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Jepear19Jepear19
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Fix launchers
1 parent 208a50b commit ce99b35

3 files changed

Lines changed: 23 additions & 232 deletions

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‎Industrial/ur5_gripper_description/launch/spawn_robot_warehouse.launch.py‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -157,11 +157,11 @@ def generate_launch_description():
157157
output="screen",
158158
)
159159

160-
load_joint_trajectory_controller = Node(
160+
load_gripper_controller = Node(
161161
package="controller_manager",
162162
executable="spawner",
163163
arguments=[
164-
"joint_trajectory_controller",
164+
"gripper_controller",
165165
"--param-file",
166166
controllers_file,
167167
"-c",
@@ -170,12 +170,12 @@ def generate_launch_description():
170170
output="screen",
171171
)
172172

173-
moveit_config_package = "ur5_gripper_moveit_config"
173+
moveit_config_package = "ros2srrc_ur5_moveit2_moveit_config"
174174
moveit_pkg = get_package_share_directory(moveit_config_package)
175175

176176
ompl_planning_yaml = os.path.join(moveit_pkg, "config", "ompl_planning.yaml")
177177
kinematics_yaml = os.path.join(moveit_pkg, "config", "kinematics.yaml")
178-
srdf_file = os.path.join(moveit_pkg, "srdf", "ur5_robotiq.srdf")
178+
srdf_file = os.path.join(moveit_pkg, "config", "ur5robotiq_2f85.srdf")
179179
moveit_controllers = os.path.join(moveit_pkg, "config", "controllers.yaml")
180180

181181
with open(srdf_file, "r") as f:

‎Industrial/ur5_gripper_description/urdf/ur5_robotiq85_gripper.urdf.xacro‎

Lines changed: 19 additions & 211 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,6 @@
11
<?xml version="1.0"?>
22
<robot name="ur5" xmlns:xacro="http://www.ros.org/wiki/xacro">
33

4-
<!-- Pass through arguments to included files -->
54
<xacro:arg name="name" default="ur"/>
65
<xacro:arg name="ur_type" default="ur5"/>
76
<xacro:arg name="prefix" default=""/>
@@ -14,244 +13,53 @@
1413
<xacro:include filename="$(find ur5_gripper_description)/urdf/ur.urdf.xacro" />
1514
<xacro:include filename="$(find robotiq_description)/urdf/robotiq_85_gripper.urdf.xacro" />
1615
<xacro:include filename="$(find robotiq_description)/urdf/robotiq_85_gripper.ros2_control.xacro" />
17-
16+
<xacro:include filename="$(find ur5_gripper_description)/urdf/ur.ros2_control.xacro" />
17+
18+
<!-- Coupler -->
1819
<link name="robotiq_coupler">
1920
<visual>
2021
<geometry>
2122
<mesh filename="package://robotiq_description/meshes/robotiq_85_coupler.stl" />
2223
</geometry>
23-
<material name="flat_black"/>
2424
</visual>
2525
<collision>
2626
<geometry>
2727
<cylinder radius="0.04" length="0.015"/>
2828
</geometry>
2929
</collision>
30-
<inertial>
31-
<origin xyz="2.073e-05 1.45286e-03 -1.1049e-03" rpy="0 0 0" />
32-
<mass value="0.168" />
33-
<inertia ixx="6.69695624e-05" ixy="5.21511788e-09" ixz="-2.74383009e-08"
34-
iyy="7.85088161e-05" iyz="5.41105193e-07" izz="1.41819717e-04"/>
35-
</inertial>
3630
</link>
3731

3832
<joint name="robotiq_coupler_joint" type="fixed">
3933
<origin xyz="0 0 0.004" rpy="0 0 ${-pi/2.0}" />
4034
<parent link="tool0"/>
4135
<child link="robotiq_coupler"/>
4236
</joint>
43-
<gazebo reference="robotiq_coupler">
44-
<mu1>0.9</mu1>
45-
<mu2>0.9</mu2>
46-
<material>Gazebo/FlatBlack</material>
47-
</gazebo>
48-
49-
<!-- Equivalent to the OpenRAVE manipulator denso_robotiq_85_gripper -->
50-
<!-- <link name="ee_link" />
51-
<joint name="manipulator_dummy_joint" type="fixed">
52-
<origin xyz="0 0 0.17" rpy="0 0 0" />
53-
<parent link="tool0"/>
54-
<child link="ee_link"/>
55-
</joint> -->
56-
57-
<!-- Attach the robotiq 85 gripper -->
58-
<xacro:robotiq_85_gripper prefix="" parent="robotiq_coupler" >
37+
38+
<!-- Gripper -->
39+
<xacro:robotiq_85_gripper prefix="" parent="robotiq_coupler">
5940
<origin xyz="0 0 0.004" rpy="0 ${-pi/2} ${pi}"/>
60-
</xacro:robotiq_85_gripper>
61-
62-
<!-- Gazebo FT sensor plugin - Gazebo Sim (Harmonic) compatible -->
63-
<!-- Note: FT sensor requires gazebo_ros2_control_demos or custom implementation -->
64-
<!--
65-
<gazebo reference="wrist_3_joint">
66-
<sensor name="force_torque_sensor" type="force_torque">
67-
<always_on>true</always_on>
68-
<update_rate>250</update_rate>
69-
<force_torque>
70-
<frame>child</frame>
71-
<measure_direction>child_to_parent</measure_direction>
72-
</force_torque>
73-
</sensor>
74-
</gazebo>
75-
-->
76-
77-
<!-- Gazebo grasping plugin - Note: Grasping plugin may need custom implementation for Gazebo Sim -->
78-
<!-- Commenting out for now as this plugin is not directly available in Gazebo Sim -->
79-
<!--
80-
<gazebo>
81-
<gripper name="gazebo_gripper">
82-
<grasp_check>
83-
<attach_steps>2</attach_steps>
84-
<detach_steps>2</detach_steps>
85-
<min_contact_count>3</min_contact_count>
86-
</grasp_check>
87-
<gripper_link>robotiq_85_left_finger_tip_link</gripper_link>
88-
<gripper_link>robotiq_85_right_finger_tip_link</gripper_link>
89-
<palm_link>robotiq_85_base_link</palm_link>
90-
</gripper>
91-
</gazebo>
92-
-->
93-
94-
<!-- ros2_control for gripper -->
41+
</xacro:robotiq_85_gripper>
42+
43+
<!-- ros2_control GRIPPER -->
9544
<xacro:robotiq_85_ros2_control
9645
name="robotiq"
9746
prefix=""
9847
sim_gz="true"
9948
use_fake_hardware="false"/>
10049

50+
<!-- ros2_control UR5 -->
10151
<xacro:ur_ros2_control
10252
name="ur"
10353
prefix=""
10454
sim_gz="true"
105-
use_fake_hardware="false"
55+
use_fake_hardware="true"
56+
57+
script_filename=""
58+
output_recipe_filename=""
59+
input_recipe_filename=""
60+
tf_prefix=""
61+
hash_kinematics=""
62+
robot_ip="0.0.0.0"
10663
/>
10764

108-
<?xml version="1.0"?>
109-
<robot name="ur5" xmlns:xacro="http://www.ros.org/wiki/xacro">
110-
111-
<!-- Pass through arguments to included files -->
112-
<xacro:arg name="name" default="ur"/>
113-
<xacro:arg name="ur_type" default="ur5"/>
114-
<xacro:arg name="prefix" default=""/>
115-
<xacro:arg name="use_fake_hardware" default="false"/>
116-
<xacro:arg name="fake_sensor_commands" default="false"/>
117-
<xacro:arg name="sim_gazebo" default="false"/>
118-
<xacro:arg name="sim_gz" default="true"/>
119-
<xacro:arg name="simulation_controllers" default=""/>
120-
121-
<xacro:include filename="$(find ur5_gripper_description)/urdf/ur.urdf.xacro" />
122-
<xacro:include filename="$(find robotiq_description)/urdf/robotiq_85_gripper.urdf.xacro" />
123-
<xacro:include filename="$(find robotiq_description)/urdf/robotiq_85_gripper.ros2_control.xacro" />
124-
125-
<link name="robotiq_coupler">
126-
<visual>
127-
<geometry>
128-
<mesh filename="package://robotiq_description/meshes/robotiq_85_coupler.stl" />
129-
</geometry>
130-
<material name="flat_black"/>
131-
</visual>
132-
<collision>
133-
<geometry>
134-
<cylinder radius="0.04" length="0.015"/>
135-
</geometry>
136-
</collision>
137-
<inertial>
138-
<origin xyz="2.073e-05 1.45286e-03 -1.1049e-03" rpy="0 0 0" />
139-
<mass value="0.168" />
140-
<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">
151-
<mu1>0.9</mu1>
152-
<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" />
160-
<parent link="tool0"/>
161-
<child link="ee_link"/>
162-
</joint> -->
163-
164-
<!-- Attach the robotiq 85 gripper -->
165-
<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-
<!--
187-
<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>
256-
257-
</robot>
65+
</robot>

‎Launchers/pick_place_harmonic/pick_place_harmonic.launch.py‎

Lines changed: 0 additions & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -29,16 +29,6 @@ def generate_launch_description():
2929
)
3030
)
3131

32-
moveit_launch = IncludeLaunchDescription(
33-
PythonLaunchDescriptionSource(
34-
os.path.join(
35-
get_package_share_directory("ur5_gripper_moveit_config"),
36-
"launch",
37-
"move_group.launch.py"
38-
)
39-
)
40-
)
41-
4232
robmove_node = Node(
4333
package="ros2srrc_execution",
4434
executable="robmove",
@@ -71,12 +61,6 @@ def generate_launch_description():
7161
],
7262
)
7363

74-
75-
delayed_moveit = TimerAction(
76-
period=5.0,
77-
actions=[moveit_launch]
78-
)
79-
8064
delayed_interfaces = TimerAction(
8165
period=8.0,
8266
actions=[robmove_node, robpose_node, move_node]
@@ -85,6 +69,5 @@ def generate_launch_description():
8569
return LaunchDescription([
8670
world_launch,
8771
robot_launch,
88-
delayed_moveit,
8972
delayed_interfaces
9073
])

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