Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

GP215 and GP250 Support Package #582

Open
wants to merge 1 commit into
base: kinetic-devel
Choose a base branch
from
Open

GP215 and GP250 Support Package #582

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
16 changes: 16 additions & 0 deletions motoman_gp215-250_support/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -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 ${CATKIN_PACKAGE_SHARE_DESTINATION})
1 change: 1 addition & 0 deletions motoman_gp215-250_support/config/joint_names_gp215.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
controller_joint_names: ['joint_1_s', 'joint_2_l', 'joint_3_u', 'joint_4_r', 'joint_5_b', 'joint_6_t']
3 changes: 3 additions & 0 deletions motoman_gp215-250_support/launch/load_gp215.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
<launch>
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find motoman_gp215-250_support)/urdf/gp215.xacro'" />
</launch>
3 changes: 3 additions & 0 deletions motoman_gp215-250_support/launch/load_gp250.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
<launch>
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find motoman_gp215-250_support)/urdf/gp250.xacro'" />
</launch>
21 changes: 21 additions & 0 deletions motoman_gp215-250_support/launch/robot_interface_streaming_gp215.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,21 @@
<!--
Manipulator specific version of 'robot_interface_streaming.launch'.

Defaults provided for GP215:
- 6 joints

Usage:
robot_interface_streaming_gp215.launch robot_ip:=<value> controller:=<yrc1000>
-->
<launch>
<arg name="robot_ip" />

<!-- controller: Controller name (yrc1000) -->
<arg name="controller"/>

<rosparam command="load" file="$(find motoman_gp215-250_support)/config/joint_names_gp215.yaml" />

<include file="$(find motoman_driver)/launch/robot_interface_streaming_$(arg controller).launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
</include>
</launch>
21 changes: 21 additions & 0 deletions motoman_gp215-250_support/launch/robot_interface_streaming_gp250.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,21 @@
<!--
Manipulator specific version of 'robot_interface_streaming.launch'.

Defaults provided for GP250:
- 6 joints

Usage:
robot_interface_streaming_gp250.launch robot_ip:=<value> controller:=<yrc1000>
-->
<launch>
<arg name="robot_ip" />

<!-- controller: Controller name (yrc1000) -->
<arg name="controller"/>

<rosparam command="load" file="$(find motoman_gp215-250_support)/config/joint_names_gp215.yaml" />

<include file="$(find motoman_driver)/launch/robot_interface_streaming_$(arg controller).launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
</include>
</launch>
28 changes: 28 additions & 0 deletions motoman_gp215-250_support/launch/robot_state_visualize_gp215.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,28 @@
<!--
Manipulator specific version of the state visualizer.

Defaults provided for GP215:
- 6 joints

Usage:
robot_state_visualize_gp215.launch robot_ip:=<value> controller:=<yrc1000>
-->
<launch>
<arg name="robot_ip" />

<!-- controller: Controller name (yrc1000) -->
<arg name="controller" />

<rosparam command="load" file="$(find motoman_gp215-250_support)/config/joint_names_gp215.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_gp215-250_support)/launch/load_gp215.launch" />

<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
</launch>
28 changes: 28 additions & 0 deletions motoman_gp215-250_support/launch/robot_state_visualize_gp250.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,28 @@
<!--
Manipulator specific version of the state visualizer.

Defaults provided for GP250:
- 6 joints

Usage:
robot_state_visualize_gp250.launch robot_ip:=<value> controller:=<yrc1000>
-->
<launch>
<arg name="robot_ip" />

<!-- controller: Controller name (yrc1000) -->
<arg name="controller" />

<rosparam command="load" file="$(find motoman_gp215-250_support)/config/joint_names_gp215.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_gp215-250_support)/launch/load_gp250.launch" />

<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
</launch>
7 changes: 7 additions & 0 deletions motoman_gp215-250_support/launch/test_gp215.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
<launch>
<include file="$(find motoman_gp215-250_support)/launch/load_gp215.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 $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
</launch>
7 changes: 7 additions & 0 deletions motoman_gp215-250_support/launch/test_gp250.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
<launch>
<include file="$(find motoman_gp215-250_support)/launch/load_gp250.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>
Binary file added motoman_gp215-250_support/meshes/gp215/collision/base_link.stl
View file
Open in desktop
Binary file not shown.
Binary file added motoman_gp215-250_support/meshes/gp215/collision/link_1_s.stl
View file
Open in desktop
Binary file not shown.
Binary file added motoman_gp215-250_support/meshes/gp215/collision/link_2_l.stl
View file
Open in desktop
Binary file not shown.
Binary file added motoman_gp215-250_support/meshes/gp215/collision/link_3_u.stl
View file
Open in desktop
Binary file not shown.
Binary file added motoman_gp215-250_support/meshes/gp215/collision/link_4_r.stl
View file
Open in desktop
Binary file not shown.
Binary file added motoman_gp215-250_support/meshes/gp215/collision/link_5_b.stl
View file
Open in desktop
Binary file not shown.
Binary file added motoman_gp215-250_support/meshes/gp215/collision/link_6_t.stl
View file
Open in desktop
Binary file not shown.
89 changes: 89 additions & 0 deletions motoman_gp215-250_support/meshes/gp215/visual/base_link.dae
View file
Open in desktop

Large diffs are not rendered by default.

203 changes: 203 additions & 0 deletions motoman_gp215-250_support/meshes/gp215/visual/link_1_s.dae
View file
Open in desktop

Large diffs are not rendered by default.

141 changes: 141 additions & 0 deletions motoman_gp215-250_support/meshes/gp215/visual/link_2_l.dae
View file
Open in desktop

Large diffs are not rendered by default.

Loading