diff --git a/motoman_gp20hl_support/CMakeLists.txt b/motoman_gp20hl_support/CMakeLists.txt new file mode 100644 index 00000000..0339addc --- /dev/null +++ b/motoman_gp20hl_support/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 3.0.2) + +project(motoman_gp20hl_support) + +find_package(catkin REQUIRED) + +catkin_package() + +if (CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(test/roslaunch_test_gp20hl.xml) +endif() + +install(DIRECTORY config launch meshes urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/motoman_gp20hl_support/config/joint_names_gp20hl.yaml b/motoman_gp20hl_support/config/joint_names_gp20hl.yaml new file mode 100644 index 00000000..c23d10d4 --- /dev/null +++ b/motoman_gp20hl_support/config/joint_names_gp20hl.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'] diff --git a/motoman_gp20hl_support/config/opw_parameters_gp20hl.yaml b/motoman_gp20hl_support/config/opw_parameters_gp20hl.yaml new file mode 100644 index 00000000..428e5986 --- /dev/null +++ b/motoman_gp20hl_support/config/opw_parameters_gp20hl.yaml @@ -0,0 +1,27 @@ +# +# NOTE: the OPW kinematics parameters provided here have not been verified +# against a real system. Before using these parameters, be sure to check +# they are correct for the particular robot model and configuration you intend +# to use them with. +# + +# +# Parameters for use with IK solvers which support OPW (Ortho-Parallel Wrist) +# kinematic configurations, as described in the paper "An Analytical Solution +# of the Inverse Kinematics Problem of Industrial Serial Manipulators with an +# Ortho-parallel Basis and a Spherical Wrist" by Mathias Brandstötter, Arthur +# Angerer, and Michael Hofbaur (Proceedings of the Austrian Robotics Workshop +# 2014, 22-23 May, 2014, Linz, Austria). +# +# The moveit_opw_kinematics_plugin package provides such a solver. +# +opw_kinematics_geometric_parameters: + a1: 0.145 + a2: -0.250 + b: 0.000 + c1: 0.540 + c2: 1.150 + c3: 1.812 + c4: 0.100 +opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, deg(180.0)] +opw_kinematics_joint_sign_corrections: [1, 1, -1, -1, -1, -1] diff --git a/motoman_gp20hl_support/launch/load_gp20hl.launch b/motoman_gp20hl_support/launch/load_gp20hl.launch new file mode 100644 index 00000000..05531f62 --- /dev/null +++ b/motoman_gp20hl_support/launch/load_gp20hl.launch @@ -0,0 +1,3 @@ + + + diff --git a/motoman_gp20hl_support/launch/robot_interface_streaming_gp20hl.launch b/motoman_gp20hl_support/launch/robot_interface_streaming_gp20hl.launch new file mode 100644 index 00000000..e70a4878 --- /dev/null +++ b/motoman_gp20hl_support/launch/robot_interface_streaming_gp20hl.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + diff --git a/motoman_gp20hl_support/launch/robot_state_visualize_gp20hl.launch b/motoman_gp20hl_support/launch/robot_state_visualize_gp20hl.launch new file mode 100644 index 00000000..83a53676 --- /dev/null +++ b/motoman_gp20hl_support/launch/robot_state_visualize_gp20hl.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + diff --git a/motoman_gp20hl_support/launch/test_gp20hl.launch b/motoman_gp20hl_support/launch/test_gp20hl.launch new file mode 100644 index 00000000..e64a87a9 --- /dev/null +++ b/motoman_gp20hl_support/launch/test_gp20hl.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/motoman_gp20hl_support/meshes/gp20hl/collision/base_link.stl b/motoman_gp20hl_support/meshes/gp20hl/collision/base_link.stl new file mode 100644 index 00000000..6a3d0cbb Binary files /dev/null and b/motoman_gp20hl_support/meshes/gp20hl/collision/base_link.stl differ diff --git a/motoman_gp20hl_support/meshes/gp20hl/collision/link_1_s.stl b/motoman_gp20hl_support/meshes/gp20hl/collision/link_1_s.stl new file mode 100644 index 00000000..40ae5c50 Binary files /dev/null and b/motoman_gp20hl_support/meshes/gp20hl/collision/link_1_s.stl differ diff --git a/motoman_gp20hl_support/meshes/gp20hl/collision/link_2_l.stl b/motoman_gp20hl_support/meshes/gp20hl/collision/link_2_l.stl new file mode 100644 index 00000000..815f3af4 Binary files /dev/null and b/motoman_gp20hl_support/meshes/gp20hl/collision/link_2_l.stl differ diff --git a/motoman_gp20hl_support/meshes/gp20hl/collision/link_3_u.stl b/motoman_gp20hl_support/meshes/gp20hl/collision/link_3_u.stl new file mode 100644 index 00000000..1b77f3ab Binary files /dev/null and b/motoman_gp20hl_support/meshes/gp20hl/collision/link_3_u.stl differ diff --git a/motoman_gp20hl_support/meshes/gp20hl/collision/link_4_r.stl b/motoman_gp20hl_support/meshes/gp20hl/collision/link_4_r.stl new file mode 100644 index 00000000..0ada374f Binary files /dev/null and b/motoman_gp20hl_support/meshes/gp20hl/collision/link_4_r.stl differ diff --git a/motoman_gp20hl_support/meshes/gp20hl/collision/link_5_b.stl b/motoman_gp20hl_support/meshes/gp20hl/collision/link_5_b.stl new file mode 100644 index 00000000..f8f8c149 Binary files /dev/null and b/motoman_gp20hl_support/meshes/gp20hl/collision/link_5_b.stl differ diff --git a/motoman_gp20hl_support/meshes/gp20hl/collision/link_6_t.stl b/motoman_gp20hl_support/meshes/gp20hl/collision/link_6_t.stl new file mode 100644 index 00000000..921f68ab 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824 10407 824 10407 801 10402 800 10412 824 10407 800 10412 826 1493 2482 10411 824 10407 2479 10408 1165 10413 1150 10414 1077 10415 1077 10415 1150 10414 1152 10416 1077 10417 1152 10418 1078 10419 2483 10420 1076 10421 1073 10422 1074 10423 2453 10424 1073 10425 1073 10426 2453 10427 2484 10428 1073 10426 2484 10428 2483 10429 2483 10429 2484 10428 1017 10430 2483 10431 1017 10432 1076 10433 1118 10434 1117 10435 1101 10436 1101 10437 1117 10438 1099 10439 1856 10440 2485 10441 1855 10442 1855 10442 2485 10441 2473 10443 1729 10444 1738 10445 1730 10446 1730 10446 1738 10445 2474 10447 1057 10448 1132 10448 1065 10448 1065 1493 1132 1493 1168 1493 2486 10449 1854 10450 2472 10451 2472 10451 1854 10450 1853 10452 2485 10453 1856 10454 2486 10455 2486 10455 1856 10454 1854 10456 469 10457 471 10458 2487 10459 2487 10460 471 10461 2147 10462 2487 10460 2147 10462 1217 10463 1746 10464 1169 10465 1178 10466 1178 10467 1169 10468 1171 10469 1153 10470 2013 10471 1154 10472 1154 10472 2013 10471 1299 10473 1154 10474 1299 10475 1156 10476 1170 10477 1745 10478 2308 10479 2308 10479 1745 10478 2310 10480 2310 10480 1745 10478 1251 10481 1251 10482 1745 10483 1244 10484 1244 10484 1745 10483 1336 10485 1336 10485 1745 10483 1175 10486 1336 10487 1175 10488 1337 10489 1337 10489 1175 10488 2307 10490 2307 10490 1175 10488 1170 10491 2307 10492 1170 10477 2308 10479 2312 10493 2310 10480 1295 10494 1295 10494 2310 10480 1251 10481 1298 10495 1244 10484 1869 10496 1869 10496 1244 10484 1328 10497 1328 10497 1244 10484 1336 10485 1869 10498 1337 10499 1302 10499 1302 240 1337 240 1301 240 1301 10500 1337 10489 2307 10490 1301 10500 2307 10490 2304 240 2354 10501 1301 10501 1209 10501 1209 240 1301 240 1249 240 1249 240 1301 240 487 240 487 10502 1301 10502 2304 10502 487 10503 2304 10503 475 10503 475 10504 2304 10504 2301 10504 475 10505 2301 10505 520 10505 520 10506 2301 10506 1218 10506 1218 10507 2301 10507 2354 10507 2354 10508 2301 10509 2257 10510 2257 10510 2301 10509 519 10511 519 10512 2301 10512 2300 10512 519 10513 2300 10513 576 10514 2257 10510 519 10511 436 10515 436 10515 519 10511 518 10516 436 10515 518 10516 1652 10517 1652 10517 518 10516 526 10518 526 10518 518 10516 577 10519 526 10518 577 10519 576 10520 526 10518 576 10520 555 10521 555 10522 576 10523 2298 10522 555 10524 2298 10524 552 10524 552 10525 2298 10525 2252 10525 552 10526 2252 10527 2254 10528 552 10526 2254 10528 525 10529 525 10529 2254 10528 1652 10530 1652 10530 2254 10528 2255 10531 1652 10530 2255 10531 435 10532 435 10532 2255 10531 2257 10533 435 10534 2257 10510 436 10515 525 10535 1652 10517 526 10518 1218 10536 2354 10536 1209 10536 1238 10537 1249 10537 480 10537 480 240 1249 240 487 240 480 10538 520 10538 1238 10538 1238 240 520 240 1218 240 2313 10539 2312 10540 2318 10541 2318 10542 2312 10543 1295 10544 2318 10545 1295 10546 1298 10547 2318 10548 1298 10495 1869 10496 1936 10549 1939 10550 1422 6615 1422 6615 1939 10550 1417 10168 1417 10168 1939 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+ + + + + + + + 1 0 0 0 0 7.54979e-8 -1 0 0 1 7.54979e-8 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/motoman_gp20hl_support/package.xml b/motoman_gp20hl_support/package.xml new file mode 100644 index 00000000..62810c11 --- /dev/null +++ b/motoman_gp20hl_support/package.xml @@ -0,0 +1,62 @@ + + + + motoman_gp20hl_support + 0.1.0 + +

ROS-Industrial support for the Motoman GP20HL or AR3120.

+

+ This package contains configuration data, 3D models and launch files + for Motoman GP20HL manipulators. +

+

+ Specifications +

+ +

+ Joint limits and maximum joint velocities are based on the information + found in YASKAWA MOTOMAN-GP20HL INSTRUCTIONS (HW1485073) + version 187746-1CD, rev 1. +

+

+ All urdfs are based on the default motion and joint velocity limits, + unless noted otherwise. +

+

+ 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. +

+

+ NOTE: the OPW kinematics parameters provided by this package have not + been verified against a real system. Before using these parameters, be + sure to check they are correct for the particular robot model and + configuration you intend to use them with. +

+ + Eric Marcil + Eric Marcil + G.A. vd. Hoorn (TU Delft Robotics Institute) + BSD + + http://wiki.ros.org/motoman_gp20hl_support + https://github.com/ros-industrial/motoman/issues + https://github.com/ros-industrial/motoman + + catkin + + roslaunch + + joint_state_publisher_gui + motoman_driver + motoman_resources + robot_state_publisher + rviz + xacro + + + + + diff --git a/motoman_gp20hl_support/test/roslaunch_test_gp20hl.xml b/motoman_gp20hl_support/test/roslaunch_test_gp20hl.xml new file mode 100644 index 00000000..9fd24fd1 --- /dev/null +++ b/motoman_gp20hl_support/test/roslaunch_test_gp20hl.xml @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_gp20hl_support/urdf/gp20hl.xacro b/motoman_gp20hl_support/urdf/gp20hl.xacro new file mode 100644 index 00000000..dd93f67c --- /dev/null +++ b/motoman_gp20hl_support/urdf/gp20hl.xacro @@ -0,0 +1,5 @@ + + + + + diff --git a/motoman_gp20hl_support/urdf/gp20hl_macro.xacro b/motoman_gp20hl_support/urdf/gp20hl_macro.xacro new file mode 100644 index 00000000..9094b87c --- /dev/null +++ b/motoman_gp20hl_support/urdf/gp20hl_macro.xacro @@ -0,0 +1,169 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +