[Kinova] update jsk_kinova_robot #1379

sktometometo · 2021-08-31T14:04:52Z

Update jsk_kinova_robot.
This PR enables

Support jsk_spotkinova_robot
Support Realsense on the wrist of kinova gen3 lite

Features

Update rosinstall and README to use develop/spot branch version of ros_kortex
Add jsk_kinova_description package
Update jsk_kinova_startup
- Update kinova_bringup.launch
  - add jsk version of kortex_driver.launch which load robot_description from jsk_kinova_description
  - add realsense bringup for jsk version of kinova gen3 lite
- Update package.xml
- Update Rviz config
Update kinovaeus
- fix joint names of models
- update kinova-interface.l to support prefix

jsk_kinova_robot/jsk_kinova.rosinstall

jsk_kinova_robot/jsk_kinova_description/CMakeLists.txt

jsk_kinova_robot/jsk_kinova.rosinstall

jsk_kinova_robot/jsk_kinova_description/package.xml

k-okada · 2021-09-20T05:34:23Z

jsk_kinova_robot/jsk_kinova_description/robots/gen3_robotiq_2f_140.xacro

@@ -0,0 +1,13 @@
+<?xml version="1.0"?>


is this copy of https://github.com/Kinovarobotics/ros_kortex/blob/melodic-devel/kortex_description/robots/gen3_robotiq_2f_140.xacro ??

Yes. this is copied. may be orignal model should not be directly written, but loaded.

License Descriptions are added

k-okada · 2021-09-20T05:46:01Z

jsk_kinova_robot/jsk_kinova_description/robots/gen3_lite_gen3_lite_2f.xacro

+    <xacro:include filename="$(find kortex_description)/robots/kortex_robot.xacro" />
+    <xacro:load_robot arm="$(arg arm)" gripper="$(arg gripper)" dof="$(arg dof)" vision="false" sim="$(arg sim)"  prefix="$(arg prefix)" />
+
+    <link name="kinova_wrist_camera_link">


can you explain why you need this link. Did you consider publishing via
static_transform_publisher c.f. https://github.com/ros-drivers/rgbd_launch/blob/indigo-devel/launch/kinect_frames.launch

I think this will be necessary when collision between robot links and camera happens.

@sktometometo this link does not includes geometry, so it is not calculate the collision.

I will add camera mount model to this link after our kinova arm sent back.

k-okada · 2021-09-20T05:46:42Z

jsk_kinova_robot/jsk_kinova_description/robots/gen3_lite_gen3_lite_2f.xacro

+        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+        <mass value="0.0000000001" />
+        <inertia ixx="0.0000000001" ixy="0.0000000001" ixz="0.0000000001"
+            iyy="0.0000000001" iyz="0.0000000001" izz="0.0000000001" />


Are these parameters necessary?

these parameters are necessary for gazebo load.
gazebo crashes when no interia parameter is set in a link.

I think we can write <link name="fuga" /> https://github.com/PR2/pr2_common/blob/37061a9c68d97931f6b6b30583e4299b526bb145/pr2_description/urdf/sensors/kinect_camera.urdf.xacro#L48
@sktometometo , could you check this?

@k-okada OK I will check if that will work with a real robot and gazebo.

…in :angle-vector

…os_kortex

This was referenced Aug 31, 2021

[merge after #1376 and #1379][spot][kinova] add jsk spotkinova robot #1377

Open

[WIP][Spot] Merge develop/spot branch #1378

Closed

sktometometo requested a review from 708yamaguchi August 31, 2021 14:14

k-okada added the MergeOK label Sep 12, 2021

k-okada reviewed Sep 12, 2021

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jsk_kinova_robot/jsk_kinova.rosinstall Outdated Show resolved Hide resolved

k-okada added need fix and removed MergeOK labels Sep 12, 2021

knorth55 added the kinova label Sep 12, 2021

sktometometo force-pushed the PR/kinova/update-jsk-kinova-robot branch from 0045116 to 8979086 Compare September 17, 2021 14:28

sktometometo requested a review from k-okada September 19, 2021 11:09

sktometometo mentioned this pull request Sep 19, 2021

[Spot] Development of jsk_spot_robot #1382

Open

k-okada reviewed Sep 20, 2021

View reviewed changes

jsk_kinova_robot/jsk_kinova_description/CMakeLists.txt Outdated Show resolved Hide resolved

k-okada reviewed Sep 20, 2021

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jsk_kinova_robot/jsk_kinova_description/CMakeLists.txt Outdated Show resolved Hide resolved

k-okada reviewed Sep 20, 2021

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sktometometo force-pushed the PR/kinova/update-jsk-kinova-robot branch from 8979086 to 00e0395 Compare September 20, 2021 08:26

sktometometo mentioned this pull request Nov 23, 2021

Fix joint name prefix in spotkinovaeus sktometometo/jsk_robot#87

Merged

sktometometo force-pushed the PR/kinova/update-jsk-kinova-robot branch from 1ed7b7c to 138af01 Compare November 23, 2021 03:19

tkmtnt7000 and others added 13 commits November 24, 2021 09:36

add prefix name in kinova-interface.l

98e4771

Change kinova prefix

4ac8185

Update prefix

062ec95

Enable to set prefix in kinova-interface.l

65daa64

Update default kinova prefix

e37aef5

[WIP] Add option :min-time-step to avoid long nterpolation calc time …

eb2a0c3

…in :angle-vector

[WIP] Use min-time-step after time scaling and fix bug

536fe25

Use min-time-step by default in kinova-interface and fix bug

79bbae8

Fix parenthesis correspondance

f97ebc1

Add PR number

47c38da

Revert change of trajectory-filter

d9f6940

[jsk_kinova_robot] fix ros_kortex version and update README

83cc8d2

[jsk_kinova_robot] update README.md

1e5c543

sktometometo and others added 4 commits November 24, 2021 09:39

[jsk_kinova_robot] remove kinova.rosinstall

c3aebe9

[kinovaeus] Fix kinova-interface for kortex_ros 2.3.0

4238a61

[kinovaeus] fix go-grasp problem in eus model

82d34ad

[jsk_kinova_robot] update jsk_kinova.rosinstall to support ver2.3.0 r…

e2edad6

…os_kortex

sktometometo force-pushed the PR/kinova/update-jsk-kinova-robot branch from 138af01 to 2e25177 Compare November 24, 2021 00:40

sktometometo mentioned this pull request Nov 24, 2021

Update kinovaeus #1410

Open

sktometometo added 5 commits November 24, 2021 13:01

[jsk_kinova_description] add jsk_kinova_description package

be0c0f0

[jsk_kinova_description] fix bugs

6d1e065

[jsk_kinova_description] add wrist_camera link

14a904c

[jsk_kinova_description] Add package description and update CMakeLitst

4c7a90d

[jsk_kinova_description] add license description to xacro

9154264

sktometometo force-pushed the PR/kinova/update-jsk-kinova-robot branch from 2e25177 to a536786 Compare November 24, 2021 04:02

sktometometo and others added 10 commits November 24, 2021 14:43

[jsk_kinova_robot] add description about prefix

c8b786e

[jsk_kinova_startup] add jsk_kinova_description to dependencies

3876cfc

[jsk_kinova_startup] add prefix arg to kinova_bringup.launch

b87cdc7

[jsk_kinova_startup] update

cb7b5f3

[jsk_kinova_startup] update launch

1cc5f99

[jsk_kinova_startup] fix launch

0b7b7ab

[jsk_kinova_startup] add realsense bringup

b41bd2c

[jsk_kinova_robot] update rviz config

2ec17e3

[jsk_kinova_startup] add launch_robot_state_publisher arg

4c08b57

[jsk_kinova_startup] fix launch_robot_state_publisher arg

b08ae52

sktometometo force-pushed the PR/kinova/update-jsk-kinova-robot branch from a536786 to b08ae52 Compare November 24, 2021 05:44

[jsk_kinova_description] update kinova_wrist_camera position

48eecc6

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[Kinova] update jsk_kinova_robot #1379

[Kinova] update jsk_kinova_robot #1379

sktometometo commented Aug 31, 2021 •

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k-okada Sep 20, 2021

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sktometometo Sep 21, 2021

[Kinova] update jsk_kinova_robot #1379

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[Kinova] update jsk_kinova_robot #1379

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sktometometo commented Aug 31, 2021 • edited Loading

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sktometometo commented Aug 31, 2021 •

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