Skip to content
This repository has been archived by the owner on Dec 13, 2024. It is now read-only.

Commit

Permalink
convert gazebo
Browse files Browse the repository at this point in the history 
Signed-off-by: Paul Gesel <paulgesel@gmail.com>
  • Loading branch information
@pac48
pac48 committed Feb 23, 2024
1 parent 4a232d1 commit 6047f53
Show file tree
Hide file tree
Showing 4 changed files with 172 additions and 186 deletions.
8 changes: 6 additions & 2 deletions src/picknik_ur_base_config/description/picknik_ur_attachments_macro.xacro
View file
Original file line number Diff line number Diff line change
@@ -1,6 +1,9 @@
<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="picknik_ur_attachments" params="parent child has_tool_changer">
<!-- parameters -->
<xacro:arg name="simulation" default=""/>

<xacro:include filename="$(find picknik_accessories)/descriptions/brackets/ur_realsense_camera_adapter/picknik_ur_camera_adapter.urdf.xacro"/>
<xacro:include filename="$(find picknik_accessories)/descriptions/sensors/realsense_d415.urdf.xacro"/>
<xacro:include filename="$(find robotiq_description)/urdf/ur_to_robotiq_adapter.urdf.xacro" />
Expand All @@ -19,7 +22,8 @@
<!-- wrist camera adapter and camera-->
<xacro:ur_realsense_camera_adapter prefix="" parent="${ur_realsense_camera_adapter_parent}" child_tool="realsense_camera_adapter_tool0" child_camera="d415_mount_link" rotation="0"/>

<xacro:realsense_d415 parent="d415_mount_link" name="wrist_mounted_camera">
<xacro:property name="simulation" default="$(arg simulation)"/>
<xacro:realsense_d415 parent="d415_mount_link" name="wrist_mounted_camera" use_mesh="${simulation == 'gazebo'}">
<origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:realsense_d415>

Expand All @@ -39,4 +43,4 @@
<origin xyz="0.0 0.0 0.134" rpy="0.0 0.0 ${pi}"/>
</joint>
</xacro:macro>
</robot>
</robot>
7 changes: 4 additions & 3 deletions src/picknik_ur_base_config/description/picknik_ur_macro.xacro
View file
Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="picknik_ur" params="parent child initial_positions_file">

<!-- parameters -->
<xacro:arg name="use_fake_hardware" default="false"/>
<xacro:arg name="external_camera" default="false"/>
Expand All @@ -12,12 +11,12 @@
<xacro:arg name="kinematics_parameters_file" default=""/>
<xacro:arg name="physical_parameters_file" default=""/>
<xacro:arg name="visual_parameters_file" default=""/>

<xacro:arg name="headless_mode" default="false"/>
<xacro:arg name="robot_ip" default="0.0.0.0"/>
<xacro:arg name="use_tool_communication" default="false"/>
<xacro:arg name="tool_voltage" default="0"/>
<xacro:arg name="tool_device_name" default="/dev/ttyUSB0"/>
<xacro:arg name="simulation" default=""/>

<xacro:if value="$(arg has_tool_changer)">
<xacro:property name="camera_adapter_parent" value="tool_changer_tool0"/>
Expand All @@ -35,6 +34,7 @@

<!-- Initial positions for simulations (Mock Hardware and Gazebo) -->
<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
<xacro:property name="simulation" default="$(arg simulation)"/>

<link name="${parent}"/>
<!-- arm -->
Expand All @@ -48,6 +48,7 @@
visual_parameters_file="$(arg visual_parameters_file)"
use_fake_hardware="$(arg use_fake_hardware)"
initial_positions="${xacro.load_yaml(initial_positions_file)}"
sim_ignition="${simulation == 'gazebo'}"
headless_mode="$(arg headless_mode)"
robot_ip="$(arg robot_ip)"
use_tool_communication="$(arg use_tool_communication)"
Expand Down Expand Up @@ -78,4 +79,4 @@
</xacro:if>

</xacro:macro>
</robot>
</robot>
134 changes: 134 additions & 0 deletions src/picknik_ur_gazebo_config/description/environment.xacro
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,134 @@
<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!-- wrist_3_link/forearm_link have a radius 0f 0.0375m. Actual offset from surface is (radius - attached_link's radius). -->
<!-- UR Drivers check for a 2.5cm distance between tool_flange/wrist_3 and forearm links. -->
<xacro:macro name="environment" params="parent">
<!-- parameters -->
<xacro:arg name="gazebo_renderer" default="ogre"/>
<xacro:property name="gazebo_renderer" default="$(arg gazebo_renderer)"/>

<!-- Import environment macros -->
<xacro:include filename="$(find picknik_accessories)/descriptions/geometry/collision_and_visual/cube_collision_and_visual.urdf.xacro" />
<xacro:include filename="$(find picknik_accessories)/descriptions/geometry/visual/cube_visual.urdf.xacro" />
<xacro:include filename="$(find picknik_accessories)/descriptions/sensors/realsense_d435.urdf.xacro" />

<!-- Environment -->
<link name="environment">
<!-- Table -->
<xacro:cube_collision_and_visual length="1.5" width="1.0" height="0.25">
<origin rpy="0 0 0" xyz="0 0 ${-0.25/2}" />
<color rgba="0 0 1 0" />
</xacro:cube_collision_and_visual>
</link>

<joint name="base_to_environment" type="fixed">
<parent link="base" />
<child link="environment" />
<origin rpy="0 0 0" xyz="0 0 0" />
</joint>

<!-- External camera -->
<link name="external_camera_link" />
<joint name="external_camera_joint" type="fixed">
<parent link="${parent}" />
<child link="external_camera_link" />
<origin xyz="1.1 -1.1 1.3" rpy="0.0 0.4 2.4" />
</joint>

<xacro:realsense_d435 parent="external_camera_link" name="scene_camera" visible="false" simulate_depth="true">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:realsense_d435>

<!-- Additional Camera -->
<xacro:if value="$(arg use_extra_camera)">
<link name="extra_scene_camera_link" />
<joint name="extra_scene_camera_joint" type="fixed">
<parent link="${parent}" />
<child link="extra_scene_camera_link" />
<origin xyz="-0.3 0.3 0.5" rpy="0.0 0.0 -3.14" />
</joint>
<xacro:realsense_d435 parent="extra_scene_camera_link" name="extra_camera" visible="false" simulate_depth="false">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:realsense_d435>
</xacro:if>

<!-- Force/Torque Sensor -->
<link name="robot/wrist_3_joint/force_torque_sensor" />
<joint name="wrist_to_fts" type="fixed">
<parent link="wrist_3_link" />
<child link="robot/wrist_3_joint/force_torque_sensor" />
<origin rpy="0 0 0" xyz="0 0 0" />
</joint>
<gazebo reference="wrist_3_joint">
<sensor name="tcp_fts_sensor" type="force_torque">
<always_on>1</always_on>
<update_rate>50</update_rate>
<visualize>0</visualize>
<topic>tcp_fts_sensor/ft_data</topic>
<pose>0 0 0 0 0 0</pose>
<force_torque>
<frame>child</frame>
<measure_direction>parent_to_child</measure_direction>
<force>
<x>
<noise type="gaussian">
<mean>0</mean>
<stddev>0</stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0</mean>
<stddev>0</stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0</mean>
<stddev>0</stddev>
</noise>
</z>
</force>
<torque>
<x>
<noise type="gaussian">
<mean>0</mean>
<stddev>0</stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0</mean>
<stddev>0</stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0</mean>
<stddev>0</stddev>
</noise>
</z>
</torque>
</force_torque>
</sensor>
</gazebo>

<!-- Gazebo Plugins -->
<gazebo>
<plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
<parameters>$(find picknik_ur_gazebo_config)/config/control/picknik_ur5e.ros2_control.yaml</parameters>
<ros>
<remapping>/servo_controller/commands:=/robot_controllers/commands</remapping>
<remapping>/servo_controller/joint_trajectory:=/robot_controllers/joint_trajectory</remapping>
</ros>
</plugin>
</gazebo>

<gazebo>
<plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
<render_engine>${gazebo_renderer}</render_engine>
</plugin>
</gazebo>

</xacro:macro>
</robot>
Loading

0 comments on commit 6047f53

Please sign in to comment.