Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

GazeboでのMoveIt動作に対応 #6

Merged
merged 8 commits into from
Oct 26, 2023
Merged

GazeboでのMoveIt動作に対応 #6

Show file tree
Hide file tree
Changes from 7 commits
Commits
Show all changes
8 commits
Select commit Hold shift + click to select a range
6e0fe7f
control_configパス追加
Kuwamai Oct 24, 2023
c38dca0
ign_ros2_control追加
Kuwamai Oct 24, 2023
4229c3b
dummy_mimic joint追加
Kuwamai Oct 24, 2023
514feb6
test修正
Kuwamai Oct 24, 2023
0622d79
joint_limit値の調整
Kuwamai Oct 25, 2023
b809c33
干渉が生じるモデルを修正
Kuwamai Oct 25, 2023
023e3db
Gazebo上での初期姿勢設定
Kuwamai Oct 25, 2023
998fdb6
関節可動範囲の調整
Kuwamai Oct 26, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Binary file modified meshes/collision/L_Link5.stl
View file
Open in desktop
Binary file not shown.
6 changes: 5 additions & 1 deletion sciurus17_description/robot_description_loader.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,10 +14,14 @@ def __init__(self):
'urdf',
'sciurus17.urdf.xacro')
self.use_gazebo = 'false'
self.gz_control_config_package = ''
self.gz_control_config_file_path = ''

def load(self):
return Command([
'xacro ',
self.robot_description_path,
' use_gazebo:=', self.use_gazebo
' use_gazebo:=', self.use_gazebo,
' gz_control_config_package:=', self.gz_control_config_package,
' gz_control_config_file_path:=', self.gz_control_config_file_path
])
6 changes: 4 additions & 2 deletions test/test_robot_description_loader.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,9 @@ def test_change_description_path():


def test_use_gazebo():
# use_gazeboが変更され、xacroにgazeboタグがセットされることを期待
# use_gazeboが変更され、xacroにign_ros2_controlがセットされることを期待
rdl = RobotDescriptionLoader()
rdl.use_gazebo = 'true'
assert '<gazebo' in exec_load(rdl)
rdl.gz_control_config_package = 'sciurus17_description'
rdl.gz_control_config_file_path = 'config/dummy_controllers.yaml'
assert 'ign_ros2_control/IgnitionSystem' in exec_load(rdl)
259 changes: 259 additions & 0 deletions urdf/sciurus17.gazebo_ros2_control.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,259 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="sciurus17_gazebo_ros2_control_settings">

<ros2_control name="sciurus17" type="system">
<hardware>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</hardware>

<joint name="${NAME_JOINT_BODY}">
<command_interface name="position">
<param name="min">${NAME_JOINT_BODY_LOWER_LIMIT}</param>
<param name="max">${NAME_JOINT_BODY_UPPER_LIMIT}</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_NECK_1}">
<command_interface name="position">
<param name="min">${JOINT_NECK_1_LOWER_LIMIT}"</param>
<param name="max">${JOINT_NECK_1_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_NECK_2}">
<command_interface name="position">
<param name="min">${JOINT_NECK_2_LOWER_LIMIT}"</param>
<param name="max">${JOINT_NECK_2_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_R_1}">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_1_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_R_1_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_R_2}">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_2_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_R_2_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">-1.5707</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_R_3}">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_3_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_R_3_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_R_4}">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_4_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_R_4_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">2.7262</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_R_5}">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_5_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_R_5_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_R_6}">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_6_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_R_6_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">-2.0943</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_R_7}">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_7_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_R_7_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_HAND_R_A}">
<command_interface name="position">
<param name="min">${JOINT_HAND_R_LOWER_LIMIT}"</param>
<param name="max">${JOINT_HAND_R_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_HAND_R_B}">
<param name="mimic">${NAME_JOINT_HAND_R_A}</param>
<param name="multiplier">1</param>
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_L_1}">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_1_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_L_1_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_L_2}">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_2_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_L_2_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">1.5707</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_L_3}">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_3_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_L_3_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_L_4}">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_4_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_L_4_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">-2.7262</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_L_5}">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_5_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_L_5_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_L_6}">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_6_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_L_6_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">2.09439</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_ARM_L_7}">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_7_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_L_7_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_HAND_L_A}">
<command_interface name="position">
<param name="min">${JOINT_HAND_L_LOWER_LIMIT}"</param>
<param name="max">${JOINT_HAND_L_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${NAME_JOINT_HAND_L_B}">
<param name="mimic">${NAME_JOINT_HAND_L_A}</param>
<param name="multiplier">1</param>
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

</ros2_control>
</xacro:macro>
</robot>
25 changes: 21 additions & 4 deletions urdf/sciurus17.urdf.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,8 +14,13 @@
<xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_left_arm.xacro"/>
<xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_left_hand.xacro"/>
<xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_gazebo.xacro"/>
<xacro:include filename="$(find sciurus17_description)/urdf/sciurus17.gazebo_ros2_control.xacro"/>

<xacro:arg name="use_gazebo" default="false" />
<xacro:arg name="gz_control_config_package" default="" />
<xacro:arg name="gz_control_config_file_path" default="" />
<xacro:property name="GZ_CONTROL_CONFIG_PACKAGE" value="$(arg gz_control_config_package)"/>
<xacro:property name="GZ_CONTROL_CONFIG_FILE_PATH" value="$(arg gz_control_config_file_path)"/>

<material name="white">
<color rgba="0.9 0.9 0.9 1.0"/>
Expand Down Expand Up @@ -104,15 +109,19 @@
<xacro:property name="JOINT_ARM_R_2_UPPER_LIMIT" value="${radians(0)}"/>
<xacro:property name="JOINT_ARM_R_3_LOWER_LIMIT" value="${radians(-90)}"/>
<xacro:property name="JOINT_ARM_R_3_UPPER_LIMIT" value="${radians(90)}"/>
<xacro:property name="JOINT_ARM_R_4_LOWER_LIMIT" value="${radians(0)}"/>
<!-- Gazeboの挙動がlimit付近で不安定なため、limitをサーボの可動範囲より少し大きくする -->
<!-- 参照: https://github.com/rt-net/sciurus17_description/pull/6 -->
<xacro:property name="JOINT_ARM_R_4_LOWER_LIMIT" value="${radians(-0.001)}"/>
<xacro:property name="JOINT_ARM_R_4_UPPER_LIMIT" value="${radians(157)}"/>
<xacro:property name="JOINT_ARM_R_5_LOWER_LIMIT" value="${radians(-90)}"/>
<xacro:property name="JOINT_ARM_R_5_UPPER_LIMIT" value="${radians(90)}"/>
<xacro:property name="JOINT_ARM_R_6_LOWER_LIMIT" value="${radians(-120)}"/>
<xacro:property name="JOINT_ARM_R_6_UPPER_LIMIT" value="${radians(60)}"/>
<xacro:property name="JOINT_ARM_R_7_LOWER_LIMIT" value="${radians(-170)}"/>
<xacro:property name="JOINT_ARM_R_7_UPPER_LIMIT" value="${radians(170)}"/>
<xacro:property name="JOINT_HAND_R_LOWER_LIMIT" value="${radians(0)}"/>
<!-- Gazeboの挙動がlimit付近で不安定なため、limitをサーボの可動範囲より少し大きくする -->
<!-- 参照: https://github.com/rt-net/sciurus17_description/pull/6 -->
<xacro:property name="JOINT_HAND_R_LOWER_LIMIT" value="${radians(-0.001)}"/>
<xacro:property name="JOINT_HAND_R_UPPER_LIMIT" value="${radians(86)}"/>

<xacro:property name="JOINT_ARM_L_1_LOWER_LIMIT" value="${radians(-90)}"/>
Expand All @@ -122,15 +131,19 @@
<xacro:property name="JOINT_ARM_L_3_LOWER_LIMIT" value="${radians(-90)}"/>
<xacro:property name="JOINT_ARM_L_3_UPPER_LIMIT" value="${radians(90)}"/>
<xacro:property name="JOINT_ARM_L_4_LOWER_LIMIT" value="${radians(-157)}"/>
<xacro:property name="JOINT_ARM_L_4_UPPER_LIMIT" value="${radians(0)}"/>
<!-- Gazeboの挙動がlimit付近で不安定なため、limitをサーボの可動範囲より少し大きくする -->
<!-- 参照: https://github.com/rt-net/sciurus17_description/pull/6 -->
<xacro:property name="JOINT_ARM_L_4_UPPER_LIMIT" value="${radians(0.001)}"/>
<xacro:property name="JOINT_ARM_L_5_LOWER_LIMIT" value="${radians(-90)}"/>
<xacro:property name="JOINT_ARM_L_5_UPPER_LIMIT" value="${radians(90)}"/>
<xacro:property name="JOINT_ARM_L_6_LOWER_LIMIT" value="${radians(-60)}"/>
<xacro:property name="JOINT_ARM_L_6_UPPER_LIMIT" value="${radians(120)}"/>
<xacro:property name="JOINT_ARM_L_7_LOWER_LIMIT" value="${radians(-170)}"/>
<xacro:property name="JOINT_ARM_L_7_UPPER_LIMIT" value="${radians(170)}"/>
<xacro:property name="JOINT_HAND_L_LOWER_LIMIT" value="${radians(-86)}"/>
<xacro:property name="JOINT_HAND_L_UPPER_LIMIT" value="${radians(0)}"/>
<!-- Gazeboの挙動がlimit付近で不安定なため、limitをサーボの可動範囲より少し大きくする -->
<!-- 参照: https://github.com/rt-net/sciurus17_description/pull/6 -->
<xacro:property name="JOINT_HAND_L_UPPER_LIMIT" value="${radians(0.001)}"/>

<xacro:property name="COLOR_LINK_BASE" value="white"/>
<xacro:property name="COLOR_LINK_BODY" value="white"/>
Expand Down Expand Up @@ -160,6 +173,10 @@
<xacro:sciurus17_left_hand/>

<xacro:if value="$(arg use_gazebo)">

<xacro:gazebo_robot_settings/>

<xacro:sciurus17_gazebo_ros2_control_settings/>

</xacro:if>
</robot>
5 changes: 5 additions & 0 deletions urdf/sciurus17_gazebo.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,11 @@
</xacro:macro>

<xacro:macro name="gazebo_robot_settings">
<gazebo>
<plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
<parameters>$(find ${GZ_CONTROL_CONFIG_PACKAGE})/${GZ_CONTROL_CONFIG_FILE_PATH}</parameters>
</plugin>
</gazebo>

<gazebo reference="${NAME_LINK_BASE}">
<xacro:material_gazebo_white/>
Expand Down
9 changes: 9 additions & 0 deletions urdf/sciurus17_left_hand.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,15 @@
</inertial>
</link>

<!--Dummy joint/link to prevent error with mimic joint
See https://github.com/ros-controls/gazebo_ros2_control/issues/173
-->
<joint name="${NAME_JOINT_HAND_L_B}_mimic" type="fixed">
<parent link="world" />
<child link="dummy_mimic_fix_l" />
</joint>
<link name="dummy_mimic_fix_l"/>

<joint name="${NAME_JOINT_HAND_L_B}" type="revolute">
<parent link="${NAME_LINK_ARM_L_7}" />
<child link="${NAME_LINK_HAND_L_B}" />
Expand Down
Loading