Add crb15000 support package

robot_specific_config/abb_crb15000_support/CMakeLists.txt

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.10.2)
+
+project(abb_crb15000_support)
+
+find_package(ament_cmake REQUIRED)
+
+ament_package()
+
+install(DIRECTORY launch meshes rviz urdf
+  DESTINATION share/${PROJECT_NAME})

robot_specific_config/abb_crb15000_support/launch/view_crb15000_10_152.launch.py

@@ -0,0 +1,68 @@
+import os
+import yaml
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import xacro
+
+
+def load_file(package_name, file_path):
+    package_path = get_package_share_directory(package_name)
+    absolute_file_path = os.path.join(package_path, file_path)
+
+    try:
+        with open(absolute_file_path, "r") as file:
+            return file.read()
+    except EnvironmentError:  # parent of IOError, OSError *and* WindowsError where available
+        return None
+
+
+def load_yaml(package_name, file_path):
+    package_path = get_package_share_directory(package_name)
+    absolute_file_path = os.path.join(package_path, file_path)
+
+    try:
+        with open(absolute_file_path, "r") as file:
+            return yaml.safe_load(file)
+    except EnvironmentError:  # parent of IOError, OSError *and* WindowsError where available
+        return None
+
+
+def generate_launch_description():
+
+    robot_description_path = get_package_share_directory("abb_crb15000_support")
+
+    robot_description_config = xacro.process_file(
+        os.path.join(
+            robot_description_path,
+            "urdf",
+            "crb15000_10_152.xacro",
+        )
+    )
+    robot_description = {"robot_description": robot_description_config.toxml()}
+
+    robot_state_publisher_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+
+    joint_state_sliders = Node(
+        package="joint_state_publisher_gui",
+        executable="joint_state_publisher_gui",
+        name="joint_state_publisher_gui",
+    )
+
+    rviz = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        arguments=[
+            "-d",
+            os.path.join(robot_description_path, "rviz", "urdf_description.rviz"),
+        ],
+        output="screen",
+    )
+
+    return LaunchDescription([robot_state_publisher_node, joint_state_sliders, rviz])

robot_specific_config/abb_crb15000_support/launch/view_crb15000_5_95.launch.py

@@ -0,0 +1,68 @@
+import os
+import yaml
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import xacro
+
+
+def load_file(package_name, file_path):
+    package_path = get_package_share_directory(package_name)
+    absolute_file_path = os.path.join(package_path, file_path)
+
+    try:
+        with open(absolute_file_path, "r") as file:
+            return file.read()
+    except EnvironmentError:  # parent of IOError, OSError *and* WindowsError where available
+        return None
+
+
+def load_yaml(package_name, file_path):
+    package_path = get_package_share_directory(package_name)
+    absolute_file_path = os.path.join(package_path, file_path)
+
+    try:
+        with open(absolute_file_path, "r") as file:
+            return yaml.safe_load(file)
+    except EnvironmentError:  # parent of IOError, OSError *and* WindowsError where available
+        return None
+
+
+def generate_launch_description():
+
+    robot_description_path = get_package_share_directory("abb_crb15000_support")
+
+    robot_description_config = xacro.process_file(
+        os.path.join(
+            robot_description_path,
+            "urdf",
+            "crb15000_5_95.xacro",
+        )
+    )
+    robot_description = {"robot_description": robot_description_config.toxml()}
+
+    robot_state_publisher_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+
+    joint_state_sliders = Node(
+        package="joint_state_publisher_gui",
+        executable="joint_state_publisher_gui",
+        name="joint_state_publisher_gui",
+    )
+
+    rviz = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        arguments=[
+            "-d",
+            os.path.join(robot_description_path, "rviz", "urdf_description.rviz"),
+        ],
+        output="screen",
+    )
+
+    return LaunchDescription([robot_state_publisher_node, joint_state_sliders, rviz])

robot_specific_config/abb_crb15000_support/package.xml

@@ -0,0 +1,49 @@
+<?xml version="1.0" ?>
+<package format="3">
+  <name>abb_crb15000_support</name>
+  <version>0.0.0</version>
+
+  <description>
+    <p>
+      ROS-Industrial support for the ABB CRB 1500 (and variants).
+    </p>
+    <p>
+      This package contains configuration data, 3D models and launch files
+      for ABB CRB 15000 manipulators. This currently includes the CRB 15000-5/0.95
+      and the CRB 15000-10/1.52 variants.
+    </p>
+    <p>
+      Joint limits and max joint velocities are based on the information in the
+      <em>ABB CRB 15000 Product specification</em>, document ID: <em>3HAC077390-001, Mar 2024</em>.
+      All urdfs / xacros are based on the default motion and joint velocity
+      limits, unless noted otherwise (ie: no support for high speed joints,
+      extended / limited motion ranges or other options).
+    </p>
+    <p>
+      Note: Maximum joint effort values do not correspond to real world limits 
+      of the robot. The current values were chosen to accomodate simulations 
+      but are fictional values.
+    </p>
+    <p>
+      Before using any of the configuration files and / or meshes included
+      in this package, be sure to check they are correct for the particular
+      robot model and configuration you intend to use them with.
+    </p>
+  </description>
+
+  <author>Gal Gorjup</author>
+  <maintainer email="[email protected]">Gal Gorjup</maintainer>
+
+  <license>Apache2</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+      <build_type>ament_cmake</build_type>
+  </export>
+</package>