Initial commit

bd9b02f8 · Victor Lamoine · bd9b02f8 · bd9b02f8 · bd9b02f8 · bd9b02f8
Commit bd9b02f8 authored Apr 11, 2016 by Victor Lamoine
20 changed files
--- a/README.md
+++ b/README.md
+ [![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`
+
--- a/eff.png
+++ b/eff.png
--- a/eff_description/CMakeLists.txt
+++ b/eff_description/CMakeLists.txt
+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()
--- a/eff_description/launch/load_eff.launch
+++ b/eff_description/launch/load_eff.launch
+<?xml version="1.0"?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find eff_description)/urdf/eff.xacro'" />
+</launch>
--- a/eff_description/launch/test_eff.launch
+++ b/eff_description/launch/test_eff.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 $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>
--- a/eff_description/meshes/collision/eff.stl
+++ b/eff_description/meshes/collision/eff.stl
--- a/eff_description/meshes/visual/eff.dae
+++ b/eff_description/meshes/visual/eff.dae
--- a/eff_description/package.xml
+++ b/eff_description/package.xml
+<?xml version="1.0"?>
+<package format="2">
+  <name>eff_description</name>
+  <version>0.0.0</version>
+  <description>Laser cladding end effector description</description>
+  <author>Victor Lamoine - Institut Maupertuis</author>
+  <maintainer email="victor.lamoine@gmail.com">Victor Lamoine</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  
+  <exec_depend>xacro</exec_depend>
+</package>
--- a/eff_description/urdf/eff.xacro
+++ b/eff_description/urdf/eff.xacro
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="eff">
+  <xacro:include filename="$(find eff_description)/urdf/eff_macro.xacro"/>
+  <xacro:eff prefix=""/>
+</robot>
--- a/eff_description/urdf/eff_macro.xacro
+++ b/eff_description/urdf/eff_macro.xacro
+<?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>
--- a/fanuc_m10ia_test_support/.gitignore
+++ b/fanuc_m10ia_test_support/.gitignore
+CMakeCache.txt
+CMakeFiles
+Makefile
+cmake_install.cmake
+install_manifest.txt
--- a/fanuc_m10ia_test_support/CMakeLists.txt
+++ b/fanuc_m10ia_test_support/CMakeLists.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()
--- a/fanuc_m10ia_test_support/config/robot_state_visualize.rviz
+++ b/fanuc_m10ia_test_support/config/robot_state_visualize.rviz
+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
--- a/fanuc_m10ia_test_support/launch/load_m10ia_test_eff.launch
+++ b/fanuc_m10ia_test_support/launch/load_m10ia_test_eff.launch
+<?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>
--- a/fanuc_m10ia_test_support/launch/robot_state_visualize_m10ia_test_eff.launch
+++ b/fanuc_m10ia_test_support/launch/robot_state_visualize_m10ia_test_eff.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 $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>
--- a/fanuc_m10ia_test_support/launch/test_m10ia_test_eef.launch
+++ b/fanuc_m10ia_test_support/launch/test_m10ia_test_eef.launch
+<?xml version="1.0"?>
+<launch>
+  <include file="$(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 $(find fanuc_m10ia_test_support)/config/robot_state_visualize.rviz" required="true" />
+</launch>
--- a/fanuc_m10ia_test_support/package.xml
+++ b/fanuc_m10ia_test_support/package.xml
+<?xml version="1.0"?>
+<package>
+  <name>fanuc_m10ia_test_support</name>
+  <version>0.0.0</version>
+  <description>Fanuc M-10iA with an end-effector</description>
+  <maintainer email="victor.lamoine@gmail.com">Victor Lamoine</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend version_gte="1.9.55">roslaunch</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>eff_description</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>tf_conversions</build_depend>
+  <build_depend>moveit_ros_planning_interface</build_depend>
+  <build_depend>visualization_msgs</build_depend>
+
+  <run_depend>fanuc_driver</run_depend>
+  <run_depend>fanuc_m10ia_support</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>rviz</run_depend>
+  <run_depend>xacro</run_depend>
+  <run_depend>eff_description</run_depend>
+</package>
--- a/fanuc_m10ia_test_support/tests/roslaunch_test.xml
+++ b/fanuc_m10ia_test_support/tests/roslaunch_test.xml
+<launch>
+  <arg name="ip_str" value="127.0.0.1" />
+
+  <group ns="load_m10ia_test_eff__">
+    <include file="$(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="$(arg ip_str)" />
+      <arg name="use_bswap" value="false" />
+    </include>
+  </group>
+</launch>
--- a/fanuc_m10ia_test_support/urdf/m10ia_test_eff.xacro
+++ b/fanuc_m10ia_test_support/urdf/m10ia_test_eff.xacro
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="fanuc_m10ia_test">
+  <xacro:include filename="$(find fanuc_m10ia_test_support)/urdf/m10ia_test_eff_macro.xacro"/>
+  <xacro:fanuc_m10ia_test_support prefix=""/>
+</robot>
--- a/fanuc_m10ia_test_support/urdf/m10ia_test_eff_macro.xacro
+++ b/fanuc_m10ia_test_support/urdf/m10ia_test_eff_macro.xacro
+<?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>