diff --git a/README.md b/README.md index 2a64bbee..e96c009a 100644 --- a/README.md +++ b/README.md @@ -1,23 +1,8 @@ # Motoman - -## ROS Distro Support - -| | Indigo | Jade | Kinetic | -|:-------:|:------:|:----:|:-------:| -| Branch | [`indigo-devel`](https://github.com/ros-industrial/motoman/tree/indigo-devel) | [`jade-devel`](https://github.com/ros-industrial/motoman/tree/jade-devel) | [`kinetic-devel`](https://github.com/ros-industrial/motoman/tree/kinetic-devel) | -| Status | supported | supported | supported | -| Version | [version](http://repositories.ros.org/status_page/ros_indigo_default.html?q=motoman) | [version](http://repositories.ros.org/status_page/ros_jade_default.html?q=motoman) | [version](http://repositories.ros.org/status_page/ros_kinetic_default.html?q=motoman) | - -## Travis - Continuous Integration - -Status: [![Build Status](https://travis-ci.org/ros-industrial/motoman.svg?branch=kinetic-devel)](https://travis-ci.org/ros-industrial/motoman) - -## ROS Buildfarm - -| | Indigo Source | Indigo Debian | Jade Source | Jade Debian | Kinetic Source | Kinetic Debian | -|:-------:|:-------------------:|:-------------------:|:-------------------:|:-------------------:|:-------------------:|:-------------------:| -| motoman | [![not released](http://build.ros.org/buildStatus/icon?job=Isrc_uT__motoman__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__motoman__ubuntu_trusty__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__motoman__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__motoman__ubuntu_trusty_amd64__binary/) | [![not released](http://build.ros.org/buildStatus/icon?job=Jsrc_uT__motoman__ubuntu_trusty__source)](http://build.ros.org/view/Jsrc_uT/job/Jsrc_uT__motoman__ubuntu_trusty__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Jbin_uT64__motoman__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Jbin_uT64/job/Jbin_uT64__motoman__ubuntu_trusty_amd64__binary/) | [![not released](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__motoman__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__motoman__ubuntu_xenial__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__motoman__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__motoman__ubuntu_xenial_amd64__binary/) | +[![Build Status](http://build.ros.org/job/Idev__motoman__ubuntu_trusty_amd64/badge/icon)](http://build.ros.org/job/Idev__motoman__ubuntu_trusty_amd64) +[![License](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause) +[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0) [![support level: consortium / vendor](https://img.shields.io/badge/support%20level-consortium%20/%20vendor-brightgreen.png)](http://rosindustrial.org/news/2016/10/7/better-supporting-a-growing-ros-industrial-software-platform) @@ -30,11 +15,31 @@ The [motoman_experimental][] repository contains additional packages. Branch naming follows the ROS distribution they are compatible with. `-devel` branches may be unstable. Releases are made from the distribution branches -(`hydro`, `indigo`). +(`indigo`, `kinetic`). -Older releases may be found in the old ROS-Industrial [subversion repository][] +Older releases may be found in a mirror of the old ROS-Industrial [subversion repository][] archive. + +## ROS Distro Support + +| | Indigo | Kinetic | +|:-------:|:------:|:-------:| +| Branch | [`indigo-devel`](https://github.com/ros-industrial/motoman/tree/indigo-devel) | [`kinetic-devel`](https://github.com/ros-industrial/motoman/tree/kinetic-devel) | +| Status | supported | supported | +| Version | [version](http://repositories.ros.org/status_page/ros_indigo_default.html?q=motoman) | [version](http://repositories.ros.org/status_page/ros_kinetic_default.html?q=motoman) | + +## Travis - Continuous Integration + +Status: [![Build Status](https://travis-ci.org/ros-industrial/motoman.svg?branch=kinetic-devel)](https://travis-ci.org/ros-industrial/motoman) + +## ROS Buildfarm + +| | Indigo Source | Indigo Debian | Kinetic Source | Kinetic Debian | +|:-------:|:-------------------:|:-------------------:|:-------------------:|:-------------------:| +| motoman | [![not released](http://build.ros.org/buildStatus/icon?job=Isrc_uT__motoman__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__motoman__ubuntu_trusty__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__motoman__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__motoman__ubuntu_trusty_amd64__binary/) | [![not released](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__motoman__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__motoman__ubuntu_xenial__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__motoman__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__motoman__ubuntu_xenial_amd64__binary/) | + + [ROS-Industrial]: http://wiki.ros.org/Industrial [ROS wiki]: http://wiki.ros.org/motoman [motoman_experimental]: https://github.com/ros-industrial/motoman_experimental diff --git a/motoman_driver/MotoPlus/Controller.h b/motoman_driver/MotoPlus/Controller.h index 0345d0db..83b1f7ca 100644 --- a/motoman_driver/MotoPlus/Controller.h +++ b/motoman_driver/MotoPlus/Controller.h @@ -73,7 +73,7 @@ #define ERROR_MSG_MAX_SIZE 64 -#define START_MAX_PULSE_DEVIATION 10 +#define START_MAX_PULSE_DEVIATION 30 #define CONTROLLER_STATUS_UPDATE_PERIOD 10 diff --git a/motoman_driver/MotoPlus/MotionServer.c b/motoman_driver/MotoPlus/MotionServer.c index f91c4f2e..880c6107 100644 --- a/motoman_driver/MotoPlus/MotionServer.c +++ b/motoman_driver/MotoPlus/MotionServer.c @@ -53,6 +53,7 @@ int Ros_MotionServer_InitTrajPointFullEx(CtrlGroup* ctrlGroup, SmBodyJointTrajPt int Ros_MotionServer_AddTrajPointFull(CtrlGroup* ctrlGroup, SmBodyJointTrajPtFull* jointTrajData); int Ros_MotionServer_AddTrajPointFullEx(CtrlGroup* ctrlGroup, SmBodyJointTrajPtExData* jointTrajDataEx, int sequence); int Ros_MotionServer_JointTrajPtFullExProcess(Controller* controller, SimpleMsg* receiveMsg, SimpleMsg* replyMsg); +int Ros_MotionServer_GetDhParameters(Controller* controller, SimpleMsg* replyMsg); // AddToIncQueue Task: void Ros_MotionServer_AddToIncQueueProcess(Controller* controller, int groupNo); @@ -282,6 +283,9 @@ int Ros_MotionServer_GetExpectedByteSizeForMessageType(SimpleMsg* receiveMsg, in case ROS_MSG_MOTO_WRITE_IO_GROUP: expectedSize = minSize + sizeof(SmBodyMotoWriteIOGroup); break; + case ROS_MSG_MOTO_GET_DH_PARAMETERS: + expectedSize = minSize; //no additional data on the request + break; default: //invalid message type return -1; } @@ -454,6 +458,11 @@ int Ros_MotionServer_SimpleMsgProcess(Controller* controller, SimpleMsg* receive ret = Ros_IoServer_WriteIOGroup(receiveMsg, replyMsg); break; + //----------------------- + case ROS_MSG_MOTO_GET_DH_PARAMETERS: + ret = Ros_MotionServer_GetDhParameters(controller, replyMsg); + break; + //----------------------- default: printf("Invalid message type: %d\n", receiveMsg->header.msgType); @@ -1074,6 +1083,15 @@ int Ros_MotionServer_JointTrajDataProcess(Controller* controller, SimpleMsg* rec return 0; } + //Due to data loss when converting from double (ROS PC) to float (Simple Message serialization), we cannot accept + //a single trjectory that lasts more than 4 hours. + if (trajData->time >= MAX_TRAJECTORY_TIME_LENGTH) + { + printf("ERROR: Trajectory time (%.4f) > MAX_TRAJECTORY_TIME_LENGTH (%.4f)\r\n", trajData->time, MAX_TRAJECTORY_TIME_LENGTH); + Ros_SimpleMsg_MotionReply(receiveMsg, ROS_RESULT_INVALID, ROS_RESULT_INVALID_DATA_TIME, replyMsg, receiveMsg->body.jointTrajData.groupNo); + return 0; + } + // Check the trajectory sequence code if(trajData->sequence == 0) // First trajectory point { @@ -1823,3 +1841,35 @@ STATUS Ros_MotionServer_DisableEcoMode(Controller* controller) else return NG; } + +int Ros_MotionServer_GetDhParameters(Controller* controller, SimpleMsg* replyMsg) +{ + int i; + STATUS apiRet = OK; + + //initialize memory + memset(replyMsg, 0x00, sizeof(SimpleMsg)); + + // set prefix: length of message excluding the prefix + replyMsg->prefix.length = sizeof(SmHeader) + sizeof(SmBodyMotoGetDhParameters); + + // set header information of the reply + replyMsg->header.msgType = ROS_MSG_MOTO_GET_DH_PARAMETERS; + replyMsg->header.commType = ROS_COMM_SERVICE_REPLY; + replyMsg->header.replyType = ROS_REPLY_SUCCESS; + + for (i = 0; i < controller->numGroup; i += 1) + { + if (controller->ctrlGroups[i] != NULL && replyMsg->header.replyType == ROS_REPLY_SUCCESS) + { + apiRet = GP_getDhParameters(i, &replyMsg->body.dhParameters.dhParameters[i]); + + if (apiRet == OK) + replyMsg->header.replyType = ROS_REPLY_SUCCESS; + else + replyMsg->header.replyType = ROS_REPLY_FAILURE; + } + } + + return apiRet; +} diff --git a/motoman_driver/MotoPlus/MotionServer.h b/motoman_driver/MotoPlus/MotionServer.h index 1db367d3..8024198c 100644 --- a/motoman_driver/MotoPlus/MotionServer.h +++ b/motoman_driver/MotoPlus/MotionServer.h @@ -32,10 +32,12 @@ #ifndef MOTIONSERVER_H #define MOTIONSERVER_H -#define MOTION_STOP_TIMEOUT 20 -#define MOTION_START_TIMEOUT 5000 // in milliseconds -#define MOTION_START_CHECK_PERIOD 50 // in millisecond -#define MOTION_INIT_ROS_JOB "INIT_ROS" +#define MOTION_STOP_TIMEOUT 20 +#define MOTION_START_TIMEOUT 5000 // in milliseconds +#define MOTION_START_CHECK_PERIOD 50 // in millisecond +#define MOTION_INIT_ROS_JOB "INIT_ROS" + +#define MAX_TRAJECTORY_TIME_LENGTH 14400.0f //seconds (4 hours) extern void Ros_MotionServer_StartNewConnection(Controller* controller, int sd); extern BOOL Ros_MotionServer_HasDataInQueue(Controller* controller); diff --git a/motoman_driver/MotoPlus/MotoROS.h b/motoman_driver/MotoPlus/MotoROS.h index 63f017d8..efd4cc0c 100644 --- a/motoman_driver/MotoPlus/MotoROS.h +++ b/motoman_driver/MotoPlus/MotoROS.h @@ -32,7 +32,7 @@ #ifndef MOTOROS_H #define MOTOROS_H -#define APPLICATION_VERSION "1.8.1" +#define APPLICATION_VERSION "1.8.2" #include "MotoPlus.h" #include "ParameterExtraction.h" diff --git a/motoman_driver/MotoPlus/MpRosAllControllers.vcxproj b/motoman_driver/MotoPlus/MpRosAllControllers.vcxproj index 00f80641..9f20833e 100644 --- a/motoman_driver/MotoPlus/MpRosAllControllers.vcxproj +++ b/motoman_driver/MotoPlus/MpRosAllControllers.vcxproj @@ -113,7 +113,7 @@ mpbuilder.exe -c $(Configuration) -p "$(ProjectDir)\" -n "MotoRosYRC1_" -o build - MotoRosYRC1_.out + $(MP_VS_Install)DevTools\OnlineDownload.exe $(NMakePreprocessorDefinitions);$(Configuration) $(MP_VS_Install)$(Configuration)\inc mpbuilder.exe -c $(Configuration) -p "$(ProjectDir)\" -n "MotoRosYRC1_" -o rebuild @@ -124,7 +124,7 @@ mpbuilder.exe -c $(Configuration) -p "$(ProjectDir)\" -n "MotoRosYRC1u_" -o build - MotoRosYRC1u_.out + $(MP_VS_Install)DevTools\OnlineDownload.exe $(NMakePreprocessorDefinitions);$(Configuration) $(MP_VS_Install)$(Configuration)\inc mpbuilder.exe -c $(Configuration) -p "$(ProjectDir)\" -n "MotoRosYRC1u_" -o rebuild diff --git a/motoman_driver/MotoPlus/MpRosDx100.mpProj b/motoman_driver/MotoPlus/MpRosDx100.mpProj deleted file mode 100644 index 63bd7235..00000000 --- a/motoman_driver/MotoPlus/MpRosDx100.mpProj +++ /dev/null @@ -1,34 +0,0 @@ - - - MpRosDx100 - - Controller.c - Controller.h - CtrlGroup.c - CtrlGroup.h - MotionServer.c - MotionServer.h - mpMain.c - ParameterExtraction.h - ParameterExtraction_DX100.mpLib - SimpleMessage.c - SimpleMessage.h - StateServer.c - StateServer.h - - Controller.c - False - Executable - - 192.168.96.17 - Net_Maint_Mng - 99999999 - - - mpbuilder\bin\ccpentium.exe -mcpu=pentiumiii -march=p3 -nostdlib -fno-builtin -fno-defer-pop -W -Werror-implicit-function-declaration -Wreturn-type -Wunused -Wuninitialized -Wunreachable-code -I"~ProjectDir~" -I"~IncludeDir~" -DCPU=PENTIUM4 -DDX100 -fvolatile -O -c "~FilePath~" -o "~OutputPath~" - mpbuilder\bin\ccpentium -nostdlib -r -Wl,-X -Wl~FileList~ -o "~OutputPath~" - C:\Program Files (x86)\Yaskawa\MotoPlusIDE_DX\mpbuilder\inc - - v2.0.2 - False - \ No newline at end of file diff --git a/motoman_driver/MotoPlus/MpRosDx100Ftp.mpProj b/motoman_driver/MotoPlus/MpRosDx100Ftp.mpProj deleted file mode 100644 index 0d8cafb9..00000000 --- a/motoman_driver/MotoPlus/MpRosDx100Ftp.mpProj +++ /dev/null @@ -1,34 +0,0 @@ - - - MpRosDx100Ftp - - Controller.c - Controller.h - CtrlGroup.c - CtrlGroup.h - MotionServer.c - MotionServer.h - mpMain.c - ParameterExtraction.h - ParameterExtraction_DX100_FTP.mpLib - SimpleMessage.c - SimpleMessage.h - StateServer.c - StateServer.h - - mpMain.c - False - Executable - - 192.168.32.3 - Net_Maint_Mng - 99999999 - - - mpbuilder\bin\ccpentium.exe -mcpu=pentiumiii -march=p3 -nostdlib -fno-builtin -fno-defer-pop -W -Werror-implicit-function-declaration -Wreturn-type -Wunused -Wuninitialized -Wunreachable-code -I"~ProjectDir~" -I"~IncludeDir~" -DCPU=PENTIUM4 -DDX100 -fvolatile -O -c "~FilePath~" -o "~OutputPath~" - mpbuilder\bin\ccpentium -nostdlib -r -Wl,-X -Wl~FileList~ -o "~OutputPath~" - C:\Program Files (x86)\Yaskawa\MotoPlusIDE_DX\mpbuilder\inc - - v2.0.2 - False - \ No newline at end of file diff --git a/motoman_driver/MotoPlus/MpRosFS100.fsProj b/motoman_driver/MotoPlus/MpRosFS100.fsProj deleted file mode 100644 index 9f117c54..00000000 --- a/motoman_driver/MotoPlus/MpRosFS100.fsProj +++ /dev/null @@ -1,37 +0,0 @@ - - - MpRosFS100 - - Controller.c - Controller.h - CtrlGroup.c - CtrlGroup.h - MotionServer.c - MotionServer.h - mpMain.c - ParameterExtraction.h - ParameterExtraction_FS100.fsLib - SimpleMessage.c - SimpleMessage.h - StateServer.c - StateServer.h - - Controller.h - False - Executable - - - - MOTOMANrobot - MOTOMANrobot - - - mpbuilder\gnu\4.1.2-vxworks-6.8\x86-win32\bin\ccppc.exe -g -te500v2 -fno-builtin -fsigned-char -Wall -Werror-implicit-function-declaration -DFS100 -DCPU=PPC32 -DTOOL_FAMILY=gnu -DTOOL=e500v2gnu -D_WRS_KERNEL -I"~ProjectDir~" -I"~IncludeDir~" -c "~FilePath~" -o "~OutputPath~" - - mpbuilder\gnu\4.1.2-vxworks-6.8\x86-win32\bin\ccppc.exe -nostdlib -r -WI,-X -WI~FileList~ -o "~OutputPath~" - - C:\Program Files (x86)\Yaskawa\MotoPlusIDE_FS\mpbuilder\inc - - v1.3.3 - False - \ No newline at end of file diff --git a/motoman_driver/MotoPlus/ParameterExtraction.dnLib b/motoman_driver/MotoPlus/ParameterExtraction.dnLib index 7e20f733..2cbc8d69 100644 Binary files a/motoman_driver/MotoPlus/ParameterExtraction.dnLib and b/motoman_driver/MotoPlus/ParameterExtraction.dnLib differ diff --git a/motoman_driver/MotoPlus/ParameterExtraction.fsLib b/motoman_driver/MotoPlus/ParameterExtraction.fsLib index f4ff1dc0..3dece3ac 100644 Binary files a/motoman_driver/MotoPlus/ParameterExtraction.fsLib and b/motoman_driver/MotoPlus/ParameterExtraction.fsLib differ diff --git a/motoman_driver/MotoPlus/ParameterExtraction.h b/motoman_driver/MotoPlus/ParameterExtraction.h index 802124ba..ee8f0356 100644 --- a/motoman_driver/MotoPlus/ParameterExtraction.h +++ b/motoman_driver/MotoPlus/ParameterExtraction.h @@ -217,6 +217,17 @@ extern STATUS GP_isSdaRobot(BOOL* bIsSda); /******************************************************************************/ extern STATUS GP_isSharedBaseAxis(BOOL* bIsSharedBaseAxis); +/******************************************************************************/ +/* << 24 >> */ +/* Function name : STATUS GP_getDhParameters() */ +/* Functionality : Retrieves DH parameters for a given control group. */ +/* Parameter : int ctrlGrp - Robot control group (zero based index) [IN] */ +/* DH_PARAMETERS* dh - Value of the DH parameters [OUT] */ +/* Return value : Success = OK */ +/* : Failure = NG */ +/******************************************************************************/ +extern STATUS GP_getDhParameters(int ctrlGrp, DH_PARAMETERS* dh); + #ifdef __cplusplus } #endif diff --git a/motoman_driver/MotoPlus/ParameterExtraction.mpLib b/motoman_driver/MotoPlus/ParameterExtraction.mpLib index be06fa84..d286bf0f 100644 Binary files a/motoman_driver/MotoPlus/ParameterExtraction.mpLib and b/motoman_driver/MotoPlus/ParameterExtraction.mpLib differ diff --git a/motoman_driver/MotoPlus/ParameterExtraction.yrcLib b/motoman_driver/MotoPlus/ParameterExtraction.yrcLib index db32caa1..240dec2a 100644 Binary files a/motoman_driver/MotoPlus/ParameterExtraction.yrcLib and b/motoman_driver/MotoPlus/ParameterExtraction.yrcLib differ diff --git a/motoman_driver/MotoPlus/ParameterExtraction.yrcmlib b/motoman_driver/MotoPlus/ParameterExtraction.yrcmlib index 9859522d..c7b89c84 100644 Binary files a/motoman_driver/MotoPlus/ParameterExtraction.yrcmlib and b/motoman_driver/MotoPlus/ParameterExtraction.yrcmlib differ diff --git a/motoman_driver/MotoPlus/ParameterTypes.h b/motoman_driver/MotoPlus/ParameterTypes.h index 433adf35..b2a5baed 100644 --- a/motoman_driver/MotoPlus/ParameterTypes.h +++ b/motoman_driver/MotoPlus/ParameterTypes.h @@ -112,6 +112,19 @@ typedef struct ULONG cioAddressForAxis[MAX_PULSE_AXES][2]; } JOINT_FEEDBACK_SPEED_ADDRESSES; +typedef struct +{ + float theta; + float d; + float a; + float alpha; +} DH_LINK; + +typedef struct +{ + DH_LINK link[MAX_PULSE_AXES]; +} DH_PARAMETERS; + #ifdef __cplusplus } #endif diff --git a/motoman_driver/MotoPlus/SimpleMessage.h b/motoman_driver/MotoPlus/SimpleMessage.h index 46255b2c..08befdb8 100644 --- a/motoman_driver/MotoPlus/SimpleMessage.h +++ b/motoman_driver/MotoPlus/SimpleMessage.h @@ -71,7 +71,9 @@ typedef enum ROS_MSG_MOTO_IOCTRL_REPLY = 2011, ROS_MSG_MOTO_JOINT_TRAJ_PT_FULL_EX = 2016, - ROS_MSG_MOTO_JOINT_FEEDBACK_EX = 2017 + ROS_MSG_MOTO_JOINT_FEEDBACK_EX = 2017, + + ROS_MSG_MOTO_GET_DH_PARAMETERS = 2020 } SmMsgType; @@ -134,7 +136,8 @@ typedef enum ROS_RESULT_INVALID_DATA_POSITION, ROS_RESULT_INVALID_DATA_SPEED, ROS_RESULT_INVALID_DATA_ACCEL, - ROS_RESULT_INVALID_DATA_INSUFFICIENT + ROS_RESULT_INVALID_DATA_INSUFFICIENT, + ROS_RESULT_INVALID_DATA_TIME } SmInvalidSubCode; @@ -321,6 +324,16 @@ struct _SmBodyMotoIoCtrlReply // ROS_MSG_MOTO_IOCTRL_REPLY = 2011 } __attribute__((__packed__)); typedef struct _SmBodyMotoIoCtrlReply SmBodyMotoIoCtrlReply; +//-------------- +// DH Parameters +//-------------- + +struct _SmBodyMotoGetDhParameters +{ + DH_PARAMETERS dhParameters[MOT_MAX_GR]; +} __attribute__((__packed__)); +typedef struct _SmBodyMotoGetDhParameters SmBodyMotoGetDhParameters; + //-------------- // Body Union //-------------- @@ -343,6 +356,7 @@ typedef union SmBodyMotoWriteIOGroup writeIOGroup; SmBodyMotoWriteIOGroupReply writeIOGroupReply; SmBodyMotoIoCtrlReply ioCtrlReply; + SmBodyMotoGetDhParameters dhParameters; } SmBody; //------------------- diff --git a/motoman_driver/MotoPlus/_buildLog/MotoROSDX100.log b/motoman_driver/MotoPlus/_buildLog/MotoROSDX100.log index 19ff682e..765c24c4 100644 --- a/motoman_driver/MotoPlus/_buildLog/MotoROSDX100.log +++ b/motoman_driver/MotoPlus/_buildLog/MotoROSDX100.log @@ -1,10 +1,10 @@  ------ Now building project: MotoRosDX1_------ Compiling Controller.c Controller.c : warning : In function `Db_Print' -Controller.c(973): warning : unused parameter `msgFormat' +Controller.c(1017): warning : unused parameter `msgFormat' Compiling CtrlGroup.c CtrlGroup.c : warning : In function `Ros_CtrlGroup_IsRobot' -CtrlGroup.c(632): warning : comparison of unsigned expression >= 0 is always true +CtrlGroup.c(636): warning : comparison of unsigned expression >= 0 is always true Compiling IoServer.c Compiling MotionServer.c Compiling mpMain.c diff --git a/motoman_driver/MotoPlus/output/DX100/MotoRosDX1_/MotoRosDX1_180.out b/motoman_driver/MotoPlus/output/DX100/MotoRosDX1_/MotoRosDX1_180.out deleted file mode 100644 index 38393479..00000000 Binary files a/motoman_driver/MotoPlus/output/DX100/MotoRosDX1_/MotoRosDX1_180.out and /dev/null differ diff --git a/motoman_driver/MotoPlus/output/DX100/MotoRosDX1_/MotoRosDX1_181.out b/motoman_driver/MotoPlus/output/DX100/MotoRosDX1_/MotoRosDX1_182.out similarity index 54% rename from 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b/motoman_driver/MotoPlus/output/YRC1000u/MotoRosYRC1u_/MotoRosYRC1u_182.out new file mode 100644 index 00000000..084598ad Binary files /dev/null and b/motoman_driver/MotoPlus/output/YRC1000u/MotoRosYRC1u_/MotoRosYRC1u_182.out differ diff --git a/motoman_ma2010_moveit_config/.setup_assistant b/motoman_ma2010_moveit_config/.setup_assistant new file mode 100644 index 00000000..a1d7d875 --- /dev/null +++ b/motoman_ma2010_moveit_config/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: motoman_ma2010_support + relative_path: urdf/ma2010.xacro + xacro_args: "--inorder " + SRDF: + relative_path: config/motoman_ma2010.srdf + CONFIG: + author_name: Thomas Lehmann + author_email: lehmann@ualberta.ca + generated_timestamp: 1544030713 \ No newline at end of file diff --git a/motoman_ma2010_moveit_config/CMakeLists.txt b/motoman_ma2010_moveit_config/CMakeLists.txt new file mode 100644 index 00000000..83582154 --- /dev/null +++ b/motoman_ma2010_moveit_config/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(motoman_ma2010_moveit_config) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/motoman_ma2010_moveit_config/config/chomp_planning.yaml b/motoman_ma2010_moveit_config/config/chomp_planning.yaml new file mode 100644 index 00000000..75258e53 --- /dev/null +++ b/motoman_ma2010_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/motoman_ma2010_moveit_config/config/controllers.yaml b/motoman_ma2010_moveit_config/config/controllers.yaml new file mode 100644 index 00000000..9989203b --- /dev/null +++ b/motoman_ma2010_moveit_config/config/controllers.yaml @@ -0,0 +1,5 @@ +controller_list: + - name: "" + action_ns: joint_trajectory_action + type: FollowJointTrajectory + joints: [joint_1_s, joint_2_l, joint_3_u, joint_4_r, joint_5_b, joint_6_t] diff --git a/motoman_ma2010_moveit_config/config/fake_controllers.yaml b/motoman_ma2010_moveit_config/config/fake_controllers.yaml new file mode 100644 index 00000000..6f4c0c09 --- /dev/null +++ b/motoman_ma2010_moveit_config/config/fake_controllers.yaml @@ -0,0 +1,9 @@ +controller_list: + - name: fake_manipulator_controller + joints: + - joint_1_s + - joint_2_l + - joint_3_u + - joint_4_r + - joint_5_b + - joint_6_t \ No newline at end of file diff --git a/motoman_ma2010_moveit_config/config/joint_limits.yaml b/motoman_ma2010_moveit_config/config/joint_limits.yaml new file mode 100644 index 00000000..84f9025d --- /dev/null +++ b/motoman_ma2010_moveit_config/config/joint_limits.yaml @@ -0,0 +1,34 @@ +# 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] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + joint_1_s: + has_velocity_limits: true + max_velocity: 3.4383 + has_acceleration_limits: false + max_acceleration: 0 + joint_2_l: + has_velocity_limits: true + max_velocity: 3.3161 + has_acceleration_limits: false + max_acceleration: 0 + joint_3_u: + has_velocity_limits: true + max_velocity: 3.6652 + has_acceleration_limits: false + max_acceleration: 0 + joint_4_r: + has_velocity_limits: true + max_velocity: 7.1558 + has_acceleration_limits: false + max_acceleration: 0 + joint_5_b: + has_velocity_limits: true + max_velocity: 7.1558 + has_acceleration_limits: false + max_acceleration: 0 + joint_6_t: + has_velocity_limits: true + max_velocity: 10.6465 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/motoman_ma2010_moveit_config/config/joint_names.yaml b/motoman_ma2010_moveit_config/config/joint_names.yaml new file mode 100644 index 00000000..e23fc2aa --- /dev/null +++ b/motoman_ma2010_moveit_config/config/joint_names.yaml @@ -0,0 +1 @@ +controller_joint_names: [joint_1_s, joint_2_l, joint_3_u, joint_4_r, joint_5_b, joint_6_t] diff --git a/motoman_ma2010_moveit_config/config/kinematics.yaml b/motoman_ma2010_moveit_config/config/kinematics.yaml new file mode 100644 index 00000000..969ba142 --- /dev/null +++ b/motoman_ma2010_moveit_config/config/kinematics.yaml @@ -0,0 +1,5 @@ +manipulator: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + kinematics_solver_attempts: 3 \ No newline at end of file diff --git a/motoman_ma2010_moveit_config/config/motoman_ma2010.srdf b/motoman_ma2010_moveit_config/config/motoman_ma2010.srdf new file mode 100644 index 00000000..824e5c76 --- /dev/null +++ b/motoman_ma2010_moveit_config/config/motoman_ma2010.srdf @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_ma2010_moveit_config/config/ompl_planning.yaml b/motoman_ma2010_moveit_config/config/ompl_planning.yaml new file mode 100644 index 00000000..c458a759 --- /dev/null +++ b/motoman_ma2010_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,150 @@ +planner_configs: + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +manipulator: + default_planner_config: RRTConnect + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(joint_1_s,joint_2_l) + longest_valid_segment_fraction: 0.005 \ No newline at end of file diff --git a/motoman_ma2010_moveit_config/config/ros_controllers.yaml b/motoman_ma2010_moveit_config/config/ros_controllers.yaml new file mode 100644 index 00000000..d3695a81 --- /dev/null +++ b/motoman_ma2010_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,26 @@ +motoman_ma2010: +# MoveIt-specific simulation settings + moveit_sim_hw_interface: + joint_model_group: controllers_initial_group_ + joint_model_group_pose: controllers_initial_pose_ +# Settings for ros_control control loop + generic_hw_control_loop: + loop_hz: 300 + cycle_time_error_threshold: 0.01 +# Settings for ros_control hardware interface + hardware_interface: + joints: + - joint_1_s + - joint_2_l + - joint_3_u + - joint_4_r + - joint_5_b + - joint_6_t + sim_control_mode: 1 # 0: position, 1: velocity +# Publish all joint states +# Creates the /joint_states topic necessary in ROS + joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 + controller_list: + [] \ No newline at end of file diff --git a/motoman_ma2010_moveit_config/config/sensors_3d.yaml b/motoman_ma2010_moveit_config/config/sensors_3d.yaml new file mode 100644 index 00000000..d2955dcd --- /dev/null +++ b/motoman_ma2010_moveit_config/config/sensors_3d.yaml @@ -0,0 +1,3 @@ +# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it +sensors: + - {} \ No newline at end of file diff --git a/motoman_ma2010_moveit_config/launch/chomp_planning_pipeline.launch.xml b/motoman_ma2010_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 00000000..539cb4eb --- /dev/null +++ b/motoman_ma2010_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/motoman_ma2010_moveit_config/launch/default_warehouse_db.launch b/motoman_ma2010_moveit_config/launch/default_warehouse_db.launch new file mode 100644 index 00000000..f38ba52f --- /dev/null +++ b/motoman_ma2010_moveit_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/motoman_ma2010_moveit_config/launch/demo.launch b/motoman_ma2010_moveit_config/launch/demo.launch new file mode 100644 index 00000000..3f693094 --- /dev/null +++ b/motoman_ma2010_moveit_config/launch/demo.launch @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_ma2010_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/motoman_ma2010_moveit_config/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 00000000..af147757 --- /dev/null +++ b/motoman_ma2010_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/motoman_ma2010_moveit_config/launch/joystick_control.launch b/motoman_ma2010_moveit_config/launch/joystick_control.launch new file mode 100644 index 00000000..9411f6e6 --- /dev/null +++ b/motoman_ma2010_moveit_config/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/motoman_ma2010_moveit_config/launch/motoman_ma2010_moveit_controller_manager.launch.xml b/motoman_ma2010_moveit_config/launch/motoman_ma2010_moveit_controller_manager.launch.xml new file mode 100644 index 00000000..ce0e85ef --- /dev/null +++ b/motoman_ma2010_moveit_config/launch/motoman_ma2010_moveit_controller_manager.launch.xml @@ -0,0 +1,8 @@ + + + + + + diff --git a/motoman_ma2010_moveit_config/launch/motoman_ma2010_moveit_sensor_manager.launch.xml b/motoman_ma2010_moveit_config/launch/motoman_ma2010_moveit_sensor_manager.launch.xml new file mode 100644 index 00000000..5d02698d --- /dev/null +++ b/motoman_ma2010_moveit_config/launch/motoman_ma2010_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/motoman_ma2010_moveit_config/launch/move_group.launch b/motoman_ma2010_moveit_config/launch/move_group.launch new file mode 100644 index 00000000..9a4228fd --- /dev/null +++ b/motoman_ma2010_moveit_config/launch/move_group.launch @@ -0,0 +1,77 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_ma2010_moveit_config/launch/moveit.rviz b/motoman_ma2010_moveit_config/launch/moveit.rviz new file mode 100644 index 00000000..0877e1e7 --- /dev/null +++ b/motoman_ma2010_moveit_config/launch/moveit.rviz @@ -0,0 +1,689 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.74256 + Tree Height: 664 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + 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 + - Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + Name: MotionPlanning + Planned Path: + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + 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: left_arm + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.2 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Scene Robot: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: /base_link + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.9965 + Focal Point: + X: 0.113567 + Y: 0.10592 + Z: 2.23518e-07 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.509797 + Target Frame: /base_link + Value: XYOrbit (rviz) + Yaw: 5.65995 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1337 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + Motion Planning: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 459 + Y: -243 diff --git a/motoman_ma2010_moveit_config/launch/moveit_planning_execution.launch b/motoman_ma2010_moveit_config/launch/moveit_planning_execution.launch new file mode 100644 index 00000000..0ebbfc33 --- /dev/null +++ b/motoman_ma2010_moveit_config/launch/moveit_planning_execution.launch @@ -0,0 +1,50 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_ma2010_moveit_config/launch/moveit_rviz.launch b/motoman_ma2010_moveit_config/launch/moveit_rviz.launch new file mode 100644 index 00000000..cd89f001 --- /dev/null +++ b/motoman_ma2010_moveit_config/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/motoman_ma2010_moveit_config/launch/ompl_planning_pipeline.launch.xml b/motoman_ma2010_moveit_config/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 00000000..f10696b4 --- /dev/null +++ b/motoman_ma2010_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/motoman_ma2010_moveit_config/launch/planning_context.launch b/motoman_ma2010_moveit_config/launch/planning_context.launch new file mode 100644 index 00000000..8f99a507 --- /dev/null +++ b/motoman_ma2010_moveit_config/launch/planning_context.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_ma2010_moveit_config/launch/planning_pipeline.launch.xml b/motoman_ma2010_moveit_config/launch/planning_pipeline.launch.xml new file mode 100644 index 00000000..e41a9487 --- /dev/null +++ b/motoman_ma2010_moveit_config/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/motoman_ma2010_moveit_config/launch/ros_controllers.launch b/motoman_ma2010_moveit_config/launch/ros_controllers.launch new file mode 100644 index 00000000..068bbf14 --- /dev/null +++ b/motoman_ma2010_moveit_config/launch/ros_controllers.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + diff --git a/motoman_ma2010_moveit_config/launch/run_benchmark_ompl.launch b/motoman_ma2010_moveit_config/launch/run_benchmark_ompl.launch new file mode 100644 index 00000000..e700aa1c --- /dev/null +++ b/motoman_ma2010_moveit_config/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_ma2010_moveit_config/launch/sensor_manager.launch.xml b/motoman_ma2010_moveit_config/launch/sensor_manager.launch.xml new file mode 100644 index 00000000..5c34a323 --- /dev/null +++ b/motoman_ma2010_moveit_config/launch/sensor_manager.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/motoman_ma2010_moveit_config/launch/setup_assistant.launch b/motoman_ma2010_moveit_config/launch/setup_assistant.launch new file mode 100644 index 00000000..31e2a229 --- /dev/null +++ b/motoman_ma2010_moveit_config/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/motoman_ma2010_moveit_config/launch/trajectory_execution.launch.xml b/motoman_ma2010_moveit_config/launch/trajectory_execution.launch.xml new file mode 100644 index 00000000..9ce56e64 --- /dev/null +++ b/motoman_ma2010_moveit_config/launch/trajectory_execution.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_ma2010_moveit_config/launch/warehouse.launch b/motoman_ma2010_moveit_config/launch/warehouse.launch new file mode 100644 index 00000000..ed0b2cac --- /dev/null +++ b/motoman_ma2010_moveit_config/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/motoman_ma2010_moveit_config/launch/warehouse_settings.launch.xml b/motoman_ma2010_moveit_config/launch/warehouse_settings.launch.xml new file mode 100644 index 00000000..e473b083 --- /dev/null +++ b/motoman_ma2010_moveit_config/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/motoman_ma2010_moveit_config/package.xml b/motoman_ma2010_moveit_config/package.xml new file mode 100644 index 00000000..84f1ae0b --- /dev/null +++ b/motoman_ma2010_moveit_config/package.xml @@ -0,0 +1,34 @@ + + + motoman_ma2010_moveit_config + 0.3.0 + + An automatically generated package with all the configuration and launch files for using the motoman_ma2010 with the MoveIt! Motion Planning Framework + + Thomas Lehmann + Thomas Lehmann + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit/issues + https://github.com/ros-planning/moveit + + catkin + + moveit_ros_move_group + moveit_fake_controller_manager + moveit_kinematics + moveit_planners_ompl + moveit_ros_visualization + moveit_setup_assistant + joint_state_publisher + robot_state_publisher + xacro + + + motoman_ma2010_support + motoman_ma2010_support + + + diff --git a/motoman_ma2010_support/CMakeLists.txt b/motoman_ma2010_support/CMakeLists.txt new file mode 100644 index 00000000..c3632899 --- /dev/null +++ b/motoman_ma2010_support/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(motoman_ma2010_support) + +find_package(catkin REQUIRED) + +catkin_package() + +if (CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(test/launch_test.xml) +endif() + +install(DIRECTORY config launch meshes urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/motoman_ma2010_support/config/joint_names_ma2010.yaml b/motoman_ma2010_support/config/joint_names_ma2010.yaml new file mode 100644 index 00000000..c23d10d4 --- /dev/null +++ b/motoman_ma2010_support/config/joint_names_ma2010.yaml @@ -0,0 +1 @@ +controller_joint_names: ['joint_1_s', 'joint_2_l', 'joint_3_u', 'joint_4_r', 'joint_5_b', 'joint_6_t'] diff --git a/motoman_ma2010_support/launch/load_ma2010.launch b/motoman_ma2010_support/launch/load_ma2010.launch new file mode 100644 index 00000000..cd7bddbd --- /dev/null +++ b/motoman_ma2010_support/launch/load_ma2010.launch @@ -0,0 +1,4 @@ + + + + diff --git a/motoman_ma2010_support/launch/robot_interface_streaming_ma2010.launch b/motoman_ma2010_support/launch/robot_interface_streaming_ma2010.launch new file mode 100644 index 00000000..6f3d1d79 --- /dev/null +++ b/motoman_ma2010_support/launch/robot_interface_streaming_ma2010.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + diff --git a/motoman_ma2010_support/launch/robot_state_visualize_ma2010.launch b/motoman_ma2010_support/launch/robot_state_visualize_ma2010.launch new file mode 100644 index 00000000..bd6d923f --- /dev/null +++ b/motoman_ma2010_support/launch/robot_state_visualize_ma2010.launch @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_ma2010_support/launch/test_ma2010.launch b/motoman_ma2010_support/launch/test_ma2010.launch new file mode 100644 index 00000000..450d9903 --- /dev/null +++ b/motoman_ma2010_support/launch/test_ma2010.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/motoman_ma2010_support/meshes/ma2010/collision/base_link.stl b/motoman_ma2010_support/meshes/ma2010/collision/base_link.stl new file mode 100644 index 00000000..9b6c3925 Binary files /dev/null and b/motoman_ma2010_support/meshes/ma2010/collision/base_link.stl differ diff --git a/motoman_ma2010_support/meshes/ma2010/collision/link_1_s.stl b/motoman_ma2010_support/meshes/ma2010/collision/link_1_s.stl new file mode 100644 index 00000000..bddc917e Binary files /dev/null and b/motoman_ma2010_support/meshes/ma2010/collision/link_1_s.stl differ diff --git a/motoman_ma2010_support/meshes/ma2010/collision/link_2_l.stl b/motoman_ma2010_support/meshes/ma2010/collision/link_2_l.stl new file mode 100644 index 00000000..5dee86ba Binary files /dev/null and b/motoman_ma2010_support/meshes/ma2010/collision/link_2_l.stl differ diff --git a/motoman_ma2010_support/meshes/ma2010/collision/link_3_u.stl b/motoman_ma2010_support/meshes/ma2010/collision/link_3_u.stl new file mode 100644 index 00000000..266f1a2f Binary files /dev/null and b/motoman_ma2010_support/meshes/ma2010/collision/link_3_u.stl differ diff --git a/motoman_ma2010_support/meshes/ma2010/collision/link_4_r.stl b/motoman_ma2010_support/meshes/ma2010/collision/link_4_r.stl new file mode 100644 index 00000000..0633c59c Binary files /dev/null and b/motoman_ma2010_support/meshes/ma2010/collision/link_4_r.stl differ diff --git a/motoman_ma2010_support/meshes/ma2010/collision/link_5_b.stl b/motoman_ma2010_support/meshes/ma2010/collision/link_5_b.stl new file mode 100644 index 00000000..60f52019 Binary files /dev/null and b/motoman_ma2010_support/meshes/ma2010/collision/link_5_b.stl differ diff --git a/motoman_ma2010_support/meshes/ma2010/collision/link_6_t.stl b/motoman_ma2010_support/meshes/ma2010/collision/link_6_t.stl new file mode 100644 index 00000000..862fe894 Binary files /dev/null and b/motoman_ma2010_support/meshes/ma2010/collision/link_6_t.stl differ diff --git a/motoman_ma2010_support/meshes/ma2010/visual/base_link.stl b/motoman_ma2010_support/meshes/ma2010/visual/base_link.stl new file mode 100644 index 00000000..d64b0116 Binary files /dev/null and b/motoman_ma2010_support/meshes/ma2010/visual/base_link.stl differ diff --git a/motoman_ma2010_support/meshes/ma2010/visual/link_1_s.stl b/motoman_ma2010_support/meshes/ma2010/visual/link_1_s.stl new file mode 100644 index 00000000..82855b7a Binary 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b/motoman_ma2010_support/meshes/ma2010/visual/link_5_b.stl new file mode 100644 index 00000000..491d1af2 Binary files /dev/null and b/motoman_ma2010_support/meshes/ma2010/visual/link_5_b.stl differ diff --git a/motoman_ma2010_support/meshes/ma2010/visual/link_6_t.stl b/motoman_ma2010_support/meshes/ma2010/visual/link_6_t.stl new file mode 100644 index 00000000..20ebc7b8 Binary files /dev/null and b/motoman_ma2010_support/meshes/ma2010/visual/link_6_t.stl differ diff --git a/motoman_ma2010_support/package.xml b/motoman_ma2010_support/package.xml new file mode 100644 index 00000000..ba999568 --- /dev/null +++ b/motoman_ma2010_support/package.xml @@ -0,0 +1,45 @@ + + + motoman_ma2010_support + 0.3.5 + +

+ ROS Industrial support for the Motoman MA2010. +

+

+ This package contains configuration data, 3D models and launch files + for Motoman MA2010 manipulators. +

+

+ Specifications +

+
    +
  • MA2010 - Default
    • +
+

+ All urdfs are based on the default motion and joint velocity limits, + unless noted otherwise. +

+

+ Before using any of the configuration files and / or meshes included + in this package, be sure to check they are correct for the particular + robot model and configuration you intend to use them with. +

+ + Eric Marcil + Eric Marcil + BSD + http://wiki.ros.org/motoman_ma2010_support + https://github.com/ros-industrial/motoman/issues + https://github.com/ros-industrial/motoman + catkin + roslaunch + joint_state_publisher + motoman_driver + robot_state_publisher + rviz + xacro + + + + diff --git a/motoman_ma2010_support/test/launch_test.xml b/motoman_ma2010_support/test/launch_test.xml new file mode 100644 index 00000000..da1ec19a --- /dev/null +++ b/motoman_ma2010_support/test/launch_test.xml @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_ma2010_support/urdf/ma2010.xacro b/motoman_ma2010_support/urdf/ma2010.xacro new file mode 100644 index 00000000..40f0fe9b --- /dev/null +++ b/motoman_ma2010_support/urdf/ma2010.xacro @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/motoman_ma2010_support/urdf/ma2010_macro.xacro b/motoman_ma2010_support/urdf/ma2010_macro.xacro new file mode 100644 index 00000000..d4682cc9 --- /dev/null +++ b/motoman_ma2010_support/urdf/ma2010_macro.xacro @@ -0,0 +1,159 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_motopos_d500_support/CMakeLists.txt b/motoman_motopos_d500_support/CMakeLists.txt new file mode 100644 index 00000000..3627c23b --- /dev/null +++ b/motoman_motopos_d500_support/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(motoman_motopos_d500_support) + +find_package(catkin REQUIRED) + +catkin_package() + +if (CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(test/launch_test.xml) +endif() + +install(DIRECTORY config launch meshes urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/motoman_motopos_d500_support/config/joint_names_motopos_d500.yaml b/motoman_motopos_d500_support/config/joint_names_motopos_d500.yaml new file mode 100644 index 00000000..bf9eb71b --- /dev/null +++ b/motoman_motopos_d500_support/config/joint_names_motopos_d500.yaml @@ -0,0 +1 @@ +controller_joint_names: ['joint_1', 'joint_2'] diff --git a/motoman_motopos_d500_support/launch/load_motopos_d500.launch b/motoman_motopos_d500_support/launch/load_motopos_d500.launch new file mode 100644 index 00000000..47d2f5c0 --- /dev/null +++ b/motoman_motopos_d500_support/launch/load_motopos_d500.launch @@ -0,0 +1,4 @@ + + + + diff --git a/motoman_motopos_d500_support/launch/robot_interface_streaming_motopos_d500.launch b/motoman_motopos_d500_support/launch/robot_interface_streaming_motopos_d500.launch new file mode 100644 index 00000000..94bed4de --- /dev/null +++ b/motoman_motopos_d500_support/launch/robot_interface_streaming_motopos_d500.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + diff --git a/motoman_motopos_d500_support/launch/robot_state_visualize_motopos_d500.launch b/motoman_motopos_d500_support/launch/robot_state_visualize_motopos_d500.launch new file mode 100644 index 00000000..6794bd89 --- /dev/null +++ b/motoman_motopos_d500_support/launch/robot_state_visualize_motopos_d500.launch @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_motopos_d500_support/launch/test_motopos_d500.launch b/motoman_motopos_d500_support/launch/test_motopos_d500.launch new file mode 100644 index 00000000..34f5ecab --- /dev/null +++ b/motoman_motopos_d500_support/launch/test_motopos_d500.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/motoman_motopos_d500_support/meshes/motopos_d500/collision/base_link.stl b/motoman_motopos_d500_support/meshes/motopos_d500/collision/base_link.stl new file mode 100644 index 00000000..a493da2d Binary files /dev/null and b/motoman_motopos_d500_support/meshes/motopos_d500/collision/base_link.stl differ diff --git a/motoman_motopos_d500_support/meshes/motopos_d500/collision/link_1.stl b/motoman_motopos_d500_support/meshes/motopos_d500/collision/link_1.stl new file mode 100644 index 00000000..801d67d8 Binary files /dev/null and b/motoman_motopos_d500_support/meshes/motopos_d500/collision/link_1.stl differ diff --git a/motoman_motopos_d500_support/meshes/motopos_d500/collision/link_2.stl b/motoman_motopos_d500_support/meshes/motopos_d500/collision/link_2.stl new file mode 100644 index 00000000..105f642c Binary files /dev/null and b/motoman_motopos_d500_support/meshes/motopos_d500/collision/link_2.stl differ diff --git a/motoman_motopos_d500_support/meshes/motopos_d500/visual/base_link.stl b/motoman_motopos_d500_support/meshes/motopos_d500/visual/base_link.stl new file mode 100644 index 00000000..7d79ada6 Binary files /dev/null and b/motoman_motopos_d500_support/meshes/motopos_d500/visual/base_link.stl differ diff --git a/motoman_motopos_d500_support/meshes/motopos_d500/visual/link_1.stl b/motoman_motopos_d500_support/meshes/motopos_d500/visual/link_1.stl new file mode 100644 index 00000000..3492563c Binary files /dev/null and b/motoman_motopos_d500_support/meshes/motopos_d500/visual/link_1.stl differ diff --git a/motoman_motopos_d500_support/meshes/motopos_d500/visual/link_2.stl b/motoman_motopos_d500_support/meshes/motopos_d500/visual/link_2.stl new file mode 100644 index 00000000..238675ab Binary files /dev/null and b/motoman_motopos_d500_support/meshes/motopos_d500/visual/link_2.stl differ diff --git a/motoman_motopos_d500_support/package.xml b/motoman_motopos_d500_support/package.xml new file mode 100644 index 00000000..c4c4bfd8 --- /dev/null +++ b/motoman_motopos_d500_support/package.xml @@ -0,0 +1,48 @@ + + + motoman_motopos_d500_support + 0.3.5 + +

+ ROS Industrial support for the Motoman MotoPos D500 positioners (and variants). +

+

+ This package contains configuration data, 3D models and launch files + for Motoman MotoPos D500 positioner. +

+

+ Specifications +

+
    +
  • MotoPos D500 - Default
    • +
+

+ Joint limits and maximum joint velocities are based on the information + found in the online + PB-283_MotoPos D250-D500 DX.pdf + All urdfs are based on the default motion and joint velocity limits, + unless noted otherwise. +

+

+ Before using any of the configuration files and / or meshes included + in this package, be sure to check they are correct for the particular + positioner model and configuration you intend to use them with. +

+ + Eric Marcil + + BSD + http://wiki.ros.org/motoman_motopos_d500_support + https://github.com/ros-industrial/motoman/issues + https://github.com/ros-industrial/motoman + catkin + roslaunch + joint_state_publisher + motoman_driver + robot_state_publisher + rviz + xacro + + + + diff --git a/motoman_motopos_d500_support/test/launch_test.xml b/motoman_motopos_d500_support/test/launch_test.xml new file mode 100644 index 00000000..5341adb6 --- /dev/null +++ b/motoman_motopos_d500_support/test/launch_test.xml @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_motopos_d500_support/urdf/motopos_d500.xacro b/motoman_motopos_d500_support/urdf/motopos_d500.xacro new file mode 100644 index 00000000..4fa380cf --- /dev/null +++ b/motoman_motopos_d500_support/urdf/motopos_d500.xacro @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/motoman_motopos_d500_support/urdf/motopos_d500_macro.xacro b/motoman_motopos_d500_support/urdf/motopos_d500_macro.xacro new file mode 100644 index 00000000..9eefb003 --- /dev/null +++ b/motoman_motopos_d500_support/urdf/motopos_d500_macro.xacro @@ -0,0 +1,79 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +