Humble

.pre-commit-config.yaml

@@ -8,6 +8,7 @@ repos:
       - id: check-merge-conflict
       - id: check-symlinks
       - id: check-yaml
+        args: ['--unsafe']
       - id: end-of-file-fixer
       - id: mixed-line-ending
       - id: trailing-whitespace

my_robot_cell/doc/assemble_urdf.rst

@@ -57,7 +57,7 @@ The workcell macro is defined in the following manner:
 .. literalinclude:: ../my_robot_cell_description/urdf/my_robot_cell_macro.xacro
     :language: xml
     :linenos:
-    :caption: my_robot_cell_description/urdf/my_robot_cell_macro.urdf.xacro
+    :caption: my_robot_cell_description/urdf/my_robot_cell_macro.xacro
 
 This macro provides an example of what a custom workcell could resemble. Your workspace will likely
 vary from this one. Please feel free to modify this portion of the URDF to match your own setup. In
@@ -72,7 +72,7 @@ macro. In this example, we chose to create a link named **robot_mount**.
     :start-at: <link name="robot_mount"/>
     :end-at: </joint>
     :linenos:
-    :caption: my_robot_cell_description/urdf/my_robot_cell.urdf.xacro
+    :caption: my_robot_cell_description/urdf/my_robot_cell.xacro
 
 After that we are finally able to actually **create the robot arm** by calling the macro.
 
@@ -81,7 +81,7 @@ After that we are finally able to actually **create the robot arm** by calling t
     :start-at:   <xacro:ur_robot
     :end-at:   </xacro:ur_robot>
     :linenos:
-    :caption: my_robot_cell_description/urdf/my_robot_cell.urdf.xacro
+    :caption: my_robot_cell_description/urdf/my_robot_cell.xacro
 
 Note that the **origin** argument is transmitted in a different manner than the other arguments.
 

my_robot_cell/doc/build_moveit_config.rst

@@ -129,7 +129,7 @@ First, we need to start a robot, simulated or real. If you start a real robot, m
 .. code-block:: bash
 
    # You can switch to real hardware if you prefer
-   ros2 launch my_robot_cell_control start_robot.launch.py use_mock_hardware:=true
+   ros2 launch my_robot_cell_control start_robot.launch.py use_fake_hardware:=true
 
 
 Second, we can start the move_group node by running the launch file the setup assistant created for us:

my_robot_cell/doc/start_ur_driver.rst

@@ -23,8 +23,8 @@ This URDF is very similar to the one we have already assembled. We simply need t
 
 .. literalinclude:: ../my_robot_cell_control/urdf/my_robot_cell_controlled.urdf.xacro
     :language: xml
-    :start-at:   <xacro:include filename="$(find ur_robot_driver)/urdf/ur.ros2_control.xacro"/>
-    :end-at:   <xacro:include filename="$(find ur_robot_driver)/urdf/ur.ros2_control.xacro"/>
+    :start-at:   <xacro:include filename="$(find ur_description)/urdf/ur.ros2_control.xacro"/>
+    :end-at:   <xacro:include filename="$(find ur_description)/urdf/ur.ros2_control.xacro"/>
     :caption: my_robot_cell_control/urdf/my_robot_cell_controlled.urdf.xacro
 
 
@@ -33,7 +33,7 @@ define the necessary arguments that need to be passed to the macro,
 .. literalinclude:: ../my_robot_cell_control/urdf/my_robot_cell_controlled.urdf.xacro
     :language: xml
     :start-at: <xacro:arg name="robot_ip" default="0.0.0.0"/>
-    :end-at: <xacro:arg name="mock_sensor_commands" default="false" />
+    :end-at: <xacro:arg name="fake_sensor_commands" default="false" />
     :caption: my_robot_cell_control/urdf/my_robot_cell_controlled.urdf.xacro
 
 
@@ -57,39 +57,12 @@ For now, we just copy the default one for the ur20.
    cp $(ros2 pkg prefix ur_description)/share/ur_description/config/ur20/default_kinematics.yaml \
      my_robot_cell_control/config/my_robot_calibration.yaml
 
-
-Create robot_state_publisher launchfile
----------------------------------------
-
-To use the custom controlled description, we need to generate a launchfile loading that description
-(Since it contains less / potentially different) arguments than the "default" one. In that
-launchfile we need to start a ``robot_state_publisher`` (RSP) node that will get the description as a
-parameter and redistribute it via the ``robot_description`` topic:
-
-.. literalinclude:: ../my_robot_cell_control/launch/rsp.launch.py
-    :language: py
-    :start-after: # Author: Felix Exner
-    :linenos:
-    :caption: my_robot_cell_control/launch/rsp.launch.py
-
-With this we could start our workcell using
-
-.. code-block:: bash
-
-    ros2 launch ur_robot_driver ur_control.launch.py \
-      description_launchfile:=$(ros2 pkg prefix my_robot_cell_control)/share/my_robot_cell_control/launch/rsp.launch.py \
-      use_mock_hardware:=true \
-      robot_ip:=123 \
-      ur_type:=ur20 \
-      rviz_config_file:=$(ros2 pkg prefix my_robot_cell_description)/share/my_robot_cell_description/rviz/urdf.rviz \
-      tf_prefix:=ur20_
-
 Create start_robot launchfile
 -----------------------------
 
-Since the command above is obviously not very convenient to start our robot, we wrap that into another
-launchfile that includes the ``ur_control.launch.py`` launchfile with the correct description
-launchfile and prefix:
+To launch a controlled robot with our custom description, we need to generate a launchfile. We
+include the ``ur_control.launch.py`` file from the driver and set its parameters to match our
+custom workcell.
 
 .. literalinclude:: ../my_robot_cell_control/launch/start_robot.launch.py
     :language: py
@@ -100,7 +73,7 @@ With that we can start the robot using
 
 .. code-block:: bash
 
-   ros2 launch my_robot_cell_control start_robot.launch.py use_mock_hardware:=true
+   ros2 launch my_robot_cell_control start_robot.launch.py use_fake_hardware:=true
 
 Testing everything
 ------------------
@@ -121,7 +94,7 @@ We can start the system in a mocked simulation
 .. code-block:: bash
 
     #start the driver with mocked hardware
-    ros2 launch my_robot_cell_control start_robot.launch.py use_mock_hardware:=true
+    ros2 launch my_robot_cell_control start_robot.launch.py use_fake_hardware:=true
 
 Or to use it with a real robot:
 

my_robot_cell/my_robot_cell_control/CMakeLists.txt

@@ -4,7 +4,7 @@ project(my_robot_cell_control)
 find_package(ament_cmake REQUIRED)
 
 install(
-  DIRECTORY launch config urdf
+  DIRECTORY launch config urdf rviz
   DESTINATION share/${PROJECT_NAME}
 )
 

my_robot_cell/my_robot_cell_control/config/ur20/default_kinematics.yaml

@@ -0,0 +1,44 @@
+kinematics:
+  shoulder:
+    x: 0
+    y: 0
+    z: 0.23630000000000001
+    roll: -0
+    pitch: 0
+    yaw: -0
+  upper_arm:
+    x: 0
+    y: 0
+    z: 0
+    roll: 1.570796327
+    pitch: 0
+    yaw: -0
+  forearm:
+    x: -0.86199999999999999
+    y: 0
+    z: 0
+    roll: -0
+    pitch: 0
+    yaw: -0
+  wrist_1:
+    x: -0.72870000000000001
+    y: 0
+    z: 0.20100000000000001
+    roll: -0
+    pitch: 0
+    yaw: -0
+  wrist_2:
+    x: 0
+    y: -0.1593
+    z: -3.2672976162492252e-11
+    roll: 1.570796327
+    pitch: 0
+    yaw: -0
+  wrist_3:
+    x: 0
+    y: 0.15429999999999999
+    z: -3.1647459019915597e-11
+    roll: 1.5707963265897931
+    pitch: 3.1415926535897931
+    yaw: 3.1415926535897931
+  hash: calib_4890363623803256388

my_robot_cell/my_robot_cell_control/config/ur20/joint_limits.yaml

@@ -0,0 +1,77 @@
+# Joints limits
+#
+# Sources:
+#
+#  - Universal Robots e-Series, User Manual, UR20, Version 5.14
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/203281/706-276-00_UR20_User_Manual_en_Global.pdf
+joint_limits:
+  shoulder_pan_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 738.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
+  shoulder_lift_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 738.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
+  elbow_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 433.0
+    # we artificially limit this joint to half its actual joint position limit
+    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
+    # construction of the robot, it's impossible to rotate the 'elbow_joint'
+    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
+    #
+    # This leads to planning problems as the search space will be divided into
+    # two sections, with no connections from one to the other.
+    #
+    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
+    # more information.
+    max_position: !degrees  180.0
+    max_velocity: !degrees  150.0
+    min_position: !degrees -180.0
+  wrist_1_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 107.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  210.0
+    min_position: !degrees -360.0
+  wrist_2_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 107.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  210.0
+    min_position: !degrees -360.0
+  wrist_3_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 107.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  210.0
+    min_position: !degrees -360.0