From 8c21a54b41236d3c5ddf6315d0b3c5730d60bef6 Mon Sep 17 00:00:00 2001 From: acbuynak Date: Tue, 5 Jan 2021 13:22:49 -0500 Subject: [PATCH 1/9] Add MH5 Short & Long Variants --- motoman_mh5_support/CHANGELOG.rst | 14 + motoman_mh5_support/CMakeLists.txt | 3 +- .../config/joint_names_mh5.yaml | 2 +- motoman_mh5_support/launch/load_mh5.launch | 2 +- motoman_mh5_support/launch/load_mh5l.launch | 4 + .../robot_interface_streaming_mh5.launch | 25 +- .../robot_interface_streaming_mh5l.launch | 19 + .../launch/robot_state_visualize_mh5.launch | 30 +- .../launch/robot_state_visualize_mh5l.launch | 25 ++ motoman_mh5_support/launch/test_mh5.launch | 14 +- motoman_mh5_support/launch/test_mh5l.launch | 10 + .../meshes/mh5/collision/MH5_BASE_AXIS.stl | Bin 112734 -> 0 bytes .../meshes/mh5/collision/MH5_B_AXIS.stl | Bin 51184 -> 0 bytes .../meshes/mh5/collision/MH5_L_AXIS.stl | Bin 113434 -> 0 bytes .../meshes/mh5/collision/MH5_R_AXIS.stl | Bin 60184 -> 0 bytes .../meshes/mh5/collision/MH5_S_AXIS.stl | Bin 49384 -> 0 bytes .../meshes/mh5/collision/MH5_T_AXIS.stl | Bin 30434 -> 0 bytes .../meshes/mh5/collision/MH5_U_AXIS.stl | Bin 93734 -> 0 bytes .../meshes/mh5/collision/base_link.stl | Bin 0 -> 28284 bytes .../meshes/mh5/collision/link_1_s.stl | Bin 0 -> 31084 bytes .../meshes/mh5/collision/link_2_l.stl | Bin 0 -> 190684 bytes .../meshes/mh5/collision/link_3_u.stl | Bin 0 -> 180584 bytes .../meshes/mh5/collision/link_4_r.stl | Bin 0 -> 121484 bytes .../meshes/mh5/collision/link_5_b.stl | Bin 0 -> 19884 bytes .../meshes/mh5/collision/link_6_t.stl | Bin 0 -> 32684 bytes .../meshes/mh5/visual/MH5_BASE_AXIS.stl | Bin 1877684 -> 0 bytes .../meshes/mh5/visual/MH5_R_AXIS.stl | Bin 1203984 -> 0 bytes .../meshes/mh5/visual/MH5_S_AXIS.stl | Bin 1233184 -> 0 bytes .../meshes/mh5/visual/base_link.stl | Bin 0 -> 1877684 bytes .../meshes/mh5/visual/link_1_s.stl | Bin 0 -> 328284 bytes .../visual/{MH5_L_AXIS.stl => link_2_l.stl} | Bin .../visual/{MH5_U_AXIS.stl => link_3_u.stl} | Bin .../meshes/mh5/visual/link_4_r.stl | Bin 0 -> 1203684 bytes .../visual/{MH5_B_AXIS.stl => link_5_b.stl} | Bin .../visual/{MH5_T_AXIS.stl => link_6_t.stl} | Bin .../meshes/mh5l/collision/base_link.stl | Bin 0 -> 28284 bytes .../meshes/mh5l/collision/link_1_s.stl | Bin 0 -> 31084 bytes .../meshes/mh5l/collision/link_2_l.stl | Bin 0 -> 71484 bytes .../meshes/mh5l/collision/link_3_u.stl | Bin 0 -> 64984 bytes .../meshes/mh5l/collision/link_4_r.stl | Bin 0 -> 38184 bytes .../meshes/mh5l/collision/link_5_b.stl | Bin 0 -> 19884 bytes .../meshes/mh5l/collision/link_6_t.stl | Bin 0 -> 18984 bytes .../meshes/mh5l/visual/base_link.stl | Bin 0 -> 506884 bytes .../meshes/mh5l/visual/link_1_s.stl | Bin 0 -> 328284 bytes .../meshes/mh5l/visual/link_2_l.stl | Bin 0 -> 2133084 bytes .../meshes/mh5l/visual/link_3_u.stl | Bin 0 -> 495084 bytes .../meshes/mh5l/visual/link_4_r.stl | Bin 0 -> 2295984 bytes .../meshes/mh5l/visual/link_5_b.stl | Bin 0 -> 164484 bytes .../meshes/mh5l/visual/link_6_t.stl | Bin 0 -> 121184 bytes motoman_mh5_support/package.xml | 19 +- motoman_mh5_support/test/launch_test.xml | 75 ---- motoman_mh5_support/test/launch_test_mh5.xml | 63 ++++ motoman_mh5_support/test/launch_test_mh5l.xml | 63 ++++ motoman_mh5_support/urdf/mh5.urdf | 172 --------- motoman_mh5_support/urdf/mh5.xacro | 7 +- motoman_mh5_support/urdf/mh5_macro.xacro | 347 ++++++++++-------- motoman_mh5_support/urdf/mh5l.xacro | 5 + motoman_mh5_support/urdf/mh5l_macro.xacro | 188 ++++++++++ 58 files changed, 624 insertions(+), 463 deletions(-) create mode 100644 motoman_mh5_support/launch/load_mh5l.launch create mode 100644 motoman_mh5_support/launch/robot_interface_streaming_mh5l.launch create mode 100644 motoman_mh5_support/launch/robot_state_visualize_mh5l.launch create mode 100644 motoman_mh5_support/launch/test_mh5l.launch delete mode 100644 motoman_mh5_support/meshes/mh5/collision/MH5_BASE_AXIS.stl delete mode 100644 motoman_mh5_support/meshes/mh5/collision/MH5_B_AXIS.stl delete mode 100644 motoman_mh5_support/meshes/mh5/collision/MH5_L_AXIS.stl delete mode 100644 motoman_mh5_support/meshes/mh5/collision/MH5_R_AXIS.stl delete mode 100644 motoman_mh5_support/meshes/mh5/collision/MH5_S_AXIS.stl delete mode 100644 motoman_mh5_support/meshes/mh5/collision/MH5_T_AXIS.stl delete mode 100644 motoman_mh5_support/meshes/mh5/collision/MH5_U_AXIS.stl create mode 100644 motoman_mh5_support/meshes/mh5/collision/base_link.stl create mode 100644 motoman_mh5_support/meshes/mh5/collision/link_1_s.stl create mode 100644 motoman_mh5_support/meshes/mh5/collision/link_2_l.stl create mode 100644 motoman_mh5_support/meshes/mh5/collision/link_3_u.stl create mode 100644 motoman_mh5_support/meshes/mh5/collision/link_4_r.stl create mode 100644 motoman_mh5_support/meshes/mh5/collision/link_5_b.stl create mode 100644 motoman_mh5_support/meshes/mh5/collision/link_6_t.stl delete mode 100644 motoman_mh5_support/meshes/mh5/visual/MH5_BASE_AXIS.stl delete mode 100644 motoman_mh5_support/meshes/mh5/visual/MH5_R_AXIS.stl delete mode 100644 motoman_mh5_support/meshes/mh5/visual/MH5_S_AXIS.stl create mode 100644 motoman_mh5_support/meshes/mh5/visual/base_link.stl create mode 100644 motoman_mh5_support/meshes/mh5/visual/link_1_s.stl rename motoman_mh5_support/meshes/mh5/visual/{MH5_L_AXIS.stl => link_2_l.stl} (100%) rename motoman_mh5_support/meshes/mh5/visual/{MH5_U_AXIS.stl => link_3_u.stl} (100%) create mode 100644 motoman_mh5_support/meshes/mh5/visual/link_4_r.stl rename motoman_mh5_support/meshes/mh5/visual/{MH5_B_AXIS.stl => link_5_b.stl} (100%) rename motoman_mh5_support/meshes/mh5/visual/{MH5_T_AXIS.stl => link_6_t.stl} (100%) create mode 100644 motoman_mh5_support/meshes/mh5l/collision/base_link.stl create mode 100644 motoman_mh5_support/meshes/mh5l/collision/link_1_s.stl create mode 100644 motoman_mh5_support/meshes/mh5l/collision/link_2_l.stl create mode 100644 motoman_mh5_support/meshes/mh5l/collision/link_3_u.stl create mode 100644 motoman_mh5_support/meshes/mh5l/collision/link_4_r.stl create mode 100644 motoman_mh5_support/meshes/mh5l/collision/link_5_b.stl create mode 100644 motoman_mh5_support/meshes/mh5l/collision/link_6_t.stl create mode 100644 motoman_mh5_support/meshes/mh5l/visual/base_link.stl create mode 100644 motoman_mh5_support/meshes/mh5l/visual/link_1_s.stl create mode 100644 motoman_mh5_support/meshes/mh5l/visual/link_2_l.stl create mode 100644 motoman_mh5_support/meshes/mh5l/visual/link_3_u.stl create mode 100644 motoman_mh5_support/meshes/mh5l/visual/link_4_r.stl create mode 100644 motoman_mh5_support/meshes/mh5l/visual/link_5_b.stl create mode 100644 motoman_mh5_support/meshes/mh5l/visual/link_6_t.stl delete mode 100644 motoman_mh5_support/test/launch_test.xml create mode 100644 motoman_mh5_support/test/launch_test_mh5.xml create mode 100644 motoman_mh5_support/test/launch_test_mh5l.xml delete mode 100644 motoman_mh5_support/urdf/mh5.urdf create mode 100644 motoman_mh5_support/urdf/mh5l.xacro create mode 100644 motoman_mh5_support/urdf/mh5l_macro.xacro diff --git a/motoman_mh5_support/CHANGELOG.rst b/motoman_mh5_support/CHANGELOG.rst index 72eca754..e69b9360 100644 --- a/motoman_mh5_support/CHANGELOG.rst +++ b/motoman_mh5_support/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package motoman_mh5_support ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.3.6 (UNRELEASED) +------------------ +** Added support for MH5 SHORT and LONG variants +* Each variant has unique launch, test, urdf, and mesh files. Only config/joint_names is shared. +* Fixed collision meshes +* Fixed tab/spacing in all code +* Renamed links & joints to ros-i convention +* Updated appropriate motoman controllers list (fs100, dx100, dx200) +* Rotated BASE_LINK mesh 180deg about Z-axis (allowing code to match convention) +* Macro level definition of material_color properties +* Added tool0, flange, base +* Added Max Accel/Deccel (provided by EricMarcil) +Contributors: acbuynak + 0.3.5 (2016-07-03) ------------------ * No changes diff --git a/motoman_mh5_support/CMakeLists.txt b/motoman_mh5_support/CMakeLists.txt index bf174cd2..266556a6 100644 --- a/motoman_mh5_support/CMakeLists.txt +++ b/motoman_mh5_support/CMakeLists.txt @@ -8,7 +8,8 @@ catkin_package() if (CATKIN_ENABLE_TESTING) find_package(roslaunch REQUIRED) - roslaunch_add_file_check(test/launch_test.xml) + roslaunch_add_file_check(test/launch_test_mh5.xml) + roslaunch_add_file_check(test/launch_test_mh5l.xml) endif() install(DIRECTORY config launch meshes urdf diff --git a/motoman_mh5_support/config/joint_names_mh5.yaml b/motoman_mh5_support/config/joint_names_mh5.yaml index 245a3060..c23d10d4 100644 --- a/motoman_mh5_support/config/joint_names_mh5.yaml +++ b/motoman_mh5_support/config/joint_names_mh5.yaml @@ -1 +1 @@ -controller_joint_names: ['joint_s', 'joint_l', 'joint_u', 'joint_r', 'joint_b', 'joint_t'] +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_mh5_support/launch/load_mh5.launch b/motoman_mh5_support/launch/load_mh5.launch index 4ec4fc78..d5dc7238 100644 --- a/motoman_mh5_support/launch/load_mh5.launch +++ b/motoman_mh5_support/launch/load_mh5.launch @@ -1,4 +1,4 @@ - + diff --git a/motoman_mh5_support/launch/load_mh5l.launch b/motoman_mh5_support/launch/load_mh5l.launch new file mode 100644 index 00000000..8a066839 --- /dev/null +++ b/motoman_mh5_support/launch/load_mh5l.launch @@ -0,0 +1,4 @@ + + + + diff --git a/motoman_mh5_support/launch/robot_interface_streaming_mh5.launch b/motoman_mh5_support/launch/robot_interface_streaming_mh5.launch index 97a5f2a1..23535ad0 100644 --- a/motoman_mh5_support/launch/robot_interface_streaming_mh5.launch +++ b/motoman_mh5_support/launch/robot_interface_streaming_mh5.launch @@ -1,22 +1,19 @@ - - - - - + + + + - + - - - + + + diff --git a/motoman_mh5_support/launch/robot_interface_streaming_mh5l.launch b/motoman_mh5_support/launch/robot_interface_streaming_mh5l.launch new file mode 100644 index 00000000..f18dd6d2 --- /dev/null +++ b/motoman_mh5_support/launch/robot_interface_streaming_mh5l.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + + diff --git a/motoman_mh5_support/launch/robot_state_visualize_mh5.launch b/motoman_mh5_support/launch/robot_state_visualize_mh5.launch index e68f23c3..c1039fbc 100644 --- a/motoman_mh5_support/launch/robot_state_visualize_mh5.launch +++ b/motoman_mh5_support/launch/robot_state_visualize_mh5.launch @@ -1,29 +1,25 @@ - - + - - + + - + - - - + + + - + - + - + diff --git a/motoman_mh5_support/launch/robot_state_visualize_mh5l.launch b/motoman_mh5_support/launch/robot_state_visualize_mh5l.launch new file mode 100644 index 00000000..2360bd8d --- /dev/null +++ b/motoman_mh5_support/launch/robot_state_visualize_mh5l.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + diff --git a/motoman_mh5_support/launch/test_mh5.launch b/motoman_mh5_support/launch/test_mh5.launch index 3655718f..34564df6 100644 --- a/motoman_mh5_support/launch/test_mh5.launch +++ b/motoman_mh5_support/launch/test_mh5.launch @@ -1,8 +1,10 @@ - - - - - - + + + + + + + + diff --git a/motoman_mh5_support/launch/test_mh5l.launch b/motoman_mh5_support/launch/test_mh5l.launch new file mode 100644 index 00000000..27740a64 --- /dev/null +++ b/motoman_mh5_support/launch/test_mh5l.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/motoman_mh5_support/meshes/mh5/collision/MH5_BASE_AXIS.stl 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