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Jepear19Jepear19
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Fix spawn_robot_warehouse and xacro
1 parent 46d1dcc commit 208a50b

2 files changed

Lines changed: 162 additions & 9 deletions

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‎Industrial/ur5_gripper_description/launch/spawn_robot_warehouse.launch.py‎

Lines changed: 15 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -147,17 +147,27 @@ def generate_launch_description():
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load_joint_trajectory_controller = Node(
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package="controller_manager",
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executable="spawner",
150-
arguments=["joint_trajectory_controller", "-c", "/controller_manager"],
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arguments=[
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"joint_trajectory_controller",
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"--param-file",
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controllers_file,
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"-c",
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"/controller_manager"
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],
151157
output="screen",
152-
parameters=[{"use_sim_time": True}],
153158
)
154159

155-
load_gripper_controller = Node(
160+
load_joint_trajectory_controller = Node(
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package="controller_manager",
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executable="spawner",
158-
arguments=["gripper_controller", "-c", "/controller_manager"],
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arguments=[
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"joint_trajectory_controller",
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"--param-file",
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controllers_file,
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"-c",
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"/controller_manager"
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],
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output="screen",
160-
parameters=[{"use_sim_time": True}],
161171
)
162172

163173
moveit_config_package = "ur5_gripper_moveit_config"

‎Industrial/ur5_gripper_description/urdf/ur5_robotiq85_gripper.urdf.xacro‎

Lines changed: 147 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -105,10 +105,153 @@
105105
use_fake_hardware="false"
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/>
107107

108+
<?xml version="1.0"?>
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<robot name="ur5" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- Pass through arguments to included files -->
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<xacro:arg name="name" default="ur"/>
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<xacro:arg name="ur_type" default="ur5"/>
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<xacro:arg name="prefix" default=""/>
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<xacro:arg name="use_fake_hardware" default="false"/>
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<xacro:arg name="fake_sensor_commands" default="false"/>
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<xacro:arg name="sim_gazebo" default="false"/>
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<xacro:arg name="sim_gz" default="true"/>
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<xacro:arg name="simulation_controllers" default=""/>
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<xacro:include filename="$(find ur5_gripper_description)/urdf/ur.urdf.xacro" />
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<xacro:include filename="$(find robotiq_description)/urdf/robotiq_85_gripper.urdf.xacro" />
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<xacro:include filename="$(find robotiq_description)/urdf/robotiq_85_gripper.ros2_control.xacro" />
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125+
<link name="robotiq_coupler">
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<visual>
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<geometry>
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<mesh filename="package://robotiq_description/meshes/robotiq_85_coupler.stl" />
129+
</geometry>
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<material name="flat_black"/>
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</visual>
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<collision>
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<geometry>
134+
<cylinder radius="0.04" length="0.015"/>
135+
</geometry>
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</collision>
137+
<inertial>
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<origin xyz="2.073e-05 1.45286e-03 -1.1049e-03" rpy="0 0 0" />
139+
<mass value="0.168" />
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<inertia ixx="6.69695624e-05" ixy="5.21511788e-09" ixz="-2.74383009e-08"
141+
iyy="7.85088161e-05" iyz="5.41105193e-07" izz="1.41819717e-04"/>
142+
</inertial>
143+
</link>
144+
145+
<joint name="robotiq_coupler_joint" type="fixed">
146+
<origin xyz="0 0 0.004" rpy="0 0 ${-pi/2.0}" />
147+
<parent link="tool0"/>
148+
<child link="robotiq_coupler"/>
149+
</joint>
150+
<gazebo reference="robotiq_coupler">
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<mu1>0.9</mu1>
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<mu2>0.9</mu2>
153+
<material>Gazebo/FlatBlack</material>
154+
</gazebo>
155+
156+
<!-- Equivalent to the OpenRAVE manipulator denso_robotiq_85_gripper -->
157+
<!-- <link name="ee_link" />
158+
<joint name="manipulator_dummy_joint" type="fixed">
159+
<origin xyz="0 0 0.17" rpy="0 0 0" />
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<parent link="tool0"/>
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<child link="ee_link"/>
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</joint> -->
163+
164+
<!-- Attach the robotiq 85 gripper -->
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<xacro:robotiq_85_gripper prefix="" parent="robotiq_coupler" >
166+
<origin xyz="0 0 0.004" rpy="0 ${-pi/2} ${pi}"/>
167+
</xacro:robotiq_85_gripper>
168+
169+
<!-- Gazebo FT sensor plugin - Gazebo Sim (Harmonic) compatible -->
170+
<!-- Note: FT sensor requires gazebo_ros2_control_demos or custom implementation -->
171+
<!--
172+
<gazebo reference="wrist_3_joint">
173+
<sensor name="force_torque_sensor" type="force_torque">
174+
<always_on>true</always_on>
175+
<update_rate>250</update_rate>
176+
<force_torque>
177+
<frame>child</frame>
178+
<measure_direction>child_to_parent</measure_direction>
179+
</force_torque>
180+
</sensor>
181+
</gazebo>
182+
-->
183+
184+
<!-- Gazebo grasping plugin - Note: Grasping plugin may need custom implementation for Gazebo Sim -->
185+
<!-- Commenting out for now as this plugin is not directly available in Gazebo Sim -->
186+
<!--
108187
<gazebo>
109-
<plugin filename="gz_ros2_control-system"
110-
name="gz_ros2_control::GazeboSimROS2ControlPlugin">
111-
</plugin>
112-
</gazebo>
188+
<gripper name="gazebo_gripper">
189+
<grasp_check>
190+
<attach_steps>2</attach_steps>
191+
<detach_steps>2</detach_steps>
192+
<min_contact_count>3</min_contact_count>
193+
</grasp_check>
194+
<gripper_link>robotiq_85_left_finger_tip_link</gripper_link>
195+
<gripper_link>robotiq_85_right_finger_tip_link</gripper_link>
196+
<palm_link>robotiq_85_base_link</palm_link>
197+
</gripper>
198+
</gazebo>
199+
-->
200+
201+
<!-- ros2_control for gripper -->
202+
<xacro:robotiq_85_ros2_control
203+
name="robotiq"
204+
prefix=""
205+
sim_gz="true"
206+
use_fake_hardware="false"/>
207+
208+
<!-- ros2_control for UR5 (Gazebo Harmonic) -->
209+
<ros2_control name="ur_system" type="system">
210+
<hardware>
211+
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
212+
</hardware>
213+
214+
<joint name="shoulder_pan_joint">
215+
<command_interface name="position"/>
216+
<state_interface name="position"/>
217+
<state_interface name="velocity"/>
218+
</joint>
219+
220+
<joint name="shoulder_lift_joint">
221+
<command_interface name="position"/>
222+
<state_interface name="position"/>
223+
<state_interface name="velocity"/>
224+
</joint>
225+
226+
<joint name="elbow_joint">
227+
<command_interface name="position"/>
228+
<state_interface name="position"/>
229+
<state_interface name="velocity"/>
230+
</joint>
231+
232+
<joint name="wrist_1_joint">
233+
<command_interface name="position"/>
234+
<state_interface name="position"/>
235+
<state_interface name="velocity"/>
236+
</joint>
237+
238+
<joint name="wrist_2_joint">
239+
<command_interface name="position"/>
240+
<state_interface name="position"/>
241+
<state_interface name="velocity"/>
242+
</joint>
243+
244+
<joint name="wrist_3_joint">
245+
<command_interface name="position"/>
246+
<state_interface name="position"/>
247+
<state_interface name="velocity"/>
248+
</joint>
249+
</ros2_control>
250+
251+
<gazebo>
252+
<plugin filename="gz_ros2_control-system"
253+
name="gz_ros2_control::GazeboSimROS2ControlPlugin">
254+
</plugin>
255+
</gazebo>
113256

114257
</robot>

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