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Commit 6b8aa5c8 authored by ipa-nhg's avatar ipa-nhg
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Renamed packages and new groovy version

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ur_bringup/manifest.xml
+ 5
− 5
View file @ 6b8aa5c8
<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>
......
ur_description/launch/ur10_upload.launch
+ 6
− 0
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<?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>
ur_description/launch/ur5_upload.launch
+ 5
− 0
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<?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>
ur_description/manifest.xml
+ 3
− 3
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<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>
......
ur_description/urdf/gazebo.urdf.xacro 0 → 100644
+ 28
− 0
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<?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>
ur_description/urdf/materials.urdf.xacro
+ 2
− 2
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<?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>
......
ur_description/urdf/ur10.urdf.xacro
+ 8
− 8
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......@@ -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-->
......
ur_description/urdf/ur10_robot.urdf.xacro
+ 38
− 4
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<?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>
ur_description/urdf/ur5_robot.urdf.xacro
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− 4
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<?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>
ur_driver/manifest.xml
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− 2
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<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" />
......
ur_gazebo/controller/arm_controller_ur10.yaml
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− 24
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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
ur_gazebo/controller/arm_controller_ur5.yaml
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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
ur_gazebo/launch/ur10.launch
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− 2
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......@@ -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="$(find pr2_controller_manager)/controller_manager.launch" />
......
ur_gazebo/launch/ur5.launch
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− 2
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......@@ -2,13 +2,13 @@
<launch>
<!-- startup simulated world -->
<include file="$(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" />
......
ur_gazebo/manifest.xml
+ 4
− 4
View file @ 6b8aa5c8
<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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