Update MH5: Add Short & Long Variants (based on pull request #380)

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 (L & U) mesh files. Config/joint_names and remaining mesh files are 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

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

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']

motoman_mh5_support/config/opw_parameters_mh5.yaml

@@ -0,0 +1,20 @@
+#
+# Parameters for use with IK solvers which support OPW (Ortho-Parallel Wrist)
+# kinematic configurations, as described in the paper "An Analytical Solution
+# of the Inverse Kinematics Problem of Industrial Serial Manipulators with an
+# Ortho-parallel Basis and a Spherical Wrist" by Mathias Brandstötter, Arthur
+# Angerer, and Michael Hofbaur (Proceedings of the Austrian Robotics Workshop
+# 2014, 22-23 May, 2014, Linz, Austria).
+#
+# The moveit_opw_kinematics_plugin package provides such a solver.
+#
+opw_kinematics_geometric_parameters:
+    a1:  0.088
+    a2: -0.040
+    b:   0.000
+    c1:  0.330
+    c2:  0.310
+    c3:  0.305
+    c4:  0.080
+opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, deg(180.0)]
+opw_kinematics_joint_sign_corrections: [1, 1, -1, -1, -1, -1]

motoman_mh5_support/config/opw_parameters_mh5l.yaml

@@ -0,0 +1,20 @@
+#
+# Parameters for use with IK solvers which support OPW (Ortho-Parallel Wrist)
+# kinematic configurations, as described in the paper "An Analytical Solution
+# of the Inverse Kinematics Problem of Industrial Serial Manipulators with an
+# Ortho-parallel Basis and a Spherical Wrist" by Mathias Brandstötter, Arthur
+# Angerer, and Michael Hofbaur (Proceedings of the Austrian Robotics Workshop
+# 2014, 22-23 May, 2014, Linz, Austria).
+#
+# The moveit_opw_kinematics_plugin package provides such a solver.
+#
+opw_kinematics_geometric_parameters:
+    a1:  0.088
+    a2: -0.040
+    b:   0.000
+    c1:  0.330
+    c2:  0.400
+    c3:  0.405
+    c4:  0.080
+opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, deg(180.0)]
+opw_kinematics_joint_sign_corrections: [1, 1, -1, -1, -1, -1]

motoman_mh5_support/launch/load_mh5.launch

@@ -1,4 +1,4 @@
 
 <launch>
-	<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find motoman_mh5_support)/urdf/mh5.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find motoman_mh5_support)/urdf/mh5.xacro'" />
 </launch>

motoman_mh5_support/launch/load_mh5l.launch

@@ -0,0 +1,4 @@
+
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find motoman_mh5_support)/urdf/mh5l.xacro'" />
+</launch>

motoman_mh5_support/launch/robot_interface_streaming_mh5.launch

@@ -1,22 +1,19 @@
-
 <!--
   Manipulator specific version of 'robot_interface_streaming.launch'.
-
-  Defaults provided for mh5:
-   - 7 joints
-
+  Defaults provided for MH5:
+   - 6 joints
   Usage:
-    robot_interface_streaming_mh5.launch robot_ip:=<value> controller:=<fs100|dx100>
+    robot_interface_streaming_mh5.launch robot_ip:=<value> controller:=<fs100|dx100|dx200>
 -->
 <launch>
-	<arg name="robot_ip" doc="IP of controller" />
-	
-  <!-- controller: Controller name (fs100 or dx100) -->
-  <arg name="controller" doc="Series of the controller (dx100, dx200, fs100 or yrc1000)"/>
+  <arg name="robot_ip" doc="IP of controller" />
+
+  <!-- controller: Controller name (fs100,dx100, dx200) -->
+  <arg name="controller" doc="Series of the controller (fs100, dx100, dx200)"/>
 
-	<rosparam command="load" file="$(find motoman_mh5_support)/config/joint_names_mh5.yaml" />
+  <rosparam command="load" file="$(find motoman_mh5_support)/config/joint_names_mh5.yaml" />
 
-	<include file="$(find motoman_driver)/launch/robot_interface_streaming_$(arg controller).launch">
-		<arg name="robot_ip"   value="$(arg robot_ip)" />
-	</include>
+  <include file="$(find motoman_driver)/launch/robot_interface_streaming_$(arg controller).launch">
+    <arg name="robot_ip"   value="$(arg robot_ip)" />
+  </include>
 </launch>

motoman_mh5_support/launch/robot_interface_streaming_mh5l.launch

@@ -0,0 +1,19 @@
+<!--
+  Manipulator specific version of 'robot_interface_streaming.launch'.
+  Defaults provided for MH5L:
+   - 6 joints
+  Usage:
+    robot_interface_streaming_mh5l.launch robot_ip:=<value> controller:=<fs100|dx100|dx200>
+-->
+<launch>
+  <arg name="robot_ip" doc="IP of controller" />
+
+  <!-- controller: Controller name (fs100,dx100, dx200) -->
+  <arg name="controller" doc="Series of the controller (fs100, dx100, dx200)"/>
+
+  <rosparam command="load" file="$(find motoman_mh5_support)/config/joint_names_mh5.yaml" />
+
+  <include file="$(find motoman_driver)/launch/robot_interface_streaming_$(arg controller).launch">
+    <arg name="robot_ip"   value="$(arg robot_ip)" />
+  </include>
+</launch>

motoman_mh5_support/launch/robot_state_visualize_mh5.launch

@@ -1,29 +1,25 @@
-
 <!--
   Manipulator specific version of the state visualizer.
-
-  Defaults provided for mh5:
-   - 7 joints
-
+  Defaults provided for MH5:
+   - 6 joints
   Usage:
-    robot_state_visualize_sia20d.launch robot_ip:=<value> controller:=<fs100|dx100>
+    robot_state_visualize_mh5.launch robot_ip:=<value> controller:=<fs100|dx100|dx200>
 -->
 <launch>
-	<arg name="robot_ip" doc="IP of controller" />
+  <arg name="robot_ip" doc="IP of controller" />
 
-  <!-- controller: Controller name (fs100 or dx100) -->
-  <arg name="controller" doc="Series of the controller (dx100, dx200, fs100 or yrc1000)"/>
+  <!-- controller: Controller name (fs100,dx100, dx200) -->
+  <arg name="controller" doc="Series of the controller (fs100, dx100, dx200)"/>
 
-	<rosparam command="load" file="$(find motoman_mh5_support)/config/joint_names_mh5.yaml" />
+  <rosparam command="load" file="$(find motoman_mh5_support)/config/joint_names_mh5.yaml" />
 
-	<include file="$(find motoman_driver)/launch/robot_state_$(arg controller).launch">
-		<arg name="robot_ip"   value="$(arg robot_ip)" />
-	</include>
+  <include file="$(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" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 
-	<include file="$(find motoman_mh5_support)/launch/load_mh5.launch" />
+  <include file="$(find motoman_mh5_support)/launch/load_mh5.launch" />
 
-	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>

motoman_mh5_support/launch/robot_state_visualize_mh5l.launch

@@ -0,0 +1,25 @@
+<!--
+  Manipulator specific version of the state visualizer.
+  Defaults provided for MH5L:
+   - 6 joints
+  Usage:
+    robot_state_visualize_mh5l.launch robot_ip:=<value> controller:=<fs100|dx100|dx200>
+-->
+<launch>
+  <arg name="robot_ip" doc="IP of controller" />
+
+  <!-- controller: Controller name (fs100,dx100, dx200) -->
+  <arg name="controller" doc="Series of the controller (fs100, dx100, dx200)"/>
+
+  <rosparam command="load" file="$(find motoman_mh5_support)/config/joint_names_mh5.yaml" />
+
+  <include file="$(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_mh5_support)/launch/load_mh5l.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

motoman_mh5_support/launch/test_mh5.launch

@@ -1,8 +1,8 @@
-
 <launch>
-	<include file="$(find motoman_mh5_support)/launch/load_mh5.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 $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+  <include file="$(find motoman_mh5_support)/launch/load_mh5.launch" />
+
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
+  <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>

motoman_mh5_support/launch/test_mh5l.launch

@@ -0,0 +1,8 @@
+<launch>
+  <include file="$(find motoman_mh5_support)/launch/load_mh5l.launch" />
+
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
+  <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>

motoman_mh5_support/package.xml

@@ -2,24 +2,27 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>motoman_mh5_support</name>
-  <version>0.3.5</version>
+  <version>0.3.6</version>
   <description>
-    <p>ROS-Industrial support for the Motoman MH5 (and variants).</p>
+    <p>ROS-Industrial support for Motoman MH5 variants.</p>
     <p>
       This package contains configuration data, 3D models and launch files
-      for Motoman MH5 manipulators.
+      for Motoman MH5 variants.
     </p>
     <p>
       <b>Specifications</b>
     </p>
     <ul>
-      <li>MH5 - Default</li>
+      <li>MH5  - Short Variants: MH5F(FS100),  MH5SII(DX200),  MH5S(DX100)</li>
+      <li>MH5L - Long Variants:  MH5LF(FS100), MH5SLII(DX200), MH5SL(DX100)</li>
     </ul>
+    <p>Models within each short / long variant are the same (physically and parameters).</p>
     <p>
-      Joint limits and maximum joint velocities are based on the information 
-      found in the online 
-      http://www.motoman.com/datasheets/mh5.pdf
-      All urdfs are based on the default motion and joint velocity limits, 
+      Maximum joint velocities are based on the information
+      found online https://www.motoman.com/en-us/products/robots/industrial/assembly-handling/mh-series/mh5ls-ii
+      Joint limits and inertial values were provided by Motoman support and found
+      under ros-industrial/motoman issue # 377. See explanation in issue.
+      All urdfs are based on the default motion and joint velocity limits,
       unless noted otherwise.
     </p>
     <p>
@@ -41,7 +44,7 @@
 
   <test_depend>roslaunch</test_depend>
 
-  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>motoman_driver</exec_depend>
   <exec_depend>motoman_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>