diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/CMakeLists.txt b/my_dual_robot_cell/my_dual_robot_cell_control/CMakeLists.txt new file mode 100644 index 0000000..9641ab9 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.8) +project(my_dual_robot_cell_control) + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY launch config urdf + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/LICENSE b/my_dual_robot_cell/my_dual_robot_cell_control/LICENSE new file mode 100644 index 0000000..48fb689 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/LICENSE @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2022, Universal Robots A/S +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/config/alice_calibration.yaml b/my_dual_robot_cell/my_dual_robot_cell_control/config/alice_calibration.yaml new file mode 100644 index 0000000..278abec --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/config/alice_calibration.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.15188497379686153 + roll: -0 + pitch: 0 + yaw: 6.0977137363254793e-05 + upper_arm: + x: -5.6533207234432926e-06 + y: 0 + z: 0 + roll: 1.570844251867735 + pitch: 0 + yaw: 2.541818406001163e-05 + forearm: + x: -0.24357369892909492 + y: 0 + z: 0 + roll: 3.1408819727448281 + pitch: 3.1414601607728438 + yaw: -3.1415265155090113 + wrist_1: + x: -0.21292841478821867 + y: 0.00048506402454531479 + z: 0.11301075109662011 + roll: 3.1373004863304383 + pitch: 3.1363886827765697 + yaw: 3.1415791419793657 + wrist_2: + x: 4.074182080180165e-05 + y: -0.085310893242290478 + z: -6.4346805950626749e-05 + roll: 1.5715505891323607 + pitch: 0 + yaw: -1.1414933636491948e-05 + wrist_3: + x: -7.319426521397714e-05 + y: 0.08232894752301384 + z: -5.8521744863255091e-05 + roll: 1.5700854986261004 + pitch: 3.1415926535897931 + yaw: -3.1415870300000677 + hash: calib_3443727564195709335 \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/config/bob_calibration.yaml b/my_dual_robot_cell/my_dual_robot_cell_control/config/bob_calibration.yaml new file mode 100644 index 0000000..07d02f8 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/config/bob_calibration.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.15192390485501492 + roll: -0 + pitch: 0 + yaw: 7.5207672895458863e-05 + upper_arm: + x: 1.1565754681822927e-07 + y: 0 + z: 0 + roll: 1.5701230398196422 + pitch: 0 + yaw: -3.745754755790643e-05 + forearm: + x: -0.24342623565759611 + y: 0 + z: 0 + roll: 0.0062667292139209178 + pitch: -0.0013839232587116385 + yaw: 3.5263175677186283e-05 + wrist_1: + x: -0.21319918045377464 + y: -0.00042101985050556432 + z: 0.11194857450023041 + roll: 0.0037608148871306722 + pitch: 0.00014433964301166516 + yaw: -5.7788592498697277e-05 + wrist_2: + x: 3.3301180434358473e-05 + y: -0.085304702494341758 + z: -2.7251181339165215e-05 + roll: 1.5711157837487961 + pitch: 0 + yaw: -3.3083428877200004e-05 + wrist_3: + x: -4.675513506427485e-05 + y: 0.082256832990903556 + z: -5.7204020078096673e-05 + roll: 1.5701008950748028 + pitch: 3.1415926535897931 + yaw: 3.1415605336065866 + hash: calib_10683367749926797482 \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/config/combined_controllers.yaml b/my_dual_robot_cell/my_dual_robot_cell_control/config/combined_controllers.yaml new file mode 100644 index 0000000..4a5e022 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/config/combined_controllers.yaml @@ -0,0 +1,241 @@ +controller_manager: + ros__parameters: + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + alice_io_and_status_controller: + type: ur_controllers/GPIOController + + bob_io_and_status_controller: + type: ur_controllers/GPIOController + + alice_speed_scaling_state_broadcaster: + type: ur_controllers/SpeedScalingStateBroadcaster + + bob_speed_scaling_state_broadcaster: + type: ur_controllers/SpeedScalingStateBroadcaster + + alice_force_torque_sensor_broadcaster: + type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster + + bob_force_torque_sensor_broadcaster: + type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster + + alice_joint_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + + bob_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + + alice_scaled_joint_trajectory_controller: + type: ur_controllers/ScaledJointTrajectoryController + + bob_scaled_joint_trajectory_controller: + type: ur_controllers/ScaledJointTrajectoryController + + forward_velocity_controller: + type: velocity_controllers/JointGroupVelocityController + + alice_forward_position_controller: + type: position_controllers/JointGroupPositionController + + bob_forward_position_controller: + type: position_controllers/JointGroupPositionController + + +alice_speed_scaling_state_broadcaster: + ros__parameters: + state_publish_rate: 100.0 + tf_prefix: "alice_" + +bob_speed_scaling_state_broadcaster: + ros__parameters: + state_publish_rate: 100.0 + tf_prefix: "bob_" + +alice_io_and_status_controller: + ros__parameters: + tf_prefix: "alice_" + +bob_io_and_status_controller: + ros__parameters: + tf_prefix: "bob_" + +alice_force_torque_sensor_broadcaster: + ros__parameters: + sensor_name: alice_tcp_fts_sensor + state_interface_names: + - force.x + - force.y + - force.z + - torque.x + - torque.y + - torque.z + frame_id: bob_tool0 + topic_name: alice_ft_data + +bob_force_torque_sensor_broadcaster: + ros__parameters: + sensor_name: bob_tcp_fts_sensor + state_interface_names: + - force.x + - force.y + - force.z + - torque.x + - torque.y + - torque.z + frame_id: bob_tool0 + topic_name: bob_ft_data + + +alice_joint_trajectory_controller: + ros__parameters: + joints: + - alice_shoulder_pan_joint + - alice_shoulder_lift_joint + - alice_elbow_joint + - alice_wrist_1_joint + - alice_wrist_2_joint + - alice_wrist_3_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + constraints: + stopped_velocity_tolerance: 0.2 + goal_time: 0.0 + alice_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } + alice_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 } + alice_elbow_joint: { trajectory: 0.2, goal: 0.1 } + alice_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } + alice_wrist_2_joint: { trajectory: 0.2, goal: 0.1 } + alice_wrist_3_joint: { trajectory: 0.2, goal: 0.1 } + +bob_joint_trajectory_controller: + ros__parameters: + joints: + - bob_shoulder_pan_joint + - bob_shoulder_lift_joint + - bob_elbow_joint + - bob_wrist_1_joint + - bob_wrist_2_joint + - bob_wrist_3_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + constraints: + stopped_velocity_tolerance: 0.2 + goal_time: 0.0 + bob_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } + bob_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 } + bob_elbow_joint: { trajectory: 0.2, goal: 0.1 } + bob_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } + bob_wrist_2_joint: { trajectory: 0.2, goal: 0.1 } + bob_wrist_3_joint: { trajectory: 0.2, goal: 0.1 } + +alice_scaled_joint_trajectory_controller: + ros__parameters: + joints: + - alice_shoulder_pan_joint + - alice_shoulder_lift_joint + - alice_elbow_joint + - alice_wrist_1_joint + - alice_wrist_2_joint + - alice_wrist_3_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + constraints: + stopped_velocity_tolerance: 0.2 + goal_time: 0.0 + alice_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } + alice_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 } + alice_elbow_joint: { trajectory: 0.2, goal: 0.1 } + alice_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } + alice_wrist_2_joint: { trajectory: 0.2, goal: 0.1 } + alice_wrist_3_joint: { trajectory: 0.2, goal: 0.1 } + speed_scaling_interface_name: alice_speed_scaling/speed_scaling_factor + +bob_scaled_joint_trajectory_controller: + ros__parameters: + joints: + - bob_shoulder_pan_joint + - bob_shoulder_lift_joint + - bob_elbow_joint + - bob_wrist_1_joint + - bob_wrist_2_joint + - bob_wrist_3_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + constraints: + stopped_velocity_tolerance: 0.2 + goal_time: 0.0 + bob_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } + bob_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 } + bob_elbow_joint: { trajectory: 0.2, goal: 0.1 } + bob_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } + bob_wrist_2_joint: { trajectory: 0.2, goal: 0.1 } + bob_wrist_3_joint: { trajectory: 0.2, goal: 0.1 } + speed_scaling_interface_name: bob_speed_scaling/speed_scaling_factor + +alice_forward_velocity_controller: + ros__parameters: + joints: + - alice_shoulder_pan_joint + - alice_shoulder_lift_joint + - alice_elbow_joint + - alice_wrist_1_joint + - alice_wrist_2_joint + - alice_wrist_3_joint + interface_name: velocity + +bob_forward_velocity_controller: + ros__parameters: + joints: + - bob_shoulder_pan_joint + - bob_shoulder_lift_joint + - bob_elbow_joint + - bob_wrist_1_joint + - bob_wrist_2_joint + - bob_wrist_3_joint + interface_name: velocity + +alice_forward_position_controller: + ros__parameters: + joints: + - alice_shoulder_pan_joint + - alice_shoulder_lift_joint + - alice_elbow_joint + - alice_wrist_1_joint + - alice_wrist_2_joint + - alice_wrist_3_joint + +bob_forward_position_controller: + ros__parameters: + joints: + - bob_shoulder_pan_joint + - bob_shoulder_lift_joint + - bob_elbow_joint + - bob_wrist_1_joint + - bob_wrist_2_joint + - bob_wrist_3_joint \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/config/update_rate.yaml b/my_dual_robot_cell/my_dual_robot_cell_control/config/update_rate.yaml new file mode 100644 index 0000000..66ef3d7 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/config/update_rate.yaml @@ -0,0 +1,3 @@ +controller_manager: + ros__parameters: + update_rate: 500 # Hz diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/launch/rsp.launch.py b/my_dual_robot_cell/my_dual_robot_cell_control/launch/rsp.launch.py new file mode 100644 index 0000000..5aadd21 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/launch/rsp.launch.py @@ -0,0 +1,203 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import (Command, FindExecutable, LaunchConfiguration, + PathJoinSubstitution) +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + alice_ur_type = LaunchConfiguration("alice_ur_type") + bob_ur_type = LaunchConfiguration("bob_ur_type") + + alice_robot_ip = LaunchConfiguration("alice_robot_ip") + bob_robot_ip = LaunchConfiguration("bob_robot_ip") + + alice_use_mock_hardware = LaunchConfiguration("alice_use_mock_hardware") + alice_mock_sensor_commands = LaunchConfiguration("alice_mock_sensor_commands") + bob_use_mock_hardware = LaunchConfiguration("bob_use_mock_hardware") + bob_mock_sensor_commands = LaunchConfiguration("bob_mock_sensor_commands") + + headless_mode = LaunchConfiguration("headless_mode") + + alice_kinematics_parameters_file = LaunchConfiguration( + "alice_kinematics_parameters_file" + ) + bob_kinematics_parameters_file = LaunchConfiguration( + "bob_kinematics_parameters_file" + ) + + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [ + FindPackageShare("my_dual_robot_cell_control"), + "urdf", + "my_dual_robot_cell_controlled.urdf.xacro", + ] + ), + " ", + "alice_robot_ip:=", + alice_robot_ip, + " ", + "bob_robot_ip:=", + bob_robot_ip, + " ", + "alice_ur_type:=", + alice_ur_type, + " ", + "bob_ur_type:=", + bob_ur_type, + " ", + "alice_use_mock_hardware:=", + alice_use_mock_hardware, + " ", + "bob_use_mock_hardware:=", + bob_use_mock_hardware, + " ", + "alice_kinematics_parameters_file:=", + alice_kinematics_parameters_file, + " ", + "bob_kinematics_parameters_file:=", + bob_kinematics_parameters_file, + " ", + "alice_mock_sensor_commands:=", + alice_mock_sensor_commands, + " ", + "bob_mock_sensor_commands:=", + bob_mock_sensor_commands, + " ", + "headless_mode:=", + headless_mode, + ] + ) + robot_description = {"robot_description": robot_description_content} + + declared_arguments = [] + declared_arguments.append( + DeclareLaunchArgument( + "alice_ur_type", + description="Type/series of used UR robot.", + choices=[ + "ur3", + "ur3e", + "ur5", + "ur5e", + "ur10", + "ur10e", + "ur16e", + "ur20", + "ur30", + ], + default_value="ur3e", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_ur_type", + description="Type/series of used UR robot.", + choices=[ + "ur3", + "ur3e", + "ur5", + "ur5e", + "ur10", + "ur10e", + "ur16e", + "ur20", + "ur30", + ], + default_value="ur3e", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "alice_robot_ip", + default_value="192.168.0.101", + description="IP address by which alice can be reached.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_robot_ip", + default_value="192.168.0.100", + description="IP address by which bob can be reached.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "alice_kinematics_parameters_file", + default_value=PathJoinSubstitution( + [ + FindPackageShare("my_dual_robot_cell_control"), + "config", + "alice_calibration.yaml", + ] + ), + description="The calibration configuration of alice.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_kinematics_parameters_file", + default_value=PathJoinSubstitution( + [ + FindPackageShare("my_dual_robot_cell_control"), + "config", + "bob_calibration.yaml", + ] + ), + description="The calibration configuration of bob.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "alice_use_mock_hardware", + default_value="false", + description="Start alice with mock hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_use_mock_hardware", + default_value="false", + description="Start bob with mock hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "alice_mock_sensor_commands", + default_value="false", + description="Enable mock command interfaces for alice's sensors used for simple simulations. " + "Used only if 'use_mock_hardware' parameter is true.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_mock_sensor_commands", + default_value="false", + description="Enable mock command interfaces for bob's sensors used for simple simulations. " + "Used only if 'use_mock_hardware' parameter is true.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "headless_mode", + default_value="false", + description="Enable headless mode for robot control", + ) + ) + + return LaunchDescription( + declared_arguments + + [ + Node( + package="robot_state_publisher", + executable="robot_state_publisher", + output="both", + parameters=[robot_description], + ), + ] + ) diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/launch/start_robots.launch.py b/my_dual_robot_cell/my_dual_robot_cell_control/launch/start_robots.launch.py new file mode 100644 index 0000000..e131c2e --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/launch/start_robots.launch.py @@ -0,0 +1,466 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.conditions import IfCondition, UnlessCondition +from launch.launch_description_sources import AnyLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterFile +from launch_ros.substitutions import FindPackageShare + + +def launch_setup(): + # Initialize Arguments + alice_ur_type = LaunchConfiguration("alice_ur_type") + bob_ur_type = LaunchConfiguration("bob_ur_type") + + alice_robot_ip = LaunchConfiguration("alice_robot_ip") + bob_robot_ip = LaunchConfiguration("bob_robot_ip") + + # General arguments + controllers_file = LaunchConfiguration("controllers_file") + controller_spawner_timeout = LaunchConfiguration("controller_spawner_timeout") + description_launchfile = LaunchConfiguration("description_launchfile") + launch_rviz = LaunchConfiguration("launch_rviz") + rviz_config_file = LaunchConfiguration("rviz_config_file") + headless_mode = LaunchConfiguration("headless_mode") + + # Robot specific arguments + alice_use_mock_hardware = LaunchConfiguration("alice_use_mock_hardware") + alice_mock_sensor_commands = LaunchConfiguration("alice_mock_sensor_commands") + alice_initial_joint_controller = LaunchConfiguration("alice_initial_joint_controller") + alice_activate_joint_controller = LaunchConfiguration("alice_activate_joint_controller") + alice_launch_dashboard_client = LaunchConfiguration("alice_launch_dashboard_client") + + bob_use_mock_hardware = LaunchConfiguration("bob_use_mock_hardware") + bob_mock_sensor_commands = LaunchConfiguration("bob_mock_sensor_commands") + bob_initial_joint_controller = LaunchConfiguration("bob_initial_joint_controller") + bob_activate_joint_controller = LaunchConfiguration("bob_activate_joint_controller") + bob_launch_dashboard_client = LaunchConfiguration("bob_launch_dashboard_client") + + # Single controller manager comprising of controllers for both arms + control_node = Node( + package="controller_manager", + executable="ros2_control_node", + parameters=[ + LaunchConfiguration("update_rate_config_file"), + ParameterFile(controllers_file, allow_substs=True), + # We use the tf_prefix as substitution in there, so that's why we keep it as an + # argument for this launchfile + ], + output="screen", + ) + + alice_dashboard_client_node = Node( + package="ur_robot_driver", + condition=IfCondition(alice_launch_dashboard_client) and UnlessCondition(alice_use_mock_hardware), + executable="dashboard_client", + name="dashboard_client", + namespace="alice", + output="screen", + emulate_tty=True, + parameters=[{"robot_ip": alice_robot_ip}], + ) + + bob_dashboard_client_node = Node( + package="ur_robot_driver", + condition=IfCondition(bob_launch_dashboard_client) and UnlessCondition(bob_use_mock_hardware), + executable="dashboard_client", + name="dashboard_client", + namespace="bob", + output="screen", + emulate_tty=True, + parameters=[{"robot_ip": bob_robot_ip}], + ) + + alice_urscript_interface = Node( + package="ur_robot_driver", + executable="urscript_interface", + namespace="alice", + parameters=[{"robot_ip": alice_robot_ip}], + output="screen", + condition=UnlessCondition(alice_use_mock_hardware), + ) + + bob_urscript_interface = Node( + package="ur_robot_driver", + executable="urscript_interface", + namespace="bob", + parameters=[{"robot_ip": bob_robot_ip}], + output="screen", + condition=UnlessCondition(bob_use_mock_hardware), + ) + + alice_controller_stopper_node = Node( + package="ur_robot_driver", + executable="controller_stopper_node", + namespace="alice", + name="controller_stopper", + output="screen", + emulate_tty=True, + condition=UnlessCondition(alice_use_mock_hardware), + parameters=[ + {"headless_mode": headless_mode}, + {"joint_controller_active": alice_activate_joint_controller}, + { + "consistent_controllers": [ + "joint_state_broadcaster", + "alice_io_and_status_controller", + "bob_io_and_status_controller", + "alice_force_torque_sensor_broadcaster", + "bob_force_torque_sensor_broadcaster", + "alice_speed_scaling_state_broadcaster", + "bob_speed_scaling_state_broadcaster", + ] + }, + ], + ) + + bob_controller_stopper_node = Node( + package="ur_robot_driver", + executable="controller_stopper_node", + namespace="bob", + name="controller_stopper", + output="screen", + emulate_tty=True, + condition=UnlessCondition(bob_use_mock_hardware), + parameters=[ + {"headless_mode": headless_mode}, + {"joint_controller_active": bob_activate_joint_controller}, + { + "consistent_controllers": [ + "joint_state_broadcaster", + "alice_io_and_status_controller", + "bob_io_and_status_controller", + "alice_force_torque_sensor_broadcaster", + "bob_force_torque_sensor_broadcaster", + "alice_speed_scaling_state_broadcaster", + "bob_speed_scaling_state_broadcaster", + ] + }, + ], + ) + + rviz_node = Node( + package="rviz2", + condition=IfCondition(launch_rviz), + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file], + ) + + # Spawn controllers + def controller_spawner(controllers, active=True): + inactive_flags = ["--inactive"] if not active else [] + return Node( + package="controller_manager", + executable="spawner", + arguments=[ + "--controller-manager", + "/controller_manager", + "--controller-manager-timeout", + controller_spawner_timeout, + ] + + inactive_flags + + controllers, + ) + + controllers_active = [ + "joint_state_broadcaster", + "alice_io_and_status_controller", + "bob_io_and_status_controller", + "alice_speed_scaling_state_broadcaster", + "bob_speed_scaling_state_broadcaster", + "alice_force_torque_sensor_broadcaster", + "bob_force_torque_sensor_broadcaster", + ] + controllers_inactive = [ + "alice_forward_position_controller", + "bob_forward_position_controller", + ] + + controller_spawners = [controller_spawner(controllers_active)] + [ + controller_spawner(controllers_inactive, active=False) + ] + + # There may be other controllers of the joints, but this is the initially-started one + alice_initial_joint_controller_spawner_started = Node( + package="controller_manager", + executable="spawner", + arguments=[ + alice_initial_joint_controller, + "-c", + "/controller_manager", + "--controller-manager-timeout", + controller_spawner_timeout, + ], + condition=IfCondition(alice_activate_joint_controller), + ) + bob_initial_joint_controller_spawner_started = Node( + package="controller_manager", + executable="spawner", + arguments=[ + bob_initial_joint_controller, + "-c", + "/controller_manager", + "--controller-manager-timeout", + controller_spawner_timeout, + ], + condition=IfCondition(bob_activate_joint_controller), + ) + alice_initial_joint_controller_spawner_stopped = Node( + package="controller_manager", + executable="spawner", + arguments=[ + alice_initial_joint_controller, + "-c", + "/controller_manager", + "--controller-manager-timeout", + controller_spawner_timeout, + "--inactive", + ], + condition=UnlessCondition(alice_activate_joint_controller), + ) + bob_initial_joint_controller_spawner_stopped = Node( + package="controller_manager", + executable="spawner", + arguments=[ + bob_initial_joint_controller, + "-c", + "/controller_manager", + "--controller-manager-timeout", + controller_spawner_timeout, + "--inactive", + ], + condition=UnlessCondition(bob_activate_joint_controller), + ) + + rsp = IncludeLaunchDescription( + AnyLaunchDescriptionSource(description_launchfile), + launch_arguments={ + "alice_robot_ip": alice_robot_ip, + "bob_robot_ip": bob_robot_ip, + "alice_ur_type": alice_ur_type, + "bob_ur_type": bob_ur_type, + }.items(), + ) + + nodes_to_start = [ + control_node, + alice_dashboard_client_node, + bob_dashboard_client_node, + alice_controller_stopper_node, + bob_controller_stopper_node, + alice_urscript_interface, + bob_urscript_interface, + rsp, + rviz_node, + alice_initial_joint_controller_spawner_stopped, + bob_initial_joint_controller_spawner_stopped, + alice_initial_joint_controller_spawner_started, + bob_initial_joint_controller_spawner_started, + ] + controller_spawners + + return nodes_to_start + + +def generate_launch_description(): + declared_arguments = [] + # UR specific arguments + declared_arguments.append( + DeclareLaunchArgument( + "alice_ur_type", + description="Type/series of used UR robot.", + choices=[ + "ur3", + "ur3e", + "ur5", + "ur5e", + "ur10", + "ur10e", + "ur16e", + "ur20", + "ur30", + ], + default_value="ur3e", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_ur_type", + description="Type/series of used UR robot.", + choices=[ + "ur3", + "ur3e", + "ur5", + "ur5e", + "ur10", + "ur10e", + "ur16e", + "ur20", + "ur30", + ], + default_value="ur3e", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "alice_robot_ip", + default_value="192.168.0.101", + description="IP address by which alice can be reached.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_robot_ip", + default_value="192.168.0.100", + description="IP address by which bob can be reached.", + ) + ) + + # General arguments + declared_arguments.append( + DeclareLaunchArgument( + "controllers_file", + default_value=PathJoinSubstitution( + [ + FindPackageShare("my_dual_robot_cell_control"), + "config", + "combined_controllers.yaml", + ] + ), + description="YAML file with the controllers configuration.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "description_launchfile", + default_value=PathJoinSubstitution( + [ + FindPackageShare("my_dual_robot_cell_control"), + "launch", + "rsp.launch.py", + ] + ), + description="Launchfile (absolute path) providing the description. " + "The launchfile has to start a robot_state_publisher node that " + "publishes the description topic.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "alice_use_mock_hardware", + default_value="false", + description="Start alice with mock hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_use_mock_hardware", + default_value="false", + description="Start bob with mock hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "alice_mock_sensor_commands", + default_value="false", + description="Enable mock command interfaces for alice's sensors used for simple simulations. " + "Used only if 'use_mock_hardware' parameter is true.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_mock_sensor_commands", + default_value="false", + description="Enable mock command interfaces for bob's sensors used for simple simulations. " + "Used only if 'use_mock_hardware' parameter is true.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "headless_mode", + default_value="false", + description="Enable headless mode for robot control for both arms.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "controller_spawner_timeout", + default_value="10", + description="Timeout used when spawning controllers.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "alice_initial_joint_controller", + default_value="alice_scaled_joint_trajectory_controller", + description="Initially loaded robot controller for the alice robot arm.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_initial_joint_controller", + default_value="bob_scaled_joint_trajectory_controller", + description="Initially loaded robot controller for the bob robot arm.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "alice_activate_joint_controller", + default_value="true", + description="Activate loaded joint controller for the alice robot arm.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_activate_joint_controller", + default_value="true", + description="Activate loaded joint controller for the bob robot arm.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "launch_rviz", default_value="true", description="Launch RViz?" + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "rviz_config_file", + default_value=PathJoinSubstitution( + [FindPackageShare("my_dual_robot_cell_description"), "rviz", "urdf.rviz"] + ), + description="RViz config file (absolute path) to use when launching rviz.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "alice_launch_dashboard_client", + default_value="true", + description="Launch Dashboard Client?", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "bob_launch_dashboard_client", + default_value="true", + description="Launch Dashboard Client?", + ) + ) + + declared_arguments.append( + DeclareLaunchArgument( + name="update_rate_config_file", + default_value=[ + PathJoinSubstitution( + [ + FindPackageShare("my_dual_robot_cell_control"), + "config", + ] + ), + "/", + "update_rate.yaml", + ], + ) + ) + return LaunchDescription(declared_arguments + launch_setup()) diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/package.xml b/my_dual_robot_cell/my_dual_robot_cell_control/package.xml new file mode 100644 index 0000000..10f9f88 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/package.xml @@ -0,0 +1,31 @@ + + + + my_dual_robot_cell_control + 1.0.0 + + ros2_control setup + + Vihaan Shah + Felix Durchdewald + BSD-3-Clause + + + ament_cmake + + joint_state_broadcaster + joint_trajectory_controller + position_controllers + robot_state_publisher + my_dual_robot_cell_description + ur_controllers + ur_robot_driver + ur_client_library + xacro + controller_manager + + + + ament_cmake + + diff --git a/my_dual_robot_cell/my_dual_robot_cell_control/urdf/my_dual_robot_cell_controlled.urdf.xacro b/my_dual_robot_cell/my_dual_robot_cell_control/urdf/my_dual_robot_cell_controlled.urdf.xacro new file mode 100644 index 0000000..c1bacd8 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_control/urdf/my_dual_robot_cell_controlled.urdf.xacro @@ -0,0 +1,97 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_description/CMakeLists.txt b/my_dual_robot_cell/my_dual_robot_cell_description/CMakeLists.txt new file mode 100644 index 0000000..e71962f --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_description/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.5) +project(my_dual_robot_cell_description) + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY launch rviz urdf + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/my_dual_robot_cell/my_dual_robot_cell_description/LICENSE b/my_dual_robot_cell/my_dual_robot_cell_description/LICENSE new file mode 100644 index 0000000..48fb689 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_description/LICENSE @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2022, Universal Robots A/S +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. 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The parties expressly disclaim the applicability of the United Nations Convention on Contracts for the International Sale of Goods. + +8.2. Any and all disputes arising out of or in connection with the T&Cs shall be submitted to the International Chamber of Commerce and shall be settled under the Rules of Arbitration of the International Chamber of Commerce by one (1) arbitrator appointed in accordance with said Rules. The place of arbitration shall be Copenhagen, Denmark. The arbitration shall be conducted in the English language. The foregoing notwithstanding, Universal Robots may seek preliminary, temporary, or permanent injunctive relief and other equitable remedies in any court of competent jurisdiction prior to or during arbitration and may enforce the award of the arbitrator in any court of competent jurisdiction. + + +* E.g., STEP-Files (ISO 10303-21), Collada (.dae), STL files (.stl), GLB files (.glb), GLFT files (.glft) , Jupiter Tessellation files (.jt), E-plan files (.emp), electrical schematics, CAD files, and drawings including the contents of these technical files. “Software”, as defined in Universal Robots End User Software License Agreement, does not constitute “Technical Documentation” and your use thereof is, unless otherwise agreed with Universal Robots in writing, governed by Universal Robots’ End User Software License Agreement. diff --git a/my_dual_robot_cell/my_dual_robot_cell_description/launch/view_robot.launch.py b/my_dual_robot_cell/my_dual_robot_cell_description/launch/view_robot.launch.py new file mode 100644 index 0000000..4a8c477 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_description/launch/view_robot.launch.py @@ -0,0 +1,52 @@ +from launch import LaunchDescription +from launch.substitutions import Command, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterValue +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + description_package = FindPackageShare("my_dual_robot_cell_description") + description_file = PathJoinSubstitution( + [description_package, "urdf", "my_dual_robot_cell.urdf.xacro"] + ) + rvizconfig_file = PathJoinSubstitution([description_package, "rviz", "urdf.rviz"]) + + robot_description = ParameterValue( + Command( + [ + "xacro ", + description_file, + " ", + "alice_ur_type:=", + "ur3", + " ", + "bob_ur_type:=", + "ur3", + ] + ), + value_type=str, + ) + + robot_state_publisher_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + parameters=[{"robot_description": robot_description}], + ) + + joint_state_publisher_gui_node = Node( + package="joint_state_publisher_gui", + executable="joint_state_publisher_gui", + ) + + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="screen", + arguments=["-d", rvizconfig_file], + ) + + return LaunchDescription( + [joint_state_publisher_gui_node, robot_state_publisher_node, rviz_node] + ) diff --git a/my_dual_robot_cell/my_dual_robot_cell_description/package.xml b/my_dual_robot_cell/my_dual_robot_cell_description/package.xml new file mode 100644 index 0000000..ef021ee --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_description/package.xml @@ -0,0 +1,27 @@ + + + + my_dual_robot_cell_description + 1.0.0 + + This package contains an urdf of a shared workspace. + Felix Exner + + BSD-3-Clause + + Vihaan Shah + + ament_cmake + joint_state_publisher + joint_state_publisher_gui + robot_state_publisher + rviz2 + xacro + ur_description + ur_robot_driver + my_robot_cell_description + + + ament_cmake + + diff --git a/my_dual_robot_cell/my_dual_robot_cell_description/rviz/urdf.rviz b/my_dual_robot_cell/my_dual_robot_cell_description/rviz/urdf.rviz new file mode 100644 index 0000000..360c746 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_description/rviz/urdf.rviz @@ -0,0 +1,358 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 87 + Name: Displays + Property Tree Widget: + Expanded: + - /RobotModel1 + - /TF1 + - /TF1/Tree1 + Splitter Ratio: 0.5 + Tree Height: 398 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + alice_base: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_ft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_robot_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_base: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_ft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_robot_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + monitor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + table: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wall: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + alice_base: + Value: true + alice_base_link: + Value: true + alice_base_link_inertia: + Value: true + alice_flange: + Value: true + alice_forearm_link: + Value: true + alice_ft_frame: + Value: true + alice_robot_mount: + Value: true + alice_shoulder_link: + Value: true + alice_tool0: + Value: true + alice_upper_arm_link: + Value: true + alice_wrist_1_link: + Value: true + alice_wrist_2_link: + Value: true + alice_wrist_3_link: + Value: true + bob_base: + Value: true + bob_base_link: + Value: true + bob_base_link_inertia: + Value: true + bob_flange: + Value: true + bob_forearm_link: + Value: true + bob_ft_frame: + Value: true + bob_robot_mount: + Value: true + bob_shoulder_link: + Value: true + bob_tool0: + Value: true + bob_upper_arm_link: + Value: true + bob_wrist_1_link: + Value: true + bob_wrist_2_link: + Value: true + bob_wrist_3_link: + Value: true + monitor: + Value: true + table: + Value: true + wall: + Value: true + world: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + world: + table: + alice_robot_mount: + alice_base_link: + alice_base: + {} + alice_base_link_inertia: + alice_shoulder_link: + alice_upper_arm_link: + alice_forearm_link: + alice_wrist_1_link: + alice_wrist_2_link: + alice_wrist_3_link: + alice_flange: + alice_tool0: + {} + alice_ft_frame: + {} + bob_robot_mount: + bob_base_link: + bob_base: + {} + bob_base_link_inertia: + bob_shoulder_link: + bob_upper_arm_link: + bob_forearm_link: + bob_wrist_1_link: + bob_wrist_2_link: + bob_wrist_3_link: + bob_flange: + bob_tool0: + {} + bob_ft_frame: + {} + monitor: + {} + wall: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/MoveCamera + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 4.675174713134766 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.9431386590003967 + Y: 0.6480544209480286 + Z: 1.3101682662963867 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.49500054121017456 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.259994983673096 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000100000000000001ad0000039efc0200000002fb000000100044006900730070006c006100790073010000003d00000222000000c900fffffffb0000000a00560069006500770073010000026500000176000000a400ffffff000005cd0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1920 + X: 0 + Y: 27 diff --git a/my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell.urdf.xacro b/my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell.urdf.xacro new file mode 100644 index 0000000..7f86dcc --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell.urdf.xacro @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell_macro.xacro b/my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell_macro.xacro new file mode 100644 index 0000000..1d0ff25 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell_macro.xacro @@ -0,0 +1,127 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/.setup_assistant b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/.setup_assistant new file mode 100644 index 0000000..23da84d --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/.setup_assistant @@ -0,0 +1,10 @@ +moveit_setup_assistant_config: + urdf: + package: my_dual_robot_cell_description + relative_path: urdf/my_dual_robot_cell.urdf.xacro + srdf: + relative_path: config/my_dual_robot_cell.srdf + package_settings: + author_name: Vihaan Shah + author_email: vihaan.shah@uconn.edu + generated_timestamp: 1719324402 \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/CMakeLists.txt b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/CMakeLists.txt new file mode 100644 index 0000000..0cb4e73 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.22) +project(my_dual_robot_cell_moveit_config) + +find_package(ament_cmake REQUIRED) + +ament_package() + +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) +install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME}) diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/initial_positions.yaml b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/initial_positions.yaml new file mode 100644 index 0000000..ecb90d7 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/initial_positions.yaml @@ -0,0 +1,15 @@ +# Default initial positions for my_dual_robot_cell's ros2_control fake system + +initial_positions: + alice_elbow_joint: 0 + alice_shoulder_lift_joint: 0 + alice_shoulder_pan_joint: 0 + alice_wrist_1_joint: 0 + alice_wrist_2_joint: 0 + alice_wrist_3_joint: 0 + bob_elbow_joint: 0 + bob_shoulder_lift_joint: 0 + bob_shoulder_pan_joint: 0 + bob_wrist_1_joint: 0 + bob_wrist_2_joint: 0 + bob_wrist_3_joint: 0 \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/joint_limits.yaml b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/joint_limits.yaml new file mode 100644 index 0000000..f5ee057 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/joint_limits.yaml @@ -0,0 +1,70 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed + +# For beginners, we downscale velocity and acceleration limits. +# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed. +default_velocity_scaling_factor: 0.1 +default_acceleration_scaling_factor: 0.1 + +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + alice_elbow_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: true + max_acceleration: 5.0 + alice_shoulder_lift_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: true + max_acceleration: 5.0 + alice_shoulder_pan_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: true + max_acceleration: 5.0 + alice_wrist_1_joint: + has_velocity_limits: true + max_velocity: 6.2831853071795862 + has_acceleration_limits: true + max_acceleration: 5.0 + alice_wrist_2_joint: + has_velocity_limits: true + max_velocity: 6.2831853071795862 + has_acceleration_limits: true + max_acceleration: 5.0 + alice_wrist_3_joint: + has_velocity_limits: true + max_velocity: 6.2831853071795862 + has_acceleration_limits: true + max_acceleration: 5.0 + bob_elbow_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: true + max_acceleration: 5.0 + bob_shoulder_lift_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: true + max_acceleration: 5.0 + bob_shoulder_pan_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: true + max_acceleration: 5.0 + bob_wrist_1_joint: + has_velocity_limits: true + max_velocity: 6.2831853071795862 + has_acceleration_limits: true + max_acceleration: 5.0 + bob_wrist_2_joint: + has_velocity_limits: true + max_velocity: 6.2831853071795862 + has_acceleration_limits: true + max_acceleration: 5.0 + bob_wrist_3_joint: + has_velocity_limits: true + max_velocity: 6.2831853071795862 + has_acceleration_limits: true + max_acceleration: 5.0 \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/kinematics.yaml b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/kinematics.yaml new file mode 100644 index 0000000..87cc61c --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/kinematics.yaml @@ -0,0 +1,8 @@ +alice_manipulator: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.0050000000000000001 + kinematics_solver_timeout: 0.0050000000000000001 +bob_manipulator: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.0050000000000000001 + kinematics_solver_timeout: 0.0050000000000000001 \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit.rviz b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit.rviz new file mode 100644 index 0000000..2cbcdc6 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit.rviz @@ -0,0 +1,484 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 87 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.4957627058029175 + Tree Height: 380 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Acceleration_Scaling_Factor: 0.1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Cartesian_Path: false + MoveIt_Use_Constraint_Aware_IK: false + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: true + Interrupt Display: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + alice_base: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_ft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_robot_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_base: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_ft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_robot_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + monitor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + table: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wall: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Loop Animation: false + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: /display_planned_path + Use Sim Time: false + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.07999999821186066 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: alice_manipulator + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 0.8999999761581421 + Scene Color: 50; 230; 50 + Scene Display Time: 0.009999999776482582 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + alice_base: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_ft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_robot_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + alice_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + alice_wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_base: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_ft_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_robot_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + bob_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bob_wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + monitor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + table: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wall: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Robot Alpha: 1 + Show Robot Collision: false + Show Robot Visual: true + Value: true + Velocity_Scaling_Factor: 0.1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 4.587055683135986 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.4825928509235382 + Y: 0.6104342937469482 + Z: 1.4097795486450195 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.41039803624153137 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.133575916290283 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 0 + Y: 27 diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit_controllers.yaml b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit_controllers.yaml new file mode 100644 index 0000000..dace306 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/moveit_controllers.yaml @@ -0,0 +1,32 @@ +# MoveIt uses this configuration for controller management + +moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager + +moveit_simple_controller_manager: + controller_names: + - alice_scaled_joint_trajectory_controller + - bob_scaled_joint_trajectory_controller + + alice_scaled_joint_trajectory_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - alice_shoulder_pan_joint + - alice_shoulder_lift_joint + - alice_elbow_joint + - alice_wrist_1_joint + - alice_wrist_2_joint + - alice_wrist_3_joint + + bob_scaled_joint_trajectory_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - bob_shoulder_pan_joint + - bob_shoulder_lift_joint + - bob_elbow_joint + - bob_wrist_1_joint + - bob_wrist_2_joint + - bob_wrist_3_joint \ No newline at end of file diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/my_dual_robot_cell.srdf b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/my_dual_robot_cell.srdf new file mode 100644 index 0000000..70480a0 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/my_dual_robot_cell.srdf @@ -0,0 +1,91 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/pilz_cartesian_limits.yaml b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/pilz_cartesian_limits.yaml new file mode 100644 index 0000000..b2997ca --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/config/pilz_cartesian_limits.yaml @@ -0,0 +1,6 @@ +# Limits for the Pilz planner +cartesian_limits: + max_trans_vel: 1.0 + max_trans_acc: 2.25 + max_trans_dec: -5.0 + max_rot_vel: 1.57 diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/dual_ur_moveit.launch.py b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/dual_ur_moveit.launch.py new file mode 100644 index 0000000..de5a476 --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/launch/dual_ur_moveit.launch.py @@ -0,0 +1,79 @@ +import os +from pathlib import Path + +import yaml +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import (DeclareLaunchArgument, ExecuteProcess, + RegisterEventHandler) +from launch.conditions import IfCondition +from launch.event_handlers import OnProcessExit +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare +from moveit_configs_utils import MoveItConfigsBuilder + + +def load_yaml(package_name, file_path): + package_path = get_package_share_directory(package_name) + absolute_file_path = os.path.join(package_path, file_path) + + try: + with open(absolute_file_path) as file: + return yaml.safe_load(file) + except OSError: # parent of IOError, OSError *and* WindowsError where available + return None + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder( + "my_dual_robot_cell", package_name="my_dual_robot_cell_moveit_config" + ).to_moveit_configs() + + move_group_configuration = { + "publish_robot_description_semantic": True, + "allow_trajectory_execution": True, + "publish_planning_scene": True, + "publish_geometry_updates": True, + "publish_state_updates": True, + "publish_transforms_updates": True, + } + + move_group_params = [ + moveit_config.to_dict(), + move_group_configuration, + ] + + move_group_node = Node( + package="moveit_ros_move_group", + executable="move_group", + output="screen", + parameters=move_group_params, + additional_env={"DISPLAY": ":0"}, + ) + + rviz_config_file = PathJoinSubstitution( + [FindPackageShare("my_dual_robot_cell_moveit_config"), "config", "moveit.rviz"] + ) + + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2_moveit", + output="log", + arguments=["-d", rviz_config_file], + parameters=[ + moveit_config.robot_description, + moveit_config.robot_description_semantic, + moveit_config.robot_description_kinematics, + moveit_config.planning_pipelines, + moveit_config.joint_limits, + ], + ) + + return LaunchDescription( + [ + move_group_node, + rviz_node, + ] + ) diff --git a/my_dual_robot_cell/my_dual_robot_cell_moveit_config/package.xml b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/package.xml new file mode 100644 index 0000000..ae4308f --- /dev/null +++ b/my_dual_robot_cell/my_dual_robot_cell_moveit_config/package.xml @@ -0,0 +1,41 @@ + + + + my_dual_robot_cell_moveit_config + 0.3.0 + + An automatically generated package with all the configuration and launch files for using the my_dual_robot_cell with the MoveIt Motion Planning Framework + + Vihaan Shah + + BSD-3-Clause + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit2/issues + https://github.com/ros-planning/moveit2 + + Vihaan Shah + + ament_cmake + + moveit_ros_move_group + moveit_kinematics + moveit_planners + moveit_simple_controller_manager + joint_state_publisher + joint_state_publisher_gui + tf2_ros + xacro + moveit_configs_utils + moveit_ros_move_group + moveit_ros_visualization + my_dual_robot_cell_description + rviz2 + rviz_common + rviz_default_plugins + + + + ament_cmake + +