added model for utv3 E575 with quantec and caterpillar with iontec. #58

ravirathnam · 2024-06-27T09:27:34Z

Before submitting this PR into master please make sure:

If you added a new robot model:

you extended the table of verified data in README.md with the new model
you extended the CMakeLists.txt of the appropriate moveit configuration package with the new model
you added a test_<robot_model>.launch.py and after launching the robot was visible in rviz
you added a <robot_model>_joint_limits.yaml file in the config directory (to provide moveit support)

If you modified an already existing robot model:

you checked and optionally updated the table of verified data in README.md with the changes
you have run the test_<robot_model>.launch.py and the robot was visible in rviz

Short description of the change

forward_controller not yet working

… a configuration. created dummy forward_contrller for testing.

Feature/cybertech support (kroshu#24)

# Conflicts: # README.md

only launching Robot nodes.

remapped platform messages to separate namespace

# Conflicts: # README.md

publishing transform between platform and robot

# Conflicts: # README.md

Svastits · 2024-07-01T08:49:11Z

kuka_omnimove_e575_support/CMakeLists.txt

+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+install(DIRECTORY
+  config
+  DESTINATION share/${PROJECT_NAME}/
+)
+install(DIRECTORY
+  urdf
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+install(DIRECTORY
+  meshes
+  DESTINATION share/${PROJECT_NAME}/
+)
+## COMPILE
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+ament_package()


compiler options not necessary for support packages

install rules can be combined

testing should not contain the formatting rules

Suggested change

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")

add_compile_options(-Wall -Wextra -Wpedantic)

endif()

# find dependencies

find_package(ament_cmake REQUIRED)

# uncomment the following section in order to fill in

# further dependencies manually.

install(DIRECTORY

launch

DESTINATION share/${PROJECT_NAME}/

)

install(DIRECTORY

config

DESTINATION share/${PROJECT_NAME}/

)

install(DIRECTORY

urdf

DESTINATION share/${PROJECT_NAME}/

)

install(DIRECTORY

meshes

DESTINATION share/${PROJECT_NAME}/

)

## COMPILE

if(BUILD_TESTING)

find_package(ament_lint_auto REQUIRED)

# the following line skips the linter which checks for copyrights

# comment the line when a copyright and license is added to all source files

set(ament_cmake_copyright_FOUND TRUE)

# the following line skips cpplint (only works in a git repo)

# comment the line when this package is in a git repo and when

# a copyright and license is added to all source files

set(ament_cmake_cpplint_FOUND TRUE)

ament_lint_auto_find_test_dependencies()

endif()

ament_package()

find_package(ament_cmake REQUIRED)

find_package(urdf REQUIRED)

find_package(xacro REQUIRED)

install(DIRECTORY launch meshes urdf config

DESTINATION share/${PROJECT_NAME})

if(BUILD_TESTING)

endif()

ament_package()

Svastits · 2024-07-01T08:50:21Z

kuka_omnimove_e575_support/config/caterpillar_controller.yaml

this file should be in the drivers repo according to our conventions (this repo should only host the robot model and a simple launch file for rviz visualization)

Svastits · 2024-07-01T08:50:27Z

kuka_omnimove_e575_support/config/omnimove_controller.yaml

this file should be in the drivers repo according to our conventions (this repo should only host the robot model and a simple launch file for rviz visualization)

Svastits · 2024-07-01T08:50:37Z

kuka_omnimove_e575_support/launch/caterpillar_launch.py

this file should be in the drivers repo according to our conventions (this repo should only host the robot model and a simple launch file for rviz visualization)

Svastits · 2024-07-01T08:51:53Z

kuka_omnimove_e575_support/launch/caterpillar_with_iontec.py

this file should be in the examples folder of the drivers repo, as this combines two drivers, which is an example and not a base functionality

Svastits · 2024-07-01T08:52:37Z

kuka_omnimove_e575_support/launch/omnimove_launch.py

this file should be in the drivers repo according to our conventions (this repo should only host the robot model and a simple launch file for rviz visualization)

Svastits · 2024-07-01T08:54:25Z

kuka_omnimove_e575_support/package.xml

+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <exec_depend>ros2launch</exec_depend>
+  <exec_depend>controller_manager</exec_depend>


should not depend on controller manager, this is only the model

Svastits · 2024-07-01T08:58:18Z

kuka_omnimove_e575_support/urdf/omnimove_with_arm.xacro

this is also a combination of two models and should be in drivers/examples folder

Svastits · 2024-07-01T08:59:30Z

kuka_omnimove_e575_support/urdf/omnimove.xacro

+                <param name ="host">127.0.0.1</param>
+                <param name="port">24000</param>
+                <param name="agv_type">omnimove</param>


the ip parameter should be configurable using the robot_manager node and should not contain hard-coded values

Svastits · 2024-07-01T09:01:52Z

kuka_omnimove_e575_support/urdf/caterpillar.xacro

+        <visual>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <mesh filename="package://kuka_omnimove_e575_support/meshes/caterpillar_simplified.dae" />


in all other packages, we have separate folders for visual and collision meshes, to make things more straighforward. It would be nice if you could also create these 2 folders here

Svastits · 2024-07-01T09:03:55Z

kuka_omnimove_e575_support/CMakeLists.txt

please add a launch file that only loads the model in rviz named test_omnimove.launch.py

Svastits · 2024-07-01T09:09:48Z

kuka_omnimove_e575_support/meshes/caterpillar_simplified.dae

I am a little bit confused, is this caterpillar also a KUKA Omnimove E575?

Svastits · 2024-07-01T09:15:20Z

kuka_omnimove_e575_support/meshes/omnimove_simplified_2.dae

link names should be uniform, e.g. base_link.dae and base_link.stl

Ravi Kulan Rathnam and others added 30 commits July 25, 2023 18:12

working on omnimove with quantech

3fa6229

added omnimove model

fc847ab

created omnimove.xacro which uses ros2_control plugin

a035b51

forward_controller not yet working

added joints per axis to the omnimove. makes adding extra fields only…

e342712

… a configuration. created dummy forward_contrller for testing.

Merge pull request #1 from ravirathnam/main

c1d2e31

Feature/cybertech support (kroshu#24)

Merge branch 'main' into omnimoveE575

faee4ae

# Conflicts: # README.md

changed arm from agilus to quantec

65d2874

using correct quantec package.

7bf5797

only launching Robot nodes.

added correct parameters for external control

54a6cf5

using robot_manager from ungarn node

c6c66bb

added new launch file.

0467d4b

platform has separate controlmanager

3eac309

remapped platform messages to separate namespace

added caterpillar support in urdf

053f1f5

added argument for quantec

eeda875

removed all joints from urdf, and replaced with agv_type

7927c6a

merge with upstream

0763489

fixed launch file

02b186c

Merge branch 'main' into ungarn_merge

8895dbf

# Conflicts: # README.md

using new robot model

3a82912

separated velocity and position controllers.

62512c9

Merge branch 'kroshu:master' into ungarn_merge

988e991

updated launch file to match changes in master

96e8122

add caterpillar meshes

904111b

add meshes

47e697a

using new caterpillar and omnimove model

7905f73

publishing transform between platform and robot

formatting

4aa328a

Merge branch 'main' into ungarn_merge

04e1135

# Conflicts: # README.md

now the iontec launch files use the added iontec models

759709f

replaced driver after name change

9f34fbf

removed unused meshes

c4476c3

ravirathnam requested a review from Svastits as a code owner June 27, 2024 09:27

Svastits reviewed Jul 1, 2024

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Svastits requested changes Jul 1, 2024

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Svastits reviewed Jul 1, 2024

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kuka_omnimove_e575_support/meshes/caterpillar_simplified.dae

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I am a little bit confused, is this caterpillar also a KUKA Omnimove E575?

Svastits reviewed Jul 1, 2024

View reviewed changes

kuka_omnimove_e575_support/meshes/omnimove_simplified_2.dae

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link names should be uniform, e.g. base_link.dae and base_link.stl

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added model for utv3 E575 with quantec and caterpillar with iontec. #58

added model for utv3 E575 with quantec and caterpillar with iontec. #58

ravirathnam commented Jun 27, 2024 •

edited

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added model for utv3 E575 with quantec and caterpillar with iontec. #58

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added model for utv3 E575 with quantec and caterpillar with iontec. #58

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ravirathnam commented Jun 27, 2024 • edited Loading

Before submitting this PR into master please make sure:

Short description of the change

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ravirathnam commented Jun 27, 2024 •

edited

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