diff --git a/ur_bringup/manifest.xml b/ur_bringup/manifest.xml
index eab5b0c90e1f0b361c1b4173c1a23c47aca5b7cb..37cf0103ab925c6877f51f22588076f4e22220e0 100644
--- a/ur_bringup/manifest.xml
+++ b/ur_bringup/manifest.xml
@@ -1,17 +1,17 @@
<package>
- <description brief="ur5_bringup">
+ <description brief="ur_bringup">
- ur5_bringup
+ ur_bringup
</description>
<author>Wim Meeussen</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
- <url>http://ros.org/wiki/ur5_bringup</url>
+ <url>http://ros.org/wiki/ur_bringup</url>
<depend package="tf2_ros" />
- <depend package="ur5_driver" />
- <depend package="ur5_description" />
+ <depend package="ur_driver" />
+ <depend package="ur_description" />
</package>
diff --git a/ur_description/launch/ur10_upload.launch b/ur_description/launch/ur10_upload.launch
index 192829af3215637c0d5b868ff631ef8783018b95..ae9c6509bcaae1dd099e4475c7c61e37f997dd4e 100644
--- a/ur_description/launch/ur10_upload.launch
+++ b/ur_description/launch/ur10_upload.launch
@@ -1,3 +1,9 @@
+<?xml version="1.0"?>
<launch>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur10_robot.urdf.xacro'" />
+
+ <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+
+ <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
</launch>
diff --git a/ur_description/launch/ur5_upload.launch b/ur_description/launch/ur5_upload.launch
index 774df524a0b86b520aac85e330687e945b626a1d..1df82f99f0da6f0c7c78e322cff81cc0de99db05 100644
--- a/ur_description/launch/ur5_upload.launch
+++ b/ur_description/launch/ur5_upload.launch
@@ -1,3 +1,8 @@
+<?xml version="1.0"?>
<launch>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />
+
+ <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+
+ <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
</launch>
diff --git a/ur_description/manifest.xml b/ur_description/manifest.xml
index 1eca42bd3a6ce68d3dc472a410fe13d72b905248..5130dcb848269846acd7ae15494f3e53d68f01fc 100644
--- a/ur_description/manifest.xml
+++ b/ur_description/manifest.xml
@@ -1,13 +1,13 @@
<package>
- <description brief="ur5_description">
+ <description brief="ur_description">
- Universal robot UR5 description
+ Universal robot ur description
</description>
<author>wim</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
- <url>http://ros.org/wiki/ur5_description</url>
+ <url>http://ros.org/wiki/ur_description</url>
<depend package="urdf"/>
</package>
diff --git a/ur_description/urdf/gazebo.urdf.xacro b/ur_description/urdf/gazebo.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..e82aab97cb3a9c7c1db613eb7a60b019b2830a16
--- /dev/null
+++ b/ur_description/urdf/gazebo.urdf.xacro
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+
+ <gazebo>
+ <controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>1000.0</updateRate>
+ <interface:audio name="gazebo_ros_controller_manager_dummy_iface" />
+ </controller:gazebo_ros_controller_manager>
+
+ <controller:gazebo_ros_power_monitor name="gazebo_ros_power_monitor_controller" plugin="libgazebo_ros_power_monitor.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>1.0</updateRate>
+ <timeout>5</timeout>
+ <interface:audio name="power_monitor_dummy_interface" />
+ <powerStateTopic>power_state</powerStateTopic>
+ <powerStateRate>10.0</powerStateRate>
+ <fullChargeCapacity>87.78</fullChargeCapacity>
+ <dischargeRate>-474</dischargeRate>
+ <chargeRate>525</chargeRate>
+ <dischargeVoltage>15.52</dischargeVoltage>
+ <chargeVoltage>16.41</chargeVoltage>
+ </controller:gazebo_ros_power_monitor>
+ </gazebo>
+
+</robot>
diff --git a/ur_description/urdf/materials.urdf.xacro b/ur_description/urdf/materials.urdf.xacro
index 58ff835d0ece032d9b945c34f11bdf23b8322c3b..c1467e3efd0a40a3f0f0a443b3b7b9ce01b0f768 100644
--- a/ur_description/urdf/materials.urdf.xacro
+++ b/ur_description/urdf/materials.urdf.xacro
@@ -1,11 +1,11 @@
<?xml version="1.0"?>
<robot>
- <material name="Blue">
+ <material name="UR/Blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
- <material name="Grey">
+ <material name="UR/Grey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
index 007984e9c551904f3c4a370fb59817063bba3682..cea91e46951961ae91d94e5f4f1d1a978c85416c 100644
--- a/ur_description/urdf/ur10.urdf.xacro
+++ b/ur_description/urdf/ur10.urdf.xacro
@@ -79,7 +79,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<mesh filename="package://ur_description/meshes/ur10/Base.stl" />
</geometry>
<origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 ${3.0 * pi / 4.0}" />
- <material name="Blue" />
+ <material name="UR/Blue" />
</visual>
<inertial>
<mass value="${base_mass}" />
@@ -101,7 +101,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Shoulder.stl" />
</geometry>
- <material name="Grey" />
+ <material name="UR/Grey" />
</visual>
<collision>
<geometry>
@@ -131,7 +131,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<mesh filename="package://ur_description/meshes/ur10/UpperArm.stl" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
- <material name="Blue" />
+ <material name="UR/Blue" />
</visual>
<collision>
<geometry>
@@ -160,7 +160,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Forearm_new.stl" />
</geometry>
- <material name="Grey" />
+ <material name="UR/Grey" />
</visual>
<collision>
<geometry>
@@ -190,7 +190,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<mesh filename="package://ur_description/meshes/ur10/Wrist1_new.stl" />
</geometry>
<origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0 0.0" />
- <material name="Blue" />
+ <material name="UR/Blue" />
</visual>
<collision>
<geometry>
@@ -220,7 +220,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<mesh filename="package://ur_description/meshes/ur10/Wrist2_new.stl" />
</geometry>
<origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
- <material name="Grey" />
+ <material name="UR/Grey" />
</visual>
<collision>
<geometry>
@@ -250,7 +250,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<mesh filename="package://ur_description/meshes/ur10/Wrist3_new.stl" />
</geometry>
<origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 0" />
- <material name="Blue" />
+ <material name="UR/Blue" />
</visual>
<collision>
<geometry>
@@ -308,7 +308,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<xacro:ur10_arm_gazebo name="${name}" />
<!--gazebo reference="universal_robot">
- <material>Gazebo/Blue</material>
+ <material>Gazebo/UR/Blue</material>
</gazebo-->
diff --git a/ur_description/urdf/ur10_robot.urdf.xacro b/ur_description/urdf/ur10_robot.urdf.xacro
index de66aa98038f58e99896e72d4d602e89cf639b20..00c9fb4493fce5bcdc97ac0a882c5821d54fef39 100644
--- a/ur_description/urdf/ur10_robot.urdf.xacro
+++ b/ur_description/urdf/ur10_robot.urdf.xacro
@@ -1,11 +1,45 @@
<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro"
- name="ur10">
+<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ name="ur10" >
- <include filename="$(find ur_description)/urdf/ur10.gazebo.xacro" />
+ <!-- common stuff -->
+ <include filename="$(find ur_description)/urdf/gazebo.urdf.xacro" />
+ <!--include filename="$(find ur_description)/urdf/materials.urdf.xacro" /-->
+ <!-- ur10 -->
<include filename="$(find ur_description)/urdf/ur10.urdf.xacro" />
- <xacro:ur10_robot prefix="" />
+
+ <!-- foot for arm -->
+ <link name="base_link">
+ <inertial>
+ <origin xyz="0 0 -10" rpy="0 0 0"/>
+ <mass value="1000.0"/>
+ <inertia ixx="100.0" ixy="0" ixz="0" iyy="100.0" iyz="0" izz="100.0" />
+ </inertial>
+
+ <visual>
+ <origin xyz="0 0 0.25" rpy="0 0 0" />
+ <geometry>
+ <cylinder radius="0.1" length="0.5"/>
+ </geometry>
+ <material name="Grey" />
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0.25" rpy="0 0 0" />
+ <geometry>
+ <cylinder radius="0.1" length="0.5"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <!-- arm -->
+ <xacro:ur10_robot name="arm" parent="base_link">
+ <origin xyz="0 0 0.5" rpy="0 0 0" />
+ </xacro:ur10_robot>
</robot>
diff --git a/ur_description/urdf/ur5_robot.urdf.xacro b/ur_description/urdf/ur5_robot.urdf.xacro
index 6fad6b84115a88f8492ea1bca71beb41d57e8421..0e96b97e6a928a1ad5813ee6ac9d767e3617f8a2 100644
--- a/ur_description/urdf/ur5_robot.urdf.xacro
+++ b/ur_description/urdf/ur5_robot.urdf.xacro
@@ -1,11 +1,20 @@
<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro"
- name="ur5">
+<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ name="ur5" >
- <include filename="$(find ur_description)/urdf/ur5.gazebo.xacro" />
+ <!-- common stuff -->
+ <include filename="$(find ur_description)/urdf/gazebo.urdf.xacro" />
+ <include filename="$(find ur_description)/urdf/materials.urdf.xacro" />
+ <!-- ur5 -->
<include filename="$(find ur_description)/urdf/ur5.urdf.xacro" />
- <xacro:ur5_robot prefix="" />
+ <!-- arm -->
+ <xacro:ur5_robot prefix="arm_">
+ </xacro:ur5_robot>
+
</robot>
diff --git a/ur_driver/manifest.xml b/ur_driver/manifest.xml
index d6cf4731151d0e1294f1d6cbfba0b6be1feec2f9..3858f40c7b1e60eb3612e54d29bd6231b800fcf0 100644
--- a/ur_driver/manifest.xml
+++ b/ur_driver/manifest.xml
@@ -1,5 +1,5 @@
<package>
- <description brief="ur5_driver">
+ <description brief="ur_driver">
universal_robot_driver
@@ -7,7 +7,7 @@
<author>Stuart Glaser</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
- <url>http://ros.org/wiki/ur5_driver</url>
+ <url>http://ros.org/wiki/ur_driver</url>
<depend package="rospy" />
<depend package="actionlib" />
diff --git a/ur_gazebo/controller/arm_controller_ur10.yaml b/ur_gazebo/controller/arm_controller_ur10.yaml
index 4e247f3844fdc454fd85cad00b9f11a0041101fe..48f7b72b64c2444b47088bc2da56a9a847008c5d 100644
--- a/ur_gazebo/controller/arm_controller_ur10.yaml
+++ b/ur_gazebo/controller/arm_controller_ur10.yaml
@@ -1,53 +1,53 @@
arm_controller:
type: robot_mechanism_controllers/JointTrajectoryActionController
joints:
- - shoulder_pan_joint
- - shoulder_lift_joint
- - elbow_joint
- - wrist_1_joint
- - wrist_2_joint
- - wrist_3_joint
+ - arm_shoulder_pan_joint
+ - arm_shoulder_lift_joint
+ - arm_elbow_joint
+ - arm_wrist_1_joint
+ - arm_wrist_2_joint
+ - arm_wrist_3_joint
gains:
- shoulder_pan_joint:
+ arm_shoulder_pan_joint:
p: 2000.0
d: 0.0
- shoulder_lift_joint:
+ arm_shoulder_lift_joint:
p: 2000.0
d: 0.0
- elbow_joint:
+ arm_elbow_joint:
p: 2000.0
d: 0.0
- wrist_1_joint:
+ arm_wrist_1_joint:
p: 2020.0
d: 0.0
- wrist_2_joint:
+ arm_wrist_2_joint:
p: 2030.0
d: 0.0
- wrist_3_joint:
+ arm_wrist_3_joint:
p: 2050.0
d: 0.0
arm_joint_trajectory_action_node:
joints:
- - shoulder_pan_joint
- - shoulder_lift_joint
- - elbow_joint
- - wrist_1_joint
- - wrist_2_joint
- - wrist_3_joint
+ - arm_shoulder_pan_joint
+ - arm_shoulder_lift_joint
+ - arm_elbow_joint
+ - arm_wrist_1_joint
+ - arm_wrist_2_joint
+ - arm_wrist_3_joint
constraints:
goal_time: 0.6
- shoulder_pan_joint:
+ arm_shoulder_pan_joint:
goal: 0.05
- shoulder_lift_joint:
+ arm_shoulder_lift_joint:
goal: 0.05
- elbow_joint:
+ arm_elbow_joint:
goal: 0.05
- wrist_1_joint:
+ arm_wrist_1_joint:
goal: 0.05
- wrist_2_joint:
+ arm_wrist_2_joint:
goal: 0.05
- wrist_3_joint:
+ arm_wrist_3_joint:
goal: 0.05
diff --git a/ur_gazebo/controller/arm_controller_ur5.yaml b/ur_gazebo/controller/arm_controller_ur5.yaml
index 4e247f3844fdc454fd85cad00b9f11a0041101fe..48f7b72b64c2444b47088bc2da56a9a847008c5d 100644
--- a/ur_gazebo/controller/arm_controller_ur5.yaml
+++ b/ur_gazebo/controller/arm_controller_ur5.yaml
@@ -1,53 +1,53 @@
arm_controller:
type: robot_mechanism_controllers/JointTrajectoryActionController
joints:
- - shoulder_pan_joint
- - shoulder_lift_joint
- - elbow_joint
- - wrist_1_joint
- - wrist_2_joint
- - wrist_3_joint
+ - arm_shoulder_pan_joint
+ - arm_shoulder_lift_joint
+ - arm_elbow_joint
+ - arm_wrist_1_joint
+ - arm_wrist_2_joint
+ - arm_wrist_3_joint
gains:
- shoulder_pan_joint:
+ arm_shoulder_pan_joint:
p: 2000.0
d: 0.0
- shoulder_lift_joint:
+ arm_shoulder_lift_joint:
p: 2000.0
d: 0.0
- elbow_joint:
+ arm_elbow_joint:
p: 2000.0
d: 0.0
- wrist_1_joint:
+ arm_wrist_1_joint:
p: 2020.0
d: 0.0
- wrist_2_joint:
+ arm_wrist_2_joint:
p: 2030.0
d: 0.0
- wrist_3_joint:
+ arm_wrist_3_joint:
p: 2050.0
d: 0.0
arm_joint_trajectory_action_node:
joints:
- - shoulder_pan_joint
- - shoulder_lift_joint
- - elbow_joint
- - wrist_1_joint
- - wrist_2_joint
- - wrist_3_joint
+ - arm_shoulder_pan_joint
+ - arm_shoulder_lift_joint
+ - arm_elbow_joint
+ - arm_wrist_1_joint
+ - arm_wrist_2_joint
+ - arm_wrist_3_joint
constraints:
goal_time: 0.6
- shoulder_pan_joint:
+ arm_shoulder_pan_joint:
goal: 0.05
- shoulder_lift_joint:
+ arm_shoulder_lift_joint:
goal: 0.05
- elbow_joint:
+ arm_elbow_joint:
goal: 0.05
- wrist_1_joint:
+ arm_wrist_1_joint:
goal: 0.05
- wrist_2_joint:
+ arm_wrist_2_joint:
goal: 0.05
- wrist_3_joint:
+ arm_wrist_3_joint:
goal: 0.05
diff --git a/ur_gazebo/launch/ur10.launch b/ur_gazebo/launch/ur10.launch
index 78cbf0cf5c7544122d92e0c4a3db2efddf6914d9..aaf8cfd3ccc6535b3ed2e195528c80935d6998cc 100644
--- a/ur_gazebo/launch/ur10.launch
+++ b/ur_gazebo/launch/ur10.launch
@@ -2,13 +2,13 @@
<launch>
<!-- startup simulated world -->
- <include file="$(find cob_gazebo_worlds)/launch/empty-world.launch" />
+ <include file="$(find gazebo_worlds)/launch/empty_world.launch" />
<!-- send frida urdf to param server -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur10_robot.urdf.xacro'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
- <node name="spawn_gazebo_model" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1 " respawn="false" output="screen" />
+ <node name="spawn_gazebo_model" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1" respawn="false" output="screen" />
<!-- Controller Manager -->
<include file="$(find pr2_controller_manager)/controller_manager.launch" />
diff --git a/ur_gazebo/launch/ur5.launch b/ur_gazebo/launch/ur5.launch
index a5c35db84d76660a9b8b420ef8a8fd7fae8476b6..61f5eb894578639de1f5a59418a8a468932cdde8 100644
--- a/ur_gazebo/launch/ur5.launch
+++ b/ur_gazebo/launch/ur5.launch
@@ -2,13 +2,13 @@
<launch>
<!-- startup simulated world -->
- <include file="$(find cob_gazebo_worlds)/launch/empty-world.launch" />
+ <include file="$(find gazebo_worlds)/launch/empty_world.launch" />
<!-- send frida urdf to param server -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
- <node name="spawn_gazebo_model" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1 " respawn="false" output="screen" />
+ <node name="spawn_gazebo_model" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1" respawn="false" output="screen" />
<!-- Controller Manager -->
<include file="$(find pr2_controller_manager)/controller_manager.launch" />
diff --git a/ur_gazebo/manifest.xml b/ur_gazebo/manifest.xml
index 84d83a88686490ddad8f140e5dbfef4cf44cd876..8dc5186ede5fe6d5a85d7200994dedf9625ea87c 100644
--- a/ur_gazebo/manifest.xml
+++ b/ur_gazebo/manifest.xml
@@ -1,14 +1,14 @@
<package>
- <description brief="ur5_gazebo">
+ <description brief="ur_gazebo">
- ur5_gazebo
+ ur_gazebo
</description>
<author>Alexander Bubeck</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
- <url>http://ros.org/wiki/ur5_gazebo</url>
- <depend package="ur5_description"/>
+ <url>http://ros.org/wiki/ur_gazebo</url>
+ <depend package="ur_description"/>
</package>