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‎.github/workflows/ci.yaml

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name: CI of mc_ur3e_description
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on:
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push:
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paths-ignore:
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- README.md
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- ".pre-commit-config.yaml"
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branches:
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- '**'
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pull_request:
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branches:
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- '**'
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jobs:
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build-and-test:
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runs-on: ubuntu-22.04
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steps:
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- name: Colcon build
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uses: jrl-umi3218/github-actions/build-catkin-project@master

‎.gitignore

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*~
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urdf
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meshes
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.vscode

‎.pre-commit-config.yaml

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repos:
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- repo: meta
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hooks:
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- id: check-useless-excludes
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- id: check-hooks-apply
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- repo: https://github.com/pre-commit/pre-commit-hooks
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rev: v4.6.0
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hooks:
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- id: check-ast
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- id: check-executables-have-shebangs
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- id: check-merge-conflict
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- id: check-yaml
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- id: debug-statements
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- id: destroyed-symlinks
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- id: detect-private-key
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- id: end-of-file-fixer
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- id: fix-byte-order-marker
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- id: mixed-line-ending
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- id: trailing-whitespace
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exclude: |
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(?x)^(
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convex/ur3e/.*\.txt$|
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README.md|
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)$
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- repo: https://github.com/cheshirekow/cmake-format-precommit
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rev: v0.6.13
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hooks:
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- id: cmake-format

‎CMakeLists.txt

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cmake_minimum_required(VERSION 3.10)
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project(mc_ur3e_description)
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if(NOT DEFINED ENV{ROS_VERSION})
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message(FATAL_ERROR "ROS_VERSION is not set in the environment")
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endif()
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if($ENV{ROS_VERSION} EQUAL 1)
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set(ROS_VERSION 1)
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find_package(catkin REQUIRED COMPONENTS ur_description)
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elseif($ENV{ROS_VERSION} EQUAL 2)
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set(ROS_VERSION 2)
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find_package(ament_cmake REQUIRED)
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find_package(ur_description REQUIRED)
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else()
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message(FATAL_ERROR "Unknown ROS version: $ENV{ROS_VERSION}")
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endif()
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set(PACKAGE_NAME "ur_description")
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message(STATUS "ur_description path ${ur_description_DIR}")
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if("${ur_description_INSTALL_PREFIX}" STREQUAL "")
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if("${ur_description_SOURCE_PREFIX}" STREQUAL "")
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if("${ur_description_DIR}" STREQUAL "")
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message(
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FATAL_ERROR
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"ur_description does not provide SOURCE_PREFIX or INSTALL_PREFIX")
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else()
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set(ur_description_PREFIX "${ur_description_DIR}/..")
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endif()
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else()
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set(ur_description_PREFIX "${ur_description_SOURCE_PREFIX}")
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endif()
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else()
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set(ur_description_PREFIX
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"${ur_description_INSTALL_PREFIX}/share/ur_description")
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endif()
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set(DATA_INSTALL_FOLDER "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}")
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set(xacro_SRC
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${ur_description_PREFIX}/urdf/inc/ur_common.xacro
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${ur_description_PREFIX}/urdf/inc/ur_transmissions.xacro
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${ur_description_PREFIX}/config/ur3e/joint_limits.yaml
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${ur_description_PREFIX}/config/ur3e/default_kinematics.yaml
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${ur_description_PREFIX}/config/ur3e/physical_parameters.yaml
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${ur_description_PREFIX}/config/ur3e/visual_parameters.yaml)
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find_program(XACRO xacro REQUIRED)
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set(urdf_OUT "${CMAKE_CURRENT_SOURCE_DIR}/urdf/ur3e.urdf")
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if(${ROS_VERSION} EQUAL 1)
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set(xacro_IN ${ur_description_PREFIX}/urdf/ur3e.xacro)
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set(xacro_SRC ${xacro_SRC} ${xacro_IN}
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${ur_description_PREFIX}/urdf/inc/ur_macro.xacro)
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add_custom_command(
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OUTPUT ${urdf_OUT}
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COMMAND ${XACRO} -i ${xacro_IN} -o ${urdf_OUT}
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DEPENDS ${xacro_SRC}
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COMMENT "Generate ${urdf_OUT}")
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elseif(${ROS_VERSION} EQUAL 2)
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set(xacro_IN ${ur_description_PREFIX}/urdf/ur.urdf.xacro)
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set(xacro_SRC ${xacro_SRC} ${xacro_IN}
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${ur_description_PREFIX}/urdf/ur_macro.xacro)
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add_custom_command(
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OUTPUT ${urdf_OUT}
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COMMAND ${XACRO} ${xacro_IN} name:=ur ur_type:=ur3e -o ${urdf_OUT}
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DEPENDS ${xacro_SRC}
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COMMENT "Generate ${urdf_OUT}")
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endif()
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add_custom_target(generate-mc-ur3e-urdf ALL DEPENDS ${urdf_OUT})
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install(FILES "${urdf_OUT}" DESTINATION ${DATA_INSTALL_FOLDER}/urdf/)
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install(DIRECTORY convex rsdf launch DESTINATION ${DATA_INSTALL_FOLDER})
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if(${ROS_VERSION} EQUAL 1)
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catkin_package()
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elseif(${ROS_VERSION} EQUAL 2)
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set(CATKIN_PACKAGE_SHARE_DESTINATION share/${PROJECT_NAME})
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else()
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set(CATKIN_PACKAGE_SHARE_DESTINATION share/mc_rtc/${PROJECT_NAME})
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include(CMakePackageConfigHelpers)
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set(VERSION_CONFIG
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"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake")
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set(PROJECT_CONFIG "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake")
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set(CONFIG_INSTALL_DIR "lib/cmake/${PROJECT_NAME}")
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configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/ConfigVersion.cmake.in"
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"${VERSION_CONFIG}" @ONLY)
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configure_package_config_file(
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"${CMAKE_CURRENT_SOURCE_DIR}/cmake/Config.cmake.in" "${PROJECT_CONFIG}"
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INSTALL_DESTINATION "${CONFIG_INSTALL_DIR}")
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install(FILES "${VERSION_CONFIG}" "${PROJECT_CONFIG}"
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DESTINATION "${CONFIG_INSTALL_DIR}")
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install(FILES package.xml DESTINATION "${CATKIN_PACKAGE_SHARE_DESTINATION}")
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endif()
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foreach(dir convex launch meshes rsdf urdf rviz)
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if(IS_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/${dir})
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install(DIRECTORY ${dir}/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
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endif()
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endforeach(dir)
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if(${ROS_VERSION} EQUAL 2)
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configure_file(
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"${CMAKE_CURRENT_SOURCE_DIR}/cmake/robot_INSTALL_PREFIX.cmake.in"
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"${CMAKE_CURRENT_BINARY_DIR}/cmake/mc_ur3_description_INSTALL_PREFIX.cmake"
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@ONLY)
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ament_package(
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CONFIG_EXTRAS
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"${CMAKE_CURRENT_BINARY_DIR}/cmake/mc_ur3_description_INSTALL_PREFIX.cmake")
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endif()

‎README.md

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# UR3e robot description for [mc_rtc](https://jrl-umi3218.github.io/mc_rtc/)
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This package has additional convex files for mc_ur3e robot module used by [mc_rtc](https://jrl-umi3218.github.io/mc_rtc/) control framework.
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UR3e robot has urdf, collada and meshes in the original [ur_description](https://github.com/ros-industrial/universal_robot/tree/melodic-devel/ur_description) package.
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It contains the following directories:
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- `convex/`: convex hulls (generated from pointclouds sampled from the dae meshes)
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- `rsdf/`: Special urdf-like format describing surfaces attached to links on the robot (The folder is empty)
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## Required dependencies
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* ROS1 : [ur_description](https://github.com/ros-industrial/universal_robot/tree/melodic-devel/ur_description)
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* ROS2 : [ur_description](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description)
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## Installation
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### ROS1
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On an environment with ROS and catkin properly setup:
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```bash
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$ cd ~/catkin_ws/src
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$ git clone https://github.com/ros-industrial/universal_robot
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$ git clone https://github.com/isri-aist/mc_ur3e_description
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$ cd ..
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$ catkin_make
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```
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If you install into a different directory than the src directory of the catkin workspace, run the following commands.
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```bash
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$ cd build
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$ make install
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```
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If your catkin environment is sourced `source ~/catkin_ws/install/setup.bash`, the robot model will be available to all ROS tools, and mc_rtc robot module.
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To display the robot, you can use:
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```
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$ roslaunch mc_ur3e_description display_ur3e.launch
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```
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### ROS2
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On an envrionnement with ROS and a workspace properly setup :
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```bash
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$ cd ~/ros2_ws/src
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$ git clone https://github.com/UniversalRobots/Universal_Robots_ROS2_Description # you may need to change branch depending on your ros version
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$ git clone https://github.com/isri-aist/mc_ur3e_description
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$ cd ..
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$ colcon build
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```
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If your catkin environment is sourced `source ~/ros2_ws/install/setup.bash`, the robot model will be available to all ROS tools, and mc_rtc robot module.
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To display the robot, you can use:
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```bash
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$ ros2 launch mc_ur3e_description display_ur3e.launch.py
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```
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> If you have mc_rtc and the corresponding robot module installed, you can use the `convexes:=True` or `surfaces:=True` arguments to display the robot convexes and surfaces. These arguments can be used for both ROS version.
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***
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## When updating convex files
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### Dependencies
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- [ur_description](https://github.com/ros-industrial/universal_robot/tree/melodic-devel/ur_description)
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- [mesh_sampling](https://github.com/arntanguy/mesh_sampling)
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- qhull-bin
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### Generation of convex files
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To run the conversion, simply run
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```
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$ source ~/catkin_ws/devel/setup.bash
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$ roscd mc_ur3e_description/scripts
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$ ./generate_convex.sh
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Running generate_convex.sh script from directory <MC_UR3E_DESCRIPTION_PATH>/script
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:
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:
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-- Generating convex hull for /home/@USERNAME@/catkin_ws/install/share/ur_description/meshes/ur3e/collision/upperarm.stl
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-- Generating convex hull for /home/@USERNAME@/catkin_ws/install/share/ur_description/meshes/ur3e/collision/forearm.stl
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-- Generating convex hull for /home/@USERNAME@/catkin_ws/install/share/ur_description/meshes/ur3e/collision/base.stl
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-- Generating convex hull for /home/@USERNAME@/catkin_ws/install/share/ur_description/meshes/ur3e/collision/wrist2.stl
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-- Generating convex hull for /home/@USERNAME@/catkin_ws/install/share/ur_description/meshes/ur3e/collision/wrist3.stl
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-- Generating convex hull for /home/@USERNAME@/catkin_ws/install/share/ur_description/meshes/ur3e/collision/shoulder.stl
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-- Generating convex hull for /home/@USERNAME@/catkin_ws/install/share/ur_description/meshes/ur3e/collision/wrist1.stl
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Successfully generated convex from ur_description package in /tmp/mc_ur3e_description
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$ mv /tmp/mc_ur3e_description/convex/ur3e `rospack find mc_ur3e_description`/convex/
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```

‎cmake/Config.cmake.in

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@PACKAGE_INIT@
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set(@PROJECT_NAME@_INSTALL_PREFIX "@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_SHARE_DESTINATION@")

‎cmake/ConfigVersion.cmake.in

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# This file is the same as CMake's BasicConfigVersion-SameMajorVersion.cmake.in
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# but we skip architecture checks
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set(PACKAGE_VERSION "@PROJECT_VERSION@")
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if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
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set(PACKAGE_VERSION_COMPATIBLE FALSE)
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else()
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if(PACKAGE_FIND_VERSION_MAJOR STREQUAL "@PROJECT_VERSION_MAJOR@")
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set(PACKAGE_VERSION_COMPATIBLE TRUE)
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else()
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set(PACKAGE_VERSION_COMPATIBLE FALSE)
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endif()
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if(PACKAGE_FIND_VERSION STREQUAL PACKAGE_VERSION)
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set(PACKAGE_VERSION_EXACT TRUE)
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endif()
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endif()

‎cmake/robot_INSTALL_PREFIX.cmake.in

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set(@PROJECT_NAME@_INSTALL_PREFIX "${@PROJECT_NAME@_DIR}/../")
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get_filename_component(@PROJECT_NAME@_INSTALL_PREFIX
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"${@PROJECT_NAME@_INSTALL_PREFIX}" REALPATH)

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