Commit 0a124d69 authored by Victor Lamoine's avatar Victor Lamoine
Browse files

Fix missing macro

parent 1ddcdee8
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package fanuc_m10ia_support
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.4.1 (2016-06-17)
------------------
* use ``xacro`` instead of ``xacro.py`` (`#195 <https://github.com/ros-industrial/fanuc/issues/195>`_).
* remove roslaunch test dependencies (`#185 <https://github.com/ros-industrial/fanuc/issues/185>`_).
* add support for the M-10iA/7L variant (contributors: Jeremy Zoss (SwRI))
* for a complete list of changes see the `commit log for 0.4.1 <https://github.com/ros-industrial/fanuc/compare/0.4.0...0.4.1>`_.
0.4.0 (2015-10-11)
------------------
* first Indigo release.
* upgrade manifests to package format 2 (`#115 <https://github.com/ros-industrial/fanuc/issues/115>`_).
* general cleanup of XML files (launch, manifests, roslaunch tests, xacros).
* add ROS Index tags to package manifests (`#147 <https://github.com/ros-industrial/fanuc/issues/147>`_).
* document launch file arguments (`#165 <https://github.com/ros-industrial/fanuc/issues/165>`_).
* use multi-arg install rule instead of for-loop.
* use Roboguide colours for meshes where appropriate (`#166 <https://github.com/ros-industrial/fanuc/issues/166>`_).
* for a complete list of changes see the `commit log for 0.4.0 <https://github.com/ros-industrial/fanuc/compare/0.3.2...0.4.0>`_.
0.3.2 (2015-04-19)
------------------
* add readmes to all packages (`#153 <https://github.com/ros-industrial/fanuc/issues/153>`_).
* for a complete list of changes see the `commit log for 0.3.2 <https://github.com/ros-industrial/fanuc/compare/0.3.1...0.3.2>`_
0.3.1 (2015-01-21)
------------------
* no changes.
* for a complete list of changes see the `commit log for 0.3.1 <https://github.com/ros-industrial/fanuc/compare/0.3.0...0.3.1>`_
0.3.0 (2015-01-08)
------------------
* promote experimental packages for M-10iA, M-16iB, M-20iA, M-430iA and LR Mate 200iC to main repository.
* add info on specific config used for urdf/xacro (`#26 <https://github.com/ros-industrial/fanuc/issues/26>`_).
* explicitly declare dependencies of roslaunch tests (`#70 <https://github.com/ros-industrial/fanuc/issues/70>`_).
* add 'base' link (transform to World Coordinates) (`#101 <https://github.com/ros-industrial/fanuc/issues/101>`_).
* update urdfs based on DH data (`#54 <https://github.com/ros-industrial/fanuc/issues/54>`_ and `#63 <https://github.com/ros-industrial/fanuc/issues/63>`_).
* for a complete list of changes see the `commit log for 0.3.0 <https://github.com/ros-industrial/fanuc/compare/0.2.0...0.3.0>`_
0.2.0 (2014-02-19)
------------------
* first Hydro release.
* deprecate `fanuc_assets`, introduce `fanuc_resources`
* cleanup of all CMakeLists and package manifests:
* closing keywords should have empty parenthesis (`#62 <https://github.com/ros-industrial/fanuc/issues/62>`_)
* update CMakeLists to follow Catkin CMake coding standards (`#62 <https://github.com/ros-industrial/fanuc/issues/62>`_)
* list run_depends in alphabetical order (`#62 <https://github.com/ros-industrial/fanuc/issues/62>`_)
* add missing xacro run depends (`#67 <https://github.com/ros-industrial/fanuc/issues/67>`_)
* add missing depends to support pkgs (`#64 <https://github.com/ros-industrial/fanuc/issues/64>`_)
* ArmNav and support pkgs are architecture independent.
* update model specifications with available information.
* introduction of roslaunch testing of launch files:
* move roslaunch to build_depend (`#76 <https://github.com/ros-industrial/fanuc/issues/76>`_)
* test launchfiles with roslaunch (`#30 <https://github.com/ros-industrial/fanuc/issues/30>`_)
* prefix include elements with xacro ns (`#38 <https://github.com/ros-industrial/fanuc/issues/38>`_)
* for a complete list of changes see the `commit log for 0.2.0 <https://github.com/ros-industrial/fanuc/compare/0.1.1...0.2.0>`_
0.1.1 (2013-09-27)
------------------
* fixed missing dependency
0.1.0 (2013-09-16)
------------------
* initial Groovy release
cmake_minimum_required(VERSION 2.8.3)
project(fanuc_m10ia_support)
find_package(catkin REQUIRED)
catkin_package()
if (CATKIN_ENABLE_TESTING)
find_package(roslaunch REQUIRED)
roslaunch_add_file_check(tests/roslaunch_test_m10ia.xml)
roslaunch_add_file_check(tests/roslaunch_test_m10ia7l.xml)
endif()
install(DIRECTORY config launch meshes urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(FILES readme.md DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
<?xml version="1.0"?>
<launch>
<param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_m10ia_support)/urdf/m10ia.xacro'" />
</launch>
<?xml version="1.0"?>
<launch>
<param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_m10ia_support)/urdf/m10ia7l.xacro'" />
</launch>
<?xml version="1.0"?>
<!--
Manipulator specific version of 'robot_interface_streaming.launch'.
Defaults provided for M-10iA:
- J23_factor = 1
- use_bswap = true
- 6 joints
Usage:
robot_interface_streaming_m10ia.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of controller" />
<arg name="J23_factor" default="1" doc="Compensation factor for joint 2-3 coupling (-1, 0 or 1)" />
<arg name="use_bswap" default="true" doc="If true, robot driver will byte-swap all incoming and outgoing data" />
<rosparam command="load" file="$(find fanuc_m10ia_support)/config/joint_names_m10ia.yaml" />
<include file="$(find fanuc_driver)/launch/robot_interface_streaming.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="J23_factor" value="$(arg J23_factor)" />
<arg name="use_bswap" value="$(arg use_bswap)" />
</include>
</launch>
<?xml version="1.0"?>
<!--
Manipulator specific version of 'robot_interface_streaming.launch'.
Defaults provided for M-10iA/7L:
- J23_factor = 1
- use_bswap = true
- 6 joints
Usage:
robot_interface_streaming_m10ia7l.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of controller" />
<arg name="J23_factor" default="1" doc="Compensation factor for joint 2-3 coupling (-1, 0 or 1)" />
<arg name="use_bswap" default="true" doc="If true, robot driver will byte-swap all incoming and outgoing data" />
<rosparam command="load" file="$(find fanuc_m10ia_support)/config/joint_names_m10ia7l.yaml" />
<include file="$(find fanuc_driver)/launch/robot_interface_streaming.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="J23_factor" value="$(arg J23_factor)" />
<arg name="use_bswap" value="$(arg use_bswap)" />
</include>
</launch>
<?xml version="1.0"?>
<!--
Manipulator specific version of the state visualizer.
Defaults provided for M-10iA:
- J23_factor = 1
- use_bswap = true
- 6 joints
Usage:
robot_state_visualize_m10ia.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of controller" />
<arg name="J23_factor" default="1" doc="Compensation factor for joint 2-3 coupling (-1, 0 or 1)" />
<arg name="use_bswap" default="true" doc="If true, robot driver will byte-swap all incoming and outgoing data" />
<rosparam command="load" file="$(find fanuc_m10ia_support)/config/joint_names_m10ia.yaml" />
<include file="$(find fanuc_driver)/launch/robot_state.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="J23_factor" value="$(arg J23_factor)" />
<arg name="use_bswap" value="$(arg use_bswap)" />
</include>
<node name="robot_state_publisher" pkg="robot_state_publisher"
type="robot_state_publisher" />
<include file="$(find fanuc_m10ia_support)/launch/load_m10ia.launch" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
</launch>
<?xml version="1.0"?>
<!--
Manipulator specific version of the state visualizer.
Defaults provided for M-10iA/7L:
- J23_factor = 1
- use_bswap = true
- 6 joints
Usage:
robot_state_visualize_m10ia7l.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" doc="IP of controller" />
<arg name="J23_factor" default="1" doc="Compensation factor for joint 2-3 coupling (-1, 0 or 1)" />
<arg name="use_bswap" default="true" doc="If true, robot driver will byte-swap all incoming and outgoing data" />
<rosparam command="load" file="$(find fanuc_m10ia_support)/config/joint_names_m10ia7l.yaml" />
<include file="$(find fanuc_driver)/launch/robot_state.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="J23_factor" value="$(arg J23_factor)" />
<arg name="use_bswap" value="$(arg use_bswap)" />
</include>
<node name="robot_state_publisher" pkg="robot_state_publisher"
type="robot_state_publisher" />
<include file="$(find fanuc_m10ia_support)/launch/load_m10ia7l.launch" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
</launch>
<?xml version="1.0"?>
<launch>
<include file="$(find fanuc_m10ia_support)/launch/load_m10ia.launch" />
<param name="use_gui" value="true" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
</launch>
<?xml version="1.0"?>
<launch>
<include file="$(find fanuc_m10ia_support)/launch/load_m10ia7l.launch" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
<param name="use_gui" value="true" />
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
</launch>
<?xml version="1.0"?>
<package format="2">
<name>fanuc_m10ia_support</name>
<version>0.4.1</version>
<description>
<p>
ROS-Industrial support for the Fanuc M-10iA (and variants).
</p>
<p>
This package contains configuration data, 3D models and launch files
for Fanuc M-10iA manipulators. This includes the base model and the
/7L variant.
</p>
<p><b>Specifications</b>:</p>
<ul>
<li>M-10iA - "Conventional dress-out"</li>
<li>M-10iA/7L - "Conventional dress-out"</li>
</ul>
<p>
Joint limits and maximum joint velocities are based on the information in
the <em>FANUC Robot M-10iA Mechanical Unit Operator's Manual</em>
version <em>B-82754EN/09</em>. All urdfs are based on the default motion
and joint velocity limits, unless noted otherwise (ie: no support for
high speed joints, extended / limited motion ranges or other options).
</p>
<p>
Before using any of the configuration files and / or meshes included
in this package, be sure to check they are correct for the particular
robot model and configuration you intend to use them with.
</p>
</description>
<author>G.A. vd. Hoorn (TU Delft Robotics Institute)</author>
<maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
<license>BSD</license>
<url type="website">http://wiki.ros.org/fanuc_m10ia_support</url>
<url type="bugtracker">https://github.com/ros-industrial/fanuc/issues</url>
<url type="repository">https://github.com/ros-industrial/fanuc</url>
<buildtool_depend>catkin</buildtool_depend>
<test_depend version_gte="1.9.55">roslaunch</test_depend>
<!-- <exec_depend>fanuc_driver</exec_depend>-->
<exec_depend>fanuc_resources</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>rviz</exec_depend>
<exec_depend>xacro</exec_depend>
<export>
<architecture_independent />
<rosindex>
<tags>
<tag>support_package</tag>
<tag>description</tag>
<tag>fanuc</tag>
<tag>industrial</tag>
<tag>ros-industrial</tag>
<tag>m10ia</tag>
</tags>
</rosindex>
</export>
</package>
# fanuc_m10ia_support
## Overview
This package is part of the [ROS-Industrial][] program. See the main [fanuc][]
page on the ROS wiki for more information on usage.
[ROS-Industrial]: http://wiki.ros.org/Industrial
[fanuc]: http://wiki.ros.org/fanuc
<?xml version="1.0"?>
<launch>
<arg name="ip_str" value="127.0.0.1" />
<group ns="load_m10ia__">
<include file="$(find fanuc_m10ia_support)/launch/load_m10ia.launch"/>
</group>
<group ns="test_m10ia__">
<include file="$(find fanuc_m10ia_support)/launch/test_m10ia.launch"/>
</group>
<group ns="robot_interface_streaming_m10ia__">
<include file="$(find fanuc_m10ia_support)/launch/robot_interface_streaming_m10ia.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
</include>
</group>
<group ns="robot_state_visualize_m10ia__">
<include file="$(find fanuc_m10ia_support)/launch/robot_state_visualize_m10ia.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
</include>
</group>
<!-- without bswap -->
<group ns="robot_interface_streaming_m10ia_f__">
<include file="$(find fanuc_m10ia_support)/launch/robot_interface_streaming_m10ia.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
<arg name="use_bswap" value="false" />
</include>
</group>
<group ns="robot_state_visualize_m10ia_f__">
<include file="$(find fanuc_m10ia_support)/launch/robot_state_visualize_m10ia.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
<arg name="use_bswap" value="false" />
</include>
</group>
</launch>
<?xml version="1.0"?>
<launch>
<arg name="ip_str" value="127.0.0.1" />
<group ns="load_m10ia7l__">
<include file="$(find fanuc_m10ia_support)/launch/load_m10ia7l.launch"/>
</group>
<group ns="test_m10ia7l__">
<include file="$(find fanuc_m10ia_support)/launch/test_m10ia7l.launch"/>
</group>
<group ns="robot_interface_streaming_m10ia7l__">
<include file="$(find fanuc_m10ia_support)/launch/robot_interface_streaming_m10ia7l.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
</include>
</group>
<group ns="robot_state_visualize_m10ia7l__">
<include file="$(find fanuc_m10ia_support)/launch/robot_state_visualize_m10ia7l.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
</include>
</group>
<!-- without bswap -->
<group ns="robot_interface_streaming_m10ia7l_f__">
<include file="$(find fanuc_m10ia_support)/launch/robot_interface_streaming_m10ia7l.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
<arg name="use_bswap" value="false" />
</include>
</group>
<group ns="robot_state_visualize_m10ia7l_f__">
<include file="$(find fanuc_m10ia_support)/launch/robot_state_visualize_m10ia7l.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
<arg name="use_bswap" value="false" />
</include>
</group>
</launch>
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from m10ia.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="fanuc_m10ia" xmlns:xacro="http://ros.org/wiki/xacro">
<link name="base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_m10ia_support/meshes/m10ia/visual/base_link.stl"/>
</geometry>
<material name="">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_m10ia_support/meshes/m10ia/collision/base_link.stl"/>
</geometry>
</collision>
</link>
<link name="link_1">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_m10ia_support/meshes/m10ia/visual/link_1.stl"/>
</geometry>
<material name="">
<color rgba="0.96 0.76 0.13 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_m10ia_support/meshes/m10ia/collision/link_1.stl"/>
</geometry>
</collision>
</link>
<link name="link_2">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_m10ia_support/meshes/m10ia/visual/link_2.stl"/>
</geometry>
<material name="">
<color rgba="0.96 0.76 0.13 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_m10ia_support/meshes/m10ia/collision/link_2.stl"/>
</geometry>
</collision>
</link>
<link name="link_3">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_m10ia_support/meshes/m10ia/visual/link_3.stl"/>
</geometry>
<material name="">
<color rgba="0.96 0.76 0.13 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_m10ia_support/meshes/m10ia/collision/link_3.stl"/>
</geometry>
</collision>
</link>
<link name="link_4">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_m10ia_support/meshes/m10ia/visual/link_4.stl"/>
</geometry>
<material name="">
<color rgba="0.96 0.76 0.13 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_m10ia_support/meshes/m10ia/collision/link_4.stl"/>
</geometry>
</collision>
</link>
<link name="link_5">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_m10ia_support/meshes/m10ia/visual/link_5.stl"/>
</geometry>
<material name="">
<color rgba="0.96 0.76 0.13 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_m10ia_support/meshes/m10ia/collision/link_5.stl"/>
</geometry>
</collision>
</link>
<link name="link_6">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_m10ia_support/meshes/m10ia/visual/link_6.stl"/>
</geometry>
<material name="">
<color rgba="0.15 0.15 0.15 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_m10ia_support/meshes/m10ia/collision/link_6.stl"/>
</geometry>
</collision>
</link>