Add GP200R support (#452)

Squashed commits:

* first push
* fixed joint limits
* deleted directories not needed
* added base_link to robot transform back into urdf
* fixed pr comments from ros-industrial
* Update motoman_gp200r_support/package.xml
* added ROS-I maintainer to list, removed extra joint_6_t-flange from macro_xacro
* gp200r: use variant name for launch test file
  Avoid name clashes.
* Bump minimum CMake version
  Avoid warnings on Noetic and up.
* gp200r: decimate meshes some more
  Blender was able to decimate these meshes without too noticeable differences in (perceived) visual fidelity.

Co-authored-by: G.A. vd. Hoorn <[email protected]>

motoman_gp200r_support/CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.0.2)
+
+project(motoman_gp200r_support)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(test/launch_test_gp200r.xml)
+endif()
+
+install(DIRECTORY config launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

motoman_gp200r_support/config/joint_names_gp200r.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['joint_1_s', 'joint_2_l', 'joint_3_u', 'joint_4_r', 'joint_5_b', 'joint_6_t']

motoman_gp200r_support/launch/load_gp200r.launch

@@ -0,0 +1,3 @@
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find motoman_gp200r_support)/urdf/gp200r.xacro'" />
+</launch>

motoman_gp200r_support/launch/robot_interface_streaming_gp200r.launch

@@ -0,0 +1,19 @@
+<!--
+  Manipulator specific version of 'robot_interface_streaming.launch'.
+  Defaults provided for gp200r:
+   - joints
+  Usage:
+    robot_interface_streaming_gp1200r.launch robot_ip:=<value> controller:=<yrc1000>
+-->
+<launch>
+  <arg name="robot_ip" />
+
+  <!-- controller: Controller name (yrc1000) -->
+  <arg name="controller" />
+
+  <rosparam command="load" file="$(find motoman_gp200r_support)/config/joint_names_gp200r.yaml" />
+
+  <include file="$(find motoman_driver)/launch/robot_interface_streaming_$(arg controller).launch">
+    <arg name="robot_ip" value="$(arg robot_ip)" />
+  </include>
+</launch>

motoman_gp200r_support/launch/robot_state_visualize_gp200r.launch

@@ -0,0 +1,25 @@
+<!--
+  Manipulator specific version of the state visualizer.
+  Defaults provided for gp200r:
+   - joints
+  Usage:
+    robot_state_visualize_gp200r.launch robot_ip:=<value> controller:=<yrc1000>
+-->
+<launch>
+  <arg name="robot_ip" />
+
+  <!-- controller: Controller name (yrc1000) -->
+  <arg name="controller" />
+
+  <rosparam command="load" file="$(find motoman_gp200r_support)/config/joint_names_gp200r.yaml" />
+
+  <include file="$(find motoman_driver)/launch/robot_state_$(arg controller).launch">
+    <arg name="robot_ip" value="$(arg robot_ip)" />
+  </include>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+  <include file="$(find motoman_gp200r_support)/launch/load_gp200r.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

motoman_gp200r_support/launch/test_gp200r.launch

@@ -0,0 +1,10 @@
+<launch>
+    <include file="$(find motoman_gp200r_support)/launch/load_gp200r.launch" />
+
+    <param name="use_gui" value="true" />
+
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

motoman_gp200r_support/package.xml

@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>motoman_gp200r_support</name>
+  <version>0.1.0</version>
+  <description>
+    <p>ROS-Industrial support for the Motoman GP200r (and variants).</p>
+    <p>
+      This package contains configuration data, 3D models and launch files
+      for Motoman GP200r series of manipulators.
+    </p>
+    <p>
+      <b>Specifications</b>
+    </p>
+    <ul>
+      <li>GP200R - Default</li>
+    </ul>
+    <p>
+      Joint limits and maximum joint velocities are based on the information 
+      found in the online documentation files for the robot (GP200R_2D.zip
+      and GP200R_3D.zip from
+      https://www.motoman.com/en-us/products/robots/industrial/assembly-handling/gp-series/gp200r)
+      All urdfs are based on the default motion and joint velocity limits, 
+      unless noted otherwise.
+    </p>
+    <p>
+      Before using any of the configuration files and / or meshes included
+      in this package, be sure to check they are correct for the particular
+      robot model and configuration you intend to use them with.
+    </p>
+  </description>
+  <author>Dylan Rolleigh</author>
+  <maintainer email="[email protected]">Dylan Rolleigh (Bastian Solutions)</maintainer>
+  <maintainer email="[email protected]">Akash Jinandra (Bastian Solutions)</maintainer>
+  <maintainer email="[email protected]">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/motoman_gp200r_support</url>
+  <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
+  <url type="repository">https://github.com/ros-industrial/motoman</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <test_depend>roslaunch</test_depend>
+
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>motoman_driver</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+    <architecture_independent/>
+  </export>
+</package>

motoman_gp200r_support/test/launch_test_gp200r.xml

@@ -0,0 +1,51 @@
+<!--
+  launch_test.xml - ROSlaunch tests
+  Usage Instructions:
+  1. Add the following to your CMakeLists.txt:
+    find_package(roslaunch)
+    roslaunch_add_file_check(test/launch_test.xml)
+  2. Create a test directory under your package
+  3. Add the "launch_text.xml" file and fill out the test below.  Use the
+     following conventions:
+    a. Encapsulate each launch file test in it's own namespace.  By
+       convention the namespace should have the same name as the launch
+       file (minus ".launch" extension)
+    b. Create tests for each possible combination of parameters.  Utilize
+       sub-namespaces under the main namespace.
+  Notes:
+  1. XML extension is used in order to avoid beinging included
+  in roslaunch auto-complete.
+  2. Group tags with namespaces are used to avoid node name collisions when
+  testing multpile launch files
+-->
+<launch>
+  <arg name="req_arg" value="default" />
+  <arg name="yrc1000" value="yrc1000" />
+
+  <group ns="load_gp200r">
+      <include file="$(find motoman_gp200r_support)/launch/load_gp200r.launch" />
+  </group>
+
+  <group ns="test_gp200r">
+      <include file="$(find motoman_gp200r_support)/launch/test_gp200r.launch" />
+  </group>
+
+  <group ns="robot_interface_streaming_gp200r">
+    <group ns="yrc1000">
+      <include file="$(find motoman_gp200r_support)/launch/robot_interface_streaming_gp200r.launch">
+        <arg name="robot_ip" value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg yrc1000)" />
+      </include>
+    </group>
+  </group>
+
+  <group ns="robot_state_visualize_gp200r">
+    <group ns="yrc1000">
+      <include file="$(find motoman_gp200r_support)/launch/robot_state_visualize_gp200r.launch">
+        <arg name="robot_ip" value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg yrc1000)" />
+      </include>
+    </group>
+  </group>
+
+</launch>

motoman_gp200r_support/urdf/gp200r.xacro

@@ -0,0 +1,5 @@
+<?xml version="1.0" ?>
+<robot name="motoman_gp200r" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="$(find motoman_gp200r_support)/urdf/gp200r_macro.xacro" />
+    <xacro:motoman_gp200r prefix=""/>
+</robot>

motoman_gp200r_support/urdf/gp200r_macro.xacro

@@ -0,0 +1,172 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+<xacro:macro name="motoman_gp200r" params="prefix">
+
+    <!-- Properties -->
+    <xacro:include filename="$(find motoman_resources)/urdf/common_materials.xacro"/>
+
+    <!-- link list -->
+    <link name="${prefix}base_link">
+        <visual>
+            <geometry>
+                <mesh filename="package://motoman_gp200r_support/meshes/gp200r/visual/base_link.stl"/>
+            </geometry>
+            <xacro:material_yaskawa_blue/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://motoman_gp200r_support/meshes/gp200r/collision/base_link.stl"/>
+            </geometry>
+        </collision>
+    </link>
+    <link name="${prefix}link_1_s">
+        <visual>
+            <geometry>
+                <mesh filename="package://motoman_gp200r_support/meshes/gp200r/visual/link_1_s.stl"/>
+            </geometry>
+            <xacro:material_yaskawa_blue/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://motoman_gp200r_support/meshes/gp200r/collision/link_1_s.stl"/>
+            </geometry>
+        </collision>
+    </link>
+    <link name="${prefix}link_2_l">
+        <visual>
+            <geometry>
+                <mesh filename="package://motoman_gp200r_support/meshes/gp200r/visual/link_2_l.stl"/>
+            </geometry>
+            <xacro:material_yaskawa_blue/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://motoman_gp200r_support/meshes/gp200r/collision/link_2_l.stl"/>
+            </geometry>
+        </collision>
+    </link>
+    <link name="${prefix}link_3_u">
+        <visual>
+            <geometry>
+                <mesh filename="package://motoman_gp200r_support/meshes/gp200r/visual/link_3_u.stl"/>
+            </geometry>
+            <xacro:material_yaskawa_blue/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://motoman_gp200r_support/meshes/gp200r/collision/link_3_u.stl"/>
+            </geometry>
+        </collision>
+    </link>
+    <link name="${prefix}link_4_r">
+        <visual>
+            <geometry>
+                <mesh filename="package://motoman_gp200r_support/meshes/gp200r/visual/link_4_r.stl"/>
+            </geometry>
+            <xacro:material_yaskawa_blue/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://motoman_gp200r_support/meshes/gp200r/collision/link_4_r.stl"/>
+            </geometry>
+        </collision>
+    </link>
+    <link name="${prefix}link_5_b">
+        <visual>
+            <geometry>
+                <mesh filename="package://motoman_gp200r_support/meshes/gp200r/visual/link_5_b.stl"/>
+            </geometry>
+            <xacro:material_yaskawa_blue/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://motoman_gp200r_support/meshes/gp200r/collision/link_5_b.stl"/>
+            </geometry>
+        </collision>
+    </link>
+    <link name="${prefix}link_6_t">
+        <visual>
+            <geometry>
+                <mesh filename="package://motoman_gp200r_support/meshes/gp200r/visual/link_6_t.stl"/>
+            </geometry>
+            <xacro:material_yaskawa_blue/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://motoman_gp200r_support/meshes/gp200r/collision/link_6_t.stl"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- end of link list -->
+
+    <!-- joint list -->
+    <joint name="${prefix}joint_1_s" type="revolute">
+        <parent link="${prefix}base_link"/>
+        <child link="${prefix}link_1_s"/>
+        <origin xyz="0 0 0.450" rpy="0 0 0" />
+        <axis xyz="0 0 1" />
+        <limit lower="${radians(-180)}" upper="${radians(180)}" effort="7060.79" velocity="${radians(90)}"/>
+    </joint>
+    <joint name="${prefix}joint_2_l" type="revolute">
+        <parent link="${prefix}link_1_s"/>
+        <child link="${prefix}link_2_l"/>
+        <origin xyz="0.740 0 0" rpy="0 0 0" />
+        <axis xyz="0 1 0" />
+        <limit lower="${radians(-130)}" upper="${radians(80)}" effort="11032.48" velocity="${radians(85)}"/>
+    </joint>
+    <joint name="${prefix}joint_3_u" type="revolute">
+        <parent link="${prefix}link_2_l"/>
+        <child link="${prefix}link_3_u"/>
+        <origin xyz="1.150 0 0" rpy="0 0 0" />
+        <axis xyz="0 -1 0" />
+        <limit lower="${radians(-78.4)}" upper="${radians(78)}" effort="9929.23" velocity="${radians(85)}"/>
+    </joint>
+    <joint name="${prefix}joint_4_r" type="revolute">
+        <parent link="${prefix}link_3_u"/>
+        <child link="${prefix}link_4_r"/>
+        <origin xyz="0.250 0 0" rpy="0 ${radians(90)} 0" />
+        <axis xyz="-1 0 0" />
+        <limit lower="${radians(-180)}" upper="${radians(180)}" effort="2621.3" velocity="${radians(120)}"/>
+    </joint>
+    <joint name="${prefix}joint_5_b" type="revolute">
+        <parent link="${prefix}link_4_r"/>
+        <child link="${prefix}link_5_b"/>
+        <origin xyz="1.225 0 0" rpy="0 0 0" />
+        <axis xyz="0 -1 0" />
+        <limit lower="${radians(-125)}" upper="${radians(180)}" effort="3530.38" velocity="${radians(120)}"/>
+    </joint>
+    <joint name="${prefix}joint_6_t" type="revolute">
+        <parent link="${prefix}link_5_b"/>
+        <child link="${prefix}link_6_t"/>
+        <origin xyz="0.250 0 0" rpy="0 0 0" />
+        <axis xyz="1 0 0" />
+        <limit lower="${radians(-180)}" upper="${radians(180)}" effort="1765.19" velocity="${radians(190)}"/>
+    </joint>
+    <!-- end of joint list -->
+
+    <!-- ROS base_link to Robot Manufacturer World Coordinates transform -->
+    <link name="${prefix}base" />
+    <joint name="${prefix}base_link-base" type="fixed">
+        <origin xyz="0 0 0.450" rpy="0 0 0"/>
+        <parent link="${prefix}base_link"/>
+        <child link="${prefix}base"/>
+    </joint>
+
+    <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
+    <link name="${prefix}flange"/>
+    <joint name="${prefix}joint_6_t-flange" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_6_t"/>
+      <child link="${prefix}flange"/>
+    </joint>
+
+    <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
+    <link name="${prefix}tool0"/>
+    <joint name="${prefix}flange-tool0" type="fixed">
+      <origin xyz="0 0 0" rpy="${radians(180)} ${radians(-90)} 0"/>
+      <parent link="${prefix}flange"/>
+      <child link="${prefix}tool0"/>
+    </joint>
+
+</xacro:macro>
+</robot>