commit 722f4e5b2767c962e396967b01a6e7ef65c94af9 Author: Bill Finger Date: Thu May 1 19:33:54 2025 +0300 initial commit diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..244e8d4 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 3.5) +project(aubo_ros2_description) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY config launch meshes rviz urdf world + DESTINATION share/${PROJECT_NAME}/ +) + +ament_package() diff --git a/config/gz_bridge.yaml b/config/gz_bridge.yaml new file mode 100644 index 0000000..3c637b5 --- /dev/null +++ b/config/gz_bridge.yaml @@ -0,0 +1,25 @@ +- topic_name: "/clock" + ros_type_name: "rosgraph_msgs/msg/Clock" + gz_type_name: "gz.msgs.Clock" + direction: GZ_TO_ROS + +# - topic_name: "/rgbd_camera/image/image" +# ros_type_name: "sensor_msgs/msg/Image" +# gz_type_name: "gz.msgs.Image" +# direction: GZ_TO_ROS +# +# - topic_name: "/rgbd_camera/image/depth_image" +# ros_type_name: "sensor_msgs/msg/Image" +# gz_type_name: "gz.msgs.Image" +# direction: GZ_TO_ROS +# +# - topic_name: "/rgbd_camera/image/camera_info" +# ros_type_name: "sensor_msgs/msg/CameraInfo" +# gz_type_name: "gz.msgs.CameraInfo" +# direction: GZ_TO_ROS + +# TODO: add static TF publishing of the camera frame +# - topic_name: "/rgbd_camera/image/points" +# ros_type_name: "sensor_msgs/msg/PointCloud2" +# gz_type_name: "gz.msgs.PointCloudPacked" +# direction: GZ_TO_ROS diff --git a/config/initial_positions.yaml b/config/initial_positions.yaml new file mode 100644 index 0000000..f777935 --- /dev/null +++ b/config/initial_positions.yaml @@ -0,0 +1,16 @@ +joint_state_publisher: + ros__parameters: + joints: + - shoulder_joint + - upperArm_joint + - foreArm_joint + - wrist1_joint + - wrist2_joint + - wrist3_joint + joint_positions: + - 0.0 + - 0.0 + - 1.57 + - 0.0 + - 0.0 + - 0.0 diff --git a/launch/control.launch.py b/launch/control.launch.py new file mode 100644 index 0000000..91ab0b9 --- /dev/null +++ b/launch/control.launch.py @@ -0,0 +1,87 @@ +from launch_ros.actions import Node +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, OpaqueFunction + +# from launch.conditions import IfCondition, UnlessCondition +from launch.substitutions import LaunchConfiguration + + +def create_spawner(controller_name, namespace, condition=None, inactive=False): + args = [controller_name, "-c", f"{namespace}/controller_manager"] + if inactive: + args.append("--inactive") + return Node( + package="controller_manager", + executable="spawner", + namespace=namespace, + arguments=args, + condition=condition, + ) + + +def launch_setup(context, *args, **kwargs): + namespace = LaunchConfiguration("namespace").perform(context) + control_strategy = LaunchConfiguration("control_strategy").perform(context) + control_space = LaunchConfiguration("control_space").perform(context) + has_gripper = LaunchConfiguration("has_gripper").perform(context) + interactive_control = LaunchConfiguration("interactive_control").perform(context) + + controllers_config = { + "joint_state_broadcaster": True, + "gripper_controller": has_gripper == "true", + "joint_trajectory_controller": control_strategy == "position" + and control_space == "joint", + "cartesian_motion_controller": control_strategy == "position" + and control_space == "task", + "cartesian_force_controller": control_strategy == "effort" + and control_space == "task", + "joint_effort_controller": control_strategy == "effort" + and control_space == "joint", + "force_torque_sensor_broadcaster": control_strategy == "effort" + and control_space == "task", + "motion_control_handle": interactive_control == "true" + and control_space == "task" + and control_strategy == "position", + } + + nodes_to_start = [] + for controller_name, should_start in controllers_config.items(): + if should_start: + nodes_to_start.append(create_spawner(controller_name, namespace)) + + return nodes_to_start + + +def generate_launch_description(): + declared_arguments = [ + DeclareLaunchArgument( + "namespace", default_value="", description="A robot's namespace" + ), + DeclareLaunchArgument( + "control_space", + default_value="task", + choices=["task", "joint"], + description="Control type: 'task' for Cartesian, 'joint' for joint space control.", + ), + DeclareLaunchArgument( + "control_strategy", + default_value="position", + choices=["position", "velocity", "effort"], + description="Control strategy: 'position', 'velocity', or 'effort'.", + ), + DeclareLaunchArgument( + "has_gripper", + default_value="true", + description="Whether to activate the gripper_controller.", + ), + + DeclareLaunchArgument( + "interactive_control", + default_value="true", + description="Whether to activate the gripper_controller.", + ), + ] + + return LaunchDescription( + declared_arguments + [OpaqueFunction(function=launch_setup)] + ) diff --git a/launch/view_auboi5.launch.py b/launch/view_auboi5.launch.py new file mode 100644 index 0000000..48e43e0 --- /dev/null +++ b/launch/view_auboi5.launch.py @@ -0,0 +1,104 @@ + +import os +import yaml +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition, UnlessCondition +from launch.substitutions import ( + Command, + FindExecutable, + LaunchConfiguration, + PathJoinSubstitution, +) +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + +def load_yaml(package_name, file_path): + 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: + return yaml.safe_load(file) + except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available + return None + + +def generate_launch_description(): + pkg_share = FindPackageShare("aubo_ros2_description") + default_rviz_config_path = PathJoinSubstitution( + [pkg_share, "rviz", "view_rizon.rviz"] + ) + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [FindPackageShare("aubo_ros2_description"), "urdf", "aubo_i5.urdf.xacro"] + ), + " ", + "name:=", + "aubo_i5", + ] + ) + + # 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}], + ) + + # package_path = get_package_share_directory("aubo_ros2_description") + # joint_state_publisher_node = Node( + # package="joint_state_publisher", + # executable="joint_state_publisher", + # name="joint_state_publisher", + # parameters=[package_path + "/config/initial_positions.yaml"], + # # 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="aubo_type", + default_value="aubo_i5", + description="Type of the aubo robot.", + choices=["aubo_i3", "aubo_i5", "aubo_i10"], + ), + 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/meshes/aubo_i5/collision/base_link.STL b/meshes/aubo_i5/collision/base_link.STL new file mode 100755 index 0000000..d2c33c6 Binary files /dev/null and b/meshes/aubo_i5/collision/base_link.STL differ diff --git a/meshes/aubo_i5/collision/foreArm_Link.STL b/meshes/aubo_i5/collision/foreArm_Link.STL new file mode 100755 index 0000000..b8086d5 Binary files /dev/null and b/meshes/aubo_i5/collision/foreArm_Link.STL differ diff --git a/meshes/aubo_i5/collision/pedestal.STL b/meshes/aubo_i5/collision/pedestal.STL new file mode 100644 index 0000000..721ef91 Binary files /dev/null and b/meshes/aubo_i5/collision/pedestal.STL differ diff --git a/meshes/aubo_i5/collision/shoulder_Link.STL b/meshes/aubo_i5/collision/shoulder_Link.STL new file mode 100755 index 0000000..ff7d39c Binary files /dev/null and b/meshes/aubo_i5/collision/shoulder_Link.STL differ diff --git a/meshes/aubo_i5/collision/upperArm_Link.STL b/meshes/aubo_i5/collision/upperArm_Link.STL new file mode 100755 index 0000000..03051c0 Binary files /dev/null and b/meshes/aubo_i5/collision/upperArm_Link.STL differ diff --git a/meshes/aubo_i5/collision/wrist1_Link.STL b/meshes/aubo_i5/collision/wrist1_Link.STL new file mode 100755 index 0000000..65a976d Binary files /dev/null and b/meshes/aubo_i5/collision/wrist1_Link.STL differ diff --git a/meshes/aubo_i5/collision/wrist2_Link.STL b/meshes/aubo_i5/collision/wrist2_Link.STL new file mode 100755 index 0000000..b00dec4 Binary files /dev/null and b/meshes/aubo_i5/collision/wrist2_Link.STL differ diff --git a/meshes/aubo_i5/collision/wrist3_Link.STL b/meshes/aubo_i5/collision/wrist3_Link.STL new file mode 100755 index 0000000..e0e2e70 Binary files /dev/null and b/meshes/aubo_i5/collision/wrist3_Link.STL differ diff --git a/meshes/aubo_i5/visual/base_link.DAE b/meshes/aubo_i5/visual/base_link.DAE new file mode 100755 index 0000000..f6007bc 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the aubo description + Shaosong + Apache License 2.0 + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + + diff --git a/rviz/view_auboi5.rviz b/rviz/view_auboi5.rviz new file mode 100644 index 0000000..0f67201 --- /dev/null +++ b/rviz/view_auboi5.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: base_link + 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/urdf/aubo.gazebo.xacro b/urdf/aubo.gazebo.xacro new file mode 100755 index 0000000..bd09f88 --- /dev/null +++ b/urdf/aubo.gazebo.xacro @@ -0,0 +1,74 @@ + + + + + + + + + + Gazebo/Black + + + + + Gazebo/Orange + + + + + Gazebo/Black + + + + + Gazebo/Orange + + + + + Gazebo/Black + + + + + Gazebo/Orange + + + + + Gazebo/Black + + + + + Gazebo/Orange + + + + + Gazebo/Black + + + + + Gazebo/Orange + + + + + Gazebo/Black + + + + + Gazebo/Black + + + + + Gazebo/Green + + + + diff --git a/urdf/aubo.transmission.xacro b/urdf/aubo.transmission.xacro new file mode 100755 index 0000000..53c48db --- /dev/null +++ b/urdf/aubo.transmission.xacro @@ -0,0 +1,68 @@ + + + + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + 1 + + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + 1 + + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + 1 + + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + 1 + + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + 1 + + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + 1 + + + + + + diff --git a/urdf/aubo_i5.urdf b/urdf/aubo_i5.urdf new file mode 100755 index 0000000..8a5c229 --- /dev/null +++ b/urdf/aubo_i5.urdf @@ -0,0 +1,220 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/aubo_i5.urdf.xacro b/urdf/aubo_i5.urdf.xacro new file mode 100644 index 0000000..1704655 --- /dev/null +++ b/urdf/aubo_i5.urdf.xacro @@ -0,0 +1,250 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + $(arg simulation_controllers) + + + + + + + + diff --git a/urdf/aubo_i5_dh_ag95.urdf.xacro b/urdf/aubo_i5_dh_ag95.urdf.xacro new file mode 100644 index 0000000..09f4e54 --- /dev/null +++ b/urdf/aubo_i5_dh_ag95.urdf.xacro @@ -0,0 +1,255 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + $(arg simulation_controllers) + + + + + + + + diff --git a/urdf/common.gazebo.xacro b/urdf/common.gazebo.xacro new file mode 100755 index 0000000..6bde933 --- /dev/null +++ b/urdf/common.gazebo.xacro @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/urdf/materials.xacro b/urdf/materials.xacro new file mode 100644 index 0000000..9282ff8 --- /dev/null +++ b/urdf/materials.xacro @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/ros2_control.xacro b/urdf/ros2_control.xacro new file mode 100644 index 0000000..bacc160 --- /dev/null +++ b/urdf/ros2_control.xacro @@ -0,0 +1,70 @@ + + + + + + + gz_ros2_control/GazeboSimSystem + + + mock_components/GenericSystem + + + aubo_ros2_control/AuboSystem + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/xacro_args.yaml b/urdf/xacro_args.yaml new file mode 100644 index 0000000..b864ab7 --- /dev/null +++ b/urdf/xacro_args.yaml @@ -0,0 +1 @@ +simulation_controllers: !variable controllers_file diff --git a/world/world.sdf b/world/world.sdf new file mode 100644 index 0000000..bb612e6 --- /dev/null +++ b/world/world.sdf @@ -0,0 +1,67 @@ + + + + + 0.001 + 0 + + + + + + + + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + 100 100 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + +