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Enable multiple robots #90

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Jun 10, 2019
Merged

Enable multiple robots #90

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fc96cba
add two robots urdfs
YueErro May 30, 2019
fa9ecdc
fix mara robot gripper 85 and hande
YueErro May 31, 2019
7fcd757
fix libgazebo_ros_joint_state_publisher plugin
YueErro May 31, 2019
54d98b8
update models
YueErro Jun 10, 2019
b46090b
fix bridge related files for multiple robots
YueErro Jun 10, 2019
51b5b5e
update readme
YueErro Jun 10, 2019
73659bf
new config file for two robots
YueErro Jun 10, 2019
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6 changes: 6 additions & 0 deletions hros_cognition_mara_components/config/motors.yaml
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Expand Up @@ -5,6 +5,12 @@ simulated_motors:
- "/hrim_actuation_servomotor_000000000002/trajectory_axis2"
- "/hrim_actuation_servomotor_000000000003/trajectory_axis1"
- "/hrim_actuation_servomotor_000000000003/trajectory_axis2"
# - "/hrim_actuation_servomotor_000000000005/trajectory_axis2"
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# - "/hrim_actuation_servomotor_000000000005/trajectory_axis1"
# - "/hrim_actuation_servomotor_000000000006/trajectory_axis1"
# - "/hrim_actuation_servomotor_000000000006/trajectory_axis2"
# - "/hrim_actuation_servomotor_000000000007/trajectory_axis1"
# - "/hrim_actuation_servomotor_000000000007/trajectory_axis2"

real_motors:
- "/hrim_actuation_servomotor_70B3D521A042/trajectory_axis2"
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8 changes: 4 additions & 4 deletions mara_description/urdf/mara.urdf.xacro
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Expand Up @@ -8,7 +8,7 @@
<xacro:include filename="$(find mara_description)/urdf/mara.transmission.xacro" />
<xacro:include filename="$(find mara_description)/urdf/mara_gazebo.urdf.xacro" />

<xacro:macro name="mara_robot" params="prefix ee_link_distance">
<xacro:macro name="mara_robot" params="prefix ee_link_distance MAC1 MAC2 MAC3">

<link name="${prefix}base_link">
<inertial>
Expand Down Expand Up @@ -388,14 +388,14 @@
</joint>

<link name="${prefix}tool0"/>
<joint name="${prefix}${prefix}motor6_link-tool0_fixed_joint" type="fixed">
<joint name="${prefix}motor6_link-tool0_fixed_joint" type="fixed">
<origin rpy="0 -1.57 0" xyz="0 0.0 ${ee_link_distance}"/>
<parent link="${prefix}${prefix}motor6_link"/>
<parent link="${prefix}motor6_link"/>
<child link="${prefix}tool0"/>
</joint>

<xacro:mara_transmission prefix="${prefix}"/>
<xacro:mara_gazebo prefix="${prefix}"/>
<xacro:mara_gazebo prefix="${prefix}" MAC1="${MAC1}" MAC2="${MAC2}" MAC3="${MAC3}"/>

</xacro:macro>
</robot>
38 changes: 19 additions & 19 deletions mara_description/urdf/mara_gazebo.urdf.xacro
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@@ -1,41 +1,41 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:macro name="mara_gazebo" params="prefix">
<xacro:macro name="mara_gazebo" params="prefix MAC1 MAC2 MAC3">

<gazebo>
<plugin name="mara_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
<plugin name="${prefix}joint_state" filename="libgazebo_ros_joint_state_publisher.so">
<ros>
<argument>~/out:=joint_states</argument>
<argument>~/out:=${prefix}joint_states</argument>
</ros>
<update_rate>25</update_rate>
<joint_name>motor1</joint_name>
<joint_name>motor2</joint_name>
<joint_name>motor3</joint_name>
<joint_name>motor4</joint_name>
<joint_name>motor5</joint_name>
<joint_name>motor6</joint_name>
<joint_name>joint_finger</joint_name>
<joint_name>${prefix}motor1</joint_name>
<joint_name>${prefix}motor2</joint_name>
<joint_name>${prefix}motor3</joint_name>
<joint_name>${prefix}motor4</joint_name>
<joint_name>${prefix}motor5</joint_name>
<joint_name>${prefix}motor6</joint_name>
<joint_name>${prefix}joint_finger</joint_name>
</plugin>

<plugin name="hrim_actuation_servomotor_000000000001" filename="libmara_gazebo_joint_plugin.so">
<plugin name="hrim_actuation_servomotor${MAC1}" filename="libmara_gazebo_joint_plugin.so">
<ros></ros>
<axis1>motor2</axis1>
<axis2>motor1</axis2>
<axis1>${prefix}motor2</axis1>
<axis2>${prefix}motor1</axis2>
<type>series14</type>
</plugin>

<plugin name="hrim_actuation_servomotor_000000000002" filename="libmara_gazebo_joint_plugin.so">
<plugin name="hrim_actuation_servomotor${MAC2}" filename="libmara_gazebo_joint_plugin.so">
<ros></ros>
<axis1>motor3</axis1>
<axis2>motor4</axis2>
<axis1>${prefix}motor3</axis1>
<axis2>${prefix}motor4</axis2>
<type>series17</type>
</plugin>

<plugin name="hrim_actuation_servomotor_000000000003" filename="libmara_gazebo_joint_plugin.so">
<plugin name="hrim_actuation_servomotor${MAC3}" filename="libmara_gazebo_joint_plugin.so">
<ros></ros>
<axis1>motor5</axis1>
<axis2>motor6</axis2>
<axis1>${prefix}motor5</axis1>
<axis2>${prefix}motor6</axis2>
<type>series20</type>
</plugin>

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2 changes: 1 addition & 1 deletion mara_description/urdf/mara_robot.urdf
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Expand Up @@ -422,7 +422,7 @@
</actuator>
</transmission>
<gazebo>
<plugin filename="libgazebo_ros_joint_state_publisher.so" name="mara_joint_state">
<plugin filename="libgazebo_ros_joint_state_publisher.so" name="joint_state">
<ros>
<argument>~/out:=joint_states</argument>
</ros>
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2 changes: 1 addition & 1 deletion mara_description/urdf/mara_robot.urdf.xacro
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Expand Up @@ -9,7 +9,7 @@
<xacro:include filename="$(find mara_description)/urdf/mara.urdf.xacro" />

<!-- arm -->
<xacro:mara_robot prefix="" ee_link_distance="0.0"/>
<xacro:mara_robot prefix="" ee_link_distance="0.0" MAC1="_000000000001" MAC2="_000000000002" MAC3="_000000000003"/>

<link name="world" />

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16 changes: 8 additions & 8 deletions mara_description/urdf/mara_robot_gripper_140.urdf
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Expand Up @@ -422,7 +422,7 @@
</actuator>
</transmission>
<gazebo>
<plugin filename="libgazebo_ros_joint_state_publisher.so" name="mara_joint_state">
<plugin filename="libgazebo_ros_joint_state_publisher.so" name="joint_state">
<ros>
<argument>~/out:=joint_states</argument>
</ros>
Expand Down Expand Up @@ -748,8 +748,8 @@
<gazebo>
<joint name="left_inner_knuckle_to_finger" type="revolute">
<pose frame="">-0.0179 0 0.00652 0 0 0</pose>
<parent>mara::left_inner_knuckle</parent>
<child>mara::left_inner_finger</child>
<parent>left_inner_knuckle</parent>
<child>left_inner_finger</child>
<axis>
<xyz>0 1 0</xyz>
<limit>
Expand All @@ -762,8 +762,8 @@
</joint>
<joint name="right_inner_knuckle_to_finger" type="revolute">
<pose frame="">0.0179 0 0.00652 0 0 0</pose>
<parent>mara::right_inner_knuckle</parent>
<child>mara::right_inner_finger</child>
<parent>right_inner_knuckle</parent>
<child>right_inner_finger</child>
<axis>
<xyz>0 -1 0</xyz>
<limit>
Expand All @@ -774,16 +774,16 @@
</limit>
</axis>
</joint>
<plugin filename="librobotiq_gripper_gazebo_plugin.so" name="hrim_actuation_gripper_000000000004">
<kp>500</kp>
<plugin filename="librobotiq_gripper_gazebo_plugin.so" name="hrim_actuator_gripper_000000000004">
<kp>600</kp>
<ki>0.1</ki>
<kd>0.01</kd>
<joint>robotiq_arg2f_base_to_left_inner_knuckle</joint>
<joint>robotiq_arg2f_base_to_left_outer_knuckle</joint>
<joint>robotiq_arg2f_base_to_right_inner_knuckle</joint>
<joint>joint_finger</joint>
</plugin>
<plugin filename="libgazebo_ros_joint_state_publisher.so" name="mara_joint_state">
<plugin filename="libgazebo_ros_joint_state_publisher.so" name="joint_state">
<ros>
<argument>~/out:=joint_states</argument>
</ros>
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4 changes: 2 additions & 2 deletions mara_description/urdf/mara_robot_gripper_140.urdf.xacro
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Expand Up @@ -12,8 +12,8 @@
<xacro:include filename="$(find mara_description)/urdf/table.urdf.xacro" />

<!-- arm -->
<xacro:mara_robot prefix="" ee_link_distance="0.24497"/>
<xacro:robotiq_gripper prefix="mara" />
<xacro:mara_robot prefix="" ee_link_distance="0.24497" MAC1="_000000000001" MAC2="_000000000002" MAC3="_000000000003"/>
<xacro:robotiq_gripper prefix="" MAC="_000000000004"/>
<xacro:table prefix="" />

<link name="world" />
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16 changes: 8 additions & 8 deletions mara_description/urdf/mara_robot_gripper_140_no_table.urdf
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Expand Up @@ -422,7 +422,7 @@
</actuator>
</transmission>
<gazebo>
<plugin filename="libgazebo_ros_joint_state_publisher.so" name="mara_joint_state">
<plugin filename="libgazebo_ros_joint_state_publisher.so" name="joint_state">
<ros>
<argument>~/out:=joint_states</argument>
</ros>
Expand Down Expand Up @@ -748,8 +748,8 @@
<gazebo>
<joint name="left_inner_knuckle_to_finger" type="revolute">
<pose frame="">-0.0179 0 0.00652 0 0 0</pose>
<parent>mara::left_inner_knuckle</parent>
<child>mara::left_inner_finger</child>
<parent>left_inner_knuckle</parent>
<child>left_inner_finger</child>
<axis>
<xyz>0 1 0</xyz>
<limit>
Expand All @@ -762,8 +762,8 @@
</joint>
<joint name="right_inner_knuckle_to_finger" type="revolute">
<pose frame="">0.0179 0 0.00652 0 0 0</pose>
<parent>mara::right_inner_knuckle</parent>
<child>mara::right_inner_finger</child>
<parent>right_inner_knuckle</parent>
<child>right_inner_finger</child>
<axis>
<xyz>0 -1 0</xyz>
<limit>
Expand All @@ -774,16 +774,16 @@
</limit>
</axis>
</joint>
<plugin filename="librobotiq_gripper_gazebo_plugin.so" name="hrim_actuation_gripper_000000000004">
<kp>500</kp>
<plugin filename="librobotiq_gripper_gazebo_plugin.so" name="hrim_actuator_gripper_000000000004">
<kp>600</kp>
<ki>0.1</ki>
<kd>0.01</kd>
<joint>robotiq_arg2f_base_to_left_inner_knuckle</joint>
<joint>robotiq_arg2f_base_to_left_outer_knuckle</joint>
<joint>robotiq_arg2f_base_to_right_inner_knuckle</joint>
<joint>joint_finger</joint>
</plugin>
<plugin filename="libgazebo_ros_joint_state_publisher.so" name="mara_joint_state">
<plugin filename="libgazebo_ros_joint_state_publisher.so" name="joint_state">
<ros>
<argument>~/out:=joint_states</argument>
</ros>
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4 changes: 2 additions & 2 deletions mara_description/urdf/mara_robot_gripper_140_no_table.urdf.xacro
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Expand Up @@ -10,8 +10,8 @@
<xacro:include filename="$(find robotiq_140_gripper_description)/urdf/robotiq_140.urdf.xacro" />

<!-- arm -->
<xacro:mara_robot prefix="" ee_link_distance="0.24497"/>
<xacro:robotiq_gripper prefix="mara" />
<xacro:mara_robot prefix="" ee_link_distance="0.24497" MAC1="_000000000001" MAC2="_000000000002" MAC3="_000000000003"/>
<xacro:robotiq_gripper prefix="" MAC="_000000000004"/>

<link name="world" />

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14 changes: 7 additions & 7 deletions mara_description/urdf/mara_robot_gripper_85.urdf
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Expand Up @@ -422,7 +422,7 @@
</actuator>
</transmission>
<gazebo>
<plugin filename="libgazebo_ros_joint_state_publisher.so" name="mara_joint_state">
<plugin filename="libgazebo_ros_joint_state_publisher.so" name="joint_state">
<ros>
<argument>~/out:=joint_states</argument>
</ros>
Expand Down Expand Up @@ -748,8 +748,8 @@
<gazebo>
<joint name="left_inner_knuckle_to_finger" type="revolute">
<pose frame="">-0.0179 0 0.00652 0 0 0</pose>
<parent>mara::left_inner_knuckle</parent>
<child>mara::left_inner_finger</child>
<parent>left_inner_knuckle</parent>
<child>left_inner_finger</child>
<axis>
<xyz>0 1 0</xyz>
<limit>
Expand All @@ -762,8 +762,8 @@
</joint>
<joint name="right_inner_knuckle_to_finger" type="revolute">
<pose frame="">0.0179 0 0.00652 0 0 0</pose>
<parent>mara::right_inner_knuckle</parent>
<child>mara::right_inner_finger</child>
<parent>right_inner_knuckle</parent>
<child>right_inner_finger</child>
<axis>
<xyz>0 -1 0</xyz>
<limit>
Expand All @@ -774,7 +774,7 @@
</limit>
</axis>
</joint>
<plugin filename="librobotiq_gripper_gazebo_plugin.so" name="hrim_actuation_gripper_000000000004">
<plugin filename="librobotiq_gripper_gazebo_plugin.so" name="hrim_actuator_gripper_000000000004">
<kp>10</kp>
<ki>10</ki>
<kd>0.1</kd>
Expand All @@ -783,7 +783,7 @@
<joint>robotiq_arg2f_base_link_to_right_inner_knuckle</joint>
<joint>joint_finger</joint>
</plugin>
<plugin filename="libgazebo_ros_joint_state_publisher.so" name="mara_joint_state">
<plugin filename="libgazebo_ros_joint_state_publisher.so" name="joint_state">
<ros>
<argument>~/out:=joint_states</argument>
</ros>
Expand Down
4 changes: 2 additions & 2 deletions mara_description/urdf/mara_robot_gripper_85.urdf.xacro
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Expand Up @@ -12,8 +12,8 @@
<xacro:include filename="$(find mara_description)/urdf/table.urdf.xacro" />

<!-- arm -->
<xacro:mara_robot prefix="" ee_link_distance="0.18491"/>
<xacro:robotiq_85 prefix="mara" />
<xacro:mara_robot prefix="" ee_link_distance="0.18491" MAC1="_000000000001" MAC2="_000000000002" MAC3="_000000000003"/>
<xacro:robotiq_85 prefix="" MAC="_000000000004"/>
<xacro:table prefix="" />

<link name="world" />
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6 changes: 3 additions & 3 deletions mara_description/urdf/mara_robot_gripper_hande.urdf
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Expand Up @@ -422,7 +422,7 @@
</actuator>
</transmission>
<gazebo>
<plugin filename="libgazebo_ros_joint_state_publisher.so" name="mara_joint_state">
<plugin filename="libgazebo_ros_joint_state_publisher.so" name="joint_state">
<ros>
<argument>~/out:=joint_states</argument>
</ros>
Expand Down Expand Up @@ -548,14 +548,14 @@
<mimic joint="joint_finger" multiplier="1" offset="0"/>
</joint>
<gazebo>
<plugin filename="librobotiq_gripper_gazebo_plugin.so" name="hrim_actuation_gripper_000000000004">
<plugin filename="librobotiq_gripper_gazebo_plugin.so" name="hrim_actuator_gripper_000000000004">
<kp>500</kp>
<ki>3</ki>
<kd>9</kd>
<joint>joint_finger</joint>
<joint>robotiq_hande_base_to_right_finger</joint>
</plugin>
<plugin filename="libgazebo_ros_joint_state_publisher.so" name="mara_joint_state">
<plugin filename="libgazebo_ros_joint_state_publisher.so" name="joint_state">
<ros>
<argument>~/out:=joint_states</argument>
</ros>
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4 changes: 2 additions & 2 deletions mara_description/urdf/mara_robot_gripper_hande.urdf.xacro
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Expand Up @@ -12,8 +12,8 @@
<xacro:include filename="$(find mara_description)/urdf/table.urdf.xacro" />

<!-- arm -->
<xacro:mara_robot prefix="" ee_link_distance="0.18253"/>
<xacro:robotiq_hande prefix="mara" />
<xacro:mara_robot prefix="" ee_link_distance="0.18253" MAC1="_000000000001" MAC2="_000000000002" MAC3="_000000000003"/>
<xacro:robotiq_hande prefix="" MAC="_000000000004"/>
<xacro:table prefix="" />

<link name="world" />
Expand Down
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