Add support for base GP180 variant (rebased #395) (#479)

Squashed commits:

* Added gp180 support.
* gp180: decimate visual meshes a bit more
* gp180: clarify which specific variants are supported
* gp180: note the base model rotates around Z+
* gp180: recognise author of base model

Co-authored-by: G.A. vd. Hoorn <g.a.vanderhoorn@tudelft.nl>

motoman_gp180_support/CMakeLists.txt

@@ -8,7 +8,8 @@ catkin_package()
 
 if (CATKIN_ENABLE_TESTING)
   find_package(roslaunch REQUIRED)
-  roslaunch_add_file_check(test/launch_test.xml)
+  roslaunch_add_file_check(test/launch_test_gp180.xml)
+  roslaunch_add_file_check(test/launch_test_gp180_120.xml)
 endif()
 
 install(DIRECTORY config launch meshes urdf

motoman_gp180_support/config/joint_names_gp180.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['joint_1_s', 'joint_2_l', 'joint_3_u', 'joint_4_r', 'joint_5_b', 'joint_6_t']

motoman_gp180_support/launch/load_gp180.launch

@@ -0,0 +1,3 @@
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find motoman_gp180_support)/urdf/gp180.xacro'" />
+</launch>

motoman_gp180_support/launch/robot_interface_streaming_gp180.launch

@@ -0,0 +1,19 @@
+<!--
+  Manipulator specific version of 'robot_interface_streaming.launch'.
+  Defaults provided for gp180:
+   - joints
+  Usage:
+    robot_interface_streaming_gp180_120.launch robot_ip:=<value> controller:=<yrc1000>
+-->
+<launch>
+  <arg name="robot_ip" />
+
+  <!-- controller: Controller name (yrc1000) -->
+  <arg name="controller" />
+
+  <rosparam command="load" file="$(find motoman_gp180_support)/config/joint_names_gp180.yaml" />
+
+  <include file="$(find motoman_driver)/launch/robot_interface_streaming_$(arg controller).launch">
+    <arg name="robot_ip" value="$(arg robot_ip)" />
+  </include>
+</launch>

motoman_gp180_support/launch/robot_state_visualize_gp180.launch

@@ -0,0 +1,25 @@
+<!--
+  Manipulator specific version of the state visualizer.
+  Defaults provided for gp180:
+   - joints
+  Usage:
+    robot_state_visualize_gp180.launch robot_ip:=<value> controller:=<yrc1000>
+-->
+<launch>
+  <arg name="robot_ip" />
+
+  <!-- controller: Controller name (yrc1000) -->
+  <arg name="controller" />
+
+  <rosparam command="load" file="$(find motoman_gp180_support)/config/joint_names_gp180.yaml" />
+
+  <include file="$(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_gp180_support)/launch/load_gp180.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

motoman_gp180_support/launch/test_gp180.launch

@@ -0,0 +1,8 @@
+<launch>
+    <include file="$(find motoman_gp180_support)/launch/load_gp180.launch" />
+
+    <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"/>
+    <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_gp180_support/package.xml

@@ -8,11 +8,13 @@
     <p>
       This package contains configuration data, 3D models and launch files
       for Motoman GP180 series of manipulators.
+      This currently includes the base model and the -120 variant.
     </p>
     <p>
       <b>Specifications</b>
     </p>
     <ul>
+      <li>GP180 - Default</li>
       <li>GP180-120 - Default</li>
     </ul>
     <p>
@@ -28,8 +30,14 @@
       in this package, be sure to check they are correct for the particular
       robot model and configuration you intend to use them with.
     </p>
+    <p>
+      NOTE: the base model xacro macro has all joints oriented such that they
+      rotate around the Z+ axis. As a consequence, link frames in this model
+      do not follow REP-103 wrt frame orientation.
+    </p>
   </description>
   <author>Jakub Marsik</author>
+  <author>Alec Tiefenthal</author>
   <maintainer email="jakub@km-robotics.cz">Jakub Marsik (KM Robotics)</maintainer>
   <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
   <license>BSD</license>
@@ -43,6 +51,7 @@
   <test_depend>roslaunch</test_depend>
 
   <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>

motoman_gp180_support/test/launch_test_gp180.xml

@@ -0,0 +1,51 @@
+<!--
+  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="yrc1000" value="yrc1000" />
+
+  <group ns="load_gp180">
+      <include file="$(find motoman_gp180_support)/launch/load_gp180.launch" />
+  </group>
+
+  <group ns="test_gp180">
+      <include file="$(find motoman_gp180_support)/launch/test_gp180.launch" />
+  </group>
+
+  <group ns="robot_interface_streaming_gp180">
+    <group ns="yrc1000">
+      <include file="$(find motoman_gp180_support)/launch/robot_interface_streaming_gp180.launch">
+        <arg name="robot_ip" value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg yrc1000)" />
+      </include>
+    </group>
+  </group>
+
+  <group ns="robot_state_visualize_gp180">
+    <group ns="yrc1000">
+      <include file="$(find motoman_gp180_support)/launch/robot_state_visualize_gp180.launch">
+        <arg name="robot_ip" value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg yrc1000)" />
+      </include>
+    </group>
+  </group>
+
+</launch>

motoman_gp180_support/urdf/gp180.xacro

@@ -0,0 +1,5 @@
+<?xml version="1.0" ?>
+<robot name="motoman_gp180" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="$(find motoman_gp180_support)/urdf/gp180_macro.xacro" />
+    <xacro:motoman_gp180 prefix=""/>
+</robot>

motoman_gp180_support/urdf/gp180_macro.xacro

@@ -0,0 +1,180 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+<xacro:macro name="motoman_gp180" params="prefix">
+
+    <xacro:include filename="$(find motoman_resources)/urdf/common_materials.xacro"/>
+
+    <!-- link list -->
+    <link name="${prefix}base_link">
+        <visual>
+            <geometry>
+                <mesh filename="package://motoman_gp180_support/meshes/gp180_120/visual/base_link.stl"/>
+            </geometry>
+            <xacro:material_yaskawa_blue/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://motoman_gp180_support/meshes/gp180_120/collision/base_link.stl"/>
+            </geometry>
+        </collision>
+    </link>
+    <link name="${prefix}link_1_s">
+        <visual>
+            <geometry>
+                <mesh filename="package://motoman_gp180_support/meshes/gp180_120/visual/link_1_s.stl"/>
+            </geometry>
+            <xacro:material_yaskawa_blue/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://motoman_gp180_support/meshes/gp180_120/collision/link_1_s.stl"/>
+            </geometry>
+        </collision>
+    </link>
+    <link name="${prefix}link_2_l">
+        <visual>
+            <origin rpy="${radians(90)} ${radians(0)} ${radians(90)}" />
+            <geometry>
+                <mesh filename="package://motoman_gp180_support/meshes/gp180_120/visual/link_2_l.stl"/>
+            </geometry>
+            <xacro:material_yaskawa_blue/>
+        </visual>
+        <collision>
+            <origin rpy="${radians(90)} ${radians(0)} ${radians(90)}" />
+            <geometry>
+                <mesh filename="package://motoman_gp180_support/meshes/gp180_120/collision/link_2_l.stl"/>
+            </geometry>
+        </collision>
+    </link>
+    <link name="${prefix}link_3_u">
+        <visual>
+            <origin rpy="${radians(-90)} ${radians(0)} ${radians(-90)}" />
+            <geometry>
+                <mesh filename="package://motoman_gp180_support/meshes/gp180/visual/link_3_u.stl"/>
+            </geometry>
+            <xacro:material_yaskawa_blue/>
+        </visual>
+        <collision>
+            <origin rpy="${radians(-90)} ${radians(0)} ${radians(-90)}" />
+            <geometry>
+                <mesh filename="package://motoman_gp180_support/meshes/gp180/collision/link_3_u.stl"/>
+            </geometry>
+        </collision>
+    </link>
+    <link name="${prefix}link_4_r">
+        <visual>
+            <origin rpy="${radians(0)} ${radians(90)} ${radians(0)}" xyz="0 0 1.225"/>
+            <geometry>
+                <mesh filename="package://motoman_gp180_support/meshes/gp180/visual/link_4_r.stl"/>
+            </geometry>
+            <xacro:material_yaskawa_blue/>
+        </visual>
+        <collision>
+            <origin rpy="${radians(0)} ${radians(90)} ${radians(0)}" xyz="0 0 1.225"/>
+            <geometry>
+                <mesh filename="package://motoman_gp180_support/meshes/gp180/collision/link_4_r.stl"/>
+            </geometry>
+        </collision>
+    </link>
+    <link name="${prefix}link_5_b">
+        <visual>
+            <origin rpy="${radians(-90)} ${radians(0)} ${radians(-90)}" />
+            <geometry>
+                <mesh filename="package://motoman_gp180_support/meshes/gp180_120/visual/link_5_b.stl"/>
+            </geometry>
+            <xacro:material_yaskawa_blue/>
+        </visual>
+        <collision>
+            <origin rpy="${radians(-90)} ${radians(0)} ${radians(-90)}" />
+            <geometry>
+                <mesh filename="package://motoman_gp180_support/meshes/gp180_120/collision/link_5_b.stl"/>
+            </geometry>
+        </collision>
+    </link>
+    <link name="${prefix}link_6_t">
+        <visual>
+            <origin rpy="${radians(0)} ${radians(90)} ${radians(0)}" />
+            <geometry>
+                <mesh filename="package://motoman_gp180_support/meshes/gp180_120/visual/link_6_t.stl"/>
+            </geometry>
+            <xacro:material_yaskawa_blue/>
+        </visual>
+        <collision>
+            <origin rpy="${radians(0)} ${radians(90)} ${radians(0)}" />
+            <geometry>
+                <mesh filename="package://motoman_gp180_support/meshes/gp180_120/collision/link_6_t.stl"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- end of link list -->
+
+    <!-- joint list -->
+    <joint name="${prefix}joint_1_s" type="revolute">
+        <parent link="${prefix}base_link"/>
+        <child link="${prefix}link_1_s"/>
+        <origin xyz="0 0 0.650" rpy="0 0 0" />
+        <axis xyz="0 0 1" />
+        <limit lower="${radians(-180)}" upper="${radians(180)}" effort="8237.59" velocity="${radians(125)}"/>
+    </joint>
+    <joint name="${prefix}joint_2_l" type="revolute">
+        <parent link="${prefix}link_1_s"/>
+        <child link="${prefix}link_2_l"/>
+        <origin xyz="0.325 0 0" rpy="0 ${radians(-90)} ${radians(-90)}" />
+        <axis xyz="0 0 1" />
+        <limit lower="${radians(-60)}" upper="${radians(76)}" effort="10419.57" velocity="${radians(115)}"/>
+    </joint>
+    <joint name="${prefix}joint_3_u" type="revolute">
+        <parent link="${prefix}link_2_l"/>
+        <child link="${prefix}link_3_u"/>
+        <origin xyz="1.150 0 0" rpy="${radians(180)} 0 0" />
+        <axis xyz="0 0 1" />
+        <limit lower="${radians(-86)}" upper="${radians(90)}" effort="7453.05" velocity="${radians(125)}"/>
+    </joint>
+    <joint name="${prefix}joint_4_r" type="revolute">
+        <parent link="${prefix}link_3_u"/>
+        <child link="${prefix}link_4_r"/>
+        <origin xyz="0.300 -1.225 0" rpy="${radians(-90)} 0 0" />
+        <axis xyz="0 0 1" />
+        <limit lower="${radians(-360)}" upper="${radians(360)}" effort="1671.05" velocity="${radians(182)}"/>
+    </joint>
+    <joint name="${prefix}joint_5_b" type="revolute">
+        <parent link="${prefix}link_4_r"/>
+        <child link="${prefix}link_5_b"/>
+        <origin xyz="0 0 0" rpy="${radians(90)} 0 0" />
+        <axis xyz="0 0 1" />
+        <limit lower="${radians(-130)}" upper="${radians(130)}" effort="1081.18" velocity="${radians(175)}"/>
+    </joint>
+    <joint name="${prefix}joint_6_t" type="revolute">
+        <parent link="${prefix}link_5_b"/>
+        <child link="${prefix}link_6_t"/>
+        <origin xyz="0 -0.225 0" rpy="${radians(-90)} 0 0" />
+        <axis xyz="0 0 1" />
+        <limit lower="${radians(-360)}" upper="${radians(360)}" effort="926.73" velocity="${radians(265)}"/>
+    </joint>
+    <!-- end of joint list -->
+
+    <!-- ROS base_link to Robot Manufacturer World Coordinates transform -->
+    <link name="${prefix}base" />
+    <joint name="${prefix}base_link-base" type="fixed">
+        <origin xyz="0 0 0.650" rpy="0 0 0"/>
+        <parent link="${prefix}base_link"/>
+        <child link="${prefix}base"/>
+    </joint>
+
+    <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
+    <link name="${prefix}flange" />
+    <joint name="${prefix}joint_6_t-flange" type="fixed">
+        <origin xyz="0 0 0" rpy="0 ${radians(90)} 0" />
+        <parent link="${prefix}link_6_t" />
+        <child link="${prefix}flange" />
+    </joint>
+
+    <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
+    <link name="${prefix}tool0" />
+    <joint name="${prefix}flange-tool0" type="fixed">
+        <origin xyz="0 0 0" rpy="${pi} ${-pi/2.0} 0" />
+        <parent link="${prefix}flange" />
+        <child link="${prefix}tool0" />
+    </joint>
+</xacro:macro>
+</robot>