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Alec Tiefenthal
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Mar 5, 2021
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controller_joint_names: ['joint_1_s', 'joint_2_l', 'joint_3_u', 'joint_4_r', 'joint_5_b', 'joint_6_t'] |
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<launch> | ||
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find motoman_gp180_support)/urdf/gp180.xacro'" /> | ||
</launch> |
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motoman_gp180_support/launch/robot_interface_streaming_gp180.launch
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<!-- | ||
Manipulator specific version of 'robot_interface_streaming.launch'. | ||
Defaults provided for gp180: | ||
- joints | ||
Usage: | ||
robot_interface_streaming_gp180_120.launch robot_ip:=<value> controller:=<yrc1000> | ||
--> | ||
<launch> | ||
<arg name="robot_ip" /> | ||
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<!-- controller: Controller name (yrc1000) --> | ||
<arg name="controller" /> | ||
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<rosparam command="load" file="$(find motoman_gp180_support)/config/joint_names_gp180.yaml" /> | ||
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<include file="$(find motoman_driver)/launch/robot_interface_streaming_$(arg controller).launch"> | ||
<arg name="robot_ip" value="$(arg robot_ip)" /> | ||
</include> | ||
</launch> |
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motoman_gp180_support/launch/robot_state_visualize_gp180.launch
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<!-- | ||
Manipulator specific version of the state visualizer. | ||
Defaults provided for gp180: | ||
- joints | ||
Usage: | ||
robot_state_visualize_gp180.launch robot_ip:=<value> controller:=<yrc1000> | ||
--> | ||
<launch> | ||
<arg name="robot_ip" /> | ||
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<!-- controller: Controller name (yrc1000) --> | ||
<arg name="controller" /> | ||
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<rosparam command="load" file="$(find motoman_gp180_support)/config/joint_names_gp180.yaml" /> | ||
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<include file="$(find motoman_driver)/launch/robot_state_$(arg controller).launch"> | ||
<arg name="robot_ip" value="$(arg robot_ip)" /> | ||
</include> | ||
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> | ||
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<include file="$(find motoman_gp180_support)/launch/load_gp180.launch" /> | ||
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" /> | ||
</launch> |
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<launch> | ||
<include file="$(find motoman_gp180_support)/launch/load_gp180.launch" /> | ||
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<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"/> | ||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> | ||
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" /> | ||
</launch> |
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<!-- | ||
launch_test.xml - ROSlaunch tests | ||
Usage Instructions: | ||
1. Add the following to your CMakeLists.txt: | ||
find_package(roslaunch) | ||
roslaunch_add_file_check(test/launch_test.xml) | ||
2. Create a test directory under your package | ||
3. Add the "launch_text.xml" file and fill out the test below. Use the | ||
following conventions: | ||
a. Encapsulate each launch file test in it's own namespace. By | ||
convention the namespace should have the same name as the launch | ||
file (minus ".launch" extension) | ||
b. Create tests for each possible combination of parameters. Utilize | ||
sub-namespaces under the main namespace. | ||
Notes: | ||
1. XML extension is used in order to avoid beinging included | ||
in roslaunch auto-complete. | ||
2. Group tags with namespaces are used to avoid node name collisions when | ||
testing multpile launch files | ||
--> | ||
<launch> | ||
<arg name="req_arg" value="default" /> | ||
<arg name="yrc1000" value="yrc1000" /> | ||
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<group ns="load_gp180"> | ||
<include file="$(find motoman_gp180_support)/launch/load_gp180.launch" /> | ||
</group> | ||
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<group ns="test_gp180"> | ||
<include file="$(find motoman_gp180_support)/launch/test_gp180.launch" /> | ||
</group> | ||
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<group ns="robot_interface_streaming_gp180"> | ||
<group ns="yrc1000"> | ||
<include file="$(find motoman_gp180_support)/launch/robot_interface_streaming_gp180.launch"> | ||
<arg name="robot_ip" value="$(arg req_arg)" /> | ||
<arg name="controller" value="$(arg yrc1000)" /> | ||
</include> | ||
</group> | ||
</group> | ||
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<group ns="robot_state_visualize_gp180"> | ||
<group ns="yrc1000"> | ||
<include file="$(find motoman_gp180_support)/launch/robot_state_visualize_gp180.launch"> | ||
<arg name="robot_ip" value="$(arg req_arg)" /> | ||
<arg name="controller" value="$(arg yrc1000)" /> | ||
</include> | ||
</group> | ||
</group> | ||
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</launch> |
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<?xml version="1.0" ?> | ||
<robot name="motoman_gp180" xmlns:xacro="http://ros.org/wiki/xacro"> | ||
<xacro:include filename="$(find motoman_gp180_support)/urdf/gp180_macro.xacro" /> | ||
<xacro:motoman_gp180 prefix=""/> | ||
</robot> |
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<?xml version="1.0" ?> | ||
<robot xmlns:xacro="http://ros.org/wiki/xacro"> | ||
<xacro:macro name="motoman_gp180" params="prefix"> | ||
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<xacro:include filename="$(find motoman_resources)/urdf/common_materials.xacro"/> | ||
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<!-- link list --> | ||
<link name="${prefix}base_link"> | ||
<visual> | ||
<geometry> | ||
<mesh filename="package://motoman_gp180_support/meshes/gp180_120/visual/base_link.stl"/> | ||
</geometry> | ||
<xacro:material_yaskawa_blue/> | ||
</visual> | ||
<collision> | ||
<geometry> | ||
<mesh filename="package://motoman_gp180_support/meshes/gp180_120/collision/base_link.stl"/> | ||
</geometry> | ||
</collision> | ||
</link> | ||
<link name="${prefix}link_1_s"> | ||
<visual> | ||
<geometry> | ||
<mesh filename="package://motoman_gp180_support/meshes/gp180_120/visual/link_1_s.stl"/> | ||
</geometry> | ||
<xacro:material_yaskawa_blue/> | ||
</visual> | ||
<collision> | ||
<geometry> | ||
<mesh filename="package://motoman_gp180_support/meshes/gp180_120/collision/link_1_s.stl"/> | ||
</geometry> | ||
</collision> | ||
</link> | ||
<link name="${prefix}link_2_l"> | ||
<visual> | ||
<origin rpy="${radians(90)} ${radians(0)} ${radians(90)}" /> | ||
<geometry> | ||
<mesh filename="package://motoman_gp180_support/meshes/gp180_120/visual/link_2_l.stl"/> | ||
</geometry> | ||
<xacro:material_yaskawa_blue/> | ||
</visual> | ||
<collision> | ||
<origin rpy="${radians(90)} ${radians(0)} ${radians(90)}" /> | ||
<geometry> | ||
<mesh filename="package://motoman_gp180_support/meshes/gp180_120/collision/link_2_l.stl"/> | ||
</geometry> | ||
</collision> | ||
</link> | ||
<link name="${prefix}link_3_u"> | ||
<visual> | ||
<origin rpy="${radians(-90)} ${radians(0)} ${radians(-90)}" /> | ||
<geometry> | ||
<mesh filename="package://motoman_gp180_support/meshes/gp180/visual/link_3_u.stl"/> | ||
</geometry> | ||
<xacro:material_yaskawa_blue/> | ||
</visual> | ||
<collision> | ||
<origin rpy="${radians(-90)} ${radians(0)} ${radians(-90)}" /> | ||
<geometry> | ||
<mesh filename="package://motoman_gp180_support/meshes/gp180/collision/link_3_u.stl"/> | ||
</geometry> | ||
</collision> | ||
</link> | ||
<link name="${prefix}link_4_r"> | ||
<visual> | ||
<origin rpy="${radians(0)} ${radians(90)} ${radians(0)}" xyz="0 0 1.225"/> | ||
<geometry> | ||
<mesh filename="package://motoman_gp180_support/meshes/gp180/visual/link_4_r.stl"/> | ||
</geometry> | ||
<xacro:material_yaskawa_blue/> | ||
</visual> | ||
<collision> | ||
<origin rpy="${radians(0)} ${radians(90)} ${radians(0)}" xyz="0 0 1.225"/> | ||
<geometry> | ||
<mesh filename="package://motoman_gp180_support/meshes/gp180/collision/link_4_r.stl"/> | ||
</geometry> | ||
</collision> | ||
</link> | ||
<link name="${prefix}link_5_b"> | ||
<visual> | ||
<origin rpy="${radians(-90)} ${radians(0)} ${radians(-90)}" /> | ||
<geometry> | ||
<mesh filename="package://motoman_gp180_support/meshes/gp180_120/visual/link_5_b.stl"/> | ||
</geometry> | ||
<xacro:material_yaskawa_blue/> | ||
</visual> | ||
<collision> | ||
<origin rpy="${radians(-90)} ${radians(0)} ${radians(-90)}" /> | ||
<geometry> | ||
<mesh filename="package://motoman_gp180_support/meshes/gp180_120/collision/link_5_b.stl"/> | ||
</geometry> | ||
</collision> | ||
</link> | ||
<link name="${prefix}link_6_t"> | ||
<visual> | ||
<origin rpy="${radians(0)} ${radians(90)} ${radians(0)}" /> | ||
<geometry> | ||
<mesh filename="package://motoman_gp180_support/meshes/gp180_120/visual/link_6_t.stl"/> | ||
</geometry> | ||
<xacro:material_yaskawa_blue/> | ||
</visual> | ||
<collision> | ||
<origin rpy="${radians(0)} ${radians(90)} ${radians(0)}" /> | ||
<geometry> | ||
<mesh filename="package://motoman_gp180_support/meshes/gp180_120/collision/link_6_t.stl"/> | ||
</geometry> | ||
</collision> | ||
</link> | ||
<!-- end of link list --> | ||
|
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<!-- joint list --> | ||
<joint name="${prefix}joint_1_s" type="revolute"> | ||
<parent link="${prefix}base_link"/> | ||
<child link="${prefix}link_1_s"/> | ||
<origin xyz="0 0 0.650" rpy="0 0 0" /> | ||
<axis xyz="0 0 1" /> | ||
<limit lower="${radians(-180)}" upper="${radians(180)}" effort="8237.59" velocity="${radians(125)}"/> | ||
</joint> | ||
<joint name="${prefix}joint_2_l" type="revolute"> | ||
<parent link="${prefix}link_1_s"/> | ||
<child link="${prefix}link_2_l"/> | ||
<origin xyz="0.325 0 0" rpy="0 ${radians(-90)} ${radians(-90)}" /> | ||
<axis xyz="0 0 1" /> | ||
<limit lower="${radians(-60)}" upper="${radians(76)}" effort="10419.57" velocity="${radians(115)}"/> | ||
</joint> | ||
<joint name="${prefix}joint_3_u" type="revolute"> | ||
<parent link="${prefix}link_2_l"/> | ||
<child link="${prefix}link_3_u"/> | ||
<origin xyz="1.150 0 0" rpy="${radians(180)} 0 0" /> | ||
<axis xyz="0 0 1" /> | ||
<limit lower="${radians(-86)}" upper="${radians(90)}" effort="7453.05" velocity="${radians(125)}"/> | ||
</joint> | ||
<joint name="${prefix}joint_4_r" type="revolute"> | ||
<parent link="${prefix}link_3_u"/> | ||
<child link="${prefix}link_4_r"/> | ||
<origin xyz="0.300 -1.225 0" rpy="${radians(-90)} 0 0" /> | ||
<axis xyz="0 0 1" /> | ||
<limit lower="${radians(-360)}" upper="${radians(360)}" effort="1671.05" velocity="${radians(182)}"/> | ||
</joint> | ||
<joint name="${prefix}joint_5_b" type="revolute"> | ||
<parent link="${prefix}link_4_r"/> | ||
<child link="${prefix}link_5_b"/> | ||
<origin xyz="0 0 0" rpy="${radians(90)} 0 0" /> | ||
<axis xyz="0 0 1" /> | ||
<limit lower="${radians(-130)}" upper="${radians(130)}" effort="1081.18" velocity="${radians(175)}"/> | ||
</joint> | ||
<joint name="${prefix}joint_6_t" type="revolute"> | ||
<parent link="${prefix}link_5_b"/> | ||
<child link="${prefix}link_6_t"/> | ||
<origin xyz="0 -0.225 0" rpy="${radians(-90)} 0 0" /> | ||
<axis xyz="0 0 1" /> | ||
<limit lower="${radians(-360)}" upper="${radians(360)}" effort="926.73" velocity="${radians(265)}"/> | ||
</joint> | ||
<!-- end of joint list --> | ||
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<!-- ROS base_link to Robot Manufacturer World Coordinates transform --> | ||
<link name="${prefix}base" /> | ||
<joint name="${prefix}base_link-base" type="fixed"> | ||
<origin xyz="0 0 0.650" rpy="0 0 0"/> | ||
<parent link="${prefix}base_link"/> | ||
<child link="${prefix}base"/> | ||
</joint> | ||
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<!-- ROS-Industrial 'flange' frame: attachment point for EEF models --> | ||
<link name="${prefix}flange" /> | ||
<joint name="${prefix}joint_6_t-flange" type="fixed"> | ||
<origin xyz="0 0 0" rpy="0 ${radians(90)} 0" /> | ||
<parent link="${prefix}link_6_t" /> | ||
<child link="${prefix}flange" /> | ||
</joint> | ||
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<!-- ROS-Industrial 'tool0' frame: all-zeros tool frame --> | ||
<link name="${prefix}tool0" /> | ||
<joint name="${prefix}flange-tool0" type="fixed"> | ||
<origin xyz="0 0 0" rpy="${pi} ${-pi/2.0} 0" /> | ||
<parent link="${prefix}flange" /> | ||
<child link="${prefix}tool0" /> | ||
</joint> | ||
</xacro:macro> | ||
</robot> |