From db8e7278f1276e313e9bc8ed4dafcd1a7a936712 Mon Sep 17 00:00:00 2001 From: Svastits <49677296+Svastits@users.noreply.github.com> Date: Tue, 12 Dec 2023 13:17:35 +0100 Subject: [PATCH 1/4] Add documentation for support packages (#38) * readme skeleton * rviz config cleanup * add moveit config launch files in readme * move rsi simulator to drivers * update skeleton * joint limits readme * add xacro ros-in conventions to readme * update readme * add table about verified data * central alignment * fix special chars * move rsi simulator to drivers * joint_ai-> joint_i * Update README.md Co-authored-by: G.A. vd. Hoorn * Update README.md Co-authored-by: G.A. vd. Hoorn * MoveIt,checkmark * use ` for all names * fix version * change to gui version in test launch files * update readme about test launch files * remove starting spaces * Update README.md Co-authored-by: G.A. vd. Hoorn * ` * lint * frame conventions * fix * fix2 * includes * fix typo * fix flange ros-in convention --------- Co-authored-by: Aron Svastits Co-authored-by: G.A. vd. Hoorn --- README.md | 106 ++- .../config/kr6_r700_sixx_joint_limits.yaml | 12 +- .../config/kr6_r900_sixx_joint_limits.yaml | 12 +- .../launch/test_kr6_r700_sixx.launch.py | 10 +- .../launch/test_kr6_r900_sixx.launch.py | 10 +- kuka_agilus_support/package.xml | 2 +- .../urdf/kr6_r700_sixx_macro.xacro | 14 +- .../urdf/kr6_r900_sixx_macro.xacro | 14 +- .../urdf/kr_agilus_ros2_control.xacro | 12 +- .../urdf/kr_agilus_transmission.xacro | 36 +- .../config/kr16_r2010_2_joint_limits.yaml | 12 +- .../launch/test_kr16_r2010_2.launch.py | 10 +- kuka_cybertech_support/package.xml | 2 +- .../urdf/kr16_r2010_2_macro.xacro | 14 +- .../urdf/kr_cybertech_ros2_control.xacro | 12 +- .../urdf/kr_cybertech_transmission.xacro | 36 +- .../config/moveit_controllers.yaml | 12 +- .../moveit_planning_fake_hardware.launch.py | 2 +- kuka_kr_moveit_config/srdf/kr_arm_macro.xacro | 12 +- kuka_lbr_iisy_moveit_config/CMakeLists.txt | 2 +- .../config/moveit_controllers.yaml | 12 +- .../config/ompl_planning.yaml | 2 +- .../moveit_planning_fake_hardware.launch.py | 84 +++ kuka_lbr_iisy_moveit_config/package.xml | 2 +- .../srdf/lbr_iisy_arm.macro.xacro | 12 +- .../config/lbr_iisy11_r1300_joint_limits.yaml | 33 +- .../config/lbr_iisy15_r930_joint_limits.yaml | 33 +- .../config/lbr_iisy3_r760_joint_limits.yaml | 33 +- .../launch/test_lbr_iisy11_r1300.launch.py | 10 +- .../launch/test_lbr_iisy15_r930.launch.py | 10 +- .../launch/test_lbr_iisy3_r760.launch.py | 11 +- kuka_lbr_iisy_support/package.xml | 2 +- .../urdf/lbr_iisy11_r1300_macro.xacro | 14 +- .../urdf/lbr_iisy15_r930_macro.xacro | 14 +- .../urdf/lbr_iisy3_r760_macro.xacro | 14 +- .../urdf/lbr_iisy_ros2_control.xacro | 14 +- .../urdf/lbr_iisy_transmission.xacro | 36 +- kuka_lbr_iiwa_moveit_config/CMakeLists.txt | 2 +- .../config/moveit_controllers.yaml | 14 +- .../config/ompl_planning.yaml | 2 +- .../moveit_planning_fake_hardware.launch.py | 84 +++ kuka_lbr_iiwa_moveit_config/package.xml | 2 +- .../srdf/lbr_iiwa_arm.macro.xacro | 14 +- .../config/lbr_iiwa14_r820_joint_limits.yaml | 14 +- .../launch/test_lbr_iiwa14_r820.launch.py | 10 +- .../urdf/lbr_iiwa14_r820_macro.xacro | 14 +- .../urdf/lbr_iiwa_ros2_control.xacro | 16 +- .../urdf/lbr_iiwa_transmission.xacro | 42 +- .../config/kr210_r2700_2_joint_limits.yaml | 12 +- .../config/kr210_r3100_2_joint_limits.yaml | 12 +- .../launch/test_kr210_r2700_2.launch.py | 10 +- .../launch/test_kr210_r3100_2.launch.py | 10 +- kuka_quantec_support/package.xml | 2 +- .../urdf/kr210_r2700_2_macro.xacro | 14 +- .../urdf/kr210_r3100_2_macro.xacro | 14 +- .../urdf/kr_quantec_ros2_control.xacro | 12 +- .../urdf/kr_quantec_transmission.xacro | 36 +- kuka_resources/config/planning_6_axis.rviz | 606 +++++++++++++++++ kuka_resources/config/planning_7_axis.rviz | 613 ++++++++++++++++++ .../config/view_6_axis_planning_scene.rviz | 0 .../config/view_7_axis_planning_scene.rviz | 419 ++++++++++++ kuka_robot_descriptions/package.xml | 1 - .../kuka_rsi_simulator/__init__.py | 0 .../kuka_rsi_simulator/rsi_simulator.py | 139 ---- .../kuka_rsi_simulator_launch.cpython-38.pyc | Bin 435 -> 0 bytes .../launch/kuka_rsi_simulator_launch.py | 43 -- kuka_rsi_simulator/package.xml | 19 - .../resource/kuka_rsi_simulator | 0 kuka_rsi_simulator/setup.cfg | 4 - kuka_rsi_simulator/setup.py | 33 - kuka_rsi_simulator/test/test_copyright.py | 23 - kuka_rsi_simulator/test/test_flake8.py | 25 - kuka_rsi_simulator/test/test_pep257.py | 23 - 73 files changed, 2254 insertions(+), 708 deletions(-) create mode 100644 kuka_lbr_iisy_moveit_config/launch/moveit_planning_fake_hardware.launch.py create mode 100644 kuka_lbr_iiwa_moveit_config/launch/moveit_planning_fake_hardware.launch.py create mode 100644 kuka_resources/config/planning_6_axis.rviz create mode 100644 kuka_resources/config/planning_7_axis.rviz rename kuka_lbr_iisy_moveit_config/config/urdf_planning_scene.rviz => kuka_resources/config/view_6_axis_planning_scene.rviz (100%) create mode 100644 kuka_resources/config/view_7_axis_planning_scene.rviz delete mode 100644 kuka_rsi_simulator/kuka_rsi_simulator/__init__.py delete mode 100755 kuka_rsi_simulator/kuka_rsi_simulator/rsi_simulator.py delete mode 100644 kuka_rsi_simulator/launch/__pycache__/kuka_rsi_simulator_launch.cpython-38.pyc delete mode 100644 kuka_rsi_simulator/launch/kuka_rsi_simulator_launch.py delete mode 100644 kuka_rsi_simulator/package.xml delete mode 100644 kuka_rsi_simulator/resource/kuka_rsi_simulator delete mode 100644 kuka_rsi_simulator/setup.cfg delete mode 100644 kuka_rsi_simulator/setup.py delete mode 100644 kuka_rsi_simulator/test/test_copyright.py delete mode 100644 kuka_rsi_simulator/test/test_flake8.py delete mode 100644 kuka_rsi_simulator/test/test_pep257.py diff --git a/README.md b/README.md index aae6010..6ef5e35 100644 --- a/README.md +++ b/README.md @@ -8,27 +8,105 @@ Github CI ## What is included? -- **kuka_resources** contains general, common files. It is copied from [kuka_experimental](https://github.com/ros-industrial/kuka_experimental) and is ported from ROS to ROS2. -- **kuka_cybertech_support** contains urdf, config and mesh files for KUKA cybertech robots. -- **kuka_kr_moveit_config** contains configuration files for KUKA KR robots necessary for planning with moveit. -- **kuka_lbr_iisy_support** contains urdf, config and mesh files for KUKA iisy robots. -- **kuka_lbr_iisy_moveit_config** contains configuration files for KUKA iisy robots necessary for planning with moveit. -- **kuka_agilus_support** contains urdf, config and mesh files for KUKA Agilus robots, it is copied from [kuka_experimental](https://github.com/ros-industrial/kuka_experimental) and ported to ROS2. -- **kuka_lbr_iiwa_support** contains urdf, config and mesh files for KUKA LBR iiwa 7 robots -- **kuka_rsi_simulator** implements a basic RSI simulator. It is also copied from [kuka_experimental](https://github.com/ros-industrial/kuka_experimental) and is ported to ROS2. It implements a UDP socket, and receives the commands from an RSI interface and sends back the actual position of the robot (as it is a simulation, it is a simple closed loop, it sends what it received). +- `kuka_resources` contains general, common files. It is copied from [kuka_experimental](https://github.com/ros-industrial/kuka_experimental) and is ported from ROS to ROS2. +- `kuka_cybertech_support` contains urdf, config and mesh files for KUKA cybertech robots. +- `kuka_kr_moveit_config` contains configuration files for KUKA KR robots necessary for planning with MoveIt. +- `kuka_lbr_iisy_support` contains urdf, config and mesh files for KUKA iisy robots. +- `kuka_lbr_iisy_moveit_config` contains configuration files for KUKA LBR iisy robots necessary for planning with MoveIt. +- `kuka_agilus_support` contains urdf, config and mesh files for KUKA Agilus robots, it is copied from [kuka_experimental](https://github.com/ros-industrial/kuka_experimental) and ported to ROS2. +- `kuka_lbr_iiwa_support` contains urdf, config and mesh files for KUKA LBR iiwa robots +- `kuka_lbr_iiwa_moveit_config` contains configuration files for KUKA LBR iiwa robots necessary for planning with MoveIt. -## Running the RSI simulator +## Structure of the support packages +All support packages consist of 4 folders: +- `config`: contains joint limits, necessary for time parametrization of trajectories +- `launch`: contains launch files to be able to visualize the robot models +- `meshes`: contains collision and visual meshes for the robots +- `urdf`: contains the xacro files describing the robots, including `ros2_control` integration (with fake hardware argument) + +### Xacro files +Each robot has two specific xacro files: a macro (`{robot_name}_macro.xacro`) and another file instantiating this macro (`{robot_name}.urdf.xacro`). Additionally there is a xacro providing `ros2_control` integration, including the name and type of the hardware interface, hardware parameters and the supported state and command interfaces. +Additionally a transmission xacro is provided for gazebo support, but the `mechanicalReduction` parameters contained within are not valid, only placeholders. + +The macro files contain the links and joints of the main serial chain, including transformations, rotation axes, inertial properties, joint position, velocity and effort limits and the location of the mesh files. + +The macro file follows the ROS-Industrial conventions: + - link names are `link_{i}` + - joint names are `joint_{i}` + - all link and joint names have a `prefix` argument + - includes `base` frame: equivalent to the base frame defined by the industrial controller ($ROBROOT) + - includes `flange` frame: attachment point for EEF models + - includes `tool0` frame: all-zeros tool frame, identical to the tool frame defined by the industrial controller ($TOOL) + +All robots in the xacros are named according to the following pattern: + +`{kr/lbr_iisy/lbr_iiwa}{payload}_r{reach}_{version}`, + +where `version` is omitted, if the official product name does not contain it. (e.g. KR 120 R3100-2 is named `kr120_r3100_2` and LBR iisy 3 R760 is `lbr_iisy3_r760`) + +The MoveIt configuration packages also contain xacros, that describe the semantic information of the robots: planning groups, default states and link-pairs, for which collision checking should not be done. The default planning group (from `base_link` to `tool0`) is named `manipulator` for all robot arms. An end effector, named `end_effector` is also defined for all robots, which enables visualising end effector paths in rviz. + +To visualise the robot models, the launch files in the `launch` directory of the support packages can be used. These also start a `joint_state_publisher_gui` to enable visualisation of the robot meshes and frames with different joint configurations. However they have only visualisation purposes and cannot connect to real or fake hardware. + +### Frame conventions + +The frames of the main serial chain in the xacros (`base_link` to `link_6` or `link_7`) follow the Denavit–Hartenberg conventions of Khalil-Dombre. +The other frames, which are added to conform to ROS-Industrial follow the conventions defined there: `base` and `tool0` are defined to be identical to the frames on the controller, while `flange` follows [REP-103](https://www.ros.org/reps/rep-0103.html#coordinate-frame-conventions), meaning that in default position x+ points forwards and z+ upwards. + + +### Joint limit configurations + +The support packages contain a joint limits file for every supported robot model, necessary time parametrization of MoveIt-planned paths. They contain the velocity limits also available in the URDF model and additional acceleration limits. Acceleration limits can never be global, these values are calculated from the worst-case ramp-up time to reach maximum velocity. The easiest way to modify the allowed velocities and accelerations is to change the velocity and acceleration scaling factors also available in the same configuration files. (The scaling factor can never be smaller than 1.) + + +### Extending the models + +In real applications, it's likely that the description will be more complex, involving multiple objects next to the robot and optionally end effectors. It is recommended to create a new, dedicated ROS2 package specifically for managing this extended description by copying and extending the base robot model. + +Example of attaching an end effector (with link name `eef_base_link`) to the `flange` frame, which could be defined in a different xacro file: +```xml + + + + + ``` -ros2 launch kuka_rsi_simulator kuka_rsi_simulator_launch.py -``` -## Starting the move group server for KR robots +## What data is verified? + +Some of the data in the xacros might not be valid or missing, the following table shows what can be considered valid. + +|Robot name | Transformations | Joint position limits | Joint velocity limits | Joint effort limits | Inertial values | Simplified collision meshes| +|---|:---:|:---:|:---:|:---:|:---:|:---:| +|lbr_iisy3_r760 | ✓ | ✓ | ✓ | ✓ | | ✓ | +|lbr_iisy11_r1300 | ✓ | ✓ | ✓ | ✓ | | | +|lbr_iisy15_r930 | ✓ | ✓ | ✓ | ✓ | | | +|lbr_iiwa14_r820 | ✓ | ✓ | ✓ | | | | +|kr6_r700_sixx | ✓ | ✓ | ✓ | | | ✓ | +|kr6_r900_sixx | ✓ | ✓ | ✓ | | | ✓ | +|kr16_r2010_2 | ✓ | ✓ | ✓ | ✓ | | | +|kr210_r2700_2 | ✓ | ✓ | ✓ | ✓ | | | +|kr210_r3100_2 | ✓ | ✓ | ✓ | ✓ | | | + +## Starting the move group server with fake hardware -The following launch file will start the driver with fake hardware, matching robot_model and robot_family arguments can be added to the command e.g. (robot_model:=kr16_r2010_2 robot_family:=cybertech): +To start the driver with fake hardware and the motion planning rviz plugin, the following launch files can be used: +For KR robots (KSS): ``` ros2 launch kuka_kr_moveit_config moveit_planning_fake_hardware.launch.py ``` +Matching `robot_model` and `robot_family` arguments can be added to the command e.g. (`robot_model:=kr16_r2010_2` `robot_family:=cybertech`). + +For LBR iiwa robots (Sunrise): +``` +ros2 launch kuka_lbr_iisy_moveit_config moveit_planning_fake_hardware.launch.py +``` + +For LBR iisy robots (iiQKA): +``` +ros2 launch kuka_lbr_iiwa_moveit_config moveit_planning_fake_hardware.launch.py +``` -The robot_manager lifecycle node must be configured and activated to be able to see the robot in rviz, afterwards the server will be able to accept planning requests. (An example how to create such a request can be found in the (kuka_drivers/examples)/iiqka_moveit_example package.) +This will launch exactly the same nodes, as the driver launch file, but with fake hardware. Therefore the `robot_manager` lifecycle node must be configured and activated to be able to see the robot in rviz. After activation the server will be able to accept planning requests, from the plugin or from code. (An example how to create such a request from C++ code can be found in the (kuka_drivers/examples)/iiqka_moveit_example package.) diff --git a/kuka_agilus_support/config/kr6_r700_sixx_joint_limits.yaml b/kuka_agilus_support/config/kr6_r700_sixx_joint_limits.yaml index ce89cea..64f30ee 100644 --- a/kuka_agilus_support/config/kr6_r700_sixx_joint_limits.yaml +++ b/kuka_agilus_support/config/kr6_r700_sixx_joint_limits.yaml @@ -6,32 +6,32 @@ default_velocity_scaling_factor: 1.0 default_acceleration_scaling_factor: 1.0 joint_limits: - joint_a1: + joint_1: has_velocity_limits: true max_velocity: 6.283185 has_acceleration_limits: false has_jerk: false - joint_a2: + joint_2: has_velocity_limits: true max_velocity: 5.23599 has_acceleration_limits: false has_jerk: false - joint_a3: + joint_3: has_velocity_limits: true max_velocity: 6.283185 has_acceleration_limits: false has_jerk: false - joint_a4: + joint_4: has_velocity_limits: true max_velocity: 6.64970 has_acceleration_limits: false has_jerk: false - joint_a5: + joint_5: has_velocity_limits: true max_velocity: 6.77188 has_acceleration_limits: false has_jerk: false - joint_a6: + joint_6: has_velocity_limits: true max_velocity: 10.73377 has_acceleration_limits: false diff --git a/kuka_agilus_support/config/kr6_r900_sixx_joint_limits.yaml b/kuka_agilus_support/config/kr6_r900_sixx_joint_limits.yaml index ce89cea..64f30ee 100644 --- a/kuka_agilus_support/config/kr6_r900_sixx_joint_limits.yaml +++ b/kuka_agilus_support/config/kr6_r900_sixx_joint_limits.yaml @@ -6,32 +6,32 @@ default_velocity_scaling_factor: 1.0 default_acceleration_scaling_factor: 1.0 joint_limits: - joint_a1: + joint_1: has_velocity_limits: true max_velocity: 6.283185 has_acceleration_limits: false has_jerk: false - joint_a2: + joint_2: has_velocity_limits: true max_velocity: 5.23599 has_acceleration_limits: false has_jerk: false - joint_a3: + joint_3: has_velocity_limits: true max_velocity: 6.283185 has_acceleration_limits: false has_jerk: false - joint_a4: + joint_4: has_velocity_limits: true max_velocity: 6.64970 has_acceleration_limits: false has_jerk: false - joint_a5: + joint_5: has_velocity_limits: true max_velocity: 6.77188 has_acceleration_limits: false has_jerk: false - joint_a6: + joint_6: has_velocity_limits: true max_velocity: 10.73377 has_acceleration_limits: false diff --git a/kuka_agilus_support/launch/test_kr6_r700_sixx.launch.py b/kuka_agilus_support/launch/test_kr6_r700_sixx.launch.py index 6ac39a9..b27519d 100644 --- a/kuka_agilus_support/launch/test_kr6_r700_sixx.launch.py +++ b/kuka_agilus_support/launch/test_kr6_r700_sixx.launch.py @@ -51,9 +51,9 @@ def generate_launch_description(): parameters=[robot_description]) # Joint state publisher - joint_state_publisher = Node(package='joint_state_publisher', - executable='joint_state_publisher', - name='joint_state_publisher', - output='log') + joint_state_publisher_gui = Node(package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', + name='joint_state_publisher_gui', + output='log') - return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher]) + return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher_gui]) diff --git a/kuka_agilus_support/launch/test_kr6_r900_sixx.launch.py b/kuka_agilus_support/launch/test_kr6_r900_sixx.launch.py index 6ac39a9..b27519d 100644 --- a/kuka_agilus_support/launch/test_kr6_r900_sixx.launch.py +++ b/kuka_agilus_support/launch/test_kr6_r900_sixx.launch.py @@ -51,9 +51,9 @@ def generate_launch_description(): parameters=[robot_description]) # Joint state publisher - joint_state_publisher = Node(package='joint_state_publisher', - executable='joint_state_publisher', - name='joint_state_publisher', - output='log') + joint_state_publisher_gui = Node(package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', + name='joint_state_publisher_gui', + output='log') - return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher]) + return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher_gui]) diff --git a/kuka_agilus_support/package.xml b/kuka_agilus_support/package.xml index 895d4ff..52e40f0 100644 --- a/kuka_agilus_support/package.xml +++ b/kuka_agilus_support/package.xml @@ -49,7 +49,7 @@ xacro - joint_state_publisher + joint_state_publisher_gui kuka_resources robot_state_publisher rviz2 diff --git a/kuka_agilus_support/urdf/kr6_r700_sixx_macro.xacro b/kuka_agilus_support/urdf/kr6_r700_sixx_macro.xacro index b255da4..53843a8 100644 --- a/kuka_agilus_support/urdf/kr6_r700_sixx_macro.xacro +++ b/kuka_agilus_support/urdf/kr6_r700_sixx_macro.xacro @@ -126,49 +126,49 @@ - + - + - + - + - + - + - + diff --git a/kuka_agilus_support/urdf/kr6_r900_sixx_macro.xacro b/kuka_agilus_support/urdf/kr6_r900_sixx_macro.xacro index 88da46d..b9338ed 100644 --- a/kuka_agilus_support/urdf/kr6_r900_sixx_macro.xacro +++ b/kuka_agilus_support/urdf/kr6_r900_sixx_macro.xacro @@ -126,49 +126,49 @@ - + - + - + - + - + - + - + diff --git a/kuka_agilus_support/urdf/kr_agilus_ros2_control.xacro b/kuka_agilus_support/urdf/kr_agilus_ros2_control.xacro index 3e02e1b..1e69c26 100644 --- a/kuka_agilus_support/urdf/kr_agilus_ros2_control.xacro +++ b/kuka_agilus_support/urdf/kr_agilus_ros2_control.xacro @@ -20,37 +20,37 @@ ${client_port} - + 0.0 - + 0.0 - + 0.0 - + 0.0 - + 0.0 - + 0.0 diff --git a/kuka_agilus_support/urdf/kr_agilus_transmission.xacro b/kuka_agilus_support/urdf/kr_agilus_transmission.xacro index a92f94a..db7b954 100644 --- a/kuka_agilus_support/urdf/kr_agilus_transmission.xacro +++ b/kuka_agilus_support/urdf/kr_agilus_transmission.xacro @@ -1,62 +1,62 @@ - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission diff --git a/kuka_cybertech_support/config/kr16_r2010_2_joint_limits.yaml b/kuka_cybertech_support/config/kr16_r2010_2_joint_limits.yaml index f4241fb..525daa4 100644 --- a/kuka_cybertech_support/config/kr16_r2010_2_joint_limits.yaml +++ b/kuka_cybertech_support/config/kr16_r2010_2_joint_limits.yaml @@ -9,32 +9,32 @@ default_velocity_scaling_factor: 1.0 default_acceleration_scaling_factor: 1.0 joint_limits: - joint_a1: + joint_1: has_velocity_limits: true max_velocity: 3.490656 has_acceleration_limits: false has_jerk: false - joint_a2: + joint_2: has_velocity_limits: true max_velocity: 3.05432 has_acceleration_limits: false has_jerk: false - joint_a3: + joint_3: has_velocity_limits: true max_velocity: 3.31613 has_acceleration_limits: false has_jerk: false - joint_a4: + joint_4: has_velocity_limits: true max_velocity: 7.50492 has_acceleration_limits: false has_jerk: false - joint_a5: + joint_5: has_velocity_limits: true max_velocity: 7.50492 has_acceleration_limits: false has_jerk: false - joint_a6: + joint_6: has_velocity_limits: true max_velocity: 10.99557 has_acceleration_limits: false diff --git a/kuka_cybertech_support/launch/test_kr16_r2010_2.launch.py b/kuka_cybertech_support/launch/test_kr16_r2010_2.launch.py index c1cd7f0..5ded081 100644 --- a/kuka_cybertech_support/launch/test_kr16_r2010_2.launch.py +++ b/kuka_cybertech_support/launch/test_kr16_r2010_2.launch.py @@ -51,9 +51,9 @@ def generate_launch_description(): parameters=[robot_description]) # Joint state publisher - joint_state_publisher = Node(package='joint_state_publisher', - executable='joint_state_publisher', - name='joint_state_publisher', - output='log') + joint_state_publisher_gui = Node(package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', + name='joint_state_publisher_gui', + output='log') - return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher]) + return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher_gui]) diff --git a/kuka_cybertech_support/package.xml b/kuka_cybertech_support/package.xml index 51bfa26..22b1d15 100644 --- a/kuka_cybertech_support/package.xml +++ b/kuka_cybertech_support/package.xml @@ -14,7 +14,7 @@ xacro - joint_state_publisher + joint_state_publisher_gui kuka_resources robot_state_publisher rviz2 diff --git a/kuka_cybertech_support/urdf/kr16_r2010_2_macro.xacro b/kuka_cybertech_support/urdf/kr16_r2010_2_macro.xacro index fae5d96..3c86011 100644 --- a/kuka_cybertech_support/urdf/kr16_r2010_2_macro.xacro +++ b/kuka_cybertech_support/urdf/kr16_r2010_2_macro.xacro @@ -150,42 +150,42 @@ - + - + - + - + - + - + @@ -205,7 +205,7 @@ - + diff --git a/kuka_cybertech_support/urdf/kr_cybertech_ros2_control.xacro b/kuka_cybertech_support/urdf/kr_cybertech_ros2_control.xacro index da8e1fc..88fd1d9 100644 --- a/kuka_cybertech_support/urdf/kr_cybertech_ros2_control.xacro +++ b/kuka_cybertech_support/urdf/kr_cybertech_ros2_control.xacro @@ -20,37 +20,37 @@ ${client_port} - + 0.0 - + 0.0 - + 0.0 - + 0.0 - + 0.0 - + 0.0 diff --git a/kuka_cybertech_support/urdf/kr_cybertech_transmission.xacro b/kuka_cybertech_support/urdf/kr_cybertech_transmission.xacro index 72d2929..584ebbc 100644 --- a/kuka_cybertech_support/urdf/kr_cybertech_transmission.xacro +++ b/kuka_cybertech_support/urdf/kr_cybertech_transmission.xacro @@ -1,62 +1,62 @@ - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission diff --git a/kuka_kr_moveit_config/config/moveit_controllers.yaml b/kuka_kr_moveit_config/config/moveit_controllers.yaml index 74f177b..486bcb5 100644 --- a/kuka_kr_moveit_config/config/moveit_controllers.yaml +++ b/kuka_kr_moveit_config/config/moveit_controllers.yaml @@ -15,9 +15,9 @@ moveit_simple_controller_manager: type: FollowJointTrajectory default: true joints: - - joint_a1 - - joint_a2 - - joint_a3 - - joint_a4 - - joint_a5 - - joint_a6 + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 diff --git a/kuka_kr_moveit_config/launch/moveit_planning_fake_hardware.launch.py b/kuka_kr_moveit_config/launch/moveit_planning_fake_hardware.launch.py index 65d2a50..e5f2aef 100644 --- a/kuka_kr_moveit_config/launch/moveit_planning_fake_hardware.launch.py +++ b/kuka_kr_moveit_config/launch/moveit_planning_fake_hardware.launch.py @@ -45,7 +45,7 @@ def launch_setup(context, *args, **kwargs): ) rviz_config_file = get_package_share_directory( - 'kuka_kr_moveit_config') + "/config/urdf_planning_scene.rviz" + 'kuka_resources') + "/config/planning_6_axis.rviz" startup_launch = IncludeLaunchDescription(PythonLaunchDescriptionSource( [get_package_share_directory('kuka_kss_rsi_driver'), '/launch/startup.launch.py']), diff --git a/kuka_kr_moveit_config/srdf/kr_arm_macro.xacro b/kuka_kr_moveit_config/srdf/kr_arm_macro.xacro index 3184fa5..4c58d47 100644 --- a/kuka_kr_moveit_config/srdf/kr_arm_macro.xacro +++ b/kuka_kr_moveit_config/srdf/kr_arm_macro.xacro @@ -15,12 +15,12 @@ - - - - - - + + + + + + diff --git a/kuka_lbr_iisy_moveit_config/CMakeLists.txt b/kuka_lbr_iisy_moveit_config/CMakeLists.txt index f7e73cc..74f0b3c 100644 --- a/kuka_lbr_iisy_moveit_config/CMakeLists.txt +++ b/kuka_lbr_iisy_moveit_config/CMakeLists.txt @@ -10,7 +10,7 @@ xacro_add_files(TARGET iisy3 srdf/lbr_iisy3_r760_arm.srdf.xacro OUTPUT lbr_iisy3 xacro_add_files(TARGET iisy11 srdf/lbr_iisy11_r1300_arm.srdf.xacro OUTPUT lbr_iisy11_r1300.srdf INSTALL DESTINATION urdf) xacro_add_files(TARGET iisy15 srdf/lbr_iisy15_r930_arm.srdf.xacro OUTPUT lbr_iisy15_r930.srdf INSTALL DESTINATION urdf) -install(DIRECTORY config +install(DIRECTORY config launch DESTINATION share/${PROJECT_NAME}) ament_package() diff --git a/kuka_lbr_iisy_moveit_config/config/moveit_controllers.yaml b/kuka_lbr_iisy_moveit_config/config/moveit_controllers.yaml index 74f177b..486bcb5 100644 --- a/kuka_lbr_iisy_moveit_config/config/moveit_controllers.yaml +++ b/kuka_lbr_iisy_moveit_config/config/moveit_controllers.yaml @@ -15,9 +15,9 @@ moveit_simple_controller_manager: type: FollowJointTrajectory default: true joints: - - joint_a1 - - joint_a2 - - joint_a3 - - joint_a4 - - joint_a5 - - joint_a6 + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 diff --git a/kuka_lbr_iisy_moveit_config/config/ompl_planning.yaml b/kuka_lbr_iisy_moveit_config/config/ompl_planning.yaml index 9a82f15..85aa81b 100644 --- a/kuka_lbr_iisy_moveit_config/config/ompl_planning.yaml +++ b/kuka_lbr_iisy_moveit_config/config/ompl_planning.yaml @@ -143,7 +143,7 @@ planner_configs: manipulator: enforce_constrained_state_space: true - projection_evaluator: joints(joint_a1,joint_a2) + projection_evaluator: joints(joint_1,joint_2) planner_configs: - APSConfigDefault - SBLkConfigDefault diff --git a/kuka_lbr_iisy_moveit_config/launch/moveit_planning_fake_hardware.launch.py b/kuka_lbr_iisy_moveit_config/launch/moveit_planning_fake_hardware.launch.py new file mode 100644 index 0000000..0250720 --- /dev/null +++ b/kuka_lbr_iisy_moveit_config/launch/moveit_planning_fake_hardware.launch.py @@ -0,0 +1,84 @@ +# Copyright 2022 Áron Svastits +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +from moveit_configs_utils import MoveItConfigsBuilder +from launch.actions.include_launch_description import IncludeLaunchDescription +from launch.actions import DeclareLaunchArgument, OpaqueFunction +from launch.launch_description_sources.python_launch_description_source import PythonLaunchDescriptionSource # noqa: E501 +from launch.substitutions import LaunchConfiguration + + +def launch_setup(context, *args, **kwargs): + robot_model = LaunchConfiguration('robot_model') + + moveit_config = ( + MoveItConfigsBuilder("kuka_lbr_iisy") + .robot_description(file_path=get_package_share_directory( + 'kuka_lbr_iisy_support') + "/urdf/{}.urdf.xacro".format(robot_model.perform(context))) + .robot_description_semantic(get_package_share_directory('kuka_lbr_iisy_moveit_config') + + "/urdf/{}.srdf".format(robot_model.perform(context))) + .robot_description_kinematics(file_path="config/kinematics.yaml") + .trajectory_execution(file_path="config/moveit_controllers.yaml") + .planning_scene_monitor( + publish_robot_description=True, publish_robot_description_semantic=True + ) + .joint_limits(file_path=get_package_share_directory( + 'kuka_lbr_iisy_support') + + "/config/{}_joint_limits.yaml".format(robot_model.perform(context))) + .to_moveit_configs() + ) + + rviz_config_file = get_package_share_directory( + 'kuka_resources') + "/config/planning_6_axis.rviz" + + startup_launch = IncludeLaunchDescription(PythonLaunchDescriptionSource( + [get_package_share_directory('kuka_iiqka_eac_driver'), '/launch/startup.launch.py']), + launch_arguments={'robot_model': "{}".format(robot_model.perform(context)), + 'use_fake_hardware': "true"}.items()) + + move_group_server = Node( + package="moveit_ros_move_group", + executable="move_group", + output="screen", + parameters=[moveit_config.to_dict()], + ) + + rviz = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file, + "--ros-args", "--log-level", "error"], + ) + + to_start = [ + startup_launch, + move_group_server, + rviz + ] + + return to_start + + +def generate_launch_description(): + launch_arguments = [] + launch_arguments.append(DeclareLaunchArgument( + 'robot_model', + default_value='lbr_iisy3_r760' + )) + return LaunchDescription(launch_arguments + [OpaqueFunction(function=launch_setup)]) diff --git a/kuka_lbr_iisy_moveit_config/package.xml b/kuka_lbr_iisy_moveit_config/package.xml index fe54d9e..7eec4bc 100644 --- a/kuka_lbr_iisy_moveit_config/package.xml +++ b/kuka_lbr_iisy_moveit_config/package.xml @@ -14,7 +14,7 @@ xacro - joint_state_publisher + joint_state_publisher_gui robot_state_publisher rviz2 diff --git a/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy_arm.macro.xacro b/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy_arm.macro.xacro index 57c095d..ac0707a 100644 --- a/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy_arm.macro.xacro +++ b/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy_arm.macro.xacro @@ -15,12 +15,12 @@ - - - - - - + + + + + + diff --git a/kuka_lbr_iisy_support/config/lbr_iisy11_r1300_joint_limits.yaml b/kuka_lbr_iisy_support/config/lbr_iisy11_r1300_joint_limits.yaml index f57415c..4cac020 100644 --- a/kuka_lbr_iisy_support/config/lbr_iisy11_r1300_joint_limits.yaml +++ b/kuka_lbr_iisy_support/config/lbr_iisy11_r1300_joint_limits.yaml @@ -2,52 +2,43 @@ # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration, max_jerk] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] -# The default config of moveit does not take into account the jerk limits, the RuckigTrajectorySmoothing adapter must be -# added to the planning pipeline to support jerk limits - # Easiest way to slow down the robot is to decrease the velocity and acceleration scaling factors default_velocity_scaling_factor: 1.0 default_acceleration_scaling_factor: 1.0 joint_limits: - joint_a1: + joint_1: has_velocity_limits: true max_velocity: 3.490656 has_acceleration_limits: true max_acceleration: 11.089258 - has_jerk: true - max_jerk: 3757.777778 - joint_a2: + has_jerk: false + joint_2: has_velocity_limits: true max_velocity: 3.490656 has_acceleration_limits: true max_acceleration: 1.105824 - has_jerk: true - max_jerk: 3391.182265 - joint_a3: + has_jerk: false + joint_3: has_velocity_limits: true max_velocity: 3.490656 has_acceleration_limits: true max_acceleration: 1.836823 - has_jerk: true - max_jerk: 1362.865183 - joint_a4: + has_jerk: false + joint_4: has_velocity_limits: true max_velocity: 4.014255 has_acceleration_limits: true max_acceleration: 40.248068 - has_jerk: true - max_jerk: 606.319878 - joint_a5: + has_jerk: false + joint_5: has_velocity_limits: true max_velocity: 4.537856 has_acceleration_limits: true max_acceleration: 43.739157 - has_jerk: true - max_jerk: 598.681915 - joint_a6: + has_jerk: false + joint_6: has_velocity_limits: true max_velocity: 7.504909 has_acceleration_limits: true max_acceleration: 134.647432 - has_jerk: true - max_jerk: 145.557710 + has_jerk: false diff --git a/kuka_lbr_iisy_support/config/lbr_iisy15_r930_joint_limits.yaml b/kuka_lbr_iisy_support/config/lbr_iisy15_r930_joint_limits.yaml index 4de737b..1dbc849 100644 --- a/kuka_lbr_iisy_support/config/lbr_iisy15_r930_joint_limits.yaml +++ b/kuka_lbr_iisy_support/config/lbr_iisy15_r930_joint_limits.yaml @@ -2,52 +2,43 @@ # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration, max_jerk] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] -# The default config of moveit does not take into account the jerk limits, the RuckigTrajectorySmoothing adapter must be -# added to the planning pipeline to support jerk limits - # Easiest way to slow down the robot is to decrease the velocity and acceleration scaling factors default_velocity_scaling_factor: 1.0 default_acceleration_scaling_factor: 1.0 joint_limits: - joint_a1: + joint_1: has_velocity_limits: true max_velocity: 3.490656 has_acceleration_limits: true max_acceleration: 17.929068 - has_jerk: true - max_jerk: 3685.289606 - joint_a2: + has_jerk: false + joint_2: has_velocity_limits: true max_velocity: 3.490656 has_acceleration_limits: true max_acceleration: 1.324527 - has_jerk: true - max_jerk: 2653.054380 - joint_a3: + has_jerk: false + joint_3: has_velocity_limits: true max_velocity: 3.490656 has_acceleration_limits: true max_acceleration: 1.931703 - has_jerk: true - max_jerk: 1274.691677 - joint_a4: + has_jerk: false + joint_4: has_velocity_limits: true max_velocity: 4.014255 has_acceleration_limits: true max_acceleration: 20.760275 - has_jerk: true - max_jerk: 588.650348 - joint_a5: + has_jerk: false + joint_5: has_velocity_limits: true max_velocity: 4.537856 has_acceleration_limits: true max_acceleration: 17.729259 - has_jerk: true - max_jerk: 542.410163 - joint_a6: + has_jerk: false + joint_6: has_velocity_limits: true max_velocity: 7.504909 has_acceleration_limits: true max_acceleration: 98.845225 - has_jerk: true - max_jerk: 147.477480 + has_jerk: false diff --git a/kuka_lbr_iisy_support/config/lbr_iisy3_r760_joint_limits.yaml b/kuka_lbr_iisy_support/config/lbr_iisy3_r760_joint_limits.yaml index 96f3853..3c5815c 100644 --- a/kuka_lbr_iisy_support/config/lbr_iisy3_r760_joint_limits.yaml +++ b/kuka_lbr_iisy_support/config/lbr_iisy3_r760_joint_limits.yaml @@ -2,52 +2,43 @@ # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration, max_jerk] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] -# The default config of moveit does not take into account the jerk limits, the RuckigTrajectorySmoothing adapter must be -# added to the planning pipeline to support jerk limits # TODO: check if jerk dimensions are ok!! - # Easiest way to slow down the robot is to decrease the velocity and acceleration scaling factors default_velocity_scaling_factor: 1.0 default_acceleration_scaling_factor: 1.0 joint_limits: - joint_a1: + joint_1: has_velocity_limits: true max_velocity: 3.490656 has_acceleration_limits: true max_acceleration: 17.567841 - has_jerk: true - max_jerk: 892.0286289 - joint_a2: + has_jerk: false + joint_2: has_velocity_limits: true max_velocity: 3.490656 has_acceleration_limits: true max_acceleration: 2.101232 - has_jerk: true - max_jerk: 886.576821 - joint_a3: + has_jerk: false + joint_3: has_velocity_limits: true max_velocity: 3.490656 has_acceleration_limits: true max_acceleration: 10.738869 - has_jerk: true - max_jerk: 516.588450 - joint_a4: + has_jerk: false + joint_4: has_velocity_limits: true max_velocity: 5.235983 has_acceleration_limits: true max_acceleration: 27.276282 - has_jerk: true - max_jerk: 175.806183 - joint_a5: + has_jerk: false + joint_5: has_velocity_limits: true max_velocity: 5.235983 has_acceleration_limits: true max_acceleration: 21.786787 - has_jerk: true - max_jerk: 156.995898 - joint_a6: + has_jerk: false + joint_6: has_velocity_limits: true max_velocity: 5.235983 has_acceleration_limits: true max_acceleration: 112.291689 - has_jerk: true - max_jerk: 57.552859 + has_jerk: false diff --git a/kuka_lbr_iisy_support/launch/test_lbr_iisy11_r1300.launch.py b/kuka_lbr_iisy_support/launch/test_lbr_iisy11_r1300.launch.py index d8b621d..4a85310 100644 --- a/kuka_lbr_iisy_support/launch/test_lbr_iisy11_r1300.launch.py +++ b/kuka_lbr_iisy_support/launch/test_lbr_iisy11_r1300.launch.py @@ -53,9 +53,9 @@ def generate_launch_description(): parameters=[robot_description]) # Joint state publisher - joint_state_publisher = Node(package='joint_state_publisher', - executable='joint_state_publisher', - name='joint_state_publisher', - output='log') + joint_state_publisher_gui = Node(package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', + name='joint_state_publisher_gui', + output='log') - return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher]) + return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher_gui]) diff --git a/kuka_lbr_iisy_support/launch/test_lbr_iisy15_r930.launch.py b/kuka_lbr_iisy_support/launch/test_lbr_iisy15_r930.launch.py index ff03b79..d1c7449 100644 --- a/kuka_lbr_iisy_support/launch/test_lbr_iisy15_r930.launch.py +++ b/kuka_lbr_iisy_support/launch/test_lbr_iisy15_r930.launch.py @@ -53,9 +53,9 @@ def generate_launch_description(): parameters=[robot_description]) # Joint state publisher - joint_state_publisher = Node(package='joint_state_publisher', - executable='joint_state_publisher', - name='joint_state_publisher', - output='log') + joint_state_publisher_gui = Node(package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', + name='joint_state_publisher_gui', + output='log') - return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher]) + return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher_gui]) diff --git a/kuka_lbr_iisy_support/launch/test_lbr_iisy3_r760.launch.py b/kuka_lbr_iisy_support/launch/test_lbr_iisy3_r760.launch.py index 74df430..56647d7 100644 --- a/kuka_lbr_iisy_support/launch/test_lbr_iisy3_r760.launch.py +++ b/kuka_lbr_iisy_support/launch/test_lbr_iisy3_r760.launch.py @@ -22,7 +22,6 @@ from ament_index_python.packages import get_package_share_directory - def generate_launch_description(): robot_description_content = Command( @@ -59,9 +58,9 @@ def generate_launch_description(): parameters=[robot_description]) # Joint state publisher - joint_state_publisher = Node(package='joint_state_publisher', - executable='joint_state_publisher', - name='joint_state_publisher', - output='log') + joint_state_publisher_gui = Node(package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', + name='joint_state_publisher_gui', + output='log') - return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher]) + return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher_gui]) diff --git a/kuka_lbr_iisy_support/package.xml b/kuka_lbr_iisy_support/package.xml index 8425890..7186155 100644 --- a/kuka_lbr_iisy_support/package.xml +++ b/kuka_lbr_iisy_support/package.xml @@ -14,7 +14,7 @@ xacro - joint_state_publisher + joint_state_publisher_gui robot_state_publisher rviz2 diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300_macro.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300_macro.xacro index 5b4903f..b17f413 100644 --- a/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300_macro.xacro +++ b/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300_macro.xacro @@ -162,42 +162,42 @@ - + - + - + - + - + - + @@ -217,7 +217,7 @@ - + diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930_macro.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930_macro.xacro index 80c19d3..625bbc9 100644 --- a/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930_macro.xacro +++ b/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930_macro.xacro @@ -162,42 +162,42 @@ - + - + - + - + - + - + @@ -217,7 +217,7 @@ - + diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760_macro.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760_macro.xacro index e8b8cbc..e71fd08 100644 --- a/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760_macro.xacro +++ b/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760_macro.xacro @@ -162,42 +162,42 @@ - + - + - + - + - + - + @@ -217,7 +217,7 @@ - + diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy_ros2_control.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy_ros2_control.xacro index 9f0073a..823a11b 100644 --- a/kuka_lbr_iisy_support/urdf/lbr_iisy_ros2_control.xacro +++ b/kuka_lbr_iisy_support/urdf/lbr_iisy_ros2_control.xacro @@ -23,7 +23,7 @@ - kuka_rox::KukaRoXHardwareInterface + kuka_eac::KukaEACHardwareInterface ${client_ip} ${controller_ip} ${control_mode} @@ -33,7 +33,7 @@ - + @@ -41,7 +41,7 @@ - + @@ -49,7 +49,7 @@ - + @@ -57,7 +57,7 @@ - + @@ -65,7 +65,7 @@ - + @@ -73,7 +73,7 @@ - + diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy_transmission.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy_transmission.xacro index 2a1595a..8e91a47 100644 --- a/kuka_lbr_iisy_support/urdf/lbr_iisy_transmission.xacro +++ b/kuka_lbr_iisy_support/urdf/lbr_iisy_transmission.xacro @@ -1,62 +1,62 @@ - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission diff --git a/kuka_lbr_iiwa_moveit_config/CMakeLists.txt b/kuka_lbr_iiwa_moveit_config/CMakeLists.txt index 045a2ab..d9c1e7c 100644 --- a/kuka_lbr_iiwa_moveit_config/CMakeLists.txt +++ b/kuka_lbr_iiwa_moveit_config/CMakeLists.txt @@ -8,7 +8,7 @@ find_package(xacro REQUIRED) xacro_add_files(TARGET iiwa14 srdf/lbr_iiwa14_r820_arm.srdf.xacro OUTPUT lbr_iiwa14_r820.srdf INSTALL DESTINATION urdf) -install(DIRECTORY config +install(DIRECTORY config launch DESTINATION share/${PROJECT_NAME}) ament_package() diff --git a/kuka_lbr_iiwa_moveit_config/config/moveit_controllers.yaml b/kuka_lbr_iiwa_moveit_config/config/moveit_controllers.yaml index 1465fe4..8e4a750 100644 --- a/kuka_lbr_iiwa_moveit_config/config/moveit_controllers.yaml +++ b/kuka_lbr_iiwa_moveit_config/config/moveit_controllers.yaml @@ -15,10 +15,10 @@ moveit_simple_controller_manager: type: FollowJointTrajectory default: true joints: - - joint_a1 - - joint_a2 - - joint_a3 - - joint_a4 - - joint_a5 - - joint_a6 - - joint_a7 + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 + - joint_7 diff --git a/kuka_lbr_iiwa_moveit_config/config/ompl_planning.yaml b/kuka_lbr_iiwa_moveit_config/config/ompl_planning.yaml index 9a82f15..85aa81b 100644 --- a/kuka_lbr_iiwa_moveit_config/config/ompl_planning.yaml +++ b/kuka_lbr_iiwa_moveit_config/config/ompl_planning.yaml @@ -143,7 +143,7 @@ planner_configs: manipulator: enforce_constrained_state_space: true - projection_evaluator: joints(joint_a1,joint_a2) + projection_evaluator: joints(joint_1,joint_2) planner_configs: - APSConfigDefault - SBLkConfigDefault diff --git a/kuka_lbr_iiwa_moveit_config/launch/moveit_planning_fake_hardware.launch.py b/kuka_lbr_iiwa_moveit_config/launch/moveit_planning_fake_hardware.launch.py new file mode 100644 index 0000000..be84136 --- /dev/null +++ b/kuka_lbr_iiwa_moveit_config/launch/moveit_planning_fake_hardware.launch.py @@ -0,0 +1,84 @@ +# Copyright 2022 Áron Svastits +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +from moveit_configs_utils import MoveItConfigsBuilder +from launch.actions.include_launch_description import IncludeLaunchDescription +from launch.actions import DeclareLaunchArgument, OpaqueFunction +from launch.launch_description_sources.python_launch_description_source import PythonLaunchDescriptionSource # noqa: E501 +from launch.substitutions import LaunchConfiguration + + +def launch_setup(context, *args, **kwargs): + robot_model = LaunchConfiguration('robot_model') + + moveit_config = ( + MoveItConfigsBuilder("kuka_lbr_iiwa") + .robot_description(file_path=get_package_share_directory( + 'kuka_lbr_iiwa_support') + "/urdf/{}.urdf.xacro".format(robot_model.perform(context))) + .robot_description_semantic(get_package_share_directory('kuka_lbr_iiwa_moveit_config') + + "/urdf/{}.srdf".format(robot_model.perform(context))) + .robot_description_kinematics(file_path="config/kinematics.yaml") + .trajectory_execution(file_path="config/moveit_controllers.yaml") + .planning_scene_monitor( + publish_robot_description=True, publish_robot_description_semantic=True + ) + .joint_limits(file_path=get_package_share_directory( + 'kuka_lbr_iiwa_support') + + "/config/{}_joint_limits.yaml".format(robot_model.perform(context))) + .to_moveit_configs() + ) + + rviz_config_file = get_package_share_directory( + 'kuka_resources') + "/config/planning_7_axis.rviz" + + startup_launch = IncludeLaunchDescription(PythonLaunchDescriptionSource( + [get_package_share_directory('kuka_sunrise_fri_driver'), '/launch/startup.launch.py']), + launch_arguments={'robot_model': "{}".format(robot_model.perform(context)), + 'use_fake_hardware': "true"}.items()) + + move_group_server = Node( + package="moveit_ros_move_group", + executable="move_group", + output="screen", + parameters=[moveit_config.to_dict()], + ) + + rviz = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file, + "--ros-args", "--log-level", "error"], + ) + + to_start = [ + startup_launch, + move_group_server, + rviz + ] + + return to_start + + +def generate_launch_description(): + launch_arguments = [] + launch_arguments.append(DeclareLaunchArgument( + 'robot_model', + default_value='lbr_iiwa14_r820' + )) + return LaunchDescription(launch_arguments + [OpaqueFunction(function=launch_setup)]) diff --git a/kuka_lbr_iiwa_moveit_config/package.xml b/kuka_lbr_iiwa_moveit_config/package.xml index 805b876..6c2c0b4 100644 --- a/kuka_lbr_iiwa_moveit_config/package.xml +++ b/kuka_lbr_iiwa_moveit_config/package.xml @@ -14,7 +14,7 @@ xacro - joint_state_publisher + joint_state_publisher_gui robot_state_publisher rviz2 diff --git a/kuka_lbr_iiwa_moveit_config/srdf/lbr_iiwa_arm.macro.xacro b/kuka_lbr_iiwa_moveit_config/srdf/lbr_iiwa_arm.macro.xacro index 66e550e..9d26957 100644 --- a/kuka_lbr_iiwa_moveit_config/srdf/lbr_iiwa_arm.macro.xacro +++ b/kuka_lbr_iiwa_moveit_config/srdf/lbr_iiwa_arm.macro.xacro @@ -15,13 +15,13 @@ - - - - - - - + + + + + + + diff --git a/kuka_lbr_iiwa_support/config/lbr_iiwa14_r820_joint_limits.yaml b/kuka_lbr_iiwa_support/config/lbr_iiwa14_r820_joint_limits.yaml index 9e5ca84..e495a81 100644 --- a/kuka_lbr_iiwa_support/config/lbr_iiwa14_r820_joint_limits.yaml +++ b/kuka_lbr_iiwa_support/config/lbr_iiwa14_r820_joint_limits.yaml @@ -9,24 +9,24 @@ default_velocity_scaling_factor: 1.0 default_acceleration_scaling_factor: 1.0 joint_limits: - joint_a1: + joint_1: has_velocity_limits: true max_velocity: 6.283 - joint_a2: + joint_2: has_velocity_limits: true max_velocity: 6.283 - joint_a3: + joint_3: has_velocity_limits: true max_velocity: 6.283 - joint_a4: + joint_4: has_velocity_limits: true max_velocity: 6.283 - joint_a5: + joint_5: has_velocity_limits: true max_velocity: 6.283 - joint_a6: + joint_6: has_velocity_limits: true max_velocity: 6.283 - joint_a7: + joint_7: has_velocity_limits: true max_velocity: 6.283 diff --git a/kuka_lbr_iiwa_support/launch/test_lbr_iiwa14_r820.launch.py b/kuka_lbr_iiwa_support/launch/test_lbr_iiwa14_r820.launch.py index 19f6ff1..bfc9086 100644 --- a/kuka_lbr_iiwa_support/launch/test_lbr_iiwa14_r820.launch.py +++ b/kuka_lbr_iiwa_support/launch/test_lbr_iiwa14_r820.launch.py @@ -53,9 +53,9 @@ def generate_launch_description(): parameters=[robot_description]) # Joint state publisher - joint_state_publisher = Node(package='joint_state_publisher', - executable='joint_state_publisher', - name='joint_state_publisher', - output='log') + joint_state_publisher_gui = Node(package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', + name='joint_state_publisher_gui', + output='log') - return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher]) + return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher_gui]) diff --git a/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820_macro.xacro b/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820_macro.xacro index da2eb93..8669c82 100755 --- a/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820_macro.xacro +++ b/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820_macro.xacro @@ -174,49 +174,49 @@ - + - + - + - + - + - + - + diff --git a/kuka_lbr_iiwa_support/urdf/lbr_iiwa_ros2_control.xacro b/kuka_lbr_iiwa_support/urdf/lbr_iiwa_ros2_control.xacro index ea60ee1..8a7fb03 100644 --- a/kuka_lbr_iiwa_support/urdf/lbr_iiwa_ros2_control.xacro +++ b/kuka_lbr_iiwa_support/urdf/lbr_iiwa_ros2_control.xacro @@ -9,53 +9,53 @@ 0.0 - kuka_sunrise_fri_driver::KUKAFRIHardwareInterface + kuka_sunrise_fri_driver::KukaFRIHardwareInterface - + - + - + - + - + - + - + diff --git a/kuka_lbr_iiwa_support/urdf/lbr_iiwa_transmission.xacro b/kuka_lbr_iiwa_support/urdf/lbr_iiwa_transmission.xacro index 6aae393..b6afac2 100644 --- a/kuka_lbr_iiwa_support/urdf/lbr_iiwa_transmission.xacro +++ b/kuka_lbr_iiwa_support/urdf/lbr_iiwa_transmission.xacro @@ -1,72 +1,72 @@ - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission diff --git a/kuka_quantec_support/config/kr210_r2700_2_joint_limits.yaml b/kuka_quantec_support/config/kr210_r2700_2_joint_limits.yaml index a5c4b15..0436d70 100644 --- a/kuka_quantec_support/config/kr210_r2700_2_joint_limits.yaml +++ b/kuka_quantec_support/config/kr210_r2700_2_joint_limits.yaml @@ -9,32 +9,32 @@ default_velocity_scaling_factor: 1.0 default_acceleration_scaling_factor: 1.0 joint_limits: - joint_a1: + joint_1: has_velocity_limits: true max_velocity: 2.0944 has_acceleration_limits: false has_jerk: false - joint_a2: + joint_2: has_velocity_limits: true max_velocity: 2.0071 has_acceleration_limits: false has_jerk: false - joint_a3: + joint_3: has_velocity_limits: true max_velocity: 1.9548 has_acceleration_limits: false has_jerk: false - joint_a4: + joint_4: has_velocity_limits: true max_velocity: 3.1241 has_acceleration_limits: false has_jerk: false - joint_a5: + joint_5: has_velocity_limits: true max_velocity: 3.0000 has_acceleration_limits: false has_jerk: false - joint_a6: + joint_6: has_velocity_limits: true max_velocity: 3.8397 has_acceleration_limits: false diff --git a/kuka_quantec_support/config/kr210_r3100_2_joint_limits.yaml b/kuka_quantec_support/config/kr210_r3100_2_joint_limits.yaml index 93053f1..c7fd18f 100644 --- a/kuka_quantec_support/config/kr210_r3100_2_joint_limits.yaml +++ b/kuka_quantec_support/config/kr210_r3100_2_joint_limits.yaml @@ -9,32 +9,32 @@ default_velocity_scaling_factor: 1.0 default_acceleration_scaling_factor: 1.0 joint_limits: - joint_a1: + joint_1: has_velocity_limits: true max_velocity: 1.8326 has_acceleration_limits: false has_jerk: false - joint_a2: + joint_2: has_velocity_limits: true max_velocity: 1.6406 has_acceleration_limits: false has_jerk: false - joint_a3: + joint_3: has_velocity_limits: true max_velocity: 1.7453 has_acceleration_limits: false has_jerk: false - joint_a4: + joint_4: has_velocity_limits: true max_velocity: 2.3726 has_acceleration_limits: false has_jerk: false - joint_a5: + joint_5: has_velocity_limits: true max_velocity: 2.2460 has_acceleration_limits: false has_jerk: false - joint_a6: + joint_6: has_velocity_limits: true max_velocity: 3.5933 has_acceleration_limits: false diff --git a/kuka_quantec_support/launch/test_kr210_r2700_2.launch.py b/kuka_quantec_support/launch/test_kr210_r2700_2.launch.py index 3613177..b124a0e 100644 --- a/kuka_quantec_support/launch/test_kr210_r2700_2.launch.py +++ b/kuka_quantec_support/launch/test_kr210_r2700_2.launch.py @@ -51,9 +51,9 @@ def generate_launch_description(): parameters=[robot_description]) # Joint state publisher - joint_state_publisher = Node(package='joint_state_publisher', - executable='joint_state_publisher', - name='joint_state_publisher', - output='log') + joint_state_publisher_gui = Node(package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', + name='joint_state_publisher_gui', + output='log') - return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher]) + return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher_gui]) diff --git a/kuka_quantec_support/launch/test_kr210_r3100_2.launch.py b/kuka_quantec_support/launch/test_kr210_r3100_2.launch.py index 33339f2..a2c7015 100644 --- a/kuka_quantec_support/launch/test_kr210_r3100_2.launch.py +++ b/kuka_quantec_support/launch/test_kr210_r3100_2.launch.py @@ -51,9 +51,9 @@ def generate_launch_description(): parameters=[robot_description]) # Joint state publisher - joint_state_publisher = Node(package='joint_state_publisher', - executable='joint_state_publisher', - name='joint_state_publisher', - output='log') + joint_state_publisher_gui = Node(package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', + name='joint_state_publisher_gui', + output='log') - return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher]) + return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher_gui]) diff --git a/kuka_quantec_support/package.xml b/kuka_quantec_support/package.xml index 5d6960b..c5a50e5 100644 --- a/kuka_quantec_support/package.xml +++ b/kuka_quantec_support/package.xml @@ -14,7 +14,7 @@ xacro - joint_state_publisher + joint_state_publisher_gui kuka_resources robot_state_publisher rviz2 diff --git a/kuka_quantec_support/urdf/kr210_r2700_2_macro.xacro b/kuka_quantec_support/urdf/kr210_r2700_2_macro.xacro index 3d7508a..9f7f3cb 100644 --- a/kuka_quantec_support/urdf/kr210_r2700_2_macro.xacro +++ b/kuka_quantec_support/urdf/kr210_r2700_2_macro.xacro @@ -149,42 +149,42 @@ - + - + - + - + - + - + @@ -204,7 +204,7 @@ - + diff --git a/kuka_quantec_support/urdf/kr210_r3100_2_macro.xacro b/kuka_quantec_support/urdf/kr210_r3100_2_macro.xacro index 2b16e49..e32bbea 100644 --- a/kuka_quantec_support/urdf/kr210_r3100_2_macro.xacro +++ b/kuka_quantec_support/urdf/kr210_r3100_2_macro.xacro @@ -150,42 +150,42 @@ - + - + - + - + - + - + @@ -205,7 +205,7 @@ - + diff --git a/kuka_quantec_support/urdf/kr_quantec_ros2_control.xacro b/kuka_quantec_support/urdf/kr_quantec_ros2_control.xacro index 2cc9e2f..77222ac 100644 --- a/kuka_quantec_support/urdf/kr_quantec_ros2_control.xacro +++ b/kuka_quantec_support/urdf/kr_quantec_ros2_control.xacro @@ -20,37 +20,37 @@ ${client_port} - + 0.0 - + -1.570796 - + 1.570796 - + 0.0 - + 0.0 - + 0.0 diff --git a/kuka_quantec_support/urdf/kr_quantec_transmission.xacro b/kuka_quantec_support/urdf/kr_quantec_transmission.xacro index 1416a03..e9cc42b 100644 --- a/kuka_quantec_support/urdf/kr_quantec_transmission.xacro +++ b/kuka_quantec_support/urdf/kr_quantec_transmission.xacro @@ -1,62 +1,62 @@ - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission - - + + EffortJointInterface 1.0 - + hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission diff --git a/kuka_resources/config/planning_6_axis.rviz b/kuka_resources/config/planning_6_axis.rviz new file mode 100644 index 0000000..b44b871 --- /dev/null +++ b/kuka_resources/config/planning_6_axis.rviz @@ -0,0 +1,606 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /PlanningScene1/Scene Robot1 + Splitter Ratio: 0.5 + Tree Height: 140 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_visual_tools/RvizVisualToolsGui + Name: RvizVisualToolsGui +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: 0.5 + Class: rviz_default_plugins/RobotModel + Collision Enabled: true + 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 + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + 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: moveit_rviz_plugin/PlanningScene + Enabled: true + Move Group Namespace: "" + Name: PlanningScene + Planning Scene Topic: /monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 0.8999999761581421 + Scene Color: 50; 230; 50 + Scene Display Time: 0.20000000298023224 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + Robot Alpha: 1 + Show Robot Collision: false + Show Robot Visual: false + Value: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base: + Value: true + base_link: + Value: true + base_link_inertia: + Value: true + flange: + Value: true + link_1: + Value: true + link_2: + Value: true + link_3: + Value: true + link_4: + Value: true + link_5: + Value: true + link_6: + Value: true + tool0: + Value: true + Marker Scale: 0.5 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base_link: + base: + {} + base_link_inertia: + link_1: + link_2: + link_3: + link_4: + link_5: + link_6: + flange: + tool0: + {} + Update Interval: 0 + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MarkerArray + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: rviz_visual_tools + Value: true + - Class: moveit_rviz_plugin/Trajectory + Color Enabled: false + Enabled: true + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + Loop Animation: false + Name: Trajectory + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Robot Description: robot_description + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 3x + Trail Step Size: 1 + Trajectory Topic: /display_planned_path + Use Sim Time: false + Value: true + - Acceleration_Scaling_Factor: 0.1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Cartesian_Path: false + MoveIt_Use_Constraint_Aware_IK: false + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: false + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + Loop Animation: false + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 3x + Trail Step Size: 1 + Trajectory Topic: /display_planned_path + Use Sim Time: false + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.07999999821186066 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: manipulator + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: /monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 0.8999999761581421 + Scene Color: 50; 230; 50 + Scene Display Time: 0.009999999776482582 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + Robot Alpha: 1 + Show Robot Collision: false + Show Robot Visual: true + Value: true + Velocity_Scaling_Factor: 0.1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /move_base_simple/goal + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 3.3499999046325684 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.0336405485868454 + Y: 0.08381497114896774 + Z: 0.5878596901893616 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: -0.04960332438349724 + Target Frame: + Value: Orbit (rviz) + Yaw: 6.111769676208496 + Saved: ~ +Window Geometry: + "": + collapsed: false + " - Trajectory Slider": + collapsed: false + Displays: + collapsed: false + Height: 909 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ RvizVisualToolsGui: + collapsed: false + Selection: + collapsed: false + Tool Properties: + collapsed: false + Trajectory - Trajectory Slider: + collapsed: false + Views: + collapsed: false + Width: 1850 + X: 70 + Y: 27 diff --git a/kuka_resources/config/planning_7_axis.rviz b/kuka_resources/config/planning_7_axis.rviz new file mode 100644 index 0000000..72bef1e --- /dev/null +++ b/kuka_resources/config/planning_7_axis.rviz @@ -0,0 +1,613 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /PlanningScene1/Scene Robot1 + Splitter Ratio: 0.5 + Tree Height: 84 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_visual_tools/RvizVisualToolsGui + Name: RvizVisualToolsGui +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: 0.5 + Class: rviz_default_plugins/RobotModel + Collision Enabled: true + 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 + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + 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: moveit_rviz_plugin/PlanningScene + Enabled: true + Move Group Namespace: "" + Name: PlanningScene + Planning Scene Topic: /monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 0.8999999761581421 + Scene Color: 50; 230; 50 + Scene Display Time: 0.20000000298023224 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + Robot Alpha: 1 + Show Robot Collision: false + Show Robot Visual: false + Value: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base: + Value: true + base_link: + Value: true + base_link_inertia: + Value: true + flange: + Value: true + link_7: + Value: true + tool0: + Value: true + Marker Scale: 0.5 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base_link: + base: + {} + base_link_inertia: + {} + Update Interval: 0 + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MarkerArray + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: rviz_visual_tools + Value: true + - Class: moveit_rviz_plugin/Trajectory + Color Enabled: false + Enabled: true + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + Loop Animation: false + Name: Trajectory + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Robot Description: robot_description + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 3x + Trail Step Size: 1 + Trajectory Topic: /display_planned_path + Use Sim Time: false + Value: true + - Acceleration_Scaling_Factor: 0.1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Cartesian_Path: false + MoveIt_Use_Constraint_Aware_IK: false + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: false + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + Loop Animation: false + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 3x + Trail Step Size: 1 + Trajectory Topic: /display_planned_path + Use Sim Time: false + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.07999999821186066 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: manipulator + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: /monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 0.8999999761581421 + Scene Color: 50; 230; 50 + Scene Display Time: 0.009999999776482582 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + Robot Alpha: 1 + Show Robot Collision: false + Show Robot Visual: true + Value: true + Velocity_Scaling_Factor: 0.1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /move_base_simple/goal + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 3.3499999046325684 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.0336405485868454 + Y: 0.08381497114896774 + Z: 0.5878596901893616 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: -0.04960332438349724 + Target Frame: + Value: Orbit (rviz) + Yaw: 6.111769676208496 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 890 + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 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+ RvizVisualToolsGui: + collapsed: false + Selection: + collapsed: false + Tool Properties: + collapsed: false + Trajectory - Trajectory Slider: + collapsed: false + Views: + collapsed: false + Width: 1850 + X: 70 + Y: 27 diff --git a/kuka_lbr_iisy_moveit_config/config/urdf_planning_scene.rviz b/kuka_resources/config/view_6_axis_planning_scene.rviz similarity index 100% rename from kuka_lbr_iisy_moveit_config/config/urdf_planning_scene.rviz rename to kuka_resources/config/view_6_axis_planning_scene.rviz diff --git a/kuka_resources/config/view_7_axis_planning_scene.rviz b/kuka_resources/config/view_7_axis_planning_scene.rviz new file mode 100644 index 0000000..6fc0fde --- /dev/null +++ b/kuka_resources/config/view_7_axis_planning_scene.rviz @@ -0,0 +1,419 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /PlanningScene1/Scene Robot1 + Splitter Ratio: 0.5 + Tree Height: 525 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_visual_tools/RvizVisualToolsGui + Name: RvizVisualToolsGui +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: 0.5 + 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 + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + 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: false + - Class: moveit_rviz_plugin/PlanningScene + Enabled: true + Move Group Namespace: "" + Name: PlanningScene + Planning Scene Topic: /monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 0.8999999761581421 + Scene Color: 50; 230; 50 + Scene Display Time: 0.20000000298023224 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + Robot Alpha: 1 + Show Robot Collision: false + Show Robot Visual: true + Value: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base: + Value: true + base_link: + Value: true + base_link_inertia: + Value: true + flange: + Value: true + link_1: + Value: true + link_2: + Value: true + link_3: + Value: true + link_4: + Value: true + link_5: + Value: true + link_6: + Value: true + tool0: + Value: true + Marker Scale: 0.5 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base_link: + base: + {} + base_link_inertia: + link_1: + link_2: + link_3: + link_4: + link_5: + link_6: + flange: + {} + tool0: + {} + Update Interval: 0 + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MarkerArray + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: rviz_visual_tools + Value: true + - Class: moveit_rviz_plugin/Trajectory + Color Enabled: false + Enabled: true + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + Loop Animation: false + Name: Trajectory + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Robot Description: robot_description + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 3x + Trail Step Size: 1 + Trajectory Topic: /display_planned_path + Use Sim Time: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /move_base_simple/goal + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 3.3499999046325684 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.0336405485868454 + Y: 0.08381497114896774 + Z: 0.5878596901893616 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: -0.04960332438349724 + Target Frame: + Value: Orbit (rviz) + Yaw: 6.111769676208496 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 896 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000002ca00000326fc020000000cfb0000001200530065006c0065006300740069006f006e000000003d000003b90000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000298000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000012004c0069006e006500500061006e0065006c010000003b000002ff0000000000000000fb00000024005200760069007a00560069007300750061006c0054006f006f006c007300470075006901000002db000000410000004100fffffffb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000322000000410000004100ffffff000000010000010f000002fffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002ff000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d00000044fc0100000002fb0000000800540069006d006501000000000000073d0000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004660000032600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + RvizVisualToolsGui: + collapsed: false + Selection: + collapsed: false + Tool Properties: + collapsed: false + Trajectory - Trajectory Slider: + collapsed: false + Views: + collapsed: false + Width: 1846 + X: 74 + Y: 27 diff --git a/kuka_robot_descriptions/package.xml b/kuka_robot_descriptions/package.xml index ba8f541..30134f1 100644 --- a/kuka_robot_descriptions/package.xml +++ b/kuka_robot_descriptions/package.xml @@ -20,7 +20,6 @@ kuka_lbr_iiwa_support kuka_quantec_support kuka_resources - kuka_rsi_simulator ament_cmake diff --git a/kuka_rsi_simulator/kuka_rsi_simulator/__init__.py b/kuka_rsi_simulator/kuka_rsi_simulator/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/kuka_rsi_simulator/kuka_rsi_simulator/rsi_simulator.py b/kuka_rsi_simulator/kuka_rsi_simulator/rsi_simulator.py deleted file mode 100755 index 5335d2a..0000000 --- a/kuka_rsi_simulator/kuka_rsi_simulator/rsi_simulator.py +++ /dev/null @@ -1,139 +0,0 @@ -# Copyright 2022 Márton Antal -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License.from launch import LaunchDescription - -import sys -import socket -import xml.etree.ElementTree as ET -import numpy as np - - -import errno -import rclpy -from rclpy.node import Node -from std_msgs.msg import String - - -def create_rsi_xml_rob(act_joint_pos, setpoint_joint_pos, timeout_count, ipoc): - q = act_joint_pos - qd = setpoint_joint_pos - root = ET.Element('Rob', {'TYPE': 'KUKA'}) - ET.SubElement(root, 'RIst', {'X': '0.0', 'Y': '0.0', 'Z': '0.0', - 'A': '0.0', 'B': '0.0', 'C': '0.0'}) - ET.SubElement(root, 'RSol', {'X': '0.0', 'Y': '0.0', 'Z': '0.0', - 'A': '0.0', 'B': '0.0', 'C': '0.0'}) - ET.SubElement(root, 'AIPos', {'A1': str(q[0]), 'A2': str(q[1]), 'A3': str(q[2]), - 'A4': str(q[3]), 'A5': str(q[4]), 'A6': str(q[5])}) - ET.SubElement(root, 'ASPos', {'A1': str(qd[0]), 'A2': str(qd[1]), 'A3': str(qd[2]), - 'A4': str(qd[3]), 'A5': str(qd[4]), 'A6': str(qd[5])}) - ET.SubElement(root, 'Delay', {'D': str(timeout_count)}) - ET.SubElement(root, 'IPOC').text = str(ipoc) - return ET.tostring(root) - - -def parse_rsi_xml_sen(data): - root = ET.fromstring(data) - AK = root.find('AK').attrib - desired_joint_correction = np.array([AK['A1'], AK['A2'], AK['A3'], - AK['A4'], AK['A5'], AK['A6']]).astype(np.float64) - IPOC = root.find('IPOC').text - stop_flag = root.find('Stop').text - - return desired_joint_correction, int(IPOC), bool(int(stop_flag)) - - -class RSISimulator(Node): - cycle_time = 0.04 - act_joint_pos = np.array([0, -90, 90, 0, 90, 0]).astype(np.float64) - initial_joint_pos = act_joint_pos.copy() - des_joint_correction_absolute = np.zeros(6) - timeout_count = 0 - ipoc = 0 - rsi_ip_address_ = '127.0.0.1' - rsi_port_address_ = 59152 - rsi_send_name_ = 'IamFree' - rsi_act_pub_ = None - rsi_cmd_pub_ = None - node_name_ = 'rsi_simulator_node' - socket_ = None - - def __init__(self, node_name): - super().__init__(node_name) - self.node_name_ = node_name - self.timer = self.create_timer(self.cycle_time, self.timer_callback) - self.declare_parameter('rsi_ip_address', '127.0.0.1') - self.declare_parameter('rsi_port', 59152) - self.declare_parameter('rsi_send_name', "IamFree") - self.rsi_ip_address_ = (self.get_parameter('rsi_ip_address').get_parameter_value() - .string_value) - self.rsi_port_address_ = self.get_parameter('rsi_port').get_parameter_value().integer_value - self.rsi_send_name_ = (self.get_parameter('rsi_send_name').get_parameter_value() - .string_value) - self.rsi_act_pub_ = self.create_publisher(String, self.node_name_ + '/rsi/state', 1) - self.rsi_cmd_pub_ = self.create_publisher(String, self.node_name_ + '/rsi/command', 1) - self.get_logger().info('rsi_ip_address: {}'.format(self.rsi_ip_address_)) - self.get_logger().info('rsi_port: {}'.format(self.rsi_port_address_)) - - self.socket_ = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) - self.get_logger().info('{}, Successfully created socket'.format(self.node_name_)) - self.socket_.settimeout(self.cycle_time) - - def timer_callback(self): - if self.timeout_count == 100: - self.get_logger().fatal('{} Timeout count of 100 exceeded'.format(self.node_name_)) - sys.exit() - try: - msg = create_rsi_xml_rob(self.act_joint_pos, self.initial_joint_pos, - self.timeout_count, self.ipoc) - self.rsi_act_pub_.publish(msg) - self.socket_.sendto(msg, (self.rsi_ip_address_, self.rsi_port_address_)) - recv_msg, addr = self.socket_.recvfrom(1024) - self.rsi_cmd_pub_.publish(recv_msg) - self.get_logger().warn('msg: {}'.format(recv_msg)) - des_joint_correction_absolute, ipoc_recv, stop_flag = parse_rsi_xml_sen(recv_msg) - if ipoc_recv == self.ipoc: - self.act_joint_pos = self.initial_joint_pos + des_joint_correction_absolute - else: - self.get_logger().warn('{}: Packet is late'.format(self.node_name_)) - self.get_logger().warn('{}: sent ipoc: {}, received: {}'. - format(self.node_name_, self.ipoc, ipoc_recv)) - if self.ipoc != 0: - self.timeout_count += 1 - self.ipoc += 1 - if stop_flag: - self.on_shutdown() - sys.exit() - except OSError: - if self.ipoc != 0: - self.timeout_count += 1 - self.get_logger().warn('{}: Socket timed out'.format(self.node_name_)) - - def on_shutdown(self): - self.socket_.close() - self.get_logger().info('Socket closed.') - - -def main(): - node_name = 'rsi_simulator_node' - - rclpy.init() - node = RSISimulator(node_name) - node.get_logger().info('{}: Started'.format(node_name)) - - rclpy.spin(node) - node.on_shutdown() - node.get_logger().info('{}: Shutting down'.format(node_name)) - - -if __name__ == '__main__': - main() diff --git a/kuka_rsi_simulator/launch/__pycache__/kuka_rsi_simulator_launch.cpython-38.pyc b/kuka_rsi_simulator/launch/__pycache__/kuka_rsi_simulator_launch.cpython-38.pyc deleted file mode 100644 index 82e22a47fc230b5acea6050b4db0cb09ecb7933a..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 435 zcmZWmy-EZz5YFH2oyV=VRHUYyLQEBV zM4YL~HAaW*XuE zABX>SvuYT9)!qApTsPVXr+;#p+U&#Ny4?jpnEakk_GNY;lO_`%jWR=Dz8pzrTDuZ5 gJck`-8LBtqjL{4f{OqJ|RbS~-_!wkEvjtv|Z*g;HWdHyG diff --git a/kuka_rsi_simulator/launch/kuka_rsi_simulator_launch.py b/kuka_rsi_simulator/launch/kuka_rsi_simulator_launch.py deleted file mode 100644 index a683f4c..0000000 --- a/kuka_rsi_simulator/launch/kuka_rsi_simulator_launch.py +++ /dev/null @@ -1,43 +0,0 @@ -# Copyright 2022 Márton Antal -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License.from launch import LaunchDescription - - -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration, TextSubstitution -from launch import LaunchDescription - -from launch_ros.actions import Node - - -def generate_launch_description(): - rsi_ip_address = DeclareLaunchArgument( - 'rsi_ip_address', default_value=TextSubstitution(text='127.0.0.1') - ) - rsi_port = DeclareLaunchArgument( - 'rsi_port', default_value=TextSubstitution(text='59152') - ) - - return LaunchDescription([ - rsi_ip_address, - rsi_port, - Node( - package='kuka_rsi_simulator', - executable='rsi_simulator', - name='kuka_rsi_simulator', - parameters=[{ - 'rsi_ip_address': LaunchConfiguration('rsi_ip_address'), - 'rsi_port': LaunchConfiguration('rsi_port'), - }] - ) - ]) diff --git a/kuka_rsi_simulator/package.xml b/kuka_rsi_simulator/package.xml deleted file mode 100644 index d3b944b..0000000 --- a/kuka_rsi_simulator/package.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - kuka_rsi_simulator - 0.0.0 - Simple package for simulating the KUKA RSI interface - Marton Antal - BSD - - ament_copyright - ament_flake8 - ament_pep257 - python3-pytest - ros2launch - - - ament_python - - diff --git a/kuka_rsi_simulator/resource/kuka_rsi_simulator b/kuka_rsi_simulator/resource/kuka_rsi_simulator deleted file mode 100644 index e69de29..0000000 diff --git a/kuka_rsi_simulator/setup.cfg b/kuka_rsi_simulator/setup.cfg deleted file mode 100644 index 2922234..0000000 --- a/kuka_rsi_simulator/setup.cfg +++ /dev/null @@ -1,4 +0,0 @@ -[develop] -script_dir=$base/lib/kuka_rsi_simulator -[install] -install_scripts=$base/lib/kuka_rsi_simulator diff --git a/kuka_rsi_simulator/setup.py b/kuka_rsi_simulator/setup.py deleted file mode 100644 index 21a1160..0000000 --- a/kuka_rsi_simulator/setup.py +++ /dev/null @@ -1,33 +0,0 @@ -from setuptools import setup -import os -from glob import glob - -package_name = 'kuka_rsi_simulator' - -setup( - name=package_name, - version='0.1.0', - packages=[package_name], - data_files=[ - ('share/ament_index/resource_index/packages', - ['resource/' + package_name]), - ('share/' + package_name, ['package.xml']), - (os.path.join('share', package_name, 'launch'), - glob(os.path.join('launch', '*.launch.py'))), - (os.path.join('share', package_name, 'launch'), - glob(os.path.join('launch', '*_launch.py'))), - (os.path.join('share', package_name, 'config'), - glob(os.path.join('config', '*.yaml'))), - ], - install_requires=['setuptools'], - zip_safe=True, - maintainer='Marton Antal', - maintainer_email='antal.marci@gmail.com', - description='Simple package for simulating the KUKA RSI interface.', - license='BSD', - entry_points={ - 'console_scripts': [ - 'rsi_simulator = kuka_rsi_simulator.rsi_simulator:main' - ], - }, -) diff --git a/kuka_rsi_simulator/test/test_copyright.py b/kuka_rsi_simulator/test/test_copyright.py deleted file mode 100644 index cc8ff03..0000000 --- a/kuka_rsi_simulator/test/test_copyright.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_copyright.main import main -import pytest - - -@pytest.mark.copyright -@pytest.mark.linter -def test_copyright(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found errors' diff --git a/kuka_rsi_simulator/test/test_flake8.py b/kuka_rsi_simulator/test/test_flake8.py deleted file mode 100644 index 27ee107..0000000 --- a/kuka_rsi_simulator/test/test_flake8.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2017 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_flake8.main import main_with_errors -import pytest - - -@pytest.mark.flake8 -@pytest.mark.linter -def test_flake8(): - rc, errors = main_with_errors(argv=[]) - assert rc == 0, \ - 'Found %d code style errors / warnings:\n' % len(errors) + \ - '\n'.join(errors) diff --git a/kuka_rsi_simulator/test/test_pep257.py b/kuka_rsi_simulator/test/test_pep257.py deleted file mode 100644 index b234a38..0000000 --- a/kuka_rsi_simulator/test/test_pep257.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_pep257.main import main -import pytest - - -@pytest.mark.linter -@pytest.mark.pep257 -def test_pep257(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found code style errors / warnings' From 84c68febd7d6b3c18954ff94bcaea1e31e027e52 Mon Sep 17 00:00:00 2001 From: Svastits <49677296+Svastits@users.noreply.github.com> Date: Mon, 18 Dec 2023 16:40:03 +0100 Subject: [PATCH 2/4] Add support for KR10 R1100-2 (#40) * kr10-r1100 * fix flange trafo * update mesh files * adapt to conventions * joint limits fix * add joint limits file * extend readme * add driver-independent planning example in rviz * update readme with changes * remove robot family from lbrs * readme * readme * fix flange trafo * extend config file * fix formatting * add PR template * fix launch name --------- Co-authored-by: Aron Svastits --- .github/pull_request_template.md | 12 + README.md | 36 +-- .../config/kr10_r1100_2_joint_limits.yaml | 38 +++ .../launch/test_kr10r1100_2.launch.py | 59 +++++ .../kr10_r1100_2/collision/base_link.stl | Bin 0 -> 1177384 bytes .../meshes/kr10_r1100_2/collision/link_1.stl | Bin 0 -> 343634 bytes .../meshes/kr10_r1100_2/collision/link_2.stl | Bin 0 -> 399034 bytes .../meshes/kr10_r1100_2/collision/link_3.stl | Bin 0 -> 268984 bytes .../meshes/kr10_r1100_2/collision/link_4.stl | Bin 0 -> 563634 bytes .../meshes/kr10_r1100_2/collision/link_5.stl | Bin 0 -> 251784 bytes .../meshes/kr10_r1100_2/collision/link_6.stl | Bin 0 -> 175684 bytes .../meshes/kr10_r1100_2/visual/base_link.stl | Bin 0 -> 1177384 bytes .../meshes/kr10_r1100_2/visual/link_1.stl | Bin 0 -> 343634 bytes .../meshes/kr10_r1100_2/visual/link_2.stl | Bin 0 -> 399034 bytes .../meshes/kr10_r1100_2/visual/link_3.stl | Bin 0 -> 268984 bytes .../meshes/kr10_r1100_2/visual/link_4.stl | Bin 0 -> 563634 bytes .../meshes/kr10_r1100_2/visual/link_5.stl | Bin 0 -> 251784 bytes .../meshes/kr10_r1100_2/visual/link_6.stl | Bin 0 -> 175684 bytes kuka_agilus_support/package.xml | 11 +- .../urdf/kr10_r1100_2.urdf.xacro | 10 + .../urdf/kr10_r1100_2_macro.xacro | 232 ++++++++++++++++++ .../urdf/kr_agilus_ros2_control.xacro | 2 +- .../urdf/kr16_r2010_2_macro.xacro | 2 +- .../urdf/kr_cybertech_ros2_control.xacro | 2 +- kuka_kr_moveit_config/CMakeLists.txt | 1 + .../moveit_planning_fake_hardware.launch.py | 27 +- .../moveit_planning_fake_hardware.launch.py | 27 +- .../urdf/lbr_iisy_ros2_control.xacro | 50 +++- .../moveit_planning_fake_hardware.launch.py | 27 +- .../urdf/lbr_iiwa_ros2_control.xacro | 86 +++++-- .../urdf/kr_quantec_ros2_control.xacro | 2 +- kuka_resources/CMakeLists.txt | 2 +- .../config/fake_hardware_config_6_axis.yaml | 28 +++ .../config/fake_hardware_config_7_axis.yaml | 29 +++ .../fake_hardware_planning_template.launch.py | 118 +++++++++ 35 files changed, 679 insertions(+), 122 deletions(-) create mode 100644 .github/pull_request_template.md create mode 100644 kuka_agilus_support/config/kr10_r1100_2_joint_limits.yaml create mode 100644 kuka_agilus_support/launch/test_kr10r1100_2.launch.py create mode 100755 kuka_agilus_support/meshes/kr10_r1100_2/collision/base_link.stl create mode 100755 kuka_agilus_support/meshes/kr10_r1100_2/collision/link_1.stl create mode 100755 kuka_agilus_support/meshes/kr10_r1100_2/collision/link_2.stl create mode 100755 kuka_agilus_support/meshes/kr10_r1100_2/collision/link_3.stl create mode 100755 kuka_agilus_support/meshes/kr10_r1100_2/collision/link_4.stl create mode 100755 kuka_agilus_support/meshes/kr10_r1100_2/collision/link_5.stl create mode 100755 kuka_agilus_support/meshes/kr10_r1100_2/collision/link_6.stl create mode 100755 kuka_agilus_support/meshes/kr10_r1100_2/visual/base_link.stl create mode 100755 kuka_agilus_support/meshes/kr10_r1100_2/visual/link_1.stl create mode 100755 kuka_agilus_support/meshes/kr10_r1100_2/visual/link_2.stl create mode 100755 kuka_agilus_support/meshes/kr10_r1100_2/visual/link_3.stl create mode 100755 kuka_agilus_support/meshes/kr10_r1100_2/visual/link_4.stl create mode 100755 kuka_agilus_support/meshes/kr10_r1100_2/visual/link_5.stl create mode 100755 kuka_agilus_support/meshes/kr10_r1100_2/visual/link_6.stl create mode 100644 kuka_agilus_support/urdf/kr10_r1100_2.urdf.xacro create mode 100644 kuka_agilus_support/urdf/kr10_r1100_2_macro.xacro create mode 100644 kuka_resources/config/fake_hardware_config_6_axis.yaml create mode 100644 kuka_resources/config/fake_hardware_config_7_axis.yaml create mode 100644 kuka_resources/launch/fake_hardware_planning_template.launch.py diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md new file mode 100644 index 0000000..2f7217c --- /dev/null +++ b/.github/pull_request_template.md @@ -0,0 +1,12 @@ +### Before submitting this PR into master please make sure: +If you added a new robot model: +- [ ] you extended the table of verified data in `README.md` with the new model +- [ ] you extended the CMakeLists.txt of the appropriate moveit configuration package with the new model +- [ ] you added a `test_.launch.py` and after launching the robot was visible in `rviz` +- [ ] you added a `_joint_limits.yaml` file in the `config` directory (to provide moveit support) + +If you modified an already existing robot model: +- [ ] you checked and optionally updated the table of verified data in `README.md` with the changes +- [ ] you have run the `test_.launch.py` and the robot was visible in `rviz` + +### Short description of the change diff --git a/README.md b/README.md index 6ef5e35..4ac5581 100644 --- a/README.md +++ b/README.md @@ -77,36 +77,38 @@ Example of attaching an end effector (with link name `eef_base_link`) to the `fl Some of the data in the xacros might not be valid or missing, the following table shows what can be considered valid. -|Robot name | Transformations | Joint position limits | Joint velocity limits | Joint effort limits | Inertial values | Simplified collision meshes| -|---|:---:|:---:|:---:|:---:|:---:|:---:| -|lbr_iisy3_r760 | ✓ | ✓ | ✓ | ✓ | | ✓ | -|lbr_iisy11_r1300 | ✓ | ✓ | ✓ | ✓ | | | -|lbr_iisy15_r930 | ✓ | ✓ | ✓ | ✓ | | | -|lbr_iiwa14_r820 | ✓ | ✓ | ✓ | | | | -|kr6_r700_sixx | ✓ | ✓ | ✓ | | | ✓ | -|kr6_r900_sixx | ✓ | ✓ | ✓ | | | ✓ | -|kr16_r2010_2 | ✓ | ✓ | ✓ | ✓ | | | -|kr210_r2700_2 | ✓ | ✓ | ✓ | ✓ | | | -|kr210_r3100_2 | ✓ | ✓ | ✓ | ✓ | | | +|Robot name | Robot family | Transformations | Joint position limits | Joint velocity limits | Joint effort limits | Inertial values | Simplified collision meshes| +|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| +|lbr_iisy3_r760| - | ✓ | ✓ | ✓ | ✓ | | ✓ | +|lbr_iisy11_r1300| - | ✓ | ✓ | ✓ | ✓ | | | +|lbr_iisy15_r930| - | ✓ | ✓ | ✓ | ✓ | | | +|lbr_iiwa14_r820| - | ✓ | ✓ | ✓ | | | | +|kr6_r700_sixx| agilus | ✓ | ✓ | ✓ | | | ✓ | +|kr6_r900_sixx| agilus | ✓ | ✓ | ✓ | | | ✓ | +|kr10_r1100_2| agilus | ✓ | ✓ | ✓ | ✓ | | | +|kr16_r2010_2| cybertech | ✓ | ✓ | ✓ | ✓ | | | +|kr210_r2700_2| quantec | ✓ | ✓ | ✓ | ✓ | | | +|kr210_r3100_2| quantec | ✓ | ✓ | ✓ | ✓ | | | ## Starting the move group server with fake hardware -To start the driver with fake hardware and the motion planning rviz plugin, the following launch files can be used: +To start rviz with the motion planning plugin using fake hardware, the following launch files can be used: -For KR robots (KSS): +#### KR robots (KSS): ``` ros2 launch kuka_kr_moveit_config moveit_planning_fake_hardware.launch.py ``` -Matching `robot_model` and `robot_family` arguments can be added to the command e.g. (`robot_model:=kr16_r2010_2` `robot_family:=cybertech`). +Matching `robot_model` and `robot_family` arguments can be added after the command (e.g. `robot_model:=kr16_r2010_2 robot_family:=cybertech`). The default robot model is `kr6_r700_sixx` -For LBR iiwa robots (Sunrise): +#### LBR iiwa robots (Sunrise): ``` ros2 launch kuka_lbr_iisy_moveit_config moveit_planning_fake_hardware.launch.py ``` -For LBR iisy robots (iiQKA): +#### LBR iisy robots (iiQKA): ``` ros2 launch kuka_lbr_iiwa_moveit_config moveit_planning_fake_hardware.launch.py ``` +A `robot_model` argument can be added after the command (e.g. `robot_model:=lbr_iisy11_r1300`). The default robot model is `lbr_iisy3_r760` -This will launch exactly the same nodes, as the driver launch file, but with fake hardware. Therefore the `robot_manager` lifecycle node must be configured and activated to be able to see the robot in rviz. After activation the server will be able to accept planning requests, from the plugin or from code. (An example how to create such a request from C++ code can be found in the (kuka_drivers/examples)/iiqka_moveit_example package.) +These launch files are not using the actual driver implementation, they only start `rviz` the `move_group` server and a `ros2_control_node` with fake hardware and two controllers `joint_state_broadcaster` and `joint_trajectory_controller` The server will be able to accept planning requests from the plugin or from code. (An example how to create such a request from C++ code can be found in the `iiqka_moveit_example` package in the `kuka_drivers` repository.) To support hardwares with less performance, the update rate of the control node was reduced to 50 Hz for all robots. diff --git a/kuka_agilus_support/config/kr10_r1100_2_joint_limits.yaml b/kuka_agilus_support/config/kr10_r1100_2_joint_limits.yaml new file mode 100644 index 0000000..0b2ab1d --- /dev/null +++ b/kuka_agilus_support/config/kr10_r1100_2_joint_limits.yaml @@ -0,0 +1,38 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration, max_jerk] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] + +# Easiest way to slow down the robot is to decrease the velocity and acceleration scaling factors +default_velocity_scaling_factor: 1.0 +default_acceleration_scaling_factor: 1.0 +joint_limits: + joint_1: + has_velocity_limits: true + max_velocity: 5.23599 + has_acceleration_limits: false + has_jerk: false + joint_2: + has_velocity_limits: true + max_velocity: 3.926991 + has_acceleration_limits: false + has_jerk: false + joint_3: + has_velocity_limits: true + max_velocity: 5.75959 + has_acceleration_limits: false + has_jerk: false + joint_4: + has_velocity_limits: true + max_velocity: 6.28319 + has_acceleration_limits: false + has_jerk: false + joint_5: + has_velocity_limits: true + max_velocity: 6.28319 + has_acceleration_limits: false + has_jerk: false + joint_6: + has_velocity_limits: true + max_velocity: 7.55728 + has_acceleration_limits: false + has_jerk: false diff --git a/kuka_agilus_support/launch/test_kr10r1100_2.launch.py b/kuka_agilus_support/launch/test_kr10r1100_2.launch.py new file mode 100644 index 0000000..a2802f6 --- /dev/null +++ b/kuka_agilus_support/launch/test_kr10r1100_2.launch.py @@ -0,0 +1,59 @@ +# Copyright 2022 Márton Antal +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from launch import LaunchDescription +from launch.substitutions import Command, FindExecutable, PathJoinSubstitution +from launch_ros.substitutions import FindPackageShare +from launch_ros.actions import Node + + +def generate_launch_description(): + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [FindPackageShare("kuka_agilus_support"), + "urdf", "kr10_r1100_2.urdf.xacro"] + ), + " ", + "use_fake_hardware:=true", + ] + ) + robot_description = {'robot_description': robot_description_content} + + # RViz + rviz_config_file = PathJoinSubstitution([FindPackageShare( + 'kuka_resources'), "config", "view_6_axis_urdf.rviz"]) + rviz_node = Node(package='rviz2', + executable='rviz2', + name='rviz2_launch', + output='log', + arguments=['-d', rviz_config_file], + parameters=[robot_description]) + + # Publish TF + robot_state_publisher = Node(package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='both', + parameters=[robot_description]) + + # Joint state publisher + joint_state_publisher_gui = Node(package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', + name='joint_state_publisher_gui', + output='log') + + return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher_gui]) diff --git a/kuka_agilus_support/meshes/kr10_r1100_2/collision/base_link.stl b/kuka_agilus_support/meshes/kr10_r1100_2/collision/base_link.stl new file mode 100755 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