Fix missing macro

fanuc_m10ia_support/CHANGELOG.rst

+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+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

fanuc_m10ia_support/CMakeLists.txt

+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})

fanuc_m10ia_support/config/joint_names_m10ia.yaml

+controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']

fanuc_m10ia_support/config/joint_names_m10ia7l.yaml

+controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']

fanuc_m10ia_support/launch/load_m10ia.launch

+<?xml version="1.0"?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_m10ia_support)/urdf/m10ia.xacro'" />
+</launch>

fanuc_m10ia_support/launch/load_m10ia7l.launch

+<?xml version="1.0"?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_m10ia_support)/urdf/m10ia7l.xacro'" />
+</launch>

fanuc_m10ia_support/launch/robot_interface_streaming_m10ia.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>

fanuc_m10ia_support/launch/robot_interface_streaming_m10ia7l.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>

fanuc_m10ia_support/launch/robot_state_visualize_m10ia.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>

fanuc_m10ia_support/launch/robot_state_visualize_m10ia7l.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>

fanuc_m10ia_support/launch/test_m10ia.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>

fanuc_m10ia_support/launch/test_m10ia7l.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>

fanuc_m10ia_support/package.xml

+<?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/readme.md

+# 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

fanuc_m10ia_support/tests/roslaunch_test_m10ia.xml

+<?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>

fanuc_m10ia_support/tests/roslaunch_test_m10ia7l.xml

+<?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>

fanuc_m10ia_support/urdf/m10ia.urdf

+<?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>