-
Notifications
You must be signed in to change notification settings - Fork 1
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Add thirdparty Hiwin RA620 1621 Xacro file
The Xacro file and its meshes are retrieved from the following URL: https://github.com/HIWINCorporation/hiwin_ros/tree/master/hiwin_ra620_1621_support at commit fe5285e8df5e4879a4438a55e06fca1bd0de62ae, i.e., https://github.com/HIWINCorporation/hiwin_ros/tree/fe5285e8df5e4879a4438a55e06fca1bd0de62ae/hiwin_ra620_1621_support
- Loading branch information
Showing
21 changed files
with
481 additions
and
0 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,198 @@ | ||
cmake_minimum_required(VERSION 2.8.3) | ||
project(hiwin_ra620_1621_support) | ||
|
||
## Compile as C++11, supported in ROS Kinetic and newer | ||
# add_compile_options(-std=c++11) | ||
|
||
## Find catkin macros and libraries | ||
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) | ||
## is used, also find other catkin packages | ||
find_package(catkin REQUIRED COMPONENTS | ||
urdf | ||
xacro | ||
) | ||
|
||
## System dependencies are found with CMake's conventions | ||
# find_package(Boost REQUIRED COMPONENTS system) | ||
|
||
|
||
## Uncomment this if the package has a setup.py. This macro ensures | ||
## modules and global scripts declared therein get installed | ||
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html | ||
# catkin_python_setup() | ||
|
||
################################################ | ||
## Declare ROS messages, services and actions ## | ||
################################################ | ||
|
||
## To declare and build messages, services or actions from within this | ||
## package, follow these steps: | ||
## * Let MSG_DEP_SET be the set of packages whose message types you use in | ||
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). | ||
## * In the file package.xml: | ||
## * add a build_depend tag for "message_generation" | ||
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET | ||
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in | ||
## but can be declared for certainty nonetheless: | ||
## * add a exec_depend tag for "message_runtime" | ||
## * In this file (CMakeLists.txt): | ||
## * add "message_generation" and every package in MSG_DEP_SET to | ||
## find_package(catkin REQUIRED COMPONENTS ...) | ||
## * add "message_runtime" and every package in MSG_DEP_SET to | ||
## catkin_package(CATKIN_DEPENDS ...) | ||
## * uncomment the add_*_files sections below as needed | ||
## and list every .msg/.srv/.action file to be processed | ||
## * uncomment the generate_messages entry below | ||
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) | ||
|
||
## Generate messages in the 'msg' folder | ||
# add_message_files( | ||
# FILES | ||
# Message1.msg | ||
# Message2.msg | ||
# ) | ||
|
||
## Generate services in the 'srv' folder | ||
# add_service_files( | ||
# FILES | ||
# Service1.srv | ||
# Service2.srv | ||
# ) | ||
|
||
## Generate actions in the 'action' folder | ||
# add_action_files( | ||
# FILES | ||
# Action1.action | ||
# Action2.action | ||
# ) | ||
|
||
## Generate added messages and services with any dependencies listed here | ||
# generate_messages( | ||
# DEPENDENCIES | ||
# std_msgs # Or other packages containing msgs | ||
# ) | ||
|
||
################################################ | ||
## Declare ROS dynamic reconfigure parameters ## | ||
################################################ | ||
|
||
## To declare and build dynamic reconfigure parameters within this | ||
## package, follow these steps: | ||
## * In the file package.xml: | ||
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" | ||
## * In this file (CMakeLists.txt): | ||
## * add "dynamic_reconfigure" to | ||
## find_package(catkin REQUIRED COMPONENTS ...) | ||
## * uncomment the "generate_dynamic_reconfigure_options" section below | ||
## and list every .cfg file to be processed | ||
|
||
## Generate dynamic reconfigure parameters in the 'cfg' folder | ||
# generate_dynamic_reconfigure_options( | ||
# cfg/DynReconf1.cfg | ||
# cfg/DynReconf2.cfg | ||
# ) | ||
|
||
################################### | ||
## catkin specific configuration ## | ||
################################### | ||
## The catkin_package macro generates cmake config files for your package | ||
## Declare things to be passed to dependent projects | ||
## INCLUDE_DIRS: uncomment this if your package contains header files | ||
## LIBRARIES: libraries you create in this project that dependent projects also need | ||
## CATKIN_DEPENDS: catkin_packages dependent projects also need | ||
## DEPENDS: system dependencies of this project that dependent projects also need | ||
catkin_package( | ||
# INCLUDE_DIRS include | ||
# LIBRARIES hiwin_ra620_1621_support | ||
# CATKIN_DEPENDS urdf xacro | ||
# DEPENDS system_lib | ||
) | ||
|
||
########### | ||
## Build ## | ||
########### | ||
|
||
## Specify additional locations of header files | ||
## Your package locations should be listed before other locations | ||
include_directories( | ||
# include | ||
${catkin_INCLUDE_DIRS} | ||
) | ||
|
||
## Declare a C++ library | ||
# add_library(${PROJECT_NAME} | ||
# src/${PROJECT_NAME}/hiwin_ra620_1621_support.cpp | ||
# ) | ||
|
||
## Add cmake target dependencies of the library | ||
## as an example, code may need to be generated before libraries | ||
## either from message generation or dynamic reconfigure | ||
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | ||
|
||
## Declare a C++ executable | ||
## With catkin_make all packages are built within a single CMake context | ||
## The recommended prefix ensures that target names across packages don't collide | ||
# add_executable(${PROJECT_NAME}_node src/hiwin_ra620_1621_support_node.cpp) | ||
|
||
## Rename C++ executable without prefix | ||
## The above recommended prefix causes long target names, the following renames the | ||
## target back to the shorter version for ease of user use | ||
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" | ||
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") | ||
|
||
## Add cmake target dependencies of the executable | ||
## same as for the library above | ||
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | ||
|
||
## Specify libraries to link a library or executable target against | ||
# target_link_libraries(${PROJECT_NAME}_node | ||
# ${catkin_LIBRARIES} | ||
# ) | ||
|
||
############# | ||
## Install ## | ||
############# | ||
|
||
# all install targets should use catkin DESTINATION variables | ||
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html | ||
|
||
## Mark executable scripts (Python etc.) for installation | ||
## in contrast to setup.py, you can choose the destination | ||
# install(PROGRAMS | ||
# scripts/my_python_script | ||
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
# ) | ||
|
||
## Mark executables and/or libraries for installation | ||
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node | ||
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
# ) | ||
|
||
## Mark cpp header files for installation | ||
# install(DIRECTORY include/${PROJECT_NAME}/ | ||
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} | ||
# FILES_MATCHING PATTERN "*.h" | ||
# PATTERN ".svn" EXCLUDE | ||
# ) | ||
|
||
## Mark other files for installation (e.g. launch and bag files, etc.) | ||
# install(FILES | ||
# # myfile1 | ||
# # myfile2 | ||
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | ||
# ) | ||
|
||
############# | ||
## Testing ## | ||
############# | ||
|
||
## Add gtest based cpp test target and link libraries | ||
# catkin_add_gtest(${PROJECT_NAME}-test test/test_hiwin_ra620_1621_support.cpp) | ||
# if(TARGET ${PROJECT_NAME}-test) | ||
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) | ||
# endif() | ||
|
||
## Add folders to be run by python nosetests | ||
# catkin_add_nosetests(test) |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,29 @@ | ||
BSD 3-Clause License | ||
|
||
Copyright (c) 2019, HIWIN Technologies Corp | ||
All rights reserved. | ||
|
||
Redistribution and use in source and binary forms, with or without | ||
modification, are permitted provided that the following conditions are met: | ||
|
||
1. Redistributions of source code must retain the above copyright notice, this | ||
list of conditions and the following disclaimer. | ||
|
||
2. Redistributions in binary form must reproduce the above copyright notice, | ||
this list of conditions and the following disclaimer in the documentation | ||
and/or other materials provided with the distribution. | ||
|
||
3. Neither the name of the copyright holder nor the names of its | ||
contributors may be used to endorse or promote products derived from | ||
this software without specific prior written permission. | ||
|
||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE | ||
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL | ||
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR | ||
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | ||
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
5 changes: 5 additions & 0 deletions
5
thirdparty/hiwin_ra620_1621_support/launch/load_ra620_1621.launch
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,5 @@ | ||
<launch> | ||
<arg name="robot_description" default="robot_description"/> | ||
|
||
<param name="$(arg robot_description)" command="$(find xacro)/xacro.exe --inorder $(find hiwin_ra605_710_gb_support)/urdf\rt620_1621.xacro"/> | ||
</launch> |
16 changes: 16 additions & 0 deletions
16
thirdparty/hiwin_ra620_1621_support/launch/robot_state_visualize_ra620_1621.launch
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,16 @@ | ||
<launch> | ||
<arg name="robot_ip" default="127.0.0.1"/> | ||
|
||
<rosparam command="load" file="$(find hiwin_robot_moveit_config)/config/joint_names.yaml" /> | ||
|
||
<include file="$(find hiwin_driver)/launch/hiwin_robot_interface.launch"> | ||
<arg name="manipulator_ip" value="$(arg robot_ip)"/> | ||
</include> | ||
|
||
<node name="robot_state_publisher" pkg="robot_state_publisher" | ||
type="robot_state_publisher" /> | ||
|
||
<include file="$(find hiwin_ra620_1621_support)/launch/load_ra620_1621.launch"/> | ||
|
||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" /> | ||
</launch> |
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,22 @@ | ||
<?xml version="1.0"?> | ||
<package format="2"> | ||
<name>hiwin_ra620_1621_support</name> | ||
<version>1.0.1</version> | ||
<description>The hiwin_ra620_1621_support package</description> | ||
|
||
<author email="giovanniventilii@hiwin.tw">Giovanni Ventilii</author> | ||
<maintainer email="giovanniventilii@hiwin.tw">Giovanni Ventilii</maintainer> | ||
|
||
<license>BSD-3-Clause</license> | ||
|
||
<buildtool_depend>catkin</buildtool_depend> | ||
<build_depend>urdf</build_depend> | ||
<build_depend>xacro</build_depend> | ||
<build_export_depend>urdf</build_export_depend> | ||
<build_export_depend>xacro</build_export_depend> | ||
<exec_depend>urdf</exec_depend> | ||
<exec_depend>xacro</exec_depend> | ||
|
||
<export> | ||
</export> | ||
</package> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,5 @@ | ||
<?xml version="1.0"?> | ||
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="hiwin_ra620_1621" > | ||
<xacro:include filename="$(find hiwin_ra620_1621_support)/urdf/ra620_1621_macro.xacro" /> | ||
<xacro:manipulator prefix="" /> | ||
</robot> |
Oops, something went wrong.