Add support for TX2-90 series (#41)

Squashed commits:

* Add support for TX2-90 series
* renamed to follow REP-3, added missing files
* Formatting and reordering xacro
* Apply suggested changes to package.xml
* fix tests in CMakeLists.txt
* fix package.xml
* Decimate XL meshes for link 2 and 4.
* remove copied inertial values
* rechecked limits with handbook and clarified reference
* use nominal speed limits
* correct torque limits for wall mounting in comments
* Repeat comment about using Nominal velocity limits.
* Remove dynamics elements as well.
* Make flange parent of tool0.

Co-authored-by: G.A. vd. Hoorn <g.a.vanderhoorn@tudelft.nl>

staubli_tx2_90_support/CMakeLists.txt

@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(staubli_tx2_90_support)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(tests/roslaunch_test_tx2_90.xml)
+  roslaunch_add_file_check(tests/roslaunch_test_tx2_90l.xml)
+  roslaunch_add_file_check(tests/roslaunch_test_tx2_90xl.xml)
+endif()
+
+install(DIRECTORY config launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

staubli_tx2_90_support/config/joint_names_tx2_90.yaml

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+controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']

staubli_tx2_90_support/config/joint_names_tx2_90l.yaml

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+controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']

staubli_tx2_90_support/config/joint_names_tx2_90xl.yaml

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+controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']

staubli_tx2_90_support/launch/load_tx2_90.launch

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+<?xml version="1.0" ?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find staubli_tx2_90_support)/urdf/tx2_90.xacro'" />
+</launch>

staubli_tx2_90_support/launch/load_tx2_90l.launch

@@ -0,0 +1,4 @@
+<?xml version="1.0" ?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find staubli_tx2_90_support)/urdf/tx2_90l.xacro'" />
+</launch>

staubli_tx2_90_support/launch/load_tx2_90xl.launch

@@ -0,0 +1,4 @@
+<?xml version="1.0" ?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find staubli_tx2_90_support)/urdf/tx2_90xl.xacro'" />
+</launch>

staubli_tx2_90_support/launch/test_tx2_90.launch

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+<?xml version="1.0" ?>
+<launch>
+  <include file="$(find staubli_tx2_90_support)/launch/load_tx2_90.launch" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="true" />
+  </node>
+  <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>

staubli_tx2_90_support/launch/test_tx2_90l.launch

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+<?xml version="1.0" ?>
+<launch>
+  <include file="$(find staubli_tx2_90_support)/launch/load_tx2_90l.launch" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="true" />
+  </node>
+  <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>

staubli_tx2_90_support/launch/test_tx2_90xl.launch

@@ -0,0 +1,9 @@
+<?xml version="1.0" ?>
+<launch>
+  <include file="$(find staubli_tx2_90_support)/launch/load_tx2_90xl.launch" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="true" />
+  </node>
+  <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>

staubli_tx2_90_support/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>staubli_tx2_90_support</name>
+  <version>0.1.0</version>
+  <description>
+    <p>
+      ROS-Industrial support for the Staubli TX2-90 (and variants).
+    </p>
+    <p>
+      This package contains configuration data, 3D models and launch files
+      for Staubli TX2-90 manipulators. This includes the base model,
+      as well as models with extended arm and forearm links (L and XL).
+    </p>
+    <p><b>Specifications</b>:</p>
+    <ul>
+      <li>TX2-90 - Standard Arm - Nominal Speed</li>
+      <li>TX2-90L - Long Arm - Nominal Speed</li>
+      <li>TX2-90XL - Extra Long Arm - Nominal Speed</li>
+    </ul>
+    <p>
+      Joint limits, torque limits, and maximum joint velocities
+      are based on the
+      information in the <em>Staubli Robotics - TX2 series 90 family -
+      Instruction Manual</em> version <em>D.280.943.04-E – 12/07/2019</em>.
+      All urdfs are based on the default motion and joint velocity limits,
+      unless noted otherwise (ie: no support for high speed joints, extended /
+      limited motion ranges or other options).
+    </p>
+    <p>
+      Before using any of the configuration files and / or meshes included
+      in this package, be sure to check they are correct for the particular
+      robot model and configuration you intend to use them with.
+    </p>
+  </description>
+  <author>Simon Schmeisser (isys vision)</author>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>Apache2.0</license>
+
+  <url type="website">http://wiki.ros.org/staubli_tx2_90_support</url>
+  <url type="bugtracker">https://github.com/ros-industrial/staubli_experimental/issues</url>
+  <url type="repository">https://github.com/ros-industrial/staubli_experimental</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <test_depend>roslaunch</test_depend>
+
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>staubli_resources</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+    <architecture_independent />
+  </export>
+</package>

staubli_tx2_90_support/tests/roslaunch_test_tx2_90.xml

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+<?xml version="1.0"?>
+<launch>
+
+  <group ns="load_tx2_90__">
+    <include file="$(find staubli_tx2_90_support)/launch/load_tx2_90.launch"/>
+  </group>
+
+  <group ns="test_tx2_90__">
+    <include file="$(find staubli_tx2_90_support)/launch/test_tx2_90.launch"/>
+  </group>
+
+</launch>

staubli_tx2_90_support/tests/roslaunch_test_tx2_90l.xml

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+<?xml version="1.0"?>
+<launch>
+
+  <group ns="load_tx2_90l__">
+    <include file="$(find staubli_tx2_90_support)/launch/load_tx2_90l.launch"/>
+  </group>
+
+  <group ns="test_tx2_90l__">
+    <include file="$(find staubli_tx2_90_support)/launch/test_tx2_90l.launch"/>
+  </group>
+
+</launch>

staubli_tx2_90_support/tests/roslaunch_test_tx2_90xl.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<launch>
+
+  <group ns="load_tx2_90xl__">
+    <include file="$(find staubli_tx2_90_support)/launch/load_tx2_90xl.launch"/>
+  </group>
+
+  <group ns="test_tx2_90xl__">
+    <include file="$(find staubli_tx2_90_support)/launch/test_tx2_90xl.launch"/>
+  </group>
+
+</launch>

staubli_tx2_90_support/urdf/tx2_90.xacro

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+<?xml version="1.0" ?>
+<robot name="staubli_tx2_90" xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find staubli_tx2_90_support)/urdf/tx2_90_macro.xacro"/>
+  <xacro:staubli_tx2_90 prefix=""/>
+</robot>

staubli_tx2_90_support/urdf/tx2_90_macro.xacro

@@ -0,0 +1,190 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find staubli_resources)/urdf/common_materials.xacro"/>
+
+  <xacro:macro name="staubli_tx2_90" params="prefix">
+    <!-- links: main serial chain -->
+    <link name="${prefix}base_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://staubli_tx2_90_support/meshes/tx2_90/visual/base_link.stl"/>
+        </geometry>
+        <xacro:material_staubli_ral_melon_yellow />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://staubli_tx2_90_support/meshes/tx2_90/collision/base_link.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://staubli_tx2_90_support/meshes/tx2_90/visual/link_1.stl"/>
+        </geometry>
+        <xacro:material_staubli_ral_melon_yellow />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://staubli_tx2_90_support/meshes/tx2_90/collision/link_1.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_2">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://staubli_tx2_90_support/meshes/tx2_90/visual/link_2.stl"/>
+        </geometry>
+        <xacro:material_staubli_ral_melon_yellow />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://staubli_tx2_90_support/meshes/tx2_90/collision/link_2.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_3">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://staubli_tx2_90_support/meshes/tx2_90/visual/link_3.stl"/>
+        </geometry>
+        <xacro:material_staubli_ral_melon_yellow />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://staubli_tx2_90_support/meshes/tx2_90/collision/link_3.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_4">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://staubli_tx2_90_support/meshes/tx2_90/visual/link_4.stl"/>
+        </geometry>
+        <xacro:material_staubli_ral_melon_yellow />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://staubli_tx2_90_support/meshes/tx2_90/collision/link_4.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_5">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://staubli_tx2_90_support/meshes/tx2_90/visual/link_5.stl"/>
+        </geometry>
+        <xacro:material_staubli_ral_grey_aluminium />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://staubli_tx2_90_support/meshes/tx2_90/collision/link_5.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_6">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://staubli_tx2_90_support/meshes/tx2_90/visual/link_6.stl"/>
+        </geometry>
+        <xacro:material_staubli_ral_grey_aluminium />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://staubli_tx2_90_support/meshes/tx2_90/collision/link_6.stl"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <!-- joints: main serial chain -->
+    <joint name="${prefix}joint_1" type="revolute">
+      <origin xyz="0 0 0.478" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}link_1"/>
+      <axis xyz="0 0 1"/>
+      <!-- from Staubli instruction manual:
+      (1) effort limit = 318 Nm if floor mounted
+      (2) effort limit = 111 Nm if wall mounted -->
+      <!-- nominal velocity limits are used -->
+      <limit lower="${radians(-180)}" upper="${radians(180)}" effort="318.0" velocity="${radians(265)}" />
+    </joint>
+    <joint name="${prefix}joint_2" type="revolute">
+      <origin xyz="0.050 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_1"/>
+      <child link="${prefix}link_2"/>
+      <axis xyz="0 1 0"/>
+      <!-- nominal velocity limits are used -->
+      <limit lower="${radians(-130)}" upper="${radians(147.5)}" effort="166.0" velocity="${radians(210)}" />
+    </joint>
+    <joint name="${prefix}joint_3" type="revolute">
+      <origin xyz="0 0.05 0.425" rpy="0 0 0"/>
+      <parent link="${prefix}link_2"/>
+      <child link="${prefix}link_3"/>
+      <axis xyz="0 1 0"/>
+      <!-- nominal velocity limits are used -->
+      <limit lower="${radians(-145)}" upper="${radians(145)}" effort="76.0" velocity="${radians(315)}" />
+    </joint>
+    <joint name="${prefix}joint_4" type="revolute">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_3"/>
+      <child link="${prefix}link_4"/>
+      <axis xyz="0 0 1"/>
+      <!-- nominal velocity limits are used -->
+      <limit lower="${radians(-270)}" upper="${radians(270)}" effort="34.0" velocity="${radians(450)}" />
+    </joint>
+    <joint name="${prefix}joint_5" type="revolute">
+      <origin xyz="0 0 0.425" rpy="0 0 0"/>
+      <parent link="${prefix}link_4"/>
+      <child link="${prefix}link_5"/>
+      <axis xyz="0 1 0"/>
+      <!-- nominal velocity limits are used -->
+      <limit lower="${radians(-115)}" upper="${radians(140)}" effort="29.0" velocity="${radians(370)}" />
+    </joint>
+    <joint name="${prefix}joint_6" type="revolute">
+      <origin xyz="0 0 0.100" rpy="0 0 0"/>
+      <parent link="${prefix}link_5"/>
+      <child link="${prefix}link_6"/>
+      <axis xyz="0 0 1"/>
+      <!-- nominal velocity limits are used -->
+      <limit lower="${radians(-270)}" upper="${radians(270)}" effort="11.0" velocity="${radians(630)}" />
+    </joint>
+
+    <!-- ROS-Industrial 'base' frame: base_link to Staubli World Coordinates transform -->
+    <link name="${prefix}base" />
+    <joint name="${prefix}base_link-base" type="fixed">
+      <origin xyz="0 0 0.478" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}base"/>
+    </joint>
+
+    <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
+    <link name="${prefix}flange" />
+    <joint name="${prefix}joint_6-flange" type="fixed">
+      <origin xyz="0 0 0" rpy="0 ${radians(-90.0)} 0" />
+      <parent link="${prefix}link_6" />
+      <child link="${prefix}flange" />
+    </joint>
+
+    <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
+    <link name="${prefix}tool0" />
+    <joint name="${prefix}flange-tool0" type="fixed">
+      <parent link="${prefix}flange" />
+      <child link="${prefix}tool0" />
+      <origin xyz="0 0 0" rpy="0 ${radians(90.0)} 0" />
+    </joint>
+  </xacro:macro>
+</robot>

staubli_tx2_90_support/urdf/tx2_90l.xacro

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+<?xml version="1.0" ?>
+<robot name="staubli_tx2_90l" xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find staubli_tx2_90_support)/urdf/tx2_90l_macro.xacro"/>
+  <xacro:staubli_tx2_90l prefix=""/>
+</robot>