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add cob4-30 ostwestfalen #824

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Nov 11, 2022
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add cob4-30 ostwestfalen #824

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15 changes: 15 additions & 0 deletions cob_bringup/robots/cob4-30.launch
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<?xml version="1.0"?>
<launch>

<arg name="env-script" default="$(find cob_bringup)/env.sh"/>

<include file="$(find cob_bringup)/robots/cob4-30.xml">
<arg name="b1" value="b1"/>
<arg name="t1" value="t1"/>
<arg name="t2" value="t2"/>
<arg name="t3" value="t3"/>
<arg name="h1" value="h1"/>
<arg name="env-script" value="$(arg env-script)"/>
</include>

</launch>
274 changes: 274 additions & 0 deletions cob_bringup/robots/cob4-30.xml
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<?xml version="1.0"?>
<launch>

<!-- args -->
<arg name="robot" value="cob4-30"/>
<arg name="b1" default="localhost"/>
<arg name="t1" default="localhost"/>
<arg name="t2" default="localhost"/>
<arg name="t3" default="localhost"/>
<arg name="h1" default="localhost"/>
<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
<arg name="sim" default="false"/>

<!-- upload robot description -->
<include file="$(find cob_hardware_config)/upload_robot.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<!-- upload semantic description -->
<include file="$(find cob_moveit_config)/launch/upload_config.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="load_semantic_description" value="true"/>
<arg name="load_planning_context" value="false"/>
</include>
<!-- upload default configuration parameters -->
<include file="$(find cob_default_robot_config)/upload_param.launch">
<arg name="robot" value="$(arg robot)"/>
</include>

<group>
<machine name="$(anon b1)" address="$(arg b1)" env-loader="$(arg env-script)" default="true" timeout="30"/>

<!-- start hardware -->
<group unless="$(arg sim)">
<include file="$(find cob_bringup)/tools/pc_monitor.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="pc" value="$(arg b1)"/>
<arg name="enable_ntp_monitoring" value="false"/>
</include>
</group>

<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="host" value="10.4.30.99"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/drivers/bms.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/drivers/sick_s300.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="base_laser_front"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/drivers/sick_s300.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="base_laser_right"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/drivers/sick_s300.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="base_laser_left"/>
<arg name="sim" value="$(arg sim)"/>
</include>

<include file="$(find cob_bringup)/components/cob4_base.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/drivers/light.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="light_base"/>
<arg name="sim_enabled" value="$(arg sim)"/>
</include>

<!-- start common nodes used in hardware and simulation -->
<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="input_scans" value="['base_laser_front/scan','base_laser_left/scan','base_laser_right/scan']"/>
<arg name="output_scan" value="/scan_unified"/>
</include>
<include file="$(find cob_bringup)/tools/base_collision_observer.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<!-- <include file="$(find cob_bringup)/tools/collision_monitor.launch"> -->
<node pkg="rostopic" type="rostopic" args="pub /safety_controller/state_is_valid std_msgs/Bool 'data: true' -r10" name="fake_collission_monitor" output="screen"/>

<include file="$(find cob_bringup)/tools/diagnostics_aggregator.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<include file="$(find cob_bringup)/tools/emergency_stop_monitor.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<include file="$(find cob_bringup)/tools/battery_monitor.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<include file="$(find cob_bringup)/tools/teleop.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/tools/docker_control.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="multi_station" default="true"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/tools/robot_state_publisher.launch">
<arg name="robot" value="$(arg robot)"/>
</include>

<!-- simulation only -->
<include if="$(arg sim)" file="$(find cob_bringup)/tools/fake_diagnostics.launch">
<arg name="fake_diagnostics" value="'base_laser_front, base_laser_right, base_laser_left, b1, t1, t2, t3, h1, joy, safety'"/>
</include>
</group>

<group>
<machine name="$(anon t1)" address="$(arg t1)" env-loader="$(arg env-script)" default="true" timeout="30"/>

<!-- start hardware -->
<group unless="$(arg sim)">
<include file="$(find cob_bringup)/tools/pc_monitor.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="pc" value="$(arg t1)"/>
<arg name="ntp_server" value="$(arg b1)"/>
</include>
</group>

<include file="$(find cob_bringup)/components/canopen_generic.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="torso"/>
<arg name="can_device" value="can0"/>
<arg name="sim" value="$(arg sim)"/>
<arg if="$(arg sim)" name="cartesian_control" value="true"/>
</include>

<include file="$(find cob_bringup)/components/canopen_generic.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="arm_left"/>
<arg name="can_device" value="can2"/>
<arg name="sim" value="$(arg sim)"/>
<arg name="use_external_sync" value="false"/>
<arg name="start_external_sync" value="false"/>
</include>
<include file="$(find cob_bringup)/components/canopen_generic.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="arm_right"/>
<arg name="can_device" value="can1"/>
<arg name="sim" value="$(arg sim)"/>
<arg name="use_external_sync" value="false"/>
<arg name="start_external_sync" value="false"/>
</include>

<include file="$(find cob_bringup)/components/cam3d_d435_rgbd.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="torso_cam3d_left"/>
<arg name="sim" value="$(arg sim)"/>
<arg name="flip" value="true"/>
<arg name="serial_no" value="xxxxxxxxxxxx"/>
</include>

<include file="$(find cob_bringup)/drivers/light.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="light_torso"/>
<arg name="sim_enabled" value="$(arg sim)"/>
</include>

<!-- start common nodes used in hardware and simulation -->
<include file="$(find cob_script_server)/launch/script_server.launch"/>
<include file="$(find cob_bringup)/tools/behavior.launch"/>
<include file="$(find cob_bringup)/tools/android.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
</group>

<group>
<machine name="$(anon t2)" address="$(arg t2)" env-loader="$(arg env-script)" default="true" timeout="30"/>

<!-- start hardware -->
<group unless="$(arg sim)">
<include file="$(find cob_bringup)/tools/pc_monitor.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="pc" value="$(arg t2)"/>
<arg name="ntp_server" value="$(arg b1)"/>
</include>
</group>

<include file="$(find cob_bringup)/components/cam3d_d435_rgbd.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="torso_cam3d_down"/>
<arg name="sim" value="$(arg sim)"/>
<arg name="flip" value="true"/>
<arg name="serial_no" value="xxxxxxxxxxxx"/>
</include>
</group>

<group>
<machine name="$(anon t3)" address="$(arg t3)" env-loader="$(arg env-script)" default="true" timeout="30"/>

<!-- start hardware -->
<group unless="$(arg sim)">
<include file="$(find cob_bringup)/tools/pc_monitor.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="pc" value="$(arg t3)"/>
<arg name="ntp_server" value="$(arg b1)"/>
</include>
</group>
<include file="$(find cob_bringup)/components/cam3d_d435_rgbd.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="torso_cam3d_right"/>
<arg name="sim" value="$(arg sim)"/>
<arg name="flip" value="true"/>
<arg name="serial_no" value="xxxxxxxxxxxx"/>
</include>

<include file="$(find cob_bringup)/components/canopen_generic.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="gripper_left"/>
<arg name="can_device" value="can1"/>
<arg name="sim" value="$(arg sim)"/>
<arg name="use_external_sync" value="false"/>
<arg name="start_external_sync" value="false"/>
</include>

<include file="$(find cob_bringup)/components/canopen_generic.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="gripper_right"/>
<arg name="can_device" value="can0"/>
<arg name="sim" value="$(arg sim)"/>
<arg name="use_external_sync" value="false"/>
<arg name="start_external_sync" value="false"/>
</include>
</group>

<group>
<machine name="$(anon h1)" address="$(arg h1)" env-loader="$(arg env-script)" default="true" timeout="30"/>

<!-- start hardware -->
<group unless="$(arg sim)">
<include file="$(find cob_bringup)/tools/pc_monitor.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="pc" value="$(arg h1)"/>
<arg name="ntp_server" value="$(arg b1)"/>
</include>
</group>

<include file="$(find cob_bringup)/components/cam3d_d435_rgbd.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="sensorring_cam3d"/>
<arg name="sim" value="$(arg sim)"/>
<arg name="flip" value="true"/>
<arg name="serial_no" value="xxxxxxxxxxxx"/>
</include>

<include file="$(find cob_bringup)/components/cob4_head_camera.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="sim" value="$(arg sim)"/>
</include>

<!-- start common nodes used in hardware and simulation -->
<include file="$(find cob_bringup)/drivers/sound.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
</group>

<group> <!-- this is a special group to assign DISPLAY:=0 only to the mimic node (and not to all other nodes, e.g. sound node) -->
<machine name="$(anon h1_display)" address="$(arg h1)" env-loader="$(arg env-script).display" default="true" timeout="30"/>
<include file="$(find cob_bringup)/drivers/mimic.launch">
<arg name="sim" value="$(arg sim)"/>
</include>
</group>

<machine name="$(anon b1)" address="$(arg b1)" env-loader="$(arg env-script)" default="true" timeout="30"/>

</launch>
1 change: 1 addition & 0 deletions cob_default_robot_config/robots/cob4-30/script_server/arm_left_joint_configurations.yaml
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../../cob4/script_server/arm_left_joint_configurations.yaml
1 change: 1 addition & 0 deletions cob_default_robot_config/robots/cob4-30/script_server/arm_right_joint_configurations.yaml
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../../cob4/script_server/arm_right_joint_configurations.yaml
1 change: 1 addition & 0 deletions cob_default_robot_config/robots/cob4-30/script_server/base_configurations.yaml
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../../cob4/script_server/base_configurations.yaml
1 change: 1 addition & 0 deletions cob_default_robot_config/robots/cob4-30/script_server/behavior.yaml
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../../cob4/script_server/behavior.yaml
85 changes: 85 additions & 0 deletions cob_default_robot_config/robots/cob4-30/script_server/command_gui_buttons.yaml
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#group:
# group_name: <group_name>
# component_name: <component_name>
# buttons: [[button_name1,function_name1,parameter_name2,
# [button_name2,function_name2,parameter_name2]]

group10:
group_name: base
component_name: base
buttons: [[stop,stop,omni],
[init,init],
[recover,recover]]
group12:
group_name: arm_left
component_name: arm_left
buttons: [[stop,stop],
[init,init],
[recover,recover],
[home,move,home],
[folded,move,folded],
[side, move, side],
[wave_demo, move, wave_demo],
[hello, move, hello]]
group13:
group_name: arm_right
component_name: arm_right
buttons: [[stop,stop],
[init,init],
[recover,recover],
[home,move,home],
[folded,move,folded],
[side, move, side],
[wave_demo, move, wave_demo],
[hello, move, hello]]
group14:
group_name: gripper_left
component_name: gripper_left
buttons: [[stop,stop],
[init,init],
[recover,recover],
[home,move,home],
[open,move,open],
[close, move, close]]
group15:
group_name: gripper_right
component_name: gripper_right
buttons: [[stop,stop],
[init,init],
[recover,recover],
[home,move,home],
[open,move,open],
[close, move, close]]
group16:
group_name: torso
component_name: torso
buttons: [[stop,stop],
[init,init],
[recover,recover],
[front,move,front],
[back,move,back],
[left,move,left],
[right,move,right],
[shake,move,shake]]
group21:
group_name: mimic
component_name: behavior
buttons: [[laughing,trigger,setMimicLaughing],
[asking,trigger,setMimicAsking],
[SayYes,trigger,setMimicYes],
[blinkingRight,trigger,setMimicBlinkingRight],
[confused,trigger,setMimicConfused],
[angry,trigger,setMimicAngry],
[sleep,trigger,setMimicFallingAsleep]]
group22:
group_name: light
component_name: behavior
buttons: [[cyanBreath,trigger,setLightCyanBreath],
[cyan,trigger,setLightCyan],
[red,trigger,setLightRed],
[green,trigger,setLightGreen],
[cyanSweep,trigger,setLightCyanSweep]]
group23:
group_name: sound
component_name: behavior
buttons: [[hello,trigger,soundHello]]
9 changes: 9 additions & 0 deletions cob_default_robot_config/robots/cob4-30/script_server/gripper_left_joint_configurations.yaml
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joint_names: [gripper_left_finger_left_joint]
action_name: /gripper_left/joint_trajectory_controller/follow_joint_trajectory
service_ns: /gripper_left/driver
default_acc: 0.3
default_vel: 0.01

home: [[0.02]]
close: [[0.00]]
open: [[0.03]]
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