Commit bd9b02f8 authored by Victor Lamoine's avatar Victor Lamoine
Browse files

Initial commit

parents
[![Institut Maupertuis logo](https://avatars1.githubusercontent.com/u/12760694?v=3&s=80)](http://www.institutmaupertuis.fr) Institut Maupertuis robots descriptions
=======================================
![eff](eff.png)
Dependencies
------------
- [Robot Operating System](http://wiki.ros.org/ROS/Installation)
- [`industrial-core`](http://wiki.ros.org/industrial_core)
- [`fanuc`](http://wiki.ros.org/fanuc)
This package has been tested with Ubuntu 14.04 and ROS Indigo.
Testing
-------
`roslaunch fanuc_m10ia_test_support test_m10ia_test_eef.launch`
eff.png

107 KB

cmake_minimum_required(VERSION 2.8.3)
project(eff_description)
find_package(catkin REQUIRED)
catkin_package()
foreach(dir launch meshes urdf)
install(
DIRECTORY ${dir}/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach()
<?xml version="1.0"?>
<launch>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find eff_description)/urdf/eff.xacro'" />
</launch>
<?xml version="1.0"?>
<launch>
<include file="$(find eff_description)/launch/load_eff.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 $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
</launch>
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<?xml version="1.0"?>
<package format="2">
<name>eff_description</name>
<version>0.0.0</version>
<description>Laser cladding end effector description</description>
<author>Victor Lamoine - Institut Maupertuis</author>
<maintainer email="victor.lamoine@gmail.com">Victor Lamoine</maintainer>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>xacro</exec_depend>
</package>
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="eff">
<xacro:include filename="$(find eff_description)/urdf/eff_macro.xacro"/>
<xacro:eff prefix=""/>
</robot>
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="eff" params="prefix">
<link name="${prefix}eff_frame">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://eff_description/meshes/visual/eff.dae"/>
</geometry>
<material name="grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://eff_description/meshes/collision/eff.stl"/>
</geometry>
</collision>
</link>
</xacro:macro>
</robot>
CMakeCache.txt
CMakeFiles
Makefile
cmake_install.cmake
install_manifest.txt
cmake_minimum_required(VERSION 2.8.3)
project(fanuc_m10ia_test_support)
find_package(catkin REQUIRED)
catkin_package()
if (CATKIN_ENABLE_TESTING)
find_package(roslaunch REQUIRED)
roslaunch_add_file_check(tests/roslaunch_test.xml
DEPENDENCIES
# not nice, but industrial_robot_client doesn't prefix its targets
joint_trajectory_action
fanuc_driver_robot_state
fanuc_driver_robot_state_bswap
fanuc_driver_motion_streaming_interface
fanuc_driver_motion_streaming_interface_bswap)
endif()
foreach(dir config launch meshes urdf)
install(
DIRECTORY ${dir}/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach()
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.5
Tree Height: 832
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
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
base:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
eff_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
test_eff_tcp:
Alpha: 1
Show Axes: false
Show Trail: false
tool0:
Alpha: 1
Show Axes: false
Show Trail: false
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: base
Frame Rate: 60
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 0.255694
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.958615
Y: -0.000612916
Z: 0.785736
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.315398
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.590393
Saved: ~
Window Geometry:
Displays:
collapsed: true
Height: 494
Hide Left Dock: true
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000013c000003d4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006600fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000028000003d4000000e200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000b800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f0000034300fffffffb0000000800540069006d0065010000000000000450000000000000000000000235000001a500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 565
X: 73
Y: 59
<?xml version="1.0"?>
<launch>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find fanuc_m10ia_test_support)/urdf/m10ia_test_eff.xacro'" />
</launch>
<?xml version="1.0"?>
<launch>
<arg name="robot_ip" />
<arg name="J23_factor" default="1" />
<arg name="use_bswap" default="true" />
<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_test_support)/launch/load_m10ia_test_eff.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_test_support)/launch/load_m10ia_test_eff.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 $(find fanuc_m10ia_test_support)/config/robot_state_visualize.rviz" required="true" />
</launch>
<?xml version="1.0"?>
<package>
<name>fanuc_m10ia_test_support</name>
<version>0.0.0</version>
<description>Fanuc M-10iA with an end-effector</description>
<maintainer email="victor.lamoine@gmail.com">Victor Lamoine</maintainer>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend version_gte="1.9.55">roslaunch</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>eff_description</build_depend>
<build_depend>tf</build_depend>
<build_depend>tf_conversions</build_depend>
<build_depend>moveit_ros_planning_interface</build_depend>
<build_depend>visualization_msgs</build_depend>
<run_depend>fanuc_driver</run_depend>
<run_depend>fanuc_m10ia_support</run_depend>
<run_depend>joint_state_publisher</run_depend>
<run_depend>robot_state_publisher</run_depend>
<run_depend>rviz</run_depend>
<run_depend>xacro</run_depend>
<run_depend>eff_description</run_depend>
</package>
<launch>
<arg name="ip_str" value="127.0.0.1" />
<group ns="load_m10ia_test_eff__">
<include file="$(find fanuc_m10ia_test_support)/launch/load_m10ia_test_eff.launch"/>
</group>
<group ns="test_m10ia_test_eff__">
<include file="$(find fanuc_m10ia_test_support)/launch/test_m10ia_test_eff.launch"/>
</group>
<group ns="robot_interface_streaming_m10ia__">
<include file="$(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_test_support)/launch/robot_state_visualize_m10ia_test_eff.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_test_support)/launch/robot_state_visualize_m10ia_test_eff.launch">
<arg name="robot_ip" value="$(arg ip_str)" />
<arg name="use_bswap" value="false" />
</include>
</group>
</launch>
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="fanuc_m10ia_test">
<xacro:include filename="$(find fanuc_m10ia_test_support)/urdf/m10ia_test_eff_macro.xacro"/>
<xacro:fanuc_m10ia_test_support prefix=""/>
</robot>
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!-- include macros for robot, mounting plante, Ensenso -->
<xacro:include filename="$(find fanuc_m10ia_support)/urdf/m10ia_macro.xacro"/>
<xacro:include filename="$(find eff_description)/urdf/eff_macro.xacro"/>
<!-- create the robot and eff combo itself as a macro -->
<xacro:macro name="fanuc_m10ia_test_support" params="prefix">
<!-- instantiate everything -->
<xacro:fanuc_m10ia prefix="${prefix}"/>
<xacro:mounting_plate prefix="${prefix}"/>
<xacro:eff prefix="${prefix}"/>
<!-- attach eff to robot model -->
<joint name="${prefix}tool0-test_eff_frame" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="${prefix}tool0"/>
<child link="${prefix}eff_frame"/>
</joint>
<link name="${prefix}test_eff_tcp">
</link>
<joint name="${prefix}tool0-test_eff_tcp_frame" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="${prefix}tool0"/>
<child link="${prefix}test_eff_tcp"/>
</joint>
</xacro:macro>
</robot>
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