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added more arms #301

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added more arms #301

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2fe959a
added arms
MikeWrock Jun 30, 2024
7466d99
added arms
MikeWrock Jun 30, 2024
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139 changes: 130 additions & 9 deletions src/picknik_ur_mock_hw_config/description/picknik_ur_machine_tending.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -6,10 +6,22 @@
<xacro:arg name="has_tool_changer" default="true"/>
<xacro:arg name="use_pinch_links" default="true"/>
<xacro:arg name="name" default=""/>
<xacro:arg name="joint_limits_parameters_file" default=""/>
<xacro:arg name="kinematics_parameters_file" default=""/>
<xacro:arg name="physical_parameters_file" default=""/>
<xacro:arg name="visual_parameters_file" default=""/>
<!-- ur3e -->
<xacro:arg name="ur3e_kinematics_parameters_file" default="$(find ur_description)/config/ur3e/default_kinematics.yaml"/>
<xacro:arg name="ur3e_physical_parameters_file" default="$(find ur_description)/config/ur3e/physical_parameters.yaml"/>
<xacro:arg name="ur3e_visual_parameters_file" default="$(find ur_description)/config/ur3e/visual_parameters.yaml"/>
<!-- ur5e -->
<xacro:arg name="ur5e_kinematics_parameters_file" default="$(find ur_description)/config/ur5e/default_kinematics.yaml"/>
<xacro:arg name="ur5e_physical_parameters_file" default="$(find ur_description)/config/ur5e/physical_parameters.yaml"/>
<xacro:arg name="ur5e_visual_parameters_file" default="$(find ur_description)/config/ur5e/visual_parameters.yaml"/>
<!-- ur10e -->
<xacro:arg name="ur10e_kinematics_parameters_file" default="$(find ur_description)/config/ur10e/default_kinematics.yaml"/>
<xacro:arg name="ur10e_physical_parameters_file" default="$(find ur_description)/config/ur10e/physical_parameters.yaml"/>
<xacro:arg name="ur10e_visual_parameters_file" default="$(find ur_description)/config/ur10e/visual_parameters.yaml"/>
<!-- ur16e -->
<xacro:arg name="ur16e_kinematics_parameters_file" default="$(find ur_description)/config/ur16e/default_kinematics.yaml"/>
<xacro:arg name="ur16e_physical_parameters_file" default="$(find ur_description)/config/ur16e/physical_parameters.yaml"/>
<xacro:arg name="ur16e_visual_parameters_file" default="$(find ur_description)/config/ur16e/visual_parameters.yaml"/>
<xacro:arg name="headless_mode" default="false"/>
<xacro:arg name="robot_ip" default="0.0.0.0"/>
<xacro:arg name="use_tool_communication" default="false"/>
Expand All @@ -23,13 +35,122 @@
<xacro:include filename="$(find picknik_ur_base_config)/description/picknik_ur_attachments_macro.xacro"/>
<xacro:include filename="$(arg environment_xacro)"/>

<!-- Robot: contains robot description from the world frame to the tool frame -->
<xacro:picknik_ur parent="world" child="tool0" initial_positions_file="$(arg initial_positions_file)">
<origin xyz="0 0 0" rpy="0 0 ${pi/2}" />
</xacro:picknik_ur>
<xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro" />
<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>

<link name="world" />
<!-- FIRST ROBOT -->
<!-- arm -->
<xacro:ur_robot
name="ur3e"
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@MikeWrock MikeWrock Jun 30, 2024 •
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@rwehner186 change this (and the other lined below) to a different UR type if you don't want one of each. See:
https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/blob/rolling/urdf/ur.urdf.xacro#L8

possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20

tf_prefix="first_"
parent="world"
joint_limits_parameters_file="$(arg joint_limits_parameters_file)"
kinematics_parameters_file="$(arg ur3e_kinematics_parameters_file)"
physical_parameters_file="$(arg ur3e_physical_parameters_file)"
visual_parameters_file="$(arg ur3e_visual_parameters_file)"
use_fake_hardware="$(arg use_fake_hardware)"
initial_positions="${xacro.load_yaml(initial_positions_file)}"
headless_mode="$(arg headless_mode)"
robot_ip="$(arg robot_ip)"
script_filename="$(find ur_robot_driver)/resources/ros_control.urscript"
output_recipe_filename="$(find ur_robot_driver)/resources/rtde_output_recipe.txt"
input_recipe_filename="$(find ur_robot_driver)/resources/rtde_input_recipe.txt">
<origin xyz="0.0 -0.6 0" rpy="0 0 0" />
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@rwehner186 change the numbers here to place the arms in different locations

</xacro:ur_robot>



<xacro:picknik_ur_attachments
prefix="first"
parent="first_tool0"
child="first_grasp_link"
has_tool_changer="$(arg has_tool_changer)"
/>

<!-- SECOND ROBOT -->
<!-- arm -->
<xacro:ur_robot
name="ur5e"
tf_prefix="second_"
parent="world"
joint_limits_parameters_file="$(arg joint_limits_parameters_file)"
kinematics_parameters_file="$(arg ur5e_kinematics_parameters_file)"
physical_parameters_file="$(arg ur5e_physical_parameters_file)"
visual_parameters_file="$(arg ur5e_visual_parameters_file)"
use_fake_hardware="$(arg use_fake_hardware)"
initial_positions="${xacro.load_yaml(initial_positions_file)}"
headless_mode="$(arg headless_mode)"
robot_ip="$(arg robot_ip)"
script_filename="$(find ur_robot_driver)/resources/ros_control.urscript"
output_recipe_filename="$(find ur_robot_driver)/resources/rtde_output_recipe.txt"
input_recipe_filename="$(find ur_robot_driver)/resources/rtde_input_recipe.txt">
<origin xyz="0 -0.2 0" rpy="0 0 0" />
</xacro:ur_robot>

<xacro:picknik_ur_attachments
prefix="second"
parent="second_tool0"
child="second_grasp_link"
has_tool_changer="$(arg has_tool_changer)"
/>

<!-- THIRD ROBOT -->
<!-- arm -->
<xacro:ur_robot
name="ur10e"
tf_prefix="third_"
parent="world"
joint_limits_parameters_file="$(arg joint_limits_parameters_file)"
kinematics_parameters_file="$(arg ur10e_kinematics_parameters_file)"
physical_parameters_file="$(arg ur10e_physical_parameters_file)"
visual_parameters_file="$(arg ur10e_visual_parameters_file)"
use_fake_hardware="$(arg use_fake_hardware)"
initial_positions="${xacro.load_yaml(initial_positions_file)}"
headless_mode="$(arg headless_mode)"
robot_ip="$(arg robot_ip)"
script_filename="$(find ur_robot_driver)/resources/ros_control.urscript"
output_recipe_filename="$(find ur_robot_driver)/resources/rtde_output_recipe.txt"
input_recipe_filename="$(find ur_robot_driver)/resources/rtde_input_recipe.txt">
<origin xyz="0 0.2 0" rpy="0 0 0" />
</xacro:ur_robot>

<xacro:picknik_ur_attachments
prefix="third"
parent="third_tool0"
child="third_grasp_link"
has_tool_changer="$(arg has_tool_changer)"
/>

<!-- FOURTH ROBOT -->
<!-- arm -->
<xacro:ur_robot
name="ur16e"
tf_prefix="fourth_"
parent="world"
joint_limits_parameters_file="$(arg joint_limits_parameters_file)"
kinematics_parameters_file="$(arg ur16e_kinematics_parameters_file)"
physical_parameters_file="$(arg ur16e_physical_parameters_file)"
visual_parameters_file="$(arg ur16e_visual_parameters_file)"
use_fake_hardware="$(arg use_fake_hardware)"
initial_positions="${xacro.load_yaml(initial_positions_file)}"
headless_mode="$(arg headless_mode)"
robot_ip="$(arg robot_ip)"
script_filename="$(find ur_robot_driver)/resources/ros_control.urscript"
output_recipe_filename="$(find ur_robot_driver)/resources/rtde_output_recipe.txt"
input_recipe_filename="$(find ur_robot_driver)/resources/rtde_input_recipe.txt">
<origin xyz="0 0.6 0" rpy="0 0 0" />
</xacro:ur_robot>

<xacro:picknik_ur_attachments
prefix="fourth"
parent="fourth_tool0"
child="fourth_grasp_link"
has_tool_changer="$(arg has_tool_changer)"
/>

<!-- Gripper and UR adapter and realsense camera -->
<xacro:picknik_ur_attachments parent="tool0" child="grasp_link" has_tool_changer="$(arg has_tool_changer)"/>
<xacro:picknik_ur_attachments parent="first_tool0" child="grasp_link" has_tool_changer="$(arg has_tool_changer)"/>

<!-- Environment: contains scene geometry and external sensors, e.g. cameras -->
<xacro:environment parent="world"/>
Expand Down
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