482 - Integrate RobotIQ

alliander_robotics/alliander_core/src/alliander_description/CMakeLists.txt

@@ -11,7 +11,7 @@ find_package(ament_cmake_python REQUIRED)
 
 # Shared folders:
 install(
-  DIRECTORY ewellix beamagine franka husarion nmea_gps ouster realsense seekthermal velodyne ur xsens zed
+  DIRECTORY ewellix beamagine franka husarion nmea_gps ouster realsense robotiq seekthermal velodyne ur xsens zed
   DESTINATION share/${PROJECT_NAME}
 )
 

alliander_robotics/alliander_core/src/alliander_description/robotiq/config/controllers.yaml

@@ -0,0 +1,29 @@
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+/**:
+  controller_manager:
+    ros__parameters:
+      update_rate: 500
+
+      joint_state_broadcaster:
+        type: joint_state_broadcaster/JointStateBroadcaster
+
+      position_controller:
+        type: position_controllers/JointGroupPositionController
+
+  position_controller:
+    ros__parameters:
+      joints:
+        - palm_finger_1_joint
+        - palm_finger_2_joint
+        - finger_1_joint_1
+        - finger_1_joint_2
+        - finger_1_joint_3
+        - finger_2_joint_1
+        - finger_2_joint_2
+        - finger_2_joint_3
+        - finger_middle_joint_1
+        - finger_middle_joint_2
+        - finger_middle_joint_3

alliander_robotics/alliander_core/src/alliander_description/robotiq/meshes/collision/link_0.STL.license

@@ -0,0 +1,3 @@
+SPDX-FileCopyrightText: Alliander N. V.
+
+SPDX-License-Identifier: Apache-2.0

alliander_robotics/alliander_core/src/alliander_description/robotiq/meshes/collision/link_1.STL.license

@@ -0,0 +1,3 @@
+SPDX-FileCopyrightText: Alliander N. V.
+
+SPDX-License-Identifier: Apache-2.0

alliander_robotics/alliander_core/src/alliander_description/robotiq/meshes/collision/link_2.STL.license

@@ -0,0 +1,3 @@
+SPDX-FileCopyrightText: Alliander N. V.
+
+SPDX-License-Identifier: Apache-2.0

alliander_robotics/alliander_core/src/alliander_description/robotiq/meshes/collision/link_3.STL.license

@@ -0,0 +1,3 @@
+SPDX-FileCopyrightText: Alliander N. V.
+
+SPDX-License-Identifier: Apache-2.0

alliander_robotics/alliander_core/src/alliander_description/robotiq/meshes/collision/palm.STL.license

@@ -0,0 +1,3 @@
+SPDX-FileCopyrightText: Alliander N. V.
+
+SPDX-License-Identifier: Apache-2.0

alliander_robotics/alliander_core/src/alliander_description/robotiq/meshes/visual/link_0.dae.license

@@ -0,0 +1,3 @@
+SPDX-FileCopyrightText: Alliander N. V.
+
+SPDX-License-Identifier: Apache-2.0

alliander_robotics/alliander_core/src/alliander_description/robotiq/meshes/visual/link_1.dae.license

@@ -0,0 +1,3 @@
+SPDX-FileCopyrightText: Alliander N. V.
+
+SPDX-License-Identifier: Apache-2.0

alliander_robotics/alliander_core/src/alliander_description/robotiq/meshes/visual/link_2.dae.license

@@ -0,0 +1,3 @@
+SPDX-FileCopyrightText: Alliander N. V.
+
+SPDX-License-Identifier: Apache-2.0

alliander_robotics/alliander_core/src/alliander_description/robotiq/meshes/visual/link_3.dae.license

@@ -0,0 +1,3 @@
+SPDX-FileCopyrightText: Alliander N. V.
+
+SPDX-License-Identifier: Apache-2.0

alliander_robotics/alliander_core/src/alliander_description/robotiq/meshes/visual/palm.dae.license

@@ -0,0 +1,3 @@
+SPDX-FileCopyrightText: Alliander N. V.
+
+SPDX-License-Identifier: Apache-2.0

alliander_robotics/alliander_core/src/alliander_description/robotiq/urdf/3f-gripper.urdf.xacro

@@ -0,0 +1,131 @@
+<?xml version="1.0"?>
+<!--
+SPDX-FileCopyrightText: Alliander N. V.
+SPDX-License-Identifier: Apache-2.0
+-->
+<!-- 
+Based on:
+https://github.com/ros-industrial-attic/robotiq/blob/kinetic-devel/robotiq_3f_gripper_visualization/cfg/robotiq-3f-gripper_articulated.xacro
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="3f-gripper">
+  <gazebo>
+    <plugin filename="gz_ros2_control-system"
+      name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+      <parameters>$(find alliander_description)/robotiq/config/controllers.yaml</parameters>
+      <ros>
+        <namespace>$(arg namespace)</namespace>
+      </ros>
+    </plugin>
+  </gazebo>
+
+  <ros2_control name="hardware" type="system">
+    <hardware>
+      <plugin>gz_ros2_control/GazeboSimSystem</plugin>
+    </hardware>
+
+    <!-- Palm -->
+    <joint name="palm_finger_1_joint">
+      <command_interface name="position" />
+      <state_interface name="position" />
+      <state_interface name="velocity" />
+      <state_interface name="effort" />
+    </joint>
+    <joint name="palm_finger_2_joint">
+      <command_interface name="position" />
+      <state_interface name="position" />
+      <state_interface name="velocity" />
+      <state_interface name="effort" />
+    </joint>
+
+    <!-- Finger 1 -->
+    <joint name="finger_1_joint_1">
+      <command_interface name="position" />
+      <state_interface name="position" />
+      <state_interface name="velocity" />
+      <state_interface name="effort" />
+    </joint>
+    <joint name="finger_1_joint_2">
+      <command_interface name="position" />
+      <state_interface name="position" />
+      <state_interface name="velocity" />
+      <state_interface name="effort" />
+    </joint>
+    <joint name="finger_1_joint_3">
+      <command_interface name="position" />
+      <state_interface name="position" />
+      <state_interface name="velocity" />
+      <state_interface name="effort" />
+    </joint>
+
+    <!-- Finger 2 -->
+    <joint name="finger_2_joint_1">
+      <command_interface name="position" />
+      <state_interface name="position" />
+      <state_interface name="velocity" />
+      <state_interface name="effort" />
+    </joint>
+    <joint name="finger_2_joint_2">
+      <command_interface name="position" />
+      <state_interface name="position" />
+      <state_interface name="velocity" />
+      <state_interface name="effort" />
+    </joint>
+    <joint name="finger_2_joint_3">
+      <command_interface name="position" />
+      <state_interface name="position" />
+      <state_interface name="velocity" />
+      <state_interface name="effort" />
+    </joint>
+
+    <!-- Finger middle -->
+    <joint name="finger_middle_joint_1">
+      <command_interface name="position" />
+      <state_interface name="position" />
+      <state_interface name="velocity" />
+      <state_interface name="effort" />
+    </joint>
+    <joint name="finger_middle_joint_2">
+      <command_interface name="position" />
+      <state_interface name="position" />
+      <state_interface name="velocity" />
+      <state_interface name="effort" />
+    </joint>
+    <joint name="finger_middle_joint_3">
+      <command_interface name="position" />
+      <state_interface name="position" />
+      <state_interface name="velocity" />
+      <state_interface name="effort" />
+    </joint>
+  </ros2_control>
+
+  <xacro:macro name="gripper"
+    params="
+    namespace
+    parent
+    ">
+
+    <xacro:include
+      filename="$(find alliander_description)/robotiq/urdf/3f-gripper_macro.urdf.xacro" />
+    <xacro:robotiq-3f-gripper_articulated prefix="" />
+
+    <!-- Rotate to have gripper pointing downwards: -->
+    <link name="base_link" />
+    <joint name="base_joint" type="fixed">
+      <parent link="base_link" />
+      <child link="palm" />
+      <origin xyz="0 0 0" rpy="-${pi/2} 0 0" />
+    </joint>
+
+    <!-- Gazebo requires a joint to a link called "world" for statically mounted robots -->
+    <xacro:if value="${parent == 'world'}">
+      <link name="${parent}" />
+      <joint name="${parent}_joint" type="fixed">
+        <parent link="${parent}" />
+        <child link="base_link" />
+      </joint>
+    </xacro:if>
+  </xacro:macro>
+  <xacro:arg name="namespace" default="l3cam" />
+  <xacro:arg name="parent" default="" />
+  <xacro:gripper namespace="$(arg namespace)" parent="$(arg parent)" />
+</robot>

alliander_robotics/alliander_core/src/alliander_description/robotiq/urdf/3f-gripper_finger_macro.urdf.xacro

@@ -0,0 +1,139 @@
+<!--
+SPDX-FileCopyrightText: Alliander N. V.
+SPDX-License-Identifier: Apache-2.0
+-->
+<!-- 
+Based on:
+https://github.com/ros-industrial-attic/robotiq/blob/kinetic-devel/robotiq_3f_gripper_visualization/cfg/robotiq-3f-gripper_finger_articulated_macro.xacro
+-->
+<!--
+robotiq-3f-gripper_finder_articulated_macro(prefix)
+
+Creates an articulated robotiq-3f-gripper finder with the passed in prefix.  The
+prefix typcially includes the hand prefix and an identifier for the
+finger(i.e. finger_1, etc...).
+
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="robotiq-3f-gripper_finger_articulated" params="prefix">
+    <!-- link list -->
+    <link name="${prefix}link_0">
+      <visual>
+        <origin xyz="0.020 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://alliander_description/robotiq/meshes/visual/link_0.dae" />
+        </geometry>
+        <material name="gray">
+          <color rgba="0.2 0.2 0.2 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0.020 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://alliander_description/robotiq/meshes/collision/link_0.STL" />
+        </geometry>
+        <material name="yellow">
+          <color rgba="0 1 1 1" />
+        </material>
+      </collision>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.05" />
+        <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7" />
+      </inertial>
+    </link>
+    <link name="${prefix}link_1">
+      <visual>
+        <origin xyz="0.050 -.028 0" rpy="0 0 -0.52" />
+        <geometry>
+          <mesh filename="package://alliander_description/robotiq/meshes/visual/link_1.dae" />
+        </geometry>
+        <material name="gray" />
+      </visual>
+      <collision>
+        <origin xyz="0.050 -.028 0" rpy="0 0 -0.52" />
+        <geometry>
+          <mesh filename="package://alliander_description/robotiq/meshes/collision/link_1.STL" />
+        </geometry>
+        <material name="yellow" />
+      </collision>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.15" />
+        <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7" />
+      </inertial>
+    </link>
+    <link name="${prefix}link_2">
+      <!--
+			NOTE: This link has an offset in the z-direction based on the models that were
+			used to generate grap-it poses.  With the offset below the model appears visually
+			correct, but it is suspect.
+			-->
+      <visual>
+        <origin xyz="0.039 0 0.0075" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://alliander_description/robotiq/meshes/visual/link_2.dae" />
+        </geometry>
+        <material name="gray" />
+      </visual>
+      <collision>
+        <origin xyz="0.039 0 0.0075" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://alliander_description/robotiq/meshes/collision/link_2.STL" />
+        </geometry>
+        <material name="yellow" />
+      </collision>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.15" />
+        <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7" />
+      </inertial>
+    </link>
+    <link name="${prefix}link_3">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0.52" />
+        <geometry>
+          <mesh filename="package://alliander_description/robotiq/meshes/visual/link_3.dae" />
+        </geometry>
+        <material name="gray" />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0.52" />
+        <geometry>
+          <mesh filename="package://alliander_description/robotiq/meshes/collision/link_3.STL" />
+        </geometry>
+        <material name="yellow" />
+      </collision>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.05" />
+        <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7" />
+      </inertial>
+    </link>
+
+    <!-- end of link list -->
+    <!-- joint list -->
+    <joint name="${prefix}joint_1" type="revolute">
+      <parent link="${prefix}link_0" />
+      <child link="${prefix}link_1" />
+      <axis xyz="0 0 1" />
+      <origin xyz="0.020 0 0" rpy="0 0 0" />
+      <limit lower="0.0495" upper="1.2218" effort="100" velocity="100" />
+    </joint>
+    <joint name="${prefix}joint_2" type="revolute">
+      <parent link="${prefix}link_1" />
+      <child link="${prefix}link_2" />
+      <axis xyz="0 0 1" />
+      <origin xyz="0.050 -.028 0" rpy="0 0 -0.52" />
+      <limit lower="0.0" upper="1.5708" effort="100" velocity="100" />
+    </joint>
+    <joint name="${prefix}joint_3" type="revolute">
+      <parent link="${prefix}link_2" />
+      <child link="${prefix}link_3" />
+      <axis xyz="0 0 1" />
+      <origin xyz="0.039 0 0" rpy="0 0 0" />
+      <limit lower="-1.2217" upper="-0.0523" effort="100" velocity="100" />
+    </joint>
+    <!-- end of joint list -->
+  </xacro:macro>
+</robot>