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Dual arm tutorial for ROS2 #3
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f3cd1e4
Extend single arm description to dual arm
ShahhhVihaan 78fc1d8
Remove ur_type from tf_prefix
ShahhhVihaan 5942dda
Add ros2 control parameters to dual arm urdf for dual arm driver
ShahhhVihaan ab6232e
Modify ur_control.launch.py to launch controllers for both arms
ShahhhVihaan 8cd6f11
Generate dual_robot_cell moveit config using moveit setup assistant
ShahhhVihaan 1976b71
Add acceleration limits
ShahhhVihaan 6de9d5d
Add IK plugins for the two manipulators
ShahhhVihaan 6f86075
Remove unwanted launch files + configuration files
ShahhhVihaan 24bf6e1
Add io/status and forward velocity controllers
ShahhhVihaan 458bcca
Calibrate arms
ShahhhVihaan 9b4558f
Merge branch 'UniversalRobots:main' into dual_arm_tutorials
ShahhhVihaan 998c2c1
Update arguments for alice and bob
ShahhhVihaan a0feb01
Merge branch 'dual_arm_tutorials' of https://github.com/ShahhhVihaan/…
ShahhhVihaan 1695e55
Fix ur_type and mock_sensor_commands arguments
ShahhhVihaan 55cbee3
Update rviz config for description launch
ShahhhVihaan b1a637a
Use rviz config file for moveit
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11 changes: 11 additions & 0 deletions
11
my_dual_robot_cell/my_dual_robot_cell_control/CMakeLists.txt
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cmake_minimum_required(VERSION 3.8) | ||
project(my_dual_robot_cell_control) | ||
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find_package(ament_cmake REQUIRED) | ||
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install( | ||
DIRECTORY launch config urdf | ||
DESTINATION share/${PROJECT_NAME} | ||
) | ||
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ament_package() |
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BSD 3-Clause License | ||
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Copyright (c) 2022, Universal Robots A/S | ||
All rights reserved. | ||
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Redistribution and use in source and binary forms, with or without | ||
modification, are permitted provided that the following conditions are met: | ||
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1. Redistributions of source code must retain the above copyright notice, this | ||
list of conditions and the following disclaimer. | ||
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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. | ||
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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. | ||
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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. |
44 changes: 44 additions & 0 deletions
44
my_dual_robot_cell/my_dual_robot_cell_control/config/alice_calibration.yaml
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kinematics: | ||
shoulder: | ||
x: 0 | ||
y: 0 | ||
z: 0.15188497379686153 | ||
roll: -0 | ||
pitch: 0 | ||
yaw: 6.0977137363254793e-05 | ||
upper_arm: | ||
x: -5.6533207234432926e-06 | ||
y: 0 | ||
z: 0 | ||
roll: 1.570844251867735 | ||
pitch: 0 | ||
yaw: 2.541818406001163e-05 | ||
forearm: | ||
x: -0.24357369892909492 | ||
y: 0 | ||
z: 0 | ||
roll: 3.1408819727448281 | ||
pitch: 3.1414601607728438 | ||
yaw: -3.1415265155090113 | ||
wrist_1: | ||
x: -0.21292841478821867 | ||
y: 0.00048506402454531479 | ||
z: 0.11301075109662011 | ||
roll: 3.1373004863304383 | ||
pitch: 3.1363886827765697 | ||
yaw: 3.1415791419793657 | ||
wrist_2: | ||
x: 4.074182080180165e-05 | ||
y: -0.085310893242290478 | ||
z: -6.4346805950626749e-05 | ||
roll: 1.5715505891323607 | ||
pitch: 0 | ||
yaw: -1.1414933636491948e-05 | ||
wrist_3: | ||
x: -7.319426521397714e-05 | ||
y: 0.08232894752301384 | ||
z: -5.8521744863255091e-05 | ||
roll: 1.5700854986261004 | ||
pitch: 3.1415926535897931 | ||
yaw: -3.1415870300000677 | ||
hash: calib_3443727564195709335 |
44 changes: 44 additions & 0 deletions
44
my_dual_robot_cell/my_dual_robot_cell_control/config/bob_calibration.yaml
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kinematics: | ||
shoulder: | ||
x: 0 | ||
y: 0 | ||
z: 0.15192390485501492 | ||
roll: -0 | ||
pitch: 0 | ||
yaw: 7.5207672895458863e-05 | ||
upper_arm: | ||
x: 1.1565754681822927e-07 | ||
y: 0 | ||
z: 0 | ||
roll: 1.5701230398196422 | ||
pitch: 0 | ||
yaw: -3.745754755790643e-05 | ||
forearm: | ||
x: -0.24342623565759611 | ||
y: 0 | ||
z: 0 | ||
roll: 0.0062667292139209178 | ||
pitch: -0.0013839232587116385 | ||
yaw: 3.5263175677186283e-05 | ||
wrist_1: | ||
x: -0.21319918045377464 | ||
y: -0.00042101985050556432 | ||
z: 0.11194857450023041 | ||
roll: 0.0037608148871306722 | ||
pitch: 0.00014433964301166516 | ||
yaw: -5.7788592498697277e-05 | ||
wrist_2: | ||
x: 3.3301180434358473e-05 | ||
y: -0.085304702494341758 | ||
z: -2.7251181339165215e-05 | ||
roll: 1.5711157837487961 | ||
pitch: 0 | ||
yaw: -3.3083428877200004e-05 | ||
wrist_3: | ||
x: -4.675513506427485e-05 | ||
y: 0.082256832990903556 | ||
z: -5.7204020078096673e-05 | ||
roll: 1.5701008950748028 | ||
pitch: 3.1415926535897931 | ||
yaw: 3.1415605336065866 | ||
hash: calib_10683367749926797482 |
244 changes: 244 additions & 0 deletions
244
my_dual_robot_cell/my_dual_robot_cell_control/config/combined_controllers.yaml
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controller_manager: | ||
ros__parameters: | ||
alice_joint_state_broadcaster: | ||
type: joint_state_broadcaster/JointStateBroadcaster | ||
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bob_joint_state_broadcaster: | ||
type: joint_state_broadcaster/JointStateBroadcaster | ||
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alice_io_and_status_controller: | ||
type: ur_controllers/GPIOController | ||
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bob_io_and_status_controller: | ||
type: ur_controllers/GPIOController | ||
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alice_speed_scaling_state_broadcaster: | ||
type: ur_controllers/SpeedScalingStateBroadcaster | ||
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bob_speed_scaling_state_broadcaster: | ||
type: ur_controllers/SpeedScalingStateBroadcaster | ||
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alice_force_torque_sensor_broadcaster: | ||
type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster | ||
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bob_force_torque_sensor_broadcaster: | ||
type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster | ||
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alice_joint_trajectory_controller: | ||
type: joint_trajectory_controller/JointTrajectoryController | ||
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bob_trajectory_controller: | ||
type: joint_trajectory_controller/JointTrajectoryController | ||
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alice_scaled_joint_trajectory_controller: | ||
type: ur_controllers/ScaledJointTrajectoryController | ||
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bob_scaled_joint_trajectory_controller: | ||
type: ur_controllers/ScaledJointTrajectoryController | ||
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forward_velocity_controller: | ||
type: velocity_controllers/JointGroupVelocityController | ||
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alice_forward_position_controller: | ||
type: position_controllers/JointGroupPositionController | ||
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bob_forward_position_controller: | ||
type: position_controllers/JointGroupPositionController | ||
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alice_speed_scaling_state_broadcaster: | ||
ros__parameters: | ||
state_publish_rate: 100.0 | ||
tf_prefix: "alice_" | ||
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bob_speed_scaling_state_broadcaster: | ||
ros__parameters: | ||
state_publish_rate: 100.0 | ||
tf_prefix: "bob_" | ||
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alice_io_and_status_controller: | ||
ros__parameters: | ||
tf_prefix: "alice_" | ||
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bob_io_and_status_controller: | ||
ros__parameters: | ||
tf_prefix: "bob_" | ||
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alice_force_torque_sensor_broadcaster: | ||
ros__parameters: | ||
sensor_name: alice_tcp_fts_sensor | ||
state_interface_names: | ||
- force.x | ||
- force.y | ||
- force.z | ||
- torque.x | ||
- torque.y | ||
- torque.z | ||
frame_id: bob_tool0 | ||
topic_name: alice_ft_data | ||
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bob_force_torque_sensor_broadcaster: | ||
ros__parameters: | ||
sensor_name: bob_tcp_fts_sensor | ||
state_interface_names: | ||
- force.x | ||
- force.y | ||
- force.z | ||
- torque.x | ||
- torque.y | ||
- torque.z | ||
frame_id: bob_tool0 | ||
topic_name: bob_ft_data | ||
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alice_joint_trajectory_controller: | ||
ros__parameters: | ||
joints: | ||
- alice_shoulder_pan_joint | ||
- alice_shoulder_lift_joint | ||
- alice_elbow_joint | ||
- alice_wrist_1_joint | ||
- alice_wrist_2_joint | ||
- alice_wrist_3_joint | ||
command_interfaces: | ||
- position | ||
state_interfaces: | ||
- position | ||
- velocity | ||
state_publish_rate: 100.0 | ||
action_monitor_rate: 20.0 | ||
allow_partial_joints_goal: false | ||
constraints: | ||
stopped_velocity_tolerance: 0.2 | ||
goal_time: 0.0 | ||
alice_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } | ||
alice_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 } | ||
alice_elbow_joint: { trajectory: 0.2, goal: 0.1 } | ||
alice_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } | ||
alice_wrist_2_joint: { trajectory: 0.2, goal: 0.1 } | ||
alice_wrist_3_joint: { trajectory: 0.2, goal: 0.1 } | ||
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bob_joint_trajectory_controller: | ||
ros__parameters: | ||
joints: | ||
- bob_shoulder_pan_joint | ||
- bob_shoulder_lift_joint | ||
- bob_elbow_joint | ||
- bob_wrist_1_joint | ||
- bob_wrist_2_joint | ||
- bob_wrist_3_joint | ||
command_interfaces: | ||
- position | ||
state_interfaces: | ||
- position | ||
- velocity | ||
state_publish_rate: 100.0 | ||
action_monitor_rate: 20.0 | ||
allow_partial_joints_goal: false | ||
constraints: | ||
stopped_velocity_tolerance: 0.2 | ||
goal_time: 0.0 | ||
bob_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } | ||
bob_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 } | ||
bob_elbow_joint: { trajectory: 0.2, goal: 0.1 } | ||
bob_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } | ||
bob_wrist_2_joint: { trajectory: 0.2, goal: 0.1 } | ||
bob_wrist_3_joint: { trajectory: 0.2, goal: 0.1 } | ||
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alice_scaled_joint_trajectory_controller: | ||
ros__parameters: | ||
joints: | ||
- alice_shoulder_pan_joint | ||
- alice_shoulder_lift_joint | ||
- alice_elbow_joint | ||
- alice_wrist_1_joint | ||
- alice_wrist_2_joint | ||
- alice_wrist_3_joint | ||
command_interfaces: | ||
- position | ||
state_interfaces: | ||
- position | ||
- velocity | ||
state_publish_rate: 100.0 | ||
action_monitor_rate: 20.0 | ||
allow_partial_joints_goal: false | ||
constraints: | ||
stopped_velocity_tolerance: 0.2 | ||
goal_time: 0.0 | ||
alice_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } | ||
alice_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 } | ||
alice_elbow_joint: { trajectory: 0.2, goal: 0.1 } | ||
alice_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } | ||
alice_wrist_2_joint: { trajectory: 0.2, goal: 0.1 } | ||
alice_wrist_3_joint: { trajectory: 0.2, goal: 0.1 } | ||
speed_scaling_interface_name: alice_speed_scaling/speed_scaling_factor | ||
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bob_scaled_joint_trajectory_controller: | ||
ros__parameters: | ||
joints: | ||
- bob_shoulder_pan_joint | ||
- bob_shoulder_lift_joint | ||
- bob_elbow_joint | ||
- bob_wrist_1_joint | ||
- bob_wrist_2_joint | ||
- bob_wrist_3_joint | ||
command_interfaces: | ||
- position | ||
state_interfaces: | ||
- position | ||
- velocity | ||
state_publish_rate: 100.0 | ||
action_monitor_rate: 20.0 | ||
allow_partial_joints_goal: false | ||
constraints: | ||
stopped_velocity_tolerance: 0.2 | ||
goal_time: 0.0 | ||
bob_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } | ||
bob_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 } | ||
bob_elbow_joint: { trajectory: 0.2, goal: 0.1 } | ||
bob_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } | ||
bob_wrist_2_joint: { trajectory: 0.2, goal: 0.1 } | ||
bob_wrist_3_joint: { trajectory: 0.2, goal: 0.1 } | ||
speed_scaling_interface_name: bob_speed_scaling/speed_scaling_factor | ||
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alice_forward_velocity_controller: | ||
ros__parameters: | ||
joints: | ||
- alice_shoulder_pan_joint | ||
- alice_shoulder_lift_joint | ||
- alice_elbow_joint | ||
- alice_wrist_1_joint | ||
- alice_wrist_2_joint | ||
- alice_wrist_3_joint | ||
interface_name: velocity | ||
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bob_forward_velocity_controller: | ||
ros__parameters: | ||
joints: | ||
- bob_shoulder_pan_joint | ||
- bob_shoulder_lift_joint | ||
- bob_elbow_joint | ||
- bob_wrist_1_joint | ||
- bob_wrist_2_joint | ||
- bob_wrist_3_joint | ||
interface_name: velocity | ||
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alice_forward_position_controller: | ||
ros__parameters: | ||
joints: | ||
- alice_shoulder_pan_joint | ||
- alice_shoulder_lift_joint | ||
- alice_elbow_joint | ||
- alice_wrist_1_joint | ||
- alice_wrist_2_joint | ||
- alice_wrist_3_joint | ||
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bob_forward_position_controller: | ||
ros__parameters: | ||
joints: | ||
- bob_shoulder_pan_joint | ||
- bob_shoulder_lift_joint | ||
- bob_elbow_joint | ||
- bob_wrist_1_joint | ||
- bob_wrist_2_joint | ||
- bob_wrist_3_joint |
3 changes: 3 additions & 0 deletions
3
my_dual_robot_cell/my_dual_robot_cell_control/config/update_rate.yaml
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controller_manager: | ||||||
ros__parameters: | ||||||
update_rate: 125 # Hz | ||||||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. Could we please default to an e-series robot?
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Only one joint_state_broadcaster should be sufficient.