From 6b8aa5c8dd0e899c56a4bca96a93c3eff3906691 Mon Sep 17 00:00:00 2001
From: ipa-nhg <nadia.hammoudeh-garcia@ipa.fraunhofer.de>
Date: Mon, 8 Apr 2013 15:21:14 +0200
Subject: [PATCH] Renamed packages and new groovy version
---
ur_bringup/manifest.xml | 10 ++--
ur_description/launch/ur10_upload.launch | 6 +++
ur_description/launch/ur5_upload.launch | 5 ++
ur_description/manifest.xml | 6 +--
ur_description/urdf/gazebo.urdf.xacro | 28 +++++++++++
ur_description/urdf/materials.urdf.xacro | 4 +-
ur_description/urdf/ur10.urdf.xacro | 16 +++----
ur_description/urdf/ur10_robot.urdf.xacro | 42 ++++++++++++++--
ur_description/urdf/ur5_robot.urdf.xacro | 17 +++++--
ur_driver/manifest.xml | 4 +-
ur_gazebo/controller/arm_controller_ur10.yaml | 48 +++++++++----------
ur_gazebo/controller/arm_controller_ur5.yaml | 48 +++++++++----------
ur_gazebo/launch/ur10.launch | 4 +-
ur_gazebo/launch/ur5.launch | 4 +-
ur_gazebo/manifest.xml | 8 ++--
15 files changed, 166 insertions(+), 84 deletions(-)
create mode 100644 ur_description/urdf/gazebo.urdf.xacro
diff --git a/ur_bringup/manifest.xml b/ur_bringup/manifest.xml
index eab5b0c..37cf010 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 192829a..ae9c650 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 774df52..1df82f9 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 1eca42b..5130dcb 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 0000000..e82aab9
--- /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 58ff835..c1467e3 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 007984e..cea91e4 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 de66aa9..00c9fb4 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 6fad6b8..0e96b97 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 d6cf473..3858f40 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 4e247f3..48f7b72 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 4e247f3..48f7b72 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 78cbf0c..aaf8cfd 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="$(find pr2_controller_manager)/controller_manager.launch" />
diff --git a/ur_gazebo/launch/ur5.launch b/ur_gazebo/launch/ur5.launch
index a5c35db..61f5eb8 100644
--- a/ur_gazebo/launch/ur5.launch
+++ b/ur_gazebo/launch/ur5.launch
@@ -2,13 +2,13 @@
<launch>
<!-- startup simulated world -->
- <include file="$(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 84d83a8..8dc5186 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>
--
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