Generated mh5 and created required urdfs/meshes

motoman_config/meshes/mh5

@@ -0,0 +1 @@
+../../motoman_mh5_support/meshes/mh5

motoman_mh5_support/CMakeLists.txt

@@ -0,0 +1,16 @@
+
+cmake_minimum_required(VERSION 2.8.3)
+
+project(motoman_mh5_support)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+roslaunch_add_file_check(test/launch_test.xml)
+
+foreach(dir config launch meshes urdf)
+   install(DIRECTORY ${dir}/
+      DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)

motoman_mh5_support/config/joint_names_mh5.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['joint_s', 'joint_l', 'joint_e', 'joint_u', 'joint_r', 'joint_b', 'joint_t']

motoman_mh5_support/launch/load_mh5.launch

@@ -0,0 +1,4 @@
+
+<launch>
+	<param name="robot_description" command="$(find xacro)/xacro.py '$(find motoman_mh5_support)/urdf/mh5.xacro'" />
+</launch>

motoman_mh5_support/launch/robot_interface_streaming_mh5.launch

@@ -0,0 +1,22 @@
+
+<!--
+  Manipulator specific version of 'robot_interface_streaming.launch'.
+
+  Defaults provided for mh5:
+   - 7 joints
+
+  Usage:
+    robot_interface_streaming_mh5.launch robot_ip:=<value> controller:=<fs100|dx100>
+-->
+<launch>
+	<arg name="robot_ip" />
+
+  <!-- controller: Controller name (fs100 or dx100) -->
+  <arg name="controller"/>
+
+	<rosparam command="load" file="$(find motoman_mh5_support)/config/joint_names_mh5.yaml" />
+
+	<include file="$(find motoman_driver)/launch/robot_interface_streaming_$(arg controller).launch">
+		<arg name="robot_ip"   value="$(arg robot_ip)" />
+	</include>
+</launch>

motoman_mh5_support/launch/robot_state_visualize_mh5.launch

@@ -0,0 +1,29 @@
+
+<!--
+  Manipulator specific version of the state visualizer.
+
+  Defaults provided for mh5:
+   - 7 joints
+
+  Usage:
+    robot_state_visualize_sia20d.launch robot_ip:=<value> controller:=<fs100|dx100>
+-->
+<launch>
+	<arg name="robot_ip" />
+
+  <!-- controller: Controller name (fs100 or dx100) -->
+  <arg name="controller" />
+
+	<rosparam command="load" file="$(find motoman_mh5_support)/config/joint_names_mh5.yaml" />
+
+	<include file="$(find motoman_driver)/launch/robot_state_$(arg controller).launch">
+		<arg name="robot_ip"   value="$(arg robot_ip)" />
+	</include>
+
+	<node name="robot_state_publisher" pkg="robot_state_publisher" 
+		type="robot_state_publisher" />
+
+	<include file="$(find motoman_mh5_support)/launch/load_mh5.launch" />
+
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

motoman_mh5_support/launch/test_mh5.launch

@@ -0,0 +1,8 @@
+
+<launch>
+	<include file="$(find motoman_mh5_support)/launch/load_mh5.launch" />
+	<param name="use_gui" value="true" />
+	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

motoman_mh5_support/package.xml

@@ -0,0 +1,46 @@
+
+<package>
+ <name>motoman_mh5_support</name>
+ <version>0.1.0</version>
+ <description>
+  <p>
+      ROS Industrial support for the Motoman mh5 (and variants).
+    </p>
+  <p>
+      This package contains configuration data, 3D models and launch files
+      for Motoman mh5 manipulators. This currently includes on variants.
+    </p>
+  <p>
+   <b>Specifications</b>
+  </p>
+  <ul>
+   <li>mh5 - Default</li>
+  </ul>
+  <p>
+      Joint limits and maximum joint velocities are based on the information 
+      found in the online 
+      http://www.motoman.com/datasheets/mh5.pdf
+      All urdfs are based on the default motion and joint velocity limits, 
+      unless noted otherwise.
+    </p>
+  <p>
+      Before using any of the configuration files and / or meshes included
+      in this package, be sure to check they are correct for the particular
+      robot model and configuration you intend to use them with.
+    </p>
+ </description>
+ <author>Shaun Edwards</author>
+ <maintainer email="shaun.edwards@gmail.com"/>
+ <license>BSD</license>
+ <url type="website">http://ros.org/wiki/motoman_mh5_support</url>
+ <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
+ <url type="repository">https://github.com/ros-industrial/motoman</url>
+ <buildtool_depend>catkin</buildtool_depend>
+ <run_depend>motoman_driver</run_depend>
+ <run_depend>robot_state_publisher</run_depend>
+ <run_depend>rviz</run_depend>
+ <run_depend>joint_state_publisher</run_depend>
+ <export>
+  <architecture_independent/>
+ </export>
+</package>

motoman_mh5_support/test/launch_test.xml

@@ -0,0 +1,75 @@
+
+<!--
+  launch_test.xml - ROSlaunch tests
+
+  Usage Instructions:
+
+  1. Add the following to your CMakeLists.txt:
+    
+    find_package(roslaunch)
+    roslaunch_add_file_check(test/launch_test.xml)
+
+  2. Create a test directory under your package
+  3. Add the "launch_text.xml" file and fill out the test below.  Use the
+     following conventions:
+    a. Encapsulate each launch file test in it's own namespace.  By
+       convention the namespace should have the same name as the launch
+       file (minus ".launch" extension)
+    b. Create tests for each possible combination of parameters.  Utilize
+       sub-namespaces under the main namespace.
+
+  Notes:
+
+  1. XML extension is used in order to avoid beinging included
+  in roslaunch auto-complete.
+
+  2. Group tags with namespaces are used to avoid node name collisions when
+  testing multpile launch files
+-->
+<launch>
+	<arg name="req_arg" value="default"/>
+  <arg name="dx100" value="dx100"/>
+  <arg name="fs100" value="fs100" />
+
+  <group ns="load_mh5">
+	  <include file="$(find motoman_mh5_support)/launch/load_mh5.launch"/>
+  </group>
+
+  <group ns="test_mh5">
+	  <include file="$(find motoman_mh5_support)/launch/test_mh5.launch"/>
+  </group>
+
+
+  <group ns="robot_interface_streaming_mh5">
+    <group ns="dx100" >
+	    <include file="$(find motoman_mh5_support)/launch/robot_interface_streaming_mh5.launch">
+		    <arg name="robot_ip"   value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg dx100)"/>
+	    </include>
+    </group>
+
+    <group ns="fs100" >
+	    <include file="$(find motoman_mh5_support)/launch/robot_interface_streaming_mh5.launch">
+		    <arg name="robot_ip"   value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg fs100)"/>
+	    </include>
+    </group>
+  </group>
+
+  <group ns="robot_state_visualize_mh5">
+    <group ns="dx100" >
+	    <include file="$(find motoman_mh5_support)/launch/robot_state_visualize_mh5.launch">
+		    <arg name="robot_ip"   value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg dx100)"/>
+	    </include>
+    </group>
+
+    <group ns="fs100" >
+	    <include file="$(find motoman_mh5_support)/launch/robot_state_visualize_mh5.launch">
+		    <arg name="robot_ip"   value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg fs100)"/>
+	    </include>
+    </group>
+  </group>
+
+</launch>

motoman_mh5_support/urdf/mh5.urdf

@@ -0,0 +1,161 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from mh5.xacro                      | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="motoman_mh5" xmlns:xacro="http://ros.org/wiki/xacro">
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://motoman_mh5_support/meshes/mh5/visual/MH5_BASE_AXIS.stl"/>
+      </geometry>
+      <material name="blue">
+        <color rgba="0 0 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://motoman_mh5_support/meshes/mh5/collision/MH5_BASE_AXIS.stl"/>
+      </geometry>
+      <material name="yellow">
+        <color rgba="0 1 1 1"/>
+      </material>
+    </collision>
+  </link>
+  <link name="link_s">
+    <visual>
+      <geometry>
+        <mesh filename="package://motoman_mh5_support/meshes/mh5/visual/MH5_S_AXIS.stl"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.8 0.8 0.8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://motoman_mh5_support/meshes/mh5/collision/MH5_S_AXIS.stl"/>
+      </geometry>
+      <material name="yellow"/>
+    </collision>
+  </link>
+  <link name="link_l">
+    <visual>
+      <!-- <origin rpy="1.57 3.1416 0" xyz="0 0 0"/> -->
+      <geometry>
+        <mesh filename="package://motoman_mh5_support/meshes/mh5/visual/MH5_L_AXIS.stl"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <!-- <origin rpy="1.57 3.1416 0" xyz="0 0 0"/> -->
+      <geometry>
+        <mesh filename="package://motoman_mh5_support/meshes/mh5/collision/MH5_L_AXIS.stl"/>
+      </geometry>
+      <material name="yellow"/>
+    </collision>
+  </link>
+  <link name="link_u">
+    <visual>
+      <!-- <origin rpy="1.57 -3.1415 0" xyz="0 0 0"/> -->
+      <geometry>
+        <mesh filename="package://motoman_mh5_support/meshes/mh5/visual/MH5_U_AXIS.stl"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <!-- <origin rpy="1.57 -3.1415 0" xyz="0 0 0"/> -->
+      <geometry>
+        <mesh filename="package://motoman_mh5_support/meshes/mh5/collision/MH5_U_AXIS.stl"/>
+      </geometry>
+      <material name="yellow"/>
+    </collision>
+  </link>
+  <link name="link_r">
+    <visual>
+      <!-- <origin rpy="0 0 3.1416" xyz="0 0 0"/> -->
+      <geometry>
+        <mesh filename="package://motoman_mh5_support/meshes/mh5/visual/MH5_R_AXIS.stl"/>
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <!-- <origin rpy="0 0 3.1416" xyz="0 0 0"/> -->
+      <geometry>
+        <mesh filename="package://motoman_mh5_support/meshes/mh5/collision/MH5_R_AXIS.stl"/>
+      </geometry>
+      <material name="yellow"/>
+    </collision>
+  </link>
+  <link name="link_b">
+    <visual>
+      <!-- <origin rpy="-1.57 0 3.1416" xyz="0 0 0"/> -->
+      <geometry>
+        <mesh filename="package://motoman_mh5_support/meshes/mh5/visual/MH5_B_AXIS.stl"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <!-- <origin rpy="-1.57 0 3.1416" xyz="0 0 0"/> -->
+      <geometry>
+        <mesh filename="package://motoman_mh5_support/meshes/mh5/collision/MH5_B_AXIS.stl"/>
+      </geometry>
+      <material name="yellow"/>
+    </collision>
+  </link>
+  <link name="link_t">
+    <visual>
+      <geometry>
+        <mesh filename="package://motoman_mh5_support/meshes/mh5/visual/MH5_T_AXIS.stl"/>
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://motoman_mh5_support/meshes/mh5/collision/MH5_T_AXIS.stl"/>
+      </geometry>
+      <material name="yellow"/>
+    </collision>
+  </link>
+  <joint name="joint_s" type="revolute">
+    <parent link="base_link"/>
+    <child link="link_s"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1990"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="100" lower="-2.9671" upper="2.9671" velocity="2.96"/>
+  </joint>
+  <joint name="joint_l" type="revolute">
+    <parent link="link_s"/>
+    <child link="link_l"/>
+    <origin rpy="0 0 0" xyz="0.0880 0 0.1310"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="-1.1345" upper="2.6180" velocity="2.96"/>
+  </joint>
+  <joint name="joint_u" type="revolute">
+    <parent link="link_l"/>
+    <child link="link_u"/>
+    <origin rpy="0 0 0" xyz="0 0 0.3100"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="100" lower="-2.3736" upper="4.4506" velocity="2.96"/>
+  </joint>
+  <joint name="joint_r" type="revolute">
+    <parent link="link_u"/>
+    <child link="link_r"/>
+    <origin rpy="0 0 0" xyz="0.0715 0 0.0399"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="100" lower="-3.3161" upper="3.3161" velocity="3.48"/>
+  </joint>
+  <joint name="joint_b" type="revolute">
+    <parent link="link_r"/>
+    <child link="link_b"/>
+    <origin rpy="0 0 0" xyz="0.2335 0 0"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="100" lower="-2.1817" upper="2.1817" velocity="3.48"/>
+  </joint>
+  <joint name="joint_t" type="revolute">
+    <parent link="link_b"/>
+    <child link="link_t"/>
+    <origin rpy="0 0 0" xyz="0.0510 0 0"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="100" lower="-6.2831" upper="6.2831" velocity="6.97"/>
+  </joint>
+</robot>

motoman_mh5_support/urdf/mh5.xacro

@@ -0,0 +1,8 @@
+<?xml version="1.0" ?>
+
+<robot name="motoman_mh5" xmlns:xacro="http://ros.org/wiki/xacro">
+	<xacro:include filename="$(find motoman_mh5_support)/urdf/mh5_macro.xacro" />
+	<xacro:motoman_mh5 prefix=""/>
+</robot>
+
+