From 05c8a2cf90551543c58667789eab93117a19c5c5 Mon Sep 17 00:00:00 2001 From: Bill Finger Date: Thu, 6 Feb 2025 18:57:25 +0300 Subject: [PATCH] Initial commit --- CMakeLists.txt | 30 +++ LICENSE | 202 ++++++++++++++++++ config/config.rviz | 198 +++++++++++++++++ config/gz_bridge.yaml | 9 + launch/simulation.launch.py | 335 +++++++++++++++++++++++++++++ package.xml | 18 ++ urdf/current.urdf | 355 +++++++++++++++++++++++++++++++ urdf/rbs_arm_modular.xacro | 99 +++++++++ urdf/rbs_arm_modular_macro.xacro | 53 +++++ urdf/sensors.xacro | 88 ++++++++ urdf/xacro_args.yaml | 4 + world/default.sdf | 74 +++++++ 12 files changed, 1465 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 LICENSE create mode 100644 config/config.rviz create mode 100644 config/gz_bridge.yaml create mode 100644 launch/simulation.launch.py create mode 100644 package.xml create mode 100644 urdf/current.urdf create mode 100644 urdf/rbs_arm_modular.xacro create mode 100644 urdf/rbs_arm_modular_macro.xacro create mode 100644 urdf/sensors.xacro create mode 100644 urdf/xacro_args.yaml create mode 100644 world/default.sdf diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..39cf4ce --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,30 @@ +cmake_minimum_required(VERSION 3.8) +project(rbs_mill_assist) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + + +install(DIRECTORY launch urdf config world +DESTINATION share/${PROJECT_NAME}) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/config/config.rviz b/config/config.rviz new file mode 100644 index 0000000..2a3c17a --- /dev/null +++ b/config/config.rviz @@ -0,0 +1,198 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + Splitter Ratio: 0.5 + Tree Height: 739 + - 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 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +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 + ee_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fork0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fork1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + main0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + main1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Mass Properties: + Inertia: false + Mass: 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 + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + 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: 3.529470682144165 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5553982257843018 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.5453980565071106 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1043 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000015600000371fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f00000371000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000371fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003f00000371000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000026f00fffffffb0000000800540069006d00650100000000000004500000000000000000000006240000037100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 0 + Y: 196 diff --git a/config/gz_bridge.yaml b/config/gz_bridge.yaml new file mode 100644 index 0000000..264bb8d --- /dev/null +++ b/config/gz_bridge.yaml @@ -0,0 +1,9 @@ +- 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" + ros_type_name: "sensor_msgs/msg/Image" + gz_type_name: "gz.msgs.Image" + direction: GZ_TO_ROS diff --git a/launch/simulation.launch.py b/launch/simulation.launch.py new file mode 100644 index 0000000..ffc6da6 --- /dev/null +++ b/launch/simulation.launch.py @@ -0,0 +1,335 @@ +import os + +import xacro +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + IncludeLaunchDescription, + OpaqueFunction, +) +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare +from rbs_utils.launch import load_xacro_args +from robot_builder.external.ros2_control import ControllerManager +from robot_builder.parser.urdf import URDF_parser +from ros_gz_bridge.actions import RosGzBridge + + +def launch_setup(context, *args, **kwargs): + robot_type = LaunchConfiguration("robot_type") + # General arguments + with_gripper_condition = LaunchConfiguration("with_gripper") + description_package = LaunchConfiguration("description_package") + description_file = LaunchConfiguration("description_file") + use_moveit = LaunchConfiguration("use_moveit") + moveit_config_package = LaunchConfiguration("moveit_config_package") + moveit_config_file = LaunchConfiguration("moveit_config_file") + use_sim_time = LaunchConfiguration("use_sim_time") + ee_link_name = LaunchConfiguration("ee_link_name").perform(context) + base_link_name = LaunchConfiguration("base_link_name").perform(context) + control_space = LaunchConfiguration("control_space").perform(context) + control_strategy = LaunchConfiguration("control_strategy").perform(context) + interactive = LaunchConfiguration("interactive").perform(context) + real_robot = LaunchConfiguration("real_robot").perform(context) + + use_rbs_utils = LaunchConfiguration("use_rbs_utils") + assembly_config_name = LaunchConfiguration("assembly_config_name") + + description_package_abs_path = get_package_share_directory( + description_package.perform(context) + ) + + controllers_file = os.path.join( + description_package_abs_path, "config", "controllers.yaml" + ) + + xacro_file = os.path.join( + description_package_abs_path, + "urdf", + description_file.perform(context), + ) + + # xacro_config_file = f"{description_package_abs_path}/config/xacro_args.yaml" + xacro_config_file = os.path.join( + description_package_abs_path, "urdf", "xacro_args.yaml" + ) + + mappings_data = load_xacro_args(xacro_config_file, locals()) + + robot_description_doc = xacro.process_file(xacro_file, mappings=mappings_data) + + robot_description_semantic_content = "" + + if use_moveit.perform(context) == "true": + srdf_config_file = os.path.join( + get_package_share_directory(moveit_config_package.perform(context)), + "srdf", + "xacro_args.yaml", + ) + srdf_file = os.path.join( + get_package_share_directory(moveit_config_package.perform(context)), + "srdf", + moveit_config_file.perform(context), + ) + srdf_mappings = load_xacro_args(srdf_config_file, locals()) + robot_description_semantic_content = xacro.process_file( + srdf_file, mappings=srdf_mappings + ) + robot_description_semantic_content = ( + robot_description_semantic_content.toprettyxml(indent=" ") + ) + control_space = "joint" + control_strategy = "position" + interactive = "false" + + robot_description_content = robot_description_doc.toprettyxml(indent=" ") + robot_description = {"robot_description": robot_description_content} + + # Parse robot and configure controller's file for ControllerManager + robot = URDF_parser.load_string( + robot_description_content, ee_link_name=ee_link_name + ) + ControllerManager.save_to_yaml( + robot, description_package_abs_path, "controllers.yaml" + ) + + rbs_robot_setup = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + PathJoinSubstitution( + [FindPackageShare("rbs_bringup"), "launch", "rbs_robot.launch.py"] + ) + ] + ), + launch_arguments={ + "with_gripper": with_gripper_condition, + "controllers_file": controllers_file, + "robot_type": robot_type, + "description_package": description_package, + "description_file": description_file, + "robot_name": robot_type, + "use_moveit": use_moveit, + "moveit_config_package": moveit_config_package, + "moveit_config_file": moveit_config_file, + "use_sim_time": use_sim_time, + "use_controllers": "true", + "robot_description": robot_description_content, + "robot_description_semantic": robot_description_semantic_content, + "base_link_name": base_link_name, + "ee_link_name": ee_link_name, + "control_space": control_space, + "control_strategy": control_strategy, + "interactive_control": interactive, + "use_rbs_utils": use_rbs_utils, + "assembly_config_name": assembly_config_name, + }.items(), + ) + + rviz_config_file = os.path.join(description_package_abs_path, "config", "config.rviz") + + rviz_node = Node( + package="rviz2", + executable="rviz2", + arguments=["-d", rviz_config_file], + parameters=[{"use_sim_time": True}] + ) + + gazebo_world = os.path.join(description_package_abs_path, "world", "default.sdf") + + gazebo = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [os.path.join(get_package_share_directory('ros_gz_sim'), + 'launch', 'gz_sim.launch.py')]), + launch_arguments=[('gz_args', [' -r ', gazebo_world])], + ) + + gazebo_spawn_robot = Node( + package="ros_gz_sim", + executable="create", + arguments=[ + "-name", "arm0", + "-x", "0.0", + "-z", "0.0", + "-y", "0.0", + "-topic", "/robot_description", + ], + output="screen", + parameters=[{"use_sim_time": True}], + ) + + gz_bridge = RosGzBridge( + bridge_name="ros_gz_bridge", + config_file=os.path.join(description_package_abs_path, "config", "gz_bridge.yaml") + ) + + nodes_to_start = [ + rbs_robot_setup, + rviz_node, + gazebo, + gazebo_spawn_robot, + gz_bridge + ] + return nodes_to_start + + +def generate_launch_description(): + declared_arguments = [] + declared_arguments.append( + DeclareLaunchArgument( + "robot_type", + description="Type of robot by name", + choices=[ + "rbs_arm", + "ar4", + "ur3", + "ur3e", + "ur5", + "ur5e", + "ur10", + "ur10e", + "ur16e", + ], + default_value="rbs_arm", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "description_package", + default_value="rbs_mill_assist", + description="Description package with robot URDF/XACRO files. Usually the argument \ + is not set, it enables use of a custom description.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "description_file", + default_value="rbs_arm_modular.xacro", + description="URDF/XACRO description file with the robot.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "robot_name", + default_value="arm0", + description="Name for robot, used to apply namespace for specific robot in multirobot setup", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "moveit_config_package", + default_value="rbs_arm", + description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \ + is not set, it enables use of a custom moveit config.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "moveit_config_file", + default_value="rbs_arm.srdf.xacro", + description="MoveIt SRDF/XACRO description file with the robot.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_sim_time", + default_value="true", + description="Make MoveIt to use simulation time.\ + This is needed for the trajectory planing in simulation.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "with_gripper", default_value="false", description="With gripper or not?" + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_moveit", default_value="false", description="Launch moveit?" + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "launch_perception", default_value="false", description="Launch perception?" + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_controllers", + default_value="true", + description="Launch controllers?", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "scene_config_file", + default_value="", + description="Path to a scene configuration file", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "ee_link_name", + default_value="tool0", + description="End effector name of robot arm", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "base_link_name", + default_value="base_link", + description="Base link name if robot arm", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "control_space", + default_value="task", + choices=["task", "joint"], + description="Specify the control space for the robot (e.g., task space).", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "control_strategy", + default_value="position", + choices=["position", "velocity", "effort"], + description="Specify the control strategy (e.g., position control).", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "interactive", + default_value="true", + description="Wheter to run the motion_control_handle controller", + ), + ) + declared_arguments.append( + DeclareLaunchArgument( + "real_robot", + default_value="false", + description="Wheter to run on the real robot", + ), + ) + + declared_arguments.append( + DeclareLaunchArgument( + "use_rbs_utils", + default_value="true", + description="Wheter to use rbs_utils", + ), + ) + + declared_arguments.append( + DeclareLaunchArgument( + "assembly_config_name", + default_value="", + description="Assembly config name from rbs_assets_library", + ), + ) + + return LaunchDescription( + declared_arguments + [OpaqueFunction(function=launch_setup)] + ) diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..2bbc623 --- /dev/null +++ b/package.xml @@ -0,0 +1,18 @@ + + + + rbs_mill_assist + 0.0.0 + TODO: Package description + narenmak + Apache-2.0 + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/urdf/current.urdf b/urdf/current.urdf new file mode 100644 index 0000000..5f8ead8 --- /dev/null +++ b/urdf/current.urdf @@ -0,0 +1,355 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + gz_ros2_control/GazeboSimSystem + + + + + + + 10000 + 0.2 + + + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + gz_ros2_control/GazeboSimSystem + + + + + + + 10000 + 0.2 + + + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + gz_ros2_control/GazeboSimSystem + + + + + + + 10000 + 0.2 + + + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + gz_ros2_control/GazeboSimSystem + + + + + + + 1000 + 0.2 + + + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + gz_ros2_control/GazeboSimSystem + + + + + + + 20 + 0.2 + + + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.047 + + 320 + 240 + + + 0.1 + 100 + + + 1 + 30 + true + rgbd_camera + true + + + + + + + + + + + + + + + + + + + + arm0 + + + + diff --git a/urdf/rbs_arm_modular.xacro b/urdf/rbs_arm_modular.xacro new file mode 100644 index 0000000..69692aa --- /dev/null +++ b/urdf/rbs_arm_modular.xacro @@ -0,0 +1,99 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/rbs_arm_modular_macro.xacro b/urdf/rbs_arm_modular_macro.xacro new file mode 100644 index 0000000..fc57254 --- /dev/null +++ b/urdf/rbs_arm_modular_macro.xacro @@ -0,0 +1,53 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + $(arg simulation_controllers) + + ${namespace} + + + + + + diff --git a/urdf/sensors.xacro b/urdf/sensors.xacro new file mode 100644 index 0000000..b0118b4 --- /dev/null +++ b/urdf/sensors.xacro @@ -0,0 +1,88 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.047 + + 320 + 240 + + + 0.1 + 100 + + + 1 + 30 + true + ${tf_prefix}rgbd_camera + true + + + + + + + + + + + + + + + gz_ros2_control/GzFts + + + + + + + + + + + + + + true + + true + 50 + true + ${tf_prefix}ft_data + + sensor + child_to_parent + + + + + + diff --git a/urdf/xacro_args.yaml b/urdf/xacro_args.yaml new file mode 100644 index 0000000..20d140f --- /dev/null +++ b/urdf/xacro_args.yaml @@ -0,0 +1,4 @@ +gripper_name: "rbs_gripper" +hardware: "gazebo" +simulation_controllers: !variable controllers_file +namespace: "" diff --git a/world/default.sdf b/world/default.sdf new file mode 100644 index 0000000..de0f31c --- /dev/null +++ b/world/default.sdf @@ -0,0 +1,74 @@ + + + + + 1.0 1.0 1.0 + false + + + + 0.001 + 1.0 + + + + + ogre2 + + + + + + + + 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 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +