diff --git a/README.md b/README.md index 22fde1b87..acac16c14 100644 --- a/README.md +++ b/README.md @@ -3,13 +3,25 @@ [![Build Status: Ubuntu Bionic (Actions)](https://github.com/ros-industrial/universal_robot/workflows/CI%20-%20Ubuntu%20Bionic/badge.svg?branch=melodic-devel)](https://github.com/ros-industrial/universal_robot/actions?query=workflow%3A%22CI+-+Ubuntu+Bionic%22) [![Build Status: Ubuntu Focal (Actions)](https://github.com/ros-industrial/universal_robot/workflows/CI%20-%20Ubuntu%20Focal/badge.svg?branch=melodic-devel)](https://github.com/ros-industrial/universal_robot/actions?query=workflow%3A%22CI+-+Ubuntu+Focal%22) -[![license - apache 2.0](https://img.shields.io/:license-Apache%202.0-yellowgreen.svg)](https://opensource.org/licenses/Apache-2.0) +[![License - apache 2.0](https://img.shields.io/:license-Apache%202.0-yellowgreen.svg)](https://opensource.org/licenses/Apache-2.0) [![License](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause) +[![License](https://img.shields.io/badge/License-Universal%20Robots%20A/S%E2%80%99%20Terms%20and%20Conditions%20for%20Use%20of%20Graphical%20Documentation-blue.svg)](https://www.universal-robots.com/legal/terms-and-conditions/terms_and_conditions_for_use_of_graphical_documentation.txt) + [![support level: community](https://img.shields.io/badge/support%20level-community-lightgray.png)](http://rosindustrial.org/news/2016/10/7/better-supporting-a-growing-ros-industrial-software-platform) [ROS-Industrial](https://wiki.ros.org/Industrial) Universal Robot meta-package. See the [ROS wiki](https://wiki.ros.org/universal_robots) page for compatibility information and other more information. +__License__ + +The [UR20 meshes](ur_description/meshes/ur20) constitute “Graphical Documentation” from Universal Robots which is subject to and governed by Universal Robots' "[Terms and Conditions for use of Graphical Documentation](https://www.universal-robots.com/legal/terms-and-conditions/terms_and_conditions_for_use_of_graphical_documentation.txt)". + +Universal Robots' [Terms and Conditions for use of Graphical Documentation](https://www.universal-robots.com/legal/terms-and-conditions/terms_and_conditions_for_use_of_graphical_documentation.txt) do not fully comply with [OSI's definition of Open Source](https://opensource.org/osd/), but they do allow you to use, modify and share “Graphical Documentation”, including [UR20 meshes](ur_description/meshes/ur20), subject to certain restrictions.\ +If you have any questions regarding this license or if this license doesn't fit your use-case, please contact [legal@universal-robots.com](mailto:legal@universal-robots.com). + +All other content is licensed under the BSD-3-Clause license or Apache-2.0 respectively. + + __Installation__ diff --git a/universal_robots/package.xml b/universal_robots/package.xml index 0d2e1ec76..5da09dd52 100644 --- a/universal_robots/package.xml +++ b/universal_robots/package.xml @@ -23,6 +23,7 @@ ur10e_moveit_config ur10_moveit_config ur16e_moveit_config + ur20_moveit_config ur3e_moveit_config ur3_moveit_config ur5e_moveit_config diff --git a/ur20_moveit_config/.setup_assistant b/ur20_moveit_config/.setup_assistant new file mode 100644 index 000000000..be1d4b332 --- /dev/null +++ b/ur20_moveit_config/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: ur_description + relative_path: urdf/ur20.xacro + xacro_args: "" + SRDF: + relative_path: config/ur20.srdf + CONFIG: + author_name: Felix Exner + author_email: felix@fexner.de + generated_timestamp: 1611154369 \ No newline at end of file diff --git a/ur20_moveit_config/CMakeLists.txt b/ur20_moveit_config/CMakeLists.txt new file mode 100644 index 000000000..da33f429e --- /dev/null +++ b/ur20_moveit_config/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 3.0.2) +project(ur20_moveit_config) + +find_package(catkin REQUIRED) + +catkin_package() + +if (CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(tests/moveit_planning_execution.xml) +endif() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur20_moveit_config/config/chomp_planning.yaml b/ur20_moveit_config/config/chomp_planning.yaml new file mode 100644 index 000000000..75258e53e --- /dev/null +++ b/ur20_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/ur20_moveit_config/config/fake_controllers.yaml b/ur20_moveit_config/config/fake_controllers.yaml new file mode 100644 index 000000000..afbfa6e6c --- /dev/null +++ b/ur20_moveit_config/config/fake_controllers.yaml @@ -0,0 +1,12 @@ +controller_list: + - name: fake_manipulator_controller + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint +initial: # Define initial robot poses. + - group: manipulator + pose: home diff --git a/ur20_moveit_config/config/joint_limits.yaml b/ur20_moveit_config/config/joint_limits.yaml new file mode 100644 index 000000000..0220f245b --- /dev/null +++ b/ur20_moveit_config/config/joint_limits.yaml @@ -0,0 +1,34 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + elbow_joint: + has_velocity_limits: true + max_velocity: !degrees 120.0 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_lift_joint: + has_velocity_limits: true + max_velocity: !degrees 120.0 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_pan_joint: + has_velocity_limits: true + max_velocity: !degrees 150.0 + has_acceleration_limits: false + max_acceleration: 0 + wrist_1_joint: + has_velocity_limits: true + max_velocity: !degrees 210.0 + has_acceleration_limits: false + max_acceleration: 0 + wrist_2_joint: + has_velocity_limits: true + max_velocity: !degrees 210.0 + has_acceleration_limits: false + max_acceleration: 0 + wrist_3_joint: + has_velocity_limits: true + max_velocity: !degrees 210.0 + has_acceleration_limits: false + max_acceleration: 0 diff --git a/ur20_moveit_config/config/kinematics.yaml b/ur20_moveit_config/config/kinematics.yaml new file mode 100644 index 000000000..7e7474f06 --- /dev/null +++ b/ur20_moveit_config/config/kinematics.yaml @@ -0,0 +1,5 @@ +manipulator: + kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin + solve_type: Distance + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 diff --git a/ur20_moveit_config/config/ompl_planning.yaml b/ur20_moveit_config/config/ompl_planning.yaml new file mode 100644 index 000000000..39ba9f166 --- /dev/null +++ b/ur20_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,149 @@ +planner_configs: + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +manipulator: + longest_valid_segment_fraction: 0.01 + default_planner_config: RRTConnect + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo diff --git a/ur20_moveit_config/config/ros_controllers.yaml b/ur20_moveit_config/config/ros_controllers.yaml new file mode 100644 index 000000000..bfc4186c4 --- /dev/null +++ b/ur20_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,11 @@ +controller_list: +- name: "scaled_pos_joint_traj_controller" + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint diff --git a/ur20_moveit_config/config/ur20.srdf b/ur20_moveit_config/config/ur20.srdf new file mode 100644 index 000000000..2c3296d99 --- /dev/null +++ b/ur20_moveit_config/config/ur20.srdf @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur20_moveit_config/launch/chomp_planning_pipeline.launch.xml b/ur20_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 000000000..104357b6e --- /dev/null +++ b/ur20_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + diff --git a/ur20_moveit_config/launch/default_warehouse_db.launch b/ur20_moveit_config/launch/default_warehouse_db.launch new file mode 100644 index 000000000..c7c9d59d7 --- /dev/null +++ b/ur20_moveit_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ur20_moveit_config/launch/demo.launch b/ur20_moveit_config/launch/demo.launch new file mode 100644 index 000000000..261e95c66 --- /dev/null +++ b/ur20_moveit_config/launch/demo.launch @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur20_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/ur20_moveit_config/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..62b0f3e74 --- /dev/null +++ b/ur20_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/ur20_moveit_config/launch/move_group.launch b/ur20_moveit_config/launch/move_group.launch new file mode 100644 index 000000000..5561f3b50 --- /dev/null +++ b/ur20_moveit_config/launch/move_group.launch @@ -0,0 +1,82 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur20_moveit_config/launch/moveit.rviz b/ur20_moveit_config/launch/moveit.rviz new file mode 100644 index 000000000..cfc2fec04 --- /dev/null +++ b/ur20_moveit_config/launch/moveit.rviz @@ -0,0 +1,280 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.5175438523292542 + Tree Height: 259 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Acceleration_Scaling_Factor: 1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Cartesian_Path: false + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: false + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: false + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.07999999821186066 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: manipulator + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.20000000298023224 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Value: true + Velocity_Scaling_Factor: 1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.996500015258789 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1.1539382934570312 + Y: 0.5978575348854065 + Z: -2.5331917186122155e-7 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.45979705452919006 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 0.9717636108398438 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 783 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000001ca000002b9fc0200000007fb000000100044006900730070006c006100790073010000003b0000013e000000c700fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000017f000001750000016a00ffffff000002ce000002b900000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1182 + X: 481 + Y: 253 diff --git a/ur20_moveit_config/launch/moveit_planning_execution.launch b/ur20_moveit_config/launch/moveit_planning_execution.launch new file mode 100644 index 000000000..0d4bb8586 --- /dev/null +++ b/ur20_moveit_config/launch/moveit_planning_execution.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ur20_moveit_config/launch/moveit_rviz.launch b/ur20_moveit_config/launch/moveit_rviz.launch new file mode 100644 index 000000000..fdfce5d71 --- /dev/null +++ b/ur20_moveit_config/launch/moveit_rviz.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/ur20_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur20_moveit_config/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 000000000..d77c27744 --- /dev/null +++ b/ur20_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/ur20_moveit_config/launch/planning_context.launch b/ur20_moveit_config/launch/planning_context.launch new file mode 100644 index 000000000..e9aebb223 --- /dev/null +++ b/ur20_moveit_config/launch/planning_context.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur20_moveit_config/launch/planning_pipeline.launch.xml b/ur20_moveit_config/launch/planning_pipeline.launch.xml new file mode 100644 index 000000000..ba4ddc454 --- /dev/null +++ b/ur20_moveit_config/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/ur20_moveit_config/launch/run_benchmark_ompl.launch b/ur20_moveit_config/launch/run_benchmark_ompl.launch new file mode 100644 index 000000000..fa41c9936 --- /dev/null +++ b/ur20_moveit_config/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur20_moveit_config/launch/sensor_manager.launch.xml b/ur20_moveit_config/launch/sensor_manager.launch.xml new file mode 100644 index 000000000..2a99dd9ea --- /dev/null +++ b/ur20_moveit_config/launch/sensor_manager.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/ur20_moveit_config/launch/setup_assistant.launch b/ur20_moveit_config/launch/setup_assistant.launch new file mode 100644 index 000000000..5ce370450 --- /dev/null +++ b/ur20_moveit_config/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/ur20_moveit_config/launch/trajectory_execution.launch.xml b/ur20_moveit_config/launch/trajectory_execution.launch.xml new file mode 100644 index 000000000..ced15e6ab --- /dev/null +++ b/ur20_moveit_config/launch/trajectory_execution.launch.xml @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/ur20_moveit_config/launch/ur20_moveit_controller_manager.launch.xml b/ur20_moveit_config/launch/ur20_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..1f36c44a0 --- /dev/null +++ b/ur20_moveit_config/launch/ur20_moveit_controller_manager.launch.xml @@ -0,0 +1,6 @@ + + + + + + diff --git a/ur20_moveit_config/launch/ur20_moveit_sensor_manager.launch.xml b/ur20_moveit_config/launch/ur20_moveit_sensor_manager.launch.xml new file mode 100644 index 000000000..5d02698d7 --- /dev/null +++ b/ur20_moveit_config/launch/ur20_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/ur20_moveit_config/launch/warehouse.launch b/ur20_moveit_config/launch/warehouse.launch new file mode 100644 index 000000000..cb4dc0761 --- /dev/null +++ b/ur20_moveit_config/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ur20_moveit_config/launch/warehouse_settings.launch.xml b/ur20_moveit_config/launch/warehouse_settings.launch.xml new file mode 100644 index 000000000..e473b083b --- /dev/null +++ b/ur20_moveit_config/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur20_moveit_config/package.xml b/ur20_moveit_config/package.xml new file mode 100644 index 000000000..315e43222 --- /dev/null +++ b/ur20_moveit_config/package.xml @@ -0,0 +1,41 @@ + + + + ur20_moveit_config + 1.3.1 + + An automatically generated package with all the configuration and launch files for using the ur20 with the MoveIt Motion Planning Framework + + Felix Messmer + G.A. vd. Hoorn + Miguel Prada Sarasola + Nadia Hammoudeh Garcia + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit_setup_assistant/issues + https://github.com/ros-planning/moveit_setup_assistant + + joint_state_publisher + joint_state_publisher_gui + moveit_fake_controller_manager + moveit_planners_ompl + moveit_ros_benchmarks + moveit_ros_move_group + moveit_ros_visualization + moveit_ros_warehouse + warehouse_ros_mongo + moveit_setup_assistant + moveit_simple_controller_manager + robot_state_publisher + rviz + tf2_ros + trac_ik_kinematics_plugin + ur_description + xacro + + roslaunch + catkin + + diff --git a/ur20_moveit_config/tests/moveit_planning_execution.xml b/ur20_moveit_config/tests/moveit_planning_execution.xml new file mode 100644 index 000000000..8192dfc89 --- /dev/null +++ b/ur20_moveit_config/tests/moveit_planning_execution.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur_description/CMakeLists.txt b/ur_description/CMakeLists.txt index 0cc1bd625..f410f7e16 100644 --- a/ur_description/CMakeLists.txt +++ b/ur_description/CMakeLists.txt @@ -10,6 +10,7 @@ if (CATKIN_ENABLE_TESTING) roslaunch_add_file_check(tests/roslaunch_test_ur10e.xml) roslaunch_add_file_check(tests/roslaunch_test_ur10.xml) roslaunch_add_file_check(tests/roslaunch_test_ur16e.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur20.xml) roslaunch_add_file_check(tests/roslaunch_test_ur3e.xml) roslaunch_add_file_check(tests/roslaunch_test_ur3.xml) roslaunch_add_file_check(tests/roslaunch_test_ur5e.xml) diff --git a/ur_description/config/ur20/default_kinematics.yaml b/ur_description/config/ur20/default_kinematics.yaml new file mode 100644 index 000000000..db20fd9da --- /dev/null +++ b/ur_description/config/ur20/default_kinematics.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.23630000000000001 + roll: -0 + pitch: 0 + yaw: -0 + upper_arm: + x: 0 + y: 0 + z: 0 + roll: 1.570796327 + pitch: 0 + yaw: -0 + forearm: + x: -0.86199999999999999 + y: 0 + z: 0 + roll: -0 + pitch: 0 + yaw: -0 + wrist_1: + x: -0.72870000000000001 + y: 0 + z: 0.20100000000000001 + roll: -0 + pitch: 0 + yaw: -0 + wrist_2: + x: 0 + y: -0.1593 + z: -3.2672976162492252e-11 + roll: 1.570796327 + pitch: 0 + yaw: -0 + wrist_3: + x: 0 + y: 0.15429999999999999 + z: -3.1647459019915597e-11 + roll: 1.5707963265897931 + pitch: 3.1415926535897931 + yaw: 3.1415926535897931 + hash: calib_4890363623803256388 diff --git a/ur_description/config/ur20/joint_limits.yaml b/ur_description/config/ur20/joint_limits.yaml new file mode 100644 index 000000000..8319755b5 --- /dev/null +++ b/ur_description/config/ur20/joint_limits.yaml @@ -0,0 +1,77 @@ +# Joints limits +# +# Sources: +# +# - Universal Robots e-Series, User Manual, UR20, Version 5.14 +# https://s3-eu-west-1.amazonaws.com/ur-support-site/203281/706-276-00_UR20_User_Manual_en_Global.pdf +joint_limits: + shoulder_pan: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 730.0 + max_position: !degrees 360.0 + max_velocity: !degrees 120.0 + min_position: !degrees -360.0 + shoulder_lift: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 730.0 + max_position: !degrees 360.0 + max_velocity: !degrees 120.0 + min_position: !degrees -360.0 + elbow_joint: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 430.0 + # we artificially limit this joint to half its actual joint position limit + # to avoid (MoveIt/OMPL) planning problems, as due to the physical + # construction of the robot, it's impossible to rotate the 'elbow_joint' + # over more than approx +- 1 pi (the shoulder lift joint gets in the way). + # + # This leads to planning problems as the search space will be divided into + # two sections, with no connections from one to the other. + # + # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for + # more information. + max_position: !degrees 180.0 + max_velocity: !degrees 150.0 + min_position: !degrees -180.0 + wrist_1: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 100.0 + max_position: !degrees 360.0 + max_velocity: !degrees 210.0 + min_position: !degrees -360.0 + wrist_2: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 100.0 + max_position: !degrees 360.0 + max_velocity: !degrees 210.0 + min_position: !degrees -360.0 + wrist_3: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 100.0 + max_position: !degrees 360.0 + max_velocity: !degrees 210.0 + min_position: !degrees -360.0 \ No newline at end of file diff --git a/ur_description/config/ur20/physical_parameters.yaml b/ur_description/config/ur20/physical_parameters.yaml new file mode 100644 index 000000000..17aaaee8d --- /dev/null +++ b/ur_description/config/ur20/physical_parameters.yaml @@ -0,0 +1,78 @@ +# Physical parameters +# from https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/parameters-for-calculations-of-kinematics-and-dynamics-45257/ +dh_parameters: + d1: 0.2363 + a2: -0.8620 + a3: -0.7287 + d4: 0.201 + d5: 0.1593 + d6: 0.1543 +offsets: + shoulder_offset: 0.260 # measured from model + elbow_offset: 0.043 # measured from model +inertia_parameters: + # taken from https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/parameters-for-calculations-of-kinematics-and-dynamics-45257/ + base_mass: 4.0 # This mass might be incorrect + shoulder_mass: 16.343 + upper_arm_mass: 29.632 + upper_arm_inertia_offset: 0.275 # measured from model + forearm_mass: 7.879 + wrist_1_mass: 3.054 + wrist_2_mass: 3.126 + wrist_3_mass: 0.846 + + shoulder_radius: x0.060 # FROM UR5 CURRENTLY NOT USED ANYMORE + upper_arm_radius: x0.054 # FROM UR5 CURRENTLY NOT USED ANYMORE + elbow_radius: x0.060 # FROM UR5 CURRENTLY NOT USED ANYMORE + forearm_radius: x0.040 # FROM UR5 CURRENTLY NOT USED ANYMORE + wrist_radius: x0.045 # FROM UR5 CURRENTLY NOT USED ANYMORE + + links: + base: + radius: 0.075 + length: 0.038 + shoulder: + radius: 0.075 + length: 0.178 + upperarm: + radius: 0.075 + length: 0.852 + forearm: + radius: 0.075 + length: 0.7287 + wrist_1: + radius: 0.075 + length: 0.12 + wrist_2: + radius: 0.075 + length: 0.12 + wrist_3: + radius: 0.045 + length: 0.05 + + center_of_mass: # Adjusted manually + shoulder_cog: + x: 0.0 + y: 0.00244 + z: -0.037 + upper_arm_cog: + x: 0.00001 + y: 0.15061 + z: 0.48757 + forearm_cog: + x: -0.00012 + y: 0.06112 + z: 0.2984 + wrist_1_cog: + x: -0.00021 + y: -0.00112 + z: 0.02269 + wrist_2_cog: + x: -0.00021 + y: 0.00112 + z: 0.002269 + wrist_3_cog: + x: 0.0 + y: -0.001156 + z: -0.00149 + diff --git a/ur_description/config/ur20/visual_parameters.yaml b/ur_description/config/ur20/visual_parameters.yaml new file mode 100644 index 000000000..ada871ba9 --- /dev/null +++ b/ur_description/config/ur20/visual_parameters.yaml @@ -0,0 +1,70 @@ +# Visualisation + +mesh_files: + base: + visual: + mesh: "package://ur_description/meshes/ur20/visual/base.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur20/collision/base.stl" + + shoulder: + visual: + mesh: "package://ur_description/meshes/ur20/visual/shoulder.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur20/collision/shoulder.stl" + + upper_arm: + visual: + mesh: "package://ur_description/meshes/ur20/visual/upperarm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur20/collision/upperarm.stl" + mesh_files: + + forearm: + visual: + mesh: "package://ur_description/meshes/ur20/visual/forearm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur20/collision/forearm.stl" + + wrist_1: + visual: + mesh: "package://ur_description/meshes/ur20/visual/wrist1.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur20/collision/wrist1.stl" + visual_offset: -0.0775 + + wrist_2: + visual: + mesh: "package://ur_description/meshes/ur20/visual/wrist2.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur20/collision/wrist2.stl" + visual_offset: -0.0749 + + wrist_3: + visual: + mesh: "package://ur_description/meshes/ur20/visual/wrist3.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur20/collision/wrist3.stl" + visual_offset: -0.07 + diff --git a/ur_description/launch/load_ur20.launch b/ur_description/launch/load_ur20.launch new file mode 100644 index 000000000..fb5740c0e --- /dev/null +++ b/ur_description/launch/load_ur20.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/view_ur20.launch b/ur_description/launch/view_ur20.launch new file mode 100644 index 000000000..0da9d2df9 --- /dev/null +++ b/ur_description/launch/view_ur20.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ur_description/meshes/ur20/LICENSE.txt b/ur_description/meshes/ur20/LICENSE.txt new file mode 100644 index 000000000..7e7279039 --- /dev/null +++ b/ur_description/meshes/ur20/LICENSE.txt @@ -0,0 +1,84 @@ +TERMS AND CONDITIONS FOR USE OF GRAPHICAL DOCUMENTATION + +Version: 1.0 / release date: 2023-09-01 + +These Terms and Conditions for Use of Graphical Documentation (the “T&Cs”) govern your use of Graphical files and documents*, including the contents hereof, (the “Graphical Documentation”) provided or made available to you by Universal Robots A/S (“Universal Robots”) for the purposes of creating simulations, visualizations, digital representations, path planning, collision avoidance and algorithms of or for Universal Robots’ products. 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The parties expressly disclaim the applicability of the United Nations Convention on Contracts for the International Sale of Goods. + +8.2. Any and all disputes arising out of or in connection with the T&Cs shall be submitted to the International Chamber of Commerce and shall be settled under the Rules of Arbitration of the International Chamber of Commerce by one (1) arbitrator appointed in accordance with said Rules. The place of arbitration shall be Copenhagen, Denmark. The arbitration shall be conducted in the English language. The foregoing notwithstanding, Universal Robots may seek preliminary, temporary, or permanent injunctive relief and other equitable remedies in any court of competent jurisdiction prior to or during arbitration and may enforce the award of the arbitrator in any court of competent jurisdiction. + + +* E.g., STEP-Files (ISO 10303-21), Collada (.dae), STL files (.stl), GLB files (.glb), GLFT files (.glft) , CAD files, and drawings. “Software”, as defined in Universal Robots End User Software License Agreement, does not constitute “Technical Documentation” and your use thereof is, unless otherwise agreed with Universal Robots in writing, governed by Universal Robots’ End User Software License Agreement. diff --git a/ur_description/meshes/ur20/collision/base.stl b/ur_description/meshes/ur20/collision/base.stl new file mode 100644 index 000000000..c8940241e Binary files /dev/null and b/ur_description/meshes/ur20/collision/base.stl differ diff --git 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+ + + + + + + + + 1 0 0 0.03485537 0 1 0 -0.8024882 0 0 1 1.230019 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183913 1.005454 -0.05518914 0.6045247 0.7946724 5.903862 0 0 0 1 + + + + 0.6859207 -0.3240134 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + 0.6859207 -0.3240134 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183913 1.005454 -0.05518914 0.6045247 0.7946724 5.903862 0 0 0 1 + + + + 0.6859207 -0.3240134 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + 0.6859207 -0.3240134 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 -4.01133e-9 0.8953956 0.4452714 5.343665 0 0 0 1 + + + + -0.2908647 -0.7711006 0.5663933 4.076245 0.9551711 -0.1998833 0.2183914 1.005454 -0.05518921 0.6045248 0.7946723 5.903862 0 0 0 1 + + + + 0.6859207 -0.3240134 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + 0.9999999 1.2358e-6 -3.83972e-7 0 -1.2358e-6 0.9999998 4.74513e-13 0 3.83972e-7 0 0.9999998 0 0 0 0 1 + + + + + + + + + + + + 0.9999999 1.2358e-6 -3.83972e-7 0 -1.2358e-6 0.9999998 4.74513e-13 0 3.83972e-7 0 0.9999998 0 0 0 0 1 + + + + + + + + + + + + 1 0 0 -1.682518 0 1 0 1.191141 0 0 1 1.230019 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183913 1.005454 -0.05518914 0.6045247 0.7946724 5.903862 0 0 0 1 + + + + 0.6859207 -0.3240134 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 -4.01133e-9 0.8953956 0.4452714 5.343665 0 0 0 1 + + + + 0.6859207 -0.3240134 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + + + + + diff --git a/ur_description/package.xml b/ur_description/package.xml index e3363f9eb..d288a1edd 100644 --- a/ur_description/package.xml +++ b/ur_description/package.xml @@ -1,9 +1,10 @@ - + + ur_description 1.3.1 - URDF description for Universal UR3(e), UR5(e), UR10(e) and UR16e robots + URDF description for Universal UR3(e), UR5(e), UR10(e), UR16e and UR20 robots Wim Meeussen @@ -15,6 +16,10 @@ Nadia Hammoudeh Garcia BSD + + + Universal Robots A/S' Terms and Conditions for Use of Graphical Documentation + http://wiki.ros.org/ur_description diff --git a/ur_description/tests/roslaunch_test_ur20.xml b/ur_description/tests/roslaunch_test_ur20.xml new file mode 100644 index 000000000..0719e26a9 --- /dev/null +++ b/ur_description/tests/roslaunch_test_ur20.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_description/urdf/inc/ur20_macro.xacro b/ur_description/urdf/inc/ur20_macro.xacro new file mode 100644 index 000000000..5deccd659 --- /dev/null +++ b/ur_description/urdf/inc/ur20_macro.xacro @@ -0,0 +1,47 @@ + + + + + + + + diff --git a/ur_description/urdf/inc/ur_macro.xacro b/ur_description/urdf/inc/ur_macro.xacro index a78a5e38f..ae4e3367b 100644 --- a/ur_description/urdf/inc/ur_macro.xacro +++ b/ur_description/urdf/inc/ur_macro.xacro @@ -12,7 +12,7 @@ This file models the base kinematic chain of a UR robot, which then gets parameterised by various configuration files to convert it into a UR3(e), - UR5(e), UR10(e) or UR16e. + UR5(e), UR10(e), UR16e or UR20. NOTE: the default kinematic parameters (ie: link lengths, frame locations, offets, etc) do not correspond to any particular robot. They are defaults diff --git a/ur_description/urdf/ur20.xacro b/ur_description/urdf/ur20.xacro new file mode 100644 index 000000000..3212a789d --- /dev/null +++ b/ur_description/urdf/ur20.xacro @@ -0,0 +1,22 @@ + + + + + + diff --git a/ur_gazebo/CMakeLists.txt b/ur_gazebo/CMakeLists.txt index c74e7b36e..a8d1cb153 100644 --- a/ur_gazebo/CMakeLists.txt +++ b/ur_gazebo/CMakeLists.txt @@ -15,6 +15,7 @@ if (CATKIN_ENABLE_TESTING) roslaunch_add_file_check(tests/roslaunch_test_ur10.xml) roslaunch_add_file_check(tests/roslaunch_test_ur10e.xml) roslaunch_add_file_check(tests/roslaunch_test_ur16e.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur20.xml) endif() install(DIRECTORY config launch urdf diff --git a/ur_gazebo/config/ur20_controllers.yaml b/ur_gazebo/config/ur20_controllers.yaml new file mode 100644 index 000000000..09335aa8b --- /dev/null +++ b/ur_gazebo/config/ur20_controllers.yaml @@ -0,0 +1,36 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: &loop_hz 500 + +eff_joint_traj_controller: + type: effort_controllers/JointTrajectoryController + joints: &robot_joints + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + gains: # Required because we're controlling an effort interface + shoulder_pan_joint: {p: 20000, d: 500, i: 10, i_clamp: 1} + shoulder_lift_joint: {p: 20000, d: 500, i: 10, i_clamp: 1} + elbow_joint: {p: 10000, d: 200, i: 10, i_clamp: 1} + wrist_1_joint: {p: 500, d: 10, i: 1, i_clamp: 1} + wrist_2_joint: {p: 500, d: 10, i: 1, i_clamp: 1} + wrist_3_joint: {p: 100, d: 0.1, i: 0, i_clamp: 1} + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_eff_controller: + type: effort_controllers/JointGroupEffortController + joints: *robot_joints diff --git a/ur_gazebo/launch/inc/load_ur.launch.xml b/ur_gazebo/launch/inc/load_ur.launch.xml index 3828d0777..6c1635abc 100644 --- a/ur_gazebo/launch/inc/load_ur.launch.xml +++ b/ur_gazebo/launch/inc/load_ur.launch.xml @@ -18,7 +18,7 @@ to load it onto the parameter server. --> - + diff --git a/ur_gazebo/launch/inc/load_ur20.launch.xml b/ur_gazebo/launch/inc/load_ur20.launch.xml new file mode 100644 index 000000000..443163112 --- /dev/null +++ b/ur_gazebo/launch/inc/load_ur20.launch.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur20_bringup.launch b/ur_gazebo/launch/ur20_bringup.launch new file mode 100644 index 000000000..b5bc3b34f --- /dev/null +++ b/ur_gazebo/launch/ur20_bringup.launch @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/tests/roslaunch_test_ur20.xml b/ur_gazebo/tests/roslaunch_test_ur20.xml new file mode 100644 index 000000000..af49a6cc6 --- /dev/null +++ b/ur_gazebo/tests/roslaunch_test_ur20.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_kinematics/CMakeLists.txt b/ur_kinematics/CMakeLists.txt index 152294b59..65c674666 100644 --- a/ur_kinematics/CMakeLists.txt +++ b/ur_kinematics/CMakeLists.txt @@ -12,7 +12,7 @@ catkin_python_setup() catkin_package( INCLUDE_DIRS include - LIBRARIES ur3_kin ur5_kin ur10_kin ur3_moveit_plugin ur5_moveit_plugin ur10_moveit_plugin + LIBRARIES ur3_kin ur5_kin ur10_kin ur3_moveit_plugin ur5_moveit_plugin ur10_moveit_plugin ur3e_kin ur5e_kin ur10e_kin ur16e_kin ur20_kin ur20_moveit_plugin CATKIN_DEPENDS roscpp geometry_msgs moveit_core moveit_kinematics moveit_ros_planning pluginlib tf_conversions DEPENDS Boost @@ -47,6 +47,9 @@ set_target_properties(ur10e_kin PROPERTIES COMPILE_DEFINITIONS "UR10e_PARAMS") add_library(ur16e_kin src/ur_kin.cpp) set_target_properties(ur16e_kin PROPERTIES COMPILE_DEFINITIONS "UR16e_PARAMS") +add_library(ur20_kin src/ur_kin.cpp) +set_target_properties(ur20_kin PROPERTIES COMPILE_DEFINITIONS "UR20_PARAMS") + add_library(ur3_moveit_plugin src/ur_moveit_plugin.cpp) set_target_properties(ur3_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR3_PARAMS") @@ -97,6 +100,13 @@ target_link_libraries(ur16e_moveit_plugin ${Boost_LIBRARIES} ur16e_kin) +add_library(ur20_moveit_plugin src/ur_moveit_plugin.cpp) +set_target_properties(ur20_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR20_PARAMS") +target_link_libraries(ur20_moveit_plugin + ${catkin_LIBRARIES} + ${Boost_LIBRARIES} + ur20_kin) + ############# ## Install ## @@ -116,6 +126,7 @@ install(TARGETS ur10_moveit_plugin ur10e_moveit_plugin ur16e_moveit_plugin + ur20_moveit_plugin ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} diff --git a/ur_kinematics/src/ur_kin.cpp b/ur_kinematics/src/ur_kin.cpp index d1190079a..dc3e27a07 100644 --- a/ur_kinematics/src/ur_kin.cpp +++ b/ur_kinematics/src/ur_kin.cpp @@ -13,6 +13,16 @@ namespace ur_kinematics { } const double PI = M_PI; + //#define UR20_PARAMS + #ifdef UR20_PARAMS + const double d1 = 0.2363; + const double a2 = -0.8620; + const double a3 = -0.7287; + const double d4 = 0.2010; + const double d5 = 0.1593; + const double d6 = 0.1543; + #endif + //#define UR16e_PARAMS #ifdef UR16e_PARAMS const double d1 = 0.1807; diff --git a/ur_kinematics/ur_moveit_plugins.xml b/ur_kinematics/ur_moveit_plugins.xml index 2d0dd8eb0..288158cd5 100644 --- a/ur_kinematics/ur_moveit_plugins.xml +++ b/ur_kinematics/ur_moveit_plugins.xml @@ -67,3 +67,13 @@ + + + + + Analytic kinematics for the Universal Robots UR20. + Original plugin developed by Kelsey Hawkins from Georgia Tech. + See http://hdl.handle.net/1853/50782 for details. + + +