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fix: debugging
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@ChandimaFernando
ChandimaFernando committed Nov 30, 2023
1 parent 73311d3 commit 98ea353
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Showing 2 changed files with 142 additions and 12 deletions.
4 changes: 2 additions & 2 deletions src/ur3e_hande_robot_description/urdf/hande.xacro
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Expand Up @@ -51,7 +51,7 @@
<xacro:property name="hande_base_radius" value="${sec_inertia_parameters['hande_base_radius']}" scope="parent"/>
<xacro:property name="finger_radius" value="${sec_inertia_parameters['finger_radius']}" scope="parent"/>


<!--
<xacro:macro name="robotiq_hande" params="
name
prefix
Expand Down Expand Up @@ -167,7 +167,7 @@
<origin xyz="0 0 0" rpy="0 ${-pi/2.0} ${-pi/2.0}" />
</joint> -->

</xacro:macro>
</xacro:macro> -->



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150 changes: 140 additions & 10 deletions src/ur3e_hande_robot_description/urdf/hande_extension.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -3,18 +3,18 @@
<!-- robot name parameter -->
<xacro:arg name="name" default="ur"/>
<!-- import main macro -->
<xacro:include filename="$(find ur3e_hande_robot_description)/urdf/ur_macro.xacro"/>
<xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>

<!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e -->
<!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20 -->
<!-- the default value should raise an error in case this was called without defining the type -->
<xacro:arg name="ur_type" default="ur5x"/>

<!-- parameters -->
<xacro:arg name="prefix" default="" />
<xacro:arg name="joint_limit_params" default="$(find ur3e_hande_robot_description)/config/$(arg ur_type)/joint_limits.yaml"/>
<xacro:arg name="kinematics_params" default="$(find ur3e_hande_robot_description)/config/$(arg ur_type)/default_kinematics.yaml"/>
<xacro:arg name="physical_params" default="$(find ur3e_hande_robot_description)/config/$(arg ur_type)/physical_parameters.yaml"/>
<xacro:arg name="visual_params" default="$(find ur3e_hande_robot_description)/config/$(arg ur_type)/visual_parameters.yaml"/>
<xacro:arg name="tf_prefix" default="" />
<xacro:arg name="joint_limit_params" default="$(find ur_description)/config/$(arg ur_type)/joint_limits.yaml"/>
<xacro:arg name="kinematics_params" default="$(find ur_description)/config/$(arg ur_type)/default_kinematics.yaml"/>
<xacro:arg name="physical_params" default="$(find ur_description)/config/$(arg ur_type)/physical_parameters.yaml"/>
<xacro:arg name="visual_params" default="$(find ur_description)/config/$(arg ur_type)/visual_parameters.yaml"/>
<xacro:arg name="transmission_hw_interface" default=""/>
<xacro:arg name="safety_limits" default="false"/>
<xacro:arg name="safety_pos_margin" default="0.15"/>
Expand All @@ -27,6 +27,9 @@
<xacro:arg name="input_recipe_filename" default=""/>
<xacro:arg name="reverse_ip" default="0.0.0.0"/>
<xacro:arg name="script_command_port" default="50004"/>
<xacro:arg name="reverse_port" default="50001"/>
<xacro:arg name="script_sender_port" default="50002"/>
<xacro:arg name="trajectory_port" default="50003"/>
<!-- tool communication related parameters-->
<xacro:arg name="use_tool_communication" default="false" />
<xacro:arg name="tool_voltage" default="0" />
Expand All @@ -46,7 +49,7 @@
<xacro:arg name="simulation_controllers" default="" />

<!-- initial position for simulations (Fake Hardware, Gazebo, Ignition) -->
<xacro:arg name="initial_positions_file" default="$(find ur3e_hande_robot_description)/config/initial_positions.yaml"/>
<xacro:arg name="initial_positions_file" default="$(find ur_description)/config/initial_positions.yaml"/>

<!-- convert to property to use substitution in function -->
<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
Expand All @@ -57,7 +60,7 @@
<!-- arm -->
<xacro:ur_robot
name="$(arg name)"
prefix="$(arg prefix)"
tf_prefix="$(arg tf_prefix)"
parent="world"
joint_limits_parameters_file="$(arg joint_limit_params)"
kinematics_parameters_file="$(arg kinematics_params)"
Expand Down Expand Up @@ -88,6 +91,9 @@
input_recipe_filename="$(arg input_recipe_filename)"
reverse_ip="$(arg reverse_ip)"
script_command_port="$(arg script_command_port)"
reverse_port="$(arg reverse_port)"
script_sender_port="$(arg script_sender_port)"
trajectory_port="$(arg trajectory_port)"
>
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- position robot in the world -->
</xacro:ur_robot>
Expand All @@ -110,7 +116,131 @@
<gazebo>
<plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
<parameters>$(arg simulation_controllers)</parameters>
<controller_manager_node_name>$(arg prefix)controller_manager</controller_manager_node_name>
<controller_manager_node_name>$(arg tf_prefix)controller_manager</controller_manager_node_name>
</plugin>
</gazebo>
</xacro:if>

</robot>
<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
<!-- robot name parameter -->
<xacro:arg name="name" default="ur"/>
<!-- import main macro -->
<xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>

<!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20 -->
<!-- the default value should raise an error in case this was called without defining the type -->
<xacro:arg name="ur_type" default="ur5x"/>

<!-- parameters -->
<xacro:arg name="tf_prefix" default="" />
<xacro:arg name="joint_limit_params" default="$(find ur_description)/config/$(arg ur_type)/joint_limits.yaml"/>
<xacro:arg name="kinematics_params" default="$(find ur_description)/config/$(arg ur_type)/default_kinematics.yaml"/>
<xacro:arg name="physical_params" default="$(find ur_description)/config/$(arg ur_type)/physical_parameters.yaml"/>
<xacro:arg name="visual_params" default="$(find ur_description)/config/$(arg ur_type)/visual_parameters.yaml"/>
<xacro:arg name="transmission_hw_interface" default=""/>
<xacro:arg name="safety_limits" default="false"/>
<xacro:arg name="safety_pos_margin" default="0.15"/>
<xacro:arg name="safety_k_position" default="20"/>
<!-- ros2_control related parameters -->
<xacro:arg name="headless_mode" default="false" />
<xacro:arg name="robot_ip" default="0.0.0.0" />
<xacro:arg name="script_filename" default=""/>
<xacro:arg name="output_recipe_filename" default=""/>
<xacro:arg name="input_recipe_filename" default=""/>
<xacro:arg name="reverse_ip" default="0.0.0.0"/>
<xacro:arg name="script_command_port" default="50004"/>
<xacro:arg name="reverse_port" default="50001"/>
<xacro:arg name="script_sender_port" default="50002"/>
<xacro:arg name="trajectory_port" default="50003"/>
<!-- tool communication related parameters-->
<xacro:arg name="use_tool_communication" default="false" />
<xacro:arg name="tool_voltage" default="0" />
<xacro:arg name="tool_parity" default="0" />
<xacro:arg name="tool_baud_rate" default="115200" />
<xacro:arg name="tool_stop_bits" default="1" />
<xacro:arg name="tool_rx_idle_chars" default="1.5" />
<xacro:arg name="tool_tx_idle_chars" default="3.5" />
<xacro:arg name="tool_device_name" default="/tmp/ttyUR" />
<xacro:arg name="tool_tcp_port" default="54321" />

<!-- Simulation parameters -->
<xacro:arg name="use_fake_hardware" default="false" />
<xacro:arg name="fake_sensor_commands" default="false" />
<xacro:arg name="sim_gazebo" default="false" />
<xacro:arg name="sim_ignition" default="false" />
<xacro:arg name="simulation_controllers" default="" />

<!-- initial position for simulations (Fake Hardware, Gazebo, Ignition) -->
<xacro:arg name="initial_positions_file" default="$(find ur_description)/config/initial_positions.yaml"/>

<!-- convert to property to use substitution in function -->
<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>

<!-- create link fixed to the "world" -->
<link name="world" />

<!-- arm -->
<xacro:ur_robot
name="$(arg name)"
tf_prefix="$(arg tf_prefix)"
parent="world"
joint_limits_parameters_file="$(arg joint_limit_params)"
kinematics_parameters_file="$(arg kinematics_params)"
physical_parameters_file="$(arg physical_params)"
visual_parameters_file="$(arg visual_params)"
transmission_hw_interface="$(arg transmission_hw_interface)"
safety_limits="$(arg safety_limits)"
safety_pos_margin="$(arg safety_pos_margin)"
safety_k_position="$(arg safety_k_position)"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)"
sim_gazebo="$(arg sim_gazebo)"
sim_ignition="$(arg sim_ignition)"
headless_mode="$(arg headless_mode)"
initial_positions="${xacro.load_yaml(initial_positions_file)}"
use_tool_communication="$(arg use_tool_communication)"
tool_voltage="$(arg tool_voltage)"
tool_parity="$(arg tool_parity)"
tool_baud_rate="$(arg tool_baud_rate)"
tool_stop_bits="$(arg tool_stop_bits)"
tool_rx_idle_chars="$(arg tool_rx_idle_chars)"
tool_tx_idle_chars="$(arg tool_tx_idle_chars)"
tool_device_name="$(arg tool_device_name)"
tool_tcp_port="$(arg tool_tcp_port)"
robot_ip="$(arg robot_ip)"
script_filename="$(arg script_filename)"
output_recipe_filename="$(arg output_recipe_filename)"
input_recipe_filename="$(arg input_recipe_filename)"
reverse_ip="$(arg reverse_ip)"
script_command_port="$(arg script_command_port)"
reverse_port="$(arg reverse_port)"
script_sender_port="$(arg script_sender_port)"
trajectory_port="$(arg trajectory_port)"
>
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- position robot in the world -->
</xacro:ur_robot>

<xacro:if value="$(arg sim_gazebo)">
<!-- Gazebo plugins -->
<gazebo reference="world">
</gazebo>
<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<parameters>$(arg simulation_controllers)</parameters>
</plugin>
</gazebo>
</xacro:if>

<xacro:if value="$(arg sim_ignition)">
<!-- Gazebo plugins -->
<gazebo reference="world">
</gazebo>
<gazebo>
<plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
<parameters>$(arg simulation_controllers)</parameters>
<controller_manager_node_name>$(arg tf_prefix)controller_manager</controller_manager_node_name>
</plugin>
</gazebo>
</xacro:if>
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