Merge pull request #573 from isys-vision/HC10DTP-Update_rebase

Add support for HC10DTP - rebase
ros-industrial · Dec 20, 2023 · 92e6354 · 92e6354
2 parents 7d9ba47 + 2ff6420
commit 92e6354
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Showing 12 changed files with 391 additions and 5 deletions.
diff --git a/motoman_hc10_support/CMakeLists.txt b/motoman_hc10_support/CMakeLists.txt
@@ -11,6 +11,7 @@ if (CATKIN_ENABLE_TESTING)
   roslaunch_add_file_check(test/roslaunch_test_hc10.xml)
   roslaunch_add_file_check(test/roslaunch_test_hc10dt.xml)
   roslaunch_add_file_check(test/roslaunch_test_hc10dt_b10.xml)
+  roslaunch_add_file_check(test/roslaunch_test_hc10dtp_b00.xml)
 endif()
 
 install(DIRECTORY config launch meshes urdf

diff --git a/motoman_hc10_support/config/joint_names_hc10dtp_b00.yaml b/motoman_hc10_support/config/joint_names_hc10dtp_b00.yaml
@@ -0,0 +1 @@
+controller_joint_names: ['joint_1_s', 'joint_2_l', 'joint_3_u', 'joint_4_r', 'joint_5_b', 'joint_6_t']
diff --git a/motoman_hc10_support/launch/load_hc10dtp_b00.launch b/motoman_hc10_support/launch/load_hc10dtp_b00.launch
@@ -0,0 +1,3 @@
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find motoman_hc10_support)/urdf/hc10dtp_b00.xacro'" />
+</launch>
diff --git a/motoman_hc10_support/launch/robot_interface_streaming_hc10dtp_b00.launch b/motoman_hc10_support/launch/robot_interface_streaming_hc10dtp_b00.launch
@@ -0,0 +1,21 @@
+<!--
+  Manipulator specific version of 'robot_interface_streaming.launch'.
+
+  Defaults provided for HC10DTP IP67 (B00):
+   - 6 joints
+
+  Usage:
+    robot_interface_streaming_hc10dtp_b00.launch robot_ip:=<value> controller:=<yrc1000>
+-->
+<launch>
+  <arg name="robot_ip" />
+
+  <!-- controller: Controller name (yrc1000) -->
+  <arg name="controller"/>
+
+  <rosparam command="load" file="$(find motoman_hc10_support)/config/joint_names_hc10dtp_b00.yaml" />
+
+  <include file="$(find motoman_driver)/launch/robot_interface_streaming_$(arg controller).launch">
+    <arg name="robot_ip" value="$(arg robot_ip)" />
+  </include>
+</launch>
diff --git a/motoman_hc10_support/launch/robot_state_visualize_hc10dtp_b00.launch b/motoman_hc10_support/launch/robot_state_visualize_hc10dtp_b00.launch
@@ -0,0 +1,28 @@
+<!--
+  Manipulator specific version of the state visualizer.
+
+  Defaults provided for HC10DTP IP67 (B00):
+   - 6 joints
+
+  Usage:
+    robot_state_visualize_hc10dtp_b00.launch robot_ip:=<value> controller:=<yrc1000>
+-->
+<launch>
+  <arg name="robot_ip" />
+
+  <!-- controller: Controller name (yrc1000) -->
+  <arg name="controller" />
+
+  <rosparam command="load" file="$(find motoman_hc10_support)/config/joint_names_hc10dtp_b00.yaml" />
+
+  <include file="$(find motoman_driver)/launch/robot_state_$(arg controller).launch">
+    <arg name="robot_ip" value="$(arg robot_ip)" />
+  </include>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" 
+    type="robot_state_publisher" />
+
+  <include file="$(find motoman_hc10_support)/launch/load_hc10dtp_b00.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>
diff --git a/motoman_hc10_support/launch/test_hc10dtp_b00.launch b/motoman_hc10_support/launch/test_hc10dtp_b00.launch
@@ -0,0 +1,7 @@
+<launch>
+  <include file="$(find motoman_hc10_support)/launch/load_hc10dtp_b00.launch" />
+  <param name="use_gui" value="true" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>
diff --git a/motoman_hc10_support/meshes/hc10dtp_b00/collision/link_6_t.stl b/motoman_hc10_support/meshes/hc10dtp_b00/collision/link_6_t.stl
diff --git a/motoman_hc10_support/meshes/hc10dtp_b00/visual/link_6_t.dae b/motoman_hc10_support/meshes/hc10dtp_b00/visual/link_6_t.dae
diff --git a/motoman_hc10_support/package.xml b/motoman_hc10_support/package.xml
@@ -2,21 +2,22 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>motoman_hc10_support</name>
-  <version>0.1.0</version>
+  <version>0.2.0</version>
   <description>
     <p>ROS-Industrial support for the Motoman HC10 (and variants).</p>
     <p>
       This package contains configuration data, 3D models and launch files
       for Motoman HC10 manipulators. This currently includes the base model
-      and the DT variant.
+      and the DT and DTP variants.
     </p>
     <p>
       <b>Specifications</b>
     </p>
     <ul>
-      <li>HC10 - model 1-06VXHC10-A00</li>
-      <li>HC10DT - model 1-06VXHC10-A10</li>
-      <li>HC10DT-B10 - model 1-06VXHC10-B10</li>
+      <li>HC10 - model 1-06VXHC10-A0*</li>
+      <li>HC10DT - model 1-06VXHC10-A1*</li>
+      <li>HC10DT-B10 - model 1-06VXHC10-B1*</li>
+      <li>HC10DTP-B00 - model 1-06VXCP10-B0*</li>
    </ul>
     <p>
       Joint limits and maximum joint velocities are based on the information 
@@ -32,6 +33,9 @@
       <li><em>YASKAWA MOTOMAN-HC10DT INSTRUCTIONS DUST-PROOF/DRIP-PROOF (HW1485083)</em> version
         <em>188669-1CD, rev 1</em>.
       </li>
+      <li><em>YASKAWA MOTOMAN-HC10DTP INSTRUCTIONS DUST-PROOF/DRIP-PROOF (HW2480392)</em> version
+        <em>193887-1CD, rev 1</em>.
+      </li>
     </ul>
     <p>
       All urdfs are based on the default motion and joint velocity limits, 

diff --git a/motoman_hc10_support/test/roslaunch_test_hc10dtp_b00.xml b/motoman_hc10_support/test/roslaunch_test_hc10dtp_b00.xml
@@ -0,0 +1,30 @@
+<launch>
+  <arg name="req_arg" value="default"/>
+  <arg name="yrc1000" value="yrc1000"/>
+
+  <group ns="load_hc10dtp_b00">
+    <include file="$(find motoman_hc10_support)/launch/load_hc10dtp_b00.launch"/>
+  </group>
+
+  <group ns="test_hc10dtp_b00">
+    <include file="$(find motoman_hc10_support)/launch/test_hc10dtp_b00.launch"/>
+  </group>
+
+  <group ns="robot_interface_streaming_hc10dtp_b00">
+    <group ns="yrc1000" >
+      <include file="$(find motoman_hc10_support)/launch/robot_interface_streaming_hc10dtp_b00.launch">
+        <arg name="robot_ip"   value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg yrc1000)"/>
+      </include>
+    </group>
+  </group>
+
+  <group ns="robot_state_visualize_hc10dtp_b00">
+    <group ns="yrc1000" >
+      <include file="$(find motoman_hc10_support)/launch/robot_state_visualize_hc10dtp_b00.launch">
+        <arg name="robot_ip"   value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg yrc1000)"/>
+      </include>
+    </group>
+  </group>
+</launch>
diff --git a/motoman_hc10_support/urdf/hc10dtp_b00.xacro b/motoman_hc10_support/urdf/hc10dtp_b00.xacro
@@ -0,0 +1,5 @@
+<?xml version="1.0" ?>
+<robot name="motoman_hc10dtp_b00" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find motoman_hc10_support)/urdf/hc10dtp_b00_macro.xacro" />
+  <xacro:motoman_hc10dtp_b00 prefix=""/>
+</robot>
diff --git a/motoman_hc10_support/urdf/hc10dtp_b00_macro.xacro b/motoman_hc10_support/urdf/hc10dtp_b00_macro.xacro
@@ -0,0 +1,171 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="motoman_hc10dtp_b00" params="prefix">
+    <xacro:include filename="$(find motoman_resources)/urdf/common_materials.xacro"/>
+
+    <!-- link list -->
+    <link name="${prefix}base_link">
+      <visual>
+        <geometry>
+          <mesh filename="package://motoman_hc10_support/meshes/hc10dt_b10/visual/base_link.dae"/>
+        </geometry>
+        <xacro:material_yaskawa_blue/>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://motoman_hc10_support/meshes/hc10dt_b10/collision/base_link.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_1_s">
+      <visual>
+        <geometry>
+          <mesh filename="package://motoman_hc10_support/meshes/hc10dt_b10/visual/link_1_s.dae"/>
+        </geometry>
+        <xacro:material_yaskawa_blue/>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://motoman_hc10_support/meshes/hc10dt_b10/collision/link_1_s.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_2_l">
+      <visual>
+        <geometry>
+          <mesh filename="package://motoman_hc10_support/meshes/hc10dt_b10/visual/link_2_l.dae"/>
+        </geometry>
+        <xacro:material_yaskawa_blue/>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://motoman_hc10_support/meshes/hc10dt_b10/collision/link_2_l.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_3_u">
+      <visual>
+        <geometry>
+          <mesh filename="package://motoman_hc10_support/meshes/hc10dt_b10/visual/link_3_u.dae"/>
+        </geometry>
+        <xacro:material_yaskawa_blue/>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://motoman_hc10_support/meshes/hc10dt_b10/collision/link_3_u.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_4_r">
+      <visual>
+        <geometry>
+          <mesh filename="package://motoman_hc10_support/meshes/hc10dt_b10/visual/link_4_r.dae"/>
+        </geometry>
+        <xacro:material_yaskawa_blue/>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://motoman_hc10_support/meshes/hc10dt_b10/collision/link_4_r.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_5_b">
+      <visual>
+        <geometry>
+          <mesh filename="package://motoman_hc10_support/meshes/hc10dt_b10/visual/link_5_b.dae"/>
+        </geometry>
+        <xacro:material_yaskawa_blue/>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://motoman_hc10_support/meshes/hc10dt_b10/collision/link_5_b.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_6_t">
+      <visual>
+        <geometry>
+          <!-- HC10 DTP reuses HC10DT-B10 meshes of all links, except for link 6 (T) -->
+          <mesh filename="package://motoman_hc10_support/meshes/hc10dtp_b00/visual/link_6_t.dae"/>
+        </geometry>
+        <xacro:material_yaskawa_blue/>
+      </visual>
+      <collision>
+        <geometry>
+          <!-- HC10 DTP reuses HC10DT-B10 meshes of all links, except for link 6 (T) -->
+          <mesh filename="package://motoman_hc10_support/meshes/hc10dtp_b00/collision/link_6_t.stl"/>
+       </geometry>
+      </collision>
+    </link>
+    <!-- end of link list -->
+
+    <!-- joint list -->
+    <joint name="${prefix}joint_1_s" type="revolute">
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}link_1_s"/>
+      <origin xyz="0 0 0.275" rpy="0 0 0" />
+      <axis xyz="0 0 1" />
+      <limit lower="${radians(-210)}" upper="${radians(210)}" effort="368.48" velocity="${radians(130)}"/>
+    </joint>
+    <joint name="${prefix}joint_2_l" type="revolute">
+      <parent link="${prefix}link_1_s"/>
+      <child link="${prefix}link_2_l"/>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <axis xyz="0 1 0" />
+      <limit lower="${radians(-180)}" upper="${radians(180)}" effort="414.54" velocity="${radians(130)}"/>
+    </joint>
+    <joint name="${prefix}joint_3_u" type="revolute">
+      <parent link="${prefix}link_2_l"/>
+      <child link="${prefix}link_3_u"/>
+      <origin xyz="0 0 0.700" rpy="0 0 0" />
+      <axis xyz="0 -1 0" />
+      <limit lower="${radians(-290)}" upper="${radians(290)}" effort="158.76" velocity="${radians(180)}"/>
+    </joint>
+    <joint name="${prefix}joint_4_r" type="revolute">
+      <parent link="${prefix}link_3_u"/>
+      <child link="${prefix}link_4_r"/>
+      <origin xyz="0.500 0 0" rpy="0 0 0" />
+      <axis xyz="-1 0 0" />
+      <limit lower="${radians(-210)}" upper="${radians(210)}" effort="41.16" velocity="${radians(180)}"/>
+    </joint>
+    <joint name="${prefix}joint_5_b" type="revolute">
+      <parent link="${prefix}link_4_r"/>
+      <child link="${prefix}link_5_b"/>
+      <origin xyz="0 0.162 0" rpy="0 0 0" />
+      <axis xyz="0 -1 0" />
+      <limit lower="${radians(-180)}" upper="${radians(180)}" effort="33.32" velocity="${radians(250)}"/>
+    </joint>
+    <joint name="${prefix}joint_6_t" type="revolute">
+      <parent link="${prefix}link_5_b"/>
+      <child link="${prefix}link_6_t"/>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <axis xyz="-1 0 0" />
+      <limit lower="${radians(-210)}" upper="${radians(210)}" effort="31.36" velocity="${radians(250)}"/>
+    </joint>
+    <!-- end of joint list -->
+
+    <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
+    <link name="${prefix}flange"/>
+    <joint name="${prefix}joint_6_t-flange" type="fixed">
+      <origin xyz="0.170 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_6_t"/>
+      <child link="${prefix}flange"/>
+    </joint>
+
+    <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
+    <link name="${prefix}tool0"/>
+    <joint name="${prefix}flange-tool0" type="fixed">
+      <origin xyz="0 0 0" rpy="${radians(180)} ${radians(-90)} 0"/>
+      <parent link="${prefix}flange"/>
+      <child link="${prefix}tool0"/>
+    </joint>
+
+    <!-- ROS base_link to Robot Manufacturer World Coordinates transform -->
+    <link name="${prefix}base" />
+    <joint name="${prefix}base_link-base" type="fixed">
+      <origin xyz="0 0 0.275" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}base"/>
+    </joint>
+  </xacro:macro>
+</robot>