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Merge pull request #394 from lbr-stack/backport-393-to-jazzy
Backport 393 to jazzy
2 parents a3198f6 + 6e7e9f6 commit 0e02601

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‎CHANGELOG.rst‎

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* Replace ``ament_target_dependencies`` with ``target_link_libraries``.
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* ``lbr_moveit``: Add missing ``pynput`` dependency and fix dataclasses.
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* ``lbr_dual_arm``: Adds dual-arm integration demo package.
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* ``lbr_dual_arm_moveit_config``: Adds dual-arm moveit configuration package.
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* ``lbr_description``:
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* Removes ``lbr_description`` from this folder in favor of external descriptions:
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* Related pull requests:
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* MoveIt fix: https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/379
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* Dual-arm: https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/393 (kenichi-maeda)
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* Namespace argument: https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/344, https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/353
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* Effort limits: https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/357
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* URDF de-coupling: https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/359, https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/389

‎lbr_demos/doc/lbr_demos.rst‎

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lbr_moveit <../lbr_moveit/doc/lbr_moveit.rst>
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lbr_moveit_cpp <../lbr_moveit_cpp/doc/lbr_moveit_cpp.rst>
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Integration
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-----------
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TODO system integration demos
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.. toctree::
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:titlesonly:
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lbr_dual_arm <../lbr_dual_arm/lbr_dual_arm/doc/lbr_dual_arm.rst>

‎lbr_demos/lbr_dual_arm/lbr_dual_arm/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.22)
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project(lbr_dual_arm)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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install(
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DIRECTORY config launch urdf
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DESTINATION share/${PROJECT_NAME}
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)
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ament_package()

‎lbr_demos/lbr_dual_arm/lbr_dual_arm/config/dual_arm_controllers.yaml‎

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# Use of /** so that the configurations hold for controller
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# managers regardless of their namespace. Usefull in multi-robot setups.
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/**/controller_manager:
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ros__parameters:
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update_rate: 100
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# ROS 2 control broadcasters
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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# ROS 2 control controllers
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joint_trajectory_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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# ROS 2 control controllers
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/**/joint_trajectory_controller:
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ros__parameters:
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joints:
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# robot one
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- lbr_one_A1
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- lbr_one_A2
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- lbr_one_A3
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- lbr_one_A4
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- lbr_one_A5
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- lbr_one_A6
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- lbr_one_A7
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# robot two
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- lbr_two_A1
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- lbr_two_A2
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- lbr_two_A3
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- lbr_two_A4
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- lbr_two_A5
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- lbr_two_A6
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- lbr_two_A7
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command_interfaces:
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- position
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state_interfaces:
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- position
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- velocity
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state_publish_rate: 50.0
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action_monitor_rate: 20.0

‎lbr_demos/lbr_dual_arm/lbr_dual_arm/config/initial_joint_positions.yaml‎

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# initial joint positions [degrees]
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A1: 0.0
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A2: 25.0
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A3: 0.0
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A4: 90.0
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A5: 0.0
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A6: 0.0
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A7: 0.0

‎lbr_demos/lbr_dual_arm/lbr_dual_arm/config/joint_limits.yaml‎

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A1:
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lower: -169 # each lower / upper limit is 1 degree stricter to avoid hard limits
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upper: 169
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velocity: 98
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effort: 200
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safety_position_margin: 5 # inside the URDF, we compute k_position=velocity/safety_position_margin
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k_velocity: 10
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A2:
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lower: -119
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upper: 119
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velocity: 98
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effort: 200
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safety_position_margin: 5
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k_velocity: 10
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A3:
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lower: -169
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upper: 169
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velocity: 100
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effort: 200
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safety_position_margin: 5
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k_velocity: 10
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A4:
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lower: -119
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upper: 119
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velocity: 130
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effort: 200
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safety_position_margin: 5
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k_velocity: 10
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A5:
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lower: -169
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upper: 169
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velocity: 140
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effort: 200
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safety_position_margin: 5
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k_velocity: 10
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A6:
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lower: -119
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upper: 119
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velocity: 180
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effort: 200
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safety_position_margin: 5
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k_velocity: 10
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A7:
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lower: -174
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upper: 174
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velocity: 180
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effort: 200
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safety_position_margin: 5
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k_velocity: 10

‎lbr_demos/lbr_dual_arm/lbr_dual_arm/config/lbr_one_system_config.yaml‎

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# these parameters are read by the lbr_system_interface.xacro and configure the lbr_ros2_control::SystemInterface
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fri_client_sdk: # the fri_client_sdk version is used to create the correct state interfaces lbr_system_interface.xacro
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major_version: 1
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minor_version: 15
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client_command_mode: position # the command mode specifies the user-sent commands. Available: [position, torque, wrench]
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port_id: 30200 # port id for the UDP communication. Useful in multi-robot setups
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remote_host: INADDR_ANY # the expected robot IP address. INADDR_ANY will accept any incoming connection
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rt_prio: 80 # real-time priority for the control loop
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# exponential moving average time constant for joint position commands [s]:
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# set tau > robot sample time for more smoothing on the commands
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# set tau << robot sample time for no smoothing on the commands
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joint_position_tau: 0.04
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command_guard:
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# if requested position / velocities beyond limits, CommandGuard will be triggered and the command will be overriden with the current state instead
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# available: [default, safe_stop]
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variant: default
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state_guard:
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# enable / disable the load data safety check in compliant control modes [CARTESIAN_IMPEDANCE, IMPEDANCE]
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# in POSITION control mode, safety check is not performed
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external_torque_safety_check: true
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external_torque_limit: 2.0 # maximum allowed external joint torque on activation of compliant control modes [Nm]
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# exponential moving average time constant for external joint torque measurements [s]:
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# set tau > robot sample time for more smoothing on the external torque measurements
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# set tau << robot sample time for no smoothing on the external torque measurements
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external_torque_tau: 0.01
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# exponential moving average time constant for joint torque measurements [s]:
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# set tau > robot sample time for more smoothing on the raw torque measurements
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# set tau << robot sample time for no smoothing on the raw torque measurements
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measured_torque_tau: 0.01
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# for position control, LBR works best in open_loop control mode
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# note that open_loop is overridden to false if LBR is in impedance or Cartesian impedance control mode
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open_loop: true

‎lbr_demos/lbr_dual_arm/lbr_dual_arm/config/lbr_two_system_config.yaml‎

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# these parameters are read by the lbr_system_interface.xacro and configure the lbr_ros2_control::SystemInterface
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fri_client_sdk: # the fri_client_sdk version is used to create the correct state interfaces lbr_system_interface.xacro
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major_version: 1
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minor_version: 15
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client_command_mode: position # the command mode specifies the user-sent commands. Available: [position, torque, wrench]
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port_id: 30201 # port id for the UDP communication. Useful in multi-robot setups
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remote_host: INADDR_ANY # the expected robot IP address. INADDR_ANY will accept any incoming connection
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rt_prio: 80 # real-time priority for the control loop
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# exponential moving average time constant for joint position commands [s]:
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# set tau > robot sample time for more smoothing on the commands
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# set tau << robot sample time for no smoothing on the commands
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joint_position_tau: 0.04
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command_guard:
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# if requested position / velocities beyond limits, CommandGuard will be triggered and the command will be overriden with the current state instead
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# available: [default, safe_stop]
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variant: default
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state_guard:
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# enable / disable the load data safety check in compliant control modes [CARTESIAN_IMPEDANCE, IMPEDANCE]
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# in POSITION control mode, safety check is not performed
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external_torque_safety_check: true
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external_torque_limit: 2.0 # maximum allowed external joint torque on activation of compliant control modes [Nm]
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# exponential moving average time constant for external joint torque measurements [s]:
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# set tau > robot sample time for more smoothing on the external torque measurements
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# set tau << robot sample time for no smoothing on the external torque measurements
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external_torque_tau: 0.01
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# exponential moving average time constant for joint torque measurements [s]:
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# set tau > robot sample time for more smoothing on the raw torque measurements
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# set tau << robot sample time for no smoothing on the raw torque measurements
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measured_torque_tau: 0.01
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# for position control, LBR works best in open_loop control mode
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# note that open_loop is overridden to false if LBR is in impedance or Cartesian impedance control mode
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open_loop: true

‎lbr_demos/lbr_dual_arm/lbr_dual_arm/doc/lbr_dual_arm.rst‎

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lbr_dual_arm
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============
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Dual-arm ``iiwa7`` integration demo, including: launch files, description file, and ``ros2_control`` configurations.
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.. contents:: Table of Contents
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:depth: 2
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:local:
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:backlinks: none
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Quick Start
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-----------
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Open a terminal, then run:
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.. code-block:: bash
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ros2 launch lbr_dual_arm mock.launch.py \
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moveit:=true
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.. note::
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For hardware, run ``hardware.launch.py`` (follow :doc:`Hardware Setup <../../../../lbr_fri_ros2_stack/doc/hardware_setup>` first).
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.. note::
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To configure position / orientation, launch with ``lbr_one_x:=<value>`` etc. (list all arguments via ``ros2 launch lbr_dual_arm mock.launch.py -s``)
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Description File
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----------------
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Custom description files can be generated via ``xacro``, see `lbr_dual_arm.xacro <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/jazzy/lbr_demos/lbr_dual_arm/lbr_dual_arm/urdf/lbr_dual_arm.xacro>`_:octicon:`link-external`.
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#. Include macros:
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.. code-block:: xml
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<xacro:include filename="$(find lbr_iiwa7_r800_description)/urdf/lbr_iiwa7_r800_macro.xacro" />
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<xacro:include filename="$(find lbr_ros2_control)/config/lbr_system_interface.xacro" />
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#. Instantiate macros (``ros2_control`` plugin and robot description)
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.. code-block:: xml
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<xacro:lbr_system_interface ... />
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<xacro:lbr_iiwa7_r800 ... />
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Done! The controller manager will load appropriate plugins when reading the robot description from the robot state publisher.
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Customize Hardware Network Settings
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-----------------------------------
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#. Open `lbr_one_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/jazzy/lbr_demos/lbr_dual_arm/lbr_dual_arm/config/lbr_one_system_config.yaml>`_:octicon:`link-external` and `lbr_two_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/jazzy/lbr_demos/lbr_dual_arm/lbr_dual_arm/config/lbr_two_system_config.yaml>`_:octicon:`link-external`.
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#. Set unique ``port_id`` values for each arm.
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#. Set ``remote_host`` per arm according to your network setup.
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.. note::
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``port_id`` must be different for both arms.

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