From 2bdac1b6dd5888b6ada555f0d251e2c3ebd2dfa1 Mon Sep 17 00:00:00 2001 From: aquintan Date: Mon, 7 Sep 2026 10:57:48 +0200 Subject: [PATCH 01/25] dobot magician in Robotics Infrastructure --- .../config/dobot_magician_controllers.yaml | 95 + .../launch/dobot_magician.launch.py | 318 + .../robot_arms/models/dobot_magician/LICENSE | 21 + .../robot_arms/models/dobot_magician/NOTICE | 9 + .../dobot_magician.ros2_control.xacro | 134 + .../dobot_magician/dobot_magician.urdf.xacro | 33 + .../dobot_magician/dobot_magician_macro.xacro | 166 + .../meshes/collision/link4_collision.dae | 112 + .../meshes/collision/magicianBase.dae | 350 + .../meshes/collision/magicianLink1.dae | 264 + .../meshes/collision/magicianLink2.dae | 264 + .../meshes/collision/magicianLink3.dae | 331 + .../meshes/visual/gripper_core.dae | 221 + .../dobot_magician/meshes/visual/jaw_left.dae | 212 + .../meshes/visual/jaw_right.dae | 89 + .../meshes/visual/magicianBase.dae | 1030 ++ .../meshes/visual/magicianLink1.dae | 7561 +++++++++++ .../meshes/visual/magicianLink2.dae | 11331 ++++++++++++++++ .../meshes/visual/magicianLink3.dae | 514 + .../meshes/visual/magicianLink4.dae | 197 + .../CMakeLists.txt | 23 + .../config/kinematics.yaml | 7 + .../config/moveit_controllers.yaml | 23 + .../config/ompl_planning.yaml | 70 + .../package.xml | 32 + .../CMakeLists.txt | 30 + .../config/dobot_magician_gripper.srdf | 60 + .../package.xml | 20 + .../ros2srrc_robots/CMakeLists.txt | 2 + .../dobot_magician/config/joint_limits.yaml | 25 + .../config/pilz_cartesian_limits.yaml | 8 + database/worlds.sql | 1 + 32 files changed, 23553 insertions(+) create mode 100644 CustomRobots/robot_arms/config/dobot_magician_controllers.yaml create mode 100644 CustomRobots/robot_arms/launch/dobot_magician.launch.py create mode 100644 CustomRobots/robot_arms/models/dobot_magician/LICENSE create mode 100644 CustomRobots/robot_arms/models/dobot_magician/NOTICE create mode 100644 CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro create mode 100644 CustomRobots/robot_arms/models/dobot_magician/dobot_magician.urdf.xacro create mode 100644 CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro create mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/collision/link4_collision.dae create mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/collision/magicianBase.dae create mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/collision/magicianLink1.dae create mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/collision/magicianLink2.dae create mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/collision/magicianLink3.dae create mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/visual/gripper_core.dae create mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/visual/jaw_left.dae create mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/visual/jaw_right.dae create mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/visual/magicianBase.dae create mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/visual/magicianLink1.dae create mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/visual/magicianLink2.dae create mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/visual/magicianLink3.dae create mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/visual/magicianLink4.dae create mode 100644 Industrial/dobot_magician_gripper_moveit_config/CMakeLists.txt create mode 100644 Industrial/dobot_magician_gripper_moveit_config/config/kinematics.yaml create mode 100644 Industrial/dobot_magician_gripper_moveit_config/config/moveit_controllers.yaml create mode 100644 Industrial/dobot_magician_gripper_moveit_config/config/ompl_planning.yaml create mode 100644 Industrial/dobot_magician_gripper_moveit_config/package.xml create mode 100644 Industrial/ros2_SimRealRobotControl_gz/packages/dobot_magician/ros2srrc_dobot_magician_moveit2/CMakeLists.txt create mode 100644 Industrial/ros2_SimRealRobotControl_gz/packages/dobot_magician/ros2srrc_dobot_magician_moveit2/config/dobot_magician_gripper.srdf create mode 100644 Industrial/ros2_SimRealRobotControl_gz/packages/dobot_magician/ros2srrc_dobot_magician_moveit2/package.xml create mode 100644 Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/dobot_magician/config/joint_limits.yaml create mode 100644 Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/dobot_magician/config/pilz_cartesian_limits.yaml 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..c58e0383c --- /dev/null +++ b/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml @@ -0,0 +1,95 @@ +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 + - effort + + +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..8db237c0a --- /dev/null +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro @@ -0,0 +1,134 @@ + + + + + + + + + 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 + + + + + + + + ${prefix}joint_2 + -1.0 + + 0 + ${2*pi} + + + + + + + ${prefix}joint_3 + -1.0 + + 0 + ${2*pi} + + + + + + + + + + + gz_ros2_control/GazeboSimSystem + + + mock_components/GenericSystem + false + 0.0 + + + + + + 0.0 + 0.0135 + + + 0.0 + + + + + + + ${prefix}joint_prismatic_l + -1.0 + + -0.0135 + 0.0 + + + + + + + + + + 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..a68ce261b --- /dev/null +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro @@ -0,0 +1,166 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/CustomRobots/robot_arms/models/dobot_magician/meshes/collision/link4_collision.dae b/CustomRobots/robot_arms/models/dobot_magician/meshes/collision/link4_collision.dae new file mode 100644 index 000000000..f3c9127d8 --- /dev/null +++ b/CustomRobots/robot_arms/models/dobot_magician/meshes/collision/link4_collision.dae @@ -0,0 +1,112 @@ + + + + + Blender User + Blender 3.3.1 commit date:2022-10-04, commit time:18:35, hash:b292cfe5a936 + + 2022-10-15T23:39:03 + 2022-10-15T23:39:03 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.0163033 0.0163033 0.0163033 1 + + + 1 + + + + + + + + + + + + + + + + + 1.791107 -3.50952e-4 9.233981 1.756592 0.3508148 9.233981 1.7565 -0.3515091 9.233981 1.653992 -0.6891632 9.233981 1.654205 0.6884995 9.233981 1.48761 -1.000328 9.233981 1.487915 0.9997177 9.233981 1.263702 -1.273071 9.23408 1.264099 1.272522 9.23408 0.9909058 -1.49688 9.23408 0.9913941 1.496407 9.23408 0.679718 -1.66317 9.234177 0.6802063 1.662788 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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..187513419 --- /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 + 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..ff4ed1abc --- /dev/null +++ b/Industrial/dobot_magician_gripper_moveit_config/config/kinematics.yaml @@ -0,0 +1,7 @@ +/**: + ros__parameters: + dobot_magician_arm: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + kinematics_solver_attempts: 3 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/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/${PROJECT_NAME} +) + +ament_package() diff --git a/Industrial/ros2_SimRealRobotControl_gz/packages/dobot_magician/ros2srrc_dobot_magician_moveit2/config/dobot_magician_gripper.srdf b/Industrial/ros2_SimRealRobotControl_gz/packages/dobot_magician/ros2srrc_dobot_magician_moveit2/config/dobot_magician_gripper.srdf new file mode 100644 index 000000000..db5a8af7d --- /dev/null +++ b/Industrial/ros2_SimRealRobotControl_gz/packages/dobot_magician/ros2srrc_dobot_magician_moveit2/config/dobot_magician_gripper.srdf @@ -0,0 +1,60 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Industrial/ros2_SimRealRobotControl_gz/packages/dobot_magician/ros2srrc_dobot_magician_moveit2/package.xml b/Industrial/ros2_SimRealRobotControl_gz/packages/dobot_magician/ros2srrc_dobot_magician_moveit2/package.xml new file mode 100644 index 000000000..b7701eb99 --- /dev/null +++ b/Industrial/ros2_SimRealRobotControl_gz/packages/dobot_magician/ros2srrc_dobot_magician_moveit2/package.xml @@ -0,0 +1,20 @@ + + + + ros2srrc_dobot_magician_moveit2 + 0.0.0 + RoboticsAcademy. Package: ROS 2 SimRealRobotControl - Dobot Magician MoveIt2 + + RoboticsAcademy + + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/CMakeLists.txt b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/CMakeLists.txt index fed8f02f1..780f29602 100644 --- a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/CMakeLists.txt +++ b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/CMakeLists.txt @@ -50,6 +50,8 @@ install( iiwa + dobot_magician + DESTINATION share/${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/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/database/worlds.sql b/database/worlds.sql index 4e5d6394c..c41bd91e5 100644 --- a/database/worlds.sql +++ b/database/worlds.sql @@ -369,6 +369,7 @@ 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 \. -- From 38c4167500d255236ef7ab7ce1bc10389a14df0f Mon Sep 17 00:00:00 2001 From: aquintan Date: Mon, 7 Sep 2026 11:10:37 +0200 Subject: [PATCH 02/25] dobot world exercise --- database/worlds.sql | 2 ++ 1 file changed, 2 insertions(+) diff --git a/database/worlds.sql b/database/worlds.sql index c41bd91e5..8ca6053ae 100644 --- a/database/worlds.sql +++ b/database/worlds.sql @@ -207,6 +207,7 @@ 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 \. -- @@ -278,6 +279,7 @@ 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}} \. -- From e9d204649b9e3daf546815d976b0ced0fc127a42 Mon Sep 17 00:00:00 2001 From: aquintan Date: Mon, 7 Sep 2026 11:33:52 +0200 Subject: [PATCH 03/25] dobot xacro update --- .../dobot_magician.ros2_control.xacro | 14 -------------- 1 file changed, 14 deletions(-) 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 index 8db237c0a..6f5fd59b2 100644 --- a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro @@ -90,20 +90,6 @@ - - - - - - gz_ros2_control/GazeboSimSystem - - - mock_components/GenericSystem - false - 0.0 - - - 0.0 From d62c8af2178142872b120335e70edbbe07ffdc26 Mon Sep 17 00:00:00 2001 From: aquintan Date: Mon, 7 Sep 2026 11:53:00 +0200 Subject: [PATCH 04/25] dobot xacro update --- .../dobot_magician.ros2_control.xacro | 15 ++------------- 1 file changed, 2 insertions(+), 13 deletions(-) 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 index 6f5fd59b2..333612647 100644 --- a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro @@ -67,14 +67,11 @@ - + ${prefix}joint_2 -1.0 - - 0 - ${2*pi} - @@ -82,10 +79,6 @@ ${prefix}joint_3 -1.0 - - 0 - ${2*pi} - @@ -105,10 +98,6 @@ ${prefix}joint_prismatic_l -1.0 - - -0.0135 - 0.0 - From fc9a19fe45b70514960c6d95995754eb7362a0ca Mon Sep 17 00:00:00 2001 From: aquintan Date: Mon, 7 Sep 2026 12:02:01 +0200 Subject: [PATCH 05/25] fix dobot --- .../config/dobot_magician_controllers.yaml | 1 - .../dobot_magician.ros2_control.xacro | 13 +++++++------ 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml b/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml index c58e0383c..c2b37796f 100644 --- a/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml +++ b/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml @@ -24,7 +24,6 @@ joint_state_broadcaster: - joint_mimic_1 - joint_mimic_2 - joint_prismatic_l - - joint_prismatic_r interfaces: - position 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 index 333612647..22195cd6f 100644 --- a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro @@ -95,12 +95,13 @@ - - ${prefix}joint_prismatic_l - -1.0 - - - + From 0a1780ff90807278be0519905b84000386839ef4 Mon Sep 17 00:00:00 2001 From: aquintan Date: Mon, 7 Sep 2026 12:16:33 +0200 Subject: [PATCH 06/25] dobbot xacro update --- .../dobot_magician.ros2_control.xacro | 28 ++++++++++++++----- 1 file changed, 21 insertions(+), 7 deletions(-) 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 index 22195cd6f..c09e2d16d 100644 --- a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro @@ -83,6 +83,24 @@ + + + + + + + gz_ros2_control/GazeboSimSystem + + + mock_components/GenericSystem + false + 0.0 + + + 0.0 @@ -95,13 +113,9 @@ - + From 6889f39af954cf8e35c42a34e4c703c14fcc4c8a Mon Sep 17 00:00:00 2001 From: aquintan Date: Mon, 7 Sep 2026 12:24:34 +0200 Subject: [PATCH 07/25] dobbot controllers and xacro to fix prismatic joint --- .../config/dobot_magician_controllers.yaml | 1 + .../dobot_magician.ros2_control.xacro | 22 ++++++++----------- 2 files changed, 10 insertions(+), 13 deletions(-) diff --git a/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml b/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml index c2b37796f..c58e0383c 100644 --- a/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml +++ b/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml @@ -24,6 +24,7 @@ joint_state_broadcaster: - joint_mimic_1 - joint_mimic_2 - joint_prismatic_l + - joint_prismatic_r interfaces: - position 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 index c09e2d16d..bdf26ecf9 100644 --- a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro @@ -67,28 +67,23 @@ - + - ${prefix}joint_2 - -1.0 - ${prefix}joint_3 - -1.0 - + @@ -113,9 +108,10 @@ - + + + + From 57ebb245ee44ae880405f4ac3f0ec234b412dd6b Mon Sep 17 00:00:00 2001 From: aquintan Date: Mon, 7 Sep 2026 12:34:32 +0200 Subject: [PATCH 08/25] fix dobot gripper --- .../dobot_magician.ros2_control.xacro | 20 +++++-------------- 1 file changed, 5 insertions(+), 15 deletions(-) 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 index bdf26ecf9..b883d0a8d 100644 --- a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro @@ -81,21 +81,11 @@ - - - - - - - gz_ros2_control/GazeboSimSystem - - - mock_components/GenericSystem - false - 0.0 - - - + 0.0 From 864e486eccfc2473e7f4c2aaeaa49df4a0b0d282 Mon Sep 17 00:00:00 2001 From: aquintan Date: Mon, 7 Sep 2026 12:46:00 +0200 Subject: [PATCH 09/25] dobbot gripper controller --- .../robot_arms/config/dobot_magician_controllers.yaml | 1 - .../dobot_magician/dobot_magician.ros2_control.xacro | 10 ++++++---- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml b/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml index c58e0383c..c2b37796f 100644 --- a/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml +++ b/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml @@ -24,7 +24,6 @@ joint_state_broadcaster: - joint_mimic_1 - joint_mimic_2 - joint_prismatic_l - - joint_prismatic_r interfaces: - position 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 index b883d0a8d..cfd6a0281 100644 --- a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro @@ -98,10 +98,12 @@ - - - - + From 52bf3ea2898345f5e65aaf4ae1369d04e362b1b7 Mon Sep 17 00:00:00 2001 From: aquintan Date: Mon, 7 Sep 2026 13:30:38 +0200 Subject: [PATCH 10/25] dobbot arm without gripper --- .../config/dobot_magician_controllers.yaml | 39 ------------------- .../launch/dobot_magician.launch.py | 8 +--- .../dobot_magician.ros2_control.xacro | 29 +++----------- 3 files changed, 7 insertions(+), 69 deletions(-) diff --git a/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml b/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml index c2b37796f..e55c4abff 100644 --- a/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml +++ b/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml @@ -9,9 +9,6 @@ controller_manager: joint_trajectory_controller: type: joint_trajectory_controller/JointTrajectoryController - gripper_controller: - type: joint_trajectory_controller/JointTrajectoryController - joint_state_broadcaster: ros__parameters: @@ -23,7 +20,6 @@ joint_state_broadcaster: - joint_4 - joint_mimic_1 - joint_mimic_2 - - joint_prismatic_l interfaces: - position @@ -57,38 +53,3 @@ joint_trajectory_controller: 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 index 725a95451..afe844c7f 100644 --- a/CustomRobots/robot_arms/launch/dobot_magician.launch.py +++ b/CustomRobots/robot_arms/launch/dobot_magician.launch.py @@ -264,15 +264,11 @@ def launch_setup(context): arguments=["joint_trajectory_controller"], ) - gripper_controller = Node( - package="controller_manager", - executable="spawner", - arguments=["gripper_controller"], - ) + # gripper_controller spawner temporarily removed along with the gripper's + # ros2_control block, isolating whether the arm alone loads cleanly. nodes.append(joint_state_broadcaster) nodes.append(joint_trajectory_controller) - nodes.append(gripper_controller) # ========================= # MOVEIT 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 index cfd6a0281..044c269c1 100644 --- a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro @@ -81,32 +81,13 @@ - - - - 0.0 - 0.0135 - - - 0.0 - - - - - - - + + From 714bbd5c7baa7b501a53d40f24fe32a4a127375d Mon Sep 17 00:00:00 2001 From: aquintan Date: Tue, 8 Sep 2026 09:16:11 +0200 Subject: [PATCH 11/25] remove effort control --- CustomRobots/robot_arms/config/dobot_magician_controllers.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml b/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml index e55c4abff..9d56c7897 100644 --- a/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml +++ b/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml @@ -24,7 +24,6 @@ joint_state_broadcaster: interfaces: - position - velocity - - effort joint_trajectory_controller: From 0c562db721421f9fedf0ee8dc7175d06dc6c5857 Mon Sep 17 00:00:00 2001 From: aquintan Date: Tue, 8 Sep 2026 10:04:59 +0200 Subject: [PATCH 12/25] dobbot meshes in stl format + fix controllers --- .../config/dobot_magician_controllers.yaml | 40 ++ .../launch/dobot_magician.launch.py | 8 +- .../dobot_magician.ros2_control.xacro | 22 +- .../dobot_magician/dobot_magician_macro.xacro | 16 +- .../meshes/collision/gripper_core.stl | Bin 0 -> 269884 bytes .../meshes/collision/jaw_left.stl | Bin 0 -> 228684 bytes .../meshes/collision/jaw_right.stl | Bin 0 -> 151334 bytes .../meshes/collision/link4_collision.dae | 112 ------ .../meshes/collision/link4_collision.stl | Bin 0 -> 126484 bytes .../meshes/collision/magicianBase.dae | 350 ------------------ .../meshes/collision/magicianBase.stl | Bin 0 -> 655734 bytes .../meshes/collision/magicianLink1.dae | 264 ------------- .../meshes/collision/magicianLink1.stl | Bin 0 -> 587734 bytes .../meshes/collision/magicianLink2.dae | 264 ------------- .../meshes/collision/magicianLink2.stl | Bin 0 -> 414484 bytes .../meshes/collision/magicianLink3.dae | 331 ----------------- .../meshes/collision/magicianLink3.stl | Bin 0 -> 493834 bytes .../ros2srrc_endeffectors/CMakeLists.txt | 6 +- .../config/joint_specifications.yaml | 5 + .../config/joint_specifications.yaml | 4 + 20 files changed, 81 insertions(+), 1341 deletions(-) create mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/collision/gripper_core.stl create mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/collision/jaw_left.stl create mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/collision/jaw_right.stl delete mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/collision/link4_collision.dae create mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/collision/link4_collision.stl delete mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/collision/magicianBase.dae create mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/collision/magicianBase.stl delete mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/collision/magicianLink1.dae create mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/collision/magicianLink1.stl delete mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/collision/magicianLink2.dae create mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/collision/magicianLink2.stl delete mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/collision/magicianLink3.dae create mode 100644 CustomRobots/robot_arms/models/dobot_magician/meshes/collision/magicianLink3.stl create mode 100644 Industrial/ros2_SimRealRobotControl_gz/ros2srrc_endeffectors/dobot_gripper/config/joint_specifications.yaml create mode 100644 Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/dobot_magician/config/joint_specifications.yaml diff --git a/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml b/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml index 9d56c7897..f6b8e713b 100644 --- a/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml +++ b/CustomRobots/robot_arms/config/dobot_magician_controllers.yaml @@ -9,6 +9,9 @@ controller_manager: joint_trajectory_controller: type: joint_trajectory_controller/JointTrajectoryController + gripper_controller: + type: joint_trajectory_controller/JointTrajectoryController + joint_state_broadcaster: ros__parameters: @@ -20,6 +23,8 @@ joint_state_broadcaster: - joint_4 - joint_mimic_1 - joint_mimic_2 + - joint_prismatic_l + - joint_prismatic_r interfaces: - position @@ -52,3 +57,38 @@ joint_trajectory_controller: 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 index afe844c7f..725a95451 100644 --- a/CustomRobots/robot_arms/launch/dobot_magician.launch.py +++ b/CustomRobots/robot_arms/launch/dobot_magician.launch.py @@ -264,11 +264,15 @@ def launch_setup(context): arguments=["joint_trajectory_controller"], ) - # gripper_controller spawner temporarily removed along with the gripper's - # ros2_control block, isolating whether the arm alone loads cleanly. + 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 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 index 044c269c1..db78a75f1 100644 --- a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro @@ -81,12 +81,24 @@ - + + + 0.0 + 0.0135 + + + 0.0 + + + + - + + + + + + diff --git a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro index a68ce261b..d0ca4cb1c 100644 --- a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro @@ -40,7 +40,7 @@ - + @@ -49,16 +49,10 @@ 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8137 27819 6299 8137 27820 6315 8137 27821 6299 8138 27822 6295 8138 27823 6323 8138 27824 6323 8139 27825 6319 8139 27826 6299 8139 27827 6303 8140 27831 6335 8140 27832 6334 8140 27833 6327 8141 27834 6357 8141 27835 6325 8141 27836 6317 8150 27888 6349 8150 27889 6348 8150 27890 6357 8267 28557 6356 8267 28558 6324 8267 28559 6337 8284 28719 6336 8284 28720 6304 8284 28721 6156 8339 29013 6154 8339 29014 6123 8339 29015 6176 8372 29172 6175 8372 29173 6143 8372 29174 6162 9454 34908 6161 9454 34909 6129 9454 34910 6333 9845 37056 6334 9845 37057 6337 9845 37058 6334 9846 37059 6335 9846 37060 6337 9846 37061 6335 9847 37062 6336 9847 37063 6337 9847 37064 6337 421 37065 6338 421 37066 6339 421 37067 6339 421 37068 6340 421 37069 6337 421 37070 6340 421 37071 6341 421 37072 6337 421 37073 6341 9848 37074 6342 9848 37075 6343 9848 37076 6343 9849 37077 6344 9849 37078 6341 9849 37079 6344 9850 37080 6345 9850 37081 6341 9850 37082 6345 9851 37083 6346 9851 37084 6347 9851 37085 6347 9852 37086 6348 9852 37087 6349 9852 37088 6349 9853 37089 6350 9853 37090 6353 9853 37091 6350 9854 37092 6351 9854 37093 6353 9854 37094 6351 9855 37095 6352 9855 37096 6353 9855 37097 6353 9856 37098 6354 9856 37099 6355 9856 37100 6355 421 37101 6356 421 37102 6353 421 37103 6356 421 37104 6357 421 37105 6353 421 37106 6357 9857 37107 6327 9857 37108 6326 9857 37109 6326 9858 37110 6328 9858 37111 6357 9858 37112 6328 9859 37113 6329 9859 37114 6357 9859 37115 6329 421 37116 6330 421 37117 6331 421 37118 6331 9860 37119 6332 9860 37120 6333 9860 37121 6345 9861 37122 6347 9861 37123 6341 9861 37124 6347 9862 37125 6349 9862 37126 6341 9862 37127 6329 9863 37128 6331 9863 37129 6357 9863 37130 6331 9864 37131 6333 9864 37132 6357 9864 37133 6333 9865 37134 6337 9865 37135 6349 9865 37136 6337 9866 37137 6341 9866 37138 6349 9866 37139 6349 9867 37140 6353 9867 37141 6333 9867 37142 6285 9971 37701 6291 9971 37702 6290 9971 37703 6131 10159 38394 6163 10159 38395 6162 10159 38396 6155 10255 39312 6185 10255 39313 6153 10255 39314

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6555 131 180 6552 131 181 6550 131 182 6242 156 216 6273 156 217 6241 156 218 6250 376 498 6218 376 499 6219 376 500 6268 767 984 6235 767 985 6236 767 986 6262 894 1167 6229 894 1168 6230 894 1169 6264 895 1173 6231 895 1174 6232 895 1175 6222 951 1251 6253 951 1252 6221 951 1253 6553 1044 1374 6550 1044 1375 6552 1044 1376 6244 1843 2550 6275 1843 2551 6243 1843 2552 6258 1967 2754 6225 1967 2755 6226 1967 2756 6193 2579 3708 6201 2579 3709 6209 2579 3710 6273 2635 3804 6240 2635 3805 6241 2635 3806 6272 2636 3807 6239 2636 3808 6240 2636 3809 6251 2825 4104 6249 2825 4105 6218 2825 4106 6271 3075 4524 6238 3075 4525 6239 3075 4526 6267 3195 4722 6234 3195 4723 6235 3195 4724 6552 3513 5274 6557 3513 5275 6553 3513 5276 6266 3852 6630 6233 3852 6631 6234 3852 6632 6220 3876 6675 6250 3876 6676 6219 3876 6677 6261 3928 6906 6228 3928 6907 6229 3928 6908 6227 3942 6939 6258 3942 6940 6226 3942 6941 6237 3943 6945 6268 3943 6946 6236 3943 6947 6246 3944 6948 6277 3944 6949 6245 3944 6950 6241 3948 6957 6233 3948 6958 6225 3948 6959 6265 3949 6960 6232 3949 6961 6233 3949 6962 6249 3952 6966 6280 3952 6967 6248 3952 6968 6247 3955 6972 6278 3955 6973 6246 3955 6974 6238 3956 6975 6269 3956 6976 6237 3956 6977 6251 3957 6978 6258 3957 6979 6266 3957 6980 6224 3974 7014 6255 3974 7015 6223 3974 7016 6275 3975 7017 6242 3975 7018 6243 3975 7019 6221 3978 7029 6252 3978 7030 6220 3978 7031 6245 3993 7062 6276 3993 7063 6244 3993 7064 6557 4059 7608 6551 4059 7609 6553 4059 7610 6557 4060 7611 6555 4060 7612 6556 4060 7613 6556 1549 7857 6550 1549 7858 6551 1549 7859 6225 4311 8121 6256 4311 8122 6224 4311 8123 6248 5540 10566 6279 5540 10567 6247 5540 10568 6260 5864 11376 6227 5864 11377 6228 5864 11378 6223 5998 12201 6254 5998 12202 6222 5998 12203 6263 6216 14613 6230 6216 14614 6231 6216 14615 6555 6329 15264 6554 6329 15265 6552 6329 15266 6242 6331 15297 6274 6331 15298 6273 6331 15299 6250 6402 15660 6251 6402 15661 6218 6402 15662 6268 6493 16257 6267 6493 16258 6235 6493 16259 6262 6584 16938 6261 6584 16939 6229 6584 16940 6264 6650 17559 6263 6650 17560 6231 6650 17561 6222 6702 18054 6254 6702 18055 6253 6702 18056 6553 6726 18192 6551 6726 18193 6550 6726 18194 6244 6983 20232 6276 6983 20233 6275 6983 20234 6258 6997 20388 6257 6997 20389 6225 6997 20390 6193 37 21363 6194 37 21364 6195 37 21365 6195 7143 21366 6196 7143 21367 6197 7143 21368 6197 7144 21369 6198 7144 21370 6199 7144 21371 6199 7145 21372 6200 7145 21373 6201 7145 21374 6201 7146 21375 6202 7146 21376 6203 7146 21377 6203 7147 21378 6204 7147 21379 6205 7147 21380 6205 7148 21381 6206 7148 21382 6209 7148 21383 6206 7149 21384 6207 7149 21385 6209 7149 21386 6207 7150 21387 6208 7150 21388 6209 7150 21389 6209 37 21390 6210 37 21391 6211 37 21392 6211 7151 21393 6212 7151 21394 6213 7151 21395 6213 7152 21396 6214 7152 21397 6217 7152 21398 6214 7153 21399 6215 7153 21400 6217 7153 21401 6215 7154 21402 6216 7154 21403 6217 7154 21404 6217 7155 21405 6186 7155 21406 6187 7155 21407 6187 7156 21408 6188 7156 21409 6189 7156 21410 6189 7157 21411 6190 7157 21412 6191 7157 21413 6191 7158 21414 6192 7158 21415 6193 7158 21416 6193 7159 21417 6195 7159 21418 6201 7159 21419 6195 7160 21420 6197 7160 21421 6201 7160 21422 6197 7161 21423 6199 7161 21424 6201 7161 21425 6201 7162 21426 6203 7162 21427 6209 7162 21428 6203 7163 21429 6205 7163 21430 6209 7163 21431 6209 7164 21432 6211 7164 21433 6213 7164 21434 6217 7165 21435 6187 7165 21436 6189 7165 21437 6189 7166 21438 6191 7166 21439 6217 7166 21440 6191 7167 21441 6193 7167 21442 6217 7167 21443 6209 7168 21444 6213 7168 21445 6193 7168 21446 6213 7169 21447 6217 7169 21448 6193 7169 21449 6273 7224 21681 6272 7224 21682 6240 7224 21683 6272 7225 21684 6271 7225 21685 6239 7225 21686 6251 7459 23517 6281 7459 23518 6249 7459 23519 6271 7499 24084 6270 7499 24085 6238 7499 24086 6267 7550 24405 6266 7550 24406 6234 7550 24407 6552 1626 25620 6554 1626 25621 6557 1626 25622 6266 7915 26847 6265 7915 26848 6233 7915 26849 6220 7926 26892 6252 7926 26893 6250 7926 26894 6261 8027 27387 6260 8027 27388 6228 8027 27389 6227 8034 27420 6259 8034 27421 6258 8034 27422 6237 8035 27426 6269 8035 27427 6268 8035 27428 6246 8036 27429 6278 8036 27430 6277 8036 27431 6241 8037 27438 6240 8037 27439 6239 8037 27440 6239 8038 27441 6238 8038 27442 6241 8038 27443 6238 8039 27444 6237 8039 27445 6241 8039 27446 6237 8040 27447 6236 8040 27448 6235 8040 27449 6235 8041 27450 6234 8041 27451 6233 8041 27452 6233 8042 27453 6232 8042 27454 6231 8042 27455 6231 8043 27456 6230 8043 27457 6233 8043 27458 6230 8044 27459 6229 8044 27460 6233 8044 27461 6229 8045 27462 6228 8045 27463 6227 8045 27464 6227 44 27465 6226 44 27466 6225 44 27467 6225 8046 27468 6224 8046 27469 6223 8046 27470 6223 8047 27471 6222 8047 27472 6221 8047 27473 6221 8048 27474 6220 8048 27475 6219 8048 27476 6219 8049 27477 6218 8049 27478 6249 8049 27479 6249 8050 27480 6248 8050 27481 6247 8050 27482 6247 8051 27483 6246 8051 27484 6249 8051 27485 6246 8052 27486 6245 8052 27487 6249 8052 27488 6245 8053 27489 6244 8053 27490 6243 8053 27491 6243 44 27492 6242 44 27493 6241 44 27494 6237 8054 27495 6235 8054 27496 6241 8054 27497 6235 8055 27498 6233 8055 27499 6241 8055 27500 6229 8056 27501 6227 8056 27502 6233 8056 27503 6227 8057 27504 6225 8057 27505 6233 8057 27506 6225 8058 27507 6223 8058 27508 6249 8058 27509 6223 8059 27510 6221 8059 27511 6249 8059 27512 6221 8060 27513 6219 8060 27514 6249 8060 27515 6245 8061 27516 6243 8061 27517 6241 8061 27518 6249 8062 27519 6245 8062 27520 6225 8062 27521 6245 8063 27522 6241 8063 27523 6225 8063 27524 6265 8064 27525 6264 8064 27526 6232 8064 27527 6249 8065 27531 6281 8065 27532 6280 8065 27533 6247 8066 27537 6279 8066 27538 6278 8066 27539 6238 8067 27540 6270 8067 27541 6269 8067 27542 6251 8068 27543 6250 8068 27544 6254 8068 27545 6250 8069 27546 6252 8069 27547 6254 8069 27548 6252 8070 27549 6253 8070 27550 6254 8070 27551 6254 8071 27552 6255 8071 27553 6258 8071 27554 6255 8072 27555 6256 8072 27556 6258 8072 27557 6256 8073 27558 6257 8073 27559 6258 8073 27560 6258 8074 27561 6259 8074 27562 6262 8074 27563 6259 8075 27564 6260 8075 27565 6262 8075 27566 6260 8076 27567 6261 8076 27568 6262 8076 27569 6262 8077 27570 6263 8077 27571 6264 8077 27572 6264 8078 27573 6265 8078 27574 6262 8078 27575 6265 8079 27576 6266 8079 27577 6262 8079 27578 6266 8080 27579 6267 8080 27580 6270 8080 27581 6267 8081 27582 6268 8081 27583 6270 8081 27584 6268 8082 27585 6269 8082 27586 6270 8082 27587 6270 8083 27588 6271 8083 27589 6272 8083 27590 6272 8084 27591 6273 8084 27592 6270 8084 27593 6273 8085 27594 6274 8085 27595 6270 8085 27596 6274 8086 27597 6275 8086 27598 6276 8086 27599 6276 8087 27600 6277 8087 27601 6274 8087 27602 6277 8088 27603 6278 8088 27604 6274 8088 27605 6278 8089 27606 6279 8089 27607 6280 8089 27608 6280 8078 27609 6281 8078 27610 6278 8078 27611 6281 8090 27612 6251 8090 27613 6278 8090 27614 6251 8091 27615 6254 8091 27616 6258 8091 27617 6258 8092 27618 6262 8092 27619 6266 8092 27620 6266 8093 27621 6270 8093 27622 6274 8093 27623 6274 8094 27624 6278 8094 27625 6266 8094 27626 6278 8095 27627 6251 8095 27628 6266 8095 27629 6224 8107 27675 6256 8107 27676 6255 8107 27677 6275 8108 27678 6274 8108 27679 6242 8108 27680 6221 8111 27690 6253 8111 27691 6252 8111 27692 6245 8122 27735 6277 8122 27736 6276 8122 27737 6557 4059 28158 6556 4059 28159 6551 4059 28160 6557 8216 28161 6554 8216 28162 6555 8216 28163 6556 8234 28314 6555 8234 28315 6550 8234 28316 6225 8271 28596 6257 8271 28597 6256 8271 28598 6248 9424 34545 6280 9424 34546 6279 9424 34547 6260 9544 35493 6259 9544 35494 6227 9544 35495 6223 9719 36483 6255 9719 36484 6254 9719 36485 6263 10218 39162 6262 10218 39163 6230 10218 39164

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8734 34 45 8730 35 46 8733 36 47 7464 45 66 7465 46 67 7469 47 68 8310 55 78 8312 56 79 8309 57 80 10883 94 126 10881 95 127 10882 96 128 8524 102 138 8525 103 139 8522 104 140 8374 109 147 8373 110 148 8371 111 149 8047 112 150 8049 113 151 8051 114 152 6988 115 156 6989 116 157 6987 117 158 8520 119 162 8524 102 163 8522 104 164 7355 123 168 7358 124 169 7353 125 170 8696 145 204 8698 146 205 8699 147 206 6879 148 207 6881 149 208 6876 150 209 6946 172 234 6952 173 235 6951 174 236 10966 183 246 10968 184 247 10965 185 248 8306 189 252 8302 190 253 8305 191 254 6732 194 258 6730 195 259 6731 196 260 7588 197 261 7590 197 262 7589 197 263 10706 198 264 10705 199 265 10703 200 266 10605 201 267 10603 202 268 10604 203 269 10280 204 270 10282 205 271 10279 206 272 10780 207 273 10779 208 274 10781 209 275 11354 222 288 11385 222 289 11353 222 290 9920 238 312 9923 239 313 9924 240 314 7237 241 315 7238 242 316 7228 243 317 11173 244 318 11139 244 319 11141 244 320 8607 252 330 8609 252 331 8611 252 332 6716 253 333 6722 254 334 6721 255 335 9257 256 336 9255 257 337 9256 258 338 9978 261 345 9983 262 346 9982 263 347 7207 274 363 7209 275 364 7204 276 365 8313 287 384 8311 288 385 8310 55 386 6761 312 420 6760 313 421 6757 314 422 6574 321 435 6572 322 436 6573 323 437 7881 324 438 7883 325 439 7880 326 440 7366 336 450 7363 337 451 7360 338 452 10972 349 465 10974 350 466 10971 351 467 9291 352 468 9289 353 469 9290 354 470 10848 355 471 10849 356 472 10845 357 473 10239 358 474 10245 359 475 10244 360 476 8015 367 489 8020 368 490 8019 369 491 9464 370 492 9462 371 493 9475 372 494 7100 383 507 7098 384 508 7099 385 509 8495 386 510 8499 387 511 8496 388 512 7411 389 513 7415 390 514 7414 391 515 9489 392 516 9487 393 517 9488 394 518 7798 395 519 7800 396 520 7797 397 521 9535 411 537 9537 412 538 9534 413 539 9697 423 549 9693 423 550 9703 423 551 11238 424 552 11268 424 553 11236 424 554 10425 436 573 10427 437 574 10422 438 575 6860 442 579 6862 443 580 6859 444 581 9445 466 612 9443 467 613 9444 468 614 7042 473 621 7053 474 622 7047 475 623 10926 479 627 10928 480 628 10923 481 629 10937 524 687 10935 525 688 10936 526 689 9492 541 714 9494 542 715 9491 543 716 7481 579 762 7486 580 763 7485 581 764 9985 585 771 9987 586 772 9984 587 773 6646 614 804 6647 615 805 6645 616 806 6850 620 810 6867 621 811 6856 622 812 9209 623 813 9211 624 814 9198 625 815 10467 626 816 10469 627 817 10468 628 818 6843 647 837 6845 648 838 6841 649 839 10696 663 858 10697 664 859 10693 665 860 10327 666 861 10322 667 862 10354 668 863 9746 670 867 9747 671 868 9744 672 869 10453 681 879 10454 682 880 10455 683 881 9763 712 921 9761 713 922 9762 714 923 10989 721 930 10987 722 931 10988 723 932 6916 737 948 6918 738 949 6915 739 950 6847 748 960 6843 647 961 6837 749 962 9987 586 993 9988 773 994 9984 587 995 7938 777 1002 7936 778 1003 7937 779 1004 11149 780 1005 11180 780 1006 11148 780 1007 7190 781 1008 7191 782 1009 7188 783 1010 9285 789 1020 9291 352 1021 9290 354 1022 11008 790 1023 11010 791 1024 11007 792 1025 11431 793 1026 11452 793 1027 11447 793 1028 7519 795 1032 7521 795 1033 7522 795 1034 7479 796 1035 7483 797 1036 7482 798 1037 10596 804 1044 10597 805 1045 10587 806 1046 7067 814 1059 7068 815 1060 7064 816 1061 11406 817 1062 11393 817 1063 11390 817 1064 8988 818 1065 8990 818 1066 8989 818 1067 10444 833 1092 10446 834 1093 10443 835 1094 10276 839 1098 10278 840 1099 10275 841 1100 11420 842 1101 11402 842 1102 11404 842 1103 9925 843 1104 9931 843 1105 9932 843 1106 7107 850 1113 7108 851 1114 7104 852 1115 8544 856 1119 8547 857 1120 8546 858 1121 10869 859 1122 10867 860 1123 10868 861 1124 11343 866 1131 11373 866 1132 11341 866 1133 8642 870 1137 8646 871 1138 8645 872 1139 7448 873 1140 7450 874 1141 7447 875 1142 9200 883 1155 9201 884 1156 9198 625 1157 10710 885 1158 10709 886 1159 10711 887 1160 9349 891 1164 9337 892 1165 9338 893 1166 9298 896 1176 9299 897 1177 9295 898 1178 10198 907 1191 10200 908 1192 10195 909 1193 11415 912 1197 11400 912 1198 11399 912 1199 9453 913 1200 9455 914 1201 9452 915 1202 7362 919 1206 7368 920 1207 7367 921 1208 7828 922 1209 7830 922 1210 7829 922 1211 9813 923 1212 9811 924 1213 9812 925 1214 9774 926 1215 9773 927 1216 9776 928 1217 7060 935 1227 7058 936 1228 7059 937 1229 6965 942 1236 6979 943 1237 6977 943 1238 7103 953 1257 7105 954 1258 7102 955 1259 11409 956 1260 11394 956 1261 11393 956 1262 9325 957 1263 9322 958 1264 9319 959 1265 9830 966 1272 9834 967 1273 9829 968 1274 11361 969 1275 11328 969 1276 11329 969 1277 6740 970 1278 6738 971 1279 6739 972 1280 9594 982 1290 9592 982 1291 9580 982 1292 7020 990 1302 7017 991 1303 7014 992 1304 9226 996 1308 9228 997 1309 9225 998 1310 9975 1002 1314 9990 1003 1315 9976 1004 1316 9273 1010 1323 9282 1011 1324 9283 1011 1325 10992 1012 1326 10993 1012 1327 10994 1012 1328 10570 1015 1332 10572 1016 1333 10569 1017 1334 11024 1018 1335 11021 1018 1336 11023 1018 1337 6776 1019 1338 6774 1020 1339 6775 1021 1340 9814 1022 1341 9815 1023 1342 9811 924 1343 8694 1025 1347 8693 1026 1348 8692 1027 1349 8477 1028 1350 8480 1029 1351 8479 1030 1352 7279 1048 1380 7280 1049 1381 7269 1050 1382 7974 1061 1401 7975 1062 1402 7971 1063 1403 10772 1068 1413 10763 1069 1414 10764 1070 1415 7902 1074 1422 7899 1074 1423 7901 1074 1424 11257 1075 1425 11288 1075 1426 11256 1075 1427 10329 1083 1440 10331 1084 1441 10328 1085 1442 10653 1089 1449 10657 1090 1450 10655 1091 1451 7168 1096 1458 7166 1097 1459 7167 1098 1460 10295 1112 1482 10301 1113 1483 10302 1114 1484 10874 1131 1506 10867 860 1507 10870 1132 1508 10940 1135 1512 10942 1136 1513 10939 1137 1514 9403 1138 1515 9401 1139 1516 9402 1140 1517 11392 1153 1539 11405 1153 1540 11389 1153 1541 10861 1177 1572 10866 1178 1573 10865 1179 1574 9387 1191 1587 9388 1192 1588 9385 1193 1589 10392 1235 1641 10394 1236 1642 10390 1237 1643 10909 1238 1644 10913 1239 1645 10912 1240 1646 10695 1244 1653 10693 665 1654 10694 1245 1655 9983 262 1659 9985 585 1660 9982 263 1661 10492 1249 1662 10495 1250 1663 10494 1251 1664 8866 1253 1668 8851 1253 1669 8812 1253 1670 7929 1291 1722 7931 1292 1723 7928 1293 1724 9364 1301 1740 9366 1302 1741 9361 1303 1742 10298 1316 1764 10299 1317 1765 10295 1112 1766 10307 1329 1785 10317 1330 1786 10318 1331 1787 10401 1335 1794 10408 1336 1795 10407 1337 1796 6587 1338 1797 6570 1339 1798 6571 1340 1799 10634 1344 1803 10623 1345 1804 10632 1346 1805 10264 1352 1815 10266 1353 1816 10261 1354 1817 7487 1376 1848 7470 1377 1849 7471 1378 1850 8538 1400 1890 8530 1401 1891 8531 1402 1892 6810 1403 1893 6808 1404 1894 6809 1405 1895 11015 1406 1896 11013 1407 1897 11014 1408 1898 9513 1409 1899 9501 1410 1900 9502 1411 1901 10285 1420 1920 10292 1421 1921 10289 1422 1922 6727 1435 1944 6728 1436 1945 6724 1437 1946 6690 1439 1950 6692 1440 1951 6689 1441 1952 6948 1444 1959 6946 172 1960 6947 1445 1961 9802 1448 1968 9817 1449 1969 9803 1450 1970 11244 1451 1971 11278 1451 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137 4512 28 138 4509 28 139 4510 28 140 108 3 141 109 3 142 110 3 143 107 3 144 98 3 145 109 3 146 113 3 147 110 3 148 111 3 149 114 3 150 111 3 151 112 3 152 128 30 156 131 30 157 129 30 158 120 3 159 121 3 160 122 3 161 119 3 162 112 3 163 121 3 164 125 3 165 122 3 166 123 3 167 126 3 168 123 3 169 124 3 170 132 3 177 133 3 178 134 3 179 131 3 180 124 3 181 133 3 182 137 3 183 134 3 184 135 3 185 138 3 186 135 3 187 136 3 188 144 3 192 145 3 193 146 3 194 143 3 195 136 3 196 145 3 197 149 3 198 146 3 199 147 3 200 150 3 201 147 3 202 148 3 203 2536 39 207 2538 39 208 2535 39 209 156 3 210 157 3 211 158 3 212 155 3 213 148 3 214 157 3 215 161 3 216 158 3 217 159 3 218 162 3 219 159 3 220 160 3 221 5268 40 222 5265 41 223 5267 42 224 1217 43 225 1215 44 226 1216 45 227 3823 46 228 3816 46 229 3815 46 230 168 3 231 169 3 232 170 3 233 167 3 234 160 3 235 169 3 236 173 3 237 170 3 238 171 3 239 174 3 240 171 3 241 172 3 242 180 3 243 181 3 244 182 3 245 179 3 246 172 3 247 181 3 248 185 3 249 182 3 250 183 3 251 186 3 252 183 3 253 184 3 254 100 3 255 191 3 256 97 3 257 190 3 258 184 3 259 191 3 260 2961 47 261 2884 47 262 2962 47 263 1080 48 264 1081 49 265 1077 50 266 370 56 276 368 57 277 369 58 278 1540 7 282 1542 60 283 1537 61 284 3087 62 285 3089 63 286 3090 64 287 5507 65 288 5505 65 289 5504 65 290 3767 66 291 3768 67 292 3769 19 293 302 74 300 319 75 301 308 76 302 371 77 303 365 78 304 368 57 305 3300 79 306 3302 79 307 3301 79 308 4403 83 312 4401 84 313 4400 85 314 3072 86 315 3073 87 316 3074 88 317 261 89 318 265 90 319 262 91 320 5253 93 324 5249 94 325 5250 95 326 1510 96 327 1508 97 328 1509 98 329 272 99 330 267 100 331 283 101 332 286 106 339 299 107 340 300 108 341 4385 109 342 4383 110 343 4386 111 344 3985 112 345 3982 113 346 3983 114 347 2758 115 348 2761 115 349 2759 115 350 3487 116 351 3485 117 352 3484 118 353 3847 122 357 3860 122 358 3857 122 359 4769 123 360 4767 124 361 4766 125 362 334 126 363 335 127 364 331 128 365 1991 129 366 1984 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87 221 480 54 221 481 55 221 482 497 222 483 500 222 484 498 222 485 5566 223 486 5590 223 487 5614 223 488 3513 224 489 3508 225 490 3509 226 491 4303 227 492 4300 228 493 4301 229 494 3145 232 501 3139 233 502 3140 234 503 510 237 507 512 237 508 511 237 509 5075 238 510 5082 239 511 5078 240 512 5068 241 513 5070 242 514 5071 243 515 519 244 516 518 244 517 517 244 518 5584 246 522 5587 246 523 5582 246 524 527 247 525 526 247 526 525 247 527 532 248 528 529 248 529 531 248 530 3042 249 531 3043 250 532 3044 251 533 4269 255 537 4265 256 538 4266 257 539 534 258 540 535 258 541 536 258 542 1010 259 543 1008 260 544 1009 261 545 538 262 546 540 262 547 537 262 548 541 263 549 543 263 550 542 263 551 3833 264 552 3835 265 553 3836 266 554 552 267 555 550 267 556 549 267 557 4393 268 558 4391 269 559 4394 270 560 554 271 561 556 271 562 555 271 563 557 272 564 559 272 565 558 272 566 766 273 567 774 274 568 765 275 569 4455 276 570 4459 277 571 4458 278 572 4460 279 573 4462 280 574 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8099 23231 90 8100 23232 95 8100 23233 100 8100 23234 82 8101 23235 100 8101 23236 109 8101 23237 207 8114 23277 239 8114 23278 208 8114 23279 190 8149 23460 189 8149 23461 221 8149 23462 103 8150 23463 102 8150 23464 134 8150 23465 97 8231 23910 129 8231 23911 130 8231 23912 88 8235 23934 120 8235 23935 121 8235 23936 196 8538 25140 197 8538 25141 198 8538 25142 198 8539 25143 199 8539 25144 196 8539 25145 199 8540 25146 200 8540 25147 201 8540 25148 196 8541 25149 199 8541 25150 205 8541 25151 201 8542 25152 202 8542 25153 205 8542 25154 202 8543 25155 203 8543 25156 204 8543 25157 204 8544 25158 205 8544 25159 202 8544 25160 205 8545 25161 206 8545 25162 178 8545 25163 206 8546 25164 207 8546 25165 176 8546 25166 176 176 25167 177 176 25168 178 176 25169 178 8547 25170 179 8547 25171 181 8547 25172 179 8087 25173 180 8087 25174 181 8087 25175 181 8548 25176 182 8548 25177 178 8548 25178 182 8549 25179 183 8549 25180 184 8549 25181 184 8550 25182 185 8550 25183 186 8550 25184 186 8091 25185 187 8091 25186 191 8091 25187 187 8551 25188 188 8551 25189 191 8551 25190 188 8552 25191 189 8552 25192 190 8552 25193 190 8553 25194 191 8553 25195 188 8553 25196 191 8554 25197 192 8554 25198 193 8554 25199 193 8555 25200 194 8555 25201 196 8555 25202 194 8556 25203 195 8556 25204 196 8556 25205 205 8557 25206 199 8557 25207 201 8557 25208 205 8558 25209 178 8558 25210 196 8558 25211 206 8559 25212 176 8559 25213 178 8559 25214 182 8560 25215 184 8560 25216 178 8560 25217 184 8561 25218 186 8561 25219 191 8561 25220 196 8562 25221 191 8562 25222 193 8562 25223 196 8563 25224 178 8563 25225 184 8563 25226 107 8568 25299 106 8568 25300 138 8568 25301 219 8592 25416 220 8592 25417 188 8592 25418 183 8658 25695 215 8658 25696 216 8658 25697 181 8661 25734 213 8661 25735 214 8661 25736 220 8667 25779 221 8667 25780 189 8667 25781 105 8776 26253 104 8776 26254 136 8776 26255 117 4527 26484 118 4527 26485 86 4527 26486 205 8845 26535 237 8845 26536 238 8845 26537 184 8990 27081 216 8990 27082 217 8990 27083 211 2031 27111 212 2031 27112 180 2031 27113 109 6936 27645 108 6936 27646 140 6936 27647 98 9214 27957 130 9214 27958 131 9214 27959 126 9222 28065 127 9222 28066 95 9222 28067 223 9249 28200 224 9249 28201 192 9249 28202 127 9251 28224 128 9251 28225 96 9251 28226 204 9333 28569 203 9333 28570 235 9333 28571

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273 1630 2228 430 1817 2577 397 1817 2578 398 1817 2579 423 1317 2610 390 1317 2611 391 1317 2612 322 1874 2661 289 1874 2662 290 1874 2663 407 2020 2934 374 2020 2935 375 2020 2936 319 2112 3081 286 2112 3082 287 2112 3083 311 2161 3165 278 2161 3166 279 2161 3167 324 932 3357 291 932 3358 292 932 3359 417 2268 3384 384 2268 3385 385 2268 3386 326 428 3420 293 428 3421 294 428 3422 278 2429 3687 309 2429 3688 277 2429 3689 409 2494 3786 376 2494 3787 377 2494 3788 419 2532 3846 386 2532 3847 387 2532 3848 323 2607 3999 290 2607 4000 291 2607 4001 328 2620 4026 295 2620 4027 296 2620 4028 426 2689 4155 393 2689 4156 394 2689 4157 428 2714 4197 395 2714 4198 396 2714 4199 318 2797 4359 285 2797 4360 286 2797 4361 403 3057 4818 370 3057 4819 371 3057 4820 312 3206 5133 279 3206 5134 280 3206 5135 331 3230 5181 298 3230 5182 299 3230 5183 314 429 5415 281 429 5416 282 429 5417 277 3551 5844 308 3551 5845 276 3551 5846 416 3567 5880 383 3567 5881 384 3567 5882 414 2797 5937 381 2797 5938 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22011 403 176 22012 407 176 22013 403 7834 22014 405 7834 22015 407 7834 22016 423 7835 22017 427 7835 22018 431 7835 22019 407 176 22020 411 176 22021 431 176 22022 411 7836 22023 415 7836 22024 431 7836 22025 304 7910 22383 335 7910 22384 303 7910 22385 400 8002 22881 431 8002 22882 399 8002 22883 427 8008 22926 426 8008 22927 394 8008 22928 387 829 23733 386 829 23734 383 829 23735 386 8202 23736 385 8202 23737 383 8202 23738 385 829 23739 384 829 23740 383 829 23741 383 829 23742 382 829 23743 379 829 23744 382 829 23745 381 829 23746 379 829 23747 381 5669 23748 380 5669 23749 379 5669 23750 379 829 23751 378 829 23752 377 829 23753 377 829 23754 376 829 23755 379 829 23756 376 8203 23757 375 8203 23758 379 8203 23759 375 8204 23760 374 8204 23761 373 8204 23762 373 829 23763 372 829 23764 371 829 23765 371 829 23766 370 829 23767 399 829 23768 370 829 23769 369 829 23770 399 829 23771 369 829 23772 368 829 23773 399 829 23774 399 829 23775 398 829 23776 395 829 23777 398 8205 23778 397 8205 23779 395 8205 23780 397 8206 23781 396 8206 23782 395 8206 23783 395 8207 23784 394 8207 23785 393 8207 23786 393 8208 23787 392 8208 23788 395 8208 23789 392 8209 23790 391 8209 23791 395 8209 23792 391 829 23793 390 829 23794 389 829 23795 389 829 23796 388 829 23797 387 829 23798 375 829 23799 373 829 23800 379 829 23801 373 829 23802 371 829 23803 379 829 23804 391 829 23805 389 829 23806 395 829 23807 389 829 23808 387 829 23809 395 829 23810 387 829 23811 383 829 23812 371 829 23813 383 829 23814 379 829 23815 371 829 23816 371 829 23817 399 829 23818 387 829 23819 401 6467 24774 400 6467 24775 368 6467 24776 421 8498 24879 420 8498 24880 388 8498 24881 418 6563 25008 417 6563 25009 385 6563 25010 293 8653 25677 325 8653 25678 324 8653 25679 317 88 25731 316 88 25732 284 88 25733 373 7615 26241 405 7615 26242 404 7615 26243 306 5877 26472 305 5877 26473 273 5877 26474 332 8852 26607 331 8852 26608 299 8852 26609 313 8985 27060 312 8985 27061 280 8985 27062 330 8986 27063 329 8986 27064 297 8986 27065 429 9215 27978 428 9215 27979 396 9215 27980 333 9221 28059 332 9221 28060 300 9221 28061 321 9338 28599 320 9338 28600 288 9338 28601 320 9577 29586 319 9577 29587 287 9577 29588

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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..38b01cd23 --- /dev/null +++ b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_endeffectors/dobot_gripper/config/joint_specifications.yaml @@ -0,0 +1,5 @@ +# ROS 2 Sim-to-Real Robot Control -> END-EFFECTOR SPECIFICATIONS (Dobot Magician gripper) +Limits: + Max: 0.0135 + Min: 0.0 +JointsVector: [1.0] 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..423f57e85 --- /dev/null +++ b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/dobot_magician/config/joint_specifications.yaml @@ -0,0 +1,4 @@ +# ROS 2 Sim-to-Real Robot Control -> ROBOT-JOINT SPECIFICATIONS (Dobot Magician) +Limits: + Max: [125.0, 90.0, 70.0, 150.0] + Min: [-125.0, -5.0, -15.0, -150.0] From bcd4a45375a34b15e3b4c52449e6c533bd03365d Mon Sep 17 00:00:00 2001 From: aquintan Date: Tue, 8 Sep 2026 10:44:48 +0200 Subject: [PATCH 13/25] new dobot world + rviz for dobot files --- .../CMakeLists.txt | 2 +- .../rviz/moveit.rviz | 311 ++++++++++++++++++ Launchers/dobot_pick_place.launch.py | 58 ++++ .../rviz/dobot_pick_place_harmonic.launch.py | 75 +++++ Scenes/dobot_magician_pick_place.world | 199 +++++++++++ database/worlds.sql | 3 + 6 files changed, 647 insertions(+), 1 deletion(-) create mode 100644 Industrial/dobot_magician_gripper_moveit_config/rviz/moveit.rviz create mode 100644 Launchers/dobot_pick_place.launch.py create mode 100644 Launchers/rviz/dobot_pick_place_harmonic.launch.py create mode 100644 Scenes/dobot_magician_pick_place.world diff --git a/Industrial/dobot_magician_gripper_moveit_config/CMakeLists.txt b/Industrial/dobot_magician_gripper_moveit_config/CMakeLists.txt index 187513419..e2cfad5a7 100644 --- a/Industrial/dobot_magician_gripper_moveit_config/CMakeLists.txt +++ b/Industrial/dobot_magician_gripper_moveit_config/CMakeLists.txt @@ -11,7 +11,7 @@ find_package(custom_robots REQUIRED) find_package(urdf REQUIRED) find_package(xacro REQUIRED) -install(DIRECTORY config +install(DIRECTORY config rviz DESTINATION share/${PROJECT_NAME} ) 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/Launchers/dobot_pick_place.launch.py b/Launchers/dobot_pick_place.launch.py new file mode 100644 index 000000000..e24f040e1 --- /dev/null +++ b/Launchers/dobot_pick_place.launch.py @@ -0,0 +1,58 @@ +#!/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_plugin_path = ( + gz_link_attacher_path + ":" + gz_ros2_control_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..bbf79adb5 --- /dev/null +++ b/Scenes/dobot_magician_pick_place.world @@ -0,0 +1,199 @@ + + + + + + + + + + + + ogre2 + + + dobot_magician_gripper + link_gripper_core + + + + + + + + 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 + 0.05 -0.2 0.005 0 0 0 + + + + + 0.08 0.08 0.01 + + + + + + + 0.08 0.08 0.01 + + + + 0.8 0.8 0.2 1 + 0.8 0.8 0.2 1 + + + + + + + diff --git a/database/worlds.sql b/database/worlds.sql index 8ca6053ae..93c28cc94 100644 --- a/database/worlds.sql +++ b/database/worlds.sql @@ -208,6 +208,7 @@ COPY public.worlds (id, name, scene_id) FROM stdin; 83 Visual Lander Circuit 79 84 Follow Turtlebot 80 85 Pick And Place World Dobot Magician 56 +86 Dobot Pick And Place World 81 \. -- @@ -280,6 +281,7 @@ COPY public.worlds_robots (id, world_id, robot_id, poses) FROM stdin; 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 {{0.0,0.0,0.0,0.0,0.0,0.0}} \. -- @@ -329,6 +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 \. -- From 4532947488a423c3c72cad330276059358568d06 Mon Sep 17 00:00:00 2001 From: aquintan Date: Tue, 8 Sep 2026 11:18:00 +0200 Subject: [PATCH 14/25] dobot initial pos --- database/worlds.sql | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/database/worlds.sql b/database/worlds.sql index 93c28cc94..384c7cac6 100644 --- a/database/worlds.sql +++ b/database/worlds.sql @@ -281,7 +281,7 @@ COPY public.worlds_robots (id, world_id, robot_id, poses) FROM stdin; 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 {{0.0,0.0,0.0,0.0,0.0,0.0}} +64 86 40 {{0.0,0.0,0.131305,0.0,0.0,0.0}} \. -- From 20226dfad766941bee73a21802b24bc82f4589c5 Mon Sep 17 00:00:00 2001 From: aquintan Date: Tue, 8 Sep 2026 11:37:05 +0200 Subject: [PATCH 15/25] avoid end-efector swing, and joint limmit array + code style --- .../dobot_magician.ros2_control.xacro | 6 ++---- .../dobot_magician/dobot_magician_macro.xacro | 21 +++++++++---------- .../config/joint_specifications.yaml | 2 +- .../config/joint_specifications.yaml | 8 ++++--- Scenes/dobot_magician_pick_place.world | 2 +- 5 files changed, 19 insertions(+), 20 deletions(-) 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 index db78a75f1..be6dd2c20 100644 --- a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro @@ -67,10 +67,8 @@ - + diff --git a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro index d0ca4cb1c..69cd781b7 100644 --- a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro @@ -1,12 +1,10 @@ - + @@ -50,9 +48,8 @@ + once physics is stepping. This link just tracks the parallelogram + and never needs to collide with anything. --> @@ -64,7 +61,7 @@ - + @@ -75,7 +72,9 @@ - + + 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 index 38b01cd23..d1bacb9fb 100644 --- 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 @@ -1,4 +1,4 @@ -# ROS 2 Sim-to-Real Robot Control -> END-EFFECTOR SPECIFICATIONS (Dobot Magician gripper) +# Dobot Magician gripper joint specifications Limits: Max: 0.0135 Min: 0.0 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 index 423f57e85..71a4fc6f6 100644 --- 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 @@ -1,4 +1,6 @@ -# ROS 2 Sim-to-Real Robot Control -> ROBOT-JOINT SPECIFICATIONS (Dobot Magician) +# Dobot Magician joint specifications +# Order follows the SRDF chain, not the physical joint numbers, the two +# parallelogram mimic joints sit between joint_3 and the wrist joint_4 Limits: - Max: [125.0, 90.0, 70.0, 150.0] - Min: [-125.0, -5.0, -15.0, -150.0] + Max: [125.0, 90.0, 70.0, 360.0, 360.0, 150.0] + Min: [-125.0, -5.0, -15.0, -360.0, -360.0, -150.0] diff --git a/Scenes/dobot_magician_pick_place.world b/Scenes/dobot_magician_pick_place.world index bbf79adb5..8afd8592f 100644 --- a/Scenes/dobot_magician_pick_place.world +++ b/Scenes/dobot_magician_pick_place.world @@ -36,7 +36,7 @@ -0.5 0.1 -0.9 - + true From ed22e1782e042fb9ff45baae9a86259a5c9f2aec Mon Sep 17 00:00:00 2001 From: aquintan Date: Tue, 8 Sep 2026 11:52:16 +0200 Subject: [PATCH 16/25] dobot fix kinematics --- .../config/kinematics.yaml | 8 +++----- .../config/dobot_magician_gripper.srdf | 11 ++++++++++- .../dobot_magician/config/joint_specifications.yaml | 6 ++---- 3 files changed, 15 insertions(+), 10 deletions(-) diff --git a/Industrial/dobot_magician_gripper_moveit_config/config/kinematics.yaml b/Industrial/dobot_magician_gripper_moveit_config/config/kinematics.yaml index ff4ed1abc..d6d71901d 100644 --- a/Industrial/dobot_magician_gripper_moveit_config/config/kinematics.yaml +++ b/Industrial/dobot_magician_gripper_moveit_config/config/kinematics.yaml @@ -1,7 +1,5 @@ /**: ros__parameters: - dobot_magician_arm: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 - kinematics_solver_attempts: 3 + # No IK solver here, dobot_magician_arm isn't a chain group (the + # parallelogram mimic joints break that), only joint space moves work + 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 index db5a8af7d..6dcdb0a2d 100644 --- 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 @@ -1,8 +1,17 @@ + - + + + + 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 index 71a4fc6f6..39fab8bd4 100644 --- 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 @@ -1,6 +1,4 @@ # Dobot Magician joint specifications -# Order follows the SRDF chain, not the physical joint numbers, the two -# parallelogram mimic joints sit between joint_3 and the wrist joint_4 Limits: - Max: [125.0, 90.0, 70.0, 360.0, 360.0, 150.0] - Min: [-125.0, -5.0, -15.0, -360.0, -360.0, -150.0] + Max: [125.0, 90.0, 70.0, 150.0] + Min: [-125.0, -5.0, -15.0, -150.0] From f6a252c47886f1be3cb202be4b9e531ed1b0130b Mon Sep 17 00:00:00 2001 From: aquintan Date: Tue, 8 Sep 2026 12:03:15 +0200 Subject: [PATCH 17/25] fix ros params --- .../config/kinematics.yaml | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/Industrial/dobot_magician_gripper_moveit_config/config/kinematics.yaml b/Industrial/dobot_magician_gripper_moveit_config/config/kinematics.yaml index d6d71901d..1069ee105 100644 --- a/Industrial/dobot_magician_gripper_moveit_config/config/kinematics.yaml +++ b/Industrial/dobot_magician_gripper_moveit_config/config/kinematics.yaml @@ -1,5 +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: - # 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: {} From a19fd8dc0c89598407c49eea2b412694bfa14103 Mon Sep 17 00:00:00 2001 From: aquintan Date: Tue, 8 Sep 2026 13:13:53 +0200 Subject: [PATCH 18/25] fix end effector joint --- .../dobot_magician/dobot_magician_macro.xacro | 40 ++++++++++++++----- Launchers/dobot_pick_place.launch.py | 9 ++++- 2 files changed, 39 insertions(+), 10 deletions(-) diff --git a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro index 69cd781b7..5806a09e7 100644 --- a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro @@ -65,6 +65,13 @@ + @@ -72,10 +79,8 @@ - - + @@ -118,15 +123,15 @@ + axis_xyz="0 -1 0" origin_xyz="${link_3_length} 0 0" origin_rpy="0 0 0" + lower_limit="${-5.0/180.0*pi}" upper_limit="${90.0/180.0*pi}" ref_joint="${prefix}joint_2"/> + axis_xyz="0 -1 0" origin_xyz="0 0 0" origin_rpy="0 0 0" + lower_limit="${-15.0/180.0*pi}" upper_limit="${70.0/180.0*pi}" ref_joint="${prefix}joint_3"/> + axis_xyz="0 -1 0" origin_xyz="0 0 0" origin_rpy="0 0 0" + lower_limit="0" upper_limit="0.0135" ref_joint="${prefix}joint_prismatic_l"/> + + + + + ${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/Launchers/dobot_pick_place.launch.py b/Launchers/dobot_pick_place.launch.py index e24f040e1..5ede04d79 100644 --- a/Launchers/dobot_pick_place.launch.py +++ b/Launchers/dobot_pick_place.launch.py @@ -17,9 +17,16 @@ def generate_launch_description(): 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 + ":" + "/opt/ros/humble/lib" + 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 From 212b7a3deb31816bef7b40cb1835a25ceaabc192 Mon Sep 17 00:00:00 2001 From: aquintan Date: Tue, 8 Sep 2026 13:30:39 +0200 Subject: [PATCH 19/25] mimic joint --- Industrial/gz_mimic_joint/src/gz_mimic_joint.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/Industrial/gz_mimic_joint/src/gz_mimic_joint.cpp b/Industrial/gz_mimic_joint/src/gz_mimic_joint.cpp index 76e300e32..6ec5cfbc9 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 @@ -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]} ); From 07eef3a13d69d78f729bb8f2813f77f44a6ef141 Mon Sep 17 00:00:00 2001 From: aquintan Date: Tue, 8 Sep 2026 13:57:32 +0200 Subject: [PATCH 20/25] pick and place world for dobot --- Scenes/dobot_magician_pick_place.world | 64 +++++++++++++++++++++++--- 1 file changed, 57 insertions(+), 7 deletions(-) diff --git a/Scenes/dobot_magician_pick_place.world b/Scenes/dobot_magician_pick_place.world index 8afd8592f..bf7139270 100644 --- a/Scenes/dobot_magician_pick_place.world +++ b/Scenes/dobot_magician_pick_place.world @@ -169,27 +169,77 @@ - - + + true - 0.05 -0.2 0.005 0 0 0 + 0.1152 -0.1708 0.005 0 0 0 - 0.08 0.08 0.01 + 0.06 0.06 0.01 - 0.08 0.08 0.01 + 0.06 0.06 0.01 - 0.8 0.8 0.2 1 - 0.8 0.8 0.2 1 + 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 From a552717be6dec5aaf56eb0f96a167c6f8bc71737 Mon Sep 17 00:00:00 2001 From: aquintan Date: Tue, 8 Sep 2026 15:43:56 +0200 Subject: [PATCH 21/25] fix gripper dobot robot --- .../dobot_magician.ros2_control.xacro | 6 +++--- .../dobot_magician/dobot_magician_macro.xacro | 13 ++++++++----- .../config/dobot_magician_gripper.srdf | 4 ++-- .../dobot_gripper/config/joint_specifications.yaml | 4 ++-- 4 files changed, 15 insertions(+), 12 deletions(-) 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 index be6dd2c20..cb0ff88cc 100644 --- a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro @@ -81,11 +81,11 @@ - 0.0 - 0.0135 + -0.0135 + 0.0 - 0.0 + -0.0135 diff --git a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro index 5806a09e7..1abcc2c63 100644 --- a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro @@ -144,20 +144,23 @@ axis_xyz="0 0 1" origin_xyz="0.06 0 0" origin_rpy="0 0 0" lower_limit="${-150.0/180.0*pi}" upper_limit="${150.0/180.0*pi}"/> - + + axis_xyz="0 -1 0" origin_xyz="0 0 0" origin_rpy="0 0 0" + lower_limit="-0.0135" upper_limit="0"/> + axis_xyz="0 1 0" origin_xyz="0 0 0" origin_rpy="0 0 0" + lower_limit="-0.0135" upper_limit="0" ref_joint="${prefix}joint_prismatic_l"/> 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 index 6dcdb0a2d..40d3ca992 100644 --- 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 @@ -33,11 +33,11 @@ - + - + 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 index d1bacb9fb..c29559027 100644 --- 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 @@ -1,5 +1,5 @@ # Dobot Magician gripper joint specifications Limits: - Max: 0.0135 - Min: 0.0 + Max: 0.0 + Min: -0.0135 JointsVector: [1.0] From fc45aa29107fb44fcef1bacd8255ad49d7b0ae50 Mon Sep 17 00:00:00 2001 From: aquintan Date: Tue, 8 Sep 2026 16:16:45 +0200 Subject: [PATCH 22/25] autoatach dobot --- .../dobot_magician.ros2_control.xacro | 4 ++-- .../dobot_magician/dobot_magician_macro.xacro | 16 ++++++++++++++-- .../config/dobot_magician_gripper.srdf | 2 +- .../config/joint_specifications.yaml | 2 +- Scenes/dobot_magician_pick_place.world | 2 +- 5 files changed, 19 insertions(+), 7 deletions(-) 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 index cb0ff88cc..4468dd72d 100644 --- a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician.ros2_control.xacro @@ -81,11 +81,11 @@ - -0.0135 + -0.018 0.0 - -0.0135 + -0.018 diff --git a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro index 1abcc2c63..ac9be29dd 100644 --- a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro @@ -153,14 +153,26 @@ + lower_limit="-0.018" upper_limit="0"/> + lower_limit="-0.018" upper_limit="0" ref_joint="${prefix}joint_prismatic_l"/> + + + + + true + 100 + + ${prefix}link_gripper_jaw_left_collision + + + 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 index 40d3ca992..a897154e0 100644 --- 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 @@ -33,7 +33,7 @@ - + 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 index c29559027..d9c17b3f5 100644 --- 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 @@ -1,5 +1,5 @@ # Dobot Magician gripper joint specifications Limits: Max: 0.0 - Min: -0.0135 + Min: -0.018 JointsVector: [1.0] diff --git a/Scenes/dobot_magician_pick_place.world b/Scenes/dobot_magician_pick_place.world index bf7139270..f20e44ff2 100644 --- a/Scenes/dobot_magician_pick_place.world +++ b/Scenes/dobot_magician_pick_place.world @@ -13,7 +13,7 @@ dobot_magician_gripper - link_gripper_core + link_gripper_jaw_left From 394f492e09015bd329d727361bd0c15b312b412e Mon Sep 17 00:00:00 2001 From: aquintan Date: Tue, 8 Sep 2026 16:28:34 +0200 Subject: [PATCH 23/25] finger collision --- .../dobot_magician/dobot_magician_macro.xacro | 41 ++++++++++++++++--- 1 file changed, 35 insertions(+), 6 deletions(-) diff --git a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro index ac9be29dd..f08126d6f 100644 --- a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro @@ -45,6 +45,27 @@ + + + + + + + + + + + + + + + + + + + + + + value="${gripper_core_origin_x} 0 ${gripper_core_origin_z}"/> @@ -147,16 +172,20 @@ - + closed) to open, matching HAL's 0 percent is open convention. + Collision is a plain box instead of the finger mesh, dartsim can't + build the contact sensor's shape from a mesh. --> + - + Date: Wed, 9 Sep 2026 10:37:56 +0200 Subject: [PATCH 24/25] IK solver for dobot magician --- .../config/kinematics.yaml | 11 +- .../package.xml | 1 + .../CMakeLists.txt | 63 ++++ .../dobot_magician_kinematics_description.xml | 10 + .../dobot_magician_kinematics_plugin.hpp | 89 ++++++ .../package.xml | 28 ++ .../src/dobot_magician_kinematics_plugin.cpp | 273 ++++++++++++++++++ 7 files changed, 472 insertions(+), 3 deletions(-) create mode 100644 Industrial/dobot_magician_kinematics_plugin/CMakeLists.txt create mode 100644 Industrial/dobot_magician_kinematics_plugin/dobot_magician_kinematics_description.xml create mode 100644 Industrial/dobot_magician_kinematics_plugin/include/dobot_magician_kinematics_plugin/dobot_magician_kinematics_plugin.hpp create mode 100644 Industrial/dobot_magician_kinematics_plugin/package.xml create mode 100644 Industrial/dobot_magician_kinematics_plugin/src/dobot_magician_kinematics_plugin.cpp diff --git a/Industrial/dobot_magician_gripper_moveit_config/config/kinematics.yaml b/Industrial/dobot_magician_gripper_moveit_config/config/kinematics.yaml index 1069ee105..b897f2a9a 100644 --- a/Industrial/dobot_magician_gripper_moveit_config/config/kinematics.yaml +++ b/Industrial/dobot_magician_gripper_moveit_config/config/kinematics.yaml @@ -1,4 +1,9 @@ -# No IK solver here, dobot_magician_arm isn't a chain group (the -# parallelogram mimic joints break that), only joint space moves work +# dobot_magician_arm isn't a real kinematic chain (the parallelogram's +# mimic joints break that), so this uses a custom analytic solver instead +# of KDL, see dobot_magician_kinematics_plugin /**: - ros__parameters: {} + ros__parameters: + dobot_magician_arm: + kinematics_solver: dobot_magician_kinematics_plugin/DobotMagicianKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.01 diff --git a/Industrial/dobot_magician_gripper_moveit_config/package.xml b/Industrial/dobot_magician_gripper_moveit_config/package.xml index 577913cf8..1f4d5e3ff 100644 --- a/Industrial/dobot_magician_gripper_moveit_config/package.xml +++ b/Industrial/dobot_magician_gripper_moveit_config/package.xml @@ -16,6 +16,7 @@ launch launch_ros + dobot_magician_kinematics_plugin moveit_kinematics moveit_planners_ompl moveit_ros_move_group diff --git a/Industrial/dobot_magician_kinematics_plugin/CMakeLists.txt b/Industrial/dobot_magician_kinematics_plugin/CMakeLists.txt new file mode 100644 index 000000000..75803f95b --- /dev/null +++ b/Industrial/dobot_magician_kinematics_plugin/CMakeLists.txt @@ -0,0 +1,63 @@ +cmake_minimum_required(VERSION 3.8) +project(dobot_magician_kinematics_plugin) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +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) +find_package(rclcpp REQUIRED) +find_package(moveit_core REQUIRED) +find_package(pluginlib REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(moveit_msgs REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_geometry_msgs REQUIRED) + +add_library(dobot_magician_kinematics_plugin SHARED + src/dobot_magician_kinematics_plugin.cpp +) + +target_include_directories(dobot_magician_kinematics_plugin PUBLIC + $ + $ +) + +ament_target_dependencies(dobot_magician_kinematics_plugin + rclcpp + moveit_core + pluginlib + geometry_msgs + moveit_msgs + tf2 + tf2_geometry_msgs +) + +pluginlib_export_plugin_description_file(moveit_core dobot_magician_kinematics_description.xml) + +install( + TARGETS dobot_magician_kinematics_plugin + LIBRARY DESTINATION lib + ARCHIVE DESTINATION lib + RUNTIME DESTINATION bin +) + +install( + DIRECTORY include/ + DESTINATION include +) + +install( + FILES dobot_magician_kinematics_description.xml + DESTINATION share/${PROJECT_NAME} +) + +ament_export_include_directories(include) +ament_export_libraries(dobot_magician_kinematics_plugin) +ament_export_dependencies(rclcpp moveit_core pluginlib geometry_msgs moveit_msgs tf2 tf2_geometry_msgs) + +ament_package() diff --git a/Industrial/dobot_magician_kinematics_plugin/dobot_magician_kinematics_description.xml b/Industrial/dobot_magician_kinematics_plugin/dobot_magician_kinematics_description.xml new file mode 100644 index 000000000..ebfeee1e3 --- /dev/null +++ b/Industrial/dobot_magician_kinematics_plugin/dobot_magician_kinematics_description.xml @@ -0,0 +1,10 @@ + + + + Closed-form IK for the Dobot Magician's 4-DOF arm, used instead of + KDL because dobot_magician_arm isn't a real kinematic chain. + + + diff --git a/Industrial/dobot_magician_kinematics_plugin/include/dobot_magician_kinematics_plugin/dobot_magician_kinematics_plugin.hpp b/Industrial/dobot_magician_kinematics_plugin/include/dobot_magician_kinematics_plugin/dobot_magician_kinematics_plugin.hpp new file mode 100644 index 000000000..1b141f843 --- /dev/null +++ b/Industrial/dobot_magician_kinematics_plugin/include/dobot_magician_kinematics_plugin/dobot_magician_kinematics_plugin.hpp @@ -0,0 +1,89 @@ +#pragma once + +#include + +namespace dobot_magician_kinematics_plugin +{ + +// Analytic IK for the Dobot Magician arm (joint_1..joint_4). The group +// isn't a real kinematic chain, the parallelogram's two mimic joints sit +// between joint_3 and joint_4, so KDL/TRAC-IK can't be used here, see +// dobot_magician_gripper.srdf. This solves the closed form directly +// instead, same geometry as the pick_place solution's own IK. +class DobotMagicianKinematicsPlugin : public kinematics::KinematicsBase +{ +public: + DobotMagicianKinematicsPlugin() = default; + + bool initialize(const rclcpp::Node::SharedPtr& node, const moveit::core::RobotModel& robot_model, + const std::string& group_name, const std::string& base_frame, + const std::vector& tip_frames, double search_discretization) override; + + bool getPositionIK(const geometry_msgs::msg::Pose& ik_pose, const std::vector& ik_seed_state, + std::vector& solution, moveit_msgs::msg::MoveItErrorCodes& error_code, + const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) + const override; + + bool searchPositionIK( + const geometry_msgs::msg::Pose& ik_pose, const std::vector& ik_seed_state, double timeout, + std::vector& solution, moveit_msgs::msg::MoveItErrorCodes& error_code, + const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override; + + bool searchPositionIK( + const geometry_msgs::msg::Pose& ik_pose, const std::vector& ik_seed_state, double timeout, + const std::vector& consistency_limits, std::vector& solution, + moveit_msgs::msg::MoveItErrorCodes& error_code, + const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override; + + bool searchPositionIK( + const geometry_msgs::msg::Pose& ik_pose, const std::vector& ik_seed_state, double timeout, + std::vector& solution, const IKCallbackFn& solution_callback, + moveit_msgs::msg::MoveItErrorCodes& error_code, + const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override; + + bool searchPositionIK( + const geometry_msgs::msg::Pose& ik_pose, const std::vector& ik_seed_state, double timeout, + const std::vector& consistency_limits, std::vector& solution, + const IKCallbackFn& solution_callback, + moveit_msgs::msg::MoveItErrorCodes& error_code, + const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override; + + bool getPositionFK(const std::vector& link_names, const std::vector& joint_angles, + std::vector& poses) const override; + + bool supportsGroup(const moveit::core::JointModelGroup* jmg, std::string* error_text_out = nullptr) const override; + + const std::vector& getJointNames() const override; + const std::vector& getLinkNames() const override; + +private: + // Solves for (joint_2, joint_3) reaching the given (radius, height) in + // the vertical plane the arm is already facing, joint_1 handles the + // azimuth separately. Tries elbow-up and elbow-down, returns the first + // one inside both joints' limits. radius already has the wrist offset + // (L4) removed. + bool solveShoulderElbow(double radius, double height, double& joint2, double& joint3) const; + + bool solveIK(const geometry_msgs::msg::Pose& ik_pose, std::vector& solution, + moveit_msgs::msg::MoveItErrorCodes& error_code) const; + + std::vector joint_names_; + std::vector link_names_; + + // Rear arm, forearm, wrist offset, meters, matches + // dobot_magician_macro.xacro + static constexpr double kRearArmLength = 0.135; + static constexpr double kForearmLength = 0.147; + static constexpr double kWristOffset = 0.06; + + static constexpr double kJoint1Lower = -125.0 * M_PI / 180.0; + static constexpr double kJoint1Upper = 125.0 * M_PI / 180.0; + static constexpr double kJoint2Lower = -5.0 * M_PI / 180.0; + static constexpr double kJoint2Upper = 90.0 * M_PI / 180.0; + static constexpr double kJoint3Lower = -15.0 * M_PI / 180.0; + static constexpr double kJoint3Upper = 70.0 * M_PI / 180.0; + static constexpr double kJoint4Lower = -150.0 * M_PI / 180.0; + static constexpr double kJoint4Upper = 150.0 * M_PI / 180.0; +}; + +} // namespace dobot_magician_kinematics_plugin diff --git a/Industrial/dobot_magician_kinematics_plugin/package.xml b/Industrial/dobot_magician_kinematics_plugin/package.xml new file mode 100644 index 000000000..e37ee4a55 --- /dev/null +++ b/Industrial/dobot_magician_kinematics_plugin/package.xml @@ -0,0 +1,28 @@ + + + + dobot_magician_kinematics_plugin + 1.0.0 + + Analytic MoveIt IK plugin for the Dobot Magician arm, needed because + the parallelogram's mimic joints keep dobot_magician_arm from being a + real kinematic chain, which rules out KDL/TRAC-IK for this robot. + + RoboticsAcademy + Apache-2.0 + + ament_cmake + + rclcpp + moveit_core + pluginlib + geometry_msgs + moveit_msgs + tf2 + tf2_geometry_msgs + + + ament_cmake + + + diff --git a/Industrial/dobot_magician_kinematics_plugin/src/dobot_magician_kinematics_plugin.cpp b/Industrial/dobot_magician_kinematics_plugin/src/dobot_magician_kinematics_plugin.cpp new file mode 100644 index 000000000..8be87cc08 --- /dev/null +++ b/Industrial/dobot_magician_kinematics_plugin/src/dobot_magician_kinematics_plugin.cpp @@ -0,0 +1,273 @@ +#include "dobot_magician_kinematics_plugin/dobot_magician_kinematics_plugin.hpp" + +#include + +#include +#include +#include +#include + +namespace dobot_magician_kinematics_plugin +{ + +bool DobotMagicianKinematicsPlugin::initialize(const rclcpp::Node::SharedPtr& node, + const moveit::core::RobotModel& robot_model, + const std::string& group_name, const std::string& base_frame, + const std::vector& tip_frames, + double search_discretization) +{ + storeValues(robot_model, group_name, base_frame, tip_frames, search_discretization); + (void)node; + + joint_names_ = { "joint_1", "joint_2", "joint_3", "joint_4" }; + link_names_ = { "link_1", "link_2", "link_3", "link_gripper_core" }; + + const moveit::core::JointModelGroup* jmg = robot_model.getJointModelGroup(group_name); + + RCLCPP_INFO(rclcpp::get_logger("dobot_magician_kinematics_plugin"), + "initialize() group=%s base_frame=%s jmg_found=%d", group_name.c_str(), base_frame.c_str(), + jmg != nullptr); + + if (!jmg) + { + return false; + } + + return true; +} + +bool DobotMagicianKinematicsPlugin::supportsGroup(const moveit::core::JointModelGroup* /*jmg*/, + std::string* /*error_text_out*/) const +{ + // The group is a joint list, not a chain, on purpose, see the header + // comment. That's fine here, this solver doesn't walk the URDF tree. + return true; +} + +const std::vector& DobotMagicianKinematicsPlugin::getJointNames() const +{ + return joint_names_; +} + +const std::vector& DobotMagicianKinematicsPlugin::getLinkNames() const +{ + return link_names_; +} + +bool DobotMagicianKinematicsPlugin::solveShoulderElbow(double radius, double height, double& joint2, + double& joint3) const +{ + const double dist_sq = radius * radius + height * height; + + double cos_elbow = (dist_sq - kRearArmLength * kRearArmLength - kForearmLength * kForearmLength) / + (2.0 * kRearArmLength * kForearmLength); + + if (cos_elbow > 1.0 || cos_elbow < -1.0) + { + // Target outside the reachable annulus (too far or too close) + return false; + } + + for (double sign : { 1.0, -1.0 }) + { + const double elbow_angle = sign * std::acos(cos_elbow); + + const double shoulder_from_horizontal = + std::atan2(height, radius) - + std::atan2(kForearmLength * std::sin(elbow_angle), kRearArmLength + kForearmLength * std::cos(elbow_angle)); + + const double forearm_absolute = shoulder_from_horizontal + elbow_angle; + + const double j2 = M_PI_2 - shoulder_from_horizontal; + const double j3 = -forearm_absolute - j2; + + if (j2 >= kJoint2Lower && j2 <= kJoint2Upper && j3 >= kJoint3Lower && j3 <= kJoint3Upper) + { + joint2 = j2; + joint3 = j3; + return true; + } + } + + return false; +} + +bool DobotMagicianKinematicsPlugin::solveIK(const geometry_msgs::msg::Pose& ik_pose, std::vector& solution, + moveit_msgs::msg::MoveItErrorCodes& error_code) const +{ + const double x = ik_pose.position.x; + const double y = ik_pose.position.y; + const double z = ik_pose.position.z; + + RCLCPP_INFO(rclcpp::get_logger("dobot_magician_kinematics_plugin"), "solveIK() target x=%.4f y=%.4f z=%.4f", x, y, + z); + + const double joint1 = std::atan2(y, x); + + if (joint1 < kJoint1Lower || joint1 > kJoint1Upper) + { + RCLCPP_INFO(rclcpp::get_logger("dobot_magician_kinematics_plugin"), "solveIK() joint1=%.4f out of range", joint1); + error_code.val = moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION; + return false; + } + + const double radius = std::hypot(x, y) - kWristOffset; + + double joint2 = 0.0; + double joint3 = 0.0; + + if (!solveShoulderElbow(radius, z, joint2, joint3)) + { + RCLCPP_INFO(rclcpp::get_logger("dobot_magician_kinematics_plugin"), + "solveIK() no shoulder/elbow solution for radius=%.4f height=%.4f", radius, z); + error_code.val = moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION; + return false; + } + + // The parallelogram cancels joint_2/joint_3 out of the wrist's own + // orientation, so the gripper can only yaw, tf2::getYaw on whatever + // orientation was asked for is the only usable part of it + const double target_yaw = tf2::getYaw(ik_pose.orientation); + double joint4 = target_yaw - joint1; + + while (joint4 > M_PI) + joint4 -= 2.0 * M_PI; + while (joint4 < -M_PI) + joint4 += 2.0 * M_PI; + + if (joint4 < kJoint4Lower || joint4 > kJoint4Upper) + { + error_code.val = moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION; + return false; + } + + solution = { joint1, joint2, joint3, joint4 }; + error_code.val = moveit_msgs::msg::MoveItErrorCodes::SUCCESS; + + RCLCPP_INFO(rclcpp::get_logger("dobot_magician_kinematics_plugin"), + "solveIK() SUCCESS joint1=%.4f joint2=%.4f joint3=%.4f joint4=%.4f", joint1, joint2, joint3, joint4); + + return true; +} + +bool DobotMagicianKinematicsPlugin::getPositionIK(const geometry_msgs::msg::Pose& ik_pose, + const std::vector& /*ik_seed_state*/, + std::vector& solution, + moveit_msgs::msg::MoveItErrorCodes& error_code, + const kinematics::KinematicsQueryOptions& /*options*/) const +{ + return solveIK(ik_pose, solution, error_code); +} + +bool DobotMagicianKinematicsPlugin::searchPositionIK(const geometry_msgs::msg::Pose& ik_pose, + const std::vector& ik_seed_state, double /*timeout*/, + std::vector& solution, + moveit_msgs::msg::MoveItErrorCodes& error_code, + const kinematics::KinematicsQueryOptions& options) const +{ + return getPositionIK(ik_pose, ik_seed_state, solution, error_code, options); +} + +bool DobotMagicianKinematicsPlugin::searchPositionIK(const geometry_msgs::msg::Pose& ik_pose, + const std::vector& ik_seed_state, double /*timeout*/, + const std::vector& /*consistency_limits*/, + std::vector& solution, + moveit_msgs::msg::MoveItErrorCodes& error_code, + const kinematics::KinematicsQueryOptions& options) const +{ + return getPositionIK(ik_pose, ik_seed_state, solution, error_code, options); +} + +bool DobotMagicianKinematicsPlugin::searchPositionIK(const geometry_msgs::msg::Pose& ik_pose, + const std::vector& ik_seed_state, double /*timeout*/, + std::vector& solution, + const IKCallbackFn& solution_callback, + moveit_msgs::msg::MoveItErrorCodes& error_code, + const kinematics::KinematicsQueryOptions& options) const +{ + if (!getPositionIK(ik_pose, ik_seed_state, solution, error_code, options)) + { + return false; + } + + if (solution_callback) + { + solution_callback(ik_pose, solution, error_code); + } + + return error_code.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS; +} + +bool DobotMagicianKinematicsPlugin::searchPositionIK(const geometry_msgs::msg::Pose& ik_pose, + const std::vector& ik_seed_state, double /*timeout*/, + const std::vector& /*consistency_limits*/, + std::vector& solution, + const IKCallbackFn& solution_callback, + moveit_msgs::msg::MoveItErrorCodes& error_code, + const kinematics::KinematicsQueryOptions& options) const +{ + if (!getPositionIK(ik_pose, ik_seed_state, solution, error_code, options)) + { + return false; + } + + if (solution_callback) + { + solution_callback(ik_pose, solution, error_code); + } + + return error_code.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS; +} + +bool DobotMagicianKinematicsPlugin::getPositionFK(const std::vector& link_names, + const std::vector& joint_angles, + std::vector& poses) const +{ + if (joint_angles.size() != 4) + { + return false; + } + + const double joint1 = joint_angles[0]; + const double joint2 = joint_angles[1]; + const double joint3 = joint_angles[2]; + const double joint4 = joint_angles[3]; + + const double radius = + kRearArmLength * std::sin(joint2) + kForearmLength * std::cos(joint2 + joint3) + kWristOffset; + const double height = kRearArmLength * std::cos(joint2) - kForearmLength * std::sin(joint2 + joint3); + + geometry_msgs::msg::Pose tip_pose; + tip_pose.position.x = radius * std::cos(joint1); + tip_pose.position.y = radius * std::sin(joint1); + tip_pose.position.z = height; + + tf2::Quaternion q; + q.setRPY(0.0, 0.0, joint1 + joint4); + tip_pose.orientation.x = q.x(); + tip_pose.orientation.y = q.y(); + tip_pose.orientation.z = q.z(); + tip_pose.orientation.w = q.w(); + + poses.clear(); + + for (const auto& link_name : link_names) + { + if (link_name == link_names_.back()) + { + poses.push_back(tip_pose); + } + else + { + // Only the tip is solved analytically here, intermediate links + // aren't needed by anything that calls FK on this plugin + return false; + } + } + + return true; +} + +} // namespace dobot_magician_kinematics_plugin + +PLUGINLIB_EXPORT_CLASS(dobot_magician_kinematics_plugin::DobotMagicianKinematicsPlugin, kinematics::KinematicsBase) From 77cf3a69af0d8ec7f28d728281682a73d9c3ea77 Mon Sep 17 00:00:00 2001 From: aquintan Date: Wed, 9 Sep 2026 11:19:12 +0200 Subject: [PATCH 25/25] delete ik solver + code style --- .../dobot_magician/dobot_magician_macro.xacro | 20 +- .../config/kinematics.yaml | 11 +- .../package.xml | 1 - .../CMakeLists.txt | 63 ---- .../dobot_magician_kinematics_description.xml | 10 - .../dobot_magician_kinematics_plugin.hpp | 89 ------ .../package.xml | 28 -- .../src/dobot_magician_kinematics_plugin.cpp | 273 ------------------ .../gz_mimic_joint/src/gz_mimic_joint.cpp | 2 +- .../config/dobot_magician_gripper.srdf | 9 +- 10 files changed, 16 insertions(+), 490 deletions(-) delete mode 100644 Industrial/dobot_magician_kinematics_plugin/CMakeLists.txt delete mode 100644 Industrial/dobot_magician_kinematics_plugin/dobot_magician_kinematics_description.xml delete mode 100644 Industrial/dobot_magician_kinematics_plugin/include/dobot_magician_kinematics_plugin/dobot_magician_kinematics_plugin.hpp delete mode 100644 Industrial/dobot_magician_kinematics_plugin/package.xml delete mode 100644 Industrial/dobot_magician_kinematics_plugin/src/dobot_magician_kinematics_plugin.cpp diff --git a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro index f08126d6f..8f1ad1f5e 100644 --- a/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro +++ b/CustomRobots/robot_arms/models/dobot_magician/dobot_magician_macro.xacro @@ -86,13 +86,11 @@ - + @@ -170,11 +168,9 @@ lower_limit="${-150.0/180.0*pi}" upper_limit="${150.0/180.0*pi}"/> + Both start at rest already closed, so the range runs negative to + open, matching HAL's 0 percent is open convention. Collision is a + box instead of the mesh, needed for the contact sensor below. --> diff --git a/Industrial/dobot_magician_gripper_moveit_config/config/kinematics.yaml b/Industrial/dobot_magician_gripper_moveit_config/config/kinematics.yaml index b897f2a9a..1069ee105 100644 --- a/Industrial/dobot_magician_gripper_moveit_config/config/kinematics.yaml +++ b/Industrial/dobot_magician_gripper_moveit_config/config/kinematics.yaml @@ -1,9 +1,4 @@ -# dobot_magician_arm isn't a real kinematic chain (the parallelogram's -# mimic joints break that), so this uses a custom analytic solver instead -# of KDL, see dobot_magician_kinematics_plugin +# 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: - dobot_magician_arm: - kinematics_solver: dobot_magician_kinematics_plugin/DobotMagicianKinematicsPlugin - kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.01 + ros__parameters: {} diff --git a/Industrial/dobot_magician_gripper_moveit_config/package.xml b/Industrial/dobot_magician_gripper_moveit_config/package.xml index 1f4d5e3ff..577913cf8 100644 --- a/Industrial/dobot_magician_gripper_moveit_config/package.xml +++ b/Industrial/dobot_magician_gripper_moveit_config/package.xml @@ -16,7 +16,6 @@ launch launch_ros - dobot_magician_kinematics_plugin moveit_kinematics moveit_planners_ompl moveit_ros_move_group diff --git a/Industrial/dobot_magician_kinematics_plugin/CMakeLists.txt b/Industrial/dobot_magician_kinematics_plugin/CMakeLists.txt deleted file mode 100644 index 75803f95b..000000000 --- a/Industrial/dobot_magician_kinematics_plugin/CMakeLists.txt +++ /dev/null @@ -1,63 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(dobot_magician_kinematics_plugin) - -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) -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) -find_package(rclcpp REQUIRED) -find_package(moveit_core REQUIRED) -find_package(pluginlib REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(moveit_msgs REQUIRED) -find_package(tf2 REQUIRED) -find_package(tf2_geometry_msgs REQUIRED) - -add_library(dobot_magician_kinematics_plugin SHARED - src/dobot_magician_kinematics_plugin.cpp -) - -target_include_directories(dobot_magician_kinematics_plugin PUBLIC - $ - $ -) - -ament_target_dependencies(dobot_magician_kinematics_plugin - rclcpp - moveit_core - pluginlib - geometry_msgs - moveit_msgs - tf2 - tf2_geometry_msgs -) - -pluginlib_export_plugin_description_file(moveit_core dobot_magician_kinematics_description.xml) - -install( - TARGETS dobot_magician_kinematics_plugin - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib - RUNTIME DESTINATION bin -) - -install( - DIRECTORY include/ - DESTINATION include -) - -install( - FILES dobot_magician_kinematics_description.xml - DESTINATION share/${PROJECT_NAME} -) - -ament_export_include_directories(include) -ament_export_libraries(dobot_magician_kinematics_plugin) -ament_export_dependencies(rclcpp moveit_core pluginlib geometry_msgs moveit_msgs tf2 tf2_geometry_msgs) - -ament_package() diff --git a/Industrial/dobot_magician_kinematics_plugin/dobot_magician_kinematics_description.xml b/Industrial/dobot_magician_kinematics_plugin/dobot_magician_kinematics_description.xml deleted file mode 100644 index ebfeee1e3..000000000 --- a/Industrial/dobot_magician_kinematics_plugin/dobot_magician_kinematics_description.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - Closed-form IK for the Dobot Magician's 4-DOF arm, used instead of - KDL because dobot_magician_arm isn't a real kinematic chain. - - - diff --git a/Industrial/dobot_magician_kinematics_plugin/include/dobot_magician_kinematics_plugin/dobot_magician_kinematics_plugin.hpp b/Industrial/dobot_magician_kinematics_plugin/include/dobot_magician_kinematics_plugin/dobot_magician_kinematics_plugin.hpp deleted file mode 100644 index 1b141f843..000000000 --- a/Industrial/dobot_magician_kinematics_plugin/include/dobot_magician_kinematics_plugin/dobot_magician_kinematics_plugin.hpp +++ /dev/null @@ -1,89 +0,0 @@ -#pragma once - -#include - -namespace dobot_magician_kinematics_plugin -{ - -// Analytic IK for the Dobot Magician arm (joint_1..joint_4). The group -// isn't a real kinematic chain, the parallelogram's two mimic joints sit -// between joint_3 and joint_4, so KDL/TRAC-IK can't be used here, see -// dobot_magician_gripper.srdf. This solves the closed form directly -// instead, same geometry as the pick_place solution's own IK. -class DobotMagicianKinematicsPlugin : public kinematics::KinematicsBase -{ -public: - DobotMagicianKinematicsPlugin() = default; - - bool initialize(const rclcpp::Node::SharedPtr& node, const moveit::core::RobotModel& robot_model, - const std::string& group_name, const std::string& base_frame, - const std::vector& tip_frames, double search_discretization) override; - - bool getPositionIK(const geometry_msgs::msg::Pose& ik_pose, const std::vector& ik_seed_state, - std::vector& solution, moveit_msgs::msg::MoveItErrorCodes& error_code, - const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) - const override; - - bool searchPositionIK( - const geometry_msgs::msg::Pose& ik_pose, const std::vector& ik_seed_state, double timeout, - std::vector& solution, moveit_msgs::msg::MoveItErrorCodes& error_code, - const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override; - - bool searchPositionIK( - const geometry_msgs::msg::Pose& ik_pose, const std::vector& ik_seed_state, double timeout, - const std::vector& consistency_limits, std::vector& solution, - moveit_msgs::msg::MoveItErrorCodes& error_code, - const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override; - - bool searchPositionIK( - const geometry_msgs::msg::Pose& ik_pose, const std::vector& ik_seed_state, double timeout, - std::vector& solution, const IKCallbackFn& solution_callback, - moveit_msgs::msg::MoveItErrorCodes& error_code, - const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override; - - bool searchPositionIK( - const geometry_msgs::msg::Pose& ik_pose, const std::vector& ik_seed_state, double timeout, - const std::vector& consistency_limits, std::vector& solution, - const IKCallbackFn& solution_callback, - moveit_msgs::msg::MoveItErrorCodes& error_code, - const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override; - - bool getPositionFK(const std::vector& link_names, const std::vector& joint_angles, - std::vector& poses) const override; - - bool supportsGroup(const moveit::core::JointModelGroup* jmg, std::string* error_text_out = nullptr) const override; - - const std::vector& getJointNames() const override; - const std::vector& getLinkNames() const override; - -private: - // Solves for (joint_2, joint_3) reaching the given (radius, height) in - // the vertical plane the arm is already facing, joint_1 handles the - // azimuth separately. Tries elbow-up and elbow-down, returns the first - // one inside both joints' limits. radius already has the wrist offset - // (L4) removed. - bool solveShoulderElbow(double radius, double height, double& joint2, double& joint3) const; - - bool solveIK(const geometry_msgs::msg::Pose& ik_pose, std::vector& solution, - moveit_msgs::msg::MoveItErrorCodes& error_code) const; - - std::vector joint_names_; - std::vector link_names_; - - // Rear arm, forearm, wrist offset, meters, matches - // dobot_magician_macro.xacro - static constexpr double kRearArmLength = 0.135; - static constexpr double kForearmLength = 0.147; - static constexpr double kWristOffset = 0.06; - - static constexpr double kJoint1Lower = -125.0 * M_PI / 180.0; - static constexpr double kJoint1Upper = 125.0 * M_PI / 180.0; - static constexpr double kJoint2Lower = -5.0 * M_PI / 180.0; - static constexpr double kJoint2Upper = 90.0 * M_PI / 180.0; - static constexpr double kJoint3Lower = -15.0 * M_PI / 180.0; - static constexpr double kJoint3Upper = 70.0 * M_PI / 180.0; - static constexpr double kJoint4Lower = -150.0 * M_PI / 180.0; - static constexpr double kJoint4Upper = 150.0 * M_PI / 180.0; -}; - -} // namespace dobot_magician_kinematics_plugin diff --git a/Industrial/dobot_magician_kinematics_plugin/package.xml b/Industrial/dobot_magician_kinematics_plugin/package.xml deleted file mode 100644 index e37ee4a55..000000000 --- a/Industrial/dobot_magician_kinematics_plugin/package.xml +++ /dev/null @@ -1,28 +0,0 @@ - - - - dobot_magician_kinematics_plugin - 1.0.0 - - Analytic MoveIt IK plugin for the Dobot Magician arm, needed because - the parallelogram's mimic joints keep dobot_magician_arm from being a - real kinematic chain, which rules out KDL/TRAC-IK for this robot. - - RoboticsAcademy - Apache-2.0 - - ament_cmake - - rclcpp - moveit_core - pluginlib - geometry_msgs - moveit_msgs - tf2 - tf2_geometry_msgs - - - ament_cmake - - - diff --git a/Industrial/dobot_magician_kinematics_plugin/src/dobot_magician_kinematics_plugin.cpp b/Industrial/dobot_magician_kinematics_plugin/src/dobot_magician_kinematics_plugin.cpp deleted file mode 100644 index 8be87cc08..000000000 --- a/Industrial/dobot_magician_kinematics_plugin/src/dobot_magician_kinematics_plugin.cpp +++ /dev/null @@ -1,273 +0,0 @@ -#include "dobot_magician_kinematics_plugin/dobot_magician_kinematics_plugin.hpp" - -#include - -#include -#include -#include -#include - -namespace dobot_magician_kinematics_plugin -{ - -bool DobotMagicianKinematicsPlugin::initialize(const rclcpp::Node::SharedPtr& node, - const moveit::core::RobotModel& robot_model, - const std::string& group_name, const std::string& base_frame, - const std::vector& tip_frames, - double search_discretization) -{ - storeValues(robot_model, group_name, base_frame, tip_frames, search_discretization); - (void)node; - - joint_names_ = { "joint_1", "joint_2", "joint_3", "joint_4" }; - link_names_ = { "link_1", "link_2", "link_3", "link_gripper_core" }; - - const moveit::core::JointModelGroup* jmg = robot_model.getJointModelGroup(group_name); - - RCLCPP_INFO(rclcpp::get_logger("dobot_magician_kinematics_plugin"), - "initialize() group=%s base_frame=%s jmg_found=%d", group_name.c_str(), base_frame.c_str(), - jmg != nullptr); - - if (!jmg) - { - return false; - } - - return true; -} - -bool DobotMagicianKinematicsPlugin::supportsGroup(const moveit::core::JointModelGroup* /*jmg*/, - std::string* /*error_text_out*/) const -{ - // The group is a joint list, not a chain, on purpose, see the header - // comment. That's fine here, this solver doesn't walk the URDF tree. - return true; -} - -const std::vector& DobotMagicianKinematicsPlugin::getJointNames() const -{ - return joint_names_; -} - -const std::vector& DobotMagicianKinematicsPlugin::getLinkNames() const -{ - return link_names_; -} - -bool DobotMagicianKinematicsPlugin::solveShoulderElbow(double radius, double height, double& joint2, - double& joint3) const -{ - const double dist_sq = radius * radius + height * height; - - double cos_elbow = (dist_sq - kRearArmLength * kRearArmLength - kForearmLength * kForearmLength) / - (2.0 * kRearArmLength * kForearmLength); - - if (cos_elbow > 1.0 || cos_elbow < -1.0) - { - // Target outside the reachable annulus (too far or too close) - return false; - } - - for (double sign : { 1.0, -1.0 }) - { - const double elbow_angle = sign * std::acos(cos_elbow); - - const double shoulder_from_horizontal = - std::atan2(height, radius) - - std::atan2(kForearmLength * std::sin(elbow_angle), kRearArmLength + kForearmLength * std::cos(elbow_angle)); - - const double forearm_absolute = shoulder_from_horizontal + elbow_angle; - - const double j2 = M_PI_2 - shoulder_from_horizontal; - const double j3 = -forearm_absolute - j2; - - if (j2 >= kJoint2Lower && j2 <= kJoint2Upper && j3 >= kJoint3Lower && j3 <= kJoint3Upper) - { - joint2 = j2; - joint3 = j3; - return true; - } - } - - return false; -} - -bool DobotMagicianKinematicsPlugin::solveIK(const geometry_msgs::msg::Pose& ik_pose, std::vector& solution, - moveit_msgs::msg::MoveItErrorCodes& error_code) const -{ - const double x = ik_pose.position.x; - const double y = ik_pose.position.y; - const double z = ik_pose.position.z; - - RCLCPP_INFO(rclcpp::get_logger("dobot_magician_kinematics_plugin"), "solveIK() target x=%.4f y=%.4f z=%.4f", x, y, - z); - - const double joint1 = std::atan2(y, x); - - if (joint1 < kJoint1Lower || joint1 > kJoint1Upper) - { - RCLCPP_INFO(rclcpp::get_logger("dobot_magician_kinematics_plugin"), "solveIK() joint1=%.4f out of range", joint1); - error_code.val = moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION; - return false; - } - - const double radius = std::hypot(x, y) - kWristOffset; - - double joint2 = 0.0; - double joint3 = 0.0; - - if (!solveShoulderElbow(radius, z, joint2, joint3)) - { - RCLCPP_INFO(rclcpp::get_logger("dobot_magician_kinematics_plugin"), - "solveIK() no shoulder/elbow solution for radius=%.4f height=%.4f", radius, z); - error_code.val = moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION; - return false; - } - - // The parallelogram cancels joint_2/joint_3 out of the wrist's own - // orientation, so the gripper can only yaw, tf2::getYaw on whatever - // orientation was asked for is the only usable part of it - const double target_yaw = tf2::getYaw(ik_pose.orientation); - double joint4 = target_yaw - joint1; - - while (joint4 > M_PI) - joint4 -= 2.0 * M_PI; - while (joint4 < -M_PI) - joint4 += 2.0 * M_PI; - - if (joint4 < kJoint4Lower || joint4 > kJoint4Upper) - { - error_code.val = moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION; - return false; - } - - solution = { joint1, joint2, joint3, joint4 }; - error_code.val = moveit_msgs::msg::MoveItErrorCodes::SUCCESS; - - RCLCPP_INFO(rclcpp::get_logger("dobot_magician_kinematics_plugin"), - "solveIK() SUCCESS joint1=%.4f joint2=%.4f joint3=%.4f joint4=%.4f", joint1, joint2, joint3, joint4); - - return true; -} - -bool DobotMagicianKinematicsPlugin::getPositionIK(const geometry_msgs::msg::Pose& ik_pose, - const std::vector& /*ik_seed_state*/, - std::vector& solution, - moveit_msgs::msg::MoveItErrorCodes& error_code, - const kinematics::KinematicsQueryOptions& /*options*/) const -{ - return solveIK(ik_pose, solution, error_code); -} - -bool DobotMagicianKinematicsPlugin::searchPositionIK(const geometry_msgs::msg::Pose& ik_pose, - const std::vector& ik_seed_state, double /*timeout*/, - std::vector& solution, - moveit_msgs::msg::MoveItErrorCodes& error_code, - const kinematics::KinematicsQueryOptions& options) const -{ - return getPositionIK(ik_pose, ik_seed_state, solution, error_code, options); -} - -bool DobotMagicianKinematicsPlugin::searchPositionIK(const geometry_msgs::msg::Pose& ik_pose, - const std::vector& ik_seed_state, double /*timeout*/, - const std::vector& /*consistency_limits*/, - std::vector& solution, - moveit_msgs::msg::MoveItErrorCodes& error_code, - const kinematics::KinematicsQueryOptions& options) const -{ - return getPositionIK(ik_pose, ik_seed_state, solution, error_code, options); -} - -bool DobotMagicianKinematicsPlugin::searchPositionIK(const geometry_msgs::msg::Pose& ik_pose, - const std::vector& ik_seed_state, double /*timeout*/, - std::vector& solution, - const IKCallbackFn& solution_callback, - moveit_msgs::msg::MoveItErrorCodes& error_code, - const kinematics::KinematicsQueryOptions& options) const -{ - if (!getPositionIK(ik_pose, ik_seed_state, solution, error_code, options)) - { - return false; - } - - if (solution_callback) - { - solution_callback(ik_pose, solution, error_code); - } - - return error_code.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS; -} - -bool DobotMagicianKinematicsPlugin::searchPositionIK(const geometry_msgs::msg::Pose& ik_pose, - const std::vector& ik_seed_state, double /*timeout*/, - const std::vector& /*consistency_limits*/, - std::vector& solution, - const IKCallbackFn& solution_callback, - moveit_msgs::msg::MoveItErrorCodes& error_code, - const kinematics::KinematicsQueryOptions& options) const -{ - if (!getPositionIK(ik_pose, ik_seed_state, solution, error_code, options)) - { - return false; - } - - if (solution_callback) - { - solution_callback(ik_pose, solution, error_code); - } - - return error_code.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS; -} - -bool DobotMagicianKinematicsPlugin::getPositionFK(const std::vector& link_names, - const std::vector& joint_angles, - std::vector& poses) const -{ - if (joint_angles.size() != 4) - { - return false; - } - - const double joint1 = joint_angles[0]; - const double joint2 = joint_angles[1]; - const double joint3 = joint_angles[2]; - const double joint4 = joint_angles[3]; - - const double radius = - kRearArmLength * std::sin(joint2) + kForearmLength * std::cos(joint2 + joint3) + kWristOffset; - const double height = kRearArmLength * std::cos(joint2) - kForearmLength * std::sin(joint2 + joint3); - - geometry_msgs::msg::Pose tip_pose; - tip_pose.position.x = radius * std::cos(joint1); - tip_pose.position.y = radius * std::sin(joint1); - tip_pose.position.z = height; - - tf2::Quaternion q; - q.setRPY(0.0, 0.0, joint1 + joint4); - tip_pose.orientation.x = q.x(); - tip_pose.orientation.y = q.y(); - tip_pose.orientation.z = q.z(); - tip_pose.orientation.w = q.w(); - - poses.clear(); - - for (const auto& link_name : link_names) - { - if (link_name == link_names_.back()) - { - poses.push_back(tip_pose); - } - else - { - // Only the tip is solved analytically here, intermediate links - // aren't needed by anything that calls FK on this plugin - return false; - } - } - - return true; -} - -} // namespace dobot_magician_kinematics_plugin - -PLUGINLIB_EXPORT_CLASS(dobot_magician_kinematics_plugin::DobotMagicianKinematicsPlugin, kinematics::KinematicsBase) diff --git a/Industrial/gz_mimic_joint/src/gz_mimic_joint.cpp b/Industrial/gz_mimic_joint/src/gz_mimic_joint.cpp index 6ec5cfbc9..fd4e78fb4 100644 --- a/Industrial/gz_mimic_joint/src/gz_mimic_joint.cpp +++ b/Industrial/gz_mimic_joint/src/gz_mimic_joint.cpp @@ -48,7 +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); 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 index a897154e0..3ffaefaa4 100644 --- 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 @@ -2,11 +2,10 @@ + sit between joint_3 and joint_4, a chain group would count them as + extra planning variables and break the framework's 4 DOF + assumption. No KDL IK for this group either way, MoveAbsJ doesn't + need it. -->

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