diff --git a/motoman_gp215-250_support/CMakeLists.txt b/motoman_gp215-250_support/CMakeLists.txt new file mode 100644 index 00000000..a5c7c23f --- /dev/null +++ b/motoman_gp215-250_support/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 3.0.2) + +project(motoman_gp215-250_support) + +find_package(catkin REQUIRED) + +catkin_package() + +if (CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(test/roslaunch_test_gp215.xml) + roslaunch_add_file_check(test/roslaunch_test_gp250.xml) +endif() + +install(DIRECTORY config launch meshes urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/motoman_gp215-250_support/config/joint_names_gp215.yaml b/motoman_gp215-250_support/config/joint_names_gp215.yaml new file mode 100644 index 00000000..c23d10d4 --- /dev/null +++ b/motoman_gp215-250_support/config/joint_names_gp215.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_gp215-250_support/launch/load_gp215.launch b/motoman_gp215-250_support/launch/load_gp215.launch new file mode 100644 index 00000000..8ee399a4 --- /dev/null +++ b/motoman_gp215-250_support/launch/load_gp215.launch @@ -0,0 +1,3 @@ + + + diff --git a/motoman_gp215-250_support/launch/load_gp250.launch b/motoman_gp215-250_support/launch/load_gp250.launch new file mode 100644 index 00000000..3ac43405 --- /dev/null +++ b/motoman_gp215-250_support/launch/load_gp250.launch @@ -0,0 +1,3 @@ + + + diff --git a/motoman_gp215-250_support/launch/robot_interface_streaming_gp215.launch b/motoman_gp215-250_support/launch/robot_interface_streaming_gp215.launch new file mode 100644 index 00000000..37743d66 --- /dev/null +++ b/motoman_gp215-250_support/launch/robot_interface_streaming_gp215.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + diff --git a/motoman_gp215-250_support/launch/robot_interface_streaming_gp250.launch b/motoman_gp215-250_support/launch/robot_interface_streaming_gp250.launch new file mode 100644 index 00000000..8922b9d0 --- /dev/null +++ b/motoman_gp215-250_support/launch/robot_interface_streaming_gp250.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + diff --git a/motoman_gp215-250_support/launch/robot_state_visualize_gp215.launch b/motoman_gp215-250_support/launch/robot_state_visualize_gp215.launch new file mode 100644 index 00000000..1097a8bb --- /dev/null +++ b/motoman_gp215-250_support/launch/robot_state_visualize_gp215.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + diff --git a/motoman_gp215-250_support/launch/robot_state_visualize_gp250.launch b/motoman_gp215-250_support/launch/robot_state_visualize_gp250.launch new file mode 100644 index 00000000..26248ebe --- /dev/null +++ b/motoman_gp215-250_support/launch/robot_state_visualize_gp250.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + diff --git a/motoman_gp215-250_support/launch/test_gp215.launch b/motoman_gp215-250_support/launch/test_gp215.launch new file mode 100644 index 00000000..9567b291 --- /dev/null +++ b/motoman_gp215-250_support/launch/test_gp215.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/motoman_gp215-250_support/launch/test_gp250.launch b/motoman_gp215-250_support/launch/test_gp250.launch new file mode 100644 index 00000000..9526379c --- /dev/null +++ b/motoman_gp215-250_support/launch/test_gp250.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/motoman_gp215-250_support/meshes/gp215/collision/base_link.stl b/motoman_gp215-250_support/meshes/gp215/collision/base_link.stl new file mode 100644 index 00000000..204f10c6 Binary files /dev/null and b/motoman_gp215-250_support/meshes/gp215/collision/base_link.stl differ diff --git a/motoman_gp215-250_support/meshes/gp215/collision/link_1_s.stl b/motoman_gp215-250_support/meshes/gp215/collision/link_1_s.stl new file mode 100644 index 00000000..35a908d2 Binary files /dev/null and b/motoman_gp215-250_support/meshes/gp215/collision/link_1_s.stl differ diff --git a/motoman_gp215-250_support/meshes/gp215/collision/link_2_l.stl b/motoman_gp215-250_support/meshes/gp215/collision/link_2_l.stl new file mode 100644 index 00000000..a4ab9a16 Binary files /dev/null and b/motoman_gp215-250_support/meshes/gp215/collision/link_2_l.stl differ diff --git a/motoman_gp215-250_support/meshes/gp215/collision/link_3_u.stl b/motoman_gp215-250_support/meshes/gp215/collision/link_3_u.stl new file mode 100644 index 00000000..bcd8d1a5 Binary files /dev/null and b/motoman_gp215-250_support/meshes/gp215/collision/link_3_u.stl differ diff --git a/motoman_gp215-250_support/meshes/gp215/collision/link_4_r.stl b/motoman_gp215-250_support/meshes/gp215/collision/link_4_r.stl new file mode 100644 index 00000000..2bf26f74 Binary files /dev/null and b/motoman_gp215-250_support/meshes/gp215/collision/link_4_r.stl differ diff --git a/motoman_gp215-250_support/meshes/gp215/collision/link_5_b.stl b/motoman_gp215-250_support/meshes/gp215/collision/link_5_b.stl new file mode 100644 index 00000000..74c5dc00 Binary files /dev/null and b/motoman_gp215-250_support/meshes/gp215/collision/link_5_b.stl differ diff --git a/motoman_gp215-250_support/meshes/gp215/collision/link_6_t.stl b/motoman_gp215-250_support/meshes/gp215/collision/link_6_t.stl new file mode 100644 index 00000000..64d28dfa Binary files /dev/null and b/motoman_gp215-250_support/meshes/gp215/collision/link_6_t.stl differ diff --git a/motoman_gp215-250_support/meshes/gp215/visual/base_link.dae b/motoman_gp215-250_support/meshes/gp215/visual/base_link.dae new file mode 100644 index 00000000..9190a214 --- /dev/null +++ b/motoman_gp215-250_support/meshes/gp215/visual/base_link.dae @@ -0,0 +1,89 @@ + + + + + Blender User + Blender 2.82.7 commit date:2020-02-12, commit time:16:20, hash:77d23b0bd76f + + 2024-01-15T13:47:51 + 2024-01-15T13:47:51 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0 0.200784 0.4 1 + + + 1 + + + + + + + + + + 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+ + + + + + + + 2 0 0 0.6999997 0 -3.25841e-7 -2 -0.08000001 0 2 -3.25841e-7 0.23 0 0 0 1 + + + + + + + + + + -2 -5.45594e-14 -3.01992e-7 0.6999997 -3.01992e-7 3.25841e-7 2 0.08 -5.35877e-15 2 -3.25841e-7 0.23 0 0 0 1 + + + + + + + + + + 1 0 0 -0.285 0 1 0 0 0 0 1 -1.8 0 0 0 1 + + + + + + + + + + 1 0 0 -0.285 0 1 0 0 0 0 1 -1.8 0 0 0 1 + + + + + + + + + + 1 0 0 -0.285 0 1 0 0 0 0 1 -1.8 0 0 0 1 + + + + + + + + + + 1 0 0 -0.285 0 1 0 0 0 0 1 -1.8 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/motoman_gp215-250_support/package.xml b/motoman_gp215-250_support/package.xml new file mode 100644 index 00000000..cb61ec63 --- /dev/null +++ b/motoman_gp215-250_support/package.xml @@ -0,0 +1,60 @@ + + + + motoman_gp215-250_support + 0.1.0 + +

ROS-Industrial support for the Motoman GP215 and GP250 (variants).

+

+ This package contains configuration data, 3D models and launch files + for Motoman GP215/250 manipulators. +

+

+ Specifications +

+ +

+ Joint limits and maximum joint velocities are based on the information + found in: + YASKAWA MOTOMAN-GP215,GP250 INSTRUCTIONS (HW2480629) + version 194804-1CD, rev 1. + YASKAWA MOTOMAN-GP215,GP250,GP280 INSTRUCTIONS (HW1484400) + version 182639-1CD, rev 2. +

+

+ 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. +

+ + Eric Marcil + Eric Marcil + G.A. vd. Hoorn (TU Delft Robotics Institute) + BSD + + http://wiki.ros.org/motoman_gp215-250_support + https://github.com/ros-industrial/motoman/issues + https://github.com/ros-industrial/motoman + + catkin + + roslaunch + + joint_state_publisher + motoman_driver + motoman_resources + robot_state_publisher + rviz + xacro + + + + + diff --git a/motoman_gp215-250_support/test/roslaunch_test_gp215.xml b/motoman_gp215-250_support/test/roslaunch_test_gp215.xml new file mode 100644 index 00000000..e04c4f19 --- /dev/null +++ b/motoman_gp215-250_support/test/roslaunch_test_gp215.xml @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_gp215-250_support/test/roslaunch_test_gp250.xml b/motoman_gp215-250_support/test/roslaunch_test_gp250.xml new file mode 100644 index 00000000..a44d5a69 --- /dev/null +++ b/motoman_gp215-250_support/test/roslaunch_test_gp250.xml @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_gp215-250_support/urdf/gp215.xacro b/motoman_gp215-250_support/urdf/gp215.xacro new file mode 100644 index 00000000..fa136a34 --- /dev/null +++ b/motoman_gp215-250_support/urdf/gp215.xacro @@ -0,0 +1,5 @@ + + + + + diff --git a/motoman_gp215-250_support/urdf/gp215_macro.xacro b/motoman_gp215-250_support/urdf/gp215_macro.xacro new file mode 100644 index 00000000..92d1042e --- /dev/null +++ b/motoman_gp215-250_support/urdf/gp215_macro.xacro @@ -0,0 +1,169 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_gp215-250_support/urdf/gp250.xacro b/motoman_gp215-250_support/urdf/gp250.xacro new file mode 100644 index 00000000..e12145ff --- /dev/null +++ b/motoman_gp215-250_support/urdf/gp250.xacro @@ -0,0 +1,5 @@ + + + + + diff --git a/motoman_gp215-250_support/urdf/gp250_macro.xacro b/motoman_gp215-250_support/urdf/gp250_macro.xacro new file mode 100644 index 00000000..9f8b340c --- /dev/null +++ b/motoman_gp215-250_support/urdf/gp250_macro.xacro @@ -0,0 +1,169 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +