using humble repo for gripper

johnny555 · Aug 8, 2024 · ba2b638 · ba2b638
1 parent de2cdbf
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diff --git a/src/robotiq_arg85_description/.travis.yml b/src/robotiq_arg85_description/.travis.yml
diff --git a/src/robotiq_arg85_description/CMakeLists.txt b/src/robotiq_arg85_description/CMakeLists.txt
@@ -1,36 +1,8 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(robotiq_arg85_description)
-
-## Find catkin macros and libraries
-find_package(catkin REQUIRED)
-
-catkin_package()
-
-#############
-## Install ##
-#############
-
-install(DIRECTORY launch/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
-)
-
-install(DIRECTORY meshes/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
-)
-
-install(DIRECTORY robots/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
-)
-
-install(FILES urdf.rviz
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-
-#############
-## Testing ##
-#############
-
-if (CATKIN_ENABLE_TESTING)
-  find_package(roslaunch REQUIRED)
-  roslaunch_add_file_check(launch)
-endif()
+cmake_minimum_required(VERSION 3.22)
+project(robotiq_2f_140_gripper_visualization)
+find_package(ament_cmake REQUIRED)
+ament_package()
+
+install(DIRECTORY meshes DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
diff --git a/src/robotiq_arg85_description/README.md b/src/robotiq_arg85_description/README.md
@@ -1,12 +1,14 @@
-robotiq_arg85_description
-=========================
+# Robotiq 140mm 2-Finger-Adaptive-Gripper 
 
-[![Build Status](https://travis-ci.org/a-price/robotiq_arg85_description.svg?branch=master)](https://travis-ci.org/a-price/robotiq_arg85_description)
+This package contains the URDF files describing the 140mm stroke gripper from robotiq, also known as series **C3**.
 
-ROS package providing a URDF model of the Robotiq 2-Finger Adaptive Robot Gripper 85.
+To test the gripper URDF description type 
 
-View the gripper in `RViz` by running
+```
+roslaunch robotiq_2f_140_gripper_visualization test_2f_140_model.launch 
+```
+## Robot Visual
+![140](https://user-images.githubusercontent.com/8356912/49428409-463f8580-f7a6-11e8-8278-5246acdc5c14.png)
 
-    roslaunch robotiq_arg85_description display.launch gui:=true
-
-![Display Model](images/display.png)
+## Robot Collision 
+![1402](https://user-images.githubusercontent.com/8356912/49428407-463f8580-f7a6-11e8-9c4e-df69e478f107.png)
diff --git a/src/robotiq_arg85_description/images/display.png b/src/robotiq_arg85_description/images/display.png
diff --git a/src/robotiq_arg85_description/launch/display.launch b/src/robotiq_arg85_description/launch/display.launch
diff --git a/src/robotiq_arg85_description/launch/test_2f_140_model.launch b/src/robotiq_arg85_description/launch/test_2f_140_model.launch
@@ -0,0 +1,10 @@
+<?xml version="1.0" ?>
+
+<launch>
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
+    <let name="robot_description" value="$(find xacro)/xacro $(find robotiq_2f_140_gripper_visualization)/urdf/robotiq_arg2f_140_model.xacro" />
+
+  </node>
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+  <node name="rviz2" pkg="rviz2" type="rviz" args="-d $(find robotiq_2f_140_gripper_visualization)/visualize.rviz" required="true" />
+</launch>
diff --git a/src/robotiq_arg85_description/meshes/collision/robotiq_arg2f_140_inner_finger.stl b/src/robotiq_arg85_description/meshes/collision/robotiq_arg2f_140_inner_finger.stl
diff --git a/src/robotiq_arg85_description/meshes/collision/robotiq_arg2f_140_inner_knuckle.stl b/src/robotiq_arg85_description/meshes/collision/robotiq_arg2f_140_inner_knuckle.stl
diff --git a/src/robotiq_arg85_description/meshes/collision/robotiq_arg2f_140_outer_finger.stl b/src/robotiq_arg85_description/meshes/collision/robotiq_arg2f_140_outer_finger.stl
diff --git a/src/robotiq_arg85_description/meshes/collision/robotiq_arg2f_140_outer_knuckle.stl b/src/robotiq_arg85_description/meshes/collision/robotiq_arg2f_140_outer_knuckle.stl
diff --git a/src/robotiq_arg85_description/meshes/collision/robotiq_arg2f_base_link.stl b/src/robotiq_arg85_description/meshes/collision/robotiq_arg2f_base_link.stl
diff --git a/src/robotiq_arg85_description/meshes/collision/robotiq_arg2f_coupling.stl b/src/robotiq_arg85_description/meshes/collision/robotiq_arg2f_coupling.stl
diff --git a/src/robotiq_arg85_description/meshes/inner_finger_coarse.STL b/src/robotiq_arg85_description/meshes/inner_finger_coarse.STL
diff --git a/src/robotiq_arg85_description/meshes/inner_finger_fine.STL b/src/robotiq_arg85_description/meshes/inner_finger_fine.STL
diff --git a/src/robotiq_arg85_description/meshes/inner_knuckle_coarse.STL b/src/robotiq_arg85_description/meshes/inner_knuckle_coarse.STL
diff --git a/src/robotiq_arg85_description/meshes/inner_knuckle_fine.STL b/src/robotiq_arg85_description/meshes/inner_knuckle_fine.STL
diff --git a/src/robotiq_arg85_description/meshes/outer_finger_coarse.STL b/src/robotiq_arg85_description/meshes/outer_finger_coarse.STL
diff --git a/src/robotiq_arg85_description/meshes/outer_finger_fine.STL b/src/robotiq_arg85_description/meshes/outer_finger_fine.STL
diff --git a/src/robotiq_arg85_description/meshes/outer_knuckle_coarse.STL b/src/robotiq_arg85_description/meshes/outer_knuckle_coarse.STL
diff --git a/src/robotiq_arg85_description/meshes/outer_knuckle_fine.STL b/src/robotiq_arg85_description/meshes/outer_knuckle_fine.STL
diff --git a/src/robotiq_arg85_description/meshes/robotiq_85_base_link_coarse.STL b/src/robotiq_arg85_description/meshes/robotiq_85_base_link_coarse.STL
diff --git a/src/robotiq_arg85_description/meshes/robotiq_85_base_link_fine.STL b/src/robotiq_arg85_description/meshes/robotiq_85_base_link_fine.STL
diff --git a/src/robotiq_arg85_description/meshes/visual/robotiq_arg2f_140_inner_finger.stl b/src/robotiq_arg85_description/meshes/visual/robotiq_arg2f_140_inner_finger.stl
diff --git a/src/robotiq_arg85_description/meshes/visual/robotiq_arg2f_140_inner_knuckle.stl b/src/robotiq_arg85_description/meshes/visual/robotiq_arg2f_140_inner_knuckle.stl
diff --git a/src/robotiq_arg85_description/meshes/visual/robotiq_arg2f_140_outer_finger.stl b/src/robotiq_arg85_description/meshes/visual/robotiq_arg2f_140_outer_finger.stl
diff --git a/src/robotiq_arg85_description/meshes/visual/robotiq_arg2f_140_outer_knuckle.stl b/src/robotiq_arg85_description/meshes/visual/robotiq_arg2f_140_outer_knuckle.stl
diff --git a/src/robotiq_arg85_description/meshes/visual/robotiq_arg2f_base_link.stl b/src/robotiq_arg85_description/meshes/visual/robotiq_arg2f_base_link.stl
diff --git a/src/robotiq_arg85_description/meshes/visual/robotiq_arg2f_coupling.stl b/src/robotiq_arg85_description/meshes/visual/robotiq_arg2f_coupling.stl
diff --git a/src/robotiq_arg85_description/package.xml b/src/robotiq_arg85_description/package.xml
@@ -1,16 +1,16 @@
+<?xml version="1.0"?>
 <package format="2">
-  <name>robotiq_arg85_description</name>
+  <name>robotiq_2f_140_gripper_visualization</name>
   <version>1.0.0</version>
-  <description>URDF files for Robotiq 2-Finger Adaptive Robot Gripper.</description>
-  <maintainer email="arprice@gatech.edu">Andrew Price</maintainer>
+  <description>Robotiq ARG 2-Finger 140mm model C3 description package</description>
   <license>BSD</license>
+  <url type="website">http://ros.org/wiki/robotiq</url>
+  <author email="ryan@rwsinnet.com">Ryan Sinnet</author>
+  <maintainer email="ros@robotiq.com">Jean-Philippe Roberge</maintainer>
+  <maintainer email="daniels.ordoez@gmail.com">Daniel Ordonez</maintainer>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <export>
+      <build_type>ament_cmake</build_type>
+  </export>
 
-  <exec_depend>joint_state_publisher</exec_depend>
-  <exec_depend>joint_state_publisher_gui</exec_depend>
-  <exec_depend>robot_state_publisher</exec_depend>
-  <exec_depend>rviz</exec_depend>
-
-  <test_depend>roslaunch</test_depend>
 </package>