Added rootiq

Signed-off-by: Jakub Delicat <[email protected]>

config/robotiq_controllers.yaml

@@ -0,0 +1,13 @@
+/**:
+  robotiq_gripper_controller:
+    ros__parameters:
+      default: true
+      joint: robotiq_85_left_knuckle_joint
+      use_effort_interface: true
+      use_speed_interface: true
+
+  robotiq_activation_controller:
+    ros__parameters:
+      default: true
+      joint: robotiq_85_left_knuckle_joint
+

launch/gz_components.launch.py

@@ -98,6 +98,10 @@ def get_launch_descriptions_from_yaml_node(
                 )
             )
 
+        if component["type"] == "GRP02":
+            actions.append(get_launch_description("robotiq", package, namespace, component))
+
+
     return actions
 
 

launch/gz_robotiq.launch.py

@@ -0,0 +1,94 @@
+# Copyright 2024 Husarion sp. z o.o.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch.conditions import IfCondition, UnlessCondition, LaunchConfigurationNotEquals
+from launch.actions import DeclareLaunchArgument, LogInfo
+from launch_ros.actions import Node
+from launch.substitutions import EnvironmentVariable, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+from nav2_common.launch import ReplaceString
+
+def generate_launch_description():
+    robot_namespace = LaunchConfiguration("robot_namespace")
+    device_namespace = LaunchConfiguration("device_namespace")
+    tf_prefix = LaunchConfiguration("tf_prefix")
+
+    initial_joint_controllers = PathJoinSubstitution(
+        [FindPackageShare("ros_components_description"), "config", "robotiq_controllers.yaml"]
+    )
+
+    namespace_warn = LogInfo(
+        msg="Namespace is not implemented with manipulators. Look here: https://github.com/ros-controls/ros2_control/issues/1506",
+        condition= LaunchConfigurationNotEquals(robot_namespace, "None")
+    )
+
+    # Using tf as namespace is caused by
+    # https://github.com/ros-controls/ros2_control/issues/1506
+    # After this fix the device_namespace should be used.
+    namespaced_initial_joint_controllers_path = ReplaceString(
+        source_file=initial_joint_controllers,
+        replacements={
+            "robotiq_85_left_knuckle_joint": [tf_prefix, "robotiq_85_left_knuckle_joint"],
+            "  robotiq_gripper_controller:": ["  ", tf_prefix, "robotiq_gripper_controller:"],
+            "  robotiq_activation_controller:": ["  ", tf_prefix, "robotiq_activation_controller:"],
+        },
+    )
+
+    declare_device_namespace = DeclareLaunchArgument(
+        "device_namespace",
+        default_value="",
+        description="Sensor namespace that will appear before all non absolute topics and TF frames, used for distinguishing multiple cameras on the same robot.",
+    )
+
+    declare_robot_namespace = DeclareLaunchArgument(
+        "robot_namespace",
+        default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""),
+        description="Namespace which will appear in front of all topics (including /tf and /tf_static).",
+    )
+
+    declare_tf_prefix = DeclareLaunchArgument(
+        "tf_prefix",
+        default_value="",
+        description="Prefix added for all links of device. Here used as fix for static transform publisher.",
+    )
+
+    robotiq_gripper_controller = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=[
+            [tf_prefix, "robotiq_gripper_controller"],
+            "-t",
+            "position_controllers/GripperActionController",
+            "-c",
+            "controller_manager",
+            "--controller-manager-timeout",
+            "10",
+            "--namespace",
+            device_namespace,
+            "--param-file",
+            namespaced_initial_joint_controllers_path,
+        ],
+        namespace=robot_namespace,
+    )
+
+    return LaunchDescription(
+        [
+            declare_device_namespace,
+            declare_robot_namespace,
+            declare_tf_prefix,
+            namespace_warn,
+            robotiq_gripper_controller,
+        ]
+    )

package.xml

@@ -22,6 +22,7 @@
   <depend>xacro</depend>
   <depend>ur_description</depend>
   <depend>kortex_description</depend>
+  <depend>robotiq_description</depend>
 
   <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation) and ($SIMULATION_ENGINE == gazebo-classic)">
     gazebo_plugins
@@ -43,6 +44,10 @@
     nav2_common
   </depend>
 
+  <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation) and ($SIMULATION_ENGINE == ignition-gazebo)">
+    robotiq_controllers
+  </depend>
+
   <test_depend>ament_index_python</test_depend>
   <test_depend>ament_python_pytest</test_depend>
   <test_depend>python-yaml</test_depend>

urdf/components.urdf.xacro

@@ -236,6 +236,33 @@
         />
       </xacro:if>
 
+      <xacro:if value="${type == 'GRP02'}">
+        <xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_85_macro.urdf.xacro"
+          ns="gripper" />
+
+        <xacro:gripper.robotiq_gripper name="${tf_prefix}robotiq_2f_85"
+          prefix="${tf_prefix}"
+          parent="${parent_link}"
+          use_fake_hardware="false"
+          sim_ignition="true"
+        >
+          <origin xyz="${xyz}" rpy="${rpy}" />
+        </xacro:gripper.robotiq_gripper>
+      </xacro:if>
+
+      <xacro:if value="${type == 'GRP03'}">
+        <xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_140_macro.urdf.xacro"
+          ns="gripper" />
+
+        <xacro:gripper.robotiq_gripper name="${tf_prefix}robotiq_2f_140"
+          prefix="${tf_prefix}"
+          parent="${parent_link}"
+          use_fake_hardware="false"
+          sim_ignition="true"
+        >
+          <origin xyz="${xyz}" rpy="${rpy}" />
+        </xacro:gripper.robotiq_gripper>
+      </xacro:if>
 
       <xacro:if value="${index}">
         <xacro:load_componenet