diff --git a/kortex_description/arms/gen3/6dof/config/ros2_controllers.yaml b/kortex_description/arms/gen3/6dof/config/ros2_controllers.yaml index a3fa8d71..b6396f2f 100644 --- a/kortex_description/arms/gen3/6dof/config/ros2_controllers.yaml +++ b/kortex_description/arms/gen3/6dof/config/ros2_controllers.yaml @@ -28,7 +28,6 @@ joint_trajectory_controller: - joint_6 command_interfaces: - position - - velocity state_interfaces: - position - velocity diff --git a/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro index 84a25fdf..52f00efc 100644 --- a/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro +++ b/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro @@ -28,6 +28,8 @@ sim_gazebo:=false sim_ignition:=false sim_isaac:=false + isaac_joint_commands:=/isaac_joint_commands + isaac_joint_states:=/isaac_joint_states use_external_cable:=false initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0)}" > @@ -40,6 +42,8 @@ sim_gazebo="${sim_gazebo}" sim_ignition="${sim_ignition}" sim_isaac="${sim_isaac}" + isaac_joint_commands="${isaac_joint_commands}" + isaac_joint_states="${isaac_joint_states}" tf_prefix="" initial_positions="${initial_positions}" robot_ip="${robot_ip}" diff --git a/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro b/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro index d0a7f710..0c5a9338 100644 --- a/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro +++ b/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro @@ -9,6 +9,8 @@ sim_gazebo:=false sim_ignition:=false sim_isaac:=false + isaac_joint_commands:=/isaac_joint_commands + isaac_joint_states:=/isaac_joint_states use_internal_bus_gripper_comm:=false tf_prefix initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0)} @@ -33,8 +35,8 @@ topic_based_ros2_control/TopicBasedSystem - /isaac_joint_commands - /isaac_joint_states + ${isaac_joint_commands} + ${isaac_joint_states} fake_components/GenericSystem @@ -62,10 +64,6 @@ {-2*pi} {2*pi} - - -3.15 - 3.15 - ${initial_positions['joint_1']} @@ -77,10 +75,6 @@ -2.41 2.41 - - -3.15 - 3.15 - ${initial_positions['joint_2']} @@ -92,10 +86,6 @@ -2.66 2.66 - - -3.2 - 3.2 - ${initial_positions['joint_3']} @@ -107,10 +97,6 @@ {-2*pi} {2*pi} - - -3.2 - 3.2 - ${initial_positions['joint_4']} @@ -122,10 +108,6 @@ -2.23 2.23 - - -3.2 - 3.2 - ${initial_positions['joint_5']} @@ -137,10 +119,6 @@ {-2*pi} {2*pi} - - -3.2 - 3.2 - ${initial_positions['joint_6']} diff --git a/kortex_description/arms/gen3/7dof/config/ros2_controllers.yaml b/kortex_description/arms/gen3/7dof/config/ros2_controllers.yaml index 1e284888..bd98a73d 100644 --- a/kortex_description/arms/gen3/7dof/config/ros2_controllers.yaml +++ b/kortex_description/arms/gen3/7dof/config/ros2_controllers.yaml @@ -29,7 +29,6 @@ joint_trajectory_controller: - joint_7 command_interfaces: - position - - velocity state_interfaces: - position - velocity diff --git a/kortex_description/arms/gen3/7dof/meshes/base_link.STL b/kortex_description/arms/gen3/7dof/meshes/base_link.STL deleted file mode 100644 index 0a35a8ae..00000000 Binary files a/kortex_description/arms/gen3/7dof/meshes/base_link.STL and /dev/null differ diff --git a/kortex_description/arms/gen3/7dof/meshes/base_link.dae b/kortex_description/arms/gen3/7dof/meshes/base_link.dae new file mode 100644 index 00000000..0e80802f --- /dev/null +++ b/kortex_description/arms/gen3/7dof/meshes/base_link.dae @@ -0,0 +1,136 @@ + + + + + Blender User + Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830 + + 2023-07-22T09:25:50 + 2023-07-22T09:25:50 + + Z_UP + + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 1 1 1 1 + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0 0 1 1 + + + 0.5 0.5 0.5 1 + + + 50 + + + 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

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3125 260 1017 264 1076 9 3126 102 3127 101 3128 4377 3129 4374 3130 4375 3131 4094 3132 4044 168 4046 3133 3067 3134 3089 3135 3091 3136 3000 3137 3054 3138 3055 3139 3178 2959 3228 98 3179 97 4019 683 4481 3140 4479 3141 3311 3142 3227 96 3228 98 4249 1509 4121 3143 4119 1510 3276 3144 3264 3145 3275 3146 4294 3147 4291 3148 4293 3149 48 3150 149 3151 148 3152 4294 3153 4219 3154 4217 3155 3002 3156 3056 3157 3057 3158 2937 1512 2936 3159 2935 3160 4292 3161 4217 3155 4215 3162 44 3163 147 3164 151 3165 4501 1094 4417 3166 4502 3167 20 3168 17 3169 19 3170 4120 3171 4022 170 4118 3172 4035 1540 4032 3173 4033 3174 4268 3175 4265 3176 4267 3177 3191 392 3268 3178 3192 393 2750 3179 2839 3180 2748 3181 1749 1729 1700 1962 1699 1961 22 3182 19 3170 21 3183 3348 3184 3295 1535 3294 1537 2876 1444 2873 3185 2874 3186 2979 364 2892 3187 2981 362 2993 3188 2887 3189 2886 3190 2820 3191 2817 3192 2818 3193 4298 3194 4223 3195 4221 3196 1224 3197 307 3198 306 3199 3290 3200 3250 3201 3289 383 492 668 475 600 490 634 4265 3202 4105 206 4103 3203 4025 3204 4471 3205 4027 3206 4497 1998 4496 1514 4412 3207 27 3208 111 3209 110 3210 4041 3211 4455 3212 4043 3213 4065 3214 4062 3215 4063 105 4218 3216 4371 3217 4216 3218 130 3219 10 3220 131 3221 3339 3222 3285 3223 3338 3224 2987 1465 2986 3225 2985 3226 3114 3227 3345 3228 3115 3229 3309 3230 3231 3231 3308 161 14 3232 11 3233 13 398 4302 3234 4299 3235 4301 71 2816 3236 2813 3237 2814 3238 2977 1966 2976 3239 2975 3240 2750 3179 2835 81 2837 3241 2749 3242 3196 3243 3197 3244 4021 3245 4018 3246 4019 3247 4146 3248 4068 3249 4070 345 4501 3250 4478 3251 4480 3252 3301 1437 3237 3253 3238 193 1522 561 1519 1786 1518 1787 4106 3254 4036 3255 4104 3256 2973 3257 2975 3240 2974 3258 4129 3259 4237 3260 4131 3261 4206 3262 4359 149 4204 3263 3052 3264 3156 3265 3159 3266 4268 3267 4189 3268 4266 3269 75 3270 99 240 1 3271 4148 3272 4066 232 4068 3249 3020 3273 3036 3274 3037 130 2911 3275 2943 51 2912 3276 3314 3277 3226 3278 3313 3279 1843 109 1233 3280 1231 110 4205 3281 4284 3282 4207 3283 4172 3284 4329 3285 4327 3286 4041 63 4038 3287 4039 3288 3033 3289 3049 3290 3050 3291 0 3292 73 3293 75 3294 3321 3295 3219 3296 3320 3297 3183 406 3223 3298 3184 1495 2884 3299 2812 3300 2882 3301 4207 3283 4286 186 4209 188 4452 3302 4517 3303 4450 3304 4143 3305 4299 3306 4145 3307 581 3308 303 3309 301 42 4219 3154 4298 3194 4221 3196 3307 162 3233 49 3306 3310 3284 3311 3254 3312 3255 3313 3053 3314 3159 3266 3161 3315 2800 3316 2861 13 2798 3317 286 394 292 3318 287 3319 4053 3320 4447 3321 4445 3322 2949 3323 2951 39 2950 3324 2846 3325 2902 3326 2903 3327 3068 3328 3091 3136 3094 3329 4110 3330 4028 3331 4030 3332 2922 147 2925 84 2926 3333 2926 3333 2927 1475 2928 3334 2882 3335 2879 3336 2880 3337 2928 3334 2929 58 2930 60 2930 60 2931 59 2932 3338 2932 3338 2933 3339 2934 3340 4025 3204 4475 3341 4473 3342 2934 3340 2935 3160 2936 3159 3281 1996 3259 3343 3280 1997 2936 3159 2937 1512 2938 3344 3187 3345 2738 1741 2809 3346 2938 3344 2939 3347 2940 3348 4201 216 4280 3349 4203 3350 2940 3348 2941 53 2942 52 4169 3351 4248 3352 4171 3353 2942 52 2943 51 2944 3354 1603 1730 1701 766 1749 1729 2944 3354 2945 3355 2946 3356 4369 3357 4366 3358 4367 36 2946 3356 2947 3359 2948 3360 4077 3361 4074 3362 4075 64 2948 3360 2949 3323 2950 3324 3379 1964 2867 3363 2792 3364 2950 3324 2951 39 2952 41 3209 3365 3252 357 3251 384 2952 41 2953 40 2954 421 2954 421 2955 420 2956 3366 2956 3366 2957 2001 2958 3367 2805 1496 3183 406 3184 1495 2958 3367 2959 3368 2960 3369 3293 3370 3247 3371 3292 3372 2960 3369 2961 3373 2962 3374 3331 1534 3279 3375 3278 132 2962 3374 2963 3376 2964 3377 3202 788 3257 3378 3203 2764 2964 3377 2965 244 2966 243 2966 243 2967 242 2968 3379 2968 3379 2969 3380 2970 3381 3202 788 3259 3343 3258 3382 2970 3381 2971 3383 2972 3384 2991 3385 2888 3386 2887 3189 2972 3384 2973 3257 2974 3258 2974 3258 2975 3240 2976 3239 2812 3387 2881 3388 2882 3335 2976 3239 2977 1966 2978 1967 4188 3389 4345 3390 4343 3391 2978 1967 2979 364 2980 363 4363 3392 4360 3393 4361 607 2980 363 2981 362 2982 3394 4260 346 4257 3395 4259 16 2982 3394 2983 3396 2984 3397 3245 1536 3216 1489 3215 1979 2984 3397 2985 3226 2986 3225 2986 3225 2987 1465 2988 1464 3123 3398 3041 3399 3113 3400 2988 1464 2989 1463 2990 3401 2949 3323 2948 3360 2947 3359 2990 3401 2991 3385 2992 3402 2992 3402 2993 3188 2994 2963 4015 3403 4012 3404 4013 3405 2923 2962 2924 82 2922 147 80 3406 41 3407 81 3408 4186 126 4343 3391 4341 3409 4279 3410 4091 3411 4089 3412 4198 3413 4355 3414 4353 3415 2848 3416 2845 3417 2846 3417 4130 3418 4012 3404 4128 3419 4498 3420 4484 3421 4486 3422 3297 2 3241 3423 3242 3424 3186 729 3222 3425 3221 3426 2997 3427 3051 3428 3052 410 73 3429 96 3430 95 3431 2905 2003 2959 3368 2957 2001 83 3432 47 3433 84 3434 3001 3435 3055 3139 3056 3157 3182 408 3226 3278 3225 3436 4055 3437 4052 3438 4053 3439 4245 3440 4125 3441 4123 3442 2939 3347 2938 3344 2937 1512 38 3443 115 196 114 3444 3313 3279 3227 96 3312 3445 4017 3446 4483 3447 4481 3140 4158 3448 4315 3449 4313 3450 3359 413 3306 3310 3305 48 4128 3419 4014 3451 4126 3452 4164 3453 4321 3454 4319 234 3028 3455 3044 3456 3045 2956 4053 3439 4050 3457 4051 3458 4051 3459 4449 3460 4447 3321 3022 3461 3038 131 3039 3462 4250 3463 4247 3464 4249 378 4158 3448 4311 3465 4156 3466 593 743 615 782 309 722 4141 10 4301 3467 4143 3305 4234 3468 4231 3469 4233 3470 3014 3471 3068 3472 3069 3473 282 3474 255 764 254 3475 3310 3476 3228 98 3229 3477 4296 3478 4293 3149 4295 3479 136 3480 74 3481 137 3482 4153 3483 4289 3484 4079 24 3085 3485 3063 3486 3137 3487 2778 3488 2879 1503 2881 3489 4017 3490 4014 3451 4015 3403 4424 3491 4544 3492 4422 3493 4444 3494 4525 152 4442 3495 12 3496 127 3497 126 3498 3338 3224 3285 3223 3284 3311 2918 3499 2935 3160 2933 3339 3101 3500 3102 3501 3104 3502 3190 3503 3218 3504 3217 3505 2810 1516 2851 3506 2808 3507 3173 3508 2789 380 3172 382 3299 1547 3241 3423 3298 1 1733 205 1734 2983 1714 1761 10 3509 7 3130 9 3510 1234 3511 1826 502 1821 784 2771 2093 3213 3512 2773 3513 290 396 495 336 253 604 1598 603 1585 687 1586 601 118 47 34 3514 119 3515 1723 676 1727 1976 1728 1082 3207 3516 2765 3517 2763 3518 4015 3519 4485 3520 4483 3447 250 3521 561 3522 579 3523 3193 3524 3266 3525 3194 718 3016 3526 3070 3527 3071 94 3006 3528 3060 222 3061 1455 3046 3529 3130 3530 3132 3531 2751 1789 3197 3244 3198 1527 3196 3243 2747 717 3195 719 300 3532 206 723 561 3522 4049 3533 4046 3133 4047 3534 2743 391 3193 3524 2745 3535 4142 3536 4076 372 4140 3537 2756 3538 2833 80 2754 3539 1756 1089 1244 3540 1757 3541 4163 1473 4242 3542 4165 223 4260 3543 4185 1441 4183 3544 2927 1475 2926 3333 2925 84 1273 498 1482 1766 1481 496 4033 3174 4030 3332 4031 3479 1707 791 1704 1984 1705 1460 3177 3545 2797 2958 2795 3546 3373 3547 3320 3297 3372 172 2793 2817 3174 3548 3175 2818 280 3549 279 1085 283 1084 1753 2004 1248 705 1247 3550 109 121 27 3208 110 3210 1507 2844 1499 1778 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103 54 108 3660 3248 3661 3213 3512 3212 2095 2766 405 2823 3662 2764 3663 3249 3664 3210 680 3250 3201 3221 3426 3187 3345 3186 729 4319 35 4316 3665 4317 2090 79 3666 43 3667 80 3406 3377 3668 2827 211 3376 3669 4084 3670 4058 229 4082 3671 3149 3672 3054 3673 3147 3674 4071 1526 4425 3675 4073 3676 3257 3378 3204 1788 3203 2764 2925 84 2921 3677 2927 1475 1540 401 1555 1826 1539 1809 2961 3373 2960 3369 2959 3368 0 3678 133 3679 132 3680 3102 3501 3350 3681 3104 3502 579 3523 301 42 250 3521 4130 3418 4008 1544 4010 3682 3320 3297 3220 3683 3319 173 256 3684 275 3685 257 715 4468 3686 4506 3687 4507 3688 4057 3628 4439 3689 4059 3690 34 3691 31 3692 33 3693 2957 2001 2959 3368 2958 3367 3204 1788 2759 2765 3203 2764 3192 393 3267 3694 3193 3524 4092 3695 4046 3133 4048 3696 82 3697 49 3698 83 3432 2870 3699 2867 3700 2868 3701 4276 3702 4273 3703 4275 3704 105 3705 11 3706 100 3707 4113 3609 4253 3708 4115 3709 4178 3710 4331 3711 4176 3712 3296 3713 3242 3424 3244 3714 3065 3715 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1199 1066 1967 1021 2868 475 1973 1022 363 1023 364 1022 363 475 1973 2603 2066 2602 1223 2601 2869 2787 2958 2788 2068 3628 2070 3628 2070 3627 22 2786 2870 2786 2870 2787 2958 3628 2070 467 447 445 1160 446 301 1787 2871 1776 1327 1789 439 2762 2073 2766 3035 2767 2873 386 475 418 284 420 286 434 581 435 376 436 378 1068 1969 1067 1968 1176 329 502 474 378 3091 727 2138 2541 2881 2542 2953 2543 51 32 5287 31 2885 4467 2884 35 3031 4469 2883 31 2885 2593 2886 2592 395 2568 2183 2591 1350 2568 2183 2592 395 1802 2887 1806 742 2593 2886 1108 39 1109 38 1107 1272 2606 2127 2607 2891 2608 2888 1776 1327 1787 2871 1747 1296 1747 1296 1744 1295 1745 1325 2582 2057 2608 2888 2580 2863 2609 2889 2611 2892 2610 2890 2608 2888 2607 2891 2610 2890 2610 2890 2580 2863 2608 2888 484 2902 485 258 383 2903 1076 367 1114 366 1074 1178 1824 1875 1734 2036 1736 2037 4417 1308 4416 1367 4253 2904 3588 295 3587 240 3586 315 1132 1966 1131 452 1143 3083 1143 3083 1124 281 1132 1966 467 447 466 446 470 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4046 4475 4050 4709 4229 33 4229 33 4228 3853 4046 4475 23 5531 22 6 40 4477 27 4228 0 6 28 4478 28 4478 23 5531 40 4477 4056 4708 4058 4479 4230 35 4063 5517 4204 4428 4058 4479 2260 2558 2241 2471 2258 2715 2239 2470 2258 2715 2241 2471 2259 2623 2261 2559 2260 2558 4234 2636 4235 4490 4160 4489 4235 4490 4236 4496 4158 4492 4236 4496 4237 4480 4156 4482 4237 4480 4238 4505 4154 4501 4147 4502 4148 4555 4239 4503 4238 4505 4233 4512 4152 4506 4242 4526 4198 4533 4199 4527 4243 4531 4196 4548 4197 4532 4243 4531 4244 4486 4194 4488 4244 4486 4245 4539 4192 4538 4245 4539 4246 4535 4190 4537 4246 4535 4232 4494 4188 4493 4184 4509 4247 4508 4248 4545 4182 4547 4248 4545 4249 4523 4249 4523 4250 4542 4179 4544 4177 4552 4178 4543 4250 4542 4252 4483 4175 4485 4176 4554 4253 4528 4173 4530 4174 4484 4254 4517 4171 4519 4172 4529 1537 2614 2312 1206 1535 237 1552 230 1553 235 2312 1206 1535 237 1536 1703 1537 2614 4231 4500 4169 4499 4170 4518 4256 2527 4164 2529 4165 4550 4257 3773 4162 4557 4163 2528 410 2698 412 2617 328 2641 3887 4251 3885 4726 3884 111 3773 7 3946 4224 3944 7 3950 5532 3948 5474 3771 4225 3950 5532 3771 4225 3770 5533 3773 7 3944 7 3774 7 3774 7 3944 7 3942 7 3952 5534 3950 5532 3770 5533 3952 5534 3770 5533 3769 5535 3774 7 3942 7 3940 7 3775 7 3774 7 3940 7 3954 5536 3952 5534 3769 5535 3954 5536 3769 5535 3768 5537 3775 7 3940 7 3776 7 3776 7 3940 7 3938 5538 3956 5539 3954 5536 3768 5537 3956 5539 3768 5537 3767 5540 3776 7 3938 5538 3777 5541 3777 5541 3938 5538 3936 5542 3902 5543 3956 5539 3767 5540 3902 5543 3767 5540 3766 5544 3777 5541 3936 5542 3778 5545 3778 5545 3936 5542 3934 5546 3904 5547 3902 5543 3766 5544 3904 5547 3766 5544 3765 5548 3778 5545 3934 5546 3779 5549 3779 5549 3934 5546 3932 7 3906 5550 3904 5547 3765 5548 3906 5550 3765 5548 3764 5551 3779 5549 3932 7 3780 7 3780 7 3932 7 3930 7 3908 5552 3906 5550 3764 5551 3908 5552 3764 5551 3763 5553 3780 7 3930 7 3781 7 3781 7 3930 7 3928 7 3910 5554 3908 5552 3763 5553 3910 5554 3763 5553 3762 5555 3781 7 3928 7 3782 7 3782 7 3928 7 3926 7 3912 5556 3910 5554 3762 5555 3912 5556 3762 5555 3761 5557 3782 7 3926 7 3783 7 3783 7 3926 7 3924 5558 3914 5559 3912 5556 3761 5557 3914 5559 3761 5557 3788 5560 3783 7 3924 5558 3784 5561 3784 5561 3924 5558 3922 5562 3916 5563 3914 5559 3788 5560 3916 5563 3788 5560 3787 5564 3784 5561 3922 5562 3785 5565 3785 5565 3922 5562 3920 4558 3918 4559 3916 5563 3787 5564 3786 4560 3785 5565 3920 4558 3918 4559 3787 5564 3786 4560 328 2641 412 2617 414 528 414 528 416 314 328 2641 4226 5506 4236 5505 4235 5566 4224 5567 4226 5506 4235 5566 4209 5568 4210 5569 4246 5570 4244 5571 4243 5510 4207 5509 4244 5571 4207 5509 4208 5572 4224 5567 4235 5566 4234 5573 4225 5574 4224 5567 4234 5573 4245 5575 4244 5571 4208 5572 4245 5575 4208 5572 4209 5568 4225 5574 4234 5573 4257 5576 4223 6 4225 5574 4257 5576 4246 5570 4245 5575 4209 5568 4246 5570 4210 5569 4232 6 4223 6 4257 5576 4256 6 4222 5577 4223 6 4256 6 4232 6 4210 5569 4211 6 4232 6 4211 6 4212 5578 4222 5577 4256 6 4255 5579 4221 5580 4222 5577 4255 5579 4247 5581 4232 6 4212 5578 4247 5581 4212 5578 4213 5582 4221 5580 4255 5579 4231 6 4219 6 4221 5580 4231 6 4248 5583 4247 5581 4213 5582 4248 5583 4213 5582 4214 5584 4219 6 4231 6 4254 6 4220 5585 4219 6 4254 6 4249 5586 4248 5583 4214 5584 4249 5586 4214 5584 4215 6 4220 5585 4254 6 4253 5587 4218 5588 4220 5585 4253 5587 4250 6 4249 5586 4215 6 4250 6 4215 6 4216 5589 4218 5588 4253 5587 4252 4561 4251 4562 4250 6 4216 5589 4217 4563 4218 5588 4252 4561 4251 4562 4216 5589 4217 4563 22 4564 23 7 26 7 25 4565 24 4716 22 4564 19 441 430 401 431 400 3757 4566 3758 274 3763 276 3845 4073 3900 4074 3846 4465 3810 4248 3809 4250 3807 4569 3808 4570 3807 4569 3805 3814 3824 4157 3823 4158 3821 4572 4290 4573 4288 4577 4287 4574 3838 4199 3958 4198 3959 4128 3863 4575 3861 5590 3860 4576 3756 4079 3757 4566 3764 4567 4288 4577 4286 3797 4285 3799 4284 4578 4282 4413 4281 4414 3549 4579 3547 3907 3546 3909 3706 1800 3681 4041 3680 4580 64 5529 3733 4454 61 4581 3734 372 38 1751 61 4581 3915 4582 3913 5409 3912 4172 90 4583 89 4878 940 344 940 344 939 343 941 1793 941 1793 96 3764 940 344 3921 4584 3923 4127 3851 4129 435 1212 27 4917 40 4585 3575 4586 3573 4590 3572 4587 3860 4576 3861 5590 3859 4065 3759 4588 3760 78 3761 4589 3573 4590 3571 4162 3570 4164 3842 4170 3960 4169 3961 4591 3935 4592 3933 360 3932 362 3177 272 3199 1245 3200 1829 2235 4039 2234 1750 2233 4593 109 5193 3739 3979 77 4594 3738 3973 78 5191 77 4594 3907 4595 3905 4187 3904 4189 1087 1349 1041 1350 1040 1709 134 4988 135 4695 1041 1350 196 4696 195 4909 1224 766 4366 5591 4368 5592 4370 5593 4370 5593 4372 142 4374 4699 4374 4699 4376 5594 4378 5595 4378 5595 4380 5596 4374 4699 4382 5597 4384 142 4390 4697 4386 142 4388 142 4390 4697 4390 4697 4392 142 4394 5598 4394 5598 4396 5599 4398 5600 4398 5600 4400 142 4402 5601 4402 5601 4404 5602 4406 5603 4406 5603 4408 5604 4338 5605 4334 5606 4336 5607 4338 5605 4338 5605 4340 5602 4342 5608 4342 5608 4344 142 4346 4698 4346 4698 4348 5599 4350 5609 4350 5609 4352 142 4354 5610 4354 5610 4356 142 4358 142 4358 142 4360 142 4362 5611 4362 5611 4364 5612 4374 4699 4366 5591 4370 5593 4374 4699 4374 4699 4380 5596 4382 5597 4384 142 4386 142 4390 4697 4390 4697 4394 5598 4406 5603 4398 5600 4402 5601 4406 5603 4408 5604 4334 5606 4338 5605 4338 5605 4342 5608 4346 4698 4346 4698 4350 5609 4354 5610 4354 5610 4358 142 4346 4698 4364 5612 4366 5591 4374 4699 4374 4699 4382 5597 4390 4697 4394 5598 4398 5600 4406 5603 4406 5603 4338 5605 4390 4697 4346 4698 4358 142 4362 5611 4362 5611 4374 4699 4346 4698 4390 4697 4338 5605 4346 4698 3307 3747 3309 3749 3283 4700 3416 1277 3376 3656 3375 4701

+ + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + diff --git a/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro index 3553a932..a61e1437 100644 --- a/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro +++ b/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro @@ -28,6 +28,8 @@ sim_gazebo:=false sim_ignition:=false sim_isaac:=false + isaac_joint_commands:=/isaac_joint_commands + isaac_joint_states:=/isaac_joint_states use_external_cable:=false initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0,joint_7=0.0)}" > @@ -40,6 +42,8 @@ sim_gazebo="${sim_gazebo}" sim_ignition="${sim_ignition}" sim_isaac="${sim_isaac}" + isaac_joint_commands="${isaac_joint_commands}" + isaac_joint_states="${isaac_joint_states}" tf_prefix="" initial_positions="${initial_positions}" robot_ip="${robot_ip}" @@ -68,7 +72,7 @@ - + @@ -77,7 +81,7 @@ - + @@ -90,7 +94,7 @@ - + @@ -99,7 +103,7 @@ - + @@ -146,7 +150,7 @@ - + @@ -155,7 +159,7 @@ - + @@ -180,7 +184,7 @@ - + @@ -189,7 +193,7 @@ - + @@ -236,7 +240,7 @@ - + @@ -245,7 +249,7 @@ - + @@ -270,7 +274,7 @@ - + @@ -279,7 +283,7 @@ - + @@ -326,7 +330,7 @@ - + @@ -335,7 +339,7 @@ - + @@ -361,7 +365,7 @@ - + @@ -385,7 +389,7 @@ - + @@ -394,7 +398,7 @@ - + diff --git a/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro b/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro index e72b35d4..b06f1061 100644 --- a/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro +++ b/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro @@ -9,6 +9,8 @@ sim_gazebo:=false sim_ignition:=false sim_isaac:=false + isaac_joint_commands:=/isaac_joint_commands + isaac_joint_states:=/isaac_joint_states use_internal_bus_gripper_comm:=true tf_prefix initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0,joint_7=0.0)} @@ -33,8 +35,8 @@ topic_based_ros2_control/TopicBasedSystem - /isaac_joint_commands - /isaac_joint_states + ${isaac_joint_commands} + ${isaac_joint_states} fake_components/GenericSystem @@ -62,10 +64,6 @@ {-2*pi} {2*pi} - - -3.15 - 3.15 - ${initial_positions['joint_1']} @@ -77,10 +75,6 @@ -2.41 2.41 - - -3.15 - 3.15 - ${initial_positions['joint_2']} @@ -92,10 +86,6 @@ {-2*pi} {2*pi} - - -3.15 - 3.15 - ${initial_positions['joint_3']} @@ -107,10 +97,6 @@ -2.66 2.66 - - -3.2 - 3.2 - ${initial_positions['joint_4']} @@ -122,10 +108,6 @@ {-2*pi} {2*pi} - - -3.2 - 3.2 - ${initial_positions['joint_5']} @@ -137,10 +119,6 @@ -2.23 2.23 - - -3.2 - 3.2 - ${initial_positions['joint_6']} @@ -152,10 +130,6 @@ {-2*pi} {2*pi} - - -3.2 - 3.2 - ${initial_positions['joint_7']} diff --git a/kortex_description/grippers/robotiq_2f_140/LICENSE b/kortex_description/grippers/robotiq_2f_140/LICENSE index 78c0f735..4cff3dc4 100644 --- a/kortex_description/grippers/robotiq_2f_140/LICENSE +++ b/kortex_description/grippers/robotiq_2f_140/LICENSE @@ -1,23 +1,29 @@ -Copyright (c) 2013, ROS-Industrial +BSD 3-Clause License + +Copyright (c) 2022, PickNik Robotics All rights reserved. -Redistribution and use in source and binary forms, with or without modification, -are permitted provided that the following conditions are met: +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. - 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. - 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. +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/kortex_description/grippers/robotiq_2f_140/README.md b/kortex_description/grippers/robotiq_2f_140/README.md index d7e6975f..9a9fe073 100644 --- a/kortex_description/grippers/robotiq_2f_140/README.md +++ b/kortex_description/grippers/robotiq_2f_140/README.md @@ -1,12 +1,2 @@ -This is the README file from Robotiq's package for the 2F-140 gripper. The package's license file can also be found in this folder. -We used commit `4e3196c1c6a83f54acfa3dd8cf02b575ebba3e53` from [Robotiq's ROS Industrial Github repository](https://github.com/ros-industrial/robotiq) - -# Robotiq 140mm 2-Finger-Adaptive-Gripper - -This package contains the URDF files describing the 140mm stroke gripper from robotiq, also known as series **C3**. - -## Robot Visual -![140](https://user-images.githubusercontent.com/8356912/49428409-463f8580-f7a6-11e8-8278-5246acdc5c14.png) - -## Robot Collision -![1402](https://user-images.githubusercontent.com/8356912/49428407-463f8580-f7a6-11e8-9c4e-df69e478f107.png) +The 2F-85 gripper depends on the package maintained by [PickNik Robotics](https://github.com/PickNikRobotics/ros2_robotiq_gripper). +The package's license file can also be found in this folder. diff --git a/kortex_description/grippers/robotiq_2f_140/config/joint_limits.yaml b/kortex_description/grippers/robotiq_2f_140/config/joint_limits.yaml deleted file mode 100644 index c7c47354..00000000 --- a/kortex_description/grippers/robotiq_2f_140/config/joint_limits.yaml +++ /dev/null @@ -1,8 +0,0 @@ -gripper_joint_names: - - $(arg prefix)finger_joint - -gripper_joint_limits_min: - - 0.000 - -gripper_joint_limits_max: - - 0.700 diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_finger.stl b/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_finger.stl deleted file mode 100644 index 4eb5a1fa..00000000 Binary files a/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_finger.stl and /dev/null differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_knuckle.stl b/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_knuckle.stl deleted file mode 100644 index 49e8169d..00000000 Binary files a/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_knuckle.stl and /dev/null differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_outer_finger.stl b/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_outer_finger.stl deleted file mode 100644 index 046135f2..00000000 Binary files a/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_outer_finger.stl and /dev/null differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_outer_knuckle.stl b/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_outer_knuckle.stl deleted file mode 100644 index 2d53aa7c..00000000 Binary files a/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_outer_knuckle.stl and /dev/null differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_base_link.stl b/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_base_link.stl deleted file mode 100644 index 7eccbbbe..00000000 Binary files a/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_base_link.stl and /dev/null differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_coupling.stl b/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_coupling.stl deleted file mode 100644 index 3afb3826..00000000 Binary files a/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_coupling.stl and /dev/null differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_finger.stl b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_finger.stl deleted file mode 100644 index ad723f3d..00000000 Binary files a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_finger.stl and /dev/null differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_knuckle.stl b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_knuckle.stl deleted file mode 100644 index 616da3d3..00000000 Binary files a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_knuckle.stl and /dev/null differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_finger.stl b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_finger.stl deleted file mode 100644 index 64301c5f..00000000 Binary files a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_finger.stl and /dev/null differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_knuckle.stl b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_knuckle.stl deleted file mode 100644 index 9621fc84..00000000 Binary files a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_knuckle.stl and /dev/null differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_base_link.stl b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_base_link.stl deleted file mode 100644 index d0f3a2ca..00000000 Binary files a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_base_link.stl and /dev/null differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_coupling.stl b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_coupling.stl deleted file mode 100644 index 02c600fe..00000000 Binary files a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_coupling.stl and /dev/null differ diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro index 572af024..b8a0d35d 100644 --- a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro +++ b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro @@ -1,7 +1,33 @@ - - - - + + + + + + + + + + + + diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_transmission_macro.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_transmission_macro.xacro deleted file mode 100644 index 4d657531..00000000 --- a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_transmission_macro.xacro +++ /dev/null @@ -1,79 +0,0 @@ - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - 1 - hardware_interface/PositionJointInterface - - - - - - ${prefix}finger_joint - ${prefix}right_outer_knuckle_joint - -1.0 - 0.0 - 5.0 - - - - ${prefix}finger_joint - ${prefix}right_inner_knuckle_joint - -1.0 - 0.0 - 5.0 - - - - ${prefix}finger_joint - ${prefix}left_inner_knuckle_joint - -1.0 - 0.0 - 5.0 - - - - ${prefix}finger_joint - ${prefix}left_inner_finger_joint - 1.0 - 0.0 - 5.0 - - - - ${prefix}finger_joint - ${prefix}right_inner_finger_joint - 1.0 - 0.0 - 5.0 - - - - - - my_robotiq_gripper - ${prefix}bracelet_link - ${prefix}left_inner_finger - ${prefix}right_inner_finger - - 100 - 10 - 3 - 10 - 0.001 - false - __default_topic__ - - - - - - - diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f.xacro deleted file mode 100644 index e9282e50..00000000 --- a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f.xacro +++ /dev/null @@ -1,57 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Black - - - - - - - - - - - - - - - - - - - diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f_140_model_macro.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f_140_model_macro.xacro deleted file mode 100644 index 4c3257da..00000000 --- a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f_140_model_macro.xacro +++ /dev/null @@ -1,252 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0.792156862745098 0.819607843137255 0.933333333333333 1 - 0.792156862745098 0.819607843137255 0.933333333333333 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Black - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Black - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Black - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/kortex_description/grippers/robotiq_2f_85/LICENSE b/kortex_description/grippers/robotiq_2f_85/LICENSE index 78c0f735..4cff3dc4 100644 --- a/kortex_description/grippers/robotiq_2f_85/LICENSE +++ b/kortex_description/grippers/robotiq_2f_85/LICENSE @@ -1,23 +1,29 @@ -Copyright (c) 2013, ROS-Industrial +BSD 3-Clause License + +Copyright (c) 2022, PickNik Robotics All rights reserved. -Redistribution and use in source and binary forms, with or without modification, -are permitted provided that the following conditions are met: +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. - 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. - 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. +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/kortex_description/grippers/robotiq_2f_85/README.md b/kortex_description/grippers/robotiq_2f_85/README.md index 24a2b945..9a9fe073 100644 --- a/kortex_description/grippers/robotiq_2f_85/README.md +++ b/kortex_description/grippers/robotiq_2f_85/README.md @@ -1,12 +1,2 @@ -This is the README file from Robotiq's package for the 2F-85 gripper. The package's license file can also be found in this folder. -We used commit `4e3196c1c6a83f54acfa3dd8cf02b575ebba3e53` from [Robotiq's ROS Industrial Github repository](https://github.com/ros-industrial/robotiq) - -# Robotiq 85mm 2-Finger-Adaptive-Gripper - -This package contains the URDF files describing the 85mm stroke gripper from robotiq, also known as series **C3**. - -## Robot Visual -![85](https://user-images.githubusercontent.com/8356912/49428405-45a6ef00-f7a6-11e8-822b-c6870c39d445.png) - -## Robot Collision -![852](https://user-images.githubusercontent.com/8356912/49428404-450e5880-f7a6-11e8-82a8-564247ebe7fc.png) +The 2F-85 gripper depends on the package maintained by [PickNik Robotics](https://github.com/PickNikRobotics/ros2_robotiq_gripper). +The package's license file can also be found in this folder. diff --git a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro index f21cff58..b3becdce 100644 --- a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro +++ b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro @@ -1,5 +1,5 @@ - + @@ -20,10 +22,12 @@ prefix="${prefix}" parent="${parent}" include_ros2_control="${include_ros2_control}" - use_fake_hardware="$(arg use_fake_hardware)" - fake_sensor_commands="$(arg fake_sensor_commands)" - sim_ignition="$(arg sim_ignition)" - sim_isaac="$(arg sim_isaac)"> + use_fake_hardware="${use_fake_hardware}" + fake_sensor_commands="${fake_sensor_commands}" + sim_ignition="${sim_ignition}" + sim_isaac="${sim_isaac}" + isaac_joint_commands="${isaac_joint_commands}" + isaac_joint_states="${isaac_joint_states}"> diff --git a/kortex_description/launch/view_robot.launch.py b/kortex_description/launch/view_robot.launch.py index 9d960917..80e4acdd 100644 --- a/kortex_description/launch/view_robot.launch.py +++ b/kortex_description/launch/view_robot.launch.py @@ -80,12 +80,6 @@ def generate_launch_description(): parameters=[robot_description], ) - joint_state_publisher = Node( - package="joint_state_publisher", - executable="joint_state_publisher", - output="screen", - ) - joint_state_publisher_gui = Node( package="joint_state_publisher_gui", executable="joint_state_publisher_gui", @@ -102,7 +96,6 @@ def generate_launch_description(): nodes_to_start = [ robot_state_publisher, - joint_state_publisher, joint_state_publisher_gui, rviz, ] diff --git a/kortex_description/robots/gen3_2f85.urdf b/kortex_description/robots/gen3_2f85.urdf new file mode 100644 index 00000000..7f787bdd --- /dev/null +++ b/kortex_description/robots/gen3_2f85.urdf @@ -0,0 +1,735 @@ + + + + + + + + + + + + + + + + + kortex2_driver/KortexMultiInterfaceHardware + 192.168.11.11 + admin + admin + 10000 + 10001 + 60000 + 2000 + "" + False + finger_joint + + + + {-2*pi} + {2*pi} + + + -3.15 + 3.15 + + + 0.0 + + + + + + + -2.41 + 2.41 + + + -3.15 + 3.15 + + + 0.0 + + + + + + + {-2*pi} + {2*pi} + + + -3.15 + 3.15 + + + 0.0 + + + + + + + -2.66 + 2.66 + + + -3.2 + 3.2 + + + 0.0 + + + + + + + {-2*pi} + {2*pi} + + + -3.2 + 3.2 + + + 0.0 + + + + + + + -2.23 + 2.23 + + + -3.2 + 3.2 + + + 0.0 + + + + + + + {-2*pi} + {2*pi} + + + -3.2 + 3.2 + + + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 100000.0 + 100000.0 + + + + + 1e+5 + 1 + 0 + 0.2 + 0.002 + 0 + + + + + + + + + + + + + + + + + + + + + + + + 100000.0 + 100000.0 + + + + + 1e+5 + 1 + 0 + 0.2 + 0.002 + 0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kortex_description/robots/kinova.urdf.xacro b/kortex_description/robots/kinova.urdf.xacro index 5febf2d1..4a5500c2 100644 --- a/kortex_description/robots/kinova.urdf.xacro +++ b/kortex_description/robots/kinova.urdf.xacro @@ -16,7 +16,7 @@ - + diff --git a/kortex_description/robots/kortex_robot.xacro b/kortex_description/robots/kortex_robot.xacro index 6dfef710..80216217 100644 --- a/kortex_description/robots/kortex_robot.xacro +++ b/kortex_description/robots/kortex_robot.xacro @@ -24,6 +24,8 @@ sim_gazebo:=false sim_ignition:=false sim_isaac:=false + isaac_joint_commands:=/isaac_joint_commands + isaac_joint_states:=/isaac_joint_states use_external_cable:=false gripper_max_velocity:=100.0 gripper_max_force:=100.0"> @@ -50,6 +52,8 @@ sim_gazebo="${sim_gazebo}" sim_ignition="${sim_ignition}" sim_isaac="${sim_isaac}" + isaac_joint_commands="${isaac_joint_commands}" + isaac_joint_states="${isaac_joint_states}" gripper_joint_name="${gripper_joint_name}" gripper_max_velocity="${gripper_max_velocity}" gripper_max_force="${gripper_max_force}" @@ -78,7 +82,9 @@ use_fake_hardware="${use_fake_hardware}" fake_sensor_commands="${fake_sensor_commands}" sim_ignition="${sim_ignition}" - sim_isaac="${sim_isaac}"/> + sim_isaac="${sim_isaac}" + isaac_joint_commands="${isaac_joint_commands}" + isaac_joint_states="${isaac_joint_states}"/> diff --git a/kortex_description/rviz/view_robot.rviz b/kortex_description/rviz/view_robot.rviz index 43e3bdd8..b164d03f 100644 --- a/kortex_description/rviz/view_robot.rviz +++ b/kortex_description/rviz/view_robot.rviz @@ -3,10 +3,9 @@ Panels: Help Height: 87 Name: Displays Property Tree Widget: - Expanded: - - /Status1 + Expanded: ~ Splitter Ratio: 0.5 - Tree Height: 1104 + Tree Height: 784 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -36,7 +35,7 @@ Visualization Manager: Offset: X: 0 Y: 0 - Z: -0.44999998807907104 + Z: 0 Plane: XY Plane Cell Count: 10 Reference Frame: @@ -69,18 +68,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - camera_color_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_depth_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false end_effector_link: Alpha: 1 Show Axes: false @@ -177,39 +164,39 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 2.3401038646698 + Distance: 2.2834885120391846 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: -0.35241591930389404 - Y: -0.12686172127723694 - Z: 0.3851892650127411 + X: -0.4017663896083832 + Y: -0.08240868896245956 + Z: 0.5916804075241089 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.4203982949256897 + Pitch: 0.14039848744869232 Target Frame: Value: Orbit (rviz) - Yaw: 0.5054022073745728 + Yaw: 0.35036754608154297 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1381 + Height: 1016 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a000004f6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000046000004f6000000ff01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004f6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000046000004f6000000d701000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000004f600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000016a000003a2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000003a2000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000003a2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003a2000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004b2000003a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Tool Properties: collapsed: false Views: collapsed: false - Width: 2560 - X: 2560 - Y: 1470 + Width: 1848 + X: 72 + Y: 27 diff --git a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ros2_controllers.yaml b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ros2_controllers.yaml index a3fa8d71..b6396f2f 100644 --- a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ros2_controllers.yaml +++ b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ros2_controllers.yaml @@ -28,7 +28,6 @@ joint_trajectory_controller: - joint_6 command_interfaces: - position - - velocity state_interfaces: - position - velocity diff --git a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ros2_controllers.yaml b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ros2_controllers.yaml index 1e284888..bd98a73d 100644 --- a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ros2_controllers.yaml +++ b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ros2_controllers.yaml @@ -29,7 +29,6 @@ joint_trajectory_controller: - joint_7 command_interfaces: - position - - velocity state_interfaces: - position - velocity