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remove extra comments, move gazebo tags to top level, and remove logi…
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…c from ur macro

Signed-off-by: Paul Gesel <paulgesel@gmail.com>
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@pac48
pac48 committed Feb 26, 2024
1 parent bc5071f commit 65c3c4c
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Showing 5 changed files with 78 additions and 91 deletions.
2 changes: 0 additions & 2 deletions src/picknik_ur_base_config/description/environment.xacro
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<?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">
<!-- Import environment macros -->
<xacro:include filename="$(find picknik_accessories)/descriptions/geometry/collision_and_visual/cube_collision_and_visual.urdf.xacro" />
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7 changes: 0 additions & 7 deletions src/picknik_ur_base_config/description/picknik_ur_macro.xacro
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<xacro:arg name="tool_device_name" default="/dev/ttyUSB0"/>
<xacro:arg name="simulation" default=""/>

<xacro:if value="$(arg has_tool_changer)">
<xacro:property name="camera_adapter_parent" value="tool_changer_tool0"/>
</xacro:if>
<xacro:unless value="$(arg has_tool_changer)">
<xacro:property name="camera_adapter_parent" value="tool0"/>
</xacro:unless>

<!-- Import macros for main hardware components -->
<xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
<xacro:include filename="$(find robotiq_description)/urdf/ur_to_robotiq_adapter.urdf.xacro"/>
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80 changes: 0 additions & 80 deletions src/picknik_ur_gazebo_config/description/environment.xacro
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<?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"/>
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</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>
78 changes: 78 additions & 0 deletions src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro
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<!-- Environment: contains scene geometry and external sensors, e.g. cameras -->
<xacro:environment parent="world"/>

<!-- Gazebo 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>

</robot>
2 changes: 0 additions & 2 deletions src/picknik_ur_mock_hw_config/description/environment.xacro
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<?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">
<!-- Import environment macros -->
<xacro:include filename="$(find picknik_accessories)/descriptions/geometry/collision_and_visual/cube_collision_and_visual.urdf.xacro" />
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