diff --git a/src/robotiq_arg85_description/.travis.yml b/src/robotiq_arg85_description/.travis.yml deleted file mode 100644 index f40d4ed..0000000 --- a/src/robotiq_arg85_description/.travis.yml +++ /dev/null @@ -1,13 +0,0 @@ -language: python -sudo: required -services: - - docker -before_install: - - docker pull ros:kinetic-robot - - docker run -it -d --name build ros:kinetic-robot bash - - docker exec -it build bash -c "cd ~/ && mkdir -p ~/catkin_ws/src && source /opt/ros/kinetic/setup.bash && catkin_init_workspace" - - docker exec -it build bash -c "cd ~/catkin_ws/src && git clone --branch ${TRAVIS_BRANCH} https://github.com/${TRAVIS_REPO_SLUG}.git" - - docker exec -it build bash -c "cd ~/catkin_ws && apt update && source /opt/ros/kinetic/setup.bash && rosdep install --from-paths src --ignore-src -r -y && rm -rf /var/lib/apt/lists/*" -script: - - docker exec -it build bash -c "source /opt/ros/kinetic/setup.bash && cd ~/catkin_ws && catkin_make" - - docker exec -it build bash -c "source ~/catkin_ws/devel/setup.bash && roscd robotiq_arg85_description && rosrun roslaunch roslaunch-check launch" diff --git a/src/robotiq_arg85_description/CMakeLists.txt b/src/robotiq_arg85_description/CMakeLists.txt index f710935..c98a8e6 100644 --- 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 index a684685..dd0ecec 100644 --- 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 deleted file mode 100644 index 81e6961..0000000 Binary files a/src/robotiq_arg85_description/images/display.png and /dev/null differ diff --git a/src/robotiq_arg85_description/launch/display.launch b/src/robotiq_arg85_description/launch/display.launch deleted file mode 100644 index 09fd12b..0000000 --- a/src/robotiq_arg85_description/launch/display.launch +++ /dev/null @@ -1,27 +0,0 @@ - - - - - - - - diff --git a/src/robotiq_arg85_description/launch/test_2f_140_model.launch b/src/robotiq_arg85_description/launch/test_2f_140_model.launch new file mode 100644 index 0000000..b5287f1 --- /dev/null +++ b/src/robotiq_arg85_description/launch/test_2f_140_model.launch @@ -0,0 +1,10 @@ + + + + + + + + + + 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 new file mode 100644 index 0000000..4eb5a1f Binary files /dev/null and b/src/robotiq_arg85_description/meshes/collision/robotiq_arg2f_140_inner_finger.stl differ 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 new file mode 100644 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a/src/robotiq_arg85_description/meshes/visual/robotiq_arg2f_coupling.stl b/src/robotiq_arg85_description/meshes/visual/robotiq_arg2f_coupling.stl new file mode 100644 index 0000000..02c600f Binary files /dev/null and b/src/robotiq_arg85_description/meshes/visual/robotiq_arg2f_coupling.stl differ diff --git a/src/robotiq_arg85_description/package.xml b/src/robotiq_arg85_description/package.xml index 1435aae..a6ad884 100644 --- a/src/robotiq_arg85_description/package.xml +++ b/src/robotiq_arg85_description/package.xml @@ -1,16 +1,16 @@ + - robotiq_arg85_description + robotiq_2f_140_gripper_visualization 1.0.0 - URDF files for Robotiq 2-Finger Adaptive Robot Gripper. - Andrew Price + Robotiq ARG 2-Finger 140mm model C3 description package BSD + http://ros.org/wiki/robotiq + Ryan Sinnet + Jean-Philippe Roberge + Daniel Ordonez - catkin + + ament_cmake + - joint_state_publisher - joint_state_publisher_gui - robot_state_publisher - rviz - - roslaunch diff --git a/src/robotiq_arg85_description/robots/robotiq_arg85_description.URDF b/src/robotiq_arg85_description/robots/robotiq_arg85_description.URDF deleted file mode 100644 index 16c605c..0000000 --- a/src/robotiq_arg85_description/robots/robotiq_arg85_description.URDF +++ /dev/null @@ -1,517 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/robotiq_arg85_description/urdf.rviz b/src/robotiq_arg85_description/urdf.rviz deleted file mode 100644 index 98d0242..0000000 --- a/src/robotiq_arg85_description/urdf.rviz +++ /dev/null @@ -1,215 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /TF1 - Splitter Ratio: 0.5 - Tree Height: 633 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - left_inner_finger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_inner_knuckle: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_outer_finger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_outer_knuckle: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_inner_finger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_inner_knuckle: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_outer_finger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_outer_knuckle: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - robotiq_85_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - left_inner_finger: - Value: true - left_inner_knuckle: - Value: true - left_outer_finger: - Value: true - left_outer_knuckle: - Value: true - right_inner_finger: - Value: true - right_inner_knuckle: - Value: true - right_outer_finger: - Value: true - right_outer_knuckle: - Value: true - robotiq_85_base_link: - Value: true - Marker Scale: 0.2 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - robotiq_85_base_link: - left_inner_knuckle: - left_inner_finger: - {} - left_outer_knuckle: - left_outer_finger: - {} - right_inner_knuckle: - right_inner_finger: - {} - right_outer_knuckle: - right_outer_finger: - {} - Update Interval: 0 - Value: true - Enabled: true - Global Options: - Background Color: 100; 100; 100 - Fixed Frame: robotiq_85_base_link - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 0.425218 - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.00206906 - Y: -0.00266563 - Z: 0.040546 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.409795 - Target Frame: - Value: Orbit (rviz) - Yaw: 2.11539 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 846 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 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- Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1200 - X: 55 - Y: 40 diff --git a/src/robotiq_arg85_description/urdf/robotiq_arg2f.xacro b/src/robotiq_arg85_description/urdf/robotiq_arg2f.xacro new file mode 100644 index 0000000..0e08bc6 --- /dev/null +++ b/src/robotiq_arg85_description/urdf/robotiq_arg2f.xacro @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/robotiq_arg85_description/urdf/robotiq_arg2f_140_model.xacro b/src/robotiq_arg85_description/urdf/robotiq_arg2f_140_model.xacro new file mode 100644 index 0000000..0395d16 --- /dev/null +++ b/src/robotiq_arg85_description/urdf/robotiq_arg2f_140_model.xacro @@ -0,0 +1,5 @@ + + + + + diff --git a/src/robotiq_arg85_description/urdf/robotiq_arg2f_140_model_macro.xacro b/src/robotiq_arg85_description/urdf/robotiq_arg2f_140_model_macro.xacro new file mode 100644 index 0000000..897c18e --- /dev/null +++ b/src/robotiq_arg85_description/urdf/robotiq_arg2f_140_model_macro.xacro @@ -0,0 +1,202 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/robotiq_arg85_description/urdf/robotiq_arg2f_transmission.xacro b/src/robotiq_arg85_description/urdf/robotiq_arg2f_transmission.xacro new file mode 100644 index 0000000..e570506 --- /dev/null +++ b/src/robotiq_arg85_description/urdf/robotiq_arg2f_transmission.xacro @@ -0,0 +1,14 @@ + + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + 1 + + + + diff --git a/src/robotiq_arg85_description/visualize.rviz b/src/robotiq_arg85_description/visualize.rviz new file mode 100644 index 0000000..83f06b2 --- /dev/null +++ b/src/robotiq_arg85_description/visualize.rviz @@ -0,0 +1,241 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /RobotModel1 + - /RobotModel1/Link/Joint Tree1 + Splitter Ratio: 0.57432431 + Tree Height: 815 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Link/Joint Tree: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Tree of links and joints + robotiq_arg2f_base_link: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + finger_joint: + Details: + Show Axes: false + Show Joint Axis: false + Value: true + left_outer_knuckle: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_outer_finger_joint: + Details: + Show Axes: false + Value: true + left_outer_finger: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_inner_finger_joint: + Details: + Show Axes: false + Show Joint Axis: false + Value: true + left_inner_finger: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_inner_finger_pad_joint: + Details: + Show Axes: false + Value: true + left_inner_finger_pad: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_inner_knuckle_joint: + Details: + Show Axes: false + Show Joint Axis: false + Value: true + left_inner_knuckle: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_inner_knuckle_joint: + Details: + Show Axes: false + Show Joint Axis: false + Value: true + right_inner_knuckle: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_outer_knuckle_joint: + Details: + Show Axes: false + Show Joint Axis: false + Value: true + right_outer_knuckle: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_outer_finger_joint: + Details: + Show Axes: false + Value: true + right_outer_finger: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_inner_finger_joint: + Details: + Show Axes: false + Show Joint Axis: false + Value: true + right_inner_finger: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_inner_finger_pad_joint: + Details: + Show Axes: false + Value: true + right_inner_finger_pad: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: robotiq_arg2f_base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 0.409954339 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.00203653378 + Y: 0.00489575882 + Z: 0.0903690681 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.265203476 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.352224886 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1028 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1558 + X: 322 + Y: 24