ros-industrial · gavanderhoorn · Jan 31, 2020 · Oct 25, 2019 · Nov 29, 2019 · Nov 29, 2019
diff --git a/staubli_tx2_90_support/CMakeLists.txt b/staubli_tx2_90_support/CMakeLists.txt
@@ -0,0 +1,14 @@
+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.xml)
+endif()
+
+install(DIRECTORY config launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/staubli_tx2_90_support/config/joint_names_tx2_90.yaml b/staubli_tx2_90_support/config/joint_names_tx2_90.yaml
@@ -0,0 +1 @@
+controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
diff --git a/staubli_tx2_90_support/config/joint_names_tx2_90l.yaml b/staubli_tx2_90_support/config/joint_names_tx2_90l.yaml
@@ -0,0 +1 @@
+controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
diff --git a/staubli_tx2_90_support/config/joint_names_tx2_90xl.yaml b/staubli_tx2_90_support/config/joint_names_tx2_90xl.yaml
@@ -0,0 +1 @@
+controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
diff --git a/staubli_tx2_90_support/launch/load_tx2_90.launch b/staubli_tx2_90_support/launch/load_tx2_90.launch
@@ -0,0 +1,4 @@
+<?xml version="1.0" ?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find staubli_tx2_90_support)/urdf/tx2_90.xacro'" />
+</launch>
diff --git a/staubli_tx2_90_support/launch/load_tx2_90l.launch b/staubli_tx2_90_support/launch/load_tx2_90l.launch
@@ -0,0 +1,4 @@
+<?xml version="1.0" ?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find staubli_tx2_90_support)/urdf/tx2_90l.xacro'" />
+</launch>
diff --git a/staubli_tx2_90_support/launch/load_tx2_90xl.launch b/staubli_tx2_90_support/launch/load_tx2_90xl.launch
@@ -0,0 +1,4 @@
+<?xml version="1.0" ?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find staubli_tx2_90_support)/urdf/tx2_90xl.xacro'" />
+</launch>
diff --git a/staubli_tx2_90_support/launch/test_tx2_90.launch b/staubli_tx2_90_support/launch/test_tx2_90.launch
@@ -0,0 +1,9 @@
+<?xml version="1.0" ?>
+<launch>
+  <include file="$(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 $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>
diff --git a/staubli_tx2_90_support/launch/test_tx2_90l.launch b/staubli_tx2_90_support/launch/test_tx2_90l.launch
@@ -0,0 +1,9 @@
+<?xml version="1.0" ?>
+<launch>
+  <include file="$(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 $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>
diff --git a/staubli_tx2_90_support/launch/test_tx2_90xl.launch b/staubli_tx2_90_support/launch/test_tx2_90xl.launch
@@ -0,0 +1,9 @@
+<?xml version="1.0" ?>
+<launch>
+  <include file="$(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>
diff --git a/staubli_tx2_90_support/meshes/tx2_90/collision/base_link.stl b/staubli_tx2_90_support/meshes/tx2_90/collision/base_link.stl
diff --git a/staubli_tx2_90_support/meshes/tx2_90/collision/link_1.stl b/staubli_tx2_90_support/meshes/tx2_90/collision/link_1.stl
diff --git a/staubli_tx2_90_support/meshes/tx2_90/collision/link_2.stl b/staubli_tx2_90_support/meshes/tx2_90/collision/link_2.stl
diff --git a/staubli_tx2_90_support/meshes/tx2_90/collision/link_3.stl b/staubli_tx2_90_support/meshes/tx2_90/collision/link_3.stl
diff --git a/staubli_tx2_90_support/meshes/tx2_90/collision/link_4.stl b/staubli_tx2_90_support/meshes/tx2_90/collision/link_4.stl
diff --git a/staubli_tx2_90_support/meshes/tx2_90/collision/link_5.stl b/staubli_tx2_90_support/meshes/tx2_90/collision/link_5.stl
diff --git a/staubli_tx2_90_support/meshes/tx2_90/collision/link_6.stl b/staubli_tx2_90_support/meshes/tx2_90/collision/link_6.stl
diff --git a/staubli_tx2_90_support/meshes/tx2_90/visual/base_link.stl b/staubli_tx2_90_support/meshes/tx2_90/visual/base_link.stl
diff --git a/staubli_tx2_90_support/meshes/tx2_90/visual/link_1.stl b/staubli_tx2_90_support/meshes/tx2_90/visual/link_1.stl
diff --git a/staubli_tx2_90_support/meshes/tx2_90/visual/link_2.stl b/staubli_tx2_90_support/meshes/tx2_90/visual/link_2.stl
diff --git a/staubli_tx2_90_support/meshes/tx2_90/visual/link_3.stl b/staubli_tx2_90_support/meshes/tx2_90/visual/link_3.stl
diff --git a/staubli_tx2_90_support/meshes/tx2_90/visual/link_4.stl b/staubli_tx2_90_support/meshes/tx2_90/visual/link_4.stl
diff --git a/staubli_tx2_90_support/meshes/tx2_90/visual/link_5.stl b/staubli_tx2_90_support/meshes/tx2_90/visual/link_5.stl
diff --git a/staubli_tx2_90_support/meshes/tx2_90/visual/link_6.stl b/staubli_tx2_90_support/meshes/tx2_90/visual/link_6.stl
diff --git a/staubli_tx2_90_support/meshes/tx2_90l/collision/link_2.stl b/staubli_tx2_90_support/meshes/tx2_90l/collision/link_2.stl
diff --git a/staubli_tx2_90_support/meshes/tx2_90l/collision/link_4.stl b/staubli_tx2_90_support/meshes/tx2_90l/collision/link_4.stl
diff --git a/staubli_tx2_90_support/meshes/tx2_90l/visual/link_2.stl b/staubli_tx2_90_support/meshes/tx2_90l/visual/link_2.stl
diff --git a/staubli_tx2_90_support/meshes/tx2_90l/visual/link_4.stl b/staubli_tx2_90_support/meshes/tx2_90l/visual/link_4.stl
diff --git a/staubli_tx2_90_support/meshes/tx2_90xl/collision/link_2.stl b/staubli_tx2_90_support/meshes/tx2_90xl/collision/link_2.stl
diff --git a/staubli_tx2_90_support/meshes/tx2_90xl/collision/link_4.stl b/staubli_tx2_90_support/meshes/tx2_90xl/collision/link_4.stl
diff --git a/staubli_tx2_90_support/meshes/tx2_90xl/visual/link_2.stl b/staubli_tx2_90_support/meshes/tx2_90xl/visual/link_2.stl
diff --git a/staubli_tx2_90_support/meshes/tx2_90xl/visual/link_4.stl b/staubli_tx2_90_support/meshes/tx2_90xl/visual/link_4.stl
diff --git a/staubli_tx2_90_support/package.xml b/staubli_tx2_90_support/package.xml
@@ -0,0 +1,60 @@
+<?xml version="1.0"?>
+<package version="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 were taken from broschures, torque limits, and maximum joint velocities
+      are based on the
+      information in the <em>Staubli Robotics - TX series 90 family -
+      Instruction Manual</em> version <em>D28082904C – 01/12/2014</em> and might have changed.
+      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>
+    <p>
+      <b>NB (1)</b>: Masses, center of mass and moments of inertia were copied from TX90 package. There they
+      were calculated using Solidworks and the official Staubli CAD models, and may not be accurate.
+    </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://ros.org/wiki/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>
+
+  <build_depend>roslaunch</build_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>
diff --git a/staubli_tx2_90_support/tests/roslaunch_test_tx2_90.xml b/staubli_tx2_90_support/tests/roslaunch_test_tx2_90.xml
@@ -0,0 +1,12 @@
+<?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="$(find staubli_tx2_90_support)/launch/test_tx2_90.launch"/>
+  </group>
+
+</launch>
diff --git a/staubli_tx2_90_support/tests/roslaunch_test_tx2_90l.xml b/staubli_tx2_90_support/tests/roslaunch_test_tx2_90l.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<launch>
+
+  <group ns="load_tx2_90l__">
+    <include file="$(find staubli_tx2_90_support)/launch/load_tx2_90l.launch"/>
+  </group>
+
+  <group ns="test_tx2_90l__">
+    <include file="$(find staubli_tx2_90_support)/launch/test_tx2_90l.launch"/>
+  </group>
+
+</launch>
diff --git a/staubli_tx2_90_support/tests/roslaunch_test_tx2_90xl.xml b/staubli_tx2_90_support/tests/roslaunch_test_tx2_90xl.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<launch>
+
+  <group ns="load_tx2_90xl__">
+    <include file="$(find staubli_tx2_90_support)/launch/load_tx2_90xl.launch"/>
+  </group>
+
+  <group ns="test_tx2_90xl__">
+    <include file="$(find staubli_tx2_90_support)/launch/test_tx2_90xl.launch"/>
+  </group>
+
+</launch>
diff --git a/staubli_tx2_90_support/urdf/tx2_90.xacro b/staubli_tx2_90_support/urdf/tx2_90.xacro
@@ -0,0 +1,5 @@
+<?xml version="1.0" ?>
+<robot name="staubli_tx2_90" xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find staubli_tx2_90_support)/urdf/tx2_90_macro.xacro"/>
+  <xacro:staubli_tx2_90 prefix=""/>
+</robot>
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']