Add ros2srrc_endfefectos and ros2srrc_robot packages and change launchers

Author: Jepear19

Industrial/ros2_SimRealRobotControl_gz/packages/ur5/ros2srrc_ur5_gazebo/urdf/ur5_robotiq_2f85.urdf.xacro

@@ -56,7 +56,7 @@
   <xacro:property name="output_recipe_filename" value="$(arg output_recipe_filename)"/>
 
   <!-- Include XACRO-MACRO file of the UR5: -->
-  <xacro:include filename="$(find ros2srrc_robots)/ur5/urdf/ur5_macro.urdf.xacro"/>	
+  <xacro:include filename="/home/ws/src/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/ur5/urdf/ur5_macro.urdf.xacro"/>
   <xacro:ur5 
     bringup="${bringup}"
     robot_ip="${robot_ip}"
@@ -69,7 +69,7 @@
   />
 
   <!-- Include XACRO-MACRO file of the Robotiq 2f-85: -->
-  <xacro:include filename="$(find ros2srrc_endeffectors)/robotiq_2f85/urdf/robotiq_2f85_macro.urdf.xacro"/>	
+  <xacro:include filename="/home/ws/src/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_endeffectors/robotiq_2f85/urdf/robotiq_2f85_macro.urdf.xacro"/>	
   <xacro:robotiq_2f85 
     bringup="${bringup}"
     parent_link="tool0"
@@ -83,10 +83,10 @@
         <robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
 
         <!-- UR5 Controller -->
-        <parameters>$(find ros2srrc_robots)/ur5/config/controller.yaml</parameters>
+        <parameters>/home/ws/src/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_robots/ur5/config/controller.yaml</parameters>
 
         <!-- End-Effector Controller (if needed) -->
-        <parameters>$(find ros2srrc_endeffectors)/${EE_name}/config/controller.yaml</parameters>
+        <parameters>/home/ws/src/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_endeffectors/${EE_name}/config/controller.yaml</parameters>
 
       </plugin>
     </gazebo>

Industrial/ros2_SimRealRobotControl_gz/ros2srrc_endeffectors/CMakeLists.txt

@@ -0,0 +1,53 @@
+cmake_minimum_required(VERSION 3.5)
+project(ros2srrc_endeffectors)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+# REQUIRED to -> Load END-EFFECTOR DATABASE:
+install(
+  DIRECTORY 
+    
+    egp64
+    
+    gpp5010nc
+
+    ls_vgr
+    ls_vgr_amrc
+    
+    robotiq_2f85
+    robotiq_hande
+    
+  DESTINATION 
+    share/${PROJECT_NAME}
+)
+
+ament_package()

Industrial/ros2_SimRealRobotControl_gz/ros2srrc_endeffectors/egp64/config/controller.yaml

@@ -0,0 +1,18 @@
+controller_manager:
+  ros__parameters:
+
+    update_rate: 250 #Hz
+
+    egp64_finger_left_controller:
+      type: position_controllers/GripperActionController
+
+    egp64_finger_right_controller:
+      type: position_controllers/GripperActionController
+
+egp64_finger_left_controller:
+  ros__parameters:
+    joint: egp64_finger_left_joint
+
+egp64_finger_right_controller:
+  ros__parameters:
+    joint: egp64_finger_right_joint

Industrial/ros2_SimRealRobotControl_gz/ros2srrc_endeffectors/egp64/config/controller_moveit2.yaml

@@ -0,0 +1,17 @@
+controller_names:
+  - egp64_finger_left_controller
+  - egp64_finger_right_controller
+
+egp64_finger_left_controller:
+  action_ns: gripper_cmd
+  type: GripperCommand
+  default: true
+  joints:
+    - egp64_finger_left_joint
+
+egp64_finger_right_controller:
+  action_ns: gripper_cmd
+  type: GripperCommand
+  default: true
+  joints:
+    - egp64_finger_right_joint

Industrial/ros2_SimRealRobotControl_gz/ros2srrc_endeffectors/egp64/config/joint_limits.yaml

@@ -0,0 +1,11 @@
+joint_limits:
+  egp64_finger_left_joint:
+    has_velocity_limits: true
+    max_velocity: 5.0
+    has_acceleration_limits: true
+    max_acceleration: 1.00
+  egp64_finger_right_joint:
+    has_velocity_limits: true
+    max_velocity: 5.0
+    has_acceleration_limits: true
+    max_acceleration: 1.00

Industrial/ros2_SimRealRobotControl_gz/ros2srrc_endeffectors/egp64/config/joint_specifications.yaml

@@ -0,0 +1,5 @@
+# ROS 2 Sim-to-Real Robot Control -> END-EFFECTOR SPECIFICATIONS (Schunk EGP-64)
+Limits:
+  Max: 0.025
+  Min: 0.00
+JointsVector: [1.0, 1.0]

Industrial/ros2_SimRealRobotControl_gz/ros2srrc_endeffectors/egp64/meshes/00. Schunk Gripper - Component POSES

@@ -0,0 +1,5 @@
+SCHUNK EGP64-N-N-B GRIPPER, CRANFIELD UNIVERSITY
+
+CONSIDERING BASE IS: X(0) Y(0) Z(0)...
+RIGHT FINGER BASE: X(-0.01272) Y(-0.0104) Z(0.02100) / RIGHT FINGER: X(-0.0245) Y(-0.0124) Z(0.02141)
+LEFT FINGER BASE: X(0.01848) Y(-0.01310) Z(0.02100) / LEFT FINGER: X(0.05653) Y(-0.0104) Z(0.02141)