GP165R robot support package (#607)

Squashed commits:

* GP165R robot support package
* Formatting
* Added information about the GP165R - Equipped version
* Updated link_1_s model to remove piston
* Correct name of equipped macro file
* Treat the 'equipped' variant as a proper variant
* Formatting
* Update motoman_gp165r_support/urdf/readme.txt

---------

Co-authored-by: gavanderhoorn <[email protected]>

motoman_gp165r_support/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+
+project(motoman_gp165r_support)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(test/launch_test_gp165r.xml)
+  roslaunch_add_file_check(test/launch_test_gp165r_equipped.xml)
+endif()
+
+install(DIRECTORY config launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

motoman_gp165r_support/config/joint_names_gp165r.yaml

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+controller_joint_names: ['joint_1_s', 'joint_2_l', 'joint_3_u', 'joint_4_r', 'joint_5_b', 'joint_6_t']

motoman_gp165r_support/launch/load_gp165r.launch

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+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find motoman_gp165r_support)/urdf/gp165r.xacro'" />
+</launch>

motoman_gp165r_support/launch/load_gp165r_equipped.launch

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+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find motoman_gp165r_support)/urdf/gp165r_equipped.xacro'" />
+</launch>

motoman_gp165r_support/launch/robot_interface_streaming_gp165r.launch

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+<!--
+  Manipulator specific version of 'robot_interface_streaming.launch'.
+  Defaults provided for gp165r:
+   - joints
+  Usage:
+    robot_interface_streaming_gp165r.launch robot_ip:=<value> controller:=<yrc1000>
+-->
+<launch>
+  <arg name="robot_ip" />
+
+  <!-- controller: Controller name (yrc1000) -->
+  <arg name="controller" />
+
+  <rosparam command="load" file="$(find motoman_gp165r_support)/config/joint_names_gp165r.yaml" />
+
+  <include file="$(find motoman_driver)/launch/robot_interface_streaming_$(arg controller).launch">
+    <arg name="robot_ip" value="$(arg robot_ip)" />
+  </include>
+</launch>

motoman_gp165r_support/launch/robot_interface_streaming_gp165r_equipped.launch

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+<!--
+  Manipulator specific version of 'robot_interface_streaming.launch'.
+  Defaults provided for gp165r (equipped version):
+   - joints
+  Usage:
+    robot_interface_streaming_gp165r_equipped.launch robot_ip:=<value> controller:=<yrc1000>
+-->
+<launch>
+  <arg name="robot_ip" />
+
+  <!-- controller: Controller name (yrc1000) -->
+  <arg name="controller" />
+
+  <rosparam command="load" file="$(find motoman_gp165r_support)/config/joint_names_gp165r.yaml" />
+
+  <include file="$(find motoman_driver)/launch/robot_interface_streaming_$(arg controller).launch">
+    <arg name="robot_ip" value="$(arg robot_ip)" />
+  </include>
+</launch>

motoman_gp165r_support/launch/robot_state_visualize_gp165r.launch

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+<!--
+  Manipulator specific version of the state visualizer.
+  Defaults provided for gp165r:
+   - joints
+  Usage:
+    robot_state_visualize_gp165r.launch robot_ip:=<value> controller:=<yrc1000>
+-->
+<launch>
+  <arg name="robot_ip" />
+
+  <!-- controller: Controller name (yrc1000) -->
+  <arg name="controller" />
+
+  <rosparam command="load" file="$(find motoman_gp165r_support)/config/joint_names_gp165r.yaml" />
+
+  <include file="$(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_gp165r_support)/launch/load_gp165r.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

motoman_gp165r_support/launch/robot_state_visualize_gp165r_equipped.launch

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+<!--
+  Manipulator specific version of the state visualizer.
+  Defaults provided for gp165r (equipped version):
+   - joints
+  Usage:
+    robot_state_visualize_gp165r_equipped.launch robot_ip:=<value> controller:=<yrc1000>
+-->
+<launch>
+  <arg name="robot_ip" />
+
+  <!-- controller: Controller name (yrc1000) -->
+  <arg name="controller" />
+
+  <rosparam command="load" file="$(find motoman_gp165r_support)/config/joint_names_gp165r.yaml" />
+
+  <include file="$(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_gp165r_support)/launch/load_gp165r_equipped.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

motoman_gp165r_support/launch/test_gp165r.launch

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+<launch>
+  <include file="$(find motoman_gp165r_support)/launch/load_gp165r.launch" />
+
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
+  <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_gp165r_support/launch/test_gp165r_equipped.launch

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+<launch>
+  <include file="$(find motoman_gp165r_support)/launch/load_gp165r_equipped.launch" />
+
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
+  <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_gp165r_support/package.xml

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+<?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_gp165r_support</name>
+  <version>0.1.0</version>
+  <description>
+    <p>ROS-Industrial support for the Motoman GP165R (and variants).</p>
+    <p>
+      This package contains configuration data, 3D models and launch files
+      for Motoman GP165R series of manipulators.
+    </p>
+    <p>
+      <b>Specifications</b>
+    </p>
+    <ul>
+      <li>GP165R - Not-Equipped - Default</li>
+      <li>GP165R - Equipped</li>
+    </ul>
+    <p>
+      Joint limits and maximum joint velocities are based on the information
+      found in the <em>YASKAWA MOTOMAN-GP165R,GP200R INSTRUCTIONS (HW1484396)</em>
+      version <em>186044-1CD, rev 3</em>.
+    </p>
+    <p>
+      This model comes in two versions 'Not-equipped' and 'Equipped'. The
+      equipped version has reduced motion range to account for restrictions
+      from extra hardware and cables routed outside of the robot.
+      The 'Equipped' version has a reduce payload of 150 kg and lower
+      allowable moment and inertia for the wrist joints. Please refer to the
+      manual for further details.
+    </p>
+    <p>
+      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>Eric Marcil</author>
+  <maintainer email="[email protected]">Eric Marcil</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_gp165r_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_gui</exec_depend>
+  <exec_depend>motoman_driver</exec_depend>
+  <exec_depend>motoman_resources</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_gp165r_support/test/launch_test_gp165r.xml

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+<!--
+  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_gp165r">
+      <include file="$(find motoman_gp165r_support)/launch/load_gp165r.launch" />
+  </group>
+
+  <group ns="test_gp165r">
+      <include file="$(find motoman_gp165r_support)/launch/test_gp165r.launch" />
+  </group>
+
+  <group ns="robot_interface_streaming_gp165r">
+    <group ns="yrc1000">
+      <include file="$(find motoman_gp165r_support)/launch/robot_interface_streaming_gp165r.launch">
+        <arg name="robot_ip" value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg yrc1000)" />
+      </include>
+    </group>
+  </group>
+
+  <group ns="robot_state_visualize_gp165r">
+    <group ns="yrc1000">
+      <include file="$(find motoman_gp165r_support)/launch/robot_state_visualize_gp165r.launch">
+        <arg name="robot_ip" value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg yrc1000)" />
+      </include>
+    </group>
+  </group>
+
+</launch>

motoman_gp165r_support/test/launch_test_gp165r_equipped.xml

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+<!--
+  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_gp165r_equipped">
+      <include file="$(find motoman_gp165r_support)/launch/load_gp165r_equipped.launch" />
+  </group>
+
+  <group ns="test_gp165r_equipped">
+      <include file="$(find motoman_gp165r_support)/launch/test_gp165r_equipped.launch" />
+  </group>
+
+  <group ns="robot_interface_streaming_gp165r_equipped">
+    <group ns="yrc1000">
+      <include file="$(find motoman_gp165r_support)/launch/robot_interface_streaming_gp165r_equipped.launch">
+        <arg name="robot_ip" value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg yrc1000)" />
+      </include>
+    </group>
+  </group>
+
+  <group ns="robot_state_visualize_gp165r_equipped">
+    <group ns="yrc1000">
+      <include file="$(find motoman_gp165r_support)/launch/robot_state_visualize_gp165r_equipped.launch">
+        <arg name="robot_ip" value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg yrc1000)" />
+      </include>
+    </group>
+  </group>
+
+</launch>

motoman_gp165r_support/urdf/gp165r.xacro

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+<?xml version="1.0" ?>
+<robot name="motoman_gp165r" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="$(find motoman_gp165r_support)/urdf/gp165r_macro.xacro" />
+    <xacro:motoman_gp165r prefix=""/>
+</robot>

motoman_gp165r_support/urdf/gp165r_equipped.xacro

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+<?xml version="1.0" ?>
+<robot name="motoman_gp165r_equipped" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="$(find motoman_gp165r_support)/urdf/gp165r_equipped_macro.xacro" />
+    <xacro:motoman_gp165r_equipped prefix=""/>
+</robot>