diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml index 8c4e16e..c4483f4 100644 --- a/.github/workflows/humble-binary-build.yml +++ b/.github/workflows/humble-binary-build.yml @@ -7,7 +7,6 @@ on: pull_request: branches: - humble - - release/humble-* jobs: humble_binary: @@ -27,50 +26,35 @@ jobs: - name: Install dependencies run: | sudo apt-get update && sudo apt-get install -y \ - wget \ libeigen3-dev \ + ros-humble-xacro \ + ros-humble-tinyxml2-vendor \ + ros-humble-ros2-control \ + ros-humble-realtime-tools \ ros-humble-control-toolbox \ - ros-humble-hardware-interface \ - ros-humble-joint-state-publisher \ - ros-humble-joint-state-publisher-gui \ ros-humble-moveit \ - ros-humble-realtime-tools \ - ros-humble-robot-state-publisher \ - ros-humble-ros2-control \ ros-humble-ros2-controllers \ ros-humble-test-msgs \ - ros-humble-tinyxml2-vendor \ - ros-humble-xacro + ros-humble-joint-state-publisher \ + ros-humble-joint-state-publisher-gui \ + ros-humble-robot-state-publisher - name: Build and install flexiv_rdk shell: bash run: | - git clone https://github.com/flexivrobotics/flexiv_rdk.git -b release/v1.9 - cd flexiv_rdk/thirdparty - source /opt/ros/humble/setup.bash - bash build_and_install_dependencies_not_in_ros2.sh ~/flexiv_install - cd .. - mkdir -p build && cd build - cmake .. -DCMAKE_INSTALL_PREFIX=~/flexiv_install - cmake --build . --target install --config Release - - name: Build and install flexiv_drdk - shell: bash - run: | - git clone https://github.com/flexivrobotics/flexiv_drdk.git -b release/v1.2 - cd flexiv_drdk/thirdparty - source /opt/ros/humble/setup.bash - bash build_and_install_dependencies.sh ~/flexiv_install + cd flexiv_hardware/rdk/thirdparty + bash build_and_install_dependencies.sh ~/rdk_install cd .. mkdir -p build && cd build - cmake .. -DCMAKE_INSTALL_PREFIX=~/flexiv_install + cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install cmake --build . --target install --config Release - name: Build and run tests id: action-ros-ci uses: ros-tooling/action-ros-ci@v0.4 with: target-ros2-distro: ${{ env.ROS_DISTRO }} - vcs-repo-file-url: ${{ github.workspace }}/flexiv.humble.repos package-name: | flexiv_bringup + flexiv_description flexiv_gripper flexiv_hardware flexiv_moveit_config @@ -82,7 +66,7 @@ jobs: { "build": { "cmake-args": [ - "-DCMAKE_PREFIX_PATH=~/flexiv_install" + "-DCMAKE_PREFIX_PATH=~/rdk_install" ] } } diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..ef0d57b --- /dev/null +++ b/.gitmodules @@ -0,0 +1,4 @@ +[submodule "flexiv_hardware/rdk"] + path = flexiv_hardware/rdk + url = https://github.com/flexivrobotics/flexiv_rdk + branch = main diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 558dbd3..851845f 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -46,13 +46,3 @@ repos: language: system files: \.(c|cc|cxx|cpp|cu|h|hh|hpp|hxx|java|js|m|proto)$ args: ["-fallback-style=none"] - - - repo: local - hooks: - - id: ament_lint_cmake - name: ament_lint_cmake - description: Check format of CMakeLists.txt files. - stages: [pre-commit] - entry: ament_lint_cmake - language: system - files: CMakeLists.txt$ diff --git a/README.md b/README.md index 86075dd..1fda41f 100644 --- a/README.md +++ b/README.md @@ -36,20 +36,18 @@ This project was developed for ROS 2 Foxy (Ubuntu 20.04), Humble (Ubuntu 22.04) python3-colcon-common-extensions \ python3-rosdep2 \ libeigen3-dev \ - wget \ + ros-humble-xacro \ + ros-humble-tinyxml2-vendor \ + ros-humble-ros2-control \ + ros-humble-realtime-tools \ ros-humble-control-toolbox \ - ros-humble-hardware-interface \ - ros-humble-joint-state-publisher \ - ros-humble-joint-state-publisher-gui \ ros-humble-moveit \ - ros-humble-realtime-tools \ - ros-humble-robot-state-publisher \ - ros-humble-ros2-control \ ros-humble-ros2-controllers \ - ros-humble-rviz2 \ ros-humble-test-msgs \ - ros-humble-tinyxml2-vendor \ - ros-humble-xacro \ + ros-humble-joint-state-publisher \ + ros-humble-joint-state-publisher-gui \ + ros-humble-robot-state-publisher \ + ros-humble-rviz2 ``` 3. Setup workspace: @@ -57,33 +55,35 @@ This project was developed for ROS 2 Foxy (Ubuntu 20.04), Humble (Ubuntu 22.04) ```bash mkdir -p ~/flexiv_ros2_ws/src cd ~/flexiv_ros2_ws/src - git clone https://github.com/flexivrobotics/flexiv_ros2.git -b humble + git clone https://github.com/flexivrobotics/flexiv_ros2.git + cd flexiv_ros2/ + git submodule update --init --recursive ``` 4. Install dependencies: ```bash cd ~/flexiv_ros2_ws - vcs import src < src/flexiv_ros2/flexiv.humble.repos --recursive --skip-existing - touch src/flexiv_rdk/COLCON_IGNORE rosdep update rosdep install --from-paths src --ignore-src --rosdistro humble -r -y ``` -5. Choose a directory for installing `flexiv_rdk` library and all its dependencies. For example, a new folder named `flexiv_install` under the home directory: `~/flexiv_install`. Compile and install to the installation directory: +> [!NOTE] +> Skip step 5 and 6 if you have compile and install [flexiv_rdk](https://github.com/flexivrobotics/flexiv_rdk). + +5. Choose a directory for installing `flexiv_rdk` library and all its dependencies. For example, a new folder named `rdk_install` under the home directory: `~/rdk_install`. Compile and install to the installation directory: ```bash - cd ~/flexiv_ros2_ws/src/flexiv_rdk/thirdparty - source /opt/ros/humble/setup.bash - bash build_and_install_dependencies_not_in_ros2.sh ~/flexiv_install + cd ~/flexiv_ros2_ws/src/flexiv_ros2/flexiv_hardware/rdk/thirdparty + bash build_and_install_dependencies.sh ~/rdk_install ``` 6. Configure and install `flexiv_rdk`: ```bash - cd ~/flexiv_ros2_ws/src/flexiv_rdk - rm -rf build && mkdir build && cd build - cmake .. -DCMAKE_INSTALL_PREFIX=~/flexiv_install + cd ~/flexiv_ros2_ws/src/flexiv_ros2/flexiv_hardware/rdk + mkdir build && cd build + cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install cmake --build . --target install --config Release ``` @@ -92,49 +92,12 @@ This project was developed for ROS 2 Foxy (Ubuntu 20.04), Humble (Ubuntu 22.04) ```bash cd ~/flexiv_ros2_ws source /opt/ros/humble/setup.bash - colcon build --symlink-install --cmake-args -DCMAKE_PREFIX_PATH=~/flexiv_install + colcon build --symlink-install --cmake-args -DCMAKE_PREFIX_PATH=~/rdk_install source install/setup.bash ``` -### Flexiv DRDK Installation (Optional) - -If you are using a Flexiv dual robot setup, you can install `flexiv_drdk` as well. - -1. Clone `flexiv_drdk` into the workspace source directory and ignore it from colcon build: - - ```bash - cd ~/flexiv_ros2_ws/src - git clone https://github.com/flexivrobotics/flexiv_drdk.git -b release/v1.2 - touch flexiv_drdk/COLCON_IGNORE - ``` - -2. Install dependencies and build `flexiv_drdk` by choosing an installation directory, e.g., `~/flexiv_install`: - - ```bash - cd ~/flexiv_ros2_ws/src/flexiv_drdk/thirdparty - source /opt/ros/humble/setup.bash - bash build_and_install_dependencies.sh ~/flexiv_install - ``` - -3. Configure and install `flexiv_drdk`: - - ```bash - cd ~/flexiv_ros2_ws/src/flexiv_drdk - rm -rf build && mkdir build && cd build - cmake .. -DCMAKE_INSTALL_PREFIX=~/flexiv_install - cmake --build . --target install --config Release - ``` - -4. Rebuild the workspace with both RDK and DRDK installation paths: - - ```bash - cd ~/flexiv_ros2_ws - colcon build --symlink-install --cmake-args -DCMAKE_PREFIX_PATH=~/flexiv_install - ``` - -> [!IMPORTANT] +> [!NOTE] > Remember to source the setup file and the workspace whenever a new terminal is opened: -> > ```bash > source /opt/ros/humble/setup.bash > source ~/flexiv_ros2_ws/install/setup.bash @@ -154,15 +117,11 @@ The main launch file to start the robot driver is the `rizon.launch.py` - it loa - `rdk_control_mode` (default: *joint_position*) - Flexiv RDK control mode for ROS 2 joint position and velocity interfaces. Options: *joint_position* or *joint_impedance* - `load_gripper` (default: *false*) - loads the Flexiv Grav gripper as the end-effector of the robot and the gripper control node. - `use_fake_hardware` (default: *false*) - starts `FakeSystem` instead of real hardware. This is a simple simulation that mimics joint command to their states. -- `start_rviz` (default: *true*) - starts RViz automatically with the launch file. +- `start_rviz` (deafult: *true*) - starts RViz automatically with the launch file. - `fake_sensor_commands` (default: *false*) - enables fake command interfaces for sensors used for simulations. Used only if `use_fake_hardware` parameter is true. - `robot_controller` (default: *rizon_arm_controller*) - robot controller to start. Available controllers: *rizon_arm_controller* -There are extra or different launch arguments for Flexiv AICO1, AICO2, and dual robot setups. *(Details about other launch files can be found in [`flexiv_bringup`](/flexiv_bringup))* - -- `robot_sn_left` (*required for dual robot setup*) - Serial number of the left robot to connect to. Remove any space, for example: Rizon4-123456 -- `robot_sn_right` (*required for dual robot setup*) - Serial number of the right robot to connect to. Remove any space, for example: Rizon4R-654321 -- `external_axis_type` (default: *AICO1-4-V1*) - type of the Flexiv AICO1 robot platform. Options: *AICO1-4-V1* or *AICO1-4-V2* +*(Details about other launch files can be found in [`flexiv_bringup`](/flexiv_bringup))* ### Example Commands @@ -193,20 +152,6 @@ There are extra or different launch arguments for Flexiv AICO1, AICO2, and dual The joint position goals can be changed in `flexiv_bringup/config/joint_trajectory_position_publisher.yaml` -#### AICO1 and AICO2 Example Commands - -**AICO1-4** robot: - -```bash -ros2 launch flexiv_bringup aico1.launch.py robot_sn:=[robot_sn] rizon_type:=Rizon4 external_axis_type:=AICO1-4-V1 -``` - -**AICO2-4** robot: - -```bash -ros2 launch flexiv_bringup aico2.launch.py rizon_type:=Rizon4 robot_sn_left:=[robot_sn_left] robot_sn_right:=[robot_sn_right] external_axis_type:=AICO2-4-V1 -``` - ### Using MoveIt You can also run the MoveIt example and use the `MotionPlanning` plugin in RViZ to start planning: @@ -221,23 +166,6 @@ Test with fake hardware: ros2 launch flexiv_bringup rizon_moveit.launch.py robot_sn:=Rizon4-123456 use_fake_hardware:=true ``` -With dual robot setup: - -```bash -ros2 launch flexiv_bringup rizon_dual_moveit.launch.py robot_sn_left:=[robot_sn_left] robot_sn_right:=[robot_sn_right] -``` - -With AICO1-4 setup: - -```bash -ros2 launch flexiv_bringup aico1_moveit.launch.py robot_sn:=[robot_sn] rizon_type:=Rizon4 external_axis_type:=AICO1-4-V1 -``` - -With AICO2-4 setup: - -```bash -ros2 launch flexiv_bringup aico2_moveit.launch.py rizon_type:=Rizon4 robot_sn_left:=[robot_sn_left] robot_sn_right:=[robot_sn_right] external_axis_type:=AICO2-4-V1 - ### Robot States The robot driver (`rizon.launch.py`) publishes the following feedback states to the respective ROS topics: diff --git a/flexiv.humble.repos b/flexiv.humble.repos deleted file mode 100644 index 5f10a0e..0000000 --- a/flexiv.humble.repos +++ /dev/null @@ -1,9 +0,0 @@ -repositories: - flexiv_description: - type: git - url: https://github.com/flexivrobotics/flexiv_description.git - version: humble - flexiv_rdk: - type: git - url: https://github.com/flexivrobotics/flexiv_rdk.git - version: release/v1.9 diff --git a/flexiv_bringup/README.md b/flexiv_bringup/README.md index b4e1433..c5decf8 100644 --- a/flexiv_bringup/README.md +++ b/flexiv_bringup/README.md @@ -6,13 +6,4 @@ This package contains launch files: the main driver launcher, the MoveIt launch - `rizon_moveit.launch.py` - runs MoveIt together with the main driver. The controller for robot joints started in this launch file is *rizon_arm_controller*. - `test_joint_trajectory_controller.launch` - sends joint trajectory goals to the *rizon_arm_controller*. -There are also launch files for other robot setups: - -- `aico1.launch.py` - the main launcher for Flexiv AICO1 robot. -- `aico1_moveit.launch.py` - runs MoveIt together with the main driver for Flexiv AICO1 robot. -- `aico2.launch.py` - the main launcher for Flexiv AICO2 robot. -- `aico2_moveit.launch.py` - runs MoveIt together with the main driver for Flexiv AICO2 robot. -- `rizon_dual.launch.py` - the main launcher for Flexiv Rizon dual robot setup. -- `rizon_dual_moveit.launch.py` - runs MoveIt together with the main driver for Flexiv Rizon dual robot setup. - **NOTE**: The example launch files run the demo nodes from the `flexiv_test_nodes` package, with the parameters defined in `/config`. diff --git a/flexiv_bringup/config/aico1_4_v1_controllers.yaml b/flexiv_bringup/config/aico1_4_v1_controllers.yaml deleted file mode 100644 index 150ef9f..0000000 --- a/flexiv_bringup/config/aico1_4_v1_controllers.yaml +++ /dev/null @@ -1,38 +0,0 @@ -controller_manager: - ros__parameters: - update_rate: 100 # Hz - - rizon_arm_controller: - type: joint_trajectory_controller/JointTrajectoryController - - joint_state_broadcaster: - type: joint_state_broadcaster/JointStateBroadcaster - - gpio_controller: - type: gpio_controller/GPIOController - - flexiv_robot_states_broadcaster: - type: flexiv_robot_states_broadcaster/FlexivRobotStatesBroadcaster - -rizon_arm_controller: - ros__parameters: - joints: - - $(var external_axis_prefix)aico1_4_v1_joint2 - - $(var robot_sn)_joint1 - - $(var robot_sn)_joint2 - - $(var robot_sn)_joint3 - - $(var robot_sn)_joint4 - - $(var robot_sn)_joint5 - - $(var robot_sn)_joint6 - - $(var robot_sn)_joint7 - command_interfaces: - - position - state_interfaces: - - position - - velocity - state_publish_rate: 100.0 - action_monitor_rate: 20.0 - allow_partial_joints_goal: true - constraints: - stopped_velocity_tolerance: 0.01 - goal_time: 0.0 diff --git a/flexiv_bringup/config/aico1_4_v2_controllers.yaml b/flexiv_bringup/config/aico1_4_v2_controllers.yaml deleted file mode 100644 index 4d6ffc8..0000000 --- a/flexiv_bringup/config/aico1_4_v2_controllers.yaml +++ /dev/null @@ -1,40 +0,0 @@ -controller_manager: - ros__parameters: - update_rate: 1000 # Hz - - rizon_arm_controller: - type: joint_trajectory_controller/JointTrajectoryController - - joint_state_broadcaster: - type: joint_state_broadcaster/JointStateBroadcaster - - gpio_controller: - type: gpio_controller/GPIOController - - flexiv_robot_states_broadcaster: - type: flexiv_robot_states_broadcaster/FlexivRobotStatesBroadcaster - -rizon_arm_controller: - ros__parameters: - joints: - - $(var external_axis_prefix)aico1_4_v2_joint1 - - $(var external_axis_prefix)aico1_4_v2_joint2 - - $(var external_axis_prefix)aico1_4_v2_joint_head - - $(var robot_sn)_joint1 - - $(var robot_sn)_joint2 - - $(var robot_sn)_joint3 - - $(var robot_sn)_joint4 - - $(var robot_sn)_joint5 - - $(var robot_sn)_joint6 - - $(var robot_sn)_joint7 - command_interfaces: - - position - state_interfaces: - - position - - velocity - state_publish_rate: 100.0 - action_monitor_rate: 20.0 - allow_partial_joints_goal: true - constraints: - stopped_velocity_tolerance: 0.01 - goal_time: 0.0 diff --git a/flexiv_bringup/config/aico2_10_v1_controllers.yaml b/flexiv_bringup/config/aico2_10_v1_controllers.yaml deleted file mode 100644 index b24ac30..0000000 --- a/flexiv_bringup/config/aico2_10_v1_controllers.yaml +++ /dev/null @@ -1,86 +0,0 @@ -controller_manager: - ros__parameters: - update_rate: 1000 # Hz - - left_rizon_arm_controller: - type: joint_trajectory_controller/JointTrajectoryController - - right_rizon_arm_controller: - type: joint_trajectory_controller/JointTrajectoryController - - joint_state_broadcaster: - type: joint_state_broadcaster/JointStateBroadcaster - - gpio_controller_left: - type: gpio_controller/GPIOController - - gpio_controller_right: - type: gpio_controller/GPIOController - - flexiv_robot_states_broadcaster_left: - type: flexiv_robot_states_broadcaster/FlexivRobotStatesBroadcaster - - flexiv_robot_states_broadcaster_right: - type: flexiv_robot_states_broadcaster/FlexivRobotStatesBroadcaster - -left_rizon_arm_controller: - ros__parameters: - joints: - - $(var external_axis_prefix)aico2_10_v1_joint1 - - $(var external_axis_prefix)aico2_10_v1_joint2 - - $(var prefix_left)joint1 - - $(var prefix_left)joint2 - - $(var prefix_left)joint3 - - $(var prefix_left)joint4 - - $(var prefix_left)joint5 - - $(var prefix_left)joint6 - - $(var prefix_left)joint7 - command_interfaces: - - position - state_interfaces: - - position - - velocity - state_publish_rate: 100.0 - action_monitor_rate: 20.0 - allow_partial_joints_goal: true - constraints: - stopped_velocity_tolerance: 0.01 - goal_time: 0.0 - -right_rizon_arm_controller: - ros__parameters: - joints: - - $(var prefix_right)joint1 - - $(var prefix_right)joint2 - - $(var prefix_right)joint3 - - $(var prefix_right)joint4 - - $(var prefix_right)joint5 - - $(var prefix_right)joint6 - - $(var prefix_right)joint7 - command_interfaces: - - position - state_interfaces: - - position - - velocity - state_publish_rate: 100.0 - action_monitor_rate: 20.0 - allow_partial_joints_goal: false - constraints: - stopped_velocity_tolerance: 0.01 - goal_time: 0.0 - -flexiv_robot_states_broadcaster_left: - ros__parameters: - robot_sn: left_$(var robot_sn_left) - -flexiv_robot_states_broadcaster_right: - ros__parameters: - robot_sn: right_$(var robot_sn_right) - -gpio_controller_left: - ros__parameters: - robot_sn: left_$(var robot_sn_left) - -gpio_controller_right: - ros__parameters: - robot_sn: right_$(var robot_sn_right) diff --git a/flexiv_bringup/config/aico2_4_v1_controllers.yaml b/flexiv_bringup/config/aico2_4_v1_controllers.yaml deleted file mode 100644 index 808fab0..0000000 --- a/flexiv_bringup/config/aico2_4_v1_controllers.yaml +++ /dev/null @@ -1,86 +0,0 @@ -controller_manager: - ros__parameters: - update_rate: 1000 # Hz - - left_rizon_arm_controller: - type: joint_trajectory_controller/JointTrajectoryController - - right_rizon_arm_controller: - type: joint_trajectory_controller/JointTrajectoryController - - joint_state_broadcaster: - type: joint_state_broadcaster/JointStateBroadcaster - - gpio_controller_left: - type: gpio_controller/GPIOController - - gpio_controller_right: - type: gpio_controller/GPIOController - - flexiv_robot_states_broadcaster_left: - type: flexiv_robot_states_broadcaster/FlexivRobotStatesBroadcaster - - flexiv_robot_states_broadcaster_right: - type: flexiv_robot_states_broadcaster/FlexivRobotStatesBroadcaster - -left_rizon_arm_controller: - ros__parameters: - joints: - - $(var external_axis_prefix)aico2_4_v1_joint1 - - $(var external_axis_prefix)aico2_4_v1_joint2 - - $(var prefix_left)joint1 - - $(var prefix_left)joint2 - - $(var prefix_left)joint3 - - $(var prefix_left)joint4 - - $(var prefix_left)joint5 - - $(var prefix_left)joint6 - - $(var prefix_left)joint7 - command_interfaces: - - position - state_interfaces: - - position - - velocity - state_publish_rate: 100.0 - action_monitor_rate: 20.0 - allow_partial_joints_goal: true - constraints: - stopped_velocity_tolerance: 0.01 - goal_time: 0.0 - -right_rizon_arm_controller: - ros__parameters: - joints: - - $(var prefix_right)joint1 - - $(var prefix_right)joint2 - - $(var prefix_right)joint3 - - $(var prefix_right)joint4 - - $(var prefix_right)joint5 - - $(var prefix_right)joint6 - - $(var prefix_right)joint7 - command_interfaces: - - position - state_interfaces: - - position - - velocity - state_publish_rate: 100.0 - action_monitor_rate: 20.0 - allow_partial_joints_goal: false - constraints: - stopped_velocity_tolerance: 0.01 - goal_time: 0.0 - -flexiv_robot_states_broadcaster_left: - ros__parameters: - robot_sn: left_$(var robot_sn_left) - -flexiv_robot_states_broadcaster_right: - ros__parameters: - robot_sn: right_$(var robot_sn_right) - -gpio_controller_left: - ros__parameters: - robot_sn: left_$(var robot_sn_left) - -gpio_controller_right: - ros__parameters: - robot_sn: right_$(var robot_sn_right) diff --git a/flexiv_bringup/config/aico2_4_v2_controllers.yaml b/flexiv_bringup/config/aico2_4_v2_controllers.yaml deleted file mode 100644 index 383eaba..0000000 --- a/flexiv_bringup/config/aico2_4_v2_controllers.yaml +++ /dev/null @@ -1,86 +0,0 @@ -controller_manager: - ros__parameters: - update_rate: 1000 # Hz - - left_rizon_arm_controller: - type: joint_trajectory_controller/JointTrajectoryController - - right_rizon_arm_controller: - type: joint_trajectory_controller/JointTrajectoryController - - joint_state_broadcaster: - type: joint_state_broadcaster/JointStateBroadcaster - - gpio_controller_left: - type: gpio_controller/GPIOController - - gpio_controller_right: - type: gpio_controller/GPIOController - - flexiv_robot_states_broadcaster_left: - type: flexiv_robot_states_broadcaster/FlexivRobotStatesBroadcaster - - flexiv_robot_states_broadcaster_right: - type: flexiv_robot_states_broadcaster/FlexivRobotStatesBroadcaster - -left_rizon_arm_controller: - ros__parameters: - joints: - - $(var external_axis_prefix)aico2_4_v2_joint1 - - $(var external_axis_prefix)aico2_4_v2_joint2 - - $(var prefix_left)joint1 - - $(var prefix_left)joint2 - - $(var prefix_left)joint3 - - $(var prefix_left)joint4 - - $(var prefix_left)joint5 - - $(var prefix_left)joint6 - - $(var prefix_left)joint7 - command_interfaces: - - position - state_interfaces: - - position - - velocity - state_publish_rate: 100.0 - action_monitor_rate: 20.0 - allow_partial_joints_goal: true - constraints: - stopped_velocity_tolerance: 0.01 - goal_time: 0.0 - -right_rizon_arm_controller: - ros__parameters: - joints: - - $(var prefix_right)joint1 - - $(var prefix_right)joint2 - - $(var prefix_right)joint3 - - $(var prefix_right)joint4 - - $(var prefix_right)joint5 - - $(var prefix_right)joint6 - - $(var prefix_right)joint7 - command_interfaces: - - position - state_interfaces: - - position - - velocity - state_publish_rate: 100.0 - action_monitor_rate: 20.0 - allow_partial_joints_goal: false - constraints: - stopped_velocity_tolerance: 0.01 - goal_time: 0.0 - -flexiv_robot_states_broadcaster_left: - ros__parameters: - robot_sn: left_$(var robot_sn_left) - -flexiv_robot_states_broadcaster_right: - ros__parameters: - robot_sn: right_$(var robot_sn_right) - -gpio_controller_left: - ros__parameters: - robot_sn: left_$(var robot_sn_left) - -gpio_controller_right: - ros__parameters: - robot_sn: right_$(var robot_sn_right) diff --git a/flexiv_bringup/config/rizon_dual_controllers.yaml b/flexiv_bringup/config/rizon_dual_controllers.yaml deleted file mode 100644 index 9919896..0000000 --- a/flexiv_bringup/config/rizon_dual_controllers.yaml +++ /dev/null @@ -1,84 +0,0 @@ -controller_manager: - ros__parameters: - update_rate: 1000 # Hz - - left_rizon_arm_controller: - type: joint_trajectory_controller/JointTrajectoryController - - right_rizon_arm_controller: - type: joint_trajectory_controller/JointTrajectoryController - - joint_state_broadcaster: - type: joint_state_broadcaster/JointStateBroadcaster - - gpio_controller_left: - type: gpio_controller/GPIOController - - gpio_controller_right: - type: gpio_controller/GPIOController - - flexiv_robot_states_broadcaster_left: - type: flexiv_robot_states_broadcaster/FlexivRobotStatesBroadcaster - - flexiv_robot_states_broadcaster_right: - type: flexiv_robot_states_broadcaster/FlexivRobotStatesBroadcaster - -left_rizon_arm_controller: - ros__parameters: - joints: - - $(var prefix_left)joint1 - - $(var prefix_left)joint2 - - $(var prefix_left)joint3 - - $(var prefix_left)joint4 - - $(var prefix_left)joint5 - - $(var prefix_left)joint6 - - $(var prefix_left)joint7 - command_interfaces: - - position - state_interfaces: - - position - - velocity - state_publish_rate: 100.0 - action_monitor_rate: 20.0 - allow_partial_joints_goal: false - constraints: - stopped_velocity_tolerance: 0.01 - goal_time: 0.0 - -right_rizon_arm_controller: - ros__parameters: - joints: - - $(var prefix_right)joint1 - - $(var prefix_right)joint2 - - $(var prefix_right)joint3 - - $(var prefix_right)joint4 - - $(var prefix_right)joint5 - - $(var prefix_right)joint6 - - $(var prefix_right)joint7 - command_interfaces: - - position - state_interfaces: - - position - - velocity - state_publish_rate: 100.0 - action_monitor_rate: 20.0 - allow_partial_joints_goal: false - constraints: - stopped_velocity_tolerance: 0.01 - goal_time: 0.0 - -flexiv_robot_states_broadcaster_left: - ros__parameters: - robot_sn: left_$(var robot_sn_left) - -flexiv_robot_states_broadcaster_right: - ros__parameters: - robot_sn: right_$(var robot_sn_right) - -gpio_controller_left: - ros__parameters: - robot_sn: left_$(var robot_sn_left) - -gpio_controller_right: - ros__parameters: - robot_sn: right_$(var robot_sn_right) diff --git a/flexiv_bringup/launch/aico1.launch.py b/flexiv_bringup/launch/aico1.launch.py deleted file mode 100644 index a44a2b7..0000000 --- a/flexiv_bringup/launch/aico1.launch.py +++ /dev/null @@ -1,372 +0,0 @@ -from launch import LaunchDescription -from launch.actions import ( - DeclareLaunchArgument, - IncludeLaunchDescription, - RegisterEventHandler, -) -from launch.conditions import IfCondition, UnlessCondition -from launch.event_handlers import OnProcessExit -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch_ros.actions import Node -from launch_ros.parameter_descriptions import ParameterFile, ParameterValue -from launch_ros.substitutions import FindPackageShare -from launch.substitutions import ( - Command, - FindExecutable, - LaunchConfiguration, - PathJoinSubstitution, - PythonExpression, -) - - -def generate_launch_description(): - rizon_type_param_name = "rizon_type" - robot_sn_param_name = "robot_sn" - rdk_control_mode_param_name = "rdk_control_mode" - start_rviz_param_name = "start_rviz" - load_gripper_param_name = "load_gripper" - gripper_name_param_name = "gripper_name" - load_mounted_ft_sensor_param_name = "load_mounted_ft_sensor" - use_fake_hardware_param_name = "use_fake_hardware" - fake_sensor_commands_param_name = "fake_sensor_commands" - robot_controller_param_name = "robot_controller" - external_axis_type_param_name = "external_axis_type" - external_axis_prefix_param_name = "external_axis_prefix" - arm_prefix_param_name = "arm_prefix" - - # Declare arguments - declared_arguments = [] - - declared_arguments.append( - DeclareLaunchArgument( - rizon_type_param_name, - description="Type of the Flexiv Rizon robot.", - default_value="Rizon4", - choices=["Rizon4", "Rizon4s"], - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - robot_sn_param_name, - description="Serial number of the robot to connect to. Remove any space, for example: Rizon4s-123456", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - rdk_control_mode_param_name, - default_value="joint_position", - description="RDK control mode for the ROS 2 control joint position and velocity interfaces. Options: joint_position, joint_impedance", - choices=["joint_position", "joint_impedance"], - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - start_rviz_param_name, - default_value="true", - description="Start RViz automatically with the launch file", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - load_gripper_param_name, - default_value="false", - description="Flag to load the Flexiv Grav gripper as the end-effector of the robot.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - gripper_name_param_name, - default_value="Flexiv-GN01", - description="Full name of the gripper to be controlled, can be found in Flexiv Elements -> Settings -> Device", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - load_mounted_ft_sensor_param_name, - default_value="false", - description="Flag to load the mounted force torque sensor. Only available for Rizon4, Rizon4R and Rizon10.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - use_fake_hardware_param_name, - default_value="false", - description="Start robot with fake hardware mirroring command to its states.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - fake_sensor_commands_param_name, - default_value="false", - description="Enable fake command interfaces for sensors used for simple simulations. \ - Used only if 'use_fake_hardware' parameter is true.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - robot_controller_param_name, - default_value="rizon_arm_controller", - description="Robot controller to start. Available: rizon_arm_controller", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - external_axis_type_param_name, - default_value="AICO1-4-V1", - description="Type of the AICO1 platform.", - choices=["AICO1-4-V1", "AICO1-4-V2"], - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - external_axis_prefix_param_name, - default_value="", - description="Prefix for the external axis links and joints.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - arm_prefix_param_name, - default_value="", - description="Prefix for the arm links and joints.", - ) - ) - - # Initialize Arguments - rizon_type = LaunchConfiguration(rizon_type_param_name) - robot_sn = LaunchConfiguration(robot_sn_param_name) - rdk_control_mode = LaunchConfiguration(rdk_control_mode_param_name) - start_rviz = LaunchConfiguration(start_rviz_param_name) - load_gripper = LaunchConfiguration(load_gripper_param_name) - gripper_name = LaunchConfiguration(gripper_name_param_name) - load_mounted_ft_sensor = LaunchConfiguration(load_mounted_ft_sensor_param_name) - use_fake_hardware = LaunchConfiguration(use_fake_hardware_param_name) - fake_sensor_commands = LaunchConfiguration(fake_sensor_commands_param_name) - robot_controller = LaunchConfiguration(robot_controller_param_name) - external_axis_type = LaunchConfiguration(external_axis_type_param_name) - external_axis_prefix = LaunchConfiguration(external_axis_prefix_param_name) - arm_prefix = LaunchConfiguration(arm_prefix_param_name) - - # Get URDF via xacro - flexiv_urdf_xacro = PathJoinSubstitution( - [FindPackageShare("flexiv_description"), "urdf", "aico1.urdf.xacro"] - ) - - # Get URDF via xacro - robot_description_content = ParameterValue( - Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - flexiv_urdf_xacro, - " ", - "robot_sn:=", - robot_sn, - " ", - "rizon_type:=", - rizon_type, - " ", - "ros2_control:=true ", - "rdk_control_mode:=", - rdk_control_mode, - " ", - "load_gripper:=", - load_gripper, - " ", - "gripper_name:=", - gripper_name, - " ", - "load_mounted_ft_sensor:=", - load_mounted_ft_sensor, - " ", - "use_fake_hardware:=", - use_fake_hardware, - " ", - "fake_sensor_commands:=", - fake_sensor_commands, - " ", - "external_axis_type:=", - PythonExpression( - ["'", external_axis_type, "'.lower().replace('-', '_')"] - ), - " ", - "external_axis_prefix:=", - external_axis_prefix, - " ", - "arm_prefix:=", - arm_prefix, - ] - ), - value_type=str, - ) - - robot_description = {"robot_description": robot_description_content} - - # RViZ - rviz_config_file = PathJoinSubstitution( - [FindPackageShare("flexiv_description"), "rviz", "view_rizon.rviz"] - ) - - rviz_node = Node( - package="rviz2", - executable="rviz2", - name="rviz2", - output="log", - arguments=["-d", rviz_config_file], - condition=IfCondition(start_rviz), - ) - - # Robot controllers - controller_file_name = PythonExpression( - [ - "'aico1_4_v2_controllers.yaml' if '", - external_axis_type, - "' == 'AICO1-4-V2' else 'aico1_4_v1_controllers.yaml'", - ] - ) - robot_controllers = PathJoinSubstitution( - [ - FindPackageShare("flexiv_bringup"), - "config", - controller_file_name, - ] - ) - - # Controller Manager - ros2_control_node = Node( - package="controller_manager", - executable="ros2_control_node", - parameters=[ - robot_description, - ParameterFile(robot_controllers, allow_substs=True), - {"robot_sn": robot_sn}, - {"rdk_control_mode": rdk_control_mode}, - {"external_axis_prefix": external_axis_prefix}, - ], - remappings=[("joint_states", "flexiv_rizon_arm/joint_states")], - output="both", - ) - - # Joint state publisher - joint_state_publisher_node = Node( - package="joint_state_publisher", - executable="joint_state_publisher", - name="joint_state_publisher", - parameters=[ - { - "source_list": [ - "flexiv_rizon_arm/joint_states", - "flexiv_gripper_node/gripper_joint_states", - ], - "rate": 30, - } - ], - ) - - # Robot state publisher - robot_state_publisher_node = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - name="robot_state_publisher", - output="both", - parameters=[robot_description], - ) - - # Run robot controller - robot_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[robot_controller, "--controller-manager", "/controller_manager"], - ) - - # Run joint state broadcaster - joint_state_broadcaster_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "joint_state_broadcaster", - "--controller-manager", - "/controller_manager", - ], - ) - - # Run Flexiv robot states broadcaster - flexiv_robot_states_broadcaster_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=["flexiv_robot_states_broadcaster"], - parameters=[{"robot_sn": robot_sn}], - condition=UnlessCondition(use_fake_hardware), - ) - - # Include gripper launch file - load_gripper_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [ - FindPackageShare("flexiv_gripper"), - "launch", - "flexiv_gripper.launch.py", - ] - ) - ), - launch_arguments={ - "robot_sn": robot_sn, - "gripper_name": gripper_name, - "use_fake_hardware": use_fake_hardware, - }.items(), - condition=IfCondition(load_gripper), - ) - - # Run gpio controller - gpio_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=["gpio_controller", "--controller-manager", "/controller_manager"], - parameters=[{"robot_sn": robot_sn}], - condition=UnlessCondition(use_fake_hardware), - ) - - # Delay start of robot_controller after `joint_state_broadcaster` - delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = ( - RegisterEventHandler( - event_handler=OnProcessExit( - target_action=joint_state_broadcaster_spawner, - on_exit=[robot_controller_spawner], - ) - ) - ) - - # Delay rviz start after `robot_controller_spawner` - delay_rviz_after_robot_controller_spawner = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=robot_controller_spawner, - on_exit=[rviz_node], - ) - ) - - nodes = [ - ros2_control_node, - joint_state_publisher_node, - robot_state_publisher_node, - joint_state_broadcaster_spawner, - flexiv_robot_states_broadcaster_spawner, - load_gripper_launch, - gpio_controller_spawner, - delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, - delay_rviz_after_robot_controller_spawner, - ] - - return LaunchDescription(declared_arguments + nodes) diff --git a/flexiv_bringup/launch/aico1_moveit.launch.py b/flexiv_bringup/launch/aico1_moveit.launch.py deleted file mode 100644 index cd8404b..0000000 --- a/flexiv_bringup/launch/aico1_moveit.launch.py +++ /dev/null @@ -1,560 +0,0 @@ -from ament_index_python.packages import get_package_share_directory -import os - -from launch import LaunchDescription -from launch.actions import ( - DeclareLaunchArgument, - IncludeLaunchDescription, - OpaqueFunction, - RegisterEventHandler, - SetLaunchConfiguration, -) -from launch.conditions import IfCondition, UnlessCondition -from launch.event_handlers import OnProcessExit -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch_ros.actions import Node -from launch_ros.parameter_descriptions import ParameterFile, ParameterValue -from launch_ros.substitutions import FindPackageShare -from launch.substitutions import ( - Command, - FindExecutable, - LaunchConfiguration, - PathJoinSubstitution, - PythonExpression, -) - - -def load_yaml(package_name, file_path, replacements=None): - package_path = get_package_share_directory(package_name) - absolute_file_path = os.path.join(package_path, file_path) - - try: - with open(absolute_file_path, "r") as file: - file_content = file.read() - if replacements: - for key, value in replacements.items(): - file_content = file_content.replace(key, value) - import yaml - - return yaml.safe_load(file_content) - except ( - EnvironmentError - ): # parent of IOError, OSError *and* WindowsError where available - return None - - -def launch_setup(context): - rizon_type = LaunchConfiguration("rizon_type") - robot_sn = LaunchConfiguration("robot_sn") - rdk_control_mode = LaunchConfiguration("rdk_control_mode") - start_rviz = LaunchConfiguration("start_rviz") - load_gripper = LaunchConfiguration("load_gripper") - gripper_name = LaunchConfiguration("gripper_name") - load_mounted_ft_sensor = LaunchConfiguration("load_mounted_ft_sensor") - use_fake_hardware = LaunchConfiguration("use_fake_hardware") - fake_sensor_commands = LaunchConfiguration("fake_sensor_commands") - robot_controller = LaunchConfiguration("robot_controller") - external_axis_type = LaunchConfiguration("external_axis_type") - external_axis_prefix = LaunchConfiguration("external_axis_prefix") - arm_prefix = LaunchConfiguration("arm_prefix") - - robot_sn_str = robot_sn.perform(context) - arm_prefix_str = arm_prefix.perform(context) - external_axis_prefix_str = external_axis_prefix.perform(context) - external_axis_type_str = external_axis_type.perform(context) - - # Construct prefix - prefix_str = "" - - if arm_prefix_str and robot_sn_str: - prefix_str = arm_prefix_str + "_" + robot_sn_str + "_" - elif arm_prefix_str or robot_sn_str: - prefix_str = arm_prefix_str + robot_sn_str + "_" - - # Get URDF via xacro - flexiv_urdf_xacro = PathJoinSubstitution( - [FindPackageShare("flexiv_description"), "urdf", "aico1.urdf.xacro"] - ) - - robot_description_content = ParameterValue( - Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - flexiv_urdf_xacro, - " ", - "robot_sn:=", - robot_sn, - " ", - "rizon_type:=", - rizon_type, - " ", - "ros2_control:=true ", - "rdk_control_mode:=", - rdk_control_mode, - " ", - "load_gripper:=", - load_gripper, - " ", - "gripper_name:=", - gripper_name, - " ", - "load_mounted_ft_sensor:=", - load_mounted_ft_sensor, - " ", - "use_fake_hardware:=", - use_fake_hardware, - " ", - "fake_sensor_commands:=", - fake_sensor_commands, - " ", - "external_axis_type:=", - PythonExpression( - ["'", external_axis_type, "'.lower().replace('-', '_')"] - ), - " ", - "external_axis_prefix:=", - external_axis_prefix, - " ", - "arm_prefix:=", - arm_prefix, - ] - ), - value_type=str, - ) - - robot_description = {"robot_description": robot_description_content} - - # MoveIt configuration - flexiv_srdf_xacro = PathJoinSubstitution( - [FindPackageShare("flexiv_moveit_config"), "srdf", "aico1.srdf.xacro"] - ) - - robot_description_semantic_content = ParameterValue( - Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - flexiv_srdf_xacro, - " ", - "robot_sn:=", - robot_sn, - " ", - "load_gripper:=", - load_gripper, - " ", - "load_mounted_ft_sensor:=", - load_mounted_ft_sensor, - " ", - "external_axis_type:=", - PythonExpression( - ["'", external_axis_type, "'.lower().replace('-', '_')"] - ), - " ", - "external_axis_prefix:=", - external_axis_prefix, - " ", - "arm_prefix:=", - arm_prefix, - ] - ), - value_type=str, - ) - robot_description_semantic = { - "robot_description_semantic": robot_description_semantic_content - } - - publish_robot_description_semantic = {"publish_robot_description_semantic": True} - - # Trajectory Execution Configuration - replacements = { - "$(var prefix)": prefix_str, - "$(var external_axis_prefix)": external_axis_prefix_str, - } - - robot_description_kinematics_yaml = load_yaml( - "flexiv_moveit_config", "config/aico/aico1_kinematics.yaml", replacements - ) - robot_description_kinematics = { - "robot_description_kinematics": robot_description_kinematics_yaml - } - - # Planning Configuration - ompl_planning_pipeline_config = { - "move_group": { - "planning_plugin": "ompl_interface/OMPLPlanner", - "request_adapters": "default_planner_request_adapters/AddTimeOptimalParameterization " - "default_planner_request_adapters/ResolveConstraintFrames " - "default_planner_request_adapters/FixWorkspaceBounds " - "default_planner_request_adapters/FixStartStateBounds " - "default_planner_request_adapters/FixStartStateCollision " - "default_planner_request_adapters/FixStartStatePathConstraints", - "start_state_max_bounds_error": 0.1, - } - } - ompl_planning_yaml = load_yaml( - "flexiv_moveit_config", "config/aico/aico1_ompl_planning.yaml", replacements - ) - ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml) - - controllers_file = "config/aico/aico1_4_v1_moveit_controllers.yaml" - if external_axis_type_str == "AICO1-4-V2": - controllers_file = "config/aico/aico1_4_v2_moveit_controllers.yaml" - - moveit_simple_controllers_yaml = load_yaml( - "flexiv_moveit_config", - controllers_file, - replacements, - ) - - moveit_controllers = { - "moveit_simple_controller_manager": moveit_simple_controllers_yaml, - "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager", - } - - trajectory_execution = { - "moveit_manage_controllers": False, - "trajectory_execution.allowed_execution_duration_scaling": 1.2, - "trajectory_execution.allowed_goal_duration_margin": 0.5, - "trajectory_execution.allowed_start_tolerance": 0.01, - } - - planning_scene_monitor_parameters = { - "publish_planning_scene": True, - "publish_geometry_updates": True, - "publish_state_updates": True, - "publish_transforms_updates": True, - } - - # Load joint limits - joint_limits = load_yaml( - "flexiv_moveit_config", - "config/joint_limits.yaml", - {"$(var robot_sn)": prefix_str.rstrip("_")}, - ) - - # Load external axis joint limits - external_axis_joint_limits = load_yaml( - "flexiv_moveit_config", - "config/aico/aico_joint_limits.yaml", - {"$(var external_axis_prefix)": external_axis_prefix_str}, - ) - - joint_limits_yaml = {"robot_description_planning": {"joint_limits": {}}} - - if joint_limits and "joint_limits" in joint_limits: - joint_limits_yaml["robot_description_planning"]["joint_limits"].update( - joint_limits["joint_limits"] - ) - - if external_axis_joint_limits and "joint_limits" in external_axis_joint_limits: - joint_limits_yaml["robot_description_planning"]["joint_limits"].update( - external_axis_joint_limits["joint_limits"] - ) - - warehouse_ros_config = { - "warehouse_plugin": "warehouse_ros_sqlite::DatabaseConnection", - "warehouse_host": LaunchConfiguration("warehouse_sqlite_path"), - } - - # Start the actual move_group node/action server - move_group_node = Node( - package="moveit_ros_move_group", - executable="move_group", - output="screen", - parameters=[ - robot_description, - robot_description_semantic, - publish_robot_description_semantic, - robot_description_kinematics, - joint_limits_yaml, - ompl_planning_pipeline_config, - trajectory_execution, - moveit_controllers, - planning_scene_monitor_parameters, - warehouse_ros_config, - ], - ) - - # RViz with MoveIt configuration - rviz_config_file = PathJoinSubstitution( - [FindPackageShare("flexiv_moveit_config"), "rviz", "moveit.rviz"] - ) - - rviz_node = Node( - package="rviz2", - executable="rviz2", - name="rviz2_moveit", - output="log", - arguments=["-d", rviz_config_file], - parameters=[ - robot_description, - robot_description_semantic, - ompl_planning_pipeline_config, - robot_description_kinematics, - joint_limits_yaml, - warehouse_ros_config, - ], - condition=IfCondition(start_rviz), - ) - - # Publish TF - robot_state_publisher_node = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - name="robot_state_publisher", - output="both", - parameters=[robot_description], - ) - - # Robot controllers - ros2_controllers_file = "aico1_4_v1_controllers.yaml" - if external_axis_type_str == "AICO1-4-V2": - ros2_controllers_file = "aico1_4_v2_controllers.yaml" - robot_controllers = PathJoinSubstitution( - [FindPackageShare("flexiv_bringup"), "config", ros2_controllers_file] - ) - - # Run controller manager - ros2_control_node = Node( - package="controller_manager", - executable="ros2_control_node", - parameters=[ - robot_description, - ParameterFile(robot_controllers, allow_substs=True), - {"robot_sn": robot_sn}, - {"rdk_control_mode": rdk_control_mode}, - ], - remappings=[("joint_states", "flexiv_rizon_arm/joint_states")], - output="both", - ) - - # Joint state publisher - joint_state_publisher_node = Node( - package="joint_state_publisher", - executable="joint_state_publisher", - name="joint_state_publisher", - parameters=[ - { - "source_list": [ - "flexiv_rizon_arm/joint_states", - "flexiv_gripper_node/gripper_joint_states", - ], - "rate": 30, - } - ], - ) - - # Run robot controller - rizon_arm_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - robot_controller, - "--controller-manager", - "/controller_manager", - ], - ) - - # Run joint state broadcaster - joint_state_broadcaster_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "joint_state_broadcaster", - "--controller-manager", - "/controller_manager", - ], - ) - - # Run Flexiv robot states broadcaster - flexiv_robot_states_broadcaster_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=["flexiv_robot_states_broadcaster"], - condition=UnlessCondition(use_fake_hardware), - ) - - load_gripper_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [ - FindPackageShare("flexiv_gripper"), - "launch", - "flexiv_gripper.launch.py", - ] - ) - ), - launch_arguments={ - "robot_sn": robot_sn, - "gripper_name": gripper_name, - "use_fake_hardware": use_fake_hardware, - }.items(), - condition=IfCondition(load_gripper), - ) - - # Run gpio controller - gpio_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "gpio_controller", - "--controller-manager", - "/controller_manager", - ], - condition=UnlessCondition(use_fake_hardware), - ) - - # Delay start of controllers after `joint_state_broadcaster` - delay_controller_after_jsb = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=joint_state_broadcaster_spawner, - on_exit=[rizon_arm_controller_spawner], - ) - ) - - # Delay rviz start after controller - delay_rviz_after_controller = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=rizon_arm_controller_spawner, - on_exit=[rviz_node], - ) - ) - - nodes = [ - move_group_node, - robot_state_publisher_node, - ros2_control_node, - joint_state_publisher_node, - joint_state_broadcaster_spawner, - flexiv_robot_states_broadcaster_spawner, - load_gripper_launch, - gpio_controller_spawner, - delay_controller_after_jsb, - delay_rviz_after_controller, - ] - - return nodes - - -def generate_launch_description(): - declared_arguments = [] - - declared_arguments.append( - DeclareLaunchArgument( - "rizon_type", - description="Type of the Flexiv Rizon robot.", - default_value="Rizon4", - choices=["Rizon4", "Rizon4s"], - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "robot_sn", - description="Serial number of the robot to connect to. Remove any space, for example: Rizon4s-123456", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "rdk_control_mode", - default_value="joint_position", - description="RDK control mode for the ROS 2 control joint position and velocity interfaces. Options: joint_position, joint_impedance", - choices=["joint_position", "joint_impedance"], - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "start_rviz", - default_value="true", - description="Start RViz automatically with the launch file", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "load_gripper", - default_value="false", - description="Flag to load the Flexiv Grav gripper as the end-effector of the robot.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "gripper_name", - default_value="Flexiv-GN01", - description="Full name of the gripper to be controlled, can be found in Flexiv Elements -> Settings -> Device", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "load_mounted_ft_sensor", - default_value="false", - description="Flag to load the mounted force torque sensor. Only available for Rizon4, Rizon4R and Rizon10.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "use_fake_hardware", - default_value="false", - description="Start robot with fake hardware mirroring command to its states.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "fake_sensor_commands", - default_value="false", - description="Enable fake command interfaces for sensors used for simple simulations. \ - Used only if 'use_fake_hardware' parameter is true.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "robot_controller", - default_value="rizon_arm_controller", - description="Robot controller to start. Available: rizon_arm_controller", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "external_axis_type", - default_value="AICO1-4-V1", - description="Type of the AICO1 platform.", - choices=["AICO1-4-V1", "AICO1-4-V2"], - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "external_axis_prefix", - default_value="", - description="Prefix for the external axis links and joints.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "arm_prefix", - default_value="", - description="Prefix for the arm links and joints.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "warehouse_sqlite_path", - default_value=os.path.expanduser("~/.ros/warehouse_ros.sqlite"), - description="Path to the warehouse database", - ) - ) - - return LaunchDescription( - declared_arguments + [OpaqueFunction(function=launch_setup)] - ) diff --git a/flexiv_bringup/launch/aico2.launch.py b/flexiv_bringup/launch/aico2.launch.py deleted file mode 100644 index 76214e8..0000000 --- a/flexiv_bringup/launch/aico2.launch.py +++ /dev/null @@ -1,486 +0,0 @@ -from launch import LaunchDescription -from launch.actions import ( - DeclareLaunchArgument, - IncludeLaunchDescription, - RegisterEventHandler, -) -from launch.conditions import IfCondition, UnlessCondition -from launch.event_handlers import OnProcessExit -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch_ros.actions import Node -from launch_ros.parameter_descriptions import ParameterFile, ParameterValue -from launch_ros.substitutions import FindPackageShare -from launch.substitutions import ( - Command, - FindExecutable, - LaunchConfiguration, - PathJoinSubstitution, - PythonExpression, -) - - -def generate_launch_description(): - rizon_type_param_name = "rizon_type" - robot_sn_left_param_name = "robot_sn_left" - robot_sn_right_param_name = "robot_sn_right" - rdk_control_mode_param_name = "rdk_control_mode" - start_rviz_param_name = "start_rviz" - use_fake_hardware_param_name = "use_fake_hardware" - fake_sensor_commands_param_name = "fake_sensor_commands" - load_gripper_left_param_name = "load_gripper_left" - gripper_name_left_param_name = "gripper_name_left" - load_gripper_right_param_name = "load_gripper_right" - gripper_name_right_param_name = "gripper_name_right" - load_mounted_ft_sensor_left_param_name = "load_mounted_ft_sensor_left" - load_mounted_ft_sensor_right_param_name = "load_mounted_ft_sensor_right" - external_axis_type_param_name = "external_axis_type" - external_axis_prefix_param_name = "external_axis_prefix" - - # Declare arguments - declared_arguments = [] - - declared_arguments.append( - DeclareLaunchArgument( - rizon_type_param_name, - description="Type of the Flexiv Rizon robot.", - default_value="Rizon4", - choices=["Rizon4", "Rizon10"], - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - robot_sn_left_param_name, - description="Serial number of the left robot.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - robot_sn_right_param_name, - description="Serial number of the right robot.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - rdk_control_mode_param_name, - default_value="joint_position", - description="RDK control mode for the ROS 2 control joint position and velocity interfaces.", - choices=["joint_position", "joint_impedance"], - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - start_rviz_param_name, - default_value="true", - description="Start RViz automatically with the launch file", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - use_fake_hardware_param_name, - default_value="false", - description="Start robot with fake hardware mirroring command to its states.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - fake_sensor_commands_param_name, - default_value="false", - description="Enable fake command interfaces for sensors used for simple simulations.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - load_gripper_left_param_name, - default_value="false", - description="Flag to load the Flexiv Grav gripper as the end-effector of the left robot.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - gripper_name_left_param_name, - default_value="Flexiv-GN01", - description="Full name of the left gripper to be controlled, can be found in Flexiv Elements -> Settings -> Device", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - load_gripper_right_param_name, - default_value="false", - description="Flag to load the Flexiv Grav gripper as the end-effector of the right robot.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - gripper_name_right_param_name, - default_value="Flexiv-GN01", - description="Full name of the right gripper to be controlled, can be found in Flexiv Elements -> Settings -> Device", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - load_mounted_ft_sensor_left_param_name, - default_value="false", - description="Flag to load the mounted force torque sensor for the left robot. Only available for Rizon4, Rizon4R and Rizon10.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - load_mounted_ft_sensor_right_param_name, - default_value="false", - description="Flag to load the mounted force torque sensor for the right robot. Only available for Rizon4, Rizon4R and Rizon10.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - external_axis_type_param_name, - default_value="AICO2-4-V1", - description="Type of the AICO2 platform.", - choices=["AICO2-4-V1", "AICO2-4-V2", "AICO2-10-V1"], - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - external_axis_prefix_param_name, - default_value="", - description="Prefix for the external axis links and joints.", - ) - ) - - # Initialize Arguments - rizon_type = LaunchConfiguration(rizon_type_param_name) - robot_sn_left = LaunchConfiguration(robot_sn_left_param_name) - robot_sn_right = LaunchConfiguration(robot_sn_right_param_name) - rdk_control_mode = LaunchConfiguration(rdk_control_mode_param_name) - start_rviz = LaunchConfiguration(start_rviz_param_name) - use_fake_hardware = LaunchConfiguration(use_fake_hardware_param_name) - fake_sensor_commands = LaunchConfiguration(fake_sensor_commands_param_name) - load_gripper_left = LaunchConfiguration(load_gripper_left_param_name) - gripper_name_left = LaunchConfiguration(gripper_name_left_param_name) - load_gripper_right = LaunchConfiguration(load_gripper_right_param_name) - gripper_name_right = LaunchConfiguration(gripper_name_right_param_name) - load_mounted_ft_sensor_left = LaunchConfiguration( - load_mounted_ft_sensor_left_param_name - ) - load_mounted_ft_sensor_right = LaunchConfiguration( - load_mounted_ft_sensor_right_param_name - ) - external_axis_type = LaunchConfiguration(external_axis_type_param_name) - external_axis_prefix = LaunchConfiguration(external_axis_prefix_param_name) - - # Construct prefixes - from launch.actions import SetLaunchConfiguration - - set_prefix_left = SetLaunchConfiguration( - name="prefix_left", - value=PythonExpression(["'left_' + '", robot_sn_left, "' + '_'"]), - ) - set_prefix_right = SetLaunchConfiguration( - name="prefix_right", - value=PythonExpression(["'right_' + '", robot_sn_right, "' + '_'"]), - ) - - # Get URDF via xacro - flexiv_urdf_xacro = PathJoinSubstitution( - [FindPackageShare("flexiv_description"), "urdf", "aico2.urdf.xacro"] - ) - - robot_description_content = ParameterValue( - Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - flexiv_urdf_xacro, - " ", - "rizon_type:=", - rizon_type, - " ", - "robot_sn_left:=", - robot_sn_left, - " ", - "robot_sn_right:=", - robot_sn_right, - " ", - "load_gripper_left:=", - load_gripper_left, - " ", - "gripper_name_left:=", - gripper_name_left, - " ", - "load_gripper_right:=", - load_gripper_right, - " ", - "gripper_name_right:=", - gripper_name_right, - " ", - "load_mounted_ft_sensor_left:=", - load_mounted_ft_sensor_left, - " ", - "load_mounted_ft_sensor_right:=", - load_mounted_ft_sensor_right, - " ", - "ros2_control:=true ", - "rdk_control_mode:=", - rdk_control_mode, - " ", - "use_fake_hardware:=", - use_fake_hardware, - " ", - "fake_sensor_commands:=", - fake_sensor_commands, - " ", - "external_axis_type:=", - PythonExpression( - ["'", external_axis_type, "'.lower().replace('-', '_')"] - ), - " ", - "external_axis_prefix:=", - external_axis_prefix, - ] - ), - value_type=str, - ) - - robot_description = {"robot_description": robot_description_content} - - # RViZ - rviz_config_file = PathJoinSubstitution( - [FindPackageShare("flexiv_description"), "rviz", "view_rizon.rviz"] - ) - - rviz_node = Node( - package="rviz2", - executable="rviz2", - name="rviz2", - output="log", - arguments=["-d", rviz_config_file], - condition=IfCondition(start_rviz), - ) - - # Robot controllers - controller_file_name = PythonExpression( - [ - "'aico2_10_v1_controllers.yaml' if '", - external_axis_type, - "' == 'AICO2-10-V1' else ('aico2_4_v2_controllers.yaml' if '", - external_axis_type, - "' == 'AICO2-4-V2' else 'aico2_4_v1_controllers.yaml')", - ] - ) - robot_controllers = PathJoinSubstitution( - [ - FindPackageShare("flexiv_bringup"), - "config", - controller_file_name, - ] - ) - - # Controller Manager - ros2_control_node = Node( - package="controller_manager", - executable="ros2_control_node", - parameters=[ - robot_description, - ParameterFile(robot_controllers, allow_substs=True), - {"robot_sn_left": robot_sn_left}, - {"robot_sn_right": robot_sn_right}, - {"prefix_left": LaunchConfiguration("prefix_left")}, - {"prefix_right": LaunchConfiguration("prefix_right")}, - {"rdk_control_mode": rdk_control_mode}, - {"external_axis_prefix": external_axis_prefix}, - ], - remappings=[("joint_states", "flexiv_dual_arm/joint_states")], - output="both", - ) - - # Joint state publisher - joint_state_publisher_node = Node( - package="joint_state_publisher", - executable="joint_state_publisher", - name="joint_state_publisher", - parameters=[ - { - "source_list": [ - "flexiv_dual_arm/joint_states", - "left_gripper_node/gripper_joint_states", - "right_gripper_node/gripper_joint_states", - ], - "rate": 30, - } - ], - ) - - # Robot state publisher - robot_state_publisher_node = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - name="robot_state_publisher", - output="both", - parameters=[robot_description], - ) - - # Run joint state broadcaster - joint_state_broadcaster_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "joint_state_broadcaster", - "--controller-manager", - "/controller_manager", - ], - ) - - # Run left arm controller - left_rizon_arm_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "left_rizon_arm_controller", - "--controller-manager", - "/controller_manager", - ], - ) - - # Run right arm controller - right_rizon_arm_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "right_rizon_arm_controller", - "--controller-manager", - "/controller_manager", - ], - ) - - # Run Flexiv robot states broadcaster left - flexiv_robot_states_broadcaster_left_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=["flexiv_robot_states_broadcaster_left"], - condition=UnlessCondition(use_fake_hardware), - ) - - # Run Flexiv robot states broadcaster right - flexiv_robot_states_broadcaster_right_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=["flexiv_robot_states_broadcaster_right"], - condition=UnlessCondition(use_fake_hardware), - ) - - # Include gripper launch files - load_gripper_left_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [ - FindPackageShare("flexiv_gripper"), - "launch", - "flexiv_gripper.launch.py", - ] - ) - ), - launch_arguments={ - "gripper_node_name": "left_gripper_node", - "robot_sn": robot_sn_left, - "gripper_name": gripper_name_left, - "use_fake_hardware": use_fake_hardware, - }.items(), - condition=IfCondition(load_gripper_left), - ) - load_gripper_right_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [ - FindPackageShare("flexiv_gripper"), - "launch", - "flexiv_gripper.launch.py", - ] - ) - ), - launch_arguments={ - "gripper_node_name": "right_gripper_node", - "robot_sn": robot_sn_right, - "gripper_name": gripper_name_right, - "use_fake_hardware": use_fake_hardware, - }.items(), - condition=IfCondition(load_gripper_right), - ) - - # Run gpio controllers - gpio_controller_left_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "gpio_controller_left", - "--controller-manager", - "/controller_manager", - ], - condition=UnlessCondition(use_fake_hardware), - ) - gpio_controller_right_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "gpio_controller_right", - "--controller-manager", - "/controller_manager", - ], - condition=UnlessCondition(use_fake_hardware), - ) - - # Delay start of controllers after `joint_state_broadcaster` - delay_left_controller_after_jsb = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=joint_state_broadcaster_spawner, - on_exit=[left_rizon_arm_controller_spawner], - ) - ) - - # Delay right controller start after left controller - delay_right_controller_after_left_controller = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=left_rizon_arm_controller_spawner, - on_exit=[right_rizon_arm_controller_spawner], - ) - ) - - # Delay rviz start after right controller - delay_rviz_after_right_controller = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=right_rizon_arm_controller_spawner, - on_exit=[rviz_node], - ) - ) - - nodes = [ - set_prefix_left, - set_prefix_right, - ros2_control_node, - joint_state_publisher_node, - robot_state_publisher_node, - joint_state_broadcaster_spawner, - flexiv_robot_states_broadcaster_left_spawner, - flexiv_robot_states_broadcaster_right_spawner, - load_gripper_left_launch, - load_gripper_right_launch, - gpio_controller_left_spawner, - gpio_controller_right_spawner, - delay_left_controller_after_jsb, - delay_right_controller_after_left_controller, - delay_rviz_after_right_controller, - ] - - return LaunchDescription(declared_arguments + nodes) diff --git a/flexiv_bringup/launch/aico2_moveit.launch.py b/flexiv_bringup/launch/aico2_moveit.launch.py deleted file mode 100644 index 7af2b2c..0000000 --- a/flexiv_bringup/launch/aico2_moveit.launch.py +++ /dev/null @@ -1,687 +0,0 @@ -from ament_index_python.packages import get_package_share_directory -import os - -from launch import LaunchDescription -from launch.actions import ( - DeclareLaunchArgument, - IncludeLaunchDescription, - OpaqueFunction, - RegisterEventHandler, - SetLaunchConfiguration, -) -from launch.conditions import IfCondition, UnlessCondition -from launch.event_handlers import OnProcessExit -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch_ros.actions import Node -from launch_ros.parameter_descriptions import ParameterFile, ParameterValue -from launch_ros.substitutions import FindPackageShare -from launch.substitutions import ( - Command, - FindExecutable, - LaunchConfiguration, - PathJoinSubstitution, - PythonExpression, -) - - -def load_yaml(package_name, file_path, replacements=None): - package_path = get_package_share_directory(package_name) - absolute_file_path = os.path.join(package_path, file_path) - - try: - with open(absolute_file_path, "r") as file: - file_content = file.read() - if replacements: - for key, value in replacements.items(): - file_content = file_content.replace(key, value) - import yaml - - return yaml.safe_load(file_content) - except ( - EnvironmentError - ): # parent of IOError, OSError *and* WindowsError where available - return None - - -def launch_setup(context): - # Initialize Arguments - rizon_type = LaunchConfiguration("rizon_type") - robot_sn_left = LaunchConfiguration("robot_sn_left") - robot_sn_right = LaunchConfiguration("robot_sn_right") - - robot_sn_left_str = robot_sn_left.perform(context) - robot_sn_right_str = robot_sn_right.perform(context) - - rdk_control_mode = LaunchConfiguration("rdk_control_mode") - start_rviz = LaunchConfiguration("start_rviz") - use_fake_hardware = LaunchConfiguration("use_fake_hardware") - fake_sensor_commands = LaunchConfiguration("fake_sensor_commands") - - load_gripper_left = LaunchConfiguration("load_gripper_left") - gripper_name_left = LaunchConfiguration("gripper_name_left") - load_gripper_right = LaunchConfiguration("load_gripper_right") - gripper_name_right = LaunchConfiguration("gripper_name_right") - - load_mounted_ft_sensor_left = LaunchConfiguration("load_mounted_ft_sensor_left") - load_mounted_ft_sensor_right = LaunchConfiguration("load_mounted_ft_sensor_right") - - external_axis_type = LaunchConfiguration("external_axis_type") - external_axis_prefix = LaunchConfiguration("external_axis_prefix") - - warehouse_sqlite_path = LaunchConfiguration("warehouse_sqlite_path") - - external_axis_type_str = external_axis_type.perform(context) - external_axis_prefix_str = external_axis_prefix.perform(context) - - # Construct prefixes - prefix_left_str = "left_" + robot_sn_left_str + "_" - - prefix_right_str = "right_" + robot_sn_right_str + "_" - - set_prefix_left = SetLaunchConfiguration(name="prefix_left", value=prefix_left_str) - set_prefix_right = SetLaunchConfiguration( - name="prefix_right", value=prefix_right_str - ) - - # Get URDF via xacro - flexiv_urdf_xacro = PathJoinSubstitution( - [FindPackageShare("flexiv_description"), "urdf", "aico2.urdf.xacro"] - ) - - robot_description_content = ParameterValue( - Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - flexiv_urdf_xacro, - " ", - "rizon_type:=", - rizon_type, - " ", - "robot_sn_left:=", - robot_sn_left, - " ", - "robot_sn_right:=", - robot_sn_right, - " ", - "load_gripper_left:=", - load_gripper_left, - " ", - "gripper_name_left:=", - gripper_name_left, - " ", - "load_gripper_right:=", - load_gripper_right, - " ", - "gripper_name_right:=", - gripper_name_right, - " ", - "load_mounted_ft_sensor_left:=", - load_mounted_ft_sensor_left, - " ", - "load_mounted_ft_sensor_right:=", - load_mounted_ft_sensor_right, - " ", - "ros2_control:=true ", - "rdk_control_mode:=", - rdk_control_mode, - " ", - "use_fake_hardware:=", - use_fake_hardware, - " ", - "fake_sensor_commands:=", - fake_sensor_commands, - " ", - "external_axis_type:=", - PythonExpression( - ["'", external_axis_type, "'.lower().replace('-', '_')"] - ), - " ", - "external_axis_prefix:=", - external_axis_prefix, - ] - ), - value_type=str, - ) - - robot_description = {"robot_description": robot_description_content} - - # MoveIt configuration - flexiv_srdf_xacro = PathJoinSubstitution( - [FindPackageShare("flexiv_moveit_config"), "srdf", "aico2.srdf.xacro"] - ) - - robot_description_semantic_content = ParameterValue( - Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - flexiv_srdf_xacro, - " ", - "robot_sn_left:=", - robot_sn_left, - " ", - "robot_sn_right:=", - robot_sn_right, - " ", - "load_gripper_left:=", - load_gripper_left, - " ", - "load_gripper_right:=", - load_gripper_right, - " ", - "load_mounted_ft_sensor_left:=", - load_mounted_ft_sensor_left, - " ", - "load_mounted_ft_sensor_right:=", - load_mounted_ft_sensor_right, - " ", - "arm_prefix_left:=", - "left_", - " ", - "arm_prefix_right:=", - "right_", - " ", - "external_axis_type:=", - PythonExpression( - ["'", external_axis_type, "'.lower().replace('-', '_')"] - ), - " ", - "external_axis_prefix:=", - external_axis_prefix, - ] - ), - value_type=str, - ) - robot_description_semantic = { - "robot_description_semantic": robot_description_semantic_content - } - - publish_robot_description_semantic = {"publish_robot_description_semantic": True} - - # Trajectory Execution Configuration - replacements = { - "$(var prefix_left)": prefix_left_str, - "$(var prefix_right)": prefix_right_str, - "$(var external_axis_prefix)": external_axis_prefix_str, - } - - robot_description_kinematics_yaml = load_yaml( - "flexiv_moveit_config", "config/aico/aico2_kinematics.yaml", replacements - ) - robot_description_kinematics = { - "robot_description_kinematics": robot_description_kinematics_yaml - } - - # Planning Configuration - ompl_planning_pipeline_config = { - "move_group": { - "planning_plugin": "ompl_interface/OMPLPlanner", - "request_adapters": "default_planner_request_adapters/AddTimeOptimalParameterization " - "default_planner_request_adapters/ResolveConstraintFrames " - "default_planner_request_adapters/FixWorkspaceBounds " - "default_planner_request_adapters/FixStartStateBounds " - "default_planner_request_adapters/FixStartStateCollision " - "default_planner_request_adapters/FixStartStatePathConstraints", - "start_state_max_bounds_error": 0.1, - } - } - ompl_planning_yaml = load_yaml( - "flexiv_moveit_config", "config/aico/aico2_ompl_planning.yaml", replacements - ) - ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml) - - controllers_file = "config/aico/aico2_4_v1_moveit_controllers.yaml" - if external_axis_type_str == "AICO2-10-V1": - controllers_file = "config/aico/aico2_10_v1_moveit_controllers.yaml" - elif external_axis_type_str == "AICO2-4-V2": - controllers_file = "config/aico/aico2_4_v2_moveit_controllers.yaml" - - moveit_simple_controllers_yaml = load_yaml( - "flexiv_moveit_config", - controllers_file, - replacements, - ) - - moveit_controllers = { - "moveit_simple_controller_manager": moveit_simple_controllers_yaml, - "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager", - } - - trajectory_execution = { - "moveit_manage_controllers": False, - "trajectory_execution.allowed_execution_duration_scaling": 1.2, - "trajectory_execution.allowed_goal_duration_margin": 0.5, - "trajectory_execution.allowed_start_tolerance": 0.01, - } - - planning_scene_monitor_parameters = { - "publish_planning_scene": True, - "publish_geometry_updates": True, - "publish_state_updates": True, - "publish_transforms_updates": True, - } - - # Load for left arm - joint_limits_left = load_yaml( - "flexiv_moveit_config", - "config/joint_limits.yaml", - {"$(var robot_sn)": prefix_left_str.rstrip("_")}, - ) - joint_limits_right = load_yaml( - "flexiv_moveit_config", - "config/joint_limits.yaml", - {"$(var robot_sn)": prefix_right_str.rstrip("_")}, - ) - - # Load platform joint limits - external_axis_joint_limits = load_yaml( - "flexiv_moveit_config", - "config/aico/aico_joint_limits.yaml", - {"$(var external_axis_prefix)": external_axis_prefix_str}, - ) - - joint_limits_yaml = {"robot_description_planning": {"joint_limits": {}}} - - if joint_limits_left and "joint_limits" in joint_limits_left: - joint_limits_yaml["robot_description_planning"]["joint_limits"].update( - joint_limits_left["joint_limits"] - ) - - if joint_limits_right and "joint_limits" in joint_limits_right: - joint_limits_yaml["robot_description_planning"]["joint_limits"].update( - joint_limits_right["joint_limits"] - ) - - if external_axis_joint_limits and "joint_limits" in external_axis_joint_limits: - joint_limits_yaml["robot_description_planning"]["joint_limits"].update( - external_axis_joint_limits["joint_limits"] - ) - - warehouse_ros_config = { - "warehouse_plugin": "warehouse_ros_sqlite::DatabaseConnection", - "warehouse_host": warehouse_sqlite_path, - } - - # Start the actual move_group node/action server - move_group_node = Node( - package="moveit_ros_move_group", - executable="move_group", - output="screen", - parameters=[ - robot_description, - robot_description_semantic, - publish_robot_description_semantic, - robot_description_kinematics, - joint_limits_yaml, - ompl_planning_pipeline_config, - trajectory_execution, - moveit_controllers, - planning_scene_monitor_parameters, - warehouse_ros_config, - ], - ) - - # RViz with MoveIt configuration - rviz_config_file = PathJoinSubstitution( - [FindPackageShare("flexiv_moveit_config"), "rviz", "moveit.rviz"] - ) - - rviz_node = Node( - package="rviz2", - executable="rviz2", - name="rviz2_moveit", - output="log", - arguments=["-d", rviz_config_file], - parameters=[ - robot_description, - robot_description_semantic, - ompl_planning_pipeline_config, - robot_description_kinematics, - joint_limits_yaml, - warehouse_ros_config, - ], - condition=IfCondition(start_rviz), - ) - - # Publish TF - robot_state_publisher_node = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - name="robot_state_publisher", - output="both", - parameters=[robot_description], - ) - - # Robot controllers - ros2_controllers_file = "aico2_4_v1_controllers.yaml" - if external_axis_type_str == "AICO2-10-V1": - ros2_controllers_file = "aico2_10_v1_controllers.yaml" - elif external_axis_type_str == "AICO2-4-V2": - ros2_controllers_file = "aico2_4_v2_controllers.yaml" - robot_controllers = PathJoinSubstitution( - [FindPackageShare("flexiv_bringup"), "config", ros2_controllers_file] - ) - - # Run controller manager - ros2_control_node = Node( - package="controller_manager", - executable="ros2_control_node", - parameters=[ - robot_description, - ParameterFile(robot_controllers, allow_substs=True), - {"robot_sn_left": robot_sn_left}, - {"robot_sn_right": robot_sn_right}, - {"prefix_left": prefix_left_str}, - {"prefix_right": prefix_right_str}, - {"rdk_control_mode": rdk_control_mode}, - ], - remappings=[("joint_states", "flexiv_dual_arm/joint_states")], - output="both", - ) - - # Joint state publisher - joint_state_publisher_node = Node( - package="joint_state_publisher", - executable="joint_state_publisher", - name="joint_state_publisher", - parameters=[ - { - "source_list": [ - "flexiv_dual_arm/joint_states", - "left_gripper_node/gripper_joint_states", - "right_gripper_node/gripper_joint_states", - ], - "rate": 30, - } - ], - ) - - # Run robot controller - left_rizon_arm_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "left_rizon_arm_controller", - "--controller-manager", - "/controller_manager", - ], - ) - - right_rizon_arm_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "right_rizon_arm_controller", - "--controller-manager", - "/controller_manager", - ], - ) - - # Run joint state broadcaster - joint_state_broadcaster_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "joint_state_broadcaster", - "--controller-manager", - "/controller_manager", - ], - ) - - # Run Flexiv robot states broadcaster - flexiv_robot_states_broadcaster_left_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=["flexiv_robot_states_broadcaster_left"], - condition=UnlessCondition(use_fake_hardware), - ) - - flexiv_robot_states_broadcaster_right_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=["flexiv_robot_states_broadcaster_right"], - condition=UnlessCondition(use_fake_hardware), - ) - - load_gripper_left_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [ - FindPackageShare("flexiv_gripper"), - "launch", - "flexiv_gripper.launch.py", - ] - ) - ), - launch_arguments={ - "robot_sn": robot_sn_left, - "gripper_name": gripper_name_left, - "use_fake_hardware": use_fake_hardware, - "gripper_node_name": "left_gripper_node", - }.items(), - condition=IfCondition(load_gripper_left), - ) - - load_gripper_right_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [ - FindPackageShare("flexiv_gripper"), - "launch", - "flexiv_gripper.launch.py", - ] - ) - ), - launch_arguments={ - "robot_sn": robot_sn_right, - "gripper_name": gripper_name_right, - "use_fake_hardware": use_fake_hardware, - "gripper_node_name": "right_gripper_node", - }.items(), - condition=IfCondition(load_gripper_right), - ) - - # Run gpio controllers - gpio_controller_left_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "gpio_controller_left", - "--controller-manager", - "/controller_manager", - ], - condition=UnlessCondition(use_fake_hardware), - ) - gpio_controller_right_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "gpio_controller_right", - "--controller-manager", - "/controller_manager", - ], - condition=UnlessCondition(use_fake_hardware), - ) - - # Delay start of controllers after `joint_state_broadcaster` - delay_left_controller_after_jsb = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=joint_state_broadcaster_spawner, - on_exit=[left_rizon_arm_controller_spawner], - ) - ) - - # Delay right controller start after left controller - delay_right_controller_after_left_controller = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=left_rizon_arm_controller_spawner, - on_exit=[right_rizon_arm_controller_spawner], - ) - ) - - # Delay rviz start after right controller - delay_rviz_after_right_controller = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=right_rizon_arm_controller_spawner, - on_exit=[rviz_node], - ) - ) - - nodes = [ - set_prefix_left, - set_prefix_right, - move_group_node, - robot_state_publisher_node, - ros2_control_node, - joint_state_publisher_node, - joint_state_broadcaster_spawner, - flexiv_robot_states_broadcaster_left_spawner, - flexiv_robot_states_broadcaster_right_spawner, - load_gripper_left_launch, - load_gripper_right_launch, - gpio_controller_left_spawner, - gpio_controller_right_spawner, - delay_left_controller_after_jsb, - delay_right_controller_after_left_controller, - delay_rviz_after_right_controller, - ] - - return nodes - - -def generate_launch_description(): - declared_arguments = [] - - declared_arguments.append( - DeclareLaunchArgument( - "rizon_type", - default_value="Rizon4", - description="Type of the Flexiv Rizon robot.", - choices=["Rizon4", "Rizon10"], - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "robot_sn_left", - description="Serial number of the left robot.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "robot_sn_right", - description="Serial number of the right robot.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "rdk_control_mode", - default_value="joint_position", - description="RDK control mode for the ROS 2 control joint position and velocity interfaces.", - choices=["joint_position", "joint_impedance"], - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "start_rviz", - default_value="true", - description="Start RViz automatically with the launch file", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "use_fake_hardware", - default_value="false", - description="Start robot with fake hardware mirroring command to its states.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "fake_sensor_commands", - default_value="false", - description="Enable fake command interfaces for sensors used for simple simulations.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "load_gripper_left", - default_value="false", - description="Flag to load the Flexiv Grav gripper as the end-effector of the left robot.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "gripper_name_left", - default_value="Flexiv-GN01", - description="Full name of the left gripper to be controlled, can be found in Flexiv Elements -> Settings -> Device", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "load_gripper_right", - default_value="false", - description="Flag to load the Flexiv Grav gripper as the end-effector of the right robot.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "gripper_name_right", - default_value="Flexiv-GN01", - description="Full name of the right gripper to be controlled, can be found in Flexiv Elements -> Settings -> Device", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "load_mounted_ft_sensor_left", - default_value="false", - description="Flag to load the mounted force torque sensor for the left robot. Only available for Rizon4, Rizon4R and Rizon10.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "load_mounted_ft_sensor_right", - default_value="false", - description="Flag to load the mounted force torque sensor for the right robot. Only available for Rizon4, Rizon4R and Rizon10.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "external_axis_type", - default_value="AICO2-4-V1", - description="Type of the AICO2 platform.", - choices=["AICO2-4-V1", "AICO2-4-V2", "AICO2-10-V1"], - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "external_axis_prefix", - default_value="", - description="Prefix for the external axis links and joints.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "warehouse_sqlite_path", - default_value=os.path.expanduser("~/.ros/warehouse_ros.sqlite"), - description="Path to the warehouse database", - ) - ) - - return LaunchDescription( - declared_arguments + [OpaqueFunction(function=launch_setup)] - ) diff --git a/flexiv_bringup/launch/rizon.launch.py b/flexiv_bringup/launch/rizon.launch.py index 9103299..52b227d 100644 --- a/flexiv_bringup/launch/rizon.launch.py +++ b/flexiv_bringup/launch/rizon.launch.py @@ -146,7 +146,6 @@ def generate_launch_description(): "rizon_type:=", rizon_type, " ", - "ros2_control:=true ", "rdk_control_mode:=", rdk_control_mode, " ", @@ -200,7 +199,7 @@ def generate_launch_description(): {"robot_sn": robot_sn}, {"rdk_control_mode": rdk_control_mode}, ], - remappings=[("joint_states", "flexiv_rizon_arm/joint_states")], + remappings=[("joint_states", "flexiv_arm/joint_states")], output="both", ) @@ -212,7 +211,7 @@ def generate_launch_description(): parameters=[ { "source_list": [ - "flexiv_rizon_arm/joint_states", + "flexiv_arm/joint_states", "flexiv_gripper_node/gripper_joint_states", ], "rate": 30, diff --git a/flexiv_bringup/launch/rizon_dual.launch.py b/flexiv_bringup/launch/rizon_dual.launch.py deleted file mode 100644 index 899d28b..0000000 --- a/flexiv_bringup/launch/rizon_dual.launch.py +++ /dev/null @@ -1,457 +0,0 @@ -from launch import LaunchDescription -from launch.actions import ( - DeclareLaunchArgument, - IncludeLaunchDescription, - RegisterEventHandler, -) -from launch.conditions import IfCondition, UnlessCondition -from launch.event_handlers import OnProcessExit -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch_ros.actions import Node -from launch_ros.parameter_descriptions import ParameterFile, ParameterValue -from launch_ros.substitutions import FindPackageShare -from launch.substitutions import ( - Command, - FindExecutable, - LaunchConfiguration, - PathJoinSubstitution, - PythonExpression, -) - - -def generate_launch_description(): - rizon_type_left_param_name = "rizon_type_left" - rizon_type_right_param_name = "rizon_type_right" - robot_sn_left_param_name = "robot_sn_left" - robot_sn_right_param_name = "robot_sn_right" - rdk_control_mode_param_name = "rdk_control_mode" - start_rviz_param_name = "start_rviz" - use_fake_hardware_param_name = "use_fake_hardware" - fake_sensor_commands_param_name = "fake_sensor_commands" - load_gripper_left_param_name = "load_gripper_left" - gripper_name_left_param_name = "gripper_name_left" - load_gripper_right_param_name = "load_gripper_right" - gripper_name_right_param_name = "gripper_name_right" - load_mounted_ft_sensor_left_param_name = "load_mounted_ft_sensor_left" - load_mounted_ft_sensor_right_param_name = "load_mounted_ft_sensor_right" - - # Declare arguments - declared_arguments = [] - - declared_arguments.append( - DeclareLaunchArgument( - rizon_type_left_param_name, - description="Type of the left Flexiv Rizon robot.", - default_value="Rizon4", - choices=["Rizon4", "Rizon4M", "Rizon4R", "Rizon4s", "Rizon10", "Rizon10s"], - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - rizon_type_right_param_name, - description="Type of the right Flexiv Rizon robot.", - default_value="Rizon4R", - choices=["Rizon4", "Rizon4M", "Rizon4R", "Rizon4s", "Rizon10", "Rizon10s"], - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - robot_sn_left_param_name, - description="Serial number of the left robot.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - robot_sn_right_param_name, - description="Serial number of the right robot.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - rdk_control_mode_param_name, - default_value="joint_position", - description="RDK control mode for the ROS 2 control joint position and velocity interfaces.", - choices=["joint_position", "joint_impedance"], - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - start_rviz_param_name, - default_value="true", - description="Start RViz automatically with the launch file", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - use_fake_hardware_param_name, - default_value="false", - description="Start robot with fake hardware mirroring command to its states.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - fake_sensor_commands_param_name, - default_value="false", - description="Enable fake command interfaces for sensors used for simple simulations.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - load_gripper_left_param_name, - default_value="false", - description="Flag to load the Flexiv Grav gripper as the end-effector of the left robot.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - gripper_name_left_param_name, - default_value="Flexiv-GN01", - description="Full name of the left gripper to be controlled, can be found in Flexiv Elements -> Settings -> Device", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - load_gripper_right_param_name, - default_value="false", - description="Flag to load the Flexiv Grav gripper as the end-effector of the right robot.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - gripper_name_right_param_name, - default_value="Flexiv-GN01", - description="Full name of the right gripper to be controlled, can be found in Flexiv Elements -> Settings -> Device", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - load_mounted_ft_sensor_left_param_name, - default_value="false", - description="Flag to load the mounted force torque sensor for the left robot. Only available for Rizon4, Rizon4R and Rizon10.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - load_mounted_ft_sensor_right_param_name, - default_value="false", - description="Flag to load the mounted force torque sensor for the right robot. Only available for Rizon4, Rizon4R and Rizon10.", - ) - ) - - # Initialize Arguments - rizon_type_left = LaunchConfiguration(rizon_type_left_param_name) - rizon_type_right = LaunchConfiguration(rizon_type_right_param_name) - robot_sn_left = LaunchConfiguration(robot_sn_left_param_name) - robot_sn_right = LaunchConfiguration(robot_sn_right_param_name) - rdk_control_mode = LaunchConfiguration(rdk_control_mode_param_name) - start_rviz = LaunchConfiguration(start_rviz_param_name) - use_fake_hardware = LaunchConfiguration(use_fake_hardware_param_name) - fake_sensor_commands = LaunchConfiguration(fake_sensor_commands_param_name) - load_gripper_left = LaunchConfiguration(load_gripper_left_param_name) - gripper_name_left = LaunchConfiguration(gripper_name_left_param_name) - load_gripper_right = LaunchConfiguration(load_gripper_right_param_name) - gripper_name_right = LaunchConfiguration(gripper_name_right_param_name) - load_mounted_ft_sensor_left = LaunchConfiguration( - load_mounted_ft_sensor_left_param_name - ) - load_mounted_ft_sensor_right = LaunchConfiguration( - load_mounted_ft_sensor_right_param_name - ) - - # Construct prefixes - from launch.actions import SetLaunchConfiguration - - set_prefix_left = SetLaunchConfiguration( - name="prefix_left", - value=PythonExpression(["'left_' + '", robot_sn_left, "' + '_'"]), - ) - set_prefix_right = SetLaunchConfiguration( - name="prefix_right", - value=PythonExpression(["'right_' + '", robot_sn_right, "' + '_'"]), - ) - - # Get URDF via xacro - flexiv_urdf_xacro = PathJoinSubstitution( - [FindPackageShare("flexiv_description"), "urdf", "rizon_dual.urdf.xacro"] - ) - - robot_description_content = ParameterValue( - Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - flexiv_urdf_xacro, - " ", - "robot_sn_left:=", - robot_sn_left, - " ", - "robot_sn_right:=", - robot_sn_right, - " ", - "rizon_type_left:=", - rizon_type_left, - " ", - "rizon_type_right:=", - rizon_type_right, - " ", - "load_gripper_left:=", - load_gripper_left, - " ", - "gripper_name_left:=", - gripper_name_left, - " ", - "load_gripper_right:=", - load_gripper_right, - " ", - "gripper_name_right:=", - gripper_name_right, - " ", - "load_mounted_ft_sensor_left:=", - load_mounted_ft_sensor_left, - " ", - "load_mounted_ft_sensor_right:=", - load_mounted_ft_sensor_right, - " ", - "ros2_control:=true ", - "rdk_control_mode:=", - rdk_control_mode, - " ", - "use_fake_hardware:=", - use_fake_hardware, - " ", - "fake_sensor_commands:=", - fake_sensor_commands, - ] - ), - value_type=str, - ) - - robot_description = {"robot_description": robot_description_content} - - # RViZ - rviz_config_file = PathJoinSubstitution( - [FindPackageShare("flexiv_description"), "rviz", "view_rizon.rviz"] - ) - - rviz_node = Node( - package="rviz2", - executable="rviz2", - name="rviz2", - output="log", - arguments=["-d", rviz_config_file], - condition=IfCondition(start_rviz), - ) - - # Robot controllers - robot_controllers = PathJoinSubstitution( - [FindPackageShare("flexiv_bringup"), "config", "rizon_dual_controllers.yaml"] - ) - - # Controller Manager - ros2_control_node = Node( - package="controller_manager", - executable="ros2_control_node", - parameters=[ - robot_description, - ParameterFile(robot_controllers, allow_substs=True), - {"robot_sn_left": robot_sn_left}, - {"robot_sn_right": robot_sn_right}, - {"prefix_left": LaunchConfiguration("prefix_left")}, - {"prefix_right": LaunchConfiguration("prefix_right")}, - {"rdk_control_mode": rdk_control_mode}, - ], - remappings=[("joint_states", "flexiv_dual_arm/joint_states")], - output="both", - ) - - # Joint state publisher - joint_state_publisher_node = Node( - package="joint_state_publisher", - executable="joint_state_publisher", - name="joint_state_publisher", - parameters=[ - { - "source_list": [ - "flexiv_dual_arm/joint_states", - "left_gripper_node/gripper_joint_states", - "right_gripper_node/gripper_joint_states", - ], - "rate": 30, - } - ], - ) - - # Robot state publisher - robot_state_publisher_node = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - name="robot_state_publisher", - output="both", - parameters=[robot_description], - ) - - # Run joint state broadcaster - joint_state_broadcaster_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "joint_state_broadcaster", - "--controller-manager", - "/controller_manager", - ], - ) - - # Run left arm controller - left_rizon_arm_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "left_rizon_arm_controller", - "--controller-manager", - "/controller_manager", - ], - ) - - # Run right arm controller - right_rizon_arm_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "right_rizon_arm_controller", - "--controller-manager", - "/controller_manager", - ], - ) - - # Run Flexiv robot states broadcaster left - flexiv_robot_states_broadcaster_left_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=["flexiv_robot_states_broadcaster_left"], - condition=UnlessCondition(use_fake_hardware), - ) - - # Run Flexiv robot states broadcaster right - flexiv_robot_states_broadcaster_right_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=["flexiv_robot_states_broadcaster_right"], - condition=UnlessCondition(use_fake_hardware), - ) - - # Include gripper launch files - load_gripper_left_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [ - FindPackageShare("flexiv_gripper"), - "launch", - "flexiv_gripper.launch.py", - ] - ) - ), - launch_arguments={ - "gripper_node_name": "left_gripper_node", - "robot_sn": robot_sn_left, - "gripper_name": gripper_name_left, - "use_fake_hardware": use_fake_hardware, - }.items(), - condition=IfCondition(load_gripper_left), - ) - load_gripper_right_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [ - FindPackageShare("flexiv_gripper"), - "launch", - "flexiv_gripper.launch.py", - ] - ) - ), - launch_arguments={ - "gripper_node_name": "right_gripper_node", - "robot_sn": robot_sn_right, - "gripper_name": gripper_name_right, - "use_fake_hardware": use_fake_hardware, - }.items(), - condition=IfCondition(load_gripper_right), - ) - - # Run gpio controllers - gpio_controller_left_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "gpio_controller_left", - "--controller-manager", - "/controller_manager", - ], - condition=UnlessCondition(use_fake_hardware), - ) - gpio_controller_right_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "gpio_controller_right", - "--controller-manager", - "/controller_manager", - ], - condition=UnlessCondition(use_fake_hardware), - ) - - # Delay start of controllers after `joint_state_broadcaster` - delay_left_controller_after_jsb = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=joint_state_broadcaster_spawner, - on_exit=[left_rizon_arm_controller_spawner], - ) - ) - - # Delay right controller start after left controller - delay_right_controller_after_left_controller = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=left_rizon_arm_controller_spawner, - on_exit=[right_rizon_arm_controller_spawner], - ) - ) - - # Delay rviz start after right controller - delay_rviz_after_right_controller = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=right_rizon_arm_controller_spawner, - on_exit=[rviz_node], - ) - ) - - nodes = [ - set_prefix_left, - set_prefix_right, - ros2_control_node, - joint_state_publisher_node, - robot_state_publisher_node, - joint_state_broadcaster_spawner, - flexiv_robot_states_broadcaster_left_spawner, - flexiv_robot_states_broadcaster_right_spawner, - load_gripper_left_launch, - load_gripper_right_launch, - gpio_controller_left_spawner, - gpio_controller_right_spawner, - delay_left_controller_after_jsb, - delay_right_controller_after_left_controller, - delay_rviz_after_right_controller, - ] - - return LaunchDescription(declared_arguments + nodes) diff --git a/flexiv_bringup/launch/rizon_dual_moveit.launch.py b/flexiv_bringup/launch/rizon_dual_moveit.launch.py deleted file mode 100644 index 0b85662..0000000 --- a/flexiv_bringup/launch/rizon_dual_moveit.launch.py +++ /dev/null @@ -1,636 +0,0 @@ -import os -import yaml -from ament_index_python.packages import get_package_share_directory - -from launch import LaunchDescription -from launch.actions import ( - DeclareLaunchArgument, - IncludeLaunchDescription, - OpaqueFunction, - RegisterEventHandler, - SetLaunchConfiguration, -) -from launch.conditions import IfCondition, UnlessCondition -from launch.event_handlers import OnProcessExit -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch_ros.actions import Node -from launch_ros.parameter_descriptions import ParameterFile, ParameterValue -from launch_ros.substitutions import FindPackageShare -from launch.substitutions import ( - Command, - FindExecutable, - LaunchConfiguration, - PathJoinSubstitution, -) - - -def load_yaml(package_name, file_path, replacements=None): - package_path = get_package_share_directory(package_name) - absolute_file_path = os.path.join(package_path, file_path) - - try: - with open(absolute_file_path, "r") as file: - yaml_content = file.read() - - if replacements: - for key, value in replacements.items(): - yaml_content = yaml_content.replace(key, value) - - return yaml.safe_load(yaml_content) - except ( - EnvironmentError - ): # parent of IOError, OSError *and* WindowsError where available - return None - - -def launch_setup(context): - # Initialize Arguments - rizon_type_left = LaunchConfiguration("rizon_type_left") - rizon_type_right = LaunchConfiguration("rizon_type_right") - robot_sn_left = LaunchConfiguration("robot_sn_left") - robot_sn_right = LaunchConfiguration("robot_sn_right") - - robot_sn_left_str = robot_sn_left.perform(context) - robot_sn_right_str = robot_sn_right.perform(context) - - rdk_control_mode = LaunchConfiguration("rdk_control_mode") - start_rviz = LaunchConfiguration("start_rviz") - use_fake_hardware = LaunchConfiguration("use_fake_hardware") - fake_sensor_commands = LaunchConfiguration("fake_sensor_commands") - - load_gripper_left = LaunchConfiguration("load_gripper_left") - gripper_name_left = LaunchConfiguration("gripper_name_left") - load_gripper_right = LaunchConfiguration("load_gripper_right") - gripper_name_right = LaunchConfiguration("gripper_name_right") - - load_mounted_ft_sensor_left = LaunchConfiguration("load_mounted_ft_sensor_left") - load_mounted_ft_sensor_right = LaunchConfiguration("load_mounted_ft_sensor_right") - - warehouse_sqlite_path = LaunchConfiguration("warehouse_sqlite_path") - - # Construct prefixes - prefix_left_str = "left_" + robot_sn_left_str + "_" - prefix_right_str = "right_" + robot_sn_right_str + "_" - - set_prefix_left = SetLaunchConfiguration(name="prefix_left", value=prefix_left_str) - set_prefix_right = SetLaunchConfiguration( - name="prefix_right", value=prefix_right_str - ) - - # Get URDF via xacro - flexiv_urdf_xacro = PathJoinSubstitution( - [FindPackageShare("flexiv_description"), "urdf", "rizon_dual.urdf.xacro"] - ) - - robot_description_content = ParameterValue( - Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - flexiv_urdf_xacro, - " ", - "robot_sn_left:=", - robot_sn_left, - " ", - "robot_sn_right:=", - robot_sn_right, - " ", - "rizon_type_left:=", - rizon_type_left, - " ", - "rizon_type_right:=", - rizon_type_right, - " ", - "load_gripper_left:=", - load_gripper_left, - " ", - "gripper_name_left:=", - gripper_name_left, - " ", - "load_gripper_right:=", - load_gripper_right, - " ", - "gripper_name_right:=", - gripper_name_right, - " ", - "load_mounted_ft_sensor_left:=", - load_mounted_ft_sensor_left, - " ", - "load_mounted_ft_sensor_right:=", - load_mounted_ft_sensor_right, - " ", - "ros2_control:=true ", - "rdk_control_mode:=", - rdk_control_mode, - " ", - "use_fake_hardware:=", - use_fake_hardware, - " ", - "fake_sensor_commands:=", - fake_sensor_commands, - ] - ), - value_type=str, - ) - - robot_description = {"robot_description": robot_description_content} - - # MoveIt configuration - flexiv_srdf_xacro = PathJoinSubstitution( - [FindPackageShare("flexiv_moveit_config"), "srdf", "rizon_dual.srdf.xacro"] - ) - - robot_description_semantic_content = ParameterValue( - Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - flexiv_srdf_xacro, - " ", - "robot_sn_left:=", - robot_sn_left, - " ", - "robot_sn_right:=", - robot_sn_right, - " ", - "load_gripper_left:=", - load_gripper_left, - " ", - "load_gripper_right:=", - load_gripper_right, - " ", - "load_mounted_ft_sensor_left:=", - load_mounted_ft_sensor_left, - " ", - "load_mounted_ft_sensor_right:=", - load_mounted_ft_sensor_right, - " ", - "prefix_left:=", - "left_", - " ", - "prefix_right:=", - "right_", - ] - ), - value_type=str, - ) - robot_description_semantic = { - "robot_description_semantic": robot_description_semantic_content - } - - publish_robot_description_semantic = {"publish_robot_description_semantic": True} - - # Trajectory Execution Configuration - replacements = { - "$(var prefix_left)": prefix_left_str, - "$(var prefix_right)": prefix_right_str, - } - - robot_description_kinematics_yaml = load_yaml( - "flexiv_moveit_config", "config/dual_arm/kinematics_dual.yaml", replacements - ) - robot_description_kinematics = { - "robot_description_kinematics": robot_description_kinematics_yaml - } - - # Planning Configuration - ompl_planning_pipeline_config = { - "move_group": { - "planning_plugin": "ompl_interface/OMPLPlanner", - "request_adapters": "default_planner_request_adapters/AddTimeOptimalParameterization " - "default_planner_request_adapters/ResolveConstraintFrames " - "default_planner_request_adapters/FixWorkspaceBounds " - "default_planner_request_adapters/FixStartStateBounds " - "default_planner_request_adapters/FixStartStateCollision " - "default_planner_request_adapters/FixStartStatePathConstraints", - "start_state_max_bounds_error": 0.1, - } - } - ompl_planning_yaml = load_yaml( - "flexiv_moveit_config", "config/dual_arm/ompl_planning_dual.yaml", replacements - ) - ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml) - - moveit_simple_controllers_yaml = load_yaml( - "flexiv_moveit_config", - "config/dual_arm/moveit_controllers_dual.yaml", - replacements, - ) - - moveit_controllers = { - "moveit_simple_controller_manager": moveit_simple_controllers_yaml, - "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager", - } - - trajectory_execution = { - "moveit_manage_controllers": False, - "trajectory_execution.allowed_execution_duration_scaling": 1.2, - "trajectory_execution.allowed_goal_duration_margin": 0.5, - "trajectory_execution.allowed_start_tolerance": 0.01, - } - - planning_scene_monitor_parameters = { - "publish_planning_scene": True, - "publish_geometry_updates": True, - "publish_state_updates": True, - "publish_transforms_updates": True, - } - - # Load for left arm - joint_limits_left = load_yaml( - "flexiv_moveit_config", - "config/joint_limits.yaml", - {"$(var robot_sn)": prefix_left_str.rstrip("_")}, - ) - joint_limits_right = load_yaml( - "flexiv_moveit_config", - "config/joint_limits.yaml", - {"$(var robot_sn)": prefix_right_str.rstrip("_")}, - ) - - joint_limits_yaml = {"robot_description_planning": {"joint_limits": {}}} - - if joint_limits_left and "joint_limits" in joint_limits_left: - joint_limits_yaml["robot_description_planning"]["joint_limits"].update( - joint_limits_left["joint_limits"] - ) - - if joint_limits_right and "joint_limits" in joint_limits_right: - joint_limits_yaml["robot_description_planning"]["joint_limits"].update( - joint_limits_right["joint_limits"] - ) - - warehouse_ros_config = { - "warehouse_plugin": "warehouse_ros_sqlite::DatabaseConnection", - "warehouse_host": warehouse_sqlite_path, - } - - # Start the actual move_group node/action server - move_group_node = Node( - package="moveit_ros_move_group", - executable="move_group", - output="screen", - parameters=[ - robot_description, - robot_description_semantic, - publish_robot_description_semantic, - robot_description_kinematics, - joint_limits_yaml, - ompl_planning_pipeline_config, - trajectory_execution, - moveit_controllers, - planning_scene_monitor_parameters, - warehouse_ros_config, - ], - ) - - # RViz with MoveIt configuration - rviz_config_file = PathJoinSubstitution( - [FindPackageShare("flexiv_moveit_config"), "rviz", "moveit.rviz"] - ) - - rviz_node = Node( - package="rviz2", - executable="rviz2", - name="rviz2_moveit", - output="log", - arguments=["-d", rviz_config_file], - parameters=[ - robot_description, - robot_description_semantic, - ompl_planning_pipeline_config, - robot_description_kinematics, - joint_limits_yaml, - warehouse_ros_config, - ], - condition=IfCondition(start_rviz), - ) - - # Publish TF - robot_state_publisher_node = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - name="robot_state_publisher", - output="both", - parameters=[robot_description], - ) - - # Robot controllers - robot_controllers = PathJoinSubstitution( - [FindPackageShare("flexiv_bringup"), "config", "rizon_dual_controllers.yaml"] - ) - - # Run controller manager - ros2_control_node = Node( - package="controller_manager", - executable="ros2_control_node", - parameters=[ - robot_description, - ParameterFile(robot_controllers, allow_substs=True), - {"robot_sn_left": robot_sn_left}, - {"robot_sn_right": robot_sn_right}, - {"prefix_left": prefix_left_str}, - {"prefix_right": prefix_right_str}, - {"rdk_control_mode": rdk_control_mode}, - ], - remappings=[("joint_states", "flexiv_dual_arm/joint_states")], - output="both", - ) - - # Joint state publisher - joint_state_publisher_node = Node( - package="joint_state_publisher", - executable="joint_state_publisher", - name="joint_state_publisher", - parameters=[ - { - "source_list": [ - "flexiv_dual_arm/joint_states", - "left_gripper_node/gripper_joint_states", - "right_gripper_node/gripper_joint_states", - ], - "rate": 30, - } - ], - ) - - # Run robot controller - left_rizon_arm_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "left_rizon_arm_controller", - "--controller-manager", - "/controller_manager", - ], - ) - - right_rizon_arm_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "right_rizon_arm_controller", - "--controller-manager", - "/controller_manager", - ], - ) - - # Run joint state broadcaster - joint_state_broadcaster_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "joint_state_broadcaster", - "--controller-manager", - "/controller_manager", - ], - ) - - # Run Flexiv robot states broadcaster - flexiv_robot_states_broadcaster_left_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=["flexiv_robot_states_broadcaster_left"], - condition=UnlessCondition(use_fake_hardware), - ) - - flexiv_robot_states_broadcaster_right_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=["flexiv_robot_states_broadcaster_right"], - condition=UnlessCondition(use_fake_hardware), - ) - - load_gripper_left_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [ - FindPackageShare("flexiv_gripper"), - "launch", - "flexiv_gripper.launch.py", - ] - ) - ), - launch_arguments={ - "robot_sn": robot_sn_left, - "gripper_name": gripper_name_left, - "use_fake_hardware": use_fake_hardware, - "gripper_node_name": "left_gripper_node", - }.items(), - condition=IfCondition(load_gripper_left), - ) - - load_gripper_right_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution( - [ - FindPackageShare("flexiv_gripper"), - "launch", - "flexiv_gripper.launch.py", - ] - ) - ), - launch_arguments={ - "robot_sn": robot_sn_right, - "gripper_name": gripper_name_right, - "use_fake_hardware": use_fake_hardware, - "gripper_node_name": "right_gripper_node", - }.items(), - condition=IfCondition(load_gripper_right), - ) - - # Run gpio controllers - gpio_controller_left_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "gpio_controller_left", - "--controller-manager", - "/controller_manager", - ], - condition=UnlessCondition(use_fake_hardware), - ) - gpio_controller_right_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "gpio_controller_right", - "--controller-manager", - "/controller_manager", - ], - condition=UnlessCondition(use_fake_hardware), - ) - - # Delay start of controllers after `joint_state_broadcaster` - delay_left_controller_after_jsb = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=joint_state_broadcaster_spawner, - on_exit=[left_rizon_arm_controller_spawner], - ) - ) - - # Delay right controller start after left controller - delay_right_controller_after_left_controller = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=left_rizon_arm_controller_spawner, - on_exit=[right_rizon_arm_controller_spawner], - ) - ) - - # Delay rviz start after right controller - delay_rviz_after_right_controller = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=right_rizon_arm_controller_spawner, - on_exit=[rviz_node], - ) - ) - - nodes = [ - set_prefix_left, - set_prefix_right, - move_group_node, - robot_state_publisher_node, - ros2_control_node, - joint_state_publisher_node, - joint_state_broadcaster_spawner, - flexiv_robot_states_broadcaster_left_spawner, - flexiv_robot_states_broadcaster_right_spawner, - load_gripper_left_launch, - load_gripper_right_launch, - gpio_controller_left_spawner, - gpio_controller_right_spawner, - delay_left_controller_after_jsb, - delay_right_controller_after_left_controller, - delay_rviz_after_right_controller, - ] - - return nodes - - -def generate_launch_description(): - declared_arguments = [] - - declared_arguments.append( - DeclareLaunchArgument( - "rizon_type_left", - description="Type of the left Flexiv Rizon robot.", - default_value="Rizon4", - choices=["Rizon4", "Rizon4M", "Rizon4R", "Rizon4s", "Rizon10", "Rizon10s"], - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "rizon_type_right", - description="Type of the right Flexiv Rizon robot.", - default_value="Rizon4R", - choices=["Rizon4", "Rizon4M", "Rizon4R", "Rizon4s", "Rizon10", "Rizon10s"], - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "robot_sn_left", - description="Serial number of the left robot.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "robot_sn_right", - description="Serial number of the right robot.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "rdk_control_mode", - default_value="joint_position", - description="RDK control mode for the ROS 2 control joint position and velocity interfaces.", - choices=["joint_position", "joint_impedance"], - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "start_rviz", - default_value="true", - description="Start RViz automatically with the launch file", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "use_fake_hardware", - default_value="false", - description="Start robot with fake hardware mirroring command to its states.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "fake_sensor_commands", - default_value="false", - description="Enable fake command interfaces for sensors used for simple simulations.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "load_gripper_left", - default_value="false", - description="Flag to load the Flexiv Grav gripper as the end-effector of the left robot.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "gripper_name_left", - default_value="Flexiv-GN01", - description="Full name of the left gripper to be controlled, can be found in Flexiv Elements -> Settings -> Device", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "load_gripper_right", - default_value="false", - description="Flag to load the Flexiv Grav gripper as the end-effector of the right robot.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "gripper_name_right", - default_value="Flexiv-GN01", - description="Full name of the right gripper to be controlled, can be found in Flexiv Elements -> Settings -> Device", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "load_mounted_ft_sensor_left", - default_value="false", - description="Flag to load the mounted force torque sensor for the left robot. Only available for Rizon4, Rizon4R and Rizon10.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "load_mounted_ft_sensor_right", - default_value="false", - description="Flag to load the mounted force torque sensor for the right robot. Only available for Rizon4, Rizon4R and Rizon10.", - ) - ) - - declared_arguments.append( - DeclareLaunchArgument( - "warehouse_sqlite_path", - default_value=os.path.expanduser("~/.ros/warehouse_ros.sqlite"), - description="Path to the warehouse database", - ) - ) - - return LaunchDescription( - declared_arguments + [OpaqueFunction(function=launch_setup)] - ) diff --git a/flexiv_bringup/launch/rizon_moveit.launch.py b/flexiv_bringup/launch/rizon_moveit.launch.py index d0706f6..fd5cd30 100644 --- a/flexiv_bringup/launch/rizon_moveit.launch.py +++ b/flexiv_bringup/launch/rizon_moveit.launch.py @@ -76,7 +76,6 @@ def launch_setup(context): "rizon_type:=", rizon_type, " ", - "ros2_control:=true ", "rdk_control_mode:=", rdk_control_mode, " ", @@ -253,7 +252,7 @@ def launch_setup(context): {"robot_sn": robot_sn}, {"rdk_control_mode": rdk_control_mode}, ], - remappings=[("joint_states", "flexiv_rizon_arm/joint_states")], + remappings=[("joint_states", "flexiv_arm/joint_states")], output="both", ) @@ -265,7 +264,7 @@ def launch_setup(context): parameters=[ { "source_list": [ - "flexiv_rizon_arm/joint_states", + "flexiv_arm/joint_states", "flexiv_gripper_node/gripper_joint_states", ], "rate": 30, diff --git a/flexiv_controllers/flexiv_robot_states_broadcaster/CMakeLists.txt b/flexiv_controllers/flexiv_robot_states_broadcaster/CMakeLists.txt index 759d66d..a29d05f 100644 --- a/flexiv_controllers/flexiv_robot_states_broadcaster/CMakeLists.txt +++ b/flexiv_controllers/flexiv_robot_states_broadcaster/CMakeLists.txt @@ -22,7 +22,6 @@ find_package(pluginlib REQUIRED) find_package(rclcpp REQUIRED) find_package(rclcpp_lifecycle REQUIRED) find_package(realtime_tools REQUIRED) -find_package(flexiv_rdk REQUIRED) set(THIS_PACKAGE_INCLUDE_DEPENDS builtin_interfaces @@ -49,11 +48,11 @@ add_library(flexiv_robot_states_broadcaster target_include_directories(flexiv_robot_states_broadcaster PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include + ${CMAKE_CURRENT_SOURCE_DIR}/../../flexiv_hardware/rdk/include ) target_link_libraries(flexiv_robot_states_broadcaster PUBLIC flexiv_robot_states_broadcaster_parameters - flexiv::flexiv_rdk ) ament_target_dependencies(flexiv_robot_states_broadcaster PUBLIC diff --git a/flexiv_controllers/flexiv_robot_states_broadcaster/include/flexiv_robot_states_broadcaster/flexiv_robot_states.hpp b/flexiv_controllers/flexiv_robot_states_broadcaster/include/flexiv_robot_states_broadcaster/flexiv_robot_states.hpp index f58d523..bc2030a 100644 --- a/flexiv_controllers/flexiv_robot_states_broadcaster/include/flexiv_robot_states_broadcaster/flexiv_robot_states.hpp +++ b/flexiv_controllers/flexiv_robot_states_broadcaster/include/flexiv_robot_states_broadcaster/flexiv_robot_states.hpp @@ -109,16 +109,16 @@ class FlexivRobotStates : public SemanticComponentInterfacetimestamp.first; message.robot_timestamp.nanosec = flexiv_robot_states_ptr->timestamp.second; - message.q = flexiv_robot_states_ptr->q; - message.theta = flexiv_robot_states_ptr->theta; - message.dq = flexiv_robot_states_ptr->dq; - message.dtheta = flexiv_robot_states_ptr->dtheta; - message.tau = flexiv_robot_states_ptr->tau; - message.tau_des = flexiv_robot_states_ptr->tau_des; - message.tau_dot = flexiv_robot_states_ptr->tau_dot; - message.tau_ext = flexiv_robot_states_ptr->tau_ext; - message.tau_interact = flexiv_robot_states_ptr->tau_interact; - message.temperature = flexiv_robot_states_ptr->temperature; + message.q = toJointStateMsg(flexiv_robot_states_ptr->q); + message.theta = toJointStateMsg(flexiv_robot_states_ptr->theta); + message.dq = toJointStateMsg(flexiv_robot_states_ptr->dq); + message.dtheta = toJointStateMsg(flexiv_robot_states_ptr->dtheta); + message.tau = toJointStateMsg(flexiv_robot_states_ptr->tau); + message.tau_des = toJointStateMsg(flexiv_robot_states_ptr->tau_des); + message.tau_dot = toJointStateMsg(flexiv_robot_states_ptr->tau_dot); + message.tau_ext = toJointStateMsg(flexiv_robot_states_ptr->tau_ext); + message.tau_interact = toJointStateMsg(flexiv_robot_states_ptr->tau_interact); + message.temperature = toJointStateMsg(flexiv_robot_states_ptr->temperature); message.tcp_pose.pose = toPoseMsg(flexiv_robot_states_ptr->tcp_pose); message.tcp_vel.accel = toAccelMsg(flexiv_robot_states_ptr->tcp_vel); @@ -140,6 +140,16 @@ class FlexivRobotStates : public SemanticComponentInterface toJointStateMsg(const std::vector& joint_values) + { + std::array joint_state_msg; + for (size_t i = 0; i < joint_values.size(); ++i) { + joint_state_msg[i] = joint_values[i]; + } + return joint_state_msg; + } + // Convert std::array to geometry_msgs::msg::Pose geometry_msgs::msg::Pose toPoseMsg( const std::array& pose_values) diff --git a/flexiv_description/CMakeLists.txt b/flexiv_description/CMakeLists.txt new file mode 100644 index 0000000..6bb63cc --- /dev/null +++ b/flexiv_description/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 3.5) +project(flexiv_description) + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY launch meshes rviz urdf + DESTINATION share/${PROJECT_NAME}/ +) + +ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) + +ament_package() diff --git a/flexiv_description/launch/view_rizon.launch.py b/flexiv_description/launch/view_rizon.launch.py new file mode 100644 index 0000000..791f379 --- /dev/null +++ b/flexiv_description/launch/view_rizon.launch.py @@ -0,0 +1,134 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition, UnlessCondition +from launch_ros.parameter_descriptions import ParameterValue +from launch.substitutions import ( + Command, + FindExecutable, + LaunchConfiguration, + PathJoinSubstitution, +) +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + pkg_share = FindPackageShare("flexiv_description") + robot_sn = LaunchConfiguration("robot_sn") + rizon_type = LaunchConfiguration("rizon_type") + load_gripper = LaunchConfiguration("load_gripper") + gripper_name = LaunchConfiguration("gripper_name") + load_mounted_ft_sensor = LaunchConfiguration("load_mounted_ft_sensor") + default_rviz_config_path = PathJoinSubstitution( + [pkg_share, "rviz", "view_rizon.rviz"] + ) + robot_description_content = ParameterValue( + Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [FindPackageShare("flexiv_description"), "urdf", "rizon.urdf.xacro"] + ), + " ", + "robot_sn:=", + robot_sn, + " ", + "rizon_type:=", + rizon_type, + " ", + "load_gripper:=", + load_gripper, + " ", + "gripper_name:=", + gripper_name, + " ", + "load_mounted_ft_sensor:=", + load_mounted_ft_sensor, + ] + ), + value_type=str, + ) + + # Robot state publisher + robot_state_publisher_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher", + output="screen", + parameters=[{"robot_description": robot_description_content}], + ) + + joint_state_publisher_node = Node( + package="joint_state_publisher", + executable="joint_state_publisher", + name="joint_state_publisher", + condition=UnlessCondition(LaunchConfiguration("gui")), + ) + + joint_state_publisher_gui_node = Node( + package="joint_state_publisher_gui", + executable="joint_state_publisher_gui", + name="joint_state_publisher_gui", + condition=IfCondition(LaunchConfiguration("gui")), + ) + + # RViz + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="screen", + arguments=["-d", LaunchConfiguration("rvizconfig")], + ) + + return LaunchDescription( + [ + DeclareLaunchArgument( + name="robot_sn", + description="Serial number of the robot to connect to. Remove any space, for example: Rizon4s-123456", + ), + DeclareLaunchArgument( + name="rizon_type", + default_value="Rizon4", + description="Type of the Flexiv Rizon robot.", + choices=[ + "Rizon4", + "Rizon4M", + "Rizon4R", + "Rizon4s", + "Rizon10", + "Rizon10s", + ], + ), + DeclareLaunchArgument( + name="load_gripper", + default_value="False", + description="Flag to load the Flexiv Grav gripper", + ), + DeclareLaunchArgument( + name="gripper_name", + default_value="Flexiv-GN01", + description="Full name of the gripper to be controlled", + ), + DeclareLaunchArgument( + name="load_mounted_ft_sensor", + default_value="False", + description="Flag to load the mounted force torque sensor. Only available for Rizon4, Rizon4R and Rizon10", + ), + DeclareLaunchArgument( + name="gui", + default_value="False", + description="Flag to enable joint_state_publisher_gui", + ), + DeclareLaunchArgument( + name="rvizconfig", + default_value=default_rviz_config_path, + description="Absolute path to rviz config file", + ), + robot_state_publisher_node, + joint_state_publisher_node, + joint_state_publisher_gui_node, + rviz_node, + ] + ) diff --git a/flexiv_description/meshes/FT03-D1/collision/distal.stl b/flexiv_description/meshes/FT03-D1/collision/distal.stl new file mode 100644 index 0000000..adcd0a5 Binary files /dev/null and b/flexiv_description/meshes/FT03-D1/collision/distal.stl differ diff --git a/flexiv_description/meshes/FT03-D1/collision/proximal.stl b/flexiv_description/meshes/FT03-D1/collision/proximal.stl new file mode 100644 index 0000000..54ecd28 Binary files /dev/null and b/flexiv_description/meshes/FT03-D1/collision/proximal.stl differ diff --git a/flexiv_description/meshes/FT03-D1/visual/distal.mtl b/flexiv_description/meshes/FT03-D1/visual/distal.mtl new file mode 100644 index 0000000..6587ce2 --- /dev/null +++ b/flexiv_description/meshes/FT03-D1/visual/distal.mtl @@ -0,0 +1,10 @@ +newmtl robot + +Ns 15.686281 +Ka 0.150000 0.150000 0.150000 +Kd 0.487364 0.487364 0.527718 +Ks 0.600013 0.600013 0.600013 +Ke 0.0 0.0 0.0 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/flexiv_description/meshes/FT03-D1/visual/distal.obj b/flexiv_description/meshes/FT03-D1/visual/distal.obj new file mode 100644 index 0000000..b3b0e1a --- /dev/null +++ b/flexiv_description/meshes/FT03-D1/visual/distal.obj @@ -0,0 +1,17386 @@ +# Blender 4.2.3 LTS +# www.blender.org +mtllib distal.mtl +o distal +v -0.029680 -0.020842 0.008500 +v -0.029101 -0.020945 0.008500 +v -0.028523 -0.018048 0.008500 +v -0.029299 -0.017945 0.008500 +v -0.028523 -0.020842 0.008500 +v -0.027602 -0.019248 0.008500 +v -0.027901 -0.020366 0.008500 +v -0.027653 -0.019833 0.008500 +v 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index 0000000..386eebe --- /dev/null +++ b/flexiv_description/meshes/Rizon10s/visual/link5.mtl @@ -0,0 +1,22 @@ +# Blender MTL File: 'None' +# Material Count: 2 + +newmtl cover +Ns 92.156872 +Ka 0.250000 0.250000 0.250000 +Kd 0.969921 0.969921 0.969921 +Ks 0.072304 0.072304 0.072304 +Ke 0.0 0.0 0.0 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl robot +Ns 15.686281 +Ka 0.150000 0.150000 0.150000 +Kd 0.487364 0.487364 0.527718 +Ks 0.600013 0.600013 0.600013 +Ke 0.0 0.0 0.0 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/flexiv_description/meshes/Rizon10s/visual/link5.obj b/flexiv_description/meshes/Rizon10s/visual/link5.obj new file mode 100644 index 0000000..a96d049 --- /dev/null +++ b/flexiv_description/meshes/Rizon10s/visual/link5.obj @@ -0,0 +1,14338 @@ +# Company Name : Prototech Solutions And Services Pvt Ltd http://www.prototechsolutions.com/ +# Description : OBJ Exporter for SolidWorks +# Version : 5.2.22102.3391 +# ModelUnit : MilliMeters +# ExportUnit : Default +mtllib link5.mtl +v 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a/flexiv_description/meshes/Rizon4/visual/link2.mtl b/flexiv_description/meshes/Rizon4/visual/link2.mtl new file mode 100644 index 0000000..386eebe --- /dev/null +++ b/flexiv_description/meshes/Rizon4/visual/link2.mtl @@ -0,0 +1,22 @@ +# Blender MTL File: 'None' +# Material Count: 2 + +newmtl cover +Ns 92.156872 +Ka 0.250000 0.250000 0.250000 +Kd 0.969921 0.969921 0.969921 +Ks 0.072304 0.072304 0.072304 +Ke 0.0 0.0 0.0 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl robot +Ns 15.686281 +Ka 0.150000 0.150000 0.150000 +Kd 0.487364 0.487364 0.527718 +Ks 0.600013 0.600013 0.600013 +Ke 0.0 0.0 0.0 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/flexiv_description/meshes/Rizon4/visual/link2.obj b/flexiv_description/meshes/Rizon4/visual/link2.obj new file mode 100644 index 0000000..9fb1766 --- /dev/null +++ b/flexiv_description/meshes/Rizon4/visual/link2.obj @@ -0,0 +1,13374 @@ +# Company Name : Prototech Solutions And Services Pvt Ltd http://www.prototechsolutions.com/ +# Description : OBJ 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b/flexiv_description/meshes/Rizon4/visual/link5.mtl @@ -0,0 +1,22 @@ +# Blender MTL File: 'None' +# Material Count: 2 + +newmtl cover +Ns 92.156872 +Ka 0.250000 0.250000 0.250000 +Kd 0.969921 0.969921 0.969921 +Ks 0.072304 0.072304 0.072304 +Ke 0.0 0.0 0.0 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl robot +Ns 15.686281 +Ka 0.150000 0.150000 0.150000 +Kd 0.487364 0.487364 0.527718 +Ks 0.600013 0.600013 0.600013 +Ke 0.0 0.0 0.0 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/flexiv_description/meshes/Rizon4/visual/link5.obj b/flexiv_description/meshes/Rizon4/visual/link5.obj new file mode 100644 index 0000000..4d81c5c --- /dev/null +++ b/flexiv_description/meshes/Rizon4/visual/link5.obj @@ -0,0 +1,13377 @@ +# Company Name : Prototech Solutions And Services Pvt Ltd http://www.prototechsolutions.com/ +# Description : OBJ Exporter for SolidWorks +# Version : 5.1.21245.3358 +# ModelUnit : MilliMeters +mtllib link5.mtl +v 0.03984 -0.03411 0.14356 +v 0.03954 -0.03253 0.13736 +v 0.04041 -0.03105 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+1,23 @@ +# Blender MTL File: 'None' +# Material Count: 2 + +newmtl cover +Ns 15.686281 +Ka 0.150000 0.150000 0.150000 +Kd 0.487364 0.487364 0.527718 +Ks 0.600013 0.600013 0.600013 +Ke 0.0 0.0 0.0 +Ni 1.000000 +d 1.000000 +illum 2 + + +newmtl robot +Ns 92.156872 +Ka 0.250000 0.250000 0.250000 +Kd 0.969921 0.969921 0.969921 +Ks 0.072304 0.072304 0.072304 +Ke 0.0 0.0 0.0 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/flexiv_description/meshes/Rizon4M/visual/link2.obj b/flexiv_description/meshes/Rizon4M/visual/link2.obj new file mode 100644 index 0000000..9fb1766 --- /dev/null +++ b/flexiv_description/meshes/Rizon4M/visual/link2.obj @@ -0,0 +1,13374 @@ +# Company Name : Prototech Solutions And Services Pvt Ltd http://www.prototechsolutions.com/ +# Description : OBJ Exporter for SolidWorks +# Version : 5.1.21245.3358 +# ModelUnit : MilliMeters +mtllib link2.mtl +v 0.0254281 0.0803411 0.0774671 +v 0.02794 0.0783395 0.0865153 +v 0.0291195 0.0777627 0.0856828 +v 0.0234704 0.0801819 0.0892308 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mode 100644 index 0000000..386eebe --- /dev/null +++ b/flexiv_description/meshes/Rizon4R/visual/link1.mtl @@ -0,0 +1,22 @@ +# Blender MTL File: 'None' +# Material Count: 2 + +newmtl cover +Ns 92.156872 +Ka 0.250000 0.250000 0.250000 +Kd 0.969921 0.969921 0.969921 +Ks 0.072304 0.072304 0.072304 +Ke 0.0 0.0 0.0 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl robot +Ns 15.686281 +Ka 0.150000 0.150000 0.150000 +Kd 0.487364 0.487364 0.527718 +Ks 0.600013 0.600013 0.600013 +Ke 0.0 0.0 0.0 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/flexiv_description/meshes/Rizon4R/visual/link1.obj b/flexiv_description/meshes/Rizon4R/visual/link1.obj new file mode 100644 index 0000000..fa51978 --- /dev/null +++ b/flexiv_description/meshes/Rizon4R/visual/link1.obj @@ -0,0 +1,13992 @@ +# Company Name : Prototech Solutions And Services Pvt Ltd http://www.prototechsolutions.com/ +# Description : OBJ Exporter for SolidWorks +# Version : 5.1.21245.3358 +# ModelUnit : MilliMeters +mtllib link1.mtl +v 0 0.02399 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b/flexiv_description/meshes/Rizon4R/visual/link3r.mtl new file mode 100644 index 0000000..386eebe --- /dev/null +++ b/flexiv_description/meshes/Rizon4R/visual/link3r.mtl @@ -0,0 +1,22 @@ +# Blender MTL File: 'None' +# Material Count: 2 + +newmtl cover +Ns 92.156872 +Ka 0.250000 0.250000 0.250000 +Kd 0.969921 0.969921 0.969921 +Ks 0.072304 0.072304 0.072304 +Ke 0.0 0.0 0.0 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl robot +Ns 15.686281 +Ka 0.150000 0.150000 0.150000 +Kd 0.487364 0.487364 0.527718 +Ks 0.600013 0.600013 0.600013 +Ke 0.0 0.0 0.0 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/flexiv_description/meshes/Rizon4R/visual/link3r.obj b/flexiv_description/meshes/Rizon4R/visual/link3r.obj new file mode 100644 index 0000000..c2eb758 --- /dev/null +++ b/flexiv_description/meshes/Rizon4R/visual/link3r.obj @@ -0,0 +1,13881 @@ +# Company Name : Prototech Solutions And Services Pvt Ltd http://www.prototechsolutions.com/ +# Description : OBJ Exporter for SolidWorks +# Version : 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a/flexiv_description/meshes/Rizon4s/visual/link2.mtl b/flexiv_description/meshes/Rizon4s/visual/link2.mtl new file mode 100644 index 0000000..386eebe --- /dev/null +++ b/flexiv_description/meshes/Rizon4s/visual/link2.mtl @@ -0,0 +1,22 @@ +# Blender MTL File: 'None' +# Material Count: 2 + +newmtl cover +Ns 92.156872 +Ka 0.250000 0.250000 0.250000 +Kd 0.969921 0.969921 0.969921 +Ks 0.072304 0.072304 0.072304 +Ke 0.0 0.0 0.0 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl robot +Ns 15.686281 +Ka 0.150000 0.150000 0.150000 +Kd 0.487364 0.487364 0.527718 +Ks 0.600013 0.600013 0.600013 +Ke 0.0 0.0 0.0 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/flexiv_description/meshes/Rizon4s/visual/link2.obj b/flexiv_description/meshes/Rizon4s/visual/link2.obj new file mode 100644 index 0000000..9fb1766 --- /dev/null +++ b/flexiv_description/meshes/Rizon4s/visual/link2.obj @@ -0,0 +1,13374 @@ +# Company Name : Prototech Solutions And Services Pvt Ltd http://www.prototechsolutions.com/ +# Description : OBJ 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+++ b/flexiv_description/rviz/view_rizon.rviz @@ -0,0 +1,195 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1/Description Topic1 + Splitter Ratio: 0.5 + Tree Height: 634 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/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 + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 2.4956274032592773 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.10040300339460373 + Y: 0.27989906072616577 + Z: 0.3314317762851715 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7053980827331543 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.313577651977539 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 863 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1600 + X: 1920 + Y: 0 diff --git a/flexiv_description/urdf/grav_macro.xacro b/flexiv_description/urdf/grav_macro.xacro new file mode 100644 index 0000000..bc3065d --- /dev/null +++ b/flexiv_description/urdf/grav_macro.xacro @@ -0,0 +1,349 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/flexiv_description/urdf/rizon.urdf.xacro b/flexiv_description/urdf/rizon.urdf.xacro new file mode 100644 index 0000000..d2b50bc --- /dev/null +++ b/flexiv_description/urdf/rizon.urdf.xacro @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/flexiv_description/urdf/rizon10.ros2_control.xacro b/flexiv_description/urdf/rizon10.ros2_control.xacro new file mode 100644 index 0000000..e3e161f --- /dev/null +++ b/flexiv_description/urdf/rizon10.ros2_control.xacro @@ -0,0 +1,188 @@ + + + + + + + + + mock_components/GenericSystem + ${fake_sensor_commands} + 0.0 + + + flexiv_hardware/FlexivHardwareInterface + ${robot_sn} + ${prefix} + + + + + + -2.7925 + 2.7925 + + + -1.7453 + 1.7453 + + + + + 0.0 + + + + + + + -2.6704 + 2.6704 + + + -1.7453 + 1.7453 + + + + + -0.69813 + + + + + + + -2.7925 + 2.7925 + + + -2.0944 + 2.0944 + + + + + 0.0 + + + + + + + -2.7053 + 2.7053 + + + -2.0944 + 2.0944 + + + + + 1.570796 + + + + + + + -2.9671 + 2.9671 + + + -3.8397 + 3.8397 + + + + + 0.0 + + + + + + + -1.3963 + 4.5379 + + + -3.8397 + 3.8397 + + + + + 0.69813 + + + + + + + -2.9671 + 2.9671 + + + -3.8397 + 3.8397 + + + + + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/flexiv_description/urdf/rizon10_joints_links.xacro b/flexiv_description/urdf/rizon10_joints_links.xacro new file mode 100644 index 0000000..97cda55 --- /dev/null +++ b/flexiv_description/urdf/rizon10_joints_links.xacro @@ -0,0 +1,443 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/flexiv_description/urdf/rizon4.ros2_control.xacro b/flexiv_description/urdf/rizon4.ros2_control.xacro new file mode 100644 index 0000000..c7295bb --- /dev/null +++ b/flexiv_description/urdf/rizon4.ros2_control.xacro @@ -0,0 +1,190 @@ + + + + + + + + + mock_components/GenericSystem + ${fake_sensor_commands} + 0.0 + + + flexiv_hardware/FlexivHardwareInterface + ${robot_sn} + ${prefix} + ${rdk_control_mode} + + + + + + -2.7925 + 2.7925 + + + -2.0944 + 2.0944 + + + + + 0.0 + + + + + + + -2.2689 + 2.2689 + + + -2.0944 + 2.0944 + + + + + -0.69813 + + + + + + + -2.9671 + 2.9671 + + + -2.4435 + 2.4435 + + + + + 0.0 + + + + + + + -1.8675 + 2.6878 + + + -2.4435 + 2.4435 + + + + + 1.570796 + + + + + + + -2.9671 + 2.9671 + + + -4.8869 + 4.8869 + + + + + 0.0 + + + + + + + -1.3963 + 4.5379 + + + -4.8869 + 4.8869 + + + + + 0.69813 + + + + + + + -2.9671 + 2.9671 + + + -4.8869 + 4.8869 + + + + + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/flexiv_description/urdf/rizon4_joints_links.xacro b/flexiv_description/urdf/rizon4_joints_links.xacro new file mode 100644 index 0000000..649a966 --- /dev/null +++ b/flexiv_description/urdf/rizon4_joints_links.xacro @@ -0,0 +1,443 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/flexiv_description/urdf/rizon4r_joints_links.xacro b/flexiv_description/urdf/rizon4r_joints_links.xacro new file mode 100644 index 0000000..a01f93d --- /dev/null +++ b/flexiv_description/urdf/rizon4r_joints_links.xacro @@ -0,0 +1,410 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/flexiv_description/urdf/rizon_macro.xacro b/flexiv_description/urdf/rizon_macro.xacro new file mode 100644 index 0000000..372ce0b --- /dev/null +++ b/flexiv_description/urdf/rizon_macro.xacro @@ -0,0 +1,77 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/flexiv_gripper/CMakeLists.txt b/flexiv_gripper/CMakeLists.txt index bbd53e5..9f6b913 100644 --- a/flexiv_gripper/CMakeLists.txt +++ b/flexiv_gripper/CMakeLists.txt @@ -28,7 +28,8 @@ add_library(gripper_action_server src/gripper_action_server.cpp) target_include_directories(gripper_action_server PRIVATE - ${CMAKE_CURRENT_SOURCE_DIR}/include) + ${CMAKE_CURRENT_SOURCE_DIR}/include + ${CMAKE_CURRENT_SOURCE_DIR}/../flexiv_hardware/rdk/include) target_link_libraries(gripper_action_server flexiv::flexiv_rdk) diff --git a/flexiv_gripper/config/flexiv_gripper_node.yaml b/flexiv_gripper/config/flexiv_gripper_node.yaml index d4e0027..26a7f1e 100644 --- a/flexiv_gripper/config/flexiv_gripper_node.yaml +++ b/flexiv_gripper/config/flexiv_gripper_node.yaml @@ -1,4 +1,4 @@ -/**: +flexiv_gripper: ros__parameters: state_publish_rate: 50 # Hz feedback_publish_rate: 30 # Hz diff --git a/flexiv_gripper/launch/flexiv_gripper.launch.py b/flexiv_gripper/launch/flexiv_gripper.launch.py index 92525f0..d58a840 100644 --- a/flexiv_gripper/launch/flexiv_gripper.launch.py +++ b/flexiv_gripper/launch/flexiv_gripper.launch.py @@ -10,7 +10,6 @@ def generate_launch_description(): - gripper_node_param_name = "gripper_node_name" robot_sn_param_name = "robot_sn" gripper_name_param_name = "gripper_name" use_fake_hardware_param_name = "use_fake_hardware" @@ -19,14 +18,6 @@ def generate_launch_description(): # Declare arguments declared_arguments = [] - declared_arguments.append( - DeclareLaunchArgument( - gripper_node_param_name, - default_value="flexiv_gripper_node", - description="Name of the flexiv gripper node.", - ) - ) - declared_arguments.append( DeclareLaunchArgument( robot_sn_param_name, @@ -59,7 +50,6 @@ def generate_launch_description(): ) # Initialize arguments - gripper_node = LaunchConfiguration(gripper_node_param_name) robot_sn = LaunchConfiguration(robot_sn_param_name) gripper_name = LaunchConfiguration(gripper_name_param_name) use_fake_hardware = LaunchConfiguration(use_fake_hardware_param_name) @@ -73,7 +63,7 @@ def generate_launch_description(): flexiv_gripper_node = Node( package="flexiv_gripper", executable="flexiv_gripper_node", - name=gripper_node, + name="flexiv_gripper_node", parameters=[ { "robot_sn": robot_sn, diff --git a/flexiv_hardware/CMakeLists.txt b/flexiv_hardware/CMakeLists.txt index 6c24b1a..bc326ae 100644 --- a/flexiv_hardware/CMakeLists.txt +++ b/flexiv_hardware/CMakeLists.txt @@ -18,7 +18,6 @@ find_package(rclcpp_lifecycle REQUIRED) find_package(hardware_interface REQUIRED) find_package(pluginlib REQUIRED) find_package(flexiv_rdk REQUIRED) -find_package(flexiv_drdk QUIET) add_library( ${PROJECT_NAME} @@ -26,28 +25,17 @@ add_library( src/flexiv_hardware_interface.cpp ) -if(flexiv_drdk_FOUND) - target_sources(${PROJECT_NAME} PRIVATE src/flexiv_dual_hardware_interface.cpp) -endif() - target_include_directories( ${PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include + ${CMAKE_CURRENT_SOURCE_DIR}/rdk/include ) target_link_libraries(${PROJECT_NAME} flexiv::flexiv_rdk ) -if(flexiv_drdk_FOUND) - target_link_libraries(${PROJECT_NAME} - flexiv::flexiv_drdk - ) - target_compile_definitions(${PROJECT_NAME} PRIVATE FLEXIV_DRDK_AVAILABLE) - message(STATUS "Flexiv DRDK library found and linked.") -endif() - # Link ROS packages ament_target_dependencies( ${PROJECT_NAME} diff --git a/flexiv_hardware/flexiv_hardware_interface_plugin.xml b/flexiv_hardware/flexiv_hardware_interface_plugin.xml index 9fec610..934081c 100644 --- a/flexiv_hardware/flexiv_hardware_interface_plugin.xml +++ b/flexiv_hardware/flexiv_hardware_interface_plugin.xml @@ -8,13 +8,4 @@ uses Flexiv RDK. Position, Velocity and Effort interfaces are supported. - - - - ROS 2 Control Hardware interface for a pair of Flexiv robots. This driver - uses Flexiv DRDK. Position, Velocity and Effort interfaces are supported. - - diff --git a/flexiv_hardware/include/flexiv_hardware/flexiv_dual_hardware_interface.hpp b/flexiv_hardware/include/flexiv_hardware/flexiv_dual_hardware_interface.hpp deleted file mode 100644 index 457aee2..0000000 --- a/flexiv_hardware/include/flexiv_hardware/flexiv_dual_hardware_interface.hpp +++ /dev/null @@ -1,139 +0,0 @@ -/** - * @file flexiv_dual_hardware_interface.hpp - * @brief Hardware interface to a pair of Flexiv robots for ROS 2 control. - * @copyright Copyright (C) 2016-2025 Flexiv Ltd. All Rights Reserved. - * @author Flexiv - */ - -#ifndef FLEXIV_HARDWARE__FLEXIV_DUAL_HARDWARE_INTERFACE_HPP_ -#define FLEXIV_HARDWARE__FLEXIV_DUAL_HARDWARE_INTERFACE_HPP_ - -#include -#include -#include -#include - -// ROS -#include -#include -#include -#include -#include -#include - -// ros2_control hardware_interface -#include -#include -#include - -#include "flexiv_hardware/visibility_control.h" - -// Flexiv -#include "flexiv/drdk/robot_pair.hpp" - -namespace flexiv_hardware { - -enum StoppingInterface -{ - NONE, - STOP_POSITION, - STOP_VELOCITY, - STOP_EFFORT -}; - -class FlexivDualHardwareInterface : public hardware_interface::SystemInterface -{ -public: - RCLCPP_SHARED_PTR_DEFINITIONS(FlexivDualHardwareInterface) - - FLEXIV_HARDWARE_PUBLIC - hardware_interface::CallbackReturn on_init( - const hardware_interface::HardwareInfo& info) override; - - FLEXIV_HARDWARE_PUBLIC - std::vector export_state_interfaces() override; - - FLEXIV_HARDWARE_PUBLIC - std::vector export_command_interfaces() override; - - FLEXIV_HARDWARE_PUBLIC - hardware_interface::return_type prepare_command_mode_switch( - const std::vector& start_interfaces, - const std::vector& stop_interfaces) override; - - FLEXIV_HARDWARE_PUBLIC - hardware_interface::return_type perform_command_mode_switch( - const std::vector& start_interfaces, - const std::vector& stop_interfaces) override; - - FLEXIV_HARDWARE_PUBLIC - hardware_interface::CallbackReturn on_activate( - const rclcpp_lifecycle::State& previous_state) override; - - FLEXIV_HARDWARE_PUBLIC - hardware_interface::CallbackReturn on_deactivate( - const rclcpp_lifecycle::State& previous_state) override; - - FLEXIV_HARDWARE_PUBLIC - hardware_interface::return_type read( - const rclcpp::Time& time, const rclcpp::Duration& period) override; - - FLEXIV_HARDWARE_PUBLIC - hardware_interface::return_type write( - const rclcpp::Time& time, const rclcpp::Duration& period) override; - -private: - // Flexiv DRDK - std::unique_ptr robot_pair_; - - // RDK control mode for joint position and velocity interfaces - flexiv::rdk::Mode rdk_control_mode_; - - // External axis type - std::string external_axis_type_ = ""; - - // Joint commands - std::vector hw_commands_joint_positions_; - std::vector hw_commands_joint_velocities_; - std::vector hw_commands_joint_efforts_; - - // Joint states - std::vector hw_states_joint_positions_; - std::vector hw_states_joint_velocities_; - std::vector hw_states_joint_efforts_; - - // Robot States - flexiv::rdk::RobotStates hw_flexiv_robot_states_left_; - flexiv::rdk::RobotStates hw_flexiv_robot_states_right_; - flexiv::rdk::RobotStates* hw_flexiv_robot_states_addr_left_ = &hw_flexiv_robot_states_left_; - flexiv::rdk::RobotStates* hw_flexiv_robot_states_addr_right_ = &hw_flexiv_robot_states_right_; - - // GPIO commands and states - std::vector hw_commands_gpio_out_; - std::vector hw_states_gpio_in_; - - // Current digital output map - std::map current_digital_outputs_left_; - std::map current_digital_outputs_right_; - - // Joint mapping - struct JointMap - { - int robot_index; // 0: Left, 1: Right - int dof_index; // Index in the robot's q vector - }; - std::vector joint_map_; - - static rclcpp::Logger getLogger(); - - // Control modes - bool controllers_initialized_; - std::vector stop_modes_; - std::vector start_modes_; - bool position_controller_running_; - bool velocity_controller_running_; - bool torque_controller_running_; -}; - -} /* namespace flexiv_hardware */ -#endif /* FLEXIV_HARDWARE__FLEXIV_DUAL_HARDWARE_INTERFACE_HPP_ */ diff --git a/flexiv_hardware/include/flexiv_hardware/flexiv_hardware_interface.hpp b/flexiv_hardware/include/flexiv_hardware/flexiv_hardware_interface.hpp index 6a7ecd4..316d79c 100644 --- a/flexiv_hardware/include/flexiv_hardware/flexiv_hardware_interface.hpp +++ b/flexiv_hardware/include/flexiv_hardware/flexiv_hardware_interface.hpp @@ -33,6 +33,9 @@ namespace flexiv_hardware { +/** Robot joint space degree of freedoms */ +constexpr size_t kJointDoF = 7; + enum StoppingInterface { NONE, @@ -107,16 +110,12 @@ class FlexivHardwareInterface : public hardware_interface::SystemInterface std::vector hw_commands_gpio_out_; std::vector hw_states_gpio_in_; - // Map from RDK joint index to ROS joint index - // RDK expects: [ext_axis_1, ..., ext_axis_N, arm_joint_1, ..., arm_joint_7] - std::vector rdk_to_ros_map_; - // Current digital output map std::map current_digital_outputs_; static rclcpp::Logger getLogger(); - // Control modes + // control modes bool controllers_initialized_; std::vector stop_modes_; std::vector start_modes_; diff --git a/flexiv_hardware/rdk b/flexiv_hardware/rdk new file mode 160000 index 0000000..692f00c --- /dev/null +++ b/flexiv_hardware/rdk @@ -0,0 +1 @@ +Subproject commit 692f00c28a4be756c35b63eb4985276013f03956 diff --git a/flexiv_hardware/src/flexiv_dual_hardware_interface.cpp b/flexiv_hardware/src/flexiv_dual_hardware_interface.cpp deleted file mode 100644 index c6495f6..0000000 --- a/flexiv_hardware/src/flexiv_dual_hardware_interface.cpp +++ /dev/null @@ -1,729 +0,0 @@ -/** - * @file flexiv_dual_hardware_interface.cpp - * @brief Hardware interface to a pair of Flexiv robots for ROS 2 control. - * @copyright Copyright (C) 2016-2025 Flexiv Ltd. All Rights Reserved. - * @author Flexiv - */ - -#include -#include - -#include -#include -#include -#include - -#include "flexiv/drdk/robot_pair.hpp" -#include "flexiv_hardware/flexiv_dual_hardware_interface.hpp" - -namespace { -constexpr double kMaxJointVelocity = 2.0; -constexpr double kMaxJointAcceleration = 3.0; -} - -namespace flexiv_hardware { - -hardware_interface::CallbackReturn FlexivDualHardwareInterface::on_init( - const hardware_interface::HardwareInfo& info) -{ - if (hardware_interface::SystemInterface::on_init(info) - != hardware_interface::CallbackReturn::SUCCESS) { - return hardware_interface::CallbackReturn::ERROR; - } - - hw_states_joint_positions_.resize( - info_.joints.size(), std::numeric_limits::quiet_NaN()); - hw_states_joint_velocities_.resize( - info_.joints.size(), std::numeric_limits::quiet_NaN()); - hw_states_joint_efforts_.resize(info_.joints.size(), std::numeric_limits::quiet_NaN()); - hw_commands_joint_positions_.resize( - info_.joints.size(), std::numeric_limits::quiet_NaN()); - hw_commands_joint_velocities_.resize( - info_.joints.size(), std::numeric_limits::quiet_NaN()); - hw_commands_joint_efforts_.resize( - info_.joints.size(), std::numeric_limits::quiet_NaN()); - - // 16 ports per robot - hw_states_gpio_in_.resize(flexiv::rdk::kIOPorts * 2, std::numeric_limits::quiet_NaN()); - hw_commands_gpio_out_.resize( - flexiv::rdk::kIOPorts * 2, std::numeric_limits::quiet_NaN()); - stop_modes_ = {StoppingInterface::NONE, StoppingInterface::NONE, StoppingInterface::NONE, - StoppingInterface::NONE, StoppingInterface::NONE, StoppingInterface::NONE, - StoppingInterface::NONE}; - start_modes_ = {}; - position_controller_running_ = false; - velocity_controller_running_ = false; - torque_controller_running_ = false; - controllers_initialized_ = false; - - if (info_.joints.size() < 14) { - RCLCPP_FATAL(getLogger(), "Got %ld joints. Expected at least 14.", info_.joints.size()); - return hardware_interface::CallbackReturn::ERROR; - } - - for (const hardware_interface::ComponentInfo& joint : info_.joints) { - if (joint.command_interfaces.size() != 3) { - RCLCPP_FATAL(getLogger(), "Joint '%s' has %ld command interfaces found. 3 expected.", - joint.name.c_str(), joint.command_interfaces.size()); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.command_interfaces[0].name != hardware_interface::HW_IF_POSITION) { - RCLCPP_FATAL(getLogger(), "Joint '%s' have %s command interfaces found. '%s' expected.", - joint.name.c_str(), joint.command_interfaces[0].name.c_str(), - hardware_interface::HW_IF_POSITION); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.command_interfaces[1].name != hardware_interface::HW_IF_VELOCITY) { - RCLCPP_FATAL(getLogger(), "Joint '%s' have %s command interfaces found. '%s' expected.", - joint.name.c_str(), joint.command_interfaces[1].name.c_str(), - hardware_interface::HW_IF_VELOCITY); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.command_interfaces[2].name != hardware_interface::HW_IF_EFFORT) { - RCLCPP_FATAL(getLogger(), "Joint '%s' have %s command interfaces found. '%s' expected.", - joint.name.c_str(), joint.command_interfaces[2].name.c_str(), - hardware_interface::HW_IF_EFFORT); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.state_interfaces.size() != 3) { - RCLCPP_FATAL(getLogger(), "Joint '%s' has %ld state interfaces found. 3 expected.", - joint.name.c_str(), joint.state_interfaces.size()); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.state_interfaces[0].name != hardware_interface::HW_IF_POSITION) { - RCLCPP_FATAL(getLogger(), "Joint '%s' have %s state interfaces found. '%s' expected.", - joint.name.c_str(), joint.state_interfaces[0].name.c_str(), - hardware_interface::HW_IF_POSITION); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.state_interfaces[1].name != hardware_interface::HW_IF_VELOCITY) { - RCLCPP_FATAL(getLogger(), "Joint '%s' have %s state interfaces found. '%s' expected.", - joint.name.c_str(), joint.state_interfaces[1].name.c_str(), - hardware_interface::HW_IF_VELOCITY); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.state_interfaces[2].name != hardware_interface::HW_IF_EFFORT) { - RCLCPP_FATAL(getLogger(), "Joint '%s' have %s state interfaces found. '%s' expected.", - joint.name.c_str(), joint.state_interfaces[2].name.c_str(), - hardware_interface::HW_IF_EFFORT); - return hardware_interface::CallbackReturn::ERROR; - } - } - - std::string robot_sn_left; - std::string robot_sn_right; - try { - robot_sn_left = info_.hardware_parameters.at("robot_sn_left"); - robot_sn_right = info_.hardware_parameters.at("robot_sn_right"); - } catch (const std::out_of_range& ex) { - RCLCPP_FATAL(getLogger(), "Parameter 'robot_sn_left' or 'robot_sn_right' not set"); - return hardware_interface::CallbackReturn::ERROR; - } - - try { - auto rdk_control_mode_str = info_.hardware_parameters.at("rdk_control_mode"); - if (rdk_control_mode_str == "joint_position") { - rdk_control_mode_ = flexiv::rdk::Mode::NRT_JOINT_POSITION; - } else if (rdk_control_mode_str == "joint_impedance") { - rdk_control_mode_ = flexiv::rdk::Mode::NRT_JOINT_IMPEDANCE; - } else { - RCLCPP_FATAL(getLogger(), - "Parameter 'rdk_control_mode' has invalid value '%s'. Options: joint_position, " - "joint_impedance", - rdk_control_mode_str.c_str()); - return hardware_interface::CallbackReturn::ERROR; - } - } catch (const std::out_of_range& ex) { - RCLCPP_FATAL(getLogger(), "Parameter 'rdk_control_mode' not set"); - return hardware_interface::CallbackReturn::ERROR; - } - - try { - if (info_.hardware_parameters.count("external_axis_type")) { - external_axis_type_ = info_.hardware_parameters.at("external_axis_type"); - } - } catch (const std::exception& ex) { - RCLCPP_WARN(getLogger(), "Failed to parse external_axis_type, using default empty"); - } - - // Read translation parameters - double left_x = 0.0, left_y = 0.0, left_z = 0.0; - double right_x = 0.0, right_y = 0.0, right_z = 0.0; - try { - if (info_.hardware_parameters.count("translation_left_x")) { - left_x = std::stod(info_.hardware_parameters.at("translation_left_x")); - left_y = std::stod(info_.hardware_parameters.at("translation_left_y")); - left_z = std::stod(info_.hardware_parameters.at("translation_left_z")); - } - if (info_.hardware_parameters.count("translation_right_x")) { - right_x = std::stod(info_.hardware_parameters.at("translation_right_x")); - right_y = std::stod(info_.hardware_parameters.at("translation_right_y")); - right_z = std::stod(info_.hardware_parameters.at("translation_right_z")); - } - } catch (const std::exception& ex) { - RCLCPP_WARN(getLogger(), "Failed to parse translation parameters, using default (0,0,0)"); - } - - std::pair, std::array> translations; - translations.first = {left_x, left_y, left_z}; - translations.second = {right_x, right_y, right_z}; - - try { - RCLCPP_INFO(getLogger(), "Connecting to robots %s and %s ...", robot_sn_left.c_str(), - robot_sn_right.c_str()); - robot_pair_ = std::make_unique( - std::make_pair(robot_sn_left, robot_sn_right), translations); - } catch (const std::exception& e) { - RCLCPP_FATAL(getLogger(), "Could not connect to robots"); - RCLCPP_FATAL(getLogger(), e.what()); - return hardware_interface::CallbackReturn::ERROR; - } - - // Check the DoF of both robots - if (robot_pair_->info().first.DoF + robot_pair_->info().second.DoF != info_.joints.size()) { - if (external_axis_type_.find("aico2") != std::string::npos) { - RCLCPP_WARN(getLogger(), - "Connected robots total DoF (%ld + %ld = %ld) do not match expected DoF (%ld)", - robot_pair_->info().first.DoF, robot_pair_->info().second.DoF, - robot_pair_->info().first.DoF + robot_pair_->info().second.DoF, - info_.joints.size()); - } else { - RCLCPP_FATAL(getLogger(), - "Connected robots total DoF (%ld + %ld = %ld) do not match expected DoF (%ld)", - robot_pair_->info().first.DoF, robot_pair_->info().second.DoF, - robot_pair_->info().first.DoF + robot_pair_->info().second.DoF, - info_.joints.size()); - return hardware_interface::CallbackReturn::ERROR; - } - } - - // Build joint map - joint_map_.resize(info_.joints.size()); - std::vector unmapped_indices; - const std::string prefix_left = info_.hardware_parameters.at("prefix_left"); - const std::string prefix_right = info_.hardware_parameters.at("prefix_right"); - - // Determine external DOFs first - size_t extra_dof_left = robot_pair_->info().first.DoF_e; - size_t extra_dof_right = robot_pair_->info().second.DoF_e; - - // For AICO2, external joints on both arms are identical but only mapped once (usually left) - if (external_axis_type_.find("aico2") != std::string::npos) { - extra_dof_right = 0; - } - - for (size_t i = 0; i < info_.joints.size(); i++) { - std::string name = info_.joints[i].name; - bool mapped = false; - // Left robot arm joints (ext_dof_left + 0...6) - if (name.find(prefix_left + "joint") == 0) { - std::string num_str = name.substr((prefix_left + "joint").length()); - try { - int joint_num = std::stoi(num_str); - if (joint_num >= 1 && joint_num <= 7) { - joint_map_[i] = {0, (int)extra_dof_left + joint_num - 1}; - mapped = true; - } - } catch (...) { - } - } - - // Right robot arm joints (ext_dof_right + 0...6) - if (!mapped && name.find(prefix_right + "joint") == 0) { - std::string num_str = name.substr((prefix_right + "joint").length()); - try { - int joint_num = std::stoi(num_str); - if (joint_num >= 1 && joint_num <= 7) { - joint_map_[i] = {1, (int)extra_dof_right + joint_num - 1}; - mapped = true; - } - } catch (...) { - } - } - - if (!mapped) { - unmapped_indices.push_back(i); - } - } - - if (unmapped_indices.size() != extra_dof_left + extra_dof_right) { - RCLCPP_FATAL(getLogger(), "Mismatch in extra joints count. Unmapped: %ld, Expected: %ld", - unmapped_indices.size(), extra_dof_left + extra_dof_right); - return hardware_interface::CallbackReturn::ERROR; - } - - size_t unmapped_idx = 0; - // Assign external joints to Left Robot (indices 0 to extra_dof_left-1) - for (size_t k = 0; k < extra_dof_left; k++) { - joint_map_[unmapped_indices[unmapped_idx++]] = {0, (int)k}; - } - // Assign external joints to Right Robot (indices 0 to extra_dof_right-1) - for (size_t k = 0; k < extra_dof_right; k++) { - joint_map_[unmapped_indices[unmapped_idx++]] = {1, (int)k}; - } - - RCLCPP_INFO(getLogger(), "Successfully connected to robots"); - return hardware_interface::CallbackReturn::SUCCESS; -} - -rclcpp::Logger FlexivDualHardwareInterface::getLogger() -{ - return rclcpp::get_logger("FlexivDualHardwareInterface"); -} - -std::vector -FlexivDualHardwareInterface::export_state_interfaces() -{ - std::vector state_interfaces; - for (std::size_t i = 0; i < info_.joints.size(); i++) { - state_interfaces.emplace_back(hardware_interface::StateInterface(info_.joints[i].name, - hardware_interface::HW_IF_POSITION, &hw_states_joint_positions_[i])); - state_interfaces.emplace_back(hardware_interface::StateInterface(info_.joints[i].name, - hardware_interface::HW_IF_VELOCITY, &hw_states_joint_velocities_[i])); - state_interfaces.emplace_back(hardware_interface::StateInterface( - info_.joints[i].name, hardware_interface::HW_IF_EFFORT, &hw_states_joint_efforts_[i])); - } - - // GPIOs - const std::string prefix_left = info_.hardware_parameters.at("prefix_left"); - const std::string prefix_right = info_.hardware_parameters.at("prefix_right"); - - // Remove trailing underscore from prefix to get the robot name used in controllers - std::string robot_name_left = prefix_left; - if (!robot_name_left.empty() && robot_name_left.back() == '_') { - robot_name_left.pop_back(); - } - std::string robot_name_right = prefix_right; - if (!robot_name_right.empty() && robot_name_right.back() == '_') { - robot_name_right.pop_back(); - } - - // Export robot states for both robots - state_interfaces.emplace_back(hardware_interface::StateInterface(robot_name_left, - "flexiv_robot_states", reinterpret_cast(&hw_flexiv_robot_states_addr_left_))); - - state_interfaces.emplace_back(hardware_interface::StateInterface(robot_name_right, - "flexiv_robot_states", reinterpret_cast(&hw_flexiv_robot_states_addr_right_))); - for (size_t i = 0; i < flexiv::rdk::kIOPorts; i++) { - state_interfaces.emplace_back(hardware_interface::StateInterface( - prefix_left + "gpio", "digital_input_" + std::to_string(i), &hw_states_gpio_in_[i])); - state_interfaces.emplace_back(hardware_interface::StateInterface(prefix_right + "gpio", - "digital_input_" + std::to_string(i), &hw_states_gpio_in_[i + flexiv::rdk::kIOPorts])); - } - - return state_interfaces; -} - -std::vector -FlexivDualHardwareInterface::export_command_interfaces() -{ - std::vector command_interfaces; - for (size_t i = 0; i < info_.joints.size(); i++) { - command_interfaces.emplace_back(hardware_interface::CommandInterface(info_.joints[i].name, - hardware_interface::HW_IF_POSITION, &hw_commands_joint_positions_[i])); - command_interfaces.emplace_back(hardware_interface::CommandInterface(info_.joints[i].name, - hardware_interface::HW_IF_VELOCITY, &hw_commands_joint_velocities_[i])); - command_interfaces.emplace_back(hardware_interface::CommandInterface(info_.joints[i].name, - hardware_interface::HW_IF_EFFORT, &hw_commands_joint_efforts_[i])); - } - - const std::string prefix_left = info_.hardware_parameters.at("prefix_left"); - const std::string prefix_right = info_.hardware_parameters.at("prefix_right"); - for (size_t i = 0; i < flexiv::rdk::kIOPorts; i++) { - command_interfaces.emplace_back(hardware_interface::CommandInterface(prefix_left + "gpio", - "digital_output_" + std::to_string(i), &hw_commands_gpio_out_[i])); - command_interfaces.emplace_back(hardware_interface::CommandInterface(prefix_right + "gpio", - "digital_output_" + std::to_string(i), - &hw_commands_gpio_out_[i + flexiv::rdk::kIOPorts])); - } - - return command_interfaces; -} - -hardware_interface::CallbackReturn FlexivDualHardwareInterface::on_activate( - const rclcpp_lifecycle::State& /*previous_state*/) -{ - RCLCPP_INFO(getLogger(), "Starting... please wait..."); - - try { - // Clear fault on the connected robots if any - if (robot_pair_->fault()) { - RCLCPP_WARN( - getLogger(), "Fault occurred on one of the connected robots, trying to clear ..."); - // Try to clear the fault for both robots - auto result = robot_pair_->ClearFault(); - // If fault is not cleared on both robots - if (!(result.first && result.second)) { - RCLCPP_ERROR(getLogger(), "Fault cannot be cleared, exiting ..."); - return hardware_interface::CallbackReturn::ERROR; - } - RCLCPP_INFO(getLogger(), "Fault on the connected robot is cleared"); - } - - // Check the DoF of both robots - if (robot_pair_->info().first.DoF + robot_pair_->info().second.DoF != info_.joints.size()) { - if (external_axis_type_.find("aico2") != std::string::npos) { - RCLCPP_WARN(getLogger(), - "Connected robots total DoF (%ld + %ld = %ld) do not match expected DoF (%ld)", - robot_pair_->info().first.DoF, robot_pair_->info().second.DoF, - robot_pair_->info().first.DoF + robot_pair_->info().second.DoF, - info_.joints.size()); - } else { - RCLCPP_FATAL(getLogger(), - "Connected robots total DoF (%ld + %ld = %ld) do not match expected DoF (%ld)", - robot_pair_->info().first.DoF, robot_pair_->info().second.DoF, - robot_pair_->info().first.DoF + robot_pair_->info().second.DoF, - info_.joints.size()); - return hardware_interface::CallbackReturn::ERROR; - } - } - - // Enable the pair of robots - RCLCPP_INFO(getLogger(), "Enabling robots ..."); - robot_pair_->Enable(); - - // Wait for both robots to become operational - while (!robot_pair_->operational()) { - std::this_thread::sleep_for(std::chrono::seconds(1)); - } - RCLCPP_INFO(getLogger(), "Both robots are now operational"); - - // Unlock external axes if any - if (robot_pair_->info().first.DoF_e > 0 || robot_pair_->info().second.DoF_e > 0) { - robot_pair_->LockExternalAxes( - {robot_pair_->info().first.DoF_e == 0, robot_pair_->info().second.DoF_e == 0}); - } - } catch (const std::exception& e) { - RCLCPP_FATAL(getLogger(), "Could not enable the robots"); - RCLCPP_FATAL(getLogger(), e.what()); - return hardware_interface::CallbackReturn::ERROR; - } - - RCLCPP_INFO(getLogger(), "System successfully started!"); - return hardware_interface::CallbackReturn::SUCCESS; -} - -hardware_interface::CallbackReturn FlexivDualHardwareInterface::on_deactivate( - const rclcpp_lifecycle::State& /*previous_state*/) -{ - RCLCPP_INFO(getLogger(), "Stopping... please wait..."); - robot_pair_->Stop(); - RCLCPP_INFO(getLogger(), "System successfully stopped!"); - return hardware_interface::CallbackReturn::SUCCESS; -} - -hardware_interface::return_type FlexivDualHardwareInterface::read( - const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/) -{ - if (robot_pair_->operational()) { - auto robot_states_pair = robot_pair_->states(); - hw_flexiv_robot_states_left_ = robot_states_pair.first; - hw_flexiv_robot_states_right_ = robot_states_pair.second; - - for (size_t i = 0; i < info_.joints.size(); i++) { - int robot_idx = joint_map_[i].robot_index; - int dof_idx = joint_map_[i].dof_index; - - if (robot_idx == 0) { - hw_states_joint_positions_[i] = robot_states_pair.first.q[dof_idx]; - hw_states_joint_velocities_[i] = robot_states_pair.first.dq[dof_idx]; - hw_states_joint_efforts_[i] = robot_states_pair.first.tau[dof_idx]; - } else { - hw_states_joint_positions_[i] = robot_states_pair.second.q[dof_idx]; - hw_states_joint_velocities_[i] = robot_states_pair.second.dq[dof_idx]; - hw_states_joint_efforts_[i] = robot_states_pair.second.tau[dof_idx]; - } - } - - // Read GPIO inputs - auto gpio_inputs = robot_pair_->digital_inputs(); - for (size_t i = 0; i < flexiv::rdk::kIOPorts; i++) { - hw_states_gpio_in_[i] = static_cast(gpio_inputs.first[i]); - hw_states_gpio_in_[i + flexiv::rdk::kIOPorts] - = static_cast(gpio_inputs.second[i]); - } - } - return hardware_interface::return_type::OK; -} - -hardware_interface::return_type FlexivDualHardwareInterface::write( - const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/) -{ - // Initialize target position and velocity vectors - std::vector target_pos_left(robot_pair_->info().first.DoF); - std::vector target_vel_left(robot_pair_->info().first.DoF); - std::vector max_vel_left(robot_pair_->info().first.DoF, kMaxJointVelocity); - std::vector max_acc_left(robot_pair_->info().first.DoF, kMaxJointAcceleration); - - std::vector target_pos_right(robot_pair_->info().second.DoF); - std::vector target_vel_right(robot_pair_->info().second.DoF); - std::vector max_vel_right(robot_pair_->info().second.DoF, kMaxJointVelocity); - std::vector max_acc_right(robot_pair_->info().second.DoF, kMaxJointAcceleration); - - // Populate target vectors, using current state if command is NaN - for (size_t i = 0; i < info_.joints.size(); i++) { - int robot_idx = joint_map_[i].robot_index; - int dof_idx = joint_map_[i].dof_index; - - if (robot_idx == 0) { - if (std::isnan(hw_commands_joint_positions_[i])) { - target_pos_left[dof_idx] = hw_states_joint_positions_[i]; - } else { - target_pos_left[dof_idx] = hw_commands_joint_positions_[i]; - } - if (std::isnan(hw_commands_joint_velocities_[i])) { - target_vel_left[dof_idx] = 0.0; - } else { - target_vel_left[dof_idx] = hw_commands_joint_velocities_[i]; - } - } else { - if (std::isnan(hw_commands_joint_positions_[i])) { - target_pos_right[dof_idx] = hw_states_joint_positions_[i]; - } else { - target_pos_right[dof_idx] = hw_commands_joint_positions_[i]; - } - if (std::isnan(hw_commands_joint_velocities_[i])) { - target_vel_right[dof_idx] = 0.0; - } else { - target_vel_right[dof_idx] = hw_commands_joint_velocities_[i]; - } - } - } - - // For AICO2, duplicate external axis commands from left to right - if (external_axis_type_.find("aico2") != std::string::npos) { - if (target_pos_left.size() >= 2 && target_pos_right.size() >= 2) { - target_pos_right[0] = target_pos_left[0]; - target_pos_right[1] = target_pos_left[1]; - target_vel_right[0] = target_vel_left[0]; - target_vel_right[1] = target_vel_left[1]; - } - } - - if (position_controller_running_ - && robot_pair_->mode() == std::pair {rdk_control_mode_, rdk_control_mode_}) { - robot_pair_->SendJointPosition({target_pos_left, target_pos_right}, - {target_vel_left, target_vel_right}, {max_vel_left, max_vel_right}, - {max_acc_left, max_acc_right}); - } else if (velocity_controller_running_ - && robot_pair_->mode() == std::pair {rdk_control_mode_, rdk_control_mode_}) { - robot_pair_->SendJointPosition({target_pos_left, target_pos_right}, - {target_vel_left, target_vel_right}, {max_vel_left, max_vel_right}, - {max_acc_left, max_acc_right}); - } else if (torque_controller_running_ - && robot_pair_->mode() - == std::pair { - flexiv::rdk::Mode::RT_JOINT_TORQUE, flexiv::rdk::Mode::RT_JOINT_TORQUE}) { - std::vector target_torque_left(robot_pair_->info().first.DoF); - std::vector target_torque_right(robot_pair_->info().second.DoF); - - for (size_t i = 0; i < info_.joints.size(); i++) { - int robot_idx = joint_map_[i].robot_index; - int dof_idx = joint_map_[i].dof_index; - - if (robot_idx == 0) { - if (std::isnan(hw_commands_joint_efforts_[i])) { - target_torque_left[dof_idx] = 0.0; - } else { - target_torque_left[dof_idx] = hw_commands_joint_efforts_[i]; - } - } else { - if (std::isnan(hw_commands_joint_efforts_[i])) { - target_torque_right[dof_idx] = 0.0; - } else { - target_torque_right[dof_idx] = hw_commands_joint_efforts_[i]; - } - } - } - - // For AICO2, duplicate external axis commands from left to right - if (external_axis_type_.find("aico2") != std::string::npos) { - if (target_torque_left.size() >= 2 && target_torque_right.size() >= 2) { - target_torque_right[0] = target_torque_left[0]; - target_torque_right[1] = target_torque_left[1]; - } - } - - robot_pair_->StreamJointTorque({target_torque_left, target_torque_right}); - } - - // Write digital outputs - std::map digital_outputs_left; - std::map digital_outputs_right; - for (size_t i = 0; i < flexiv::rdk::kIOPorts; i++) { - if (hw_commands_gpio_out_[i] == hw_commands_gpio_out_[i]) { - digital_outputs_left[i] = static_cast(hw_commands_gpio_out_[i]); - } - if (hw_commands_gpio_out_[i + flexiv::rdk::kIOPorts] - == hw_commands_gpio_out_[i + flexiv::rdk::kIOPorts]) { - digital_outputs_right[i] - = static_cast(hw_commands_gpio_out_[i + flexiv::rdk::kIOPorts]); - } - } - // Check if there is any change in digital outputs before sending - bool digital_outputs_changed = false; - for (const auto& [port, value] : digital_outputs_left) { - if (current_digital_outputs_left_[port] != value) { - digital_outputs_changed = true; - current_digital_outputs_left_[port] = value; - } - } - for (const auto& [port, value] : digital_outputs_right) { - if (current_digital_outputs_right_[port] != value) { - digital_outputs_changed = true; - current_digital_outputs_right_[port] = value; - } - } - current_digital_outputs_left_.clear(); - current_digital_outputs_right_.clear(); - for (const auto& [port, value] : digital_outputs_left) { - current_digital_outputs_left_[port] = value; - } - for (const auto& [port, value] : digital_outputs_right) { - current_digital_outputs_right_[port] = value; - } - - // Set digital outputs - if (digital_outputs_changed - && (!digital_outputs_left.empty() || !digital_outputs_right.empty())) { - robot_pair_->SetDigitalOutputs({digital_outputs_left, digital_outputs_right}); - } - - return hardware_interface::return_type::OK; -} - -hardware_interface::return_type FlexivDualHardwareInterface::prepare_command_mode_switch( - const std::vector& start_interfaces, - const std::vector& stop_interfaces) -{ - start_modes_.clear(); - stop_modes_.clear(); - - // Starting interfaces - for (const auto& key : start_interfaces) { - for (std::size_t i = 0; i < info_.joints.size(); i++) { - if (key == info_.joints[i].name + "/" + hardware_interface::HW_IF_POSITION) { - start_modes_.push_back(hardware_interface::HW_IF_POSITION); - } - if (key == info_.joints[i].name + "/" + hardware_interface::HW_IF_VELOCITY) { - start_modes_.push_back(hardware_interface::HW_IF_VELOCITY); - } - if (key == info_.joints[i].name + "/" + hardware_interface::HW_IF_EFFORT) { - start_modes_.push_back(hardware_interface::HW_IF_EFFORT); - } - } - } - - // All joints must have the same command mode - if (start_modes_.size() != 0 - && !std::equal(start_modes_.begin() + 1, start_modes_.end(), start_modes_.begin())) { - return hardware_interface::return_type::ERROR; - } - - // Stop motion on all relevant joints that are stopping - for (const auto& key : stop_interfaces) { - for (std::size_t i = 0; i < info_.joints.size(); i++) { - if (key == info_.joints[i].name + "/" + hardware_interface::HW_IF_POSITION) { - stop_modes_.push_back(StoppingInterface::STOP_POSITION); - } - if (key == info_.joints[i].name + "/" + hardware_interface::HW_IF_VELOCITY) { - stop_modes_.push_back(StoppingInterface::STOP_VELOCITY); - } - if (key == info_.joints[i].name + "/" + hardware_interface::HW_IF_EFFORT) { - stop_modes_.push_back(StoppingInterface::STOP_EFFORT); - } - } - } - - controllers_initialized_ = true; - return hardware_interface::return_type::OK; -} - -hardware_interface::return_type FlexivDualHardwareInterface::perform_command_mode_switch( - const std::vector& /*start_interfaces*/, - const std::vector& /*stop_interfaces*/) -{ - if (stop_modes_.size() != 0 - && std::find(stop_modes_.begin(), stop_modes_.end(), StoppingInterface::STOP_POSITION) - != stop_modes_.end()) { - position_controller_running_ = false; - robot_pair_->Stop(); - } else if (stop_modes_.size() != 0 - && std::find( - stop_modes_.begin(), stop_modes_.end(), StoppingInterface::STOP_VELOCITY) - != stop_modes_.end()) { - velocity_controller_running_ = false; - robot_pair_->Stop(); - } else if (stop_modes_.size() != 0 - && std::find(stop_modes_.begin(), stop_modes_.end(), StoppingInterface::STOP_EFFORT) - != stop_modes_.end()) { - torque_controller_running_ = false; - robot_pair_->Stop(); - } - - if (start_modes_.size() != 0 - && std::find(start_modes_.begin(), start_modes_.end(), hardware_interface::HW_IF_POSITION) - != start_modes_.end()) { - velocity_controller_running_ = false; - torque_controller_running_ = false; - - // Hold joints before user commands arrives - std::fill(hw_commands_joint_positions_.begin(), hw_commands_joint_positions_.end(), - std::numeric_limits::quiet_NaN()); - - // Set to joint position or joint impedance mode - robot_pair_->SwitchMode(rdk_control_mode_); - - position_controller_running_ = true; - } else if (start_modes_.size() != 0 - && std::find( - start_modes_.begin(), start_modes_.end(), hardware_interface::HW_IF_VELOCITY) - != start_modes_.end()) { - position_controller_running_ = false; - torque_controller_running_ = false; - - // Hold joints before user commands arrives - std::fill(hw_commands_joint_velocities_.begin(), hw_commands_joint_velocities_.end(), - std::numeric_limits::quiet_NaN()); - - // Set to joint position or joint impedance mode - robot_pair_->SwitchMode(rdk_control_mode_); - - velocity_controller_running_ = true; - } else if (start_modes_.size() != 0 - && std::find( - start_modes_.begin(), start_modes_.end(), hardware_interface::HW_IF_EFFORT) - != start_modes_.end()) { - position_controller_running_ = false; - velocity_controller_running_ = false; - - // Hold joints when starting joint torque controller before user - // commands arrives - std::fill(hw_commands_joint_efforts_.begin(), hw_commands_joint_efforts_.end(), - std::numeric_limits::quiet_NaN()); - - // Set to joint torque mode - robot_pair_->SwitchMode(flexiv::rdk::Mode::RT_JOINT_TORQUE); - - torque_controller_running_ = true; - } - - start_modes_.clear(); - stop_modes_.clear(); - - return hardware_interface::return_type::OK; -} - -} /* namespace flexiv_hardware */ - -#include "pluginlib/class_list_macros.hpp" - -PLUGINLIB_EXPORT_CLASS( - flexiv_hardware::FlexivDualHardwareInterface, hardware_interface::SystemInterface) diff --git a/flexiv_hardware/src/flexiv_hardware_interface.cpp b/flexiv_hardware/src/flexiv_hardware_interface.cpp index 5e073eb..7376764 100644 --- a/flexiv_hardware/src/flexiv_hardware_interface.cpp +++ b/flexiv_hardware/src/flexiv_hardware_interface.cpp @@ -56,60 +56,11 @@ hardware_interface::CallbackReturn FlexivHardwareInterface::on_init( torque_controller_running_ = false; controllers_initialized_ = false; - if (info_.joints.size() < 7) { - RCLCPP_FATAL(getLogger(), "Got %ld joints. Expected at least 7.", info_.joints.size()); + if (info_.joints.size() != kJointDoF) { + RCLCPP_FATAL(getLogger(), "Got %ld joints. Expected %ld.", info_.joints.size(), kJointDoF); return hardware_interface::CallbackReturn::ERROR; } - // Get prefix for joint mapping - std::string prefix; - try { - prefix = info_.hardware_parameters.at("prefix"); - } catch (const std::out_of_range& ex) { - RCLCPP_FATAL(getLogger(), "Parameter 'prefix' not set"); - return hardware_interface::CallbackReturn::ERROR; - } - - // Build RDK to ROS joint mapping - std::vector arm_indices; - std::vector ext_indices; - - // Find 7 arm joints in standard order - for (int j = 1; j <= 7; ++j) { - std::string arm_joint_name = prefix + "joint" + std::to_string(j); - bool found = false; - for (size_t i = 0; i < info_.joints.size(); ++i) { - if (info_.joints[i].name == arm_joint_name) { - arm_indices.push_back(i); - found = true; - break; - } - } - if (!found) { - RCLCPP_FATAL(getLogger(), "Could not find arm joint '%s'", arm_joint_name.c_str()); - return hardware_interface::CallbackReturn::ERROR; - } - } - - // Find external axis joints (any joint that is not an arm joint) - for (size_t i = 0; i < info_.joints.size(); ++i) { - bool is_arm = false; - for (size_t arm_idx : arm_indices) { - if (i == arm_idx) { - is_arm = true; - break; - } - } - if (!is_arm) { - ext_indices.push_back(i); - } - } - - // Construct map: external joints first, then arm joints (RDK order) - rdk_to_ros_map_.clear(); - rdk_to_ros_map_.insert(rdk_to_ros_map_.end(), ext_indices.begin(), ext_indices.end()); - rdk_to_ros_map_.insert(rdk_to_ros_map_.end(), arm_indices.begin(), arm_indices.end()); - for (const hardware_interface::ComponentInfo& joint : info_.joints) { if (joint.command_interfaces.size() != 3) { RCLCPP_FATAL(getLogger(), "Joint '%s' has %ld command interfaces found. 3 expected.", @@ -279,9 +230,11 @@ hardware_interface::CallbackReturn FlexivHardwareInterface::on_activate( } // Check the DoF of the robot - if (robot_->info().DoF != info_.joints.size()) { - RCLCPP_FATAL(getLogger(), "Robot has %ld DoF. Expected %ld (from URDF).", - robot_->info().DoF, info_.joints.size()); + if (robot_->info().DoF != kJointDoF) { + RCLCPP_FATAL(getLogger(), + "Robot has %ld DoF. Expected %ld. External axes control is not supported in ROS 2 " + "yet.", + robot_->info().DoF, kJointDoF); return hardware_interface::CallbackReturn::ERROR; } @@ -294,11 +247,6 @@ hardware_interface::CallbackReturn FlexivHardwareInterface::on_activate( std::this_thread::sleep_for(std::chrono::seconds(1)); } RCLCPP_INFO(getLogger(), "Robot is now operational"); - - // Unlock external axes if any - if (robot_->info().DoF_e > 0) { - robot_->LockExternalAxes(false); - } } catch (const std::exception& e) { RCLCPP_FATAL(getLogger(), "Could not enable robot."); RCLCPP_FATAL(getLogger(), e.what()); @@ -330,14 +278,10 @@ hardware_interface::return_type FlexivHardwareInterface::read( hw_flexiv_robot_states_ = robot_->states(); // Read joint states - // Map RDK states (RDK order) to Hardware Interface states (ROS order) - for (size_t rdk_idx = 0; rdk_idx < robot_->info().DoF; ++rdk_idx) { - size_t ros_idx = rdk_to_ros_map_[rdk_idx]; - if (ros_idx < info_.joints.size()) { - hw_states_joint_positions_[ros_idx] = robot_->states().q[rdk_idx]; - hw_states_joint_velocities_[ros_idx] = robot_->states().dtheta[rdk_idx]; - hw_states_joint_efforts_[ros_idx] = robot_->states().tau[rdk_idx]; - } + for (size_t i = 0; i < info_.joints.size(); i++) { + hw_states_joint_positions_[i] = robot_->states().q[i]; + hw_states_joint_velocities_[i] = robot_->states().dtheta[i]; + hw_states_joint_efforts_[i] = robot_->states().tau[i]; } // Read GPIO input states @@ -360,48 +304,36 @@ hardware_interface::return_type FlexivHardwareInterface::write( std::vector max_vel(robot_->info().DoF, kMaxJointVelocity); std::vector max_acc(robot_->info().DoF, kMaxJointAcceleration); - bool is_pos_nan = false; - bool is_vel_nan = false; - bool is_eff_nan = false; + bool isNanPos = false; + bool isNanVel = false; + bool isNanEff = false; for (std::size_t i = 0; i < robot_->info().DoF; i++) { if (hw_commands_joint_positions_[i] != hw_commands_joint_positions_[i]) { - is_pos_nan = true; + isNanPos = true; } if (hw_commands_joint_velocities_[i] != hw_commands_joint_velocities_[i]) { - is_vel_nan = true; + isNanVel = true; } if (hw_commands_joint_efforts_[i] != hw_commands_joint_efforts_[i]) { - is_eff_nan = true; + isNanEff = true; } } - if (position_controller_running_ && robot_->mode() == rdk_control_mode_ && !is_pos_nan) { - // Map ROS commands to RDK targets - for (size_t rdk_idx = 0; rdk_idx < robot_->info().DoF; ++rdk_idx) { - size_t ros_idx = rdk_to_ros_map_[rdk_idx]; - target_pos[rdk_idx] = hw_commands_joint_positions_[ros_idx]; - } + if (position_controller_running_ && robot_->mode() == rdk_control_mode_ && !isNanPos) { + target_pos = hw_commands_joint_positions_; robot_->SendJointPosition(target_pos, target_vel, max_vel, max_acc); - } else if (velocity_controller_running_ && robot_->mode() == rdk_control_mode_ && !is_vel_nan) { - // Map ROS commands/states to RDK targets - for (size_t rdk_idx = 0; rdk_idx < robot_->info().DoF; ++rdk_idx) { - size_t ros_idx = rdk_to_ros_map_[rdk_idx]; - target_pos[rdk_idx] = hw_states_joint_positions_[ros_idx]; - target_vel[rdk_idx] = hw_commands_joint_velocities_[ros_idx]; - } + } else if (velocity_controller_running_ && robot_->mode() == rdk_control_mode_ && !isNanVel) { + target_pos = hw_states_joint_positions_; + target_vel = hw_commands_joint_velocities_; robot_->SendJointPosition(target_pos, target_vel, max_vel, max_acc); } else if (torque_controller_running_ && robot_->mode() == flexiv::rdk::Mode::RT_JOINT_TORQUE - && !is_eff_nan) { + && !isNanEff) { std::vector target_torque(robot_->info().DoF); - // Map ROS commands to RDK targets - for (size_t rdk_idx = 0; rdk_idx < robot_->info().DoF; ++rdk_idx) { - size_t ros_idx = rdk_to_ros_map_[rdk_idx]; - target_torque[rdk_idx] = hw_commands_joint_efforts_[ros_idx]; - } + target_torque = hw_commands_joint_efforts_; robot_->StreamJointTorque(target_torque, true, true); } - // Write digital outputs + // Write digital output std::map digital_outputs; for (size_t i = 0; i < hw_commands_gpio_out_.size(); i++) { if (hw_commands_gpio_out_[i] != hw_commands_gpio_out_[i]) { diff --git a/flexiv_moveit_config/config/aico/aico1_4_v1_moveit_controllers.yaml b/flexiv_moveit_config/config/aico/aico1_4_v1_moveit_controllers.yaml deleted file mode 100644 index 1157368..0000000 --- a/flexiv_moveit_config/config/aico/aico1_4_v1_moveit_controllers.yaml +++ /dev/null @@ -1,24 +0,0 @@ -controller_names: - - rizon_arm_controller - - flexiv_gripper_node - -rizon_arm_controller: - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: true - joints: - - $(var external_axis_prefix)aico1_4_v1_joint2 - - $(var prefix)joint1 - - $(var prefix)joint2 - - $(var prefix)joint3 - - $(var prefix)joint4 - - $(var prefix)joint5 - - $(var prefix)joint6 - - $(var prefix)joint7 - -flexiv_gripper_node: - action_ns: gripper_action - type: GripperCommand - default: true - joints: - - $(var prefix)finger_width_joint diff --git a/flexiv_moveit_config/config/aico/aico1_4_v2_moveit_controllers.yaml b/flexiv_moveit_config/config/aico/aico1_4_v2_moveit_controllers.yaml deleted file mode 100644 index d1c70c3..0000000 --- a/flexiv_moveit_config/config/aico/aico1_4_v2_moveit_controllers.yaml +++ /dev/null @@ -1,26 +0,0 @@ -controller_names: - - rizon_arm_controller - - flexiv_gripper_node - -rizon_arm_controller: - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: true - joints: - - $(var external_axis_prefix)aico1_4_v2_joint1 - - $(var external_axis_prefix)aico1_4_v2_joint2 - - $(var external_axis_prefix)aico1_4_v2_joint_head - - $(var prefix)joint1 - - $(var prefix)joint2 - - $(var prefix)joint3 - - $(var prefix)joint4 - - $(var prefix)joint5 - - $(var prefix)joint6 - - $(var prefix)joint7 - -flexiv_gripper_node: - action_ns: gripper_action - type: GripperCommand - default: true - joints: - - $(var prefix)finger_width_joint diff --git a/flexiv_moveit_config/config/aico/aico1_kinematics.yaml b/flexiv_moveit_config/config/aico/aico1_kinematics.yaml deleted file mode 100644 index 9f8c581..0000000 --- a/flexiv_moveit_config/config/aico/aico1_kinematics.yaml +++ /dev/null @@ -1,4 +0,0 @@ -$(var prefix)arm: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.05 diff --git a/flexiv_moveit_config/config/aico/aico1_ompl_planning.yaml b/flexiv_moveit_config/config/aico/aico1_ompl_planning.yaml deleted file mode 100644 index 22f6d0e..0000000 --- a/flexiv_moveit_config/config/aico/aico1_ompl_planning.yaml +++ /dev/null @@ -1,176 +0,0 @@ -planner_configs: - SBLkConfigDefault: - type: geometric::SBL - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ESTkConfigDefault: - 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 - LBKPIECEkConfigDefault: - 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 - BKPIECEkConfigDefault: - 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 - KPIECEkConfigDefault: - 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 - RRTkConfigDefault: - 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 - RRTConnectkConfigDefault: - type: geometric::RRTConnect - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - RRTstarkConfigDefault: - 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 - TRRTkConfigDefault: - 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 expression. default: 0.0 set in setup() - PRMkConfigDefault: - type: geometric::PRM - max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 - PRMstarkConfigDefault: - type: geometric::PRMstar - FMTkConfigDefault: - 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 - BFMTkConfigDefault: - 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 - PDSTkConfigDefault: - type: geometric::PDST - STRIDEkConfigDefault: - 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 - BiTRRTkConfigDefault: - 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 - LBTRRTkConfigDefault: - 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 - BiESTkConfigDefault: - type: geometric::BiEST - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ProjESTkConfigDefault: - 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 - LazyPRMkConfigDefault: - type: geometric::LazyPRM - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - LazyPRMstarkConfigDefault: - type: geometric::LazyPRMstar - SPARSkConfigDefault: - 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 - SPARStwokConfigDefault: - 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 - TrajOptDefault: - type: geometric::TrajOpt -$(var prefix)arm: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - - FMTkConfigDefault - - BFMTkConfigDefault - - PDSTkConfigDefault - - STRIDEkConfigDefault - - BiTRRTkConfigDefault - - LBTRRTkConfigDefault - - BiESTkConfigDefault - - ProjESTkConfigDefault - - LazyPRMkConfigDefault - - LazyPRMstarkConfigDefault - - SPARSkConfigDefault - - SPARStwokConfigDefault - - TrajOptDefault -$(var prefix)grav_gripper: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - - FMTkConfigDefault - - BFMTkConfigDefault - - PDSTkConfigDefault - - STRIDEkConfigDefault - - BiTRRTkConfigDefault - - LBTRRTkConfigDefault - - BiESTkConfigDefault - - ProjESTkConfigDefault - - LazyPRMkConfigDefault - - LazyPRMstarkConfigDefault - - SPARSkConfigDefault - - SPARStwokConfigDefault - - TrajOptDefault diff --git a/flexiv_moveit_config/config/aico/aico2_10_v1_moveit_controllers.yaml b/flexiv_moveit_config/config/aico/aico2_10_v1_moveit_controllers.yaml deleted file mode 100644 index 8e3590f..0000000 --- a/flexiv_moveit_config/config/aico/aico2_10_v1_moveit_controllers.yaml +++ /dev/null @@ -1,47 +0,0 @@ -controller_names: - - left_rizon_arm_controller - - right_rizon_arm_controller - - left_gripper_node - - right_gripper_node - -left_rizon_arm_controller: - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: true - joints: - - $(var external_axis_prefix)aico2_10_v1_joint1 - - $(var external_axis_prefix)aico2_10_v1_joint2 - - $(var prefix_left)joint1 - - $(var prefix_left)joint2 - - $(var prefix_left)joint3 - - $(var prefix_left)joint4 - - $(var prefix_left)joint5 - - $(var prefix_left)joint6 - - $(var prefix_left)joint7 - -right_rizon_arm_controller: - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: true - joints: - - $(var prefix_right)joint1 - - $(var prefix_right)joint2 - - $(var prefix_right)joint3 - - $(var prefix_right)joint4 - - $(var prefix_right)joint5 - - $(var prefix_right)joint6 - - $(var prefix_right)joint7 - -left_gripper_node: - action_ns: gripper_action - type: GripperCommand - default: true - joints: - - $(var prefix_left)finger_width_joint - -right_gripper_node: - action_ns: gripper_action - type: GripperCommand - default: true - joints: - - $(var prefix_right)finger_width_joint diff --git a/flexiv_moveit_config/config/aico/aico2_4_v1_moveit_controllers.yaml b/flexiv_moveit_config/config/aico/aico2_4_v1_moveit_controllers.yaml deleted file mode 100644 index 5690333..0000000 --- a/flexiv_moveit_config/config/aico/aico2_4_v1_moveit_controllers.yaml +++ /dev/null @@ -1,47 +0,0 @@ -controller_names: - - left_rizon_arm_controller - - right_rizon_arm_controller - - left_gripper_node - - right_gripper_node - -left_rizon_arm_controller: - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: true - joints: - - $(var external_axis_prefix)aico2_4_v1_joint1 - - $(var external_axis_prefix)aico2_4_v1_joint2 - - $(var prefix_left)joint1 - - $(var prefix_left)joint2 - - $(var prefix_left)joint3 - - $(var prefix_left)joint4 - - $(var prefix_left)joint5 - - $(var prefix_left)joint6 - - $(var prefix_left)joint7 - -right_rizon_arm_controller: - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: true - joints: - - $(var prefix_right)joint1 - - $(var prefix_right)joint2 - - $(var prefix_right)joint3 - - $(var prefix_right)joint4 - - $(var prefix_right)joint5 - - $(var prefix_right)joint6 - - $(var prefix_right)joint7 - -left_gripper_node: - action_ns: gripper_action - type: GripperCommand - default: true - joints: - - $(var prefix_left)finger_width_joint - -right_gripper_node: - action_ns: gripper_action - type: GripperCommand - default: true - joints: - - $(var prefix_right)finger_width_joint diff --git a/flexiv_moveit_config/config/aico/aico2_4_v2_moveit_controllers.yaml b/flexiv_moveit_config/config/aico/aico2_4_v2_moveit_controllers.yaml deleted file mode 100644 index 1c9f8a0..0000000 --- a/flexiv_moveit_config/config/aico/aico2_4_v2_moveit_controllers.yaml +++ /dev/null @@ -1,47 +0,0 @@ -controller_names: - - left_rizon_arm_controller - - right_rizon_arm_controller - - left_gripper_node - - right_gripper_node - -left_rizon_arm_controller: - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: true - joints: - - $(var external_axis_prefix)aico2_4_v2_joint1 - - $(var external_axis_prefix)aico2_4_v2_joint2 - - $(var prefix_left)joint1 - - $(var prefix_left)joint2 - - $(var prefix_left)joint3 - - $(var prefix_left)joint4 - - $(var prefix_left)joint5 - - $(var prefix_left)joint6 - - $(var prefix_left)joint7 - -right_rizon_arm_controller: - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: true - joints: - - $(var prefix_right)joint1 - - $(var prefix_right)joint2 - - $(var prefix_right)joint3 - - $(var prefix_right)joint4 - - $(var prefix_right)joint5 - - $(var prefix_right)joint6 - - $(var prefix_right)joint7 - -left_gripper_node: - action_ns: gripper_action - type: GripperCommand - default: true - joints: - - $(var prefix_left)finger_width_joint - -right_gripper_node: - action_ns: gripper_action - type: GripperCommand - default: true - joints: - - $(var prefix_right)finger_width_joint diff --git a/flexiv_moveit_config/config/aico/aico2_kinematics.yaml b/flexiv_moveit_config/config/aico/aico2_kinematics.yaml deleted file mode 100644 index ba113e7..0000000 --- a/flexiv_moveit_config/config/aico/aico2_kinematics.yaml +++ /dev/null @@ -1,8 +0,0 @@ -$(var prefix_left)arm: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.05 -$(var prefix_right)arm: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.05 diff --git a/flexiv_moveit_config/config/aico/aico2_ompl_planning.yaml b/flexiv_moveit_config/config/aico/aico2_ompl_planning.yaml deleted file mode 100644 index c5eae3e..0000000 --- a/flexiv_moveit_config/config/aico/aico2_ompl_planning.yaml +++ /dev/null @@ -1,228 +0,0 @@ -planner_configs: - SBLkConfigDefault: - type: geometric::SBL - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ESTkConfigDefault: - 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 - LBKPIECEkConfigDefault: - 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 - BKPIECEkConfigDefault: - 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 - KPIECEkConfigDefault: - 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 - RRTkConfigDefault: - 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 - RRTConnectkConfigDefault: - type: geometric::RRTConnect - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - RRTstarkConfigDefault: - 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 - TRRTkConfigDefault: - 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 expression. default: 0.0 set in setup() - PRMkConfigDefault: - type: geometric::PRM - max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 - PRMstarkConfigDefault: - type: geometric::PRMstar - FMTkConfigDefault: - 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 - BFMTkConfigDefault: - 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 - PDSTkConfigDefault: - type: geometric::PDST - STRIDEkConfigDefault: - 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 - BiTRRTkConfigDefault: - 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 - LBTRRTkConfigDefault: - 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 - BiESTkConfigDefault: - type: geometric::BiEST - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ProjESTkConfigDefault: - 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 - LazyPRMkConfigDefault: - type: geometric::LazyPRM - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - LazyPRMstarkConfigDefault: - type: geometric::LazyPRMstar - SPARSkConfigDefault: - 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 - SPARStwokConfigDefault: - 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 - TrajOptDefault: - type: geometric::TrajOpt -$(var prefix_left)arm: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - - FMTkConfigDefault - - BFMTkConfigDefault - - PDSTkConfigDefault - - STRIDEkConfigDefault - - BiTRRTkConfigDefault - - LBTRRTkConfigDefault - - BiESTkConfigDefault - - ProjESTkConfigDefault - - LazyPRMkConfigDefault - - LazyPRMstarkConfigDefault - - SPARSkConfigDefault - - SPARStwokConfigDefault - - TrajOptDefault -$(var prefix_right)arm: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - - FMTkConfigDefault - - BFMTkConfigDefault - - PDSTkConfigDefault - - STRIDEkConfigDefault - - BiTRRTkConfigDefault - - LBTRRTkConfigDefault - - BiESTkConfigDefault - - ProjESTkConfigDefault - - LazyPRMkConfigDefault - - LazyPRMstarkConfigDefault - - SPARSkConfigDefault - - SPARStwokConfigDefault - - TrajOptDefault -$(var prefix_left)grav_gripper: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - - FMTkConfigDefault - - BFMTkConfigDefault - - PDSTkConfigDefault - - STRIDEkConfigDefault - - BiTRRTkConfigDefault - - LBTRRTkConfigDefault - - BiESTkConfigDefault - - ProjESTkConfigDefault - - LazyPRMkConfigDefault - - LazyPRMstarkConfigDefault - - SPARSkConfigDefault - - SPARStwokConfigDefault - - TrajOptDefault -$(var prefix_right)grav_gripper: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - - FMTkConfigDefault - - BFMTkConfigDefault - - PDSTkConfigDefault - - STRIDEkConfigDefault - - BiTRRTkConfigDefault - - LBTRRTkConfigDefault - - BiESTkConfigDefault - - ProjESTkConfigDefault - - LazyPRMkConfigDefault - - LazyPRMstarkConfigDefault - - SPARSkConfigDefault - - SPARStwokConfigDefault - - TrajOptDefault diff --git a/flexiv_moveit_config/config/aico/aico_joint_limits.yaml b/flexiv_moveit_config/config/aico/aico_joint_limits.yaml deleted file mode 100644 index 6f430d1..0000000 --- a/flexiv_moveit_config/config/aico/aico_joint_limits.yaml +++ /dev/null @@ -1,51 +0,0 @@ -joint_limits: - $(var external_axis_prefix)aico1_4_v1_joint2: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 - $(var external_axis_prefix)aico1_4_v2_joint1: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 - $(var external_axis_prefix)aico1_4_v2_joint2: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 - $(var external_axis_prefix)aico1_4_v2_joint_head: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 - $(var external_axis_prefix)aico2_4_v1_joint1: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 - $(var external_axis_prefix)aico2_4_v1_joint2: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 - $(var external_axis_prefix)aico2_4_v2_joint1: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 - $(var external_axis_prefix)aico2_4_v2_joint2: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 - $(var external_axis_prefix)aico2_10_v1_joint1: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 - $(var external_axis_prefix)aico2_10_v1_joint2: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 diff --git a/flexiv_moveit_config/config/dual_arm/kinematics_dual.yaml b/flexiv_moveit_config/config/dual_arm/kinematics_dual.yaml deleted file mode 100644 index ba113e7..0000000 --- a/flexiv_moveit_config/config/dual_arm/kinematics_dual.yaml +++ /dev/null @@ -1,8 +0,0 @@ -$(var prefix_left)arm: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.05 -$(var prefix_right)arm: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.05 diff --git a/flexiv_moveit_config/config/dual_arm/moveit_controllers_dual.yaml b/flexiv_moveit_config/config/dual_arm/moveit_controllers_dual.yaml deleted file mode 100644 index 2676539..0000000 --- a/flexiv_moveit_config/config/dual_arm/moveit_controllers_dual.yaml +++ /dev/null @@ -1,45 +0,0 @@ -controller_names: - - left_rizon_arm_controller - - right_rizon_arm_controller - - left_gripper_node - - right_gripper_node - -left_rizon_arm_controller: - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: true - joints: - - $(var prefix_left)joint1 - - $(var prefix_left)joint2 - - $(var prefix_left)joint3 - - $(var prefix_left)joint4 - - $(var prefix_left)joint5 - - $(var prefix_left)joint6 - - $(var prefix_left)joint7 - -right_rizon_arm_controller: - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: true - joints: - - $(var prefix_right)joint1 - - $(var prefix_right)joint2 - - $(var prefix_right)joint3 - - $(var prefix_right)joint4 - - $(var prefix_right)joint5 - - $(var prefix_right)joint6 - - $(var prefix_right)joint7 - -left_gripper_node: - action_ns: gripper_action - type: GripperCommand - default: true - joints: - - $(var prefix_left)finger_width_joint - -right_gripper_node: - action_ns: gripper_action - type: GripperCommand - default: true - joints: - - $(var prefix_right)finger_width_joint diff --git a/flexiv_moveit_config/config/dual_arm/ompl_planning_dual.yaml b/flexiv_moveit_config/config/dual_arm/ompl_planning_dual.yaml deleted file mode 100644 index c5eae3e..0000000 --- a/flexiv_moveit_config/config/dual_arm/ompl_planning_dual.yaml +++ /dev/null @@ -1,228 +0,0 @@ -planner_configs: - SBLkConfigDefault: - type: geometric::SBL - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ESTkConfigDefault: - 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 - LBKPIECEkConfigDefault: - 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 - BKPIECEkConfigDefault: - 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 - KPIECEkConfigDefault: - 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 - RRTkConfigDefault: - 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 - RRTConnectkConfigDefault: - type: geometric::RRTConnect - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - RRTstarkConfigDefault: - 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 - TRRTkConfigDefault: - 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 expression. default: 0.0 set in setup() - PRMkConfigDefault: - type: geometric::PRM - max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 - PRMstarkConfigDefault: - type: geometric::PRMstar - FMTkConfigDefault: - 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 - BFMTkConfigDefault: - 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 - PDSTkConfigDefault: - type: geometric::PDST - STRIDEkConfigDefault: - 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 - BiTRRTkConfigDefault: - 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 - LBTRRTkConfigDefault: - 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 - BiESTkConfigDefault: - type: geometric::BiEST - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ProjESTkConfigDefault: - 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 - LazyPRMkConfigDefault: - type: geometric::LazyPRM - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - LazyPRMstarkConfigDefault: - type: geometric::LazyPRMstar - SPARSkConfigDefault: - 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 - SPARStwokConfigDefault: - 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 - TrajOptDefault: - type: geometric::TrajOpt -$(var prefix_left)arm: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - - FMTkConfigDefault - - BFMTkConfigDefault - - PDSTkConfigDefault - - STRIDEkConfigDefault - - BiTRRTkConfigDefault - - LBTRRTkConfigDefault - - BiESTkConfigDefault - - ProjESTkConfigDefault - - LazyPRMkConfigDefault - - LazyPRMstarkConfigDefault - - SPARSkConfigDefault - - SPARStwokConfigDefault - - TrajOptDefault -$(var prefix_right)arm: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - - FMTkConfigDefault - - BFMTkConfigDefault - - PDSTkConfigDefault - - STRIDEkConfigDefault - - BiTRRTkConfigDefault - - LBTRRTkConfigDefault - - BiESTkConfigDefault - - ProjESTkConfigDefault - - LazyPRMkConfigDefault - - LazyPRMstarkConfigDefault - - SPARSkConfigDefault - - SPARStwokConfigDefault - - TrajOptDefault -$(var prefix_left)grav_gripper: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - - FMTkConfigDefault - - BFMTkConfigDefault - - PDSTkConfigDefault - - STRIDEkConfigDefault - - BiTRRTkConfigDefault - - LBTRRTkConfigDefault - - BiESTkConfigDefault - - ProjESTkConfigDefault - - LazyPRMkConfigDefault - - LazyPRMstarkConfigDefault - - SPARSkConfigDefault - - SPARStwokConfigDefault - - TrajOptDefault -$(var prefix_right)grav_gripper: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - - FMTkConfigDefault - - BFMTkConfigDefault - - PDSTkConfigDefault - - STRIDEkConfigDefault - - BiTRRTkConfigDefault - - LBTRRTkConfigDefault - - BiESTkConfigDefault - - ProjESTkConfigDefault - - LazyPRMkConfigDefault - - LazyPRMstarkConfigDefault - - SPARSkConfigDefault - - SPARStwokConfigDefault - - TrajOptDefault diff --git a/flexiv_moveit_config/rviz/moveit.rviz b/flexiv_moveit_config/rviz/moveit.rviz index 5a87ae0..b3dc938 100644 --- a/flexiv_moveit_config/rviz/moveit.rviz +++ b/flexiv_moveit_config/rviz/moveit.rviz @@ -144,53 +144,53 @@ Visualization Manager: Expand Tree: false Link Tree Style: Links in Alphabetic Order base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - flange: - Alpha: 1 - Show Axes: false - Show Trail: false - link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + world: + Alpha: 1 + Show Axes: false + Show Trail: false Robot Alpha: 1 Show Robot Collision: false Show Robot Visual: true diff --git a/flexiv_moveit_config/srdf/aico1.srdf.xacro b/flexiv_moveit_config/srdf/aico1.srdf.xacro deleted file mode 100644 index 7affe0e..0000000 --- a/flexiv_moveit_config/srdf/aico1.srdf.xacro +++ /dev/null @@ -1,74 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/flexiv_moveit_config/srdf/aico2.srdf.xacro b/flexiv_moveit_config/srdf/aico2.srdf.xacro deleted file mode 100644 index b19126b..0000000 --- a/flexiv_moveit_config/srdf/aico2.srdf.xacro +++ /dev/null @@ -1,148 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/flexiv_moveit_config/srdf/grav.srdf.xacro b/flexiv_moveit_config/srdf/grav.srdf.xacro index 06c8c4d..6e1f06a 100644 --- a/flexiv_moveit_config/srdf/grav.srdf.xacro +++ b/flexiv_moveit_config/srdf/grav.srdf.xacro @@ -4,7 +4,7 @@ - + @@ -28,16 +28,16 @@ - + - + - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/flexiv_moveit_config/srdf/rizon_macro.srdf.xacro b/flexiv_moveit_config/srdf/rizon_macro.srdf.xacro index 902301c..19a69e3 100644 --- a/flexiv_moveit_config/srdf/rizon_macro.srdf.xacro +++ b/flexiv_moveit_config/srdf/rizon_macro.srdf.xacro @@ -1,14 +1,14 @@ - + - + - + @@ -18,10 +18,8 @@ - - - + @@ -46,12 +44,18 @@ - - - - - - + + + + + + diff --git a/flexiv_msgs/msg/JointPosVel.msg b/flexiv_msgs/msg/JointPosVel.msg index 102f8fd..43d0c50 100644 --- a/flexiv_msgs/msg/JointPosVel.msg +++ b/flexiv_msgs/msg/JointPosVel.msg @@ -1,2 +1,2 @@ -float64[] positions -float64[] velocities +float64[7] positions +float64[7] velocities diff --git a/flexiv_msgs/msg/RobotStates.msg b/flexiv_msgs/msg/RobotStates.msg index f369cad..26df2b0 100644 --- a/flexiv_msgs/msg/RobotStates.msg +++ b/flexiv_msgs/msg/RobotStates.msg @@ -5,34 +5,34 @@ std_msgs/Header header builtin_interfaces/Time robot_timestamp # Measured joint positions using link-side encoder -float64[] q +float64[7] q # Measured joint positions using motor-side encoder -float64[] theta +float64[7] theta # Measured joint velocities using link-side encoder -float64[] dq +float64[7] dq # Measured joint velocities using motor-side encoder -float64[] dtheta +float64[7] dtheta # Measured joint torques -float64[] tau +float64[7] tau # Desired joint torques -float64[] tau_des +float64[7] tau_des # Numerical derivative of measured joint torques -float64[] tau_dot +float64[7] tau_dot # Estimated external joint torques -float64[] tau_ext +float64[7] tau_ext # Estimated interaction joint torques -float64[] tau_interact +float64[7] tau_interact # Measured joint temperatures -float64[] temperature +float64[7] temperature # Measured TCP pose expressed in world frame geometry_msgs/PoseStamped tcp_pose diff --git a/flexiv_test_nodes/launch/robot_states_publisher.launch.py b/flexiv_test_nodes/launch/robot_states_publisher.launch.py index 7ff38bf..59f7017 100644 --- a/flexiv_test_nodes/launch/robot_states_publisher.launch.py +++ b/flexiv_test_nodes/launch/robot_states_publisher.launch.py @@ -1,15 +1,16 @@ -"""Launch file for Robot States Publisher Node. +""" +Launch file for Robot States Publisher Node Example usage: # Auto-detect network interface: ros2 launch flexiv_test_nodes robot_states_publisher.launch.py \ robot_sn:=Rizon4s-123456 - + # With specific network interface: ros2 launch flexiv_test_nodes robot_states_publisher.launch.py \ robot_sn:=Rizon4s-123456 \ network_interface:=eth0 - + # Custom publish rate: ros2 launch flexiv_test_nodes robot_states_publisher.launch.py \ robot_sn:=Rizon4s-123456 \ @@ -26,51 +27,46 @@ def generate_launch_description(): - """Generate launch description for Robot States Publisher.""" - + """Generate launch description for Robot States Publisher""" + # Declare launch arguments robot_sn_arg = DeclareLaunchArgument( - "robot_sn", description="Robot serial number (e.g., Rizon4s-123456)" + 'robot_sn', + description='Robot serial number (e.g., Rizon4s-123456)' ) - + network_interface_arg = DeclareLaunchArgument( - "network_interface", - default_value="", - description="Network interface name (e.g., eth0, enp0s31f6). Leave empty to auto-detect.", + 'network_interface', + default_value='', + description='Network interface name (e.g., eth0, enp0s31f6). Leave empty to auto-detect.' ) - + publish_rate_arg = DeclareLaunchArgument( - "publish_rate", - default_value="100", - description="Publishing rate in Hz (default: 100)", + 'publish_rate', + default_value='100', + description='Publishing rate in Hz (default: 100)' ) - + # Create the Robot States Publisher node robot_states_publisher_node = Node( - package="flexiv_test_nodes", - executable="robot_states_publisher", - name="robot_states_publisher", - output="screen", - parameters=[ - { - "robot_sn": LaunchConfiguration("robot_sn"), - "network_interface": LaunchConfiguration("network_interface"), - "publish_rate": LaunchConfiguration("publish_rate"), - } - ], + package='flexiv_test_nodes', + executable='robot_states_publisher', + name='robot_states_publisher', + output='screen', + parameters=[{ + 'robot_sn': LaunchConfiguration('robot_sn'), + 'network_interface': LaunchConfiguration('network_interface'), + 'publish_rate': LaunchConfiguration('publish_rate'), + }], arguments=[ - "--robot-sn", - LaunchConfiguration("robot_sn"), - "--network-interface", - LaunchConfiguration("network_interface"), - ], - ) - - return LaunchDescription( - [ - robot_sn_arg, - network_interface_arg, - publish_rate_arg, - robot_states_publisher_node, + '--robot-sn', LaunchConfiguration('robot_sn'), + '--network-interface', LaunchConfiguration('network_interface'), ] ) + + return LaunchDescription([ + robot_sn_arg, + network_interface_arg, + publish_rate_arg, + robot_states_publisher_node, + ]) \ No newline at end of file