diff --git a/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml b/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml new file mode 100644 index 000000000..f6b8e713b --- /dev/null +++ b/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml @@ -0,0 +1,94 @@ +controller_manager: + ros__parameters: + + update_rate: 100 + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + joint_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + + gripper_controller: + type: joint_trajectory_controller/JointTrajectoryController + + +joint_state_broadcaster: + ros__parameters: + + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_mimic_1 + - joint_mimic_2 + - joint_prismatic_l + - joint_prismatic_r + + interfaces: + - position + - velocity + + +joint_trajectory_controller: + ros__parameters: + + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + + command_interfaces: + - position + + state_interfaces: + - position + - velocity + + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + + allow_partial_joints_goal: false + allow_nonzero_velocity_at_trajectory_end: true + allow_integration_in_goal_trajectories: true + + constraints: + stopped_velocity_tolerance: 0.01 + goal_time: 0.0 + + +gripper_controller: + ros__parameters: + + joints: + - joint_prismatic_l + + command_interfaces: + - position + + state_interfaces: + - position + - velocity + + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + + allow_partial_joints_goal: false + allow_integration_in_goal_trajectories: true + + constraints: + stopped_velocity_tolerance: 0.01 + goal_time: 0.0 + + joint_prismatic_l: + trajectory: 0.5 + goal: 0.5 + + gains: + joint_prismatic_l: + p: 100.0 + d: 1.0 + i: 0.01 + i_clamp: 1.0 diff --git a/CustomRobots/robot_arms/launch/dobot_magician.launch.py b/CustomRobots/robot_arms/launch/dobot_magician.launch.py new file mode 100644 index 000000000..725a95451 --- /dev/null +++ b/CustomRobots/robot_arms/launch/dobot_magician.launch.py @@ -0,0 +1,318 @@ +from launch.actions import ( + DeclareLaunchArgument, + OpaqueFunction, +) +from launch.substitutions import LaunchConfiguration +from launch import LaunchDescription +from launch_ros.actions import Node + +import os +import xacro +import yaml +from ament_index_python.packages import get_package_share_directory + + +def load_file(package_name, file_path): + pkg_path = get_package_share_directory(package_name) + with open(os.path.join(pkg_path, file_path), "r") as f: + return f.read() + + +def load_yaml(package_name, file_path): + pkg_path = get_package_share_directory(package_name) + with open(os.path.join(pkg_path, file_path), "r") as f: + return yaml.safe_load(f) + + +def launch_setup(context): + x = LaunchConfiguration("x") + y = LaunchConfiguration("y") + z = LaunchConfiguration("z") + R = LaunchConfiguration("R") + P = LaunchConfiguration("P") + Y = LaunchConfiguration("Y") + + package_dir = get_package_share_directory("custom_robots") + + nodes = [] + + # ========================= + # ROBOT DESCRIPTION (URDF) + # ========================= + xacro_file = os.path.join( + package_dir, + "models", + "dobot_magician", + "dobot_magician.urdf.xacro", + ) + + controllers_file = os.path.join( + package_dir, "config", "dobot_magician_controllers.yaml" + ) + + robot_description_content = xacro.process_file( + xacro_file, + mappings={ + "name": "dobot_magician", + "prefix": "", + "use_fake_hardware": "false", + "sim_gazebo": "false", + "sim_gz": "true", + "simulation_controllers": controllers_file, + }, + ).toxml() + + robot_description = {"robot_description": robot_description_content} + + # ========================= + # SRDF (SEMANTIC) + # ========================= + robot_description_semantic = { + "robot_description_semantic": load_file( + "ros2srrc_dobot_magician_moveit2", "config/dobot_magician_gripper.srdf" + ) + } + + # ========================= + # KINEMATICS + # ========================= + kinematics_yaml = load_yaml( + "dobot_magician_gripper_moveit_config", "config/kinematics.yaml" + ) + + kinematics_yaml = { + "robot_description_kinematics": kinematics_yaml["/**"]["ros__parameters"] + } + + # ========================= + # CONTROLLERS (MoveIt) + # ========================= + moveit_controllers = load_yaml( + "dobot_magician_gripper_moveit_config", "config/moveit_controllers.yaml" + ) + + ompl_planning = load_yaml( + "dobot_magician_gripper_moveit_config", "config/ompl_planning.yaml" + ) + + ompl_planning = ompl_planning["/**"]["ros__parameters"] + + moveit_controllers = moveit_controllers["/**"]["ros__parameters"] + + planning_pipelines_config = { + "planning_pipelines": ["ompl", "pilz_industrial_motion_planner"], + "default_planning_pipeline": "pilz_industrial_motion_planner", + "ompl": { + "planning_plugin": "ompl_interface/OMPLPlanner", + }, + "pilz_industrial_motion_planner": { + "planning_plugin": "pilz_industrial_motion_planner/CommandPlanner", + "request_adapters": "", + "start_state_max_bounds_error": 0.1, + "default_planner_config": "PTP", + }, + } + + move_group_capabilities = { + "capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction " + "pilz_industrial_motion_planner/MoveGroupSequenceService" + } + + pilz_cartesian_limits = load_yaml( + "ros2srrc_robots", "dobot_magician/config/pilz_cartesian_limits.yaml" + ) + + joint_limits_yaml = load_yaml( + "ros2srrc_robots", "dobot_magician/config/joint_limits.yaml" + ) + + combined_planning = { + "robot_description_planning": {**joint_limits_yaml, **pilz_cartesian_limits} + } + + # ========================= + # NODES + # ========================= + + move = Node( + package="ros2srrc_execution", + executable="move", + name="move_action_server", + output="screen", + parameters=[ + robot_description, + robot_description_semantic, + kinematics_yaml, + moveit_controllers, + ompl_planning, + { + "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager" + }, + {"use_sim_time": True}, + {"ROB_PARAM": "dobot_magician"}, + {"EE_PARAM": "dobot_gripper"}, + {"ROB_GROUP": "dobot_magician_arm"}, + ], + ) + + robmove = Node( + package="ros2srrc_execution", + executable="robmove", + name="Robmove", + output="screen", + parameters=[ + robot_description, + robot_description_semantic, + kinematics_yaml, + moveit_controllers, + ompl_planning, + { + "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager" + }, + {"use_sim_time": True}, + {"ROB_PARAM": "dobot_magician"}, + {"ROB_GROUP": "dobot_magician_arm"}, + ], + ) + + robpose = Node( + package="ros2srrc_execution", + executable="robpose", + name="robpose", + output="screen", + parameters=[ + robot_description, + robot_description_semantic, + kinematics_yaml, + ompl_planning, + {"use_sim_time": True}, + {"ROB_PARAM": "dobot_magician"}, + {"ROB_GROUP": "dobot_magician_arm"}, + ], + ) + + nodes.append(move) + nodes.append(robmove) + nodes.append(robpose) + + # ========================= + # CORE NODES + # ========================= + + robot_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + parameters=[robot_description, {"use_sim_time": True}], + output="screen", + ) + + static_tf = Node( + package="tf2_ros", + executable="static_transform_publisher", + arguments=[x, y, z, R, P, Y, "world", "base_link"], + ) + + spawn_robot = Node( + package="ros_gz_sim", + executable="create", + arguments=[ + "-topic", + "robot_description", + "-name", + "dobot_magician_gripper", + "-x", + x, + "-y", + y, + "-z", + z, + "-R", + R, + "-P", + P, + "-Y", + Y, + ], + output="screen", + ) + + clock_bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + arguments=["/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock]"], + parameters=[{"use_sim_time": True}], + ) + + nodes.append(robot_state_publisher) + nodes.append(static_tf) + nodes.append(spawn_robot) + nodes.append(clock_bridge) + + # ========================= + # CONTROLLERS + # ========================= + + joint_state_broadcaster = Node( + package="controller_manager", + executable="spawner", + arguments=["joint_state_broadcaster"], + ) + + joint_trajectory_controller = Node( + package="controller_manager", + executable="spawner", + arguments=["joint_trajectory_controller"], + ) + + gripper_controller = Node( + package="controller_manager", + executable="spawner", + arguments=["gripper_controller"], + ) + + nodes.append(joint_state_broadcaster) + nodes.append(joint_trajectory_controller) + nodes.append(gripper_controller) + + # ========================= + # MOVEIT + # ========================= + + move_group = Node( + package="moveit_ros_move_group", + executable="move_group", + output="screen", + parameters=[ + robot_description, + robot_description_semantic, + kinematics_yaml, + planning_pipelines_config, + move_group_capabilities, + moveit_controllers, + combined_planning, + {"use_sim_time": True}, + ], + ) + + nodes.append(move_group) + + # ========================= + # LAUNCH + # ========================= + + return nodes + + +def generate_launch_description(): + declared_arguments = [ + DeclareLaunchArgument("x", default_value="0"), + DeclareLaunchArgument("y", default_value="0"), + DeclareLaunchArgument("z", default_value="0.9"), + DeclareLaunchArgument("R", default_value="0"), + DeclareLaunchArgument("P", default_value="0"), + DeclareLaunchArgument("Y", default_value="0"), + ] + + return LaunchDescription( + declared_arguments + [OpaqueFunction(function=launch_setup)] + ) diff --git a/CustomRobots/robot_arms/models/dobot_magician/LICENSE b/CustomRobots/robot_arms/models/dobot_magician/LICENSE new file mode 100644 index 000000000..e9f4fc849 --- /dev/null +++ b/CustomRobots/robot_arms/models/dobot_magician/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2023 Jan Kaniuka + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/CustomRobots/robot_arms/models/dobot_magician/NOTICE b/CustomRobots/robot_arms/models/dobot_magician/NOTICE new file mode 100644 index 000000000..c369e70d1 --- /dev/null +++ b/CustomRobots/robot_arms/models/dobot_magician/NOTICE @@ -0,0 +1,9 @@ +The mesh files under meshes/ (magicianBase, magicianLink1-4, gripper_core, +jaw_left, jaw_right, plus the matching collision meshes) come from the +dobot_description package in https://github.com/jkaniuka/magician_ros2, +Copyright (c) 2023 Jan Kaniuka, MIT license, see LICENSE in this directory. + +The joint offsets, link lengths and parallelogram mimic layout in +dobot_magician_macro.xacro were taken from the same source for accuracy. + +Everything else in this directory is original work for RoboticsAcademy. diff --git a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro new file mode 100644 index 000000000..4468dd72d --- /dev/null +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro @@ -0,0 +1,103 @@ + + + + + + + + + gz_ros2_control/GazeboSimSystem + + + mock_components/GenericSystem + false + 0.0 + + + + + + ${-125.0/180.0*pi} + ${125.0/180.0*pi} + + + 0.0 + + + + + + + + ${-5.0/180.0*pi} + ${90.0/180.0*pi} + + + 0.3 + + + + + + + + ${-15.0/180.0*pi} + ${70.0/180.0*pi} + + + 0.3 + + + + + + + + ${-150.0/180.0*pi} + ${150.0/180.0*pi} + + + 0.0 + + + + + + + + + + + + + + + + + + + -0.018 + 0.0 + + + -0.018 + + + + + + + + + + + + + + + diff --git a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.urdf.xacro b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.urdf.xacro new file mode 100644 index 000000000..1003bbf9c --- /dev/null +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.urdf.xacro @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + $(arg simulation_controllers) + + + + + diff --git a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro new file mode 100644 index 000000000..8f1ad1f5e --- /dev/null +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro @@ -0,0 +1,221 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 100 + + ${prefix}link_gripper_jaw_left_collision + + + + + + + + ${prefix}joint_2 + ${prefix}joint_mimic_1 + + + ${prefix}joint_3 + ${prefix}joint_mimic_2 + + + ${prefix}joint_prismatic_l + ${prefix}joint_prismatic_r + + + + + + diff --git a/CustomRobots/robot_arms/models/dobot_magician/meshes/collision/gripper_core.stl b/CustomRobots/robot_arms/models/dobot_magician/meshes/collision/gripper_core.stl new file mode 100644 index 000000000..2e54542cd Binary files /dev/null and b/CustomRobots/robot_arms/models/dobot_magician/meshes/collision/gripper_core.stl differ diff --git a/CustomRobots/robot_arms/models/dobot_magician/meshes/collision/jaw_left.stl b/CustomRobots/robot_arms/models/dobot_magician/meshes/collision/jaw_left.stl new file mode 100644 index 000000000..9abfb7b1d Binary files /dev/null and b/CustomRobots/robot_arms/models/dobot_magician/meshes/collision/jaw_left.stl differ diff --git a/CustomRobots/robot_arms/models/dobot_magician/meshes/collision/jaw_right.stl b/CustomRobots/robot_arms/models/dobot_magician/meshes/collision/jaw_right.stl new file mode 100644 index 000000000..b2da0921c Binary files /dev/null and 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7749 3307 1134 7750 3261 1134 7751 3308 1134 7752 3307 1134 7753 3306 1134 7754 3308 1134 7755 3305 1134 7756 3309 1134 7757 3260 1134 7758 3262 1134 7759 3270 1134 7760 3307 1134 7761 3262 1134 7762 3261 1134 7763 3264 1134 7764 3309 1134 7765 3305 1134 7766 3294 1701 7767 3310 1701 7768 3311 1701 7769 3293 1134 7770 3310 1134 7771 3294 1134 7772 3311 1134 7773 3312 1134 7774 3294 1134 7775 3294 1134 7776 3312 1134 7777 3313 1134 7778 3266 1702 7779 3314 1702 7780 3267 1702 7781 3266 1703 7782 3315 1703 7783 3314 1703 7784 3288 1134 7785 3316 1134 7786 3317 1134 7787 3258 1134 7788 3257 1134 7789 3264 1134 7790 3314 1704 7791 3318 1704 7792 3267 1704 7793 3315 1134 7794 3319 1134 7795 3320 1134 7796 3315 1134 7797 3320 1134 7798 3314 1134 7799 3321 1134 7800 3307 1134 7801 3308 1134 7802 3308 1134 7803 3309 1134 7804 3321 1134 7805 3311 1705 7806 3322 1705 7807 3312 1705 7808 3323 1134 7809 3324 1134 7810 3316 1134 7811 3322 1134 7812 3311 1134 7813 3325 1134 7814 3326 1134 7815 3327 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3346 1134 7883 3341 1134 7884 3340 1134 7885 3332 1134 7886 3345 1134 7887 3343 1134 7888 3334 1134 7889 3343 1134 7890 3345 1134 7891 3344 1134 7892 3347 1134 7893 3344 1134 7894 3346 1134 7895 3348 1134 7896 3347 1134 7897 3349 1134 7898 3348 1134 7899 3351 1134 7900 3350 1134 7901 3352 1134 7902 3353 1134 7903 3354 1134 7904 3351 1134 7905 3353 1134 7906 3350 1134 7907 3339 1134 7908 3338 1134 7909 3342 1134 7910 3328 1134 7911 3341 1134 7912 3332 1134 7913 3181 1134 7914 3257 1134 7915 3259 1134 7916 3355 1134 7917 3357 1134 7918 3208 1134 7919 3358 1134 7920 3356 1134 7921 3355 1134 7922 3361 1134 7923 3363 1134 7924 3360 1134 7925 3365 1134 7926 3367 1134 7927 3364 1134 7928 3364 1134 7929 3362 1134 7930 3361 1134 7931 3360 1134 7932 3359 1134 7933 3358 1134 7934 3366 1134 7935 3365 1134 7936 3368 1134 7937 3207 1134 7938 3208 1134 7939 3357 1134 7940 3369 1134 7941 3370 1134 7942 3368 1134 7943 3365 1134 7944 3369 1134 7945 3368 1134 7946 3371 1134 7947 3372 1134 7948 3369 1134 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1134 8016 3396 1134 8017 3395 1134 8018 3397 1134 8019 3393 1134 8020 3392 1134 8021 3392 1134 8022 3390 1134 8023 3397 1134 8024 3381 1134 8025 3398 1134 8026 3399 1134 8027 3400 1134 8028 3398 1134 8029 3401 1134 8030 3381 1134 8031 3401 1134 8032 3398 1134 8033 3402 1134 8034 3403 1134 8035 3404 1134 8036 3404 1134 8037 3400 1134 8038 3402 1134 8039 3399 1134 8040 3383 1134 8041 3369 1134 8042 3400 1134 8043 3401 1134 8044 3402 1134 8045 3405 1134 8046 3403 1134 8047 3406 1134 8048 3402 1134 8049 3406 1134 8050 3403 1134 8051 3405 1134 8052 3406 1134 8053 3396 1134 8054 3394 1134 8055 3405 1134 8056 3396 1134 8057 3407 1134 8058 3408 1134 8059 3409 1134 8060 3408 1134 8061 3410 1134 8062 3411 1134 8063 3412 1134 8064 3413 1134 8065 3409 1134 8066 3399 1134 8067 3369 1134 8068 3381 1134 8069 3414 1134 8070 3382 1134 8071 3375 1134 8072 3413 1134 8073 3412 1134 8074 3415 1134 8075 3382 1134 8076 3414 1134 8077 3416 1134 8078 3416 1134 8079 3417 1134 8080 3418 1134 8081 3409 1134 8082 3413 1134 8083 3407 1134 8084 3416 1134 8085 3418 1134 8086 3419 1134 8087 3417 1134 8088 3420 1134 8089 3418 1134 8090 3416 1134 8091 3419 1134 8092 3415 1134 8093 3414 1134 8094 3421 1134 8095 3416 1134 8096 3411 1134 8097 3410 1134 8098 3422 1134 8099 3410 1134 8100 3408 1134 8101 3407 1134 8102 3423 1134 8103 3411 1134 8104 3422 1134 8105 3424 1134 8106 3423 1134 8107 3422 1134 8108 3425 1134 8109 3426 1134 8110 3427 1134 8111 3427 1134 8112 3424 1134 8113 3422 1134 8114 3425 1134 8115 3428 1134 8116 3429 1134 8117 3412 1134 8118 3416 1134 8119 3415 1134 8120 3420 1706 8121 3417 1706 8122 3430 1706 8123 3431 1134 8124 3420 1134 8125 3430 1134 8126 3431 1134 8127 3432 1134 8128 3433 1134 8129 3433 1134 8130 3432 1134 8131 3434 1134 8132 3431 1134 8133 3433 1134 8134 3420 1134 8135 3434 1134 8136 3435 1134 8137 3436 1134 8138 3436 1134 8139 3433 1134 8140 3434 1134 8141 3437 1134 8142 3438 1134 8143 3439 1134 8144 3438 1134 8145 3440 1134 8146 3441 1134 8147 3437 1134 8148 3440 1134 8149 3438 1134 8150 3438 1134 8151 3441 1134 8152 3442 1134 8153 3436 1134 8154 3441 1134 8155 3440 1134 8156 3436 1134 8157 3435 1134 8158 3441 1134 8159 3443 1134 8160 3428 1134 8161 3439 1134 8162 3421 1134 8163 3417 1134 8164 3416 1134 8165 3444 1134 8166 3445 1134 8167 3442 1134 8168 3426 1134 8169 3425 1134 8170 3429 1134 8171 3427 1707 8172 3426 1707 8173 3424 1707 8174 3429 1134 8175 3428 1134 8176 3443 1134 8177 3446 1134 8178 3447 1134 8179 3448 1134 8180 3443 1134 8181 3439 1134 8182 3438 1134 8183 3449 1708 8184 3450 1708 8185 3446 1708 8186 3449 1709 8187 3446 1709 8188 3448 1709 8189 3447 1134 8190 3446 1134 8191 3451 1134 8192 3452 1134 8193 3449 1134 8194 3453 1134 8195 3449 1134 8196 3448 1134 8197 3453 1134 8198 3453 1134 8199 3448 1134 8200 3454 1134 8201 3454 1134 8202 3448 1134 8203 3455 1134 8204 3456 1710 8205 3445 1710 8206 3444 1710 8207 3457 1134 8208 3458 1134 8209 3456 1134 8210 3459 1134 8211 3461 1134 8212 3457 1134 8213 3458 1134 8214 3457 1134 8215 3461 1134 8216 3462 1134 8217 3459 1134 8218 3463 1134 8219 3445 1134 8220 3438 1134 8221 3442 1134 8222 3455 1711 8223 3464 1711 8224 3465 1711 8225 3465 1134 8226 3464 1134 8227 3466 1134 8228 3464 1134 8229 3455 1134 8230 3467 1134 8231 3455 1712 8232 3465 1712 8233 3454 1712 8234 3463 1134 8235 3468 1134 8236 3462 1134 8237 3463 1134 8238 3464 1134 8239 3467 1134 8240 3468 1134 8241 3463 1134 8242 3467 1134 8243 3469 1713 8244 3466 1713 8245 3464 1713 8246 3444 1714 8247 3457 1714 8248 3456 1714 8249 3470 1134 8250 3471 1134 8251 3472 1134 8252 3473 1134 8253 3474 1134 8254 3471 1134 8255 3473 1134 8256 3475 1134 8257 3474 1134 8258 3476 1134 8259 3475 1134 8260 3477 1134 8261 3474 1134 8262 3478 1134 8263 3471 1134 8264 3475 1134 8265 3473 1134 8266 3477 1134 8267 3478 1134 8268 3472 1134 8269 3471 1134 8270 3479 1134 8271 3480 1134 8272 3481 1134 8273 3482 1134 8274 3481 1134 8275 3470 1134 8276 3482 1134 8277 3479 1134 8278 3481 1134 8279 3483 1134 8280 3480 1134 8281 3484 1134 8282 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3559 1723 8483 3559 1724 8484 3544 1724 8485 3561 1724 8486 3542 1134 8487 3545 1134 8488 3543 1134 8489 3500 1134 8490 3499 1134 8491 3506 1134 8492 3562 1134 8493 3563 1134 8494 3564 1134 8495 3559 1725 8496 3565 1725 8497 3542 1725 8498 3566 1134 8499 3567 1134 8500 3499 1134 8501 3568 1726 8502 3566 1726 8503 3569 1726 8504 3545 1134 8505 3547 1134 8506 3541 1134 8507 3567 1134 8508 3506 1134 8509 3499 1134 8510 3503 1134 8511 3570 1134 8512 3497 1134 8513 3503 1134 8514 3502 1134 8515 3570 1134 8516 3571 1134 8517 3502 1134 8518 3501 1134 8519 3571 1134 8520 3501 1134 8521 3504 1134 8522 3572 1134 8523 3504 1134 8524 3505 1134 8525 3506 1134 8526 3572 1134 8527 3505 1134 8528 3573 1134 8529 3574 1134 8530 3575 1134 8531 3576 1134 8532 3564 1134 8533 3575 1134 8534 3577 1134 8535 3563 1134 8536 3578 1134 8537 3574 1134 8538 3573 1134 8539 3559 1134 8540 3579 1134 8541 3559 1134 8542 3573 1134 8543 3574 1134 8544 3576 1134 8545 3575 1134 8546 3559 1727 8547 3579 1727 8548 3565 1727 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11061 3987 2850 11062 3991 2850 11063 3987 2851 11064 3986 2851 11065 3991 2851 11066 3988 2852 11067 3984 2852 11068 3987 2852 11069 3992 2853 11070 3994 2853 11071 3993 2853 11072 3995 0 11073 3993 0 11074 3994 0 11075 3996 0 11076 3995 0 11077 3994 0 11078 3997 0 11079 3994 0 11080 3998 0 11081 3999 0 11082 4001 0 11083 4000 0 11084 4002 2854 11085 3994 2854 11086 3992 2854 11087 3999 2855 11088 3994 2855 11089 4002 2855 11090 4001 0 11091 3999 0 11092 4002 0 11093 3999 2856 11094 4000 2856 11095 4003 2856 11096 4004 0 11097 3995 0 11098 3996 0 11099 3998 2857 11100 3994 2857 11101 3999 2857 11102 3996 2858 11103 3997 2858 11104 4005 2858 11105 3996 2859 11106 4007 2859 11107 4006 2859 11108 4006 0 11109 4004 0 11110 3996 0 11111 4008 0 11112 4007 0 11113 3996 0 11114 4009 0 11115 3999 0 11116 4010 0 11117 4005 2860 11118 4011 2860 11119 4008 2860 11120 4009 0 11121 3998 0 11122 3999 0 11123 4005 2861 11124 4008 2861 11125 3996 2861 11126 3994 0 11127 3997 0 11128 3996 0 11129 4010 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4064 2894 11337 4068 2894 11338 4067 2894 11339 4066 2774 11340 4064 2774 11341 4067 2774 11342 4069 2 11343 4064 2 11344 4065 2 11345 4069 2 11346 4071 2 11347 4070 2 11348 4072 2895 11349 4069 2895 11350 4073 2895 11351 4070 2896 11352 4074 2896 11353 4069 2896 11354 4065 2897 11355 4071 2897 11356 4069 2897 11357 4075 2898 11358 4069 2898 11359 4072 2898 11360 4069 2899 11361 4075 2899 11362 4064 2899 11363 4076 2900 11364 4068 2900 11365 4064 2900 11366 4076 2780 11367 4077 2780 11368 4068 2780 11369 4078 2901 11370 4076 2901 11371 4079 2901 11372 4077 2902 11373 4076 2902 11374 4080 2902 11375 4064 2903 11376 4081 2903 11377 4076 2903 11378 4074 2904 11379 4073 2904 11380 4069 2904 11381 4076 2 11382 4081 2 11383 4082 2 11384 4076 2905 11385 4082 2905 11386 4079 2905 11387 4078 2906 11388 4080 2906 11389 4076 2906 11390 4081 2907 11391 4064 2907 11392 4075 2907 11393 4083 2908 11394 4072 2908 11395 4073 2908 11396 4073 2 11397 4085 2 11398 4084 2 11399 4084 2909 11400 4086 2909 11401 4073 2909 11402 4086 2910 11403 4088 2910 11404 4087 2910 11405 4085 2 11406 4073 2 11407 4074 2 11408 4089 2 11409 4086 2 11410 4084 2 11411 4090 2911 11412 4086 2911 11413 4089 2911 11414 4091 2912 11415 4088 2912 11416 4092 2912 11417 4090 2 11418 4092 2 11419 4088 2 11420 4088 2913 11421 4091 2913 11422 4093 2913 11423 4090 2 11424 4088 2 11425 4086 2 11426 4094 2914 11427 4073 2914 11428 4086 2914 11429 4087 2915 11430 4095 2915 11431 4086 2915 11432 4096 2916 11433 4097 2916 11434 4093 2916 11435 4098 2 11436 4093 2 11437 4099 2 11438 4099 2 11439 4093 2 11440 4091 2 11441 4093 2917 11442 4098 2917 11443 4096 2917 11444 4093 2 11445 4097 2 11446 4100 2 11447 4100 2 11448 4087 2 11449 4093 2 11450 4088 2918 11451 4093 2918 11452 4087 2918 11453 4097 2919 11454 4101 2919 11455 4100 2919 11456 4094 2920 11457 4086 2920 11458 4095 2920 11459 4073 2921 11460 4094 2921 11461 4083 2921 11462 4102 2922 11463 4078 2922 11464 4079 2922 11465 4103 2 11466 4104 2 11467 4078 2 11468 4078 2 11469 4105 2 11470 4103 2 11471 4106 2 11472 4103 2 11473 4105 2 11474 4107 2923 11475 4105 2923 11476 4078 2923 11477 4078 2924 11478 4102 2924 11479 4107 2924 11480 4108 2925 11481 4107 2925 11482 4109 2925 11483 4110 2926 11484 4112 2926 11485 4111 2926 11486 4110 2927 11487 4111 2927 11488 4109 2927 11489 4107 2928 11490 4108 2928 11491 4105 2928 11492 4105 2929 11493 4108 2929 11494 4113 2929 11495 4114 2 11496 4115 2 11497 4108 2 11498 4113 2930 11499 4108 2930 11500 4115 2930 11501 4116 2931 11502 4114 2931 11503 4108 2931 11504 4108 2932 11505 4109 2932 11506 4111 2932 11507 4116 2 11508 4108 2 11509 4111 2 11510 4111 2933 11511 4118 2933 11512 4117 2933 11513 4116 2934 11514 4111 2934 11515 4117 2934 11516 4119 2935 11517 4111 2935 11518 4112 2935 11519 4113 2 11520 4106 2 11521 4105 2 11522 4118 2 11523 4111 2 11524 4119 2 11525 4120 2812 11526 4122 2812 11527 4121 2812 11528 4119 2936 11529 4124 2936 11530 4123 2936 11531 4123 2 11532 4120 2 11533 4121 2 11534 4125 2937 11535 4097 2937 11536 4126 2937 11537 4097 2938 11538 4096 2938 11539 4126 2938 11540 4127 2 11541 4121 2 11542 4125 2 11543 4097 2939 11544 4125 2939 11545 4121 2939 11546 4121 2940 11547 4127 2940 11548 4128 2940 11549 4121 2 11550 4122 2 11551 4097 2 11552 4129 2941 11553 4123 2941 11554 4121 2941 11555 4097 2942 11556 4122 2942 11557 4101 2942 11558 4130 2943 11559 4123 2943 11560 4129 2943 11561 4131 2944 11562 4119 2944 11563 4130 2944 11564 4119 2945 11565 4131 2945 11566 4132 2945 11567 4132 2 11568 4118 2 11569 4119 2 11570 4133 2946 11571 4131 2946 11572 4130 2946 11573 4134 2947 11574 4129 2947 11575 4128 2947 11576 4129 2948 11577 4121 2948 11578 4128 2948 11579 4134 2 11580 4135 2 11581 4129 2 11582 4135 2 11583 4130 2 11584 4129 2 11585 4135 2 11586 4133 2 11587 4130 2 11588 4119 2949 11589 4123 2949 11590 4130 2949 11591 4119 2950 11592 4112 2950 11593 4124 2950 11594 4104 2 11595 4080 2 11596 4078 2 11597 4136 2 11598 4138 2 11599 4137 2 11600 4138 2951 11601 4140 2951 11602 4139 2951 11603 4136 2952 11604 4140 2952 11605 4138 2952 11606 4141 2953 11607 4136 2953 11608 4137 2953 11609 4142 2954 11610 4136 2954 11611 4141 2954 11612 4143 2955 11613 4136 2955 11614 4144 2955 11615 4136 2956 11616 4143 2956 11617 4140 2956 11618 4144 2 11619 4136 2 11620 4142 2 11621 4139 2957 11622 4145 2957 11623 4138 2957 11624 4139 2 11625 4140 2 11626 4146 2 11627 4147 2 11628 4148 2 11629 4139 2 11630 4149 2 11631 4147 2 11632 4150 2 11633 4147 2958 11634 4139 2958 11635 4150 2958 11636 4151 2959 11637 4150 2959 11638 4139 2959 11639 4151 2 11640 4139 2 11641 4146 2 11642 4150 2 11643 4151 2 11644 4152 2 11645 4148 2 11646 4145 2 11647 4139 2 11648 4153 2960 11649 4143 2960 11650 4144 2960 11651 4144 2 11652 4155 2 11653 4154 2 11654 4154 2961 11655 4156 2961 11656 4144 2961 11657 4156 2962 11658 4158 2962 11659 4157 2962 11660 4155 2 11661 4144 2 11662 4142 2 11663 4159 2 11664 4156 2 11665 4154 2 11666 4160 2963 11667 4156 2963 11668 4159 2963 11669 4158 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+ + + + + + + + -9.99987e-4 -1.50998e-10 -7.30346e-9 0.1930371 1.50994e-10 -9.99987e-4 5.64254e-10 -9.44521e-5 -7.30346e-9 5.64253e-10 9.99987e-4 0.07146131 0 0 0 1 + + + + + + + + + + + 0.9999997 -1.51216e-7 -4.76884e-8 -43.84404 1.51216e-7 0.9999996 -1.08914e-8 0.002114743 4.76884e-8 1.08914e-8 0.9999997 -1.923567 0 0 0 1 + + + + + + + + + + + + + 8.24768e-4 0 0 0.207996 0 8.24768e-4 0 -1.8898e-4 0 0 8.24768e-4 0.04591081 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/Industrial/dobot_magician_gripper_moveit_config/CMakeLists.txt b/Industrial/dobot_magician_gripper_moveit_config/CMakeLists.txt new file mode 100644 index 000000000..e2cfad5a7 --- /dev/null +++ b/Industrial/dobot_magician_gripper_moveit_config/CMakeLists.txt @@ -0,0 +1,23 @@ +cmake_minimum_required(VERSION 3.8) +project(dobot_magician_gripper_moveit_config) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake REQUIRED) +find_package(ament_cmake_python REQUIRED) +find_package(custom_robots REQUIRED) +find_package(urdf REQUIRED) +find_package(xacro REQUIRED) + +install(DIRECTORY config rviz + DESTINATION share/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/Industrial/dobot_magician_gripper_moveit_config/config/kinematics.yaml b/Industrial/dobot_magician_gripper_moveit_config/config/kinematics.yaml new file mode 100644 index 000000000..1069ee105 --- /dev/null +++ b/Industrial/dobot_magician_gripper_moveit_config/config/kinematics.yaml @@ -0,0 +1,4 @@ +# No IK solver here, dobot_magician_arm isn't a chain group (the +# parallelogram mimic joints break that), only joint space moves work +/**: + ros__parameters: {} diff --git a/Industrial/dobot_magician_gripper_moveit_config/config/moveit_controllers.yaml b/Industrial/dobot_magician_gripper_moveit_config/config/moveit_controllers.yaml new file mode 100644 index 000000000..9258cbb1e --- /dev/null +++ b/Industrial/dobot_magician_gripper_moveit_config/config/moveit_controllers.yaml @@ -0,0 +1,23 @@ +/**: + ros__parameters: + moveit_simple_controller_manager: + controller_names: + - joint_trajectory_controller + - gripper_controller + + joint_trajectory_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + + gripper_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - joint_prismatic_l diff --git a/Industrial/dobot_magician_gripper_moveit_config/config/ompl_planning.yaml b/Industrial/dobot_magician_gripper_moveit_config/config/ompl_planning.yaml new file mode 100644 index 000000000..fa83bb98a --- /dev/null +++ b/Industrial/dobot_magician_gripper_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,70 @@ +/**: + ros__parameters: + planner_configs: + SBLkConfigDefault: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ESTkConfigDefault: + 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 + LBKPIECEkConfigDefault: + 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 + BKPIECEkConfigDefault: + 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 + KPIECEkConfigDefault: + 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 + RRTkConfigDefault: + 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 + RRTConnectkConfigDefault: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstarkConfigDefault: + 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 + TRRTkConfigDefault: + 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 expression. default: 0.0 set in setup() + PRMkConfigDefault: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstarkConfigDefault: + type: geometric::PRMstar + dobot_magician_arm: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + longest_valid_segment_fraction: 0.01 diff --git a/Industrial/dobot_magician_gripper_moveit_config/package.xml b/Industrial/dobot_magician_gripper_moveit_config/package.xml new file mode 100644 index 000000000..577913cf8 --- /dev/null +++ b/Industrial/dobot_magician_gripper_moveit_config/package.xml @@ -0,0 +1,32 @@ + + + + dobot_magician_gripper_moveit_config + 0.0.0 + MoveIt2 config for the Dobot Magician with its gripper + RoboticsAcademy + TODO: License declaration + + ament_cmake + ament_cmake_python + + custom_robots + urdf + xacro + + launch + launch_ros + moveit_kinematics + moveit_planners_ompl + moveit_ros_move_group + moveit_ros_visualization + moveit_servo + moveit_simple_controller_manager + controller_manager + joint_trajectory_controller + rviz2 + + + ament_cmake + + diff --git a/Industrial/dobot_magician_gripper_moveit_config/rviz/moveit.rviz b/Industrial/dobot_magician_gripper_moveit_config/rviz/moveit.rviz new file mode 100644 index 000000000..e33bcbd47 --- /dev/null +++ b/Industrial/dobot_magician_gripper_moveit_config/rviz/moveit.rviz @@ -0,0 +1,311 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 87 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + Splitter Ratio: 0.4957627058029175 + Tree Height: 573 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + 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 + - Acceleration_Scaling_Factor: 0.1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Cartesian_Path: false + MoveIt_Use_Constraint_Aware_IK: false + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: true + Interrupt Display: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: false + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: /display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.07999999821186066 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0.3 + Joint Violation Color: 255; 0; 255 + Planning Group: dobot_magician_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: monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 0.8999999761581421 + Scene Color: 50; 230; 50 + Scene Display Time: 0.009999999776482582 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 1 + Show Robot Collision: false + Show Robot Visual: true + Value: true + Velocity_Scaling_Factor: 0.1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 6.619869709014893 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.2489434778690338 + Y: -0.013962505385279655 + Z: 0.13800443708896637 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.4103981554508209 + Target Frame: + Value: Orbit (rviz) + Yaw: 1.210397720336914 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1381 + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000400000000000001e0000004f6fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000046000002e3000000ff01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000005201000003fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000032a00000212000001b9010000030000000100000110000004f6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000046000004f6000000d701000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000070e000004f600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 2560 + X: 0 + Y: 30 diff --git a/Industrial/gz_mimic_joint/src/gz_mimic_joint.cpp b/Industrial/gz_mimic_joint/src/gz_mimic_joint.cpp index 76e300e32..fd4e78fb4 100644 --- a/Industrial/gz_mimic_joint/src/gz_mimic_joint.cpp +++ b/Industrial/gz_mimic_joint/src/gz_mimic_joint.cpp @@ -2,6 +2,7 @@ #include #include #include +#include #include @@ -47,7 +48,7 @@ void PreUpdate( const UpdateInfo &, EntityComponentManager &_ecm) override { - // Buscar joints solo una vez + // Look up both joints only once if (parentJoint == kNullEntity) { parentJoint = FindJoint(_ecm, parent_joint_name); @@ -70,7 +71,10 @@ void PreUpdate( if (parentPos && !parentPos->Data().empty()) { - _ecm.SetComponentData( + // JointPosition is Physics' own output, writing it here just gets + // overwritten again once Physics steps. JointPositionReset is the + // component Physics actually reads to force a joint to a value. + _ecm.SetComponentData( mimicJoint, {parentPos->Data()[0]} ); diff --git a/Industrial/ros2_SimRealRobotControl_gz/packages/dobot_magician/ros2srrc_dobot_magician_moveit2/CMakeLists.txt b/Industrial/ros2_SimRealRobotControl_gz/packages/dobot_magician/ros2srrc_dobot_magician_moveit2/CMakeLists.txt new file mode 100644 index 000000000..a24ee6591 --- /dev/null +++ b/Industrial/ros2_SimRealRobotControl_gz/packages/dobot_magician/ros2srrc_dobot_magician_moveit2/CMakeLists.txt @@ -0,0 +1,30 @@ +cmake_minimum_required(VERSION 3.5) +project(ros2srrc_dobot_magician_moveit2) + +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +install( + DIRECTORY + config + DESTINATION + share/${PROJECT_NAME} +) + +ament_package() diff --git a/Industrial/ros2_SimRealRobotControl_gz/packages/dobot_magician/ros2srrc_dobot_magician_moveit2/config/dobot_magician_gripper.srdf b/Industrial/ros2_SimRealRobotControl_gz/packages/dobot_magician/ros2srrc_dobot_magician_moveit2/config/dobot_magician_gripper.srdf new file mode 100644 index 000000000..3ffaefaa4 --- /dev/null +++ b/Industrial/ros2_SimRealRobotControl_gz/packages/dobot_magician/ros2srrc_dobot_magician_moveit2/config/dobot_magician_gripper.srdf @@ -0,0 +1,68 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Industrial/ros2_SimRealRobotControl_gz/packages/dobot_magician/ros2srrc_dobot_magician_moveit2/package.xml b/Industrial/ros2_SimRealRobotControl_gz/packages/dobot_magician/ros2srrc_dobot_magician_moveit2/package.xml new file mode 100644 index 000000000..b7701eb99 --- /dev/null +++ b/Industrial/ros2_SimRealRobotControl_gz/packages/dobot_magician/ros2srrc_dobot_magician_moveit2/package.xml @@ -0,0 +1,20 @@ + + + + ros2srrc_dobot_magician_moveit2 + 0.0.0 + RoboticsAcademy. Package: ROS 2 SimRealRobotControl - Dobot Magician MoveIt2 + + RoboticsAcademy + + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_endeffectors/CMakeLists.txt b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_endeffectors/CMakeLists.txt index fd48f134c..00062b213 100644 --- a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_endeffectors/CMakeLists.txt +++ b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_endeffectors/CMakeLists.txt @@ -45,8 +45,10 @@ install( robotiq_2f85 robotiq_hande - - DESTINATION + + dobot_gripper + + DESTINATION share/${PROJECT_NAME} ) diff --git a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_endeffectors/dobot_gripper/config/joint_specifications.yaml b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_endeffectors/dobot_gripper/config/joint_specifications.yaml new file mode 100644 index 000000000..d9c17b3f5 --- /dev/null +++ b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_endeffectors/dobot_gripper/config/joint_specifications.yaml @@ -0,0 +1,5 @@ +# Dobot Magician gripper joint specifications +Limits: + Max: 0.0 + Min: -0.018 +JointsVector: [1.0] diff --git a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/CMakeLists.txt b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/CMakeLists.txt index fed8f02f1..780f29602 100644 --- a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/CMakeLists.txt +++ b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/CMakeLists.txt @@ -50,6 +50,8 @@ install( iiwa + dobot_magician + DESTINATION share/${PROJECT_NAME} ) diff --git a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/dobot_magician/config/joint_limits.yaml b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/dobot_magician/config/joint_limits.yaml new file mode 100644 index 000000000..ac4717421 --- /dev/null +++ b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/dobot_magician/config/joint_limits.yaml @@ -0,0 +1,25 @@ +joint_limits: + joint_1: + has_velocity_limits: true + max_velocity: 1.0 + has_acceleration_limits: true + max_acceleration: 3.0 + joint_2: + has_velocity_limits: true + max_velocity: 1.0 + has_acceleration_limits: true + max_acceleration: 3.0 + joint_3: + has_velocity_limits: true + max_velocity: 1.0 + has_acceleration_limits: true + max_acceleration: 3.0 + joint_4: + has_velocity_limits: true + max_velocity: 1.0 + has_acceleration_limits: true + max_acceleration: 3.0 + +# This velocity matches the source URDF joint limit (jkaniuka/magician_ros2). +# Dobot doesn't publish an acceleration figure. 3.0 is a conservative guess +# for MoveIt time parametrization only. diff --git a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/dobot_magician/config/joint_specifications.yaml b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/dobot_magician/config/joint_specifications.yaml new file mode 100644 index 000000000..39fab8bd4 --- /dev/null +++ b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/dobot_magician/config/joint_specifications.yaml @@ -0,0 +1,4 @@ +# Dobot Magician joint specifications +Limits: + Max: [125.0, 90.0, 70.0, 150.0] + Min: [-125.0, -5.0, -15.0, -150.0] diff --git a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/dobot_magician/config/pilz_cartesian_limits.yaml b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/dobot_magician/config/pilz_cartesian_limits.yaml new file mode 100644 index 000000000..96b887017 --- /dev/null +++ b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/dobot_magician/config/pilz_cartesian_limits.yaml @@ -0,0 +1,8 @@ +cartesian_limits: + max_trans_vel: 0.15 + max_trans_acc: 0.15 + max_trans_dec: 0.15 + max_rot_vel: 1.0 + +# Lower than UR3's limits since the Dobot Magician only reaches 320mm, +# a small fraction of a UR3's working radius. diff --git a/Launchers/dobot_pick_place.launch.py b/Launchers/dobot_pick_place.launch.py new file mode 100644 index 000000000..5ede04d79 --- /dev/null +++ b/Launchers/dobot_pick_place.launch.py @@ -0,0 +1,65 @@ +#!/usr/bin/env python3 + +import os +from launch import LaunchDescription +from launch.actions import ExecuteProcess, SetEnvironmentVariable +from ament_index_python.packages import get_package_share_directory +from launch_ros.actions import Node + + +def generate_launch_description(): + world_file_name = "dobot_magician_pick_place.world" + worlds_dir = "/opt/jderobot/Scenes" + world_path = os.path.join(worlds_dir, world_file_name) + + package_dir = get_package_share_directory("custom_robots") + gazebo_models_path = os.path.join(package_dir, "models") + + gz_ros2_control_path = "/home/ws/install/gz_ros2_control/lib" + gz_link_attacher_path = "/home/ws/install/gz_link_attacher/lib" + gz_mimic_joint_path = "/home/ws/install/gz_mimic_joint/lib" + + gz_plugin_path = ( + gz_link_attacher_path + + ":" + + gz_ros2_control_path + + ":" + + gz_mimic_joint_path + + ":" + + "/opt/ros/humble/lib" + ) + + resource_path = os.path.dirname(package_dir) + ":" + gazebo_models_path + + set_resource_path = SetEnvironmentVariable( + name="GZ_SIM_RESOURCE_PATH", value=resource_path + ) + + set_gz_plugin_path = SetEnvironmentVariable( + name="GZ_SIM_SYSTEM_PLUGIN_PATH", value=gz_plugin_path + ) + + existing_ld = os.environ.get("LD_LIBRARY_PATH", "") + + set_ld_library_path = SetEnvironmentVariable( + name="LD_LIBRARY_PATH", + value=gz_plugin_path + ":/usr/lib/x86_64-linux-gnu:" + existing_ld, + ) + + gz = ExecuteProcess( + cmd=["gz", "sim", "-r", "-s", "-v", "4", world_path], + output="screen", + ) + + gz_ros2_bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + arguments=[ + "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock", + ], + output="screen", + ) + + return LaunchDescription( + [set_gz_plugin_path, set_ld_library_path, set_resource_path, gz, gz_ros2_bridge] + ) diff --git a/Launchers/rviz/dobot_pick_place_harmonic.launch.py b/Launchers/rviz/dobot_pick_place_harmonic.launch.py new file mode 100644 index 000000000..e9db1f198 --- /dev/null +++ b/Launchers/rviz/dobot_pick_place_harmonic.launch.py @@ -0,0 +1,75 @@ +""" +Dobot Pick Place Harmonic - RViz + MoveIt Launcher +Launches ONLY: RViz with motion planning +Assumes Gazebo and the robot are already running +""" + +import os +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.actions import TimerAction +from ament_index_python.packages import get_package_share_directory +import xacro + + +def generate_launch_description(): + pkg_share_dir = get_package_share_directory("custom_robots") + moveit_config_package = "dobot_magician_gripper_moveit_config" + moveit_pkg_share = get_package_share_directory(moveit_config_package) + + xacro_file = os.path.join( + pkg_share_dir, "models/dobot_magician", "dobot_magician.urdf.xacro" + ) + controllers_file = os.path.join( + pkg_share_dir, "config", "dobot_magician_controllers.yaml" + ) + + robot_description_content = xacro.process_file( + xacro_file, + mappings={ + "name": "dobot_magician", + "prefix": "", + "use_fake_hardware": "false", + "sim_gazebo": "false", + "sim_gz": "true", + "simulation_controllers": controllers_file, + }, + ).toxml() + + robot_description = {"robot_description": robot_description_content} + + srdf_pkg_share = get_package_share_directory("ros2srrc_dobot_magician_moveit2") + srdf_file = os.path.join(srdf_pkg_share, "config", "dobot_magician_gripper.srdf") + with open(srdf_file, "r") as file: + robot_description_semantic = {"robot_description_semantic": file.read()} + + kinematics_yaml = os.path.join(moveit_pkg_share, "config", "kinematics.yaml") + ompl_planning_yaml = os.path.join(moveit_pkg_share, "config", "ompl_planning.yaml") + + rviz_config_file = os.path.join(moveit_pkg_share, "rviz", "moveit.rviz") + + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file], + parameters=[ + robot_description, + robot_description_semantic, + ompl_planning_yaml, + kinematics_yaml, + {"use_sim_time": True}, + ], + ) + + delay_rviz = TimerAction( + period=3.0, + actions=[rviz_node], + ) + + return LaunchDescription( + [ + delay_rviz, + ] + ) diff --git a/Scenes/dobot_magician_pick_place.world b/Scenes/dobot_magician_pick_place.world new file mode 100644 index 000000000..f20e44ff2 --- /dev/null +++ b/Scenes/dobot_magician_pick_place.world @@ -0,0 +1,249 @@ + + + + + + + + + + + + ogre2 + + + dobot_magician_gripper + link_gripper_jaw_left + + + + + + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + true + false + + + + + true + 0 0 3 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + -0.5 0.1 -0.9 + + + + + true + + + + + 0 0 1 + + + + + + + 0 0 1 + 2 2 + + + + 0.6 0.6 0.6 1 + 0.6 0.6 0.6 1 + + + + + + + + 0.2 -0.08 0.0125 0 0 0 + + + 0.01 + + 0.0000017 + 0.0000017 + 0.0000017 + 0 + 0 + 0 + + + + + + 0.025 0.025 0.025 + + + + + + + 0.025 0.025 0.025 + + + + 0.8 0.1 0.1 1 + 0.8 0.1 0.1 1 + + + + + + + 0.2 0 0.0125 0 0 0 + + + 0.01 + + 0.0000017 + 0.0000017 + 0.0000017 + 0 + 0 + 0 + + + + + + 0.025 0.025 0.025 + + + + + + + 0.025 0.025 0.025 + + + + 0.1 0.7 0.1 1 + 0.1 0.7 0.1 1 + + + + + + + 0.2 0.08 0.0125 0 0 0 + + + 0.01 + + 0.0000017 + 0.0000017 + 0.0000017 + 0 + 0 + 0 + + + + + + 0.025 0.025 0.025 + + + + + + + 0.025 0.025 0.025 + + + + 0.1 0.1 0.8 1 + 0.1 0.1 0.8 1 + + + + + + + + true + 0.1152 -0.1708 0.005 0 0 0 + + + + + 0.06 0.06 0.01 + + + + + + + 0.06 0.06 0.01 + + + + 0.8 0.1 0.1 1 + 0.8 0.1 0.1 1 + + + + + + + true + 0.0499 -0.1999 0.005 0 0 0 + + + + + 0.06 0.06 0.01 + + + + + + + 0.06 0.06 0.01 + + + + 0.1 0.7 0.1 1 + 0.1 0.7 0.1 1 + + + + + + + true + -0.0216 -0.2049 0.005 0 0 0 + + + + + 0.06 0.06 0.01 + + + + + + + 0.06 0.06 0.01 + + + + 0.1 0.1 0.8 1 + 0.1 0.1 0.8 1 + + + + + + + diff --git a/database/worlds.sql b/database/worlds.sql index 4e5d6394c..384c7cac6 100644 --- a/database/worlds.sql +++ b/database/worlds.sql @@ -207,6 +207,8 @@ COPY public.worlds (id, name, scene_id) FROM stdin; 82 Visual Lander 78 83 Visual Lander Circuit 79 84 Follow Turtlebot 80 +85 Pick And Place World Dobot Magician 56 +86 Dobot Pick And Place World 81 \. -- @@ -278,6 +280,8 @@ COPY public.worlds_robots (id, world_id, robot_id, poses) FROM stdin; 60 83 11 {{0,-8,0.3,0.0,0.0,0.0}} 61 84 11 {{0.0,0.0,0.3,0.0,0.0,0.0}} 62 84 35 {{7.0,-4.0,0.1,0.0,0.0,2.76}} +63 85 40 {{0.0,0.0,0.9,0.0,0.0,0.0}} +64 86 40 {{0.0,0.0,0.131305,0.0,0.0,0.0}} \. -- @@ -327,6 +331,7 @@ COPY public.scenes (id, name, launch_file_path, tools_config, ros_version, type, 78 Visual Lander /opt/jderobot/Launchers/visual_lander.launch.py {"gzsim":"/opt/jderobot/Launchers/visualization/visual_lander.config"} ROS2 gz visual_lander.urdf 79 Visual Lander Circuit /opt/jderobot/Launchers/visual_lander_circuit.launch.py {"gzsim":"/opt/jderobot/Launchers/visualization/visual_lander.config"} ROS2 gz visual_lander.urdf 80 Follow Turtlebot /opt/jderobot/Launchers/follow_turtlebot.launch.py {"gzsim":"/opt/jderobot/Launchers/visualization/follow_turtlebot.config"} ROS2 gz follow_turtlebot.urdf +81 Dobot Pick And Place /opt/jderobot/Launchers/dobot_pick_place.launch.py {"rviz":"/opt/jderobot/Launchers/rviz/dobot_pick_place_harmonic.launch.py"} ROS2 gz dobot_pick_place.urdf \. -- @@ -369,6 +374,7 @@ COPY public.robots (id, name, launch_file_path, entity, extra_config, model_path 33 Quadrotor Magnet /home/ws/src/CustomRobots/quadrotor/launch/quadrotor.launch.py drone sensor:=camera namespace:=drone gripper:=true quadrotor/models/quadrotor/quadrotor.urdf.xacro 34 Ur10 Suction /home/ws/src/CustomRobots/robot_arms/launch/ur10_suction.launch.py ur10_suction None robot_arms/models/ur10/ur10_suction.urdf.xacro 35 Turtlebot 3 Marker /home/ws/src/CustomRobots/turtlebot3/launch/turtlebot3.launch.py turtlebot3 sensor:=laser marker:=true namespace:=turtlebot3 turtlebot3/models/turtlebot3/turtlebot3.urdf.xacro +40 Dobot Magician /home/ws/src/CustomRobots/robot_arms/launch/dobot_magician.launch.py dobot_magician_gripper None robot_arms/models/dobot_magician/dobot_magician.urdf.xacro \. --