068 + hash: calib_2089462667388424822 \ No newline at end of file diff --git a/full_husky/full_husky_control/config/ros2_controllers.yaml b/full_husky/full_husky_control/config/ros2_controllers.yaml new file mode 100644 index 0000000..2b05ce0 --- /dev/null +++ b/full_husky/full_husky_control/config/ros2_controllers.yaml @@ -0,0 +1,94 @@ +controller_manager: + ros__parameters: + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + io_and_status_controller: + type: ur_controllers/GPIOController + + speed_scaling_state_broadcaster: + type: ur_controllers/SpeedScalingStateBroadcaster + + force_torque_sensor_broadcaster: + type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster + + scaled_joint_trajectory_controller: + type: ur_controllers/ScaledJointTrajectoryController + + forward_velocity_controller: + type: velocity_controllers/JointGroupVelocityController + + forward_position_controller: + type: position_controllers/JointGroupPositionController + + +speed_scaling_state_broadcaster: + ros__parameters: + state_publish_rate: 100.0 + tf_prefix: "ur5e_" + +io_and_status_controller: + ros__parameters: + tf_prefix: "ur5e_" + +force_torque_sensor_broadcaster: + ros__parameters: + sensor_name: ur5e_tcp_fts_sensor + state_interface_names: + - force.x + - force.y + - force.z + - torque.x + - torque.y + - torque.z + frame_id: ur5e_tool0 + topic_name: ft_data + +scaled_joint_trajectory_controller: + ros__parameters: + joints: + - ur5e_shoulder_pan_joint + - ur5e_shoulder_lift_joint + - ur5e_elbow_joint + - ur5e_wrist_1_joint + - ur5e_wrist_2_joint + - ur5e_wrist_3_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + constraints: + stopped_velocity_tolerance: 0.2 + goal_time: 0.0 + ur5e_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } + ur5e_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 } + ur5e_elbow_joint: { trajectory: 0.2, goal: 0.1 } + ur5e_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } + ur5e_wrist_2_joint: { trajectory: 0.2, goal: 0.1 } + ur5e_wrist_3_joint: { trajectory: 0.2, goal: 0.1 } + speed_scaling_interface_name: ur5e_speed_scaling/speed_scaling_factor + +forward_velocity_controller: + ros__parameters: + joints: + - ur5e_shoulder_pan_joint + - ur5e_shoulder_lift_joint + - ur5e_elbow_joint + - ur5e_wrist_1_joint + - ur5e_wrist_2_joint + - ur5e_wrist_3_joint + interface_name: velocity + +forward_position_controller: + ros__parameters: + joints: + - ur5e_shoulder_pan_joint + - ur5e_shoulder_lift_joint + - ur5e_elbow_joint + - ur5e_wrist_1_joint + - ur5e_wrist_2_joint + - ur5e_wrist_3_joint \ No newline at end of file diff --git a/full_husky/full_husky_control/config/ur5e_update_rate.yaml b/full_husky/full_husky_control/config/ur5e_update_rate.yaml new file mode 100644 index 0000000..af3e225 --- /dev/null +++ b/full_husky/full_husky_control/config/ur5e_update_rate.yaml @@ -0,0 +1,3 @@ +controller_manager: + ros__parameters: + update_rate: 500 # Hz \ No newline at end of file diff --git a/full_husky/full_husky_control/launch/rsp.launch.py b/full_husky/full_husky_control/launch/rsp.launch.py new file mode 100644 index 0000000..c286ff9 --- /dev/null +++ b/full_husky/full_husky_control/launch/rsp.launch.py @@ -0,0 +1,132 @@ +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import ( + Command, + FindExecutable, + LaunchConfiguration, + PathJoinSubstitution, +) + + +def generate_launch_description(): + ur_type = LaunchConfiguration("ur_type") + robot_ip = LaunchConfiguration("robot_ip") + + use_mock_hardware = LaunchConfiguration("use_mock_hardware") + mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") + + headless_mode = LaunchConfiguration("headless_mode") + + kinematics_parameters_file = LaunchConfiguration("kinematics_parameters_file") + + # Load description with necessary parameters + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [ + FindPackageShare("full_husky_control"), + "urdf", + "full_husky_controlled.urdf.xacro", + ] + ), + " ", + "robot_ip:=", + robot_ip, + " ", + "ur_type:=", + ur_type, + " ", + "kinematics_parameters_file:=", + kinematics_parameters_file, + " ", + "use_mock_hardware:=", + use_mock_hardware, + " ", + "mock_sensor_commands:=", + mock_sensor_commands, + " ", + "headless_mode:=", + headless_mode, + ] + ) + robot_description = {"robot_description": robot_description_content} + + declared_arguments = [] + # UR specific arguments + declared_arguments.append( + DeclareLaunchArgument( + "ur_type", + description="Typo/series of used UR robot.", + choices=[ + "ur3", + "ur3e", + "ur5", + "ur5e", + "ur10", + "ur10e", + "ur16e", + "ur20", + "ur30", + ], + default_value="ur5e", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "robot_ip", + default_value="10.130.1.100", + description="IP address by which the robot can be reached." + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "kinematics_parameters_file", + default_value=PathJoinSubstitution( + [ + FindPackageShare("full_husky_control"), + "config", + "my_robot_calibration.yaml", + ] + ), + description="The calibration configuration of the actual robot used.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_mock_hardware", + default_value="false", + description="Start robot with mock hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "mock_sensor_commands", + default_value="false", + description="Enable mock command interfaces for sensors used for simple simulations. " + "Used only if 'use_mock_hardware' parameter is true.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "headless_mode", + default_value="false", + description="Enable headless mode for robot control", + ) + ) + + return LaunchDescription( + declared_arguments + + [ + Node( + package="robot_state_publisher", + executable="robot_state_publisher", + output="both", + parameters=[robot_description], + ), + ] + ) diff --git a/full_husky/full_husky_control/launch/start_robot.launch.py b/full_husky/full_husky_control/launch/start_robot.launch.py new file mode 100644 index 0000000..4685ff7 --- /dev/null +++ b/full_husky/full_husky_control/launch/start_robot.launch.py @@ -0,0 +1,581 @@ +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterFile +from launch_ros.substitutions import FindPackageShare + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, OpaqueFunction +from launch.conditions import IfCondition, UnlessCondition +from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution + + +def launch_setup(context, *args, **kwargs): + # Initialize Arguments + ur_type = LaunchConfiguration("ur_type") + robot_ip = LaunchConfiguration("robot_ip") + safety_limits = LaunchConfiguration("safety_limits") + safety_pos_margin = LaunchConfiguration("safety_pos_margin") + safety_k_position = LaunchConfiguration("safety_k_position") + # General arguments + description_package = LaunchConfiguration("description_package") + kinematics_params_file = LaunchConfiguration("kinematics_params_file") + tf_prefix = LaunchConfiguration("tf_prefix") + use_fake_hardware = LaunchConfiguration("use_fake_hardware") + fake_sensor_commands = LaunchConfiguration("fake_sensor_commands") + controller_spawner_timeout = LaunchConfiguration("controller_spawner_timeout") + initial_joint_controller = LaunchConfiguration("initial_joint_controller") + activate_joint_controller = LaunchConfiguration("activate_joint_controller") + launch_rviz = LaunchConfiguration("launch_rviz") + headless_mode = LaunchConfiguration("headless_mode") + launch_dashboard_client = LaunchConfiguration("launch_dashboard_client") + use_tool_communication = LaunchConfiguration("use_tool_communication") + tool_parity = LaunchConfiguration("tool_parity") + tool_baud_rate = LaunchConfiguration("tool_baud_rate") + tool_stop_bits = LaunchConfiguration("tool_stop_bits") + tool_rx_idle_chars = LaunchConfiguration("tool_rx_idle_chars") + tool_tx_idle_chars = LaunchConfiguration("tool_tx_idle_chars") + tool_device_name = LaunchConfiguration("tool_device_name") + tool_tcp_port = LaunchConfiguration("tool_tcp_port") + tool_voltage = LaunchConfiguration("tool_voltage") + reverse_ip = LaunchConfiguration("reverse_ip") + script_command_port = LaunchConfiguration("script_command_port") + reverse_port = LaunchConfiguration("reverse_port") + script_sender_port = LaunchConfiguration("script_sender_port") + trajectory_port = LaunchConfiguration("trajectory_port") + + joint_limit_params = PathJoinSubstitution( + [FindPackageShare(description_package), "config", ur_type, "joint_limits.yaml"] + ) + physical_params = PathJoinSubstitution( + [FindPackageShare(description_package), "config", ur_type, "physical_parameters.yaml"] + ) + visual_params = PathJoinSubstitution( + [FindPackageShare(description_package), "config", ur_type, "visual_parameters.yaml"] + ) + script_filename = PathJoinSubstitution( + [FindPackageShare("ur_client_library"), "resources", "external_control.urscript"] + ) + input_recipe_filename = PathJoinSubstitution( + [FindPackageShare("ur_robot_driver"), "resources", "rtde_input_recipe.txt"] + ) + output_recipe_filename = PathJoinSubstitution( + [FindPackageShare("ur_robot_driver"), "resources", "rtde_output_recipe.txt"] + ) + + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution([FindPackageShare("full_husky_control"), "urdf", "full_husky_controlled.urdf.xacro"]), + " ", + "robot_ip:=", + robot_ip, + " ", + "joint_limit_params:=", + joint_limit_params, + " ", + "kinematics_params:=", + kinematics_params_file, + " ", + "physical_params:=", + physical_params, + " ", + "visual_params:=", + visual_params, + " ", + "safety_limits:=", + safety_limits, + " ", + "safety_pos_margin:=", + safety_pos_margin, + " ", + "safety_k_position:=", + safety_k_position, + " ", + "name:=", + ur_type, + " ", + "script_filename:=", + script_filename, + " ", + "input_recipe_filename:=", + input_recipe_filename, + " ", + "output_recipe_filename:=", + output_recipe_filename, + " ", + "tf_prefix:=", + tf_prefix, + " ", + "use_fake_hardware:=", + use_fake_hardware, + " ", + "fake_sensor_commands:=", + fake_sensor_commands, + " ", + "headless_mode:=", + headless_mode, + " ", + "use_tool_communication:=", + use_tool_communication, + " ", + "tool_parity:=", + tool_parity, + " ", + "tool_baud_rate:=", + tool_baud_rate, + " ", + "tool_stop_bits:=", + tool_stop_bits, + " ", + "tool_rx_idle_chars:=", + tool_rx_idle_chars, + " ", + "tool_tx_idle_chars:=", + tool_tx_idle_chars, + " ", + "tool_device_name:=", + tool_device_name, + " ", + "tool_tcp_port:=", + tool_tcp_port, + " ", + "tool_voltage:=", + tool_voltage, + " ", + "reverse_ip:=", + reverse_ip, + " ", + "script_command_port:=", + script_command_port, + " ", + "reverse_port:=", + reverse_port, + " ", + "script_sender_port:=", + script_sender_port, + " ", + "trajectory_port:=", + trajectory_port, + " ", + ] + ) + robot_description = {"robot_description": robot_description_content} + + initial_joint_controllers = PathJoinSubstitution( + [FindPackageShare("full_husky_control"), "config", "ros2_controllers.yaml"] + ) + + rviz_config_file = PathJoinSubstitution( + [FindPackageShare("full_husky_description"), "rviz", "urdf.rviz"] + ) + + # define update rate + update_rate_config_file = PathJoinSubstitution( + [ + FindPackageShare("full_husky_control"), + "config", + "ur5e_update_rate.yaml", + ] + ) + + control_node = Node( + package="controller_manager", + executable="ros2_control_node", + parameters=[ + robot_description, + update_rate_config_file, + ParameterFile(initial_joint_controllers, allow_substs=True), + ], + output="screen", + condition=IfCondition(use_fake_hardware), + ) + + ur_control_node = Node( + package="ur_robot_driver", + executable="ur_ros2_control_node", + parameters=[ + robot_description, + update_rate_config_file, + ParameterFile(initial_joint_controllers, allow_substs=True), + ], + output="screen", + condition=UnlessCondition(use_fake_hardware), + ) + + dashboard_client_node = Node( + package="ur_robot_driver", + condition=IfCondition(launch_dashboard_client) and UnlessCondition(use_fake_hardware), + executable="dashboard_client", + name="dashboard_client", + output="screen", + emulate_tty=True, + parameters=[{"robot_ip": robot_ip}], + ) + + tool_communication_node = Node( + package="ur_robot_driver", + condition=IfCondition(use_tool_communication), + executable="tool_communication.py", + name="ur_tool_comm", + output="screen", + parameters=[ + { + "robot_ip": robot_ip, + "tcp_port": tool_tcp_port, + "device_name": tool_device_name, + } + ], + ) + + urscript_interface = Node( + package="ur_robot_driver", + executable="urscript_interface", + parameters=[{"robot_ip": robot_ip}], + output="screen", + ) + + controller_stopper_node = Node( + package="ur_robot_driver", + executable="controller_stopper_node", + name="controller_stopper", + output="screen", + emulate_tty=True, + condition=UnlessCondition(use_fake_hardware), + parameters=[ + {"headless_mode": headless_mode}, + {"joint_controller_active": activate_joint_controller}, + { + "consistent_controllers": [ + "io_and_status_controller", + "force_torque_sensor_broadcaster", + "joint_state_broadcaster", + "speed_scaling_state_broadcaster", + ] + }, + ], + ) + + robot_state_publisher_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + output="both", + parameters=[robot_description], + ) + + rviz_node = Node( + package="rviz2", + condition=IfCondition(launch_rviz), + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file], + ) + + # Spawn controllers + def controller_spawner(controllers, active=True): + inactive_flags = ["--inactive"] if not active else [] + return Node( + package="controller_manager", + executable="spawner", + arguments=[ + "--controller-manager", + "/controller_manager", + "--controller-manager-timeout", + controller_spawner_timeout, + ] + + inactive_flags + + controllers, + ) + + controllers_active = [ + "joint_state_broadcaster", + "io_and_status_controller", + "speed_scaling_state_broadcaster", + "force_torque_sensor_broadcaster", + ] + controllers_inactive = ["forward_position_controller"] + + controller_spawners = [controller_spawner(controllers_active)] + [ + controller_spawner(controllers_inactive, active=False) + ] + + # There may be other controllers of the joints, but this is the initially-started one + initial_joint_controller_spawner_started = Node( + package="controller_manager", + executable="spawner", + arguments=[ + initial_joint_controller, + "-c", + "/controller_manager", + "--controller-manager-timeout", + controller_spawner_timeout, + ], + condition=IfCondition(activate_joint_controller), + ) + initial_joint_controller_spawner_stopped = Node( + package="controller_manager", + executable="spawner", + arguments=[ + initial_joint_controller, + "-c", + "/controller_manager", + "--controller-manager-timeout", + controller_spawner_timeout, + "--inactive", + ], + condition=UnlessCondition(activate_joint_controller), + ) + # Add the static gripper publisher node + static_state_publisher_node = Node( + package="full_husky_control", # Replace with your package name + executable="static_state_publisher", + name="static_state_publisher", + output="screen" + ) + + nodes_to_start = [ + control_node, + ur_control_node, + dashboard_client_node, + tool_communication_node, + controller_stopper_node, + urscript_interface, + robot_state_publisher_node, + rviz_node, + initial_joint_controller_spawner_stopped, + initial_joint_controller_spawner_started, + ] + controller_spawners + + nodes_to_start.append(static_state_publisher_node) + + return nodes_to_start + + +def generate_launch_description(): + declared_arguments = [] + # UR specific arguments + declared_arguments.append( + DeclareLaunchArgument( + "ur_type", + default_value="ur5e", + description="Type/series of used UR robot.", + choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"], + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "robot_ip", + default_value="10.130.1.100", + description="IP address by which the robot can be reached." + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "safety_limits", + default_value="true", + description="Enables the safety limits controller if true.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "safety_pos_margin", + default_value="0.15", + description="The margin to lower and upper limits in the safety controller.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "safety_k_position", + default_value="20", + description="k-position factor in the safety controller.", + ) + ) + # General arguments + declared_arguments.append( + DeclareLaunchArgument( + "description_package", + default_value="ur_description", + description="Description package with robot URDF/XACRO files. Usually the argument " + "is not set, it enables use of a custom description.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "kinematics_params_file", + default_value=PathJoinSubstitution( + [ + FindPackageShare("full_husky_control"), + "config", + "my_robot_calibration.yaml", + ] + ), + description="The calibration configuration of the actual robot used.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "tf_prefix", + default_value="", + description="tf_prefix of the joint names, useful for " + "multi-robot setup. If changed, also joint names in the controllers' configuration " + "have to be updated.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_fake_hardware", + default_value="false", + description="Start robot with fake hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "fake_sensor_commands", + default_value="false", + description="Enable fake command interfaces for sensors used for simple simulations. " + "Used only if 'use_fake_hardware' parameter is true.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "headless_mode", + default_value="false", + description="Enable headless mode for robot control", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "controller_spawner_timeout", + default_value="10", + description="Timeout used when spawning controllers.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "initial_joint_controller", + default_value="scaled_joint_trajectory_controller", + description="Initially loaded robot controller.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "activate_joint_controller", + default_value="true", + description="Activate loaded joint controller.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?") + ) + declared_arguments.append( + DeclareLaunchArgument( + "launch_dashboard_client", default_value="true", description="Launch Dashboard Client?" + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_tool_communication", + default_value="false", + description="Only available for e series!", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "tool_parity", + default_value="0", + description="Parity configuration for serial communication. Only effective, if " + "use_tool_communication is set to True.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "tool_baud_rate", + default_value="115200", + description="Baud rate configuration for serial communication. Only effective, if " + "use_tool_communication is set to True.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "tool_stop_bits", + default_value="1", + description="Stop bits configuration for serial communication. Only effective, if " + "use_tool_communication is set to True.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "tool_rx_idle_chars", + default_value="1.5", + description="RX idle chars configuration for serial communication. Only effective, " + "if use_tool_communication is set to True.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "tool_tx_idle_chars", + default_value="3.5", + description="TX idle chars configuration for serial communication. Only effective, " + "if use_tool_communication is set to True.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "tool_device_name", + default_value="/tmp/ttyUR", + description="File descriptor that will be generated for the tool communication device. " + "The user has be be allowed to write to this location. " + "Only effective, if use_tool_communication is set to True.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "tool_tcp_port", + default_value="54321", + description="Remote port that will be used for bridging the tool's serial device. " + "Only effective, if use_tool_communication is set to True.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "tool_voltage", + default_value="0", # 0 being a conservative value that won't destroy anything + description="Tool voltage that will be setup.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "reverse_ip", + default_value="0.0.0.0", + description="IP that will be used for the robot controller to communicate back to the driver.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "script_command_port", + default_value="50004", + description="Port that will be opened to forward URScript commands to the robot.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "reverse_port", + default_value="50001", + description="Port that will be opened to send cyclic instructions from the driver to the robot controller.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "script_sender_port", + default_value="50002", + description="The driver will offer an interface to query the external_control URScript on this port.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "trajectory_port", + default_value="50003", + description="Port that will be opened for trajectory control.", + ) + ) + return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)]) diff --git a/full_husky/full_husky_control/package.xml b/full_husky/full_husky_control/package.xml new file mode 100644 index 0000000..26c1daf --- /dev/null +++ b/full_husky/full_husky_control/package.xml @@ -0,0 +1,30 @@ + + + + full_husky_control + 1.0.0 + ros2_control setup + Felix Durchdewald + Sohaib Snouber + BSD-3-Clause + + ament_cmake + rcl_cpp + sendor_msgs + + joint_state_broadcaster + joint_trajectory_controller + position_controllers + robot_state_publisher + my_robot_cell_description + ur_controllers + ur_robot_driver + ur_client_library + xacro + controller_manager + + + + ament_cmake + + diff --git a/full_husky/full_husky_control/src/static_state_publisher.cpp b/full_husky/full_husky_control/src/static_state_publisher.cpp new file mode 100644 index 0000000..b6bcb7e --- /dev/null +++ b/full_husky/full_husky_control/src/static_state_publisher.cpp @@ -0,0 +1,60 @@ +#include +#include +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "sensor_msgs/msg/joint_state.hpp" + +using namespace std::chrono_literals; + +class GripperController : public rclcpp::Node +{ +public: + GripperController() + : Node("gripper_controller"), + open_position_(0.0), + close_position_(0.7), + is_opening_(true), + wheel_position_(0.0) + { + publisher_ = this->create_publisher("/joint_states", 10); + timer_ = this->create_wall_timer( + 100ms, std::bind(&GripperController::update_joint_state, this)); + + // Initialize joint state message + joint_state_msg_.name = {"front_left_wheel", "front_right_wheel", "rear_left_wheel", "rear_right_wheel", "finger_joint"}; + joint_state_msg_.position = {wheel_position_, wheel_position_, wheel_position_, wheel_position_, open_position_}; + } + +private: + void update_joint_state() + { + // Update wheel positions (example: simple incrementing values for demonstration) + joint_state_msg_.position[0] += 0.10; // front_left_wheel + joint_state_msg_.position[1] += 0.10; // front_right_wheel + joint_state_msg_.position[2] += 0.10; // rear_left_wheel + joint_state_msg_.position[3] += 0.10; // rear_right_wheel + + // Set timestamp and publish joint states + joint_state_msg_.header.stamp = this->get_clock()->now(); + publisher_->publish(joint_state_msg_); + } + + rclcpp::Publisher::SharedPtr publisher_; + rclcpp::TimerBase::SharedPtr timer_; + sensor_msgs::msg::JointState joint_state_msg_; + double open_position_; + double close_position_; + bool is_opening_; + double wheel_position_; // To control wheel positions +}; + +int main(int argc, char *argv[]) +{ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} diff --git a/full_husky/full_husky_control/urdf/full_husky_controlled.urdf.xacro b/full_husky/full_husky_control/urdf/full_husky_controlled.urdf.xacro new file mode 100644 index 0000000..101e727 --- /dev/null +++ b/full_husky/full_husky_control/urdf/full_husky_controlled.urdf.xacro @@ -0,0 +1,94 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/full_husky/full_husky_description/CMakeLists.txt b/full_husky/full_husky_description/CMakeLists.txt new file mode 100644 index 0000000..d8249bb --- /dev/null +++ b/full_husky/full_husky_description/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.5) +project(full_husky_description) + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY launch meshes rviz urdf + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/full_husky/full_husky_description/LICENSE b/full_husky/full_husky_description/LICENSE new file mode 100644 index 0000000..48fb689 --- /dev/null +++ b/full_husky/full_husky_description/LICENSE @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2022, Universal Robots A/S +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/full_husky/full_husky_description/UR_LICENSE.txt b/full_husky/full_husky_description/UR_LICENSE.txt new file mode 100644 index 0000000..cba4e38 --- /dev/null +++ b/full_husky/full_husky_description/UR_LICENSE.txt @@ -0,0 +1,84 @@ +TERMS AND CONDITIONS FOR USE OF GRAPHICAL DOCUMENTATION + +Version: 1.01 / release date: 2023-09-12 + +These Terms and Conditions for Use of Graphical Documentation (the “T&Cs”) govern your use of graphical files and documents*, including the contents hereof, (the “Graphical Documentation”) provided or made available to you by Universal Robots A/S (“Universal Robots”) for the purposes of creating simulations, visualizations, digital representations, path planning, collision avoidance and algorithms of or for Universal Robots’ products. 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The T&Cs shall automatically expire at such time as you are no longer permitted to use the Graphical Documentation in accordance with Section 1. + +6.2. You may terminate the T&Cs for convenience at any time by deleting all copies of the Graphical Documentation in your possession. Universal Robots may terminate the T&Cs for convenience by providing you with ninety (90) days’ notice. + +6.3. Universal Robots may terminate the T&Cs for cause with immediate effect in case of your material breach of the T&Cs. + + +7. EFFECTS OF TERMINATION + +7.1. Upon expiration or termination of the T&Cs, for whatever reason, you must immediately cease use of the Graphical Documentation and delete all copies of the Graphical Documentation in your possession. + +8. GOVERNING LAW AND VENUE + +8.1. The T&Cs shall be governed by and construed in accordance with the laws of Denmark, without giving effect to conflict of law provisions thereof. The parties expressly disclaim the applicability of the United Nations Convention on Contracts for the International Sale of Goods. + +8.2. Any and all disputes arising out of or in connection with the T&Cs shall be submitted to the International Chamber of Commerce and shall be settled under the Rules of Arbitration of the International Chamber of Commerce by one (1) arbitrator appointed in accordance with said Rules. The place of arbitration shall be Copenhagen, Denmark. The arbitration shall be conducted in the English language. The foregoing notwithstanding, Universal Robots may seek preliminary, temporary, or permanent injunctive relief and other equitable remedies in any court of competent jurisdiction prior to or during arbitration and may enforce the award of the arbitrator in any court of competent jurisdiction. + + +* E.g., STEP-Files (ISO 10303-21), Collada (.dae), STL files (.stl), GLB files (.glb), GLFT files (.glft) , Jupiter Tessellation files (.jt), E-plan files (.emp), electrical schematics, CAD files, and drawings including the contents of these technical files. “Software”, as defined in Universal Robots End User Software License Agreement, does not constitute “Technical Documentation” and your use thereof is, unless otherwise agreed with Universal Robots in writing, governed by Universal Robots’ End User Software License Agreement. diff --git a/full_husky/full_husky_description/launch/view_robot.launch.py b/full_husky/full_husky_description/launch/view_robot.launch.py new file mode 100644 index 0000000..af2adce --- /dev/null +++ b/full_husky/full_husky_description/launch/view_robot.launch.py @@ -0,0 +1,41 @@ +from launch import LaunchDescription +from launch.substitutions import Command, PathJoinSubstitution + +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterValue +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + description_package = FindPackageShare("full_husky_description") + description_file = PathJoinSubstitution( + [description_package, "urdf", "full_husky.urdf.xacro"] + ) + rvizconfig_file = PathJoinSubstitution([description_package, "rviz", "urdf.rviz"]) + + robot_description = ParameterValue( + Command(["xacro ", description_file, " ", "ur_type:=", "ur5e"]), value_type=str + ) + + robot_state_publisher_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + parameters=[{"robot_description": robot_description}], + ) + + joint_state_publisher_gui_node = Node( + package="joint_state_publisher_gui", + executable="joint_state_publisher_gui", + ) + + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="screen", + arguments=["-d", rvizconfig_file], + ) + + return LaunchDescription( + [joint_state_publisher_gui_node, robot_state_publisher_node, rviz_node] + ) diff --git a/full_husky/full_husky_description/meshes/accessories/300_mm_sensor_arch.dae b/full_husky/full_husky_description/meshes/accessories/300_mm_sensor_arch.dae new file mode 100644 index 0000000..8aafc34 --- /dev/null +++ b/full_husky/full_husky_description/meshes/accessories/300_mm_sensor_arch.dae @@ -0,0 +1,199 @@ + + + + + Blender User + Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b + + 2015-03-23T14:20:02 + 2015-03-23T14:20:02 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0.000999987 + 1 + 0.1 + 0.1 + 1 + 1 + 1 + 2 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 2880 + 2 + 30.002 + 1.000799 + 0.04999995 + 29.99998 + 1 + 2 + 0 + 0 + 1 + 1 + 1 + 1 + 8192 + 1 + 1 + 0 + 1 + 1 + 1 + 3 + 0 + 0 + 0 + 0 + 0 + 1 + 1 + 1 + 3 + 0.15 + 75 + 1 + 1 + 0 + 1 + 1 + 0 + + + + + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.1 0.1 0.1 1 + + + 0.1 0.1 0.1 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + -0.32 -0.255 -0.3 -0.32 -0.275 -0.3 -0.01999998 -0.255 0 -0.01999998 -0.275 0 0.01999998 -0.255 -0.3 0.01999998 -0.275 -0.3 -0.01999998 -0.255 -0.3 -0.01999998 -0.275 -0.3 -0.01999998 -0.255 -0.02828425 -0.01999998 -0.275 -0.02828425 -0.2917158 -0.255 -0.3 -0.2917158 -0.275 -0.3 0.01999998 0.255 -0.3 0.01999998 0.275 -0.3 0.01999998 0.255 -0.01999998 0.01999998 0.275 0 0.01999998 -0.255 -0.01999998 0.01999998 -0.275 0 -0.01999998 0.255 -0.3 -0.01999998 0.275 -0.3 -0.01999998 0.255 -0.02828425 -0.01999998 0.275 -0.02828425 -0.2917158 0.255 -0.3 -0.2917158 0.275 -0.3 -0.32 0.255 -0.3 -0.32 0.275 -0.3 -0.01999998 0.275 0 -0.01999998 0.255 0 -0.01999998 -0.255 -0.01999998 -0.01999998 0.255 -0.01999998 + + + + + + + + + + -0.7071068 0 0.7071068 -0.7071068 0 0.7071068 0 0 -1 0 0 -1 -1 0 0 -1 0 0 0.7071068 0 -0.7071068 0.7071068 0 -0.7071068 0 0 -1 0 0 -1 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 0 -1 0 0 -1 -1 0 0 -1 0 0 0.7071068 0 -0.7071068 0.7071068 0 -0.7071068 0 0 -1 0 0 -1 -0.7071068 0 0.7071068 -0.7071068 0 0.7071068 0 0 1 0 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 -1 0 0 -1 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 -1 0 0 -1 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

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+ + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/full_husky/full_husky_description/meshes/wheel.stl b/full_husky/full_husky_description/meshes/wheel.stl new file mode 100644 index 0000000..3a3074e Binary files /dev/null and b/full_husky/full_husky_description/meshes/wheel.stl differ diff --git a/full_husky/full_husky_description/package.xml b/full_husky/full_husky_description/package.xml new file mode 100644 index 0000000..5d1b010 --- /dev/null +++ b/full_husky/full_husky_description/package.xml @@ -0,0 +1,29 @@ + + + + full_husky_description + 1.0.0 + + This package contains an urdf of a shared workspace. + Felix Exner + Sohaib Snouber + BSD-3-Clause + + Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation + + Felix Durchdewald + + ament_cmake + joint_state_publisher + joint_state_publisher_gui + robot_state_publisher + rviz2 + xacro + ur_description + ur_robot_driver + + + + ament_cmake + + diff --git a/full_husky/full_husky_description/rviz/urdf.rviz b/full_husky/full_husky_description/rviz/urdf.rviz new file mode 100644 index 0000000..83493a5 --- /dev/null +++ b/full_husky/full_husky_description/rviz/urdf.rviz @@ -0,0 +1,257 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 87 + Name: Displays + Property Tree Widget: + Expanded: + - /RobotModel1 + - /TF1 + - /TF1/Tree1 + Splitter Ratio: 0.5 + Tree Height: 637 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + monitor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robot_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + table: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur5e_base: + Alpha: 1 + Show Axes: false + Show Trail: false + ur5e_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + ur5e_base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur5e_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + ur5e_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur5e_ft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + ur5e_shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur5e_tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + ur5e_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur5e_wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur5e_wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur5e_wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wall: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + monitor: + Value: true + robot_mount: + Value: true + table: + Value: true + ur5e_base: + Value: true + ur5e_base_link: + Value: true + ur5e_base_link_inertia: + Value: true + ur5e_flange: + Value: true + ur5e_forearm_link: + Value: true + ur5e_ft_frame: + Value: true + ur5e_shoulder_link: + Value: true + ur5e_tool0: + Value: true + ur5e_upper_arm_link: + Value: true + ur5e_wrist_1_link: + Value: true + ur5e_wrist_2_link: + Value: true + ur5e_wrist_3_link: + Value: true + wall: + Value: true + world: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + world: + table: + monitor: + {} + robot_mount: + ur5e_base_link: + ur5e_base: + {} + ur5e_base_link_inertia: + ur5e_shoulder_link: + ur5e_upper_arm_link: + ur5e_forearm_link: + ur5e_wrist_1_link: + ur5e_wrist_2_link: + ur5e_wrist_3_link: + ur5e_flange: + ur5e_tool0: + {} + ur5e_ft_frame: + {} + wall: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/MoveCamera + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 4.839867115020752 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.8393054604530334 + Y: 0.6853293776512146 + Z: 1.452785611152649 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.16000038385391235 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.324998378753662 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1412 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000100000000000001ad0000052efc0200000002fb000000100044006900730070006c006100790073010000003b0000030f000000c700fffffffb0000000a00560069006500770073010000035000000219000000a000ffffff0000084d0000052e00000004000000040000000800000008fc0000000100000005e00000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 2560 + X: 195e + Y: 0 diff --git a/full_husky/full_husky_description/urdf/accessories/intel_realsense.urdf.xacro b/full_husky/full_husky_description/urdf/accessories/intel_realsense.urdf.xacro new file mode 100644 index 0000000..15570d7 --- /dev/null +++ b/full_husky/full_husky_description/urdf/accessories/intel_realsense.urdf.xacro @@ -0,0 +1,105 @@ + + + + + + + + + + + + + + + + + + + true + + ${update_rate} + + + ${h_fov} + ${v_fov} + + + ${width} + ${height} + + RGB_INT8 + + + + 0.01 + 50.0 + + + + 0.2 + true + ${update_rate} + ${topic} + color/image_raw + color/camera_info + depth/image_rect_raw + depth/camera_info + depth/color/points + ${frame}_gazebo + ${min_range} + ${max_range} + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + 0 + 0 + 0 + 0 + 0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/full_husky/full_husky_description/urdf/accessories/sensor_arch.urdf.xacro b/full_husky/full_husky_description/urdf/accessories/sensor_arch.urdf.xacro new file mode 100644 index 0000000..1e211ce --- /dev/null +++ b/full_husky/full_husky_description/urdf/accessories/sensor_arch.urdf.xacro @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/full_husky/full_husky_description/urdf/accessories/sick_lms1xx_mount.urdf.xacro b/full_husky/full_husky_description/urdf/accessories/sick_lms1xx_mount.urdf.xacro new file mode 100644 index 0000000..da4de83 --- /dev/null +++ b/full_husky/full_husky_description/urdf/accessories/sick_lms1xx_mount.urdf.xacro @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/full_husky/full_husky_description/urdf/accessories/vlp16_mount.urdf.xacro b/full_husky/full_husky_description/urdf/accessories/vlp16_mount.urdf.xacro new file mode 100644 index 0000000..fec5563 --- /dev/null +++ b/full_husky/full_husky_description/urdf/accessories/vlp16_mount.urdf.xacro @@ -0,0 +1,64 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/full_husky/full_husky_description/urdf/decorations.urdf.xacro b/full_husky/full_husky_description/urdf/decorations.urdf.xacro new file mode 100644 index 0000000..00d33cb --- /dev/null +++ b/full_husky/full_husky_description/urdf/decorations.urdf.xacro @@ -0,0 +1,222 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/full_husky/full_husky_description/urdf/empty.urdf b/full_husky/full_husky_description/urdf/empty.urdf new file mode 100644 index 0000000..7cedc97 --- /dev/null +++ b/full_husky/full_husky_description/urdf/empty.urdf @@ -0,0 +1,6 @@ + + + diff --git a/full_husky/full_husky_description/urdf/full_husky.urdf.xacro b/full_husky/full_husky_description/urdf/full_husky.urdf.xacro new file mode 100644 index 0000000..1267bf8 --- /dev/null +++ b/full_husky/full_husky_description/urdf/full_husky.urdf.xacro @@ -0,0 +1,92 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/full_husky/full_husky_description/urdf/full_husky_macro.xacro b/full_husky/full_husky_description/urdf/full_husky_macro.xacro new file mode 100644 index 0000000..60f099e --- /dev/null +++ b/full_husky/full_husky_description/urdf/full_husky_macro.xacro @@ -0,0 +1,121 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/full_husky/full_husky_description/urdf/husky.urdf.xacro b/full_husky/full_husky_description/urdf/husky.urdf.xacro new file mode 100644 index 0000000..5827d3f --- /dev/null +++ b/full_husky/full_husky_description/urdf/husky.urdf.xacro @@ -0,0 +1,268 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + $(arg robot_namespace) + true + + + + + + $(arg robot_namespace) + 50.0 + base_link + imu/data + 0.005 0.005 0.005 + 0.005 0.005 0.005 + 0.005 0.005 0.005 + 0.005 0.005 0.005 + 0.005 + 0.005 + + + + + + $(arg robot_namespace) + 40 + base_link + base_link + navsat/fix + navsat/vel + 49.9 + 8.9 + 0 + 0 + 0.0001 0.0001 0.0001 + + + + + + + + + + diff --git a/full_husky/full_husky_description/urdf/wheel.urdf.xacro b/full_husky/full_husky_description/urdf/wheel.urdf.xacro new file mode 100644 index 0000000..f2b420e --- /dev/null +++ b/full_husky/full_husky_description/urdf/wheel.urdf.xacro @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + 1 + + + hardware_interface/VelocityJointInterface + + + + + diff --git a/full_husky/full_husky_moveit_config/.setup_assistant b/full_husky/full_husky_moveit_config/.setup_assistant new file mode 100644 index 0000000..fa1c7e1 --- /dev/null +++ b/full_husky/full_husky_moveit_config/.setup_assistant @@ -0,0 +1,25 @@ +moveit_setup_assistant_config: + urdf: + package: full_husky_description + relative_path: urdf/full_husky.urdf.xacro + srdf: + relative_path: config/full_husky.srdf + package_settings: + author_name: Sohaib Snouber + author_email: sohaibshehabsnouber@gmail.com + generated_timestamp: 1723460269 + control_xacro: + command: + - position + state: + - position + - velocity + modified_urdf: + xacros: + - control_xacro + control_xacro: + command: + - position + state: + - position + - velocity \ No newline at end of file diff --git a/full_husky/full_husky_moveit_config/CMakeLists.txt b/full_husky/full_husky_moveit_config/CMakeLists.txt new file mode 100644 index 0000000..03eff5d --- /dev/null +++ b/full_husky/full_husky_moveit_config/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.22) +project(full_husky_moveit_config) + +find_package(ament_cmake REQUIRED) + +ament_package() + +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) +install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME}) diff --git a/full_husky/full_husky_moveit_config/config/full_husky.srdf b/full_husky/full_husky_moveit_config/config/full_husky.srdf new file mode 100644 index 0000000..9a6a0d0 --- /dev/null +++ b/full_husky/full_husky_moveit_config/config/full_husky.srdf @@ -0,0 +1,247 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/full_husky/full_husky_moveit_config/config/initial_positions.yaml b/full_husky/full_husky_moveit_config/config/initial_positions.yaml new file mode 100644 index 0000000..dbc96c2 --- /dev/null +++ b/full_husky/full_husky_moveit_config/config/initial_positions.yaml @@ -0,0 +1,10 @@ +# Default initial positions for full_husky's ros2_control fake system + +initial_positions: + finger_joint: 0 + ur5e_elbow_joint: 0 + ur5e_shoulder_lift_joint: 0 + ur5e_shoulder_pan_joint: 0 + ur5e_wrist_1_joint: 0 + ur5e_wrist_2_joint: 0 + ur5e_wrist_3_joint: 0 \ No newline at end of file diff --git a/full_husky/full_husky_moveit_config/config/joint_limits.yaml b/full_husky/full_husky_moveit_config/config/joint_limits.yaml new file mode 100644 index 0000000..dfd154c --- /dev/null +++ b/full_husky/full_husky_moveit_config/config/joint_limits.yaml @@ -0,0 +1,70 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed + +# For beginners, we downscale velocity and acceleration limits. +# You can always specify higher scaling factors (<= 1.5.0) in your motion requests. # Increase the values below to 1.5.0 to always move at maximum speed. +default_velocity_scaling_factor: 0.1 +default_acceleration_scaling_factor: 0.1 + +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + finger_joint: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 5.0 + left_inner_finger_joint: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 5.0 + left_inner_knuckle_joint: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 5.0 + right_inner_finger_joint: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 5.0 + right_inner_knuckle_joint: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 5.0 + right_outer_knuckle_joint: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 5.0 + ur5e_elbow_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: true + max_acceleration: 5.0 + ur5e_shoulder_lift_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: true + max_acceleration: 5.0 + ur5e_shoulder_pan_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: true + max_acceleration: 5.0 + ur5e_wrist_1_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: true + max_acceleration: 5.0 + ur5e_wrist_2_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: true + max_acceleration: 5.0 + ur5e_wrist_3_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: true + max_acceleration: 5.0 \ No newline at end of file diff --git a/full_husky/full_husky_moveit_config/config/kinematics.yaml b/full_husky/full_husky_moveit_config/config/kinematics.yaml new file mode 100644 index 0000000..2ce3608 --- /dev/null +++ b/full_husky/full_husky_moveit_config/config/kinematics.yaml @@ -0,0 +1,4 @@ +ur_manipulator: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.0050000000000000001 + kinematics_solver_timeout: 0.0050000000000000001 \ No newline at end of file diff --git a/full_husky/full_husky_moveit_config/config/moveit.rviz b/full_husky/full_husky_moveit_config/config/moveit.rviz new file mode 100644 index 0000000..f31651e --- /dev/null +++ b/full_husky/full_husky_moveit_config/config/moveit.rviz @@ -0,0 +1,51 @@ +Panels: + - Class: rviz_common/Displays + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + - Class: rviz_common/Help + Name: Help + - Class: rviz_common/Views + Name: Views +Visualization Manager: + Displays: + - Class: rviz_default_plugins/Grid + Name: Grid + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Name: MotionPlanning + Planned Path: + Loop Animation: true + State Display Time: 0.05 s + Trajectory Topic: display_planned_path + Planning Scene Topic: monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Robot: + Robot Alpha: 0.5 + Value: true + Global Options: + Fixed Frame: world + Tools: + - Class: rviz_default_plugins/Interact + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 2.0 + Focal Point: + X: -0.1 + Y: 0.25 + Z: 0.30 + Name: Current View + Pitch: 0.5 + Target Frame: world + Yaw: -0.623 +Window Geometry: + Height: 975 + QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Width: 1200 diff --git a/full_husky/full_husky_moveit_config/config/moveit_controllers.yaml b/full_husky/full_husky_moveit_config/config/moveit_controllers.yaml new file mode 100644 index 0000000..31c863f --- /dev/null +++ b/full_husky/full_husky_moveit_config/config/moveit_controllers.yaml @@ -0,0 +1,28 @@ +# MoveIt uses this configuration for controller management + +moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager + +moveit_simple_controller_manager: + controller_names: + - scaled_joint_trajectory_controller + - gripper + + scaled_joint_trajectory_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - ur5e_shoulder_pan_joint + - ur5e_shoulder_lift_joint + - ur5e_elbow_joint + - ur5e_wrist_1_joint + - ur5e_wrist_2_joint + - ur5e_wrist_3_joint + action_ns: follow_joint_trajectory + default: true + gripper: + type: GripperCommand + joints: + - finger_joint + action_ns: gripper_cmd + default: true \ No newline at end of file diff --git a/full_husky/full_husky_moveit_config/config/ompl_planning.yaml b/full_husky/full_husky_moveit_config/config/ompl_planning.yaml new file mode 100644 index 0000000..8988f6d --- /dev/null +++ b/full_husky/full_husky_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,84 @@ +planner_configs: + SBLkConfigDefault: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ESTkConfigDefault: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECEkConfigDefault: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECEkConfigDefault: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECEkConfigDefault: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRTkConfigDefault: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnectkConfigDefault: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstarkConfigDefault: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRTkConfigDefault: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expression. default: 0.0 set in setup() + PRMkConfigDefault: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstarkConfigDefault: + type: geometric::PRMstar +ur_manipulator: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE + #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint) + default_planner_id: RRTConnectKConfigDefault + longest_valid_segment_fraction: 0.01 + +ompl: + planning_pipeline: ompl + request_adapters: >- + default_planner_request_adapters/AddTimeOptimalParameterization + default_planner_request_adapters/FixWorkspaceBounds + default_planner_request_adapters/FixStartStateBounds + default_planner_request_adapters/FixStartStateCollision + default_planner_request_adapters/FixStartStatePathConstraints + start_state_max_bounds_error: 0.1 + planners: + RRTConnectkConfigDefault: + type: geometric::RRTConnect diff --git a/full_husky/full_husky_moveit_config/config/pilz_cartesian_limits.yaml b/full_husky/full_husky_moveit_config/config/pilz_cartesian_limits.yaml new file mode 100644 index 0000000..b2997ca --- /dev/null +++ b/full_husky/full_husky_moveit_config/config/pilz_cartesian_limits.yaml @@ -0,0 +1,6 @@ +# Limits for the Pilz planner +cartesian_limits: + max_trans_vel: 1.0 + max_trans_acc: 2.25 + max_trans_dec: -5.0 + max_rot_vel: 1.57 diff --git a/full_husky/full_husky_moveit_config/launch/demo.launch.py b/full_husky/full_husky_moveit_config/launch/demo.launch.py new file mode 100644 index 0000000..0c9f7ba --- /dev/null +++ b/full_husky/full_husky_moveit_config/launch/demo.launch.py @@ -0,0 +1,7 @@ +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_demo_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder("full_husky", package_name="full_husky_moveit_config").to_moveit_configs() + return generate_demo_launch(moveit_config) diff --git a/full_husky/full_husky_moveit_config/launch/move_group.launch.py b/full_husky/full_husky_moveit_config/launch/move_group.launch.py new file mode 100644 index 0000000..4db6046 --- /dev/null +++ b/full_husky/full_husky_moveit_config/launch/move_group.launch.py @@ -0,0 +1,47 @@ +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_move_group_launch +from ament_index_python.packages import get_package_share_directory +from ur_moveit_config.launch_common import load_yaml + +def generate_launch_description(): + # Resolve the paths to the necessary files + robot_description_path = get_package_share_directory('full_husky_description') + '/urdf/full_husky.urdf.xacro' + srdf_path = get_package_share_directory('full_husky_moveit_config') + '/config/full_husky.srdf' + controllers_path = get_package_share_directory('full_husky_moveit_config') + '/config/moveit_controllers.yaml' + ompl_planning_yaml_path = get_package_share_directory('full_husky_moveit_config') + '/config/ompl_planning.yaml' + + # Load the OMPL planning configuration + ompl_planning_yaml = load_yaml("full_husky_moveit_config", "config/ompl_planning.yaml") + + # Build the MoveIt configuration using the modular builder pattern + moveit_config = ( + MoveItConfigsBuilder("full_husky", package_name="full_husky_moveit_config") + .robot_description(file_path=robot_description_path) + .robot_description_semantic(file_path=srdf_path) + .trajectory_execution(file_path=controllers_path) + .planning_pipelines(pipelines=["ompl","pilz_industrial_motion_planner"]) + .to_moveit_configs() + ) + + # Define additional OMPL planning configuration + ompl_planning_pipeline_config = { + "move_group": { + "planning_plugin": "ompl_interface/OMPLPlanner", + "request_adapters": "default_planner_request_adapters/AddTimeOptimalParameterization " + "default_planner_request_adapters/FixWorkspaceBounds " + "default_planner_request_adapters/FixStartStateBounds " + "default_planner_request_adapters/FixStartStateCollision " + "default_planner_request_adapters/FixStartStatePathConstraints", + "start_state_max_bounds_error": 0.1, + "default_planner_id": "RRTConnectkConfigDefault", + } + } + + # Combine the OMPL planning YAML with additional configurations + ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml) + + # Set the combined configuration to the MoveItConfigs object + moveit_config.planning_pipelines['ompl'] = ompl_planning_pipeline_config['move_group'] + + + return generate_move_group_launch(moveit_config) \ No newline at end of file diff --git a/full_husky/full_husky_moveit_config/launch/moveit_rviz.launch.py b/full_husky/full_husky_moveit_config/launch/moveit_rviz.launch.py new file mode 100644 index 0000000..460a8ee --- /dev/null +++ b/full_husky/full_husky_moveit_config/launch/moveit_rviz.launch.py @@ -0,0 +1,16 @@ +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_moveit_rviz_launch +from ament_index_python.packages import get_package_share_directory +from ur_moveit_config.launch_common import load_yaml + +def generate_launch_description(): + # Load MoveIt configuration + moveit_config = MoveItConfigsBuilder("full_husky", package_name="full_husky_moveit_config").to_moveit_configs() + + # Load the OMPL planning configuration from YAML + ompl_planning_yaml = load_yaml("full_husky_moveit_config", "config/ompl_planning.yaml") + + # Set the OMPL planner config to the MoveItConfig + moveit_config.planning_pipelines['ompl'] = ompl_planning_yaml + + return generate_moveit_rviz_launch(moveit_config) \ No newline at end of file diff --git a/full_husky/full_husky_moveit_config/launch/rsp.launch.py b/full_husky/full_husky_moveit_config/launch/rsp.launch.py new file mode 100644 index 0000000..b2e8e95 --- /dev/null +++ b/full_husky/full_husky_moveit_config/launch/rsp.launch.py @@ -0,0 +1,7 @@ +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_rsp_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder("full_husky", package_name="full_husky_moveit_config").to_moveit_configs() + return generate_rsp_launch(moveit_config) diff --git a/full_husky/full_husky_moveit_config/launch/setup_assistant.launch.py b/full_husky/full_husky_moveit_config/launch/setup_assistant.launch.py new file mode 100644 index 0000000..259d779 --- /dev/null +++ b/full_husky/full_husky_moveit_config/launch/setup_assistant.launch.py @@ -0,0 +1,7 @@ +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_setup_assistant_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder("full_husky", package_name="full_husky_moveit_config").to_moveit_configs() + return generate_setup_assistant_launch(moveit_config) diff --git a/full_husky/full_husky_moveit_config/launch/spawn_controllers.launch.py b/full_husky/full_husky_moveit_config/launch/spawn_controllers.launch.py new file mode 100644 index 0000000..e3d162b --- /dev/null +++ b/full_husky/full_husky_moveit_config/launch/spawn_controllers.launch.py @@ -0,0 +1,7 @@ +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_spawn_controllers_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder("full_husky", package_name="full_husky_moveit_config").to_moveit_configs() + return generate_spawn_controllers_launch(moveit_config) diff --git a/full_husky/full_husky_moveit_config/launch/static_virtual_joint_tfs.launch.py b/full_husky/full_husky_moveit_config/launch/static_virtual_joint_tfs.launch.py new file mode 100644 index 0000000..247b353 --- /dev/null +++ b/full_husky/full_husky_moveit_config/launch/static_virtual_joint_tfs.launch.py @@ -0,0 +1,7 @@ +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder("full_husky", package_name="full_husky_moveit_config").to_moveit_configs() + return generate_static_virtual_joint_tfs_launch(moveit_config) diff --git a/full_husky/full_husky_moveit_config/launch/warehouse_db.launch.py b/full_husky/full_husky_moveit_config/launch/warehouse_db.launch.py new file mode 100644 index 0000000..a029858 --- /dev/null +++ b/full_husky/full_husky_moveit_config/launch/warehouse_db.launch.py @@ -0,0 +1,7 @@ +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_warehouse_db_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder("full_husky", package_name="full_husky_moveit_config").to_moveit_configs() + return generate_warehouse_db_launch(moveit_config) diff --git a/full_husky/full_husky_moveit_config/package.xml b/full_husky/full_husky_moveit_config/package.xml new file mode 100644 index 0000000..2801fde --- /dev/null +++ b/full_husky/full_husky_moveit_config/package.xml @@ -0,0 +1,52 @@ + + + + full_husky_moveit_config + 0.3.0 + + An automatically generated package with all the configuration and launch files for using the full_husky with the MoveIt Motion Planning Framework + + Sohaib Snouber + + BSD-3-Clause + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit2/issues + https://github.com/ros-planning/moveit2 + + Sohaib Snouber + + ament_cmake + + moveit_ros_move_group + moveit_kinematics + moveit_planners + moveit_simple_controller_manager + joint_state_publisher + joint_state_publisher_gui + tf2_ros + xacro + + + + controller_manager + full_husky_description + moveit_configs_utils + moveit_ros_move_group + moveit_ros_visualization + moveit_ros_warehouse + moveit_setup_assistant + robot_state_publisher + rviz2 + rviz_common + rviz_default_plugins + tf2_ros + warehouse_ros_mongo + xacro + + + + ament_cmake + + diff --git a/full_husky/robotiq_2f_140_gripper_visualization/CMakeLists.txt b/full_husky/robotiq_2f_140_gripper_visualization/CMakeLists.txt new file mode 100644 index 0000000..ce64386 --- /dev/null +++ b/full_husky/robotiq_2f_140_gripper_visualization/CMakeLists.txt @@ -0,0 +1,34 @@ +cmake_minimum_required(VERSION 3.8) +project(robotiq_2f_140_gripper_visualization) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) + + +install(DIRECTORY urdf/ + DESTINATION share/${PROJECT_NAME}/urdf +) +install(DIRECTORY meshes/ + DESTINATION share/${PROJECT_NAME}/meshes +) + + +#if(BUILD_TESTING) +# find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files +# set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files +# set(ament_cmake_cpplint_FOUND TRUE) +# ament_lint_auto_find_test_dependencies() +#endif() + +ament_package() diff --git a/full_husky/robotiq_2f_140_gripper_visualization/README.md b/full_husky/robotiq_2f_140_gripper_visualization/README.md new file mode 100644 index 0000000..dd0ecec --- /dev/null +++ b/full_husky/robotiq_2f_140_gripper_visualization/README.md @@ -0,0 +1,14 @@ +# Robotiq 140mm 2-Finger-Adaptive-Gripper + +This package contains the URDF files describing the 140mm stroke gripper from robotiq, also known as series **C3**. + +To test the gripper URDF description type + +``` +roslaunch robotiq_2f_140_gripper_visualization test_2f_140_model.launch +``` +## Robot Visual +![140](https://user-images.githubusercontent.com/8356912/49428409-463f8580-f7a6-11e8-8278-5246acdc5c14.png) + +## Robot Collision +![1402](https://user-images.githubusercontent.com/8356912/49428407-463f8580-f7a6-11e8-9c4e-df69e478f107.png) diff --git a/full_husky/robotiq_2f_140_gripper_visualization/meshes/collision/robotiq_arg2f_140_inner_finger.stl b/full_husky/robotiq_2f_140_gripper_visualization/meshes/collision/robotiq_arg2f_140_inner_finger.stl new file mode 100644 index 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a/full_husky/robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_140_outer_finger.stl b/full_husky/robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_140_outer_finger.stl new file mode 100644 index 0000000..64301c5 Binary files /dev/null and b/full_husky/robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_140_outer_finger.stl differ diff --git a/full_husky/robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_140_outer_knuckle.stl b/full_husky/robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_140_outer_knuckle.stl new file mode 100644 index 0000000..9621fc8 Binary files /dev/null and b/full_husky/robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_140_outer_knuckle.stl differ diff --git a/full_husky/robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_base_link.stl b/full_husky/robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_base_link.stl new file mode 100644 index 0000000..d0f3a2c Binary files /dev/null and b/full_husky/robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_base_link.stl differ diff --git a/full_husky/robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_coupling.stl b/full_husky/robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_coupling.stl new file mode 100644 index 0000000..02c600f Binary files /dev/null and b/full_husky/robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_coupling.stl differ diff --git a/full_husky/robotiq_2f_140_gripper_visualization/package.xml b/full_husky/robotiq_2f_140_gripper_visualization/package.xml new file mode 100644 index 0000000..29e1cb0 --- /dev/null +++ b/full_husky/robotiq_2f_140_gripper_visualization/package.xml @@ -0,0 +1,27 @@ + + + + robotiq_2f_140_gripper_visualization + 1.0.0 + Robotiq ARG 2-Finger 140mm model C3 description package + http://ros.org/wiki/robotiq + Ryan Sinnet + Jean-Philippe Roberge + Daniel Ordonez + sohaib + BSD + + + ament_cmake + + rclcpp + std_msgs + urdf + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/full_husky/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f.xacro b/full_husky/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f.xacro new file mode 100644 index 0000000..618686d --- /dev/null +++ b/full_husky/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f.xacro @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/full_husky/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_140_model.xacro b/full_husky/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_140_model.xacro new file mode 100644 index 0000000..0395d16 --- /dev/null +++ b/full_husky/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_140_model.xacro @@ -0,0 +1,5 @@ + + + + + diff --git a/full_husky/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_140_model_macro.xacro b/full_husky/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_140_model_macro.xacro new file mode 100644 index 0000000..c31aff9 --- /dev/null +++ b/full_husky/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_140_model_macro.xacro @@ -0,0 +1,226 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/full_husky/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_transmission.xacro b/full_husky/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_transmission.xacro new file mode 100644 index 0000000..e570506 --- /dev/null +++ b/full_husky/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_transmission.xacro @@ -0,0 +1,14 @@ + + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + 1 + + + + diff --git a/full_husky/robotiq_2f_140_gripper_visualization/visualize.rviz b/full_husky/robotiq_2f_140_gripper_visualization/visualize.rviz new file mode 100644 index 0000000..83f06b2 --- /dev/null +++ b/full_husky/robotiq_2f_140_gripper_visualization/visualize.rviz @@ -0,0 +1,241 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /RobotModel1 + - /RobotModel1/Link/Joint Tree1 + Splitter Ratio: 0.57432431 + Tree Height: 815 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Link/Joint Tree: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Tree of links and joints + robotiq_arg2f_base_link: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + finger_joint: + Details: + Show Axes: false + Show Joint Axis: false + Value: true + left_outer_knuckle: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_outer_finger_joint: + Details: + Show Axes: false + Value: true + left_outer_finger: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_inner_finger_joint: + Details: + Show Axes: false + Show Joint Axis: false + Value: true + left_inner_finger: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_inner_finger_pad_joint: + Details: + Show Axes: false + Value: true + left_inner_finger_pad: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_inner_knuckle_joint: + Details: + Show Axes: false + Show Joint Axis: false + Value: true + left_inner_knuckle: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_inner_knuckle_joint: + Details: + Show Axes: false + Show Joint Axis: false + Value: true + right_inner_knuckle: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_outer_knuckle_joint: + Details: + Show Axes: false + Show Joint Axis: false + Value: true + right_outer_knuckle: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_outer_finger_joint: + Details: + Show Axes: false + Value: true + right_outer_finger: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_inner_finger_joint: + Details: + Show Axes: false + Show Joint Axis: false + Value: true + right_inner_finger: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_inner_finger_pad_joint: + Details: + Show Axes: false + Value: true + right_inner_finger_pad: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: robotiq_arg2f_base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 0.409954339 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.00203653378 + Y: 0.00489575882 + Z: 0.0903690681 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.265203476 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.352224886 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1028 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1558 + X: 322 + Y: 24