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Update ur kinematics #616

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merged 4 commits into from
Nov 8, 2022
Merged

Update ur kinematics #616

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db412d1
Add ur_kinematics parameter sets for all e-Series robots
fmauch Nov 8, 2022
d0b3a00
Add a README with a notice to ur_kinematics
fmauch Nov 8, 2022
f7c7972
Set correct IKFast plugin name in kinematics.yaml
fmauch Nov 8, 2022
65e27c9
Add ignore files for releasing ur_kinematics
fmauch Nov 8, 2022
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1 change: 1 addition & 0 deletions melodic.ignored
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ur_kinematics
1 change: 1 addition & 0 deletions noetic.ignored
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ur_kinematics
1 change: 0 additions & 1 deletion ur10_moveit_config/config/kinematics.yaml
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Expand Up @@ -2,7 +2,6 @@
# kinematics_solver: ur_kinematics/UR10KinematicsPlugin
# kinematics_solver_search_resolution: 0.005
# kinematics_solver_timeout: 0.005
# kinematics_solver_attempts: 3
manipulator:
kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
solve_type: Distance
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3 changes: 1 addition & 2 deletions ur10e_moveit_config/config/kinematics.yaml
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#manipulator:
# kinematics_solver: ur_kinematics/UR10KinematicsPlugin
# kinematics_solver: ur_kinematics/UR10eKinematicsPlugin
# kinematics_solver_search_resolution: 0.005
# kinematics_solver_timeout: 0.005
# kinematics_solver_attempts: 3
manipulator:
kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
solve_type: Distance
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3 changes: 1 addition & 2 deletions ur16e_moveit_config/config/kinematics.yaml
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#manipulator:
# kinematics_solver: ur_kinematics/UR10KinematicsPlugin
# kinematics_solver: ur_kinematics/UR16eKinematicsPlugin
# kinematics_solver_search_resolution: 0.005
# kinematics_solver_timeout: 0.005
# kinematics_solver_attempts: 3
manipulator:
kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
solve_type: Distance
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3 changes: 1 addition & 2 deletions ur3_moveit_config/config/kinematics.yaml
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#manipulator:
# kinematics_solver: ur_kinematics/UR10KinematicsPlugin
# kinematics_solver: ur_kinematics/UR3KinematicsPlugin
# kinematics_solver_search_resolution: 0.005
# kinematics_solver_timeout: 0.005
# kinematics_solver_attempts: 3
manipulator:
kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
solve_type: Distance
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3 changes: 1 addition & 2 deletions ur3e_moveit_config/config/kinematics.yaml
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#manipulator:
# kinematics_solver: ur_kinematics/UR10KinematicsPlugin
# kinematics_solver: ur_kinematics/UR3eKinematicsPlugin
# kinematics_solver_search_resolution: 0.005
# kinematics_solver_timeout: 0.005
# kinematics_solver_attempts: 3
manipulator:
kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
solve_type: Distance
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3 changes: 1 addition & 2 deletions ur5_moveit_config/config/kinematics.yaml
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#manipulator:
# kinematics_solver: ur_kinematics/UR10KinematicsPlugin
# kinematics_solver: ur_kinematics/UR5KinematicsPlugin
# kinematics_solver_search_resolution: 0.005
# kinematics_solver_timeout: 0.005
# kinematics_solver_attempts: 3
manipulator:
kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
solve_type: Distance
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3 changes: 1 addition & 2 deletions ur5e_moveit_config/config/kinematics.yaml
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#manipulator:
# kinematics_solver: ur_kinematics/UR10KinematicsPlugin
# kinematics_solver: ur_kinematics/UR5eKinematicsPlugin
# kinematics_solver_search_resolution: 0.005
# kinematics_solver_timeout: 0.005
# kinematics_solver_attempts: 3
manipulator:
kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
solve_type: Distance
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55 changes: 54 additions & 1 deletion ur_kinematics/CMakeLists.txt
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Expand Up @@ -29,12 +29,24 @@ include_directories(include ${catkin_INCLUDE_DIRS})
add_library(ur3_kin src/ur_kin.cpp)
set_target_properties(ur3_kin PROPERTIES COMPILE_DEFINITIONS "UR3_PARAMS")

add_library(ur3e_kin src/ur_kin.cpp)
set_target_properties(ur3e_kin PROPERTIES COMPILE_DEFINITIONS "UR3e_PARAMS")

add_library(ur5_kin src/ur_kin.cpp)
set_target_properties(ur5_kin PROPERTIES COMPILE_DEFINITIONS "UR5_PARAMS")

add_library(ur5e_kin src/ur_kin.cpp)
set_target_properties(ur5e_kin PROPERTIES COMPILE_DEFINITIONS "UR5e_PARAMS")

add_library(ur10_kin src/ur_kin.cpp)
set_target_properties(ur10_kin PROPERTIES COMPILE_DEFINITIONS "UR10_PARAMS")

add_library(ur10e_kin src/ur_kin.cpp)
set_target_properties(ur10e_kin PROPERTIES COMPILE_DEFINITIONS "UR10e_PARAMS")

add_library(ur16e_kin src/ur_kin.cpp)
set_target_properties(ur16e_kin PROPERTIES COMPILE_DEFINITIONS "UR16e_PARAMS")


add_library(ur3_moveit_plugin src/ur_moveit_plugin.cpp)
set_target_properties(ur3_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR3_PARAMS")
Expand All @@ -43,26 +55,67 @@ target_link_libraries(ur3_moveit_plugin
${Boost_LIBRARIES}
ur3_kin)

add_library(ur3e_moveit_plugin src/ur_moveit_plugin.cpp)
set_target_properties(ur3e_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR3e_PARAMS")
target_link_libraries(ur3e_moveit_plugin
${catkin_LIBRARIES}
${Boost_LIBRARIES}
ur3e_kin)

add_library(ur5_moveit_plugin src/ur_moveit_plugin.cpp)
set_target_properties(ur5_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR5_PARAMS")
target_link_libraries(ur5_moveit_plugin
${catkin_LIBRARIES}
${Boost_LIBRARIES}
ur5_kin)

add_library(ur5e_moveit_plugin src/ur_moveit_plugin.cpp)
set_target_properties(ur5e_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR5e_PARAMS")
target_link_libraries(ur5e_moveit_plugin
${catkin_LIBRARIES}
${Boost_LIBRARIES}
ur5e_kin)

add_library(ur10_moveit_plugin src/ur_moveit_plugin.cpp)
set_target_properties(ur10_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR10_PARAMS")
target_link_libraries(ur10_moveit_plugin
${catkin_LIBRARIES}
${Boost_LIBRARIES}
ur10_kin)

add_library(ur10e_moveit_plugin src/ur_moveit_plugin.cpp)
set_target_properties(ur10e_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR10e_PARAMS")
target_link_libraries(ur10e_moveit_plugin
${catkin_LIBRARIES}
${Boost_LIBRARIES}
ur10e_kin)

add_library(ur16e_moveit_plugin src/ur_moveit_plugin.cpp)
set_target_properties(ur16e_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR16e_PARAMS")
target_link_libraries(ur16e_moveit_plugin
${catkin_LIBRARIES}
${Boost_LIBRARIES}
ur16e_kin)


#############
## Install ##
#############

install(TARGETS ur3_kin ur5_kin ur10_kin ur3_moveit_plugin ur5_moveit_plugin ur10_moveit_plugin
install(TARGETS
ur3_kin
ur3e_kin
ur5_kin
ur5e_kin
ur10_kin
ur10e_kin
ur3_moveit_plugin
ur3_moveit_plugin
ur5_moveit_plugin
ur5e_moveit_plugin
ur10_moveit_plugin
ur10e_moveit_plugin
ur16e_moveit_plugin
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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5 changes: 5 additions & 0 deletions ur_kinematics/README.md
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# ur_kinematics
IKFast plugin to use as an IK solver with MoveIt!

**NOTE**: This does not use the calibrated robot information but the hardcoded uncalibrated robot
model which is why it is not suggested to use this.
42 changes: 41 additions & 1 deletion ur_kinematics/src/ur_kin.cpp
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Expand Up @@ -13,6 +13,16 @@ namespace ur_kinematics {
}
const double PI = M_PI;

//#define UR16e_PARAMS
#ifdef UR16e_PARAMS
const double d1 = 0.1807;
const double a2 = -0.4784;
const double a3 = -0.36;
const double d4 = 0.17415;
const double d5 = 0.11985;
const double d6 = 0.11655;
#endif

//#define UR10_PARAMS
#ifdef UR10_PARAMS
const double d1 = 0.1273;
Expand All @@ -23,6 +33,16 @@ namespace ur_kinematics {
const double d6 = 0.0922;
#endif

//#define UR10e_PARAMS
#ifdef UR10e_PARAMS
const double d1 = 0.1807;
const double a2 = -0.6127;
const double a3 = -0.57155;
const double d4 = 0.17415;
const double d5 = 0.11985;
const double d6 = 0.11655;
#endif

//#define UR5_PARAMS
#ifdef UR5_PARAMS
const double d1 = 0.089159;
Expand All @@ -32,7 +52,17 @@ namespace ur_kinematics {
const double d5 = 0.09465;
const double d6 = 0.0823;
#endif


//#define UR5e_PARAMS
#ifdef UR5e_PARAMS
const double d1 = 0.1625;
const double a2 = -0.425;
const double a3 = -0.3922;
const double d4 = 0.1333;
const double d5 = 0.0997;
const double d6 = 0.0996;
#endif

//#define UR3_PARAMS
#ifdef UR3_PARAMS
const double d1 = 0.1519;
Expand All @@ -42,6 +72,16 @@ namespace ur_kinematics {
const double d5 = 0.08535;
const double d6 = 0.0819;
#endif

//#define UR3e_PARAMS
#ifdef UR3e_PARAMS
const double d1 = 0.15185;
const double a2 = -0.24355;
const double a3 = -0.2132;
const double d4 = 0.13105;
const double d5 = 0.08535;
const double d6 = 0.0921;
#endif
}

void forward(const double* q, double* T) {
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40 changes: 40 additions & 0 deletions ur_kinematics/ur_moveit_plugins.xml
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Expand Up @@ -8,6 +8,16 @@
</class>
</library>

<library path="lib/libur3e_moveit_plugin">
<class name="ur_kinematics/UR3eKinematicsPlugin" type="ur_kinematics::URKinematicsPlugin" base_class_type="kinematics::KinematicsBase">
<description>
Analytic kinematics for the Universal Robots UR3e.
Developed by Kelsey Hawkins from Georgia Tech.
See http://hdl.handle.net/1853/50782 for details.
</description>
</class>
</library>

<library path="lib/libur5_moveit_plugin">
<class name="ur_kinematics/UR5KinematicsPlugin" type="ur_kinematics::URKinematicsPlugin" base_class_type="kinematics::KinematicsBase">
<description>
Expand All @@ -18,6 +28,16 @@
</class>
</library>

<library path="lib/libur5e_moveit_plugin">
<class name="ur_kinematics/UR5eKinematicsPlugin" type="ur_kinematics::URKinematicsPlugin" base_class_type="kinematics::KinematicsBase">
<description>
Analytic kinematics for the Universal Robots UR5e.
Developed by Kelsey Hawkins from Georgia Tech.
See http://hdl.handle.net/1853/50782 for details.
</description>
</class>
</library>

<library path="lib/libur10_moveit_plugin">
<class name="ur_kinematics/UR10KinematicsPlugin" type="ur_kinematics::URKinematicsPlugin" base_class_type="kinematics::KinematicsBase">
<description>
Expand All @@ -27,3 +47,23 @@
</description>
</class>
</library>

<library path="lib/libur10e_moveit_plugin">
<class name="ur_kinematics/UR10eKinematicsPlugin" type="ur_kinematics::URKinematicsPlugin" base_class_type="kinematics::KinematicsBase">
<description>
Analytic kinematics for the Universal Robots UR10e.
Developed by Kelsey Hawkins from Georgia Tech.
See http://hdl.handle.net/1853/50782 for details.
</description>
</class>
</library>

<library path="lib/libur16e_moveit_plugin">
<class name="ur_kinematics/UR16eKinematicsPlugin" type="ur_kinematics::URKinematicsPlugin" base_class_type="kinematics::KinematicsBase">
<description>
Analytic kinematics for the Universal Robots UR16e.
Developed by Kelsey Hawkins from Georgia Tech.
See http://hdl.handle.net/1853/50782 for details.
</description>
</class>
</library>