From f3cd1e49bc4fdc6588f3ff36d5fd110e9c5f45b2 Mon Sep 17 00:00:00 2001 From: Vihaan Shah Date: Mon, 24 Jun 2024 12:49:39 -0400 Subject: [PATCH 01/14] Extend single arm description to dual arm --- .../CMakeLists.txt | 11 + .../my_dual_robot_cell_description/LICENSE | 29 ++ .../UR_LICENSE.txt | 84 ++++ .../launch/view_robot.launch.py | 52 +++ .../meshes/171005_Motek_Monitor_L.dae | 137 +++++++ .../meshes/fzi_skyline_v1.png | Bin 0 -> 72632 bytes .../meshes/fzi_table.dae | 372 ++++++++++++++++++ .../meshes/notexture.png | Bin 0 -> 21283 bytes .../meshes/ur_background.jpg | Bin 0 -> 206584 bytes .../meshes/wall.dae | 115 ++++++ .../package.xml | 29 ++ .../rviz/urdf.rviz | 257 ++++++++++++ .../urdf/my_dual_robot_cell.urdf.xacro | 38 ++ .../urdf/my_dual_robot_cell_macro.xacro | 127 ++++++ 14 files changed, 1251 insertions(+) create mode 100644 my_dual_robot_cell/my_dual_robot_cell_description/CMakeLists.txt create mode 100644 my_dual_robot_cell/my_dual_robot_cell_description/LICENSE create mode 100644 my_dual_robot_cell/my_dual_robot_cell_description/UR_LICENSE.txt create mode 100644 my_dual_robot_cell/my_dual_robot_cell_description/launch/view_robot.launch.py create mode 100644 my_dual_robot_cell/my_dual_robot_cell_description/meshes/171005_Motek_Monitor_L.dae create mode 100644 my_dual_robot_cell/my_dual_robot_cell_description/meshes/fzi_skyline_v1.png create mode 100644 my_dual_robot_cell/my_dual_robot_cell_description/meshes/fzi_table.dae create mode 100644 my_dual_robot_cell/my_dual_robot_cell_description/meshes/notexture.png create mode 100644 my_dual_robot_cell/my_dual_robot_cell_description/meshes/ur_background.jpg create mode 100644 my_dual_robot_cell/my_dual_robot_cell_description/meshes/wall.dae create mode 100644 my_dual_robot_cell/my_dual_robot_cell_description/package.xml create mode 100644 my_dual_robot_cell/my_dual_robot_cell_description/rviz/urdf.rviz create mode 100644 my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell.urdf.xacro create mode 100644 my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell_macro.xacro diff --git a/my_dual_robot_cell/my_dual_robot_cell_description/CMakeLists.txt b/my_dual_robot_cell/my_dual_robot_cell_description/CMakeLists.txt new file mode 100644 index 0000000..9062bb4 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_description/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.5) +project(my_dual_robot_cell_description) + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY launch meshes rviz urdf + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/my_dual_robot_cell/my_dual_robot_cell_description/LICENSE b/my_dual_robot_cell/my_dual_robot_cell_description/LICENSE new file mode 100644 index 0000000..48fb689 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_description/LICENSE @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2022, Universal Robots A/S +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/my_dual_robot_cell/my_dual_robot_cell_description/UR_LICENSE.txt b/my_dual_robot_cell/my_dual_robot_cell_description/UR_LICENSE.txt new file mode 100644 index 0000000..cba4e38 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_description/UR_LICENSE.txt @@ -0,0 +1,84 @@ +TERMS AND CONDITIONS FOR USE OF GRAPHICAL DOCUMENTATION + +Version: 1.01 / release date: 2023-09-12 + +These Terms and Conditions for Use of Graphical Documentation (the “T&Cs”) govern your use of graphical files and documents*, including the contents hereof, (the “Graphical Documentation”) provided or made available to you by Universal Robots A/S (“Universal Robots”) for the purposes of creating simulations, visualizations, digital representations, path planning, collision avoidance and algorithms of or for Universal Robots’ products. 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INTELLECTUAL PROPERTY RIGHTS + +2.1. You acknowledge and agree that the Graphical Documentation and all intellectual property rights contained and/or embodied therein, including, but not limited to, rights under the Danish Marketing Practices Act or under similar rules of law, patents, utility models, copyrights and related rights, software, trademarks, semiconductors, designs, know-how, rights in databases, trade secrets, and all applications or pending applications for such in all cases, whether or not registrable in any country, and all rights and forms of protection of a similar nature or having equivalent or similar effect anywhere in the world, shall be and remain the sole property of Universal Robots. 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The T&Cs shall automatically expire at such time as you are no longer permitted to use the Graphical Documentation in accordance with Section 1. + +6.2. You may terminate the T&Cs for convenience at any time by deleting all copies of the Graphical Documentation in your possession. Universal Robots may terminate the T&Cs for convenience by providing you with ninety (90) days’ notice. + +6.3. Universal Robots may terminate the T&Cs for cause with immediate effect in case of your material breach of the T&Cs. + + +7. EFFECTS OF TERMINATION + +7.1. Upon expiration or termination of the T&Cs, for whatever reason, you must immediately cease use of the Graphical Documentation and delete all copies of the Graphical Documentation in your possession. + +8. GOVERNING LAW AND VENUE + +8.1. The T&Cs shall be governed by and construed in accordance with the laws of Denmark, without giving effect to conflict of law provisions thereof. The parties expressly disclaim the applicability of the United Nations Convention on Contracts for the International Sale of Goods. + +8.2. Any and all disputes arising out of or in connection with the T&Cs shall be submitted to the International Chamber of Commerce and shall be settled under the Rules of Arbitration of the International Chamber of Commerce by one (1) arbitrator appointed in accordance with said Rules. The place of arbitration shall be Copenhagen, Denmark. The arbitration shall be conducted in the English language. The foregoing notwithstanding, Universal Robots may seek preliminary, temporary, or permanent injunctive relief and other equitable remedies in any court of competent jurisdiction prior to or during arbitration and may enforce the award of the arbitrator in any court of competent jurisdiction. + + +* E.g., STEP-Files (ISO 10303-21), Collada (.dae), STL files (.stl), GLB files (.glb), GLFT files (.glft) , Jupiter Tessellation files (.jt), E-plan files (.emp), electrical schematics, CAD files, and drawings including the contents of these technical files. “Software”, as defined in Universal Robots End User Software License Agreement, does not constitute “Technical Documentation” and your use thereof is, unless otherwise agreed with Universal Robots in writing, governed by Universal Robots’ End User Software License Agreement. diff --git a/my_dual_robot_cell/my_dual_robot_cell_description/launch/view_robot.launch.py b/my_dual_robot_cell/my_dual_robot_cell_description/launch/view_robot.launch.py new file mode 100644 index 0000000..4a8c477 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_description/launch/view_robot.launch.py @@ -0,0 +1,52 @@ +from launch import LaunchDescription +from launch.substitutions import Command, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterValue +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + description_package = FindPackageShare("my_dual_robot_cell_description") + description_file = PathJoinSubstitution( + [description_package, "urdf", "my_dual_robot_cell.urdf.xacro"] + ) + rvizconfig_file = PathJoinSubstitution([description_package, "rviz", "urdf.rviz"]) + + robot_description = ParameterValue( + Command( + [ + "xacro ", + description_file, + " ", + "alice_ur_type:=", + "ur3", + " ", + "bob_ur_type:=", + "ur3", + ] + ), + value_type=str, + ) + + robot_state_publisher_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + parameters=[{"robot_description": robot_description}], + ) + + joint_state_publisher_gui_node = Node( + package="joint_state_publisher_gui", + executable="joint_state_publisher_gui", + ) + + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="screen", + arguments=["-d", rvizconfig_file], + ) + + return LaunchDescription( + [joint_state_publisher_gui_node, robot_state_publisher_node, rviz_node] + ) diff --git a/my_dual_robot_cell/my_dual_robot_cell_description/meshes/171005_Motek_Monitor_L.dae b/my_dual_robot_cell/my_dual_robot_cell_description/meshes/171005_Motek_Monitor_L.dae new file mode 100644 index 0000000..97fe0cb --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_description/meshes/171005_Motek_Monitor_L.dae @@ -0,0 +1,137 @@ + + + + + VCGLab + VCGLib | MeshLab + + Y_UP + So. 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-0.002131462 2 0.999716 2 0 2 0 1 0 0 0 1 0 1 0.999716 0.999688 0 1 1 2 0.999716 1 0 2 0 1 1 0 1 0 1 0.9996879 0.9997164 -4.4883e-5 0.9997163 -4.48159e-5 -0.002131581 2 0.999716 2 1 2 0 1 0 0 0 0 0 1 0.999716 0.9996879 0.9997164 0.999688 0 2 0.999716 1 1 1 0 + + + + + + + + + + + + + + +

4 0 0 2 0 1 0 0 2 2 1 3 7 1 4 3 1 5 6 2 6 5 2 7 7 2 8 1 3 9 7 3 10 5 3 11 0 4 12 3 4 13 1 4 14 4 5 15 1 5 16 5 5 17 4 0 18 6 0 19 2 0 20 2 1 21 6 1 22 7 1 23 6 2 24 4 2 25 5 2 26 1 3 27 3 3 28 7 3 29 0 4 30 2 4 31 3 4 32 4 5 33 0 5 34 1 5 35

+ + + + + + + + 2.222213 0 0 0 0 0.05 0 0 0 0 1.25 0 0 0 0 1 + + + + + + + + + + + + + + + + diff --git a/my_dual_robot_cell/my_dual_robot_cell_description/package.xml b/my_dual_robot_cell/my_dual_robot_cell_description/package.xml new file mode 100644 index 0000000..37701bd --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_description/package.xml @@ -0,0 +1,29 @@ + + + + my_dual_robot_cell_description + 1.0.0 + + This package contains an urdf of a shared workspace. + Felix Exner + + BSD-3-Clause + + Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation + + Felix Durchdewald + + ament_cmake + joint_state_publisher + joint_state_publisher_gui + robot_state_publisher + rviz2 + xacro + ur_description + ur_robot_driver + + + + ament_cmake + + diff --git a/my_dual_robot_cell/my_dual_robot_cell_description/rviz/urdf.rviz b/my_dual_robot_cell/my_dual_robot_cell_description/rviz/urdf.rviz new file mode 100644 index 0000000..e6b74d0 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_description/rviz/urdf.rviz @@ -0,0 +1,257 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 87 + Name: Displays + Property Tree Widget: + Expanded: + - /RobotModel1 + - /TF1 + - /TF1/Tree1 + Splitter Ratio: 0.5 + Tree Height: 637 + - 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 + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + monitor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robot_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + table: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur20_base: + Alpha: 1 + Show Axes: false + Show Trail: false + ur20_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + ur20_base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur20_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + ur20_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur20_ft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + ur20_shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur20_tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + ur20_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur20_wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur20_wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur20_wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wall: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + monitor: + Value: true + robot_mount: + Value: true + table: + Value: true + ur20_base: + Value: true + ur20_base_link: + Value: true + ur20_base_link_inertia: + Value: true + ur20_flange: + Value: true + ur20_forearm_link: + Value: true + ur20_ft_frame: + Value: true + ur20_shoulder_link: + Value: true + ur20_tool0: + Value: true + ur20_upper_arm_link: + Value: true + ur20_wrist_1_link: + Value: true + ur20_wrist_2_link: + Value: true + ur20_wrist_3_link: + Value: true + wall: + Value: true + world: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + world: + table: + monitor: + {} + robot_mount: + ur20_base_link: + ur20_base: + {} + ur20_base_link_inertia: + ur20_shoulder_link: + ur20_upper_arm_link: + ur20_forearm_link: + ur20_wrist_1_link: + ur20_wrist_2_link: + ur20_wrist_3_link: + ur20_flange: + ur20_tool0: + {} + ur20_ft_frame: + {} + wall: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/MoveCamera + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 4.839867115020752 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.8393054604530334 + Y: 0.6853293776512146 + Z: 1.452785611152649 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.16000038385391235 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.324998378753662 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1412 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000100000000000001ad0000052efc0200000002fb000000100044006900730070006c006100790073010000003b0000030f000000c700fffffffb0000000a00560069006500770073010000035000000219000000a000ffffff0000084d0000052e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 2560 + X: 1920 + Y: 0 diff --git a/my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell.urdf.xacro b/my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell.urdf.xacro new file mode 100644 index 0000000..0380dc0 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell.urdf.xacro @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell_macro.xacro b/my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell_macro.xacro new file mode 100644 index 0000000..8649273 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell_macro.xacro @@ -0,0 +1,127 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 78fc1d8b989fefd54ace064c35ad1ff9a2257876 Mon Sep 17 00:00:00 2001 From: Vihaan Shah Date: Mon, 24 Jun 2024 15:52:59 -0400 Subject: [PATCH 02/14] Remove ur_type from tf_prefix --- .../urdf/my_dual_robot_cell_macro.xacro | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell_macro.xacro b/my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell_macro.xacro index 8649273..c743f95 100644 --- a/my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell_macro.xacro +++ b/my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell_macro.xacro @@ -98,8 +98,8 @@ Date: Mon, 24 Jun 2024 19:00:20 -0400 Subject: [PATCH 03/14] Add ros2 control parameters to dual arm urdf for dual arm driver - Add ros2 control tags/parameters for each robot arm - Some parameters are specific to each arm and some common to both - Ports and IP different for each arm - RTDE scripts, mock hardware, headless mode common to the arms --- .../my_dual_robot_cell_control/CMakeLists.txt | 11 ++ .../my_dual_robot_cell_control/LICENSE | 29 +++++ .../config/my_robot_calibration.yaml | 44 ++++++++ .../my_dual_robot_cell_control/package.xml | 28 +++++ .../my_dual_robot_cell_controlled.urdf.xacro | 100 ++++++++++++++++++ 5 files changed, 212 insertions(+) create mode 100644 my_dual_robot_cell/my_dual_robot_cell_control/CMakeLists.txt create mode 100644 my_dual_robot_cell/my_dual_robot_cell_control/LICENSE create mode 100644 my_dual_robot_cell/my_dual_robot_cell_control/config/my_robot_calibration.yaml create mode 100644 my_dual_robot_cell/my_dual_robot_cell_control/package.xml create mode 100644 my_dual_robot_cell/my_dual_robot_cell_control/urdf/my_dual_robot_cell_controlled.urdf.xacro diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/CMakeLists.txt b/my_dual_robot_cell/my_dual_robot_cell_control/CMakeLists.txt new file mode 100644 index 0000000..9641ab9 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.8) +project(my_dual_robot_cell_control) + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY launch config urdf + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/LICENSE b/my_dual_robot_cell/my_dual_robot_cell_control/LICENSE new file mode 100644 index 0000000..48fb689 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/LICENSE @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2022, Universal Robots A/S +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/config/my_robot_calibration.yaml b/my_dual_robot_cell/my_dual_robot_cell_control/config/my_robot_calibration.yaml new file mode 100644 index 0000000..f7200ba --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/config/my_robot_calibration.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.1519 + roll: 0 + pitch: 0 + yaw: 0 + upper_arm: + x: 0 + y: 0 + z: 0 + roll: 1.570796327 + pitch: 0 + yaw: 0 + forearm: + x: -0.24365 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + wrist_1: + x: -0.21325 + y: 0 + z: 0.11235 + roll: 0 + pitch: 0 + yaw: 0 + wrist_2: + x: 0 + y: -0.08535 + z: -1.750557762378351e-11 + roll: 1.570796327 + pitch: 0 + yaw: 0 + wrist_3: + x: 0 + y: 0.0819 + z: -1.679797079540562e-11 + roll: 1.570796326589793 + pitch: 3.141592653589793 + yaw: 3.141592653589793 + hash: calib_9122066269688285636 \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/package.xml b/my_dual_robot_cell/my_dual_robot_cell_control/package.xml new file mode 100644 index 0000000..d8abebf --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/package.xml @@ -0,0 +1,28 @@ + + + + my_dual_robot_cell_control + 1.0.0 + ros2_control setup + Felix Durchdewald + BSD-3-Clause + + ament_cmake + + + joint_state_broadcaster + joint_trajectory_controller + position_controllers + robot_state_publisher + my_dual_robot_cell_description + ur_controllers + ur_robot_driver + ur_client_library + xacro + controller_manager + + + + ament_cmake + + diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/urdf/my_dual_robot_cell_controlled.urdf.xacro b/my_dual_robot_cell/my_dual_robot_cell_control/urdf/my_dual_robot_cell_controlled.urdf.xacro new file mode 100644 index 0000000..ef52a3b --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/urdf/my_dual_robot_cell_controlled.urdf.xacro @@ -0,0 +1,100 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From ab6232e405fad4b874336b806847f1cd340add5f Mon Sep 17 00:00:00 2001 From: Vihaan Shah Date: Mon, 24 Jun 2024 19:08:19 -0400 Subject: [PATCH 04/14] Modify ur_control.launch.py to launch controllers for both arms - Instantiates one controller manager for both arms and passes the controller configs and update rate - Receives the robot_description param from the robot_description_topic (robot_state_publisher) - Does not yet implement io_and_status_controller and forward_velocity_controller - Has functionality to spawn and stop controllers for both arms - Only works in simulation and not with real hardware - Limited number of launch parameters as of now --- .../config/ros2_controllers.yaml | 227 ++++++++ .../config/update_rate.yaml | 3 + .../launch/rsp.launch.py | 142 +++++ .../launch/ur_control.launch.py | 541 ++++++++++++++++++ 4 files changed, 913 insertions(+) create mode 100644 my_dual_robot_cell/my_dual_robot_cell_control/config/ros2_controllers.yaml create mode 100644 my_dual_robot_cell/my_dual_robot_cell_control/config/update_rate.yaml create mode 100644 my_dual_robot_cell/my_dual_robot_cell_control/launch/rsp.launch.py create mode 100644 my_dual_robot_cell/my_dual_robot_cell_control/launch/ur_control.launch.py diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/config/ros2_controllers.yaml b/my_dual_robot_cell/my_dual_robot_cell_control/config/ros2_controllers.yaml new file mode 100644 index 0000000..14ededf --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/config/ros2_controllers.yaml @@ -0,0 +1,227 @@ +controller_manager: + ros__parameters: + alice_joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + bob_joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + # io_and_status_controller: + # type: ur_controllers/GPIOController + + alice_speed_scaling_state_broadcaster: + type: ur_controllers/SpeedScalingStateBroadcaster + + bob_speed_scaling_state_broadcaster: + type: ur_controllers/SpeedScalingStateBroadcaster + + alice_force_torque_sensor_broadcaster: + type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster + + bob_force_torque_sensor_broadcaster: + type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster + + alice_joint_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + + bob_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + + alice_scaled_joint_trajectory_controller: + type: ur_controllers/ScaledJointTrajectoryController + + bob_scaled_joint_trajectory_controller: + type: ur_controllers/ScaledJointTrajectoryController + + # forward_velocity_controller: + # type: velocity_controllers/JointGroupVelocityController + + alice_forward_position_controller: + type: position_controllers/JointGroupPositionController + + bob_forward_position_controller: + type: position_controllers/JointGroupPositionController + + +alice_speed_scaling_state_broadcaster: + ros__parameters: + state_publish_rate: 100.0 + tf_prefix: "alice" + +bob_speed_scaling_state_broadcaster: + ros__parameters: + state_publish_rate: 100.0 + tf_prefix: "bob" + +# io_and_status_controller: +# ros__parameters: +# tf_prefix: "$(var tf_prefix)" + +alice_force_torque_sensor_broadcaster: + ros__parameters: + sensor_name: alice_tcp_fts_sensor + state_interface_names: + - force.x + - force.y + - force.z + - torque.x + - torque.y + - torque.z + frame_id: bob_tool0 + topic_name: alice_ft_data + +bob_force_torque_sensor_broadcaster: + ros__parameters: + sensor_name: bob_tcp_fts_sensor + state_interface_names: + - force.x + - force.y + - force.z + - torque.x + - torque.y + - torque.z + frame_id: bob_tool0 + topic_name: bob_ft_data + + +alice_joint_trajectory_controller: + ros__parameters: + joints: + - alice_shoulder_pan_joint + - alice_shoulder_lift_joint + - alice_elbow_joint + - alice_wrist_1_joint + - alice_wrist_2_joint + - alice_wrist_3_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + constraints: + stopped_velocity_tolerance: 0.2 + goal_time: 0.0 + alice_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } + alice_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 } + alice_elbow_joint: { trajectory: 0.2, goal: 0.1 } + alice_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } + alice_wrist_2_joint: { trajectory: 0.2, goal: 0.1 } + alice_wrist_3_joint: { trajectory: 0.2, goal: 0.1 } + +bob_joint_trajectory_controller: + ros__parameters: + joints: + - bob_shoulder_pan_joint + - bob_shoulder_lift_joint + - bob_elbow_joint + - bob_wrist_1_joint + - bob_wrist_2_joint + - bob_wrist_3_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + constraints: + stopped_velocity_tolerance: 0.2 + goal_time: 0.0 + bob_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } + bob_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 } + bob_elbow_joint: { trajectory: 0.2, goal: 0.1 } + bob_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } + bob_wrist_2_joint: { trajectory: 0.2, goal: 0.1 } + bob_wrist_3_joint: { trajectory: 0.2, goal: 0.1 } + +alice_scaled_joint_trajectory_controller: + ros__parameters: + joints: + - alice_shoulder_pan_joint + - alice_shoulder_lift_joint + - alice_elbow_joint + - alice_wrist_1_joint + - alice_wrist_2_joint + - alice_wrist_3_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + constraints: + stopped_velocity_tolerance: 0.2 + goal_time: 0.0 + alice_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } + alice_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 } + alice_elbow_joint: { trajectory: 0.2, goal: 0.1 } + alice_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } + alice_wrist_2_joint: { trajectory: 0.2, goal: 0.1 } + alice_wrist_3_joint: { trajectory: 0.2, goal: 0.1 } + speed_scaling_interface_name: alice_speed_scaling/speed_scaling_factor + +bob_scaled_joint_trajectory_controller: + ros__parameters: + joints: + - bob_shoulder_pan_joint + - bob_shoulder_lift_joint + - bob_elbow_joint + - bob_wrist_1_joint + - bob_wrist_2_joint + - bob_wrist_3_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + constraints: + stopped_velocity_tolerance: 0.2 + goal_time: 0.0 + bob_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } + bob_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 } + bob_elbow_joint: { trajectory: 0.2, goal: 0.1 } + bob_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } + bob_wrist_2_joint: { trajectory: 0.2, goal: 0.1 } + bob_wrist_3_joint: { trajectory: 0.2, goal: 0.1 } + speed_scaling_interface_name: bob_speed_scaling/speed_scaling_factor + + +# forward_velocity_controller: +# ros__parameters: +# joints: +# - $(var tf_prefix)shoulder_pan_joint +# - $(var tf_prefix)shoulder_lift_joint +# - $(var tf_prefix)elbow_joint +# - $(var tf_prefix)wrist_1_joint +# - $(var tf_prefix)wrist_2_joint +# - $(var tf_prefix)wrist_3_joint +# interface_name: velocity + +alice_forward_position_controller: + ros__parameters: + joints: + - alice_shoulder_pan_joint + - alice_shoulder_lift_joint + - alice_elbow_joint + - alice_wrist_1_joint + - alice_wrist_2_joint + - alice_wrist_3_joint + +bob_forward_position_controller: + ros__parameters: + joints: + - bob_shoulder_pan_joint + - bob_shoulder_lift_joint + - bob_elbow_joint + - bob_wrist_1_joint + - bob_wrist_2_joint + - bob_wrist_3_joint \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/config/update_rate.yaml b/my_dual_robot_cell/my_dual_robot_cell_control/config/update_rate.yaml new file mode 100644 index 0000000..7525e1e --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/config/update_rate.yaml @@ -0,0 +1,3 @@ +controller_manager: + ros__parameters: + update_rate: 125 # Hz diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/launch/rsp.launch.py b/my_dual_robot_cell/my_dual_robot_cell_control/launch/rsp.launch.py new file mode 100644 index 0000000..159b448 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/launch/rsp.launch.py @@ -0,0 +1,142 @@ +# Copyright (c) 2024 FZI Forschungszentrum Informatik +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# +# * Neither the name of the {copyright_holder} nor the names of its +# contributors may be used to endorse or promote products derived from +# this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +# +# Author: Felix Exner + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import ( + Command, + FindExecutable, + LaunchConfiguration, + PathJoinSubstitution, +) +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + ur_type = LaunchConfiguration("ur_type") + robot_ip = LaunchConfiguration("robot_ip") + + use_mock_hardware = LaunchConfiguration("use_mock_hardware") + mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") + + headless_mode = LaunchConfiguration("headless_mode") + + kinematics_parameters_file = LaunchConfiguration("kinematics_parameters_file") + + # Load description with necessary parameters + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [ + FindPackageShare("my_dual_robot_cell_control"), + "urdf", + "my_dual_robot_cell_controlled.urdf.xacro", + ] + ), + ] + ) + robot_description = {"robot_description": robot_description_content} + + declared_arguments = [] + # UR specific arguments + declared_arguments.append( + DeclareLaunchArgument( + "ur_type", + description="Typo/series of used UR robot.", + choices=[ + "ur3", + "ur3e", + "ur5", + "ur5e", + "ur10", + "ur10e", + "ur16e", + "ur20", + "ur30", + ], + default_value="ur3", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "robot_ip", description="IP address by which the robot can be reached." + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "kinematics_parameters_file", + default_value=PathJoinSubstitution( + [ + FindPackageShare("my_dual_robot_cell_control"), + "config", + "my_robot_calibration.yaml", + ] + ), + description="The calibration configuration of the actual robot used.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_mock_hardware", + default_value="false", + description="Start robot with mock hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "mock_sensor_commands", + default_value="false", + description="Enable mock command interfaces for sensors used for simple simulations. " + "Used only if 'use_mock_hardware' parameter is true.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "headless_mode", + default_value="false", + description="Enable headless mode for robot control", + ) + ) + + return LaunchDescription( + declared_arguments + + [ + Node( + package="robot_state_publisher", + executable="robot_state_publisher", + output="both", + parameters=[robot_description], + ), + ] + ) diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/launch/ur_control.launch.py b/my_dual_robot_cell/my_dual_robot_cell_control/launch/ur_control.launch.py new file mode 100644 index 0000000..66b9392 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/launch/ur_control.launch.py @@ -0,0 +1,541 @@ +# Copyright (c) 2021 PickNik, Inc. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# +# * Neither the name of the {copyright_holder} nor the names of its +# contributors may be used to endorse or promote products derived from +# this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +# +# Author: Denis Stogl + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.conditions import IfCondition, UnlessCondition +from launch.launch_description_sources import AnyLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterFile +from launch_ros.substitutions import FindPackageShare + + +def launch_setup(): + # Initialize Arguments + ur_type = LaunchConfiguration("ur_type") + robot_ip = LaunchConfiguration("robot_ip") + # General arguments + controllers_file = LaunchConfiguration("controllers_file") + description_launchfile = LaunchConfiguration("description_launchfile") + use_mock_hardware = LaunchConfiguration("use_mock_hardware") + controller_spawner_timeout = LaunchConfiguration("controller_spawner_timeout") + alice_initial_joint_controller = LaunchConfiguration( + "alice_initial_joint_controller" + ) + bob_initial_joint_controller = LaunchConfiguration("bob_initial_joint_controller") + activate_joint_controller = LaunchConfiguration("activate_joint_controller") + launch_rviz = LaunchConfiguration("launch_rviz") + rviz_config_file = LaunchConfiguration("rviz_config_file") + headless_mode = LaunchConfiguration("headless_mode") + launch_dashboard_client = LaunchConfiguration("launch_dashboard_client") + use_tool_communication = LaunchConfiguration("use_tool_communication") + tool_device_name = LaunchConfiguration("tool_device_name") + tool_tcp_port = LaunchConfiguration("tool_tcp_port") + + control_node = Node( + package="controller_manager", + executable="ros2_control_node", + parameters=[ + LaunchConfiguration("update_rate_config_file"), + ParameterFile(controllers_file, allow_substs=True), + # We use the tf_prefix as substitution in there, so that's why we keep it as an + # argument for this launchfile + ], + output="screen", + ) + + # dashboard_client_node = Node( + # package="ur_robot_driver", + # condition=IfCondition(launch_dashboard_client) + # and UnlessCondition(use_mock_hardware), + # executable="dashboard_client", + # name="dashboard_client", + # namespace="alice", + # output="screen", + # emulate_tty=True, + # parameters=[{"robot_ip": robot_ip}], + # ) + + # dashboard_client_node = Node( + # package="ur_robot_driver", + # condition=IfCondition(launch_dashboard_client) + # and UnlessCondition(use_mock_hardware), + # executable="dashboard_client", + # name="dashboard_client", + # namespace="bob", + # output="screen", + # emulate_tty=True, + # parameters=[{"robot_ip": robot_ip}], + # ) + + # tool_communication_node = Node( + # package="ur_robot_driver", + # condition=IfCondition(use_tool_communication), + # executable="tool_communication.py", + # name="ur_tool_comm", + # output="screen", + # parameters=[ + # { + # "robot_ip": robot_ip, + # "tcp_port": tool_tcp_port, + # "device_name": tool_device_name, + # } + # ], + # ) + + # urscript_interface = Node( + # package="ur_robot_driver", + # executable="urscript_interface", + # parameters=[{"robot_ip": robot_ip}], + # output="screen", + # condition=UnlessCondition(use_mock_hardware), + # ) + + # controller_stopper_node = Node( + # package="ur_robot_driver", + # executable="controller_stopper_node", + # name="controller_stopper", + # output="screen", + # emulate_tty=True, + # condition=UnlessCondition(use_mock_hardware), + # parameters=[ + # {"headless_mode": headless_mode}, + # {"joint_controller_active": activate_joint_controller}, + # { + # "consistent_controllers": [ + # "io_and_status_controller", + # "force_torque_sensor_broadcaster", + # "joint_state_broadcaster", + # "speed_scaling_state_broadcaster", + # ] + # }, + # ], + # ) + + rviz_node = Node( + package="rviz2", + condition=IfCondition(launch_rviz), + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file], + ) + + # Spawn controllers + def controller_spawner(controllers, active=True): + inactive_flags = ["--inactive"] if not active else [] + return Node( + package="controller_manager", + executable="spawner", + arguments=[ + "--controller-manager", + "/controller_manager", + "--controller-manager-timeout", + controller_spawner_timeout, + ] + + inactive_flags + + controllers, + ) + + controllers_active = [ + "alice_joint_state_broadcaster", + "bob_joint_state_broadcaster", + # "alice_io_and_status_controller", + # "bob_io_and_status_controller", + "alice_speed_scaling_state_broadcaster", + "bob_speed_scaling_state_broadcaster", + "alice_force_torque_sensor_broadcaster", + "bob_force_torque_sensor_broadcaster", + ] + controllers_inactive = [ + "alice_forward_position_controller", + "bob_forward_position_controller", + ] + + controller_spawners = [controller_spawner(controllers_active)] + [ + controller_spawner(controllers_inactive, active=False) + ] + + # There may be other controllers of the joints, but this is the initially-started one + alice_initial_joint_controller_spawner_started = Node( + package="controller_manager", + executable="spawner", + arguments=[ + alice_initial_joint_controller, + "-c", + "/controller_manager", + "--controller-manager-timeout", + controller_spawner_timeout, + ], + condition=IfCondition(activate_joint_controller), + ) + bob_initial_joint_controller_spawner_started = Node( + package="controller_manager", + executable="spawner", + arguments=[ + bob_initial_joint_controller, + "-c", + "/controller_manager", + "--controller-manager-timeout", + controller_spawner_timeout, + ], + condition=IfCondition(activate_joint_controller), + ) + alice_initial_joint_controller_spawner_stopped = Node( + package="controller_manager", + executable="spawner", + arguments=[ + alice_initial_joint_controller, + "-c", + "/controller_manager", + "--controller-manager-timeout", + controller_spawner_timeout, + "--inactive", + ], + condition=UnlessCondition(activate_joint_controller), + ) + bob_initial_joint_controller_spawner_stopped = Node( + package="controller_manager", + executable="spawner", + arguments=[ + bob_initial_joint_controller, + "-c", + "/controller_manager", + "--controller-manager-timeout", + controller_spawner_timeout, + "--inactive", + ], + condition=UnlessCondition(activate_joint_controller), + ) + + rsp = IncludeLaunchDescription( + AnyLaunchDescriptionSource(description_launchfile), + launch_arguments={ + "robot_ip": robot_ip, + "ur_type": ur_type, + }.items(), + ) + + nodes_to_start = [ + control_node, + # dashboard_client_node, + # tool_communication_node, + # controller_stopper_node, + # urscript_interface, + rsp, + rviz_node, + alice_initial_joint_controller_spawner_stopped, + bob_initial_joint_controller_spawner_stopped, + alice_initial_joint_controller_spawner_started, + bob_initial_joint_controller_spawner_started, + ] + controller_spawners + + return nodes_to_start + + +def generate_launch_description(): + declared_arguments = [] + # UR specific arguments + declared_arguments.append( + DeclareLaunchArgument( + "ur_type", + description="Type/series of used UR robot.", + choices=[ + "ur3", + "ur3e", + "ur5", + "ur5e", + "ur10", + "ur10e", + "ur16e", + "ur20", + "ur30", + ], + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "robot_ip", description="IP address by which the robot can be reached." + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "safety_limits", + default_value="true", + description="Enables the safety limits controller if true.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "safety_pos_margin", + default_value="0.15", + description="The margin to lower and upper limits in the safety controller.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "safety_k_position", + default_value="20", + description="k-position factor in the safety controller.", + ) + ) + # General arguments + declared_arguments.append( + DeclareLaunchArgument( + "controllers_file", + default_value=PathJoinSubstitution( + [ + FindPackageShare("my_dual_robot_cell_control"), + "config", + "ros2_controllers.yaml", + ] + ), + description="YAML file with the controllers configuration.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "description_launchfile", + default_value=PathJoinSubstitution( + [ + FindPackageShare("my_dual_robot_cell_control"), + "launch", + "rsp.launch.py", + ] + ), + description="Launchfile (absolute path) providing the description. " + "The launchfile has to start a robot_state_publisher node that " + "publishes the description topic.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "tf_prefix", + default_value="", + description="tf_prefix of the joint names, useful for " + "multi-robot setup. If changed, also joint names in the controllers' configuration " + "have to be updated.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_mock_hardware", + default_value="false", + description="Start robot with mock hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "mock_sensor_commands", + default_value="false", + description="Enable mock command interfaces for sensors used for simple simulations. " + "Used only if 'use_mock_hardware' parameter is true.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "headless_mode", + default_value="false", + description="Enable headless mode for robot control", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "controller_spawner_timeout", + default_value="10", + description="Timeout used when spawning controllers.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "alice_initial_joint_controller", + default_value="alice_scaled_joint_trajectory_controller", + description="Initially loaded robot controller.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_initial_joint_controller", + default_value="bob_scaled_joint_trajectory_controller", + description="Initially loaded robot controller.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "activate_joint_controller", + default_value="true", + description="Activate loaded joint controller.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "launch_rviz", default_value="true", description="Launch RViz?" + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "rviz_config_file", + default_value=PathJoinSubstitution( + [FindPackageShare("ur_description"), "rviz", "view_robot.rviz"] + ), + description="RViz config file (absolute path) to use when launching rviz.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "launch_dashboard_client", + default_value="true", + description="Launch Dashboard Client?", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_tool_communication", + default_value="false", + description="Only available for e series!", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "tool_parity", + default_value="0", + description="Parity configuration for serial communication. Only effective, if " + "use_tool_communication is set to True.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "tool_baud_rate", + default_value="115200", + description="Baud rate configuration for serial communication. Only effective, if " + "use_tool_communication is set to True.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "tool_stop_bits", + default_value="1", + description="Stop bits configuration for serial communication. Only effective, if " + "use_tool_communication is set to True.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "tool_rx_idle_chars", + default_value="1.5", + description="RX idle chars configuration for serial communication. Only effective, " + "if use_tool_communication is set to True.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "tool_tx_idle_chars", + default_value="3.5", + description="TX idle chars configuration for serial communication. Only effective, " + "if use_tool_communication is set to True.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "tool_device_name", + default_value="/tmp/ttyUR", + description="File descriptor that will be generated for the tool communication device. " + "The user has be be allowed to write to this location. " + "Only effective, if use_tool_communication is set to True.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "tool_tcp_port", + default_value="54321", + description="Remote port that will be used for bridging the tool's serial device. " + "Only effective, if use_tool_communication is set to True.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "tool_voltage", + default_value="0", # 0 being a conservative value that won't destroy anything + description="Tool voltage that will be setup.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "reverse_ip", + default_value="0.0.0.0", + description="IP that will be used for the robot controller to communicate back to the driver.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "script_command_port", + default_value="50004", + description="Port that will be opened to forward URScript commands to the robot.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "reverse_port", + default_value="50001", + description="Port that will be opened to send cyclic instructions from the driver to the robot controller.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "script_sender_port", + default_value="50002", + description="The driver will offer an interface to query the external_control URScript on this port.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "trajectory_port", + default_value="50003", + description="Port that will be opened for trajectory control.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + name="update_rate_config_file", + default_value=[ + PathJoinSubstitution( + [ + FindPackageShare("my_dual_robot_cell_control"), + "config", + ] + ), + "/", + "update_rate.yaml", + ], + ) + ) + return LaunchDescription(declared_arguments + launch_setup()) From 8cd6f11307601a38e69f10a209bf95952deae750 Mon Sep 17 00:00:00 2001 From: Vihaan Shah Date: Mon, 24 Jun 2024 19:57:26 -0400 Subject: [PATCH 05/14] Generate dual_robot_cell moveit config using moveit setup assistant --- .../.setup_assistant | 19 ++++ .../CMakeLists.txt | 11 +++ .../config/initial_positions.yaml | 15 +++ .../config/joint_limits.yaml | 70 ++++++++++++++ .../config/kinematics.yaml | 1 + .../config/moveit.rviz | 51 +++++++++++ .../config/moveit_controllers.yaml | 32 +++++++ .../config/my_dual_robot_cell.srdf | 91 +++++++++++++++++++ .../config/pilz_cartesian_limits.yaml | 6 ++ .../launch/demo.launch.py | 7 ++ .../launch/move_group.launch.py | 7 ++ .../launch/moveit_rviz.launch.py | 7 ++ .../package.xml | 46 ++++++++++ 13 files changed, 363 insertions(+) create mode 100644 my_dual_robot_cell/my_dual_robot_cell_moveit_config/.setup_assistant create mode 100644 my_dual_robot_cell/my_dual_robot_cell_moveit_config/CMakeLists.txt create mode 100644 my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/initial_positions.yaml create mode 100644 my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/joint_limits.yaml create mode 100644 my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/kinematics.yaml create mode 100644 my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit.rviz create mode 100644 my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit_controllers.yaml create mode 100644 my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/my_dual_robot_cell.srdf create mode 100644 my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/pilz_cartesian_limits.yaml create mode 100644 my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/demo.launch.py create mode 100644 my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/move_group.launch.py create mode 100644 my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/moveit_rviz.launch.py create mode 100644 my_dual_robot_cell/my_dual_robot_cell_moveit_config/package.xml diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/.setup_assistant b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/.setup_assistant new file mode 100644 index 0000000..27ba91e --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/.setup_assistant @@ -0,0 +1,19 @@ +moveit_setup_assistant_config: + urdf: + package: my_dual_robot_cell_description + relative_path: urdf/my_dual_robot_cell.urdf.xacro + srdf: + relative_path: config/my_dual_robot_cell.srdf + package_settings: + author_name: Vihaan Shah + author_email: vihaan.shah@uconn.edu + generated_timestamp: 1719272672 + control_xacro: + command: + - position + state: + - position + - velocity + modified_urdf: + xacros: + - control_xacro \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/CMakeLists.txt b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/CMakeLists.txt new file mode 100644 index 0000000..0cb4e73 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.22) +project(my_dual_robot_cell_moveit_config) + +find_package(ament_cmake REQUIRED) + +ament_package() + +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) +install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME}) diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/initial_positions.yaml b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/initial_positions.yaml new file mode 100644 index 0000000..ecb90d7 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/initial_positions.yaml @@ -0,0 +1,15 @@ +# Default initial positions for my_dual_robot_cell's ros2_control fake system + +initial_positions: + alice_elbow_joint: 0 + alice_shoulder_lift_joint: 0 + alice_shoulder_pan_joint: 0 + alice_wrist_1_joint: 0 + alice_wrist_2_joint: 0 + alice_wrist_3_joint: 0 + bob_elbow_joint: 0 + bob_shoulder_lift_joint: 0 + bob_shoulder_pan_joint: 0 + bob_wrist_1_joint: 0 + bob_wrist_2_joint: 0 + bob_wrist_3_joint: 0 \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/joint_limits.yaml b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/joint_limits.yaml new file mode 100644 index 0000000..441ee87 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/joint_limits.yaml @@ -0,0 +1,70 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed + +# For beginners, we downscale velocity and acceleration limits. +# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed. +default_velocity_scaling_factor: 0.1 +default_acceleration_scaling_factor: 0.1 + +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + alice_elbow_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + alice_shoulder_lift_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + alice_shoulder_pan_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + alice_wrist_1_joint: + has_velocity_limits: true + max_velocity: 6.2831853071795862 + has_acceleration_limits: false + max_acceleration: 0 + alice_wrist_2_joint: + has_velocity_limits: true + max_velocity: 6.2831853071795862 + has_acceleration_limits: false + max_acceleration: 0 + alice_wrist_3_joint: + has_velocity_limits: true + max_velocity: 6.2831853071795862 + has_acceleration_limits: false + max_acceleration: 0 + bob_elbow_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + bob_shoulder_lift_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + bob_shoulder_pan_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + bob_wrist_1_joint: + has_velocity_limits: true + max_velocity: 6.2831853071795862 + has_acceleration_limits: false + max_acceleration: 0 + bob_wrist_2_joint: + has_velocity_limits: true + max_velocity: 6.2831853071795862 + has_acceleration_limits: false + max_acceleration: 0 + bob_wrist_3_joint: + has_velocity_limits: true + max_velocity: 6.2831853071795862 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/kinematics.yaml b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/kinematics.yaml new file mode 100644 index 0000000..9e26dfe --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/kinematics.yaml @@ -0,0 +1 @@ +{} \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit.rviz b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit.rviz new file mode 100644 index 0000000..179a9c8 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit.rviz @@ -0,0 +1,51 @@ +Panels: + - Class: rviz_common/Displays + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + - Class: rviz_common/Help + Name: Help + - Class: rviz_common/Views + Name: Views +Visualization Manager: + Displays: + - Class: rviz_default_plugins/Grid + Name: Grid + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Name: MotionPlanning + Planned Path: + Loop Animation: true + State Display Time: 0.05 s + Trajectory Topic: display_planned_path + Planning Scene Topic: monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Robot: + Robot Alpha: 0.5 + Value: true + Global Options: + Fixed Frame: world + Tools: + - Class: rviz_default_plugins/Interact + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 2.0 + Focal Point: + X: -0.1 + Y: 0.25 + Z: 0.30 + Name: Current View + Pitch: 0.5 + Target Frame: world + Yaw: -0.623 +Window Geometry: + Height: 975 + QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Width: 1200 \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit_controllers.yaml b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit_controllers.yaml new file mode 100644 index 0000000..dace306 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit_controllers.yaml @@ -0,0 +1,32 @@ +# MoveIt uses this configuration for controller management + +moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager + +moveit_simple_controller_manager: + controller_names: + - alice_scaled_joint_trajectory_controller + - bob_scaled_joint_trajectory_controller + + alice_scaled_joint_trajectory_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - alice_shoulder_pan_joint + - alice_shoulder_lift_joint + - alice_elbow_joint + - alice_wrist_1_joint + - alice_wrist_2_joint + - alice_wrist_3_joint + + bob_scaled_joint_trajectory_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - bob_shoulder_pan_joint + - bob_shoulder_lift_joint + - bob_elbow_joint + - bob_wrist_1_joint + - bob_wrist_2_joint + - bob_wrist_3_joint \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/my_dual_robot_cell.srdf b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/my_dual_robot_cell.srdf new file mode 100644 index 0000000..70480a0 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/my_dual_robot_cell.srdf @@ -0,0 +1,91 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/pilz_cartesian_limits.yaml b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/pilz_cartesian_limits.yaml new file mode 100644 index 0000000..b2997ca --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/pilz_cartesian_limits.yaml @@ -0,0 +1,6 @@ +# Limits for the Pilz planner +cartesian_limits: + max_trans_vel: 1.0 + max_trans_acc: 2.25 + max_trans_dec: -5.0 + max_rot_vel: 1.57 diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/demo.launch.py b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/demo.launch.py new file mode 100644 index 0000000..29c072b --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/demo.launch.py @@ -0,0 +1,7 @@ +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_demo_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder("my_dual_robot_cell", package_name="my_dual_robot_cell_moveit_config").to_moveit_configs() + return generate_demo_launch(moveit_config) diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/move_group.launch.py b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/move_group.launch.py new file mode 100644 index 0000000..d74842a --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/move_group.launch.py @@ -0,0 +1,7 @@ +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_move_group_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder("my_dual_robot_cell", package_name="my_dual_robot_cell_moveit_config").to_moveit_configs() + return generate_move_group_launch(moveit_config) diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/moveit_rviz.launch.py b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/moveit_rviz.launch.py new file mode 100644 index 0000000..f7dbfb7 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/moveit_rviz.launch.py @@ -0,0 +1,7 @@ +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_moveit_rviz_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder("my_dual_robot_cell", package_name="my_dual_robot_cell_moveit_config").to_moveit_configs() + return generate_moveit_rviz_launch(moveit_config) diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/package.xml b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/package.xml new file mode 100644 index 0000000..be1b82c --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/package.xml @@ -0,0 +1,46 @@ + + + + my_dual_robot_cell_moveit_config + 0.3.0 + + An automatically generated package with all the configuration and launch files for using the my_dual_robot_cell with the MoveIt Motion Planning Framework + + Vihaan Shah + + BSD-3-Clause + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit2/issues + https://github.com/ros-planning/moveit2 + + Vihaan Shah + + ament_cmake + + moveit_ros_move_group + moveit_kinematics + moveit_planners + moveit_simple_controller_manager + joint_state_publisher + joint_state_publisher_gui + tf2_ros + xacro + + + + moveit_configs_utils + moveit_ros_move_group + moveit_ros_visualization + my_dual_robot_cell_description + rviz2 + rviz_common + rviz_default_plugins + xacro + + + + ament_cmake + + From 1976b71e9e26482c538ff266aebd7c584a7b10a8 Mon Sep 17 00:00:00 2001 From: Vihaan Shah Date: Tue, 25 Jun 2024 10:25:35 -0400 Subject: [PATCH 06/14] Add acceleration limits --- .../config/joint_limits.yaml | 48 +++++++++---------- 1 file changed, 24 insertions(+), 24 deletions(-) diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/joint_limits.yaml b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/joint_limits.yaml index 441ee87..f5ee057 100644 --- a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/joint_limits.yaml +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/joint_limits.yaml @@ -11,60 +11,60 @@ joint_limits: alice_elbow_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 alice_shoulder_lift_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 alice_shoulder_pan_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 alice_wrist_1_joint: has_velocity_limits: true max_velocity: 6.2831853071795862 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 alice_wrist_2_joint: has_velocity_limits: true max_velocity: 6.2831853071795862 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 alice_wrist_3_joint: has_velocity_limits: true max_velocity: 6.2831853071795862 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 bob_elbow_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 bob_shoulder_lift_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 bob_shoulder_pan_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 bob_wrist_1_joint: has_velocity_limits: true max_velocity: 6.2831853071795862 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 bob_wrist_2_joint: has_velocity_limits: true max_velocity: 6.2831853071795862 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 bob_wrist_3_joint: has_velocity_limits: true max_velocity: 6.2831853071795862 - has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + has_acceleration_limits: true + max_acceleration: 5.0 \ No newline at end of file From 6de9d5dc6b924d79611eb35ccbe60a3d588a8b87 Mon Sep 17 00:00:00 2001 From: Vihaan Shah Date: Tue, 25 Jun 2024 10:27:03 -0400 Subject: [PATCH 07/14] Add IK plugins for the two manipulators --- .../config/kinematics.yaml | 9 ++++++++- .../my_dual_robot_cell_moveit_config/config/moveit.rviz | 2 +- 2 files changed, 9 insertions(+), 2 deletions(-) diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/kinematics.yaml b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/kinematics.yaml index 9e26dfe..87cc61c 100644 --- a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/kinematics.yaml +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/kinematics.yaml @@ -1 +1,8 @@ -{} \ No newline at end of file +alice_manipulator: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.0050000000000000001 + kinematics_solver_timeout: 0.0050000000000000001 +bob_manipulator: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.0050000000000000001 + kinematics_solver_timeout: 0.0050000000000000001 \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit.rviz b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit.rviz index 179a9c8..f31651e 100644 --- a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit.rviz +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit.rviz @@ -48,4 +48,4 @@ Visualization Manager: Window Geometry: Height: 975 QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Width: 1200 \ No newline at end of file + Width: 1200 From 6f86075ed3f75176a6c1b824a7f33ba0f554560e Mon Sep 17 00:00:00 2001 From: Vihaan Shah Date: Tue, 2 Jul 2024 20:27:02 -0400 Subject: [PATCH 08/14] Remove unwanted launch files + configuration files --- .../.setup_assistant | 11 +-- .../launch/demo.launch.py | 7 -- .../launch/dual_ur_moveit.launch.py | 77 +++++++++++++++++++ .../launch/move_group.launch.py | 7 -- .../launch/moveit_rviz.launch.py | 7 -- .../package.xml | 5 -- 6 files changed, 78 insertions(+), 36 deletions(-) delete mode 100644 my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/demo.launch.py create mode 100644 my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/dual_ur_moveit.launch.py delete mode 100644 my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/move_group.launch.py delete mode 100644 my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/moveit_rviz.launch.py diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/.setup_assistant b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/.setup_assistant index 27ba91e..23da84d 100644 --- a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/.setup_assistant +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/.setup_assistant @@ -7,13 +7,4 @@ moveit_setup_assistant_config: package_settings: author_name: Vihaan Shah author_email: vihaan.shah@uconn.edu - generated_timestamp: 1719272672 - control_xacro: - command: - - position - state: - - position - - velocity - modified_urdf: - xacros: - - control_xacro \ No newline at end of file + generated_timestamp: 1719324402 \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/demo.launch.py b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/demo.launch.py deleted file mode 100644 index 29c072b..0000000 --- a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/demo.launch.py +++ /dev/null @@ -1,7 +0,0 @@ -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_demo_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("my_dual_robot_cell", package_name="my_dual_robot_cell_moveit_config").to_moveit_configs() - return generate_demo_launch(moveit_config) diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/dual_ur_moveit.launch.py b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/dual_ur_moveit.launch.py new file mode 100644 index 0000000..644f2ab --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/dual_ur_moveit.launch.py @@ -0,0 +1,77 @@ +import os +from pathlib import Path + +import yaml +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, ExecuteProcess, RegisterEventHandler +from launch.conditions import IfCondition +from launch.event_handlers import OnProcessExit +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare +from moveit_configs_utils import MoveItConfigsBuilder + + +def load_yaml(package_name, file_path): + package_path = get_package_share_directory(package_name) + absolute_file_path = os.path.join(package_path, file_path) + + try: + with open(absolute_file_path) as file: + return yaml.safe_load(file) + except OSError: # parent of IOError, OSError *and* WindowsError where available + return None + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder( + "my_dual_robot_cell", package_name="my_dual_robot_cell_moveit_config" + ).to_moveit_configs() + + move_group_configuration = { + "publish_robot_description_semantic": True, + "allow_trajectory_execution": True, + "publish_planning_scene": True, + "publish_geometry_updates": True, + "publish_state_updates": True, + "publish_transforms_updates": True, + } + + move_group_params = [ + moveit_config.to_dict(), + move_group_configuration, + ] + + move_group_node = Node( + package="moveit_ros_move_group", + executable="move_group", + output="screen", + parameters=move_group_params, + additional_env={"DISPLAY": ":0"}, + ) + + # rviz_config_file = PathJoinSubstitution( + # [FindPackageShare("crm_moveit_config"), "config", "moveit.rviz"] + # ) + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2_moveit", + output="log", + # arguments=["-d"], + parameters=[ + moveit_config.robot_description, + moveit_config.robot_description_semantic, + moveit_config.robot_description_kinematics, + moveit_config.planning_pipelines, + moveit_config.joint_limits, + ], + ) + + return LaunchDescription( + [ + move_group_node, + rviz_node, + ] + ) diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/move_group.launch.py b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/move_group.launch.py deleted file mode 100644 index d74842a..0000000 --- a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/move_group.launch.py +++ /dev/null @@ -1,7 +0,0 @@ -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_move_group_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("my_dual_robot_cell", package_name="my_dual_robot_cell_moveit_config").to_moveit_configs() - return generate_move_group_launch(moveit_config) diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/moveit_rviz.launch.py b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/moveit_rviz.launch.py deleted file mode 100644 index f7dbfb7..0000000 --- a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/moveit_rviz.launch.py +++ /dev/null @@ -1,7 +0,0 @@ -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_moveit_rviz_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("my_dual_robot_cell", package_name="my_dual_robot_cell_moveit_config").to_moveit_configs() - return generate_moveit_rviz_launch(moveit_config) diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/package.xml b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/package.xml index be1b82c..ae4308f 100644 --- a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/package.xml +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/package.xml @@ -26,10 +26,6 @@ joint_state_publisher_gui tf2_ros xacro - - - moveit_configs_utils moveit_ros_move_group moveit_ros_visualization @@ -37,7 +33,6 @@ rviz2 rviz_common rviz_default_plugins - xacro From 24bf6e1203bbfdb4ad3a466f159f8ab3553ed89b Mon Sep 17 00:00:00 2001 From: Vihaan Shah Date: Tue, 2 Jul 2024 20:30:30 -0400 Subject: [PATCH 09/14] Add io/status and forward velocity controllers --- .../config/combined_controllers.yaml | 244 ++++++++++++++++++ 1 file changed, 244 insertions(+) create mode 100644 my_dual_robot_cell/my_dual_robot_cell_control/config/combined_controllers.yaml diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/config/combined_controllers.yaml b/my_dual_robot_cell/my_dual_robot_cell_control/config/combined_controllers.yaml new file mode 100644 index 0000000..143c150 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/config/combined_controllers.yaml @@ -0,0 +1,244 @@ +controller_manager: + ros__parameters: + alice_joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + bob_joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + alice_io_and_status_controller: + type: ur_controllers/GPIOController + + bob_io_and_status_controller: + type: ur_controllers/GPIOController + + alice_speed_scaling_state_broadcaster: + type: ur_controllers/SpeedScalingStateBroadcaster + + bob_speed_scaling_state_broadcaster: + type: ur_controllers/SpeedScalingStateBroadcaster + + alice_force_torque_sensor_broadcaster: + type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster + + bob_force_torque_sensor_broadcaster: + type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster + + alice_joint_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + + bob_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + + alice_scaled_joint_trajectory_controller: + type: ur_controllers/ScaledJointTrajectoryController + + bob_scaled_joint_trajectory_controller: + type: ur_controllers/ScaledJointTrajectoryController + + forward_velocity_controller: + type: velocity_controllers/JointGroupVelocityController + + alice_forward_position_controller: + type: position_controllers/JointGroupPositionController + + bob_forward_position_controller: + type: position_controllers/JointGroupPositionController + + +alice_speed_scaling_state_broadcaster: + ros__parameters: + state_publish_rate: 100.0 + tf_prefix: "alice_" + +bob_speed_scaling_state_broadcaster: + ros__parameters: + state_publish_rate: 100.0 + tf_prefix: "bob_" + +alice_io_and_status_controller: + ros__parameters: + tf_prefix: "alice_" + +bob_io_and_status_controller: + ros__parameters: + tf_prefix: "bob_" + +alice_force_torque_sensor_broadcaster: + ros__parameters: + sensor_name: alice_tcp_fts_sensor + state_interface_names: + - force.x + - force.y + - force.z + - torque.x + - torque.y + - torque.z + frame_id: bob_tool0 + topic_name: alice_ft_data + +bob_force_torque_sensor_broadcaster: + ros__parameters: + sensor_name: bob_tcp_fts_sensor + state_interface_names: + - force.x + - force.y + - force.z + - torque.x + - torque.y + - torque.z + frame_id: bob_tool0 + topic_name: bob_ft_data + + +alice_joint_trajectory_controller: + ros__parameters: + joints: + - alice_shoulder_pan_joint + - alice_shoulder_lift_joint + - alice_elbow_joint + - alice_wrist_1_joint + - alice_wrist_2_joint + - alice_wrist_3_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + constraints: + stopped_velocity_tolerance: 0.2 + goal_time: 0.0 + alice_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } + alice_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 } + alice_elbow_joint: { trajectory: 0.2, goal: 0.1 } + alice_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } + alice_wrist_2_joint: { trajectory: 0.2, goal: 0.1 } + alice_wrist_3_joint: { trajectory: 0.2, goal: 0.1 } + +bob_joint_trajectory_controller: + ros__parameters: + joints: + - bob_shoulder_pan_joint + - bob_shoulder_lift_joint + - bob_elbow_joint + - bob_wrist_1_joint + - bob_wrist_2_joint + - bob_wrist_3_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + constraints: + stopped_velocity_tolerance: 0.2 + goal_time: 0.0 + bob_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } + bob_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 } + bob_elbow_joint: { trajectory: 0.2, goal: 0.1 } + bob_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } + bob_wrist_2_joint: { trajectory: 0.2, goal: 0.1 } + bob_wrist_3_joint: { trajectory: 0.2, goal: 0.1 } + +alice_scaled_joint_trajectory_controller: + ros__parameters: + joints: + - alice_shoulder_pan_joint + - alice_shoulder_lift_joint + - alice_elbow_joint + - alice_wrist_1_joint + - alice_wrist_2_joint + - alice_wrist_3_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + constraints: + stopped_velocity_tolerance: 0.2 + goal_time: 0.0 + alice_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } + alice_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 } + alice_elbow_joint: { trajectory: 0.2, goal: 0.1 } + alice_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } + alice_wrist_2_joint: { trajectory: 0.2, goal: 0.1 } + alice_wrist_3_joint: { trajectory: 0.2, goal: 0.1 } + speed_scaling_interface_name: alice_speed_scaling/speed_scaling_factor + +bob_scaled_joint_trajectory_controller: + ros__parameters: + joints: + - bob_shoulder_pan_joint + - bob_shoulder_lift_joint + - bob_elbow_joint + - bob_wrist_1_joint + - bob_wrist_2_joint + - bob_wrist_3_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + constraints: + stopped_velocity_tolerance: 0.2 + goal_time: 0.0 + bob_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } + bob_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 } + bob_elbow_joint: { trajectory: 0.2, goal: 0.1 } + bob_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } + bob_wrist_2_joint: { trajectory: 0.2, goal: 0.1 } + bob_wrist_3_joint: { trajectory: 0.2, goal: 0.1 } + speed_scaling_interface_name: bob_speed_scaling/speed_scaling_factor + +alice_forward_velocity_controller: + ros__parameters: + joints: + - alice_shoulder_pan_joint + - alice_shoulder_lift_joint + - alice_elbow_joint + - alice_wrist_1_joint + - alice_wrist_2_joint + - alice_wrist_3_joint + interface_name: velocity + +bob_forward_velocity_controller: + ros__parameters: + joints: + - bob_shoulder_pan_joint + - bob_shoulder_lift_joint + - bob_elbow_joint + - bob_wrist_1_joint + - bob_wrist_2_joint + - bob_wrist_3_joint + interface_name: velocity + +alice_forward_position_controller: + ros__parameters: + joints: + - alice_shoulder_pan_joint + - alice_shoulder_lift_joint + - alice_elbow_joint + - alice_wrist_1_joint + - alice_wrist_2_joint + - alice_wrist_3_joint + +bob_forward_position_controller: + ros__parameters: + joints: + - bob_shoulder_pan_joint + - bob_shoulder_lift_joint + - bob_elbow_joint + - bob_wrist_1_joint + - bob_wrist_2_joint + - bob_wrist_3_joint \ No newline at end of file From 458bcca768b24235997b4c238371e76ea9dc4942 Mon Sep 17 00:00:00 2001 From: Vihaan Shah Date: Tue, 2 Jul 2024 20:31:35 -0400 Subject: [PATCH 10/14] Calibrate arms --- .../config/alice_calibration.yaml | 44 +++++++++++++++++++ .../config/bob_calibration.yaml | 44 +++++++++++++++++++ 2 files changed, 88 insertions(+) create mode 100644 my_dual_robot_cell/my_dual_robot_cell_control/config/alice_calibration.yaml create mode 100644 my_dual_robot_cell/my_dual_robot_cell_control/config/bob_calibration.yaml diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/config/alice_calibration.yaml b/my_dual_robot_cell/my_dual_robot_cell_control/config/alice_calibration.yaml new file mode 100644 index 0000000..278abec --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/config/alice_calibration.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.15188497379686153 + roll: -0 + pitch: 0 + yaw: 6.0977137363254793e-05 + upper_arm: + x: -5.6533207234432926e-06 + y: 0 + z: 0 + roll: 1.570844251867735 + pitch: 0 + yaw: 2.541818406001163e-05 + forearm: + x: -0.24357369892909492 + y: 0 + z: 0 + roll: 3.1408819727448281 + pitch: 3.1414601607728438 + yaw: -3.1415265155090113 + wrist_1: + x: -0.21292841478821867 + y: 0.00048506402454531479 + z: 0.11301075109662011 + roll: 3.1373004863304383 + pitch: 3.1363886827765697 + yaw: 3.1415791419793657 + wrist_2: + x: 4.074182080180165e-05 + y: -0.085310893242290478 + z: -6.4346805950626749e-05 + roll: 1.5715505891323607 + pitch: 0 + yaw: -1.1414933636491948e-05 + wrist_3: + x: -7.319426521397714e-05 + y: 0.08232894752301384 + z: -5.8521744863255091e-05 + roll: 1.5700854986261004 + pitch: 3.1415926535897931 + yaw: -3.1415870300000677 + hash: calib_3443727564195709335 \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/config/bob_calibration.yaml b/my_dual_robot_cell/my_dual_robot_cell_control/config/bob_calibration.yaml new file mode 100644 index 0000000..07d02f8 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/config/bob_calibration.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.15192390485501492 + roll: -0 + pitch: 0 + yaw: 7.5207672895458863e-05 + upper_arm: + x: 1.1565754681822927e-07 + y: 0 + z: 0 + roll: 1.5701230398196422 + pitch: 0 + yaw: -3.745754755790643e-05 + forearm: + x: -0.24342623565759611 + y: 0 + z: 0 + roll: 0.0062667292139209178 + pitch: -0.0013839232587116385 + yaw: 3.5263175677186283e-05 + wrist_1: + x: -0.21319918045377464 + y: -0.00042101985050556432 + z: 0.11194857450023041 + roll: 0.0037608148871306722 + pitch: 0.00014433964301166516 + yaw: -5.7788592498697277e-05 + wrist_2: + x: 3.3301180434358473e-05 + y: -0.085304702494341758 + z: -2.7251181339165215e-05 + roll: 1.5711157837487961 + pitch: 0 + yaw: -3.3083428877200004e-05 + wrist_3: + x: -4.675513506427485e-05 + y: 0.082256832990903556 + z: -5.7204020078096673e-05 + roll: 1.5701008950748028 + pitch: 3.1415926535897931 + yaw: 3.1415605336065866 + hash: calib_10683367749926797482 \ No newline at end of file From 998c2c189aa941ca2c738b2272dcdf3115b60334 Mon Sep 17 00:00:00 2001 From: Vihaan Shah Date: Wed, 3 Jul 2024 15:02:54 -0400 Subject: [PATCH 11/14] Update arguments for alice and bob --- .../config/my_robot_calibration.yaml | 44 -- .../config/ros2_controllers.yaml | 227 -------- .../launch/rsp.launch.py | 163 ++++-- .../launch/start_robots.launch.py | 460 +++++++++++++++ .../launch/ur_control.launch.py | 541 ------------------ .../my_dual_robot_cell_controlled.urdf.xacro | 79 ++- 6 files changed, 610 insertions(+), 904 deletions(-) delete mode 100644 my_dual_robot_cell/my_dual_robot_cell_control/config/my_robot_calibration.yaml delete mode 100644 my_dual_robot_cell/my_dual_robot_cell_control/config/ros2_controllers.yaml create mode 100644 my_dual_robot_cell/my_dual_robot_cell_control/launch/start_robots.launch.py delete mode 100644 my_dual_robot_cell/my_dual_robot_cell_control/launch/ur_control.launch.py diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/config/my_robot_calibration.yaml b/my_dual_robot_cell/my_dual_robot_cell_control/config/my_robot_calibration.yaml deleted file mode 100644 index f7200ba..0000000 --- a/my_dual_robot_cell/my_dual_robot_cell_control/config/my_robot_calibration.yaml +++ /dev/null @@ -1,44 +0,0 @@ -kinematics: - shoulder: - x: 0 - y: 0 - z: 0.1519 - roll: 0 - pitch: 0 - yaw: 0 - upper_arm: - x: 0 - y: 0 - z: 0 - roll: 1.570796327 - pitch: 0 - yaw: 0 - forearm: - x: -0.24365 - y: 0 - z: 0 - roll: 0 - pitch: 0 - yaw: 0 - wrist_1: - x: -0.21325 - y: 0 - z: 0.11235 - roll: 0 - pitch: 0 - yaw: 0 - wrist_2: - x: 0 - y: -0.08535 - z: -1.750557762378351e-11 - roll: 1.570796327 - pitch: 0 - yaw: 0 - wrist_3: - x: 0 - y: 0.0819 - z: -1.679797079540562e-11 - roll: 1.570796326589793 - pitch: 3.141592653589793 - yaw: 3.141592653589793 - hash: calib_9122066269688285636 \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/config/ros2_controllers.yaml b/my_dual_robot_cell/my_dual_robot_cell_control/config/ros2_controllers.yaml deleted file mode 100644 index 14ededf..0000000 --- a/my_dual_robot_cell/my_dual_robot_cell_control/config/ros2_controllers.yaml +++ /dev/null @@ -1,227 +0,0 @@ -controller_manager: - ros__parameters: - alice_joint_state_broadcaster: - type: joint_state_broadcaster/JointStateBroadcaster - - bob_joint_state_broadcaster: - type: joint_state_broadcaster/JointStateBroadcaster - - # io_and_status_controller: - # type: ur_controllers/GPIOController - - alice_speed_scaling_state_broadcaster: - type: ur_controllers/SpeedScalingStateBroadcaster - - bob_speed_scaling_state_broadcaster: - type: ur_controllers/SpeedScalingStateBroadcaster - - alice_force_torque_sensor_broadcaster: - type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster - - bob_force_torque_sensor_broadcaster: - type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster - - alice_joint_trajectory_controller: - type: joint_trajectory_controller/JointTrajectoryController - - bob_trajectory_controller: - type: joint_trajectory_controller/JointTrajectoryController - - alice_scaled_joint_trajectory_controller: - type: ur_controllers/ScaledJointTrajectoryController - - bob_scaled_joint_trajectory_controller: - type: ur_controllers/ScaledJointTrajectoryController - - # forward_velocity_controller: - # type: velocity_controllers/JointGroupVelocityController - - alice_forward_position_controller: - type: position_controllers/JointGroupPositionController - - bob_forward_position_controller: - type: position_controllers/JointGroupPositionController - - -alice_speed_scaling_state_broadcaster: - ros__parameters: - state_publish_rate: 100.0 - tf_prefix: "alice" - -bob_speed_scaling_state_broadcaster: - ros__parameters: - state_publish_rate: 100.0 - tf_prefix: "bob" - -# io_and_status_controller: -# ros__parameters: -# tf_prefix: "$(var tf_prefix)" - -alice_force_torque_sensor_broadcaster: - ros__parameters: - sensor_name: alice_tcp_fts_sensor - state_interface_names: - - force.x - - force.y - - force.z - - torque.x - - torque.y - - torque.z - frame_id: bob_tool0 - topic_name: alice_ft_data - -bob_force_torque_sensor_broadcaster: - ros__parameters: - sensor_name: bob_tcp_fts_sensor - state_interface_names: - - force.x - - force.y - - force.z - - torque.x - - torque.y - - torque.z - frame_id: bob_tool0 - topic_name: bob_ft_data - - -alice_joint_trajectory_controller: - ros__parameters: - joints: - - alice_shoulder_pan_joint - - alice_shoulder_lift_joint - - alice_elbow_joint - - alice_wrist_1_joint - - alice_wrist_2_joint - - alice_wrist_3_joint - command_interfaces: - - position - state_interfaces: - - position - - velocity - state_publish_rate: 100.0 - action_monitor_rate: 20.0 - allow_partial_joints_goal: false - constraints: - stopped_velocity_tolerance: 0.2 - goal_time: 0.0 - alice_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } - alice_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 } - alice_elbow_joint: { trajectory: 0.2, goal: 0.1 } - alice_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } - alice_wrist_2_joint: { trajectory: 0.2, goal: 0.1 } - alice_wrist_3_joint: { trajectory: 0.2, goal: 0.1 } - -bob_joint_trajectory_controller: - ros__parameters: - joints: - - bob_shoulder_pan_joint - - bob_shoulder_lift_joint - - bob_elbow_joint - - bob_wrist_1_joint - - bob_wrist_2_joint - - bob_wrist_3_joint - command_interfaces: - - position - state_interfaces: - - position - - velocity - state_publish_rate: 100.0 - action_monitor_rate: 20.0 - allow_partial_joints_goal: false - constraints: - stopped_velocity_tolerance: 0.2 - goal_time: 0.0 - bob_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } - bob_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 } - bob_elbow_joint: { trajectory: 0.2, goal: 0.1 } - bob_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } - bob_wrist_2_joint: { trajectory: 0.2, goal: 0.1 } - bob_wrist_3_joint: { trajectory: 0.2, goal: 0.1 } - -alice_scaled_joint_trajectory_controller: - ros__parameters: - joints: - - alice_shoulder_pan_joint - - alice_shoulder_lift_joint - - alice_elbow_joint - - alice_wrist_1_joint - - alice_wrist_2_joint - - alice_wrist_3_joint - command_interfaces: - - position - state_interfaces: - - position - - velocity - state_publish_rate: 100.0 - action_monitor_rate: 20.0 - allow_partial_joints_goal: false - constraints: - stopped_velocity_tolerance: 0.2 - goal_time: 0.0 - alice_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } - alice_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 } - alice_elbow_joint: { trajectory: 0.2, goal: 0.1 } - alice_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } - alice_wrist_2_joint: { trajectory: 0.2, goal: 0.1 } - alice_wrist_3_joint: { trajectory: 0.2, goal: 0.1 } - speed_scaling_interface_name: alice_speed_scaling/speed_scaling_factor - -bob_scaled_joint_trajectory_controller: - ros__parameters: - joints: - - bob_shoulder_pan_joint - - bob_shoulder_lift_joint - - bob_elbow_joint - - bob_wrist_1_joint - - bob_wrist_2_joint - - bob_wrist_3_joint - command_interfaces: - - position - state_interfaces: - - position - - velocity - state_publish_rate: 100.0 - action_monitor_rate: 20.0 - allow_partial_joints_goal: false - constraints: - stopped_velocity_tolerance: 0.2 - goal_time: 0.0 - bob_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } - bob_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 } - bob_elbow_joint: { trajectory: 0.2, goal: 0.1 } - bob_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } - bob_wrist_2_joint: { trajectory: 0.2, goal: 0.1 } - bob_wrist_3_joint: { trajectory: 0.2, goal: 0.1 } - speed_scaling_interface_name: bob_speed_scaling/speed_scaling_factor - - -# forward_velocity_controller: -# ros__parameters: -# joints: -# - $(var tf_prefix)shoulder_pan_joint -# - $(var tf_prefix)shoulder_lift_joint -# - $(var tf_prefix)elbow_joint -# - $(var tf_prefix)wrist_1_joint -# - $(var tf_prefix)wrist_2_joint -# - $(var tf_prefix)wrist_3_joint -# interface_name: velocity - -alice_forward_position_controller: - ros__parameters: - joints: - - alice_shoulder_pan_joint - - alice_shoulder_lift_joint - - alice_elbow_joint - - alice_wrist_1_joint - - alice_wrist_2_joint - - alice_wrist_3_joint - -bob_forward_position_controller: - ros__parameters: - joints: - - bob_shoulder_pan_joint - - bob_shoulder_lift_joint - - bob_elbow_joint - - bob_wrist_1_joint - - bob_wrist_2_joint - - bob_wrist_3_joint \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/launch/rsp.launch.py b/my_dual_robot_cell/my_dual_robot_cell_control/launch/rsp.launch.py index 159b448..d4f5436 100644 --- a/my_dual_robot_cell/my_dual_robot_cell_control/launch/rsp.launch.py +++ b/my_dual_robot_cell/my_dual_robot_cell_control/launch/rsp.launch.py @@ -1,58 +1,32 @@ -# Copyright (c) 2024 FZI Forschungszentrum Informatik -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# -# * Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in the -# documentation and/or other materials provided with the distribution. -# -# * Neither the name of the {copyright_holder} nor the names of its -# contributors may be used to endorse or promote products derived from -# this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. - -# -# Author: Felix Exner - from launch import LaunchDescription from launch.actions import DeclareLaunchArgument -from launch.substitutions import ( - Command, - FindExecutable, - LaunchConfiguration, - PathJoinSubstitution, -) +from launch.substitutions import (Command, FindExecutable, LaunchConfiguration, + PathJoinSubstitution) from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare def generate_launch_description(): - ur_type = LaunchConfiguration("ur_type") - robot_ip = LaunchConfiguration("robot_ip") + alice_ur_type = LaunchConfiguration("alice_ur_type") + alice_ur_type = LaunchConfiguration("bob_ur_type") - use_mock_hardware = LaunchConfiguration("use_mock_hardware") - mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") + alice_robot_ip = LaunchConfiguration("alice_robot_ip") + bob_robot_ip = LaunchConfiguration("bob_robot_ip") + + alice_use_mock_hardware = LaunchConfiguration("alice_use_mock_hardware") + alice_mock_sensor_commands = LaunchConfiguration("alice_mock_sensor_commands") + bob_use_mock_hardware = LaunchConfiguration("bob_use_mock_hardware") + bob_mock_sensor_commands = LaunchConfiguration("bob_mock_sensor_commands") headless_mode = LaunchConfiguration("headless_mode") - kinematics_parameters_file = LaunchConfiguration("kinematics_parameters_file") + alice_kinematics_parameters_file = LaunchConfiguration( + "alice_kinematics_parameters_file" + ) + bob_kinematics_parameters_file = LaunchConfiguration( + "bob_kinematics_parameters_file" + ) - # Load description with necessary parameters robot_description_content = Command( [ PathJoinSubstitution([FindExecutable(name="xacro")]), @@ -64,16 +38,66 @@ def generate_launch_description(): "my_dual_robot_cell_controlled.urdf.xacro", ] ), + " ", + "alice_robot_ip:=", + alice_robot_ip, + " ", + "bob_robot_ip:=", + bob_robot_ip, + " ", + "alice_ur_type:=", + ur_type, + " ", + "bob_ur_type:=", + ur_type, + " ", + "alice_use_mock_hardware:=", + alice_use_mock_hardware, + " ", + "bob_use_mock_hardware:=", + bob_use_mock_hardware, + " ", + "alice_kinematics_parameters_file:=", + alice_kinematics_parameters_file, + " ", + "bob_kinematics_parameters_file:=", + bob_kinematics_parameters_file, + " ", + "alice_mock_sensor_commands:=", + alice_mock_sensor_commands, + " ", + "bob_mock_sensor_commands:=", + bob_mock_sensor_commands, + " ", + "headless_mode:=", + headless_mode, ] ) robot_description = {"robot_description": robot_description_content} declared_arguments = [] - # UR specific arguments declared_arguments.append( DeclareLaunchArgument( - "ur_type", - description="Typo/series of used UR robot.", + "alice_ur_type", + description="Type/series of used UR robot.", + choices=[ + "ur3", + "ur3e", + "ur5", + "ur5e", + "ur10", + "ur10e", + "ur16e", + "ur20", + "ur30", + ], + default_value="ur3", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_ur_type", + description="Type/series of used UR robot.", choices=[ "ur3", "ur3e", @@ -90,17 +114,39 @@ def generate_launch_description(): ) declared_arguments.append( DeclareLaunchArgument( - "robot_ip", description="IP address by which the robot can be reached." + "alice_robot_ip", + default_value="192.168.0.101", + description="IP address by which the robot can be reached.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_robot_ip", + default_value="192.168.0.100", + description="IP address by which the robot can be reached.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "alice_kinematics_parameters_file", + default_value=PathJoinSubstitution( + [ + FindPackageShare("my_dual_robot_cell_control"), + "config", + "alice_calibration.yaml", + ] + ), + description="The calibration configuration of the actual robot used.", ) ) declared_arguments.append( DeclareLaunchArgument( - "kinematics_parameters_file", + "bob_kinematics_parameters_file", default_value=PathJoinSubstitution( [ FindPackageShare("my_dual_robot_cell_control"), "config", - "my_robot_calibration.yaml", + "bob_calibration.yaml", ] ), description="The calibration configuration of the actual robot used.", @@ -108,14 +154,29 @@ def generate_launch_description(): ) declared_arguments.append( DeclareLaunchArgument( - "use_mock_hardware", + "alice_use_mock_hardware", + default_value="false", + description="Start robot with mock hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_use_mock_hardware", default_value="false", description="Start robot with mock hardware mirroring command to its states.", ) ) declared_arguments.append( DeclareLaunchArgument( - "mock_sensor_commands", + "alice_mock_sensor_commands", + default_value="false", + description="Enable mock command interfaces for sensors used for simple simulations. " + "Used only if 'use_mock_hardware' parameter is true.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_mock_sensor_commands", default_value="false", description="Enable mock command interfaces for sensors used for simple simulations. " "Used only if 'use_mock_hardware' parameter is true.", diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/launch/start_robots.launch.py b/my_dual_robot_cell/my_dual_robot_cell_control/launch/start_robots.launch.py new file mode 100644 index 0000000..eaaa058 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/launch/start_robots.launch.py @@ -0,0 +1,460 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.conditions import IfCondition, UnlessCondition +from launch.launch_description_sources import AnyLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterFile +from launch_ros.substitutions import FindPackageShare + + +def launch_setup(): + # Initialize Arguments + alice_ur_type = LaunchConfiguration("alice_ur_type") + alice_ur_type = LaunchConfiguration("bob_ur_type") + + alice_robot_ip = LaunchConfiguration("alice_robot_ip") + bob_robot_ip = LaunchConfiguration("bob_robot_ip") + + # General arguments + controllers_file = LaunchConfiguration("controllers_file") + controller_spawner_timeout = LaunchConfiguration("controller_spawner_timeout") + description_launchfile = LaunchConfiguration("description_launchfile") + launch_rviz = LaunchConfiguration("launch_rviz") + rviz_config_file = LaunchConfiguration("rviz_config_file") + headless_mode = LaunchConfiguration("headless_mode") + + # Robot specific arguments + alice_use_mock_hardware = LaunchConfiguration("alice_use_mock_hardware") + alice_mock_sensor_commands = LaunchConfiguration("alice_mock_sensor_commands") + alice_initial_joint_controller = LaunchConfiguration("alice_initial_joint_controller") + alice_activate_joint_controller = LaunchConfiguration("alice_activate_joint_controller") + alice_launch_dashboard_client = LaunchConfiguration("alice_launch_dashboard_client") + + bob_use_mock_hardware = LaunchConfiguration("bob_use_mock_hardware") + bob_mock_sensor_commands = LaunchConfiguration("bob_mock_sensor_commands") + bob_initial_joint_controller = LaunchConfiguration("bob_initial_joint_controller") + bob_activate_joint_controller = LaunchConfiguration("bob_activate_joint_controller") + bob_launch_dashboard_client = LaunchConfiguration("bob_launch_dashboard_client") + + # Single controller manager comprising of controllers for both arms + control_node = Node( + package="controller_manager", + executable="ros2_control_node", + parameters=[ + LaunchConfiguration("update_rate_config_file"), + ParameterFile(controllers_file, allow_substs=True), + # We use the tf_prefix as substitution in there, so that's why we keep it as an + # argument for this launchfile + ], + output="screen", + ) + + alice_dashboard_client_node = Node( + package="ur_robot_driver", + condition=IfCondition(alice_launch_dashboard_client) and UnlessCondition(alice_use_mock_hardware), + executable="dashboard_client", + name="dashboard_client", + namespace="alice", + output="screen", + emulate_tty=True, + parameters=[{"robot_ip": alice_robot_ip}], + ) + + bob_dashboard_client_node = Node( + package="ur_robot_driver", + condition=IfCondition(bob_launch_dashboard_client) and UnlessCondition(bob_use_mock_hardware), + executable="dashboard_client", + name="dashboard_client", + namespace="bob", + output="screen", + emulate_tty=True, + parameters=[{"robot_ip": bob_robot_ip}], + ) + + alice_urscript_interface = Node( + package="ur_robot_driver", + executable="urscript_interface", + namespace="alice", + parameters=[{"robot_ip": alice_robot_ip}], + output="screen", + condition=UnlessCondition(alice_use_mock_hardware), + ) + + bob_urscript_interface = Node( + package="ur_robot_driver", + executable="urscript_interface", + namespace="bob", + parameters=[{"robot_ip": bob_robot_ip}], + output="screen", + condition=UnlessCondition(bob_use_mock_hardware), + ) + + alice_controller_stopper_node = Node( + package="ur_robot_driver", + executable="controller_stopper_node", + namespace="alice", + name="controller_stopper", + output="screen", + emulate_tty=True, + condition=UnlessCondition(alice_use_mock_hardware), + parameters=[ + {"headless_mode": headless_mode}, + {"joint_controller_active": alice_activate_joint_controller}, + { + "consistent_controllers": [ + "alice_io_and_status_controller", + "alice_force_torque_sensor_broadcaster", + "alice_joint_state_broadcaster", + "alice_speed_scaling_state_broadcaster", + ] + }, + ], + ) + + bob_controller_stopper_node = Node( + package="ur_robot_driver", + executable="controller_stopper_node", + namespace="bob", + name="controller_stopper", + output="screen", + emulate_tty=True, + condition=UnlessCondition(bob_use_mock_hardware), + parameters=[ + {"headless_mode": headless_mode}, + {"joint_controller_active": bob_activate_joint_controller}, + { + "consistent_controllers": [ + "bob_io_and_status_controller", + "bob_force_torque_sensor_broadcaster", + "bob_joint_state_broadcaster", + "bob_speed_scaling_state_broadcaster", + ] + }, + ], + ) + + rviz_node = Node( + package="rviz2", + condition=IfCondition(launch_rviz), + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file], + ) + + # Spawn controllers + def controller_spawner(controllers, active=True): + inactive_flags = ["--inactive"] if not active else [] + return Node( + package="controller_manager", + executable="spawner", + arguments=[ + "--controller-manager", + "/controller_manager", + "--controller-manager-timeout", + controller_spawner_timeout, + ] + + inactive_flags + + controllers, + ) + + controllers_active = [ + "alice_joint_state_broadcaster", + "bob_joint_state_broadcaster", + "alice_io_and_status_controller", + "bob_io_and_status_controller", + "alice_speed_scaling_state_broadcaster", + "bob_speed_scaling_state_broadcaster", + "alice_force_torque_sensor_broadcaster", + "bob_force_torque_sensor_broadcaster", + ] + controllers_inactive = [ + "alice_forward_position_controller", + "bob_forward_position_controller", + ] + + controller_spawners = [controller_spawner(controllers_active)] + [ + controller_spawner(controllers_inactive, active=False) + ] + + # There may be other controllers of the joints, but this is the initially-started one + alice_initial_joint_controller_spawner_started = Node( + package="controller_manager", + executable="spawner", + arguments=[ + alice_initial_joint_controller, + "-c", + "/controller_manager", + "--controller-manager-timeout", + controller_spawner_timeout, + ], + condition=IfCondition(alice_activate_joint_controller), + ) + bob_initial_joint_controller_spawner_started = Node( + package="controller_manager", + executable="spawner", + arguments=[ + bob_initial_joint_controller, + "-c", + "/controller_manager", + "--controller-manager-timeout", + controller_spawner_timeout, + ], + condition=IfCondition(bob_activate_joint_controller), + ) + alice_initial_joint_controller_spawner_stopped = Node( + package="controller_manager", + executable="spawner", + arguments=[ + alice_initial_joint_controller, + "-c", + "/controller_manager", + "--controller-manager-timeout", + controller_spawner_timeout, + "--inactive", + ], + condition=UnlessCondition(alice_activate_joint_controller), + ) + bob_initial_joint_controller_spawner_stopped = Node( + package="controller_manager", + executable="spawner", + arguments=[ + bob_initial_joint_controller, + "-c", + "/controller_manager", + "--controller-manager-timeout", + controller_spawner_timeout, + "--inactive", + ], + condition=UnlessCondition(bob_activate_joint_controller), + ) + + rsp = IncludeLaunchDescription( + AnyLaunchDescriptionSource(description_launchfile), + launch_arguments={ + "alice_robot_ip": alice_robot_ip, + "bob_robot_ip": bob_robot_ip, + "ur_type": alice_ur_type, + }.items(), + ) + + nodes_to_start = [ + control_node, + alice_dashboard_client_node, + bob_dashboard_client_node, + alice_controller_stopper_node, + bob_controller_stopper_node, + alice_urscript_interface, + bob_urscript_interface, + rsp, + rviz_node, + alice_initial_joint_controller_spawner_stopped, + bob_initial_joint_controller_spawner_stopped, + alice_initial_joint_controller_spawner_started, + bob_initial_joint_controller_spawner_started, + ] + controller_spawners + + return nodes_to_start + + +def generate_launch_description(): + declared_arguments = [] + # UR specific arguments + declared_arguments.append( + DeclareLaunchArgument( + "alice_ur_type", + description="Type/series of used UR robot.", + choices=[ + "ur3", + "ur3e", + "ur5", + "ur5e", + "ur10", + "ur10e", + "ur16e", + "ur20", + "ur30", + ], + default_value="ur3", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_ur_type", + description="Type/series of used UR robot.", + choices=[ + "ur3", + "ur3e", + "ur5", + "ur5e", + "ur10", + "ur10e", + "ur16e", + "ur20", + "ur30", + ], + default_value="ur3", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "alice_robot_ip", + default_value="192.168.0.101", + description="IP address by which the robot can be reached.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_robot_ip", + default_value="192.168.0.100", + description="IP address by which the robot can be reached.", + ) + ) + + # General arguments + declared_arguments.append( + DeclareLaunchArgument( + "controllers_file", + default_value=PathJoinSubstitution( + [ + FindPackageShare("my_dual_robot_cell_control"), + "config", + "combined_controllers.yaml", + ] + ), + description="YAML file with the controllers configuration.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "description_launchfile", + default_value=PathJoinSubstitution( + [ + FindPackageShare("my_dual_robot_cell_control"), + "launch", + "rsp.launch.py", + ] + ), + description="Launchfile (absolute path) providing the description. " + "The launchfile has to start a robot_state_publisher node that " + "publishes the description topic.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "alice_use_mock_hardware", + default_value="false", + description="Start robot with mock hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_use_mock_hardware", + default_value="false", + description="Start robot with mock hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "alice_mock_sensor_commands", + default_value="false", + description="Enable mock command interfaces for sensors used for simple simulations. " + "Used only if 'use_mock_hardware' parameter is true.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_mock_sensor_commands", + default_value="false", + description="Enable mock command interfaces for sensors used for simple simulations. " + "Used only if 'use_mock_hardware' parameter is true.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "headless_mode", + default_value="false", + description="Enable headless mode for robot control for both arms.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "controller_spawner_timeout", + default_value="10", + description="Timeout used when spawning controllers.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "alice_initial_joint_controller", + default_value="alice_scaled_joint_trajectory_controller", + description="Initially loaded robot controller for the alice robot arm.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_initial_joint_controller", + default_value="bob_scaled_joint_trajectory_controller", + description="Initially loaded robot controller for the bob robot arm.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "alice_activate_joint_controller", + default_value="true", + description="Activate loaded joint controller for the alice robot arm.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_activate_joint_controller", + default_value="true", + description="Activate loaded joint controller for the bob robot arm.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "launch_rviz", default_value="true", description="Launch RViz?" + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "rviz_config_file", + default_value=PathJoinSubstitution( + [FindPackageShare("my_dual_robot_cell_description"), "rviz", "urdf.rviz"] + ), + description="RViz config file (absolute path) to use when launching rviz.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "alice_launch_dashboard_client", + default_value="true", + description="Launch Dashboard Client?", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_launch_dashboard_client", + default_value="true", + description="Launch Dashboard Client?", + ) + ) + + declared_arguments.append( + DeclareLaunchArgument( + name="update_rate_config_file", + default_value=[ + PathJoinSubstitution( + [ + FindPackageShare("my_dual_robot_cell_control"), + "config", + ] + ), + "/", + "update_rate.yaml", + ], + ) + ) + return LaunchDescription(declared_arguments + launch_setup()) diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/launch/ur_control.launch.py b/my_dual_robot_cell/my_dual_robot_cell_control/launch/ur_control.launch.py deleted file mode 100644 index 66b9392..0000000 --- a/my_dual_robot_cell/my_dual_robot_cell_control/launch/ur_control.launch.py +++ /dev/null @@ -1,541 +0,0 @@ -# Copyright (c) 2021 PickNik, Inc. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# -# * Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in the -# documentation and/or other materials provided with the distribution. -# -# * Neither the name of the {copyright_holder} nor the names of its -# contributors may be used to endorse or promote products derived from -# this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. - -# -# Author: Denis Stogl - -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription -from launch.conditions import IfCondition, UnlessCondition -from launch.launch_description_sources import AnyLaunchDescriptionSource -from launch.substitutions import LaunchConfiguration, PathJoinSubstitution -from launch_ros.actions import Node -from launch_ros.parameter_descriptions import ParameterFile -from launch_ros.substitutions import FindPackageShare - - -def launch_setup(): - # Initialize Arguments - ur_type = LaunchConfiguration("ur_type") - robot_ip = LaunchConfiguration("robot_ip") - # General arguments - controllers_file = LaunchConfiguration("controllers_file") - description_launchfile = LaunchConfiguration("description_launchfile") - use_mock_hardware = LaunchConfiguration("use_mock_hardware") - controller_spawner_timeout = LaunchConfiguration("controller_spawner_timeout") - alice_initial_joint_controller = LaunchConfiguration( - "alice_initial_joint_controller" - ) - bob_initial_joint_controller = LaunchConfiguration("bob_initial_joint_controller") - activate_joint_controller = LaunchConfiguration("activate_joint_controller") - launch_rviz = LaunchConfiguration("launch_rviz") - rviz_config_file = LaunchConfiguration("rviz_config_file") - headless_mode = LaunchConfiguration("headless_mode") - launch_dashboard_client = LaunchConfiguration("launch_dashboard_client") - use_tool_communication = LaunchConfiguration("use_tool_communication") - tool_device_name = LaunchConfiguration("tool_device_name") - tool_tcp_port = LaunchConfiguration("tool_tcp_port") - - control_node = Node( - package="controller_manager", - executable="ros2_control_node", - parameters=[ - LaunchConfiguration("update_rate_config_file"), - ParameterFile(controllers_file, allow_substs=True), - # We use the tf_prefix as substitution in there, so that's why we keep it as an - # argument for this launchfile - ], - output="screen", - ) - - # dashboard_client_node = Node( - # package="ur_robot_driver", - # condition=IfCondition(launch_dashboard_client) - # and UnlessCondition(use_mock_hardware), - # executable="dashboard_client", - # name="dashboard_client", - # namespace="alice", - # output="screen", - # emulate_tty=True, - # parameters=[{"robot_ip": robot_ip}], - # ) - - # dashboard_client_node = Node( - # package="ur_robot_driver", - # condition=IfCondition(launch_dashboard_client) - # and UnlessCondition(use_mock_hardware), - # executable="dashboard_client", - # name="dashboard_client", - # namespace="bob", - # output="screen", - # emulate_tty=True, - # parameters=[{"robot_ip": robot_ip}], - # ) - - # tool_communication_node = Node( - # package="ur_robot_driver", - # condition=IfCondition(use_tool_communication), - # executable="tool_communication.py", - # name="ur_tool_comm", - # output="screen", - # parameters=[ - # { - # "robot_ip": robot_ip, - # "tcp_port": tool_tcp_port, - # "device_name": tool_device_name, - # } - # ], - # ) - - # urscript_interface = Node( - # package="ur_robot_driver", - # executable="urscript_interface", - # parameters=[{"robot_ip": robot_ip}], - # output="screen", - # condition=UnlessCondition(use_mock_hardware), - # ) - - # controller_stopper_node = Node( - # package="ur_robot_driver", - # executable="controller_stopper_node", - # name="controller_stopper", - # output="screen", - # emulate_tty=True, - # condition=UnlessCondition(use_mock_hardware), - # parameters=[ - # {"headless_mode": headless_mode}, - # {"joint_controller_active": activate_joint_controller}, - # { - # "consistent_controllers": [ - # "io_and_status_controller", - # "force_torque_sensor_broadcaster", - # "joint_state_broadcaster", - # "speed_scaling_state_broadcaster", - # ] - # }, - # ], - # ) - - rviz_node = Node( - package="rviz2", - condition=IfCondition(launch_rviz), - executable="rviz2", - name="rviz2", - output="log", - arguments=["-d", rviz_config_file], - ) - - # Spawn controllers - def controller_spawner(controllers, active=True): - inactive_flags = ["--inactive"] if not active else [] - return Node( - package="controller_manager", - executable="spawner", - arguments=[ - "--controller-manager", - "/controller_manager", - "--controller-manager-timeout", - controller_spawner_timeout, - ] - + inactive_flags - + controllers, - ) - - controllers_active = [ - "alice_joint_state_broadcaster", - "bob_joint_state_broadcaster", - # "alice_io_and_status_controller", - # "bob_io_and_status_controller", - "alice_speed_scaling_state_broadcaster", - "bob_speed_scaling_state_broadcaster", - "alice_force_torque_sensor_broadcaster", - "bob_force_torque_sensor_broadcaster", - ] - controllers_inactive = [ - "alice_forward_position_controller", - "bob_forward_position_controller", - ] - - controller_spawners = [controller_spawner(controllers_active)] + [ - controller_spawner(controllers_inactive, active=False) - ] - - # There may be other controllers of the joints, but this is the initially-started one - alice_initial_joint_controller_spawner_started = Node( - package="controller_manager", - executable="spawner", - arguments=[ - alice_initial_joint_controller, - "-c", - "/controller_manager", - "--controller-manager-timeout", - controller_spawner_timeout, - ], - condition=IfCondition(activate_joint_controller), - ) - bob_initial_joint_controller_spawner_started = Node( - package="controller_manager", - executable="spawner", - arguments=[ - bob_initial_joint_controller, - "-c", - "/controller_manager", - "--controller-manager-timeout", - controller_spawner_timeout, - ], - condition=IfCondition(activate_joint_controller), - ) - alice_initial_joint_controller_spawner_stopped = Node( - package="controller_manager", - executable="spawner", - arguments=[ - alice_initial_joint_controller, - "-c", - "/controller_manager", - "--controller-manager-timeout", - controller_spawner_timeout, - "--inactive", - ], - condition=UnlessCondition(activate_joint_controller), - ) - bob_initial_joint_controller_spawner_stopped = Node( - package="controller_manager", - executable="spawner", - arguments=[ - bob_initial_joint_controller, - "-c", - "/controller_manager", - "--controller-manager-timeout", - controller_spawner_timeout, - "--inactive", - ], - condition=UnlessCondition(activate_joint_controller), - ) - - rsp = IncludeLaunchDescription( - AnyLaunchDescriptionSource(description_launchfile), - launch_arguments={ - "robot_ip": robot_ip, - "ur_type": ur_type, - }.items(), - ) - - nodes_to_start = [ - control_node, - # dashboard_client_node, - # tool_communication_node, - # controller_stopper_node, - # urscript_interface, - rsp, - rviz_node, - alice_initial_joint_controller_spawner_stopped, - bob_initial_joint_controller_spawner_stopped, - alice_initial_joint_controller_spawner_started, - bob_initial_joint_controller_spawner_started, - ] + controller_spawners - - return nodes_to_start - - -def generate_launch_description(): - declared_arguments = [] - # UR specific arguments - declared_arguments.append( - DeclareLaunchArgument( - "ur_type", - description="Type/series of used UR robot.", - choices=[ - "ur3", - "ur3e", - "ur5", - "ur5e", - "ur10", - "ur10e", - "ur16e", - "ur20", - "ur30", - ], - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "robot_ip", description="IP address by which the robot can be reached." - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "safety_limits", - default_value="true", - description="Enables the safety limits controller if true.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "safety_pos_margin", - default_value="0.15", - description="The margin to lower and upper limits in the safety controller.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "safety_k_position", - default_value="20", - description="k-position factor in the safety controller.", - ) - ) - # General arguments - declared_arguments.append( - DeclareLaunchArgument( - "controllers_file", - default_value=PathJoinSubstitution( - [ - FindPackageShare("my_dual_robot_cell_control"), - "config", - "ros2_controllers.yaml", - ] - ), - description="YAML file with the controllers configuration.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "description_launchfile", - default_value=PathJoinSubstitution( - [ - FindPackageShare("my_dual_robot_cell_control"), - "launch", - "rsp.launch.py", - ] - ), - description="Launchfile (absolute path) providing the description. " - "The launchfile has to start a robot_state_publisher node that " - "publishes the description topic.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "tf_prefix", - default_value="", - description="tf_prefix of the joint names, useful for " - "multi-robot setup. If changed, also joint names in the controllers' configuration " - "have to be updated.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "use_mock_hardware", - default_value="false", - description="Start robot with mock hardware mirroring command to its states.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "mock_sensor_commands", - default_value="false", - description="Enable mock command interfaces for sensors used for simple simulations. " - "Used only if 'use_mock_hardware' parameter is true.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "headless_mode", - default_value="false", - description="Enable headless mode for robot control", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "controller_spawner_timeout", - default_value="10", - description="Timeout used when spawning controllers.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "alice_initial_joint_controller", - default_value="alice_scaled_joint_trajectory_controller", - description="Initially loaded robot controller.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "bob_initial_joint_controller", - default_value="bob_scaled_joint_trajectory_controller", - description="Initially loaded robot controller.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "activate_joint_controller", - default_value="true", - description="Activate loaded joint controller.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "launch_rviz", default_value="true", description="Launch RViz?" - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "rviz_config_file", - default_value=PathJoinSubstitution( - [FindPackageShare("ur_description"), "rviz", "view_robot.rviz"] - ), - description="RViz config file (absolute path) to use when launching rviz.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "launch_dashboard_client", - default_value="true", - description="Launch Dashboard Client?", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "use_tool_communication", - default_value="false", - description="Only available for e series!", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "tool_parity", - default_value="0", - description="Parity configuration for serial communication. Only effective, if " - "use_tool_communication is set to True.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "tool_baud_rate", - default_value="115200", - description="Baud rate configuration for serial communication. Only effective, if " - "use_tool_communication is set to True.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "tool_stop_bits", - default_value="1", - description="Stop bits configuration for serial communication. Only effective, if " - "use_tool_communication is set to True.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "tool_rx_idle_chars", - default_value="1.5", - description="RX idle chars configuration for serial communication. Only effective, " - "if use_tool_communication is set to True.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "tool_tx_idle_chars", - default_value="3.5", - description="TX idle chars configuration for serial communication. Only effective, " - "if use_tool_communication is set to True.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "tool_device_name", - default_value="/tmp/ttyUR", - description="File descriptor that will be generated for the tool communication device. " - "The user has be be allowed to write to this location. " - "Only effective, if use_tool_communication is set to True.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "tool_tcp_port", - default_value="54321", - description="Remote port that will be used for bridging the tool's serial device. " - "Only effective, if use_tool_communication is set to True.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "tool_voltage", - default_value="0", # 0 being a conservative value that won't destroy anything - description="Tool voltage that will be setup.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "reverse_ip", - default_value="0.0.0.0", - description="IP that will be used for the robot controller to communicate back to the driver.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "script_command_port", - default_value="50004", - description="Port that will be opened to forward URScript commands to the robot.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "reverse_port", - default_value="50001", - description="Port that will be opened to send cyclic instructions from the driver to the robot controller.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "script_sender_port", - default_value="50002", - description="The driver will offer an interface to query the external_control URScript on this port.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "trajectory_port", - default_value="50003", - description="Port that will be opened for trajectory control.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - name="update_rate_config_file", - default_value=[ - PathJoinSubstitution( - [ - FindPackageShare("my_dual_robot_cell_control"), - "config", - ] - ), - "/", - "update_rate.yaml", - ], - ) - ) - return LaunchDescription(declared_arguments + launch_setup()) diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/urdf/my_dual_robot_cell_controlled.urdf.xacro b/my_dual_robot_cell/my_dual_robot_cell_control/urdf/my_dual_robot_cell_controlled.urdf.xacro index ef52a3b..2e33efc 100644 --- a/my_dual_robot_cell/my_dual_robot_cell_control/urdf/my_dual_robot_cell_controlled.urdf.xacro +++ b/my_dual_robot_cell/my_dual_robot_cell_control/urdf/my_dual_robot_cell_controlled.urdf.xacro @@ -2,65 +2,64 @@ - + - + - - - - - + + + + + - - - - - + + + + + - - - - - - + + + + + + + - - - - - + + + + + + + - - - - - + + + + - - + > + - - - - + \ No newline at end of file From 1695e559f0314528739f191d9e4f34db57ac2096 Mon Sep 17 00:00:00 2001 From: Vihaan Shah Date: Wed, 3 Jul 2024 15:22:13 -0400 Subject: [PATCH 12/14] Fix ur_type and mock_sensor_commands arguments --- .../my_dual_robot_cell_control/launch/rsp.launch.py | 6 +++--- .../launch/start_robots.launch.py | 5 +++-- .../urdf/my_dual_robot_cell_controlled.urdf.xacro | 4 ++-- 3 files changed, 8 insertions(+), 7 deletions(-) diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/launch/rsp.launch.py b/my_dual_robot_cell/my_dual_robot_cell_control/launch/rsp.launch.py index d4f5436..b02e58f 100644 --- a/my_dual_robot_cell/my_dual_robot_cell_control/launch/rsp.launch.py +++ b/my_dual_robot_cell/my_dual_robot_cell_control/launch/rsp.launch.py @@ -8,7 +8,7 @@ def generate_launch_description(): alice_ur_type = LaunchConfiguration("alice_ur_type") - alice_ur_type = LaunchConfiguration("bob_ur_type") + bob_ur_type = LaunchConfiguration("bob_ur_type") alice_robot_ip = LaunchConfiguration("alice_robot_ip") bob_robot_ip = LaunchConfiguration("bob_robot_ip") @@ -46,10 +46,10 @@ def generate_launch_description(): bob_robot_ip, " ", "alice_ur_type:=", - ur_type, + alice_ur_type, " ", "bob_ur_type:=", - ur_type, + bob_ur_type, " ", "alice_use_mock_hardware:=", alice_use_mock_hardware, diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/launch/start_robots.launch.py b/my_dual_robot_cell/my_dual_robot_cell_control/launch/start_robots.launch.py index eaaa058..0682a55 100644 --- a/my_dual_robot_cell/my_dual_robot_cell_control/launch/start_robots.launch.py +++ b/my_dual_robot_cell/my_dual_robot_cell_control/launch/start_robots.launch.py @@ -11,7 +11,7 @@ def launch_setup(): # Initialize Arguments alice_ur_type = LaunchConfiguration("alice_ur_type") - alice_ur_type = LaunchConfiguration("bob_ur_type") + bob_ur_type = LaunchConfiguration("bob_ur_type") alice_robot_ip = LaunchConfiguration("alice_robot_ip") bob_robot_ip = LaunchConfiguration("bob_robot_ip") @@ -235,7 +235,8 @@ def controller_spawner(controllers, active=True): launch_arguments={ "alice_robot_ip": alice_robot_ip, "bob_robot_ip": bob_robot_ip, - "ur_type": alice_ur_type, + "alice_ur_type": alice_ur_type, + "bob_ur_type": bob_ur_type, }.items(), ) diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/urdf/my_dual_robot_cell_controlled.urdf.xacro b/my_dual_robot_cell/my_dual_robot_cell_control/urdf/my_dual_robot_cell_controlled.urdf.xacro index 2e33efc..8a67c77 100644 --- a/my_dual_robot_cell/my_dual_robot_cell_control/urdf/my_dual_robot_cell_controlled.urdf.xacro +++ b/my_dual_robot_cell/my_dual_robot_cell_control/urdf/my_dual_robot_cell_controlled.urdf.xacro @@ -69,7 +69,7 @@ output_recipe_filename="$(arg ur_output_recipe_filename)" input_recipe_filename="$(arg ur_input_recipe_filename)" use_mock_hardware="$(arg alice_use_mock_hardware)" - alice_mock_sensor_commands="$(arg alice_mock_sensor_commands)" + mock_sensor_commands="$(arg alice_mock_sensor_commands)" headless_mode="$(arg headless_mode)" reverse_port="$(arg alice_reverse_port)" script_sender_port="$(arg alice_script_sender_port)" @@ -86,7 +86,7 @@ output_recipe_filename="$(arg ur_output_recipe_filename)" input_recipe_filename="$(arg ur_input_recipe_filename)" use_mock_hardware="$(arg bob_use_mock_hardware)" - bob_mock_sensor_commands="$(arg bob_mock_sensor_commands)" + mock_sensor_commands="$(arg bob_mock_sensor_commands)" headless_mode="$(arg headless_mode)" reverse_port="$(arg bob_reverse_port)" script_sender_port="$(arg bob_script_sender_port)" From 55cbee385535b5115e8548479b60f6ffd06f8407 Mon Sep 17 00:00:00 2001 From: Vihaan Shah Date: Wed, 3 Jul 2024 15:22:56 -0400 Subject: [PATCH 13/14] Update rviz config for description launch --- .../rviz/urdf.rviz | 215 +++++++++++++----- 1 file changed, 158 insertions(+), 57 deletions(-) diff --git a/my_dual_robot_cell/my_dual_robot_cell_description/rviz/urdf.rviz b/my_dual_robot_cell/my_dual_robot_cell_description/rviz/urdf.rviz index e6b74d0..360c746 100644 --- a/my_dual_robot_cell/my_dual_robot_cell_description/rviz/urdf.rviz +++ b/my_dual_robot_cell/my_dual_robot_cell_description/rviz/urdf.rviz @@ -8,7 +8,7 @@ Panels: - /TF1 - /TF1/Tree1 Splitter Ratio: 0.5 - Tree Height: 637 + Tree Height: 398 - Class: rviz_common/Views Expanded: - /Current View1 @@ -53,71 +53,130 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - monitor: + alice_base: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_base_link_inertia: Alpha: 1 Show Axes: false Show Trail: false Value: true - robot_mount: + alice_flange: Alpha: 1 Show Axes: false Show Trail: false - table: + alice_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_ft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_robot_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_wrist_3_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - ur20_base: + bob_base: Alpha: 1 Show Axes: false Show Trail: false - ur20_base_link: + bob_base_link: Alpha: 1 Show Axes: false Show Trail: false - ur20_base_link_inertia: + bob_base_link_inertia: Alpha: 1 Show Axes: false Show Trail: false Value: true - ur20_flange: + bob_flange: Alpha: 1 Show Axes: false Show Trail: false - ur20_forearm_link: + bob_forearm_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - ur20_ft_frame: + bob_ft_frame: Alpha: 1 Show Axes: false Show Trail: false - ur20_shoulder_link: + bob_robot_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_shoulder_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - ur20_tool0: + bob_tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_upper_arm_link: Alpha: 1 Show Axes: false Show Trail: false - ur20_upper_arm_link: + Value: true + bob_wrist_1_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - ur20_wrist_1_link: + bob_wrist_2_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - ur20_wrist_2_link: + bob_wrist_3_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - ur20_wrist_3_link: + monitor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + table: Alpha: 1 Show Axes: false Show Trail: false @@ -144,35 +203,61 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: true - monitor: + alice_base: Value: true - robot_mount: + alice_base_link: Value: true - table: + alice_base_link_inertia: + Value: true + alice_flange: + Value: true + alice_forearm_link: + Value: true + alice_ft_frame: + Value: true + alice_robot_mount: Value: true - ur20_base: + alice_shoulder_link: Value: true - ur20_base_link: + alice_tool0: Value: true - ur20_base_link_inertia: + alice_upper_arm_link: Value: true - ur20_flange: + alice_wrist_1_link: Value: true - ur20_forearm_link: + alice_wrist_2_link: Value: true - ur20_ft_frame: + alice_wrist_3_link: Value: true - ur20_shoulder_link: + bob_base: Value: true - ur20_tool0: + bob_base_link: Value: true - ur20_upper_arm_link: + bob_base_link_inertia: Value: true - ur20_wrist_1_link: + bob_flange: Value: true - ur20_wrist_2_link: + bob_forearm_link: Value: true - ur20_wrist_3_link: + bob_ft_frame: + Value: true + bob_robot_mount: + Value: true + bob_shoulder_link: + Value: true + bob_tool0: + Value: true + bob_upper_arm_link: + Value: true + bob_wrist_1_link: + Value: true + bob_wrist_2_link: + Value: true + bob_wrist_3_link: + Value: true + monitor: + Value: true + table: Value: true wall: Value: true @@ -186,24 +271,40 @@ Visualization Manager: Tree: world: table: - monitor: - {} - robot_mount: - ur20_base_link: - ur20_base: + alice_robot_mount: + alice_base_link: + alice_base: {} - ur20_base_link_inertia: - ur20_shoulder_link: - ur20_upper_arm_link: - ur20_forearm_link: - ur20_wrist_1_link: - ur20_wrist_2_link: - ur20_wrist_3_link: - ur20_flange: - ur20_tool0: + alice_base_link_inertia: + alice_shoulder_link: + alice_upper_arm_link: + alice_forearm_link: + alice_wrist_1_link: + alice_wrist_2_link: + alice_wrist_3_link: + alice_flange: + alice_tool0: {} - ur20_ft_frame: + alice_ft_frame: {} + bob_robot_mount: + bob_base_link: + bob_base: + {} + bob_base_link_inertia: + bob_shoulder_link: + bob_upper_arm_link: + bob_forearm_link: + bob_wrist_1_link: + bob_wrist_2_link: + bob_wrist_3_link: + bob_flange: + bob_tool0: + {} + bob_ft_frame: + {} + monitor: + {} wall: {} Update Interval: 0 @@ -223,35 +324,35 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 4.839867115020752 + Distance: 4.675174713134766 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0.8393054604530334 - Y: 0.6853293776512146 - Z: 1.452785611152649 + X: 0.9431386590003967 + Y: 0.6480544209480286 + Z: 1.3101682662963867 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.16000038385391235 + Pitch: 0.49500054121017456 Target Frame: Value: Orbit (rviz) - Yaw: 4.324998378753662 + Yaw: 4.259994983673096 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1412 + Height: 1016 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000100000000000001ad0000052efc0200000002fb000000100044006900730070006c006100790073010000003b0000030f000000c700fffffffb0000000a00560069006500770073010000035000000219000000a000ffffff0000084d0000052e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000100000000000001ad0000039efc0200000002fb000000100044006900730070006c006100790073010000003d00000222000000c900fffffffb0000000a00560069006500770073010000026500000176000000a400ffffff000005cd0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: collapsed: false - Width: 2560 - X: 1920 - Y: 0 + Width: 1920 + X: 0 + Y: 27 From b1a637a597016ef9c2f0838d562002d75da4dcae Mon Sep 17 00:00:00 2001 From: Vihaan Shah Date: Wed, 3 Jul 2024 15:27:49 -0400 Subject: [PATCH 14/14] Use rviz config file for moveit --- .../config/moveit.rviz | 473 +++++++++++++++++- .../launch/dual_ur_moveit.launch.py | 12 +- 2 files changed, 460 insertions(+), 25 deletions(-) diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit.rviz b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit.rviz index f31651e..2cbcdc6 100644 --- a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit.rviz +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit.rviz @@ -1,51 +1,484 @@ Panels: - Class: rviz_common/Displays + Help Height: 87 Name: Displays Property Tree Widget: - Expanded: - - /MotionPlanning1 - - Class: rviz_common/Help - Name: Help + Expanded: ~ + Splitter Ratio: 0.4957627058029175 + Tree Height: 380 + - 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: - - Class: rviz_default_plugins/Grid + - 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 - - Class: moveit_rviz_plugin/MotionPlanning + - 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_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 Name: MotionPlanning Planned Path: - Loop Animation: true + 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 + alice_base: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_ft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_robot_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_base: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_ft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_robot_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + monitor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + table: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wall: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + world: + Alpha: 1 + Show Axes: false + Show Trail: false + 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 - Trajectory Topic: display_planned_path + Trail Step Size: 1 + Trajectory Topic: /display_planned_path + Use Sim Time: false + 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 + Joint Violation Color: 255; 0; 255 + Planning Group: alice_manipulator + 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: 1 + 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: - Robot Alpha: 0.5 + 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 + alice_base: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_ft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_robot_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_base: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_ft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_robot_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + monitor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + table: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wall: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + world: + Alpha: 1 + Show Axes: false + Show Trail: false + 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 + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + 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: 2.0 + Distance: 4.587055683135986 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false Focal Point: - X: -0.1 - Y: 0.25 - Z: 0.30 + X: 0.4825928509235382 + Y: 0.6104342937469482 + Z: 1.4097795486450195 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false Name: Current View - Pitch: 0.5 - Target Frame: world - Yaw: -0.623 + Near Clip Distance: 0.009999999776482582 + Pitch: 0.41039803624153137 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.133575916290283 + Saved: ~ Window Geometry: - Height: 975 - QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Width: 1200 + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000400000000000001f30000039efc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000210000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000253000001880000017d00ffffff00000001000001100000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004710000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 0 + Y: 27 diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/dual_ur_moveit.launch.py b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/dual_ur_moveit.launch.py index 644f2ab..de5a476 100644 --- a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/dual_ur_moveit.launch.py +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/dual_ur_moveit.launch.py @@ -4,7 +4,8 @@ import yaml from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, ExecuteProcess, RegisterEventHandler +from launch.actions import (DeclareLaunchArgument, ExecuteProcess, + RegisterEventHandler) from launch.conditions import IfCondition from launch.event_handlers import OnProcessExit from launch.substitutions import LaunchConfiguration, PathJoinSubstitution @@ -51,15 +52,16 @@ def generate_launch_description(): additional_env={"DISPLAY": ":0"}, ) - # rviz_config_file = PathJoinSubstitution( - # [FindPackageShare("crm_moveit_config"), "config", "moveit.rviz"] - # ) + rviz_config_file = PathJoinSubstitution( + [FindPackageShare("my_dual_robot_cell_moveit_config"), "config", "moveit.rviz"] + ) + rviz_node = Node( package="rviz2", executable="rviz2", name="rviz2_moveit", output="log", - # arguments=["-d"], + arguments=["-d", rviz_config_file], parameters=[ moveit_config.robot_description, moveit_config.robot_description_semantic,