Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Restores the old model for the IRB2400 in the SWRI workcell #226

Open
wants to merge 1 commit into
base: kinetic-devel
Choose a base branch
from
Open

Restores the old model for the IRB2400 in the SWRI workcell #226

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 1 addition & 3 deletions godel_robots/abb/godel_irb2400/godel_irb2400_moveit_config/.setup_assistant
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,4 @@ moveit_setup_assistant_config:
SRDF:
relative_path: config/irb2400_workspace.srdf
CONFIG:
author_name: AustinDeric
author_email: [email protected]
generated_timestamp: 1490130796
generated_timestamp: 1432224738
21 changes: 6 additions & 15 deletions godel_robots/abb/godel_irb2400/godel_irb2400_moveit_config/config/irb2400_workspace.srdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -27,34 +27,25 @@
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="FixedBase" type="fixed" parent_frame="map" child_link="world_frame" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="adapter_tube" link2="blending_tool" reason="Never" />
<disable_collisions link1="adapter_tube" link2="bracket" reason="Adjacent" />
<disable_collisions link1="adapter_tube" link2="ensenso" reason="Never" />
<disable_collisions link1="adapter_tube" link2="keyence" reason="Never" />
<disable_collisions link1="adapter_tube" link2="link_2" reason="Never" />
<disable_collisions link1="adapter_tube" link2="link_3" reason="Never" />
<disable_collisions link1="adapter_tube" link2="link_5" reason="Never" />
<disable_collisions link1="adapter_tube" link2="link_6" reason="Adjacent" />
<disable_collisions link1="base_link" link2="link_1" reason="Adjacent" />
<disable_collisions link1="base_link" link2="link_2" reason="Never" />
<disable_collisions link1="base_link" link2="link_3" reason="Never" />
<disable_collisions link1="blending_tool" link2="bracket" reason="Adjacent" />
<disable_collisions link1="blending_tool" link2="ensenso" reason="Never" />
<disable_collisions link1="blending_tool" link2="gripper_body" reason="Adjacent" />
<disable_collisions link1="blending_tool" link2="keyence" reason="Never" />
<disable_collisions link1="blending_tool" link2="link_3" reason="Never" />
<disable_collisions link1="blending_tool" link2="link_5" reason="Never" />
<disable_collisions link1="blending_tool" link2="link_6" reason="Never" />
<disable_collisions link1="bracket" link2="ensenso" reason="Adjacent" />
<disable_collisions link1="bracket" link2="keyence" reason="Adjacent" />
<disable_collisions link1="bracket" link2="link_3" reason="Never" />
<disable_collisions link1="bracket" link2="link_5" reason="Never" />
<disable_collisions link1="bracket" link2="link_6" reason="Never" />
<disable_collisions link1="ensenso" link2="gripper_body" reason="Adjacent" />
<disable_collisions link1="ensenso" link2="keyence" reason="Never" />
<disable_collisions link1="ensenso" link2="link_2" reason="Never" />
<disable_collisions link1="ensenso" link2="link_3" reason="Never" />
<disable_collisions link1="ensenso" link2="link_5" reason="Never" />
<disable_collisions link1="ensenso" link2="link_6" reason="Never" />
<disable_collisions link1="keyence" link2="link_2" reason="Never" />
<disable_collisions link1="gripper_body" link2="keyence" reason="Adjacent" />
<disable_collisions link1="gripper_body" link2="link_3" reason="Never" />
<disable_collisions link1="gripper_body" link2="link_5" reason="Never" />
<disable_collisions link1="gripper_body" link2="link_6" reason="Adjacent" />
<disable_collisions link1="keyence" link2="link_3" reason="Never" />
<disable_collisions link1="keyence" link2="link_5" reason="Never" />
<disable_collisions link1="keyence" link2="link_6" reason="Never" />
Expand Down
2 changes: 1 addition & 1 deletion ...bb/godel_irb2400/godel_irb2400_moveit_config/launch/irb2400_calib_planning_context.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
<arg name="robot_description" default="robot_description"/>

<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find godel_irb2400_support)/urdf/calib_irb2400_workspace.xacro'"/>
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find godel_irb2400_support)/urdf/calib_irb2400_workspace.xacro'"/>

<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find godel_irb2400_moveit_config)/config/irb2400_workspace.srdf" />
Expand Down
2 changes: 1 addition & 1 deletion godel_robots/abb/godel_irb2400/godel_irb2400_moveit_config/launch/planning_context.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
<arg name="robot_description" default="robot_description"/>

<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find godel_irb2400_support)/urdf/irb2400_workspace.xacro'"/>
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find godel_irb2400_support)/urdf/irb2400_workspace.xacro'"/>

<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find godel_irb2400_moveit_config)/config/irb2400_workspace.srdf" />
Expand Down
Binary file added ...b/godel_irb2400/godel_irb2400_support/meshes/collision/ensenso_blending_eff.stl
View file
Open in desktop
Binary file not shown.
Binary file added ..._robots/abb/godel_irb2400/godel_irb2400_support/meshes/visual/Blending_Tool.STL
View file
Open in desktop
Binary file not shown.
Binary file added godel_robots/abb/godel_irb2400/godel_irb2400_support/meshes/visual/Bracket.STL
View file
Open in desktop
Binary file not shown.
Binary file added godel_robots/abb/godel_irb2400/godel_irb2400_support/meshes/visual/Ensenso.STL
View file
Open in desktop
Binary file not shown.
Binary file added ...l_robots/abb/godel_irb2400/godel_irb2400_support/meshes/visual/Laser_Sensor.STL
View file
Open in desktop
Binary file not shown.
Binary file added .../abb/godel_irb2400/godel_irb2400_support/meshes/visual/ensenso_blending_eff.stl
View file
Open in desktop
Binary file not shown.
156 changes: 156 additions & 0 deletions godel_robots/abb/godel_irb2400/godel_irb2400_support/urdf/abb_blending_eff_macro.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,156 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:property name="ensenso_optical_x" value="0"/>
<xacro:property name="ensenso_optical_y" value="0.0909"/>
<xacro:property name="ensenso_optical_z" value="0.1255"/>

<xacro:property name="keyence_optical_x" value="0"/>
<xacro:property name="keyence_optical_y" value="0.216"/> <!--To the face of the sensor: y = 0.216-->
<xacro:property name="keyence_optical_z" value="0.12192"/>

<xacro:property name="keyence_tcp_x" value="0"/>
<xacro:property name="keyence_tcp_y" value="0.2863"/>
<xacro:property name="keyence_tcp_z" value="0.12192"/>

<xacro:property name="kinect_mount_x" value="0.09"/>
<xacro:property name="kinect_mount_y" value="-0.065"/>
<xacro:property name="kinect_mount_z" value="0.15"/>

<xacro:property name="blend_tcp_x" value="0"/>
<xacro:property name="blend_tcp_y" value="0"/>
<xacro:property name="blend_tcp_z" value="0.040"/> <!-- TBD -->

<xacro:property name="chuck_tcp_x" value="-0.2483"/>
<xacro:property name="chuck_tcp_y" value="0"/>
<xacro:property name="chuck_tcp_z" value="0.12192"/>


<xacro:property name="half_pi" value="1.5707963267948966"/>


<xacro:macro name="blending_eff_definition" params="prefix">
<!-- eff_frame is Base Link -->
<link name="${prefix}eff_frame"/>

<!-- End Effector "Body" Geometry -->
<link name="${prefix}gripper_body">
<visual>
<geometry>
<mesh filename="package://godel_irb2400_support/meshes/visual/Bracket.STL"/>
<!--<mesh filename="package://godel_irb2400_support/meshes/visual/ensenso_blending_eff.stl"/>-->
</geometry>
<material name="grey">
<color rgba="0.5 0.5 0.5 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://godel_irb2400_support/meshes/collision/ensenso_blending_eff.stl"/>
</geometry>
</collision>
</link>


<joint name="${prefix}eff_frame_to_eff_body" type="fixed">
<parent link="${prefix}eff_frame"/>
<child link="${prefix}gripper_body"/>
</joint>

<link name="${prefix}blending_tool">
<visual>
<geometry>
<mesh filename="package://godel_irb2400_support/meshes/visual/Blending_Tool.STL"/>
</geometry>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
</link>

<joint name="${prefix}bracket_to_blending_tool" type="fixed">
<parent link="${prefix}gripper_body"/>
<child link="${prefix}blending_tool"/>
</joint>

<link name="${prefix}ensenso">
<visual>
<geometry>
<mesh filename="package://godel_irb2400_support/meshes/visual/Ensenso.STL"/>
</geometry>
<material name="blue">
<color rgba="0 0 1 1"/>
</material>
</visual>
</link>

<joint name="${prefix}bracket_to_ensenso" type="fixed">
<parent link="${prefix}gripper_body"/>
<child link="${prefix}ensenso"/>
</joint>

<link name="${prefix}keyence">
<visual>
<geometry>
<mesh filename="package://godel_irb2400_support/meshes/visual/Laser_Sensor.STL"/>
</geometry>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
</link>

<joint name="${prefix}bracket_to_keyence" type="fixed">
<parent link="${prefix}gripper_body"/>
<child link="${prefix}keyence"/>
</joint>

<!-- Frames for the motorized spindle on the end-->
<link name="${prefix}chuck_tip_frame"/> <!--The tip of the chuck-->
<link name="${prefix}tcp_frame"/> <!--The actual 'useful' work frame-->

<joint name="${prefix}gripper_body_to_chuck" type="fixed">
<parent link="${prefix}gripper_body"/>
<child link="${prefix}chuck_tip_frame"/>
<origin xyz="${chuck_tcp_x} ${chuck_tcp_y} ${chuck_tcp_z}" rpy="0 -${half_pi} 0"/>
</joint>

<joint name="${prefix}chuck_to_blend_tcp_frame" type="fixed">
<parent link="${prefix}chuck_tip_frame"/>
<child link="${prefix}tcp_frame"/>
<origin xyz="${blend_tcp_x} ${blend_tcp_y} ${blend_tcp_z}" rpy="0 0 0"/>
</joint>

<!--Frames for the keyence profilometer-->
<link name="${prefix}keyence_sensor_optical_frame"/> <!--The emitter lens-->
<link name="${prefix}keyence_tcp_frame"/> <!--The nominal scan location (8cm forward of emitter)-->

<joint name="${prefix}gripper_body_to_keyence_sof" type="fixed">
<parent link="${prefix}gripper_body"/>
<child link="${prefix}keyence_sensor_optical_frame"/>
<origin xyz="${keyence_tcp_x} ${keyence_tcp_y} ${keyence_tcp_z}" rpy="${half_pi} ${half_pi} 0 "/>
</joint>

<joint name="${prefix}gripper_body_to_keyence_tcp_f" type="fixed">
<parent link="${prefix}gripper_body"/>
<child link="${prefix}keyence_tcp_frame"/>
<origin xyz="${keyence_tcp_x} ${keyence_tcp_y} ${keyence_tcp_z}" rpy="-${half_pi} ${half_pi} 0"/>
</joint>

<!--Frames related to the motion of the camera-->
<link name="${prefix}ensenso_sensor_optical_frame"/>
<link name="${prefix}kinect2_move_frame"/>

<joint name="${prefix}gripper_body_to_ensenso_sof" type="fixed">
<parent link="${prefix}gripper_body"/>
<child link="${prefix}ensenso_sensor_optical_frame"/>
<origin xyz="${ensenso_optical_x} ${ensenso_optical_y} ${ensenso_optical_z}" rpy="0 0 0"/>
</joint>

<joint name="${prefix}ensenso_move_frame_join" type="fixed">
<parent link="${prefix}ensenso_sensor_optical_frame"/>
<child link="${prefix}kinect2_move_frame"/>
<origin rpy="0 -${half_pi} 0"/>
</joint>

</xacro:macro>
</robot>
15 changes: 3 additions & 12 deletions godel_robots/abb/godel_irb2400/godel_irb2400_support/urdf/irb2400_workspace.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,18 +1,15 @@
<?xml version="1.0" ?>
<robot name="irb2400_workspace" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find abb_irb2400_support)/urdf/irb2400_macro.xacro"/>
<xacro:include filename="$(find blending_end_effector)/urdf/blending_eff_macro.xacro"/>
<xacro:include filename="$(find godel_irb2400_support)/urdf/swri_demo_cell_macro.xacro"/>

<link name="world_frame"/>
<xacro:include filename="$(find godel_irb2400_support)/urdf/abb_blending_eff_macro.xacro"/>

<link name="world_frame"/>

<!-- instantiating arm -->
<xacro:abb_irb2400 prefix=""/>
<!-- instantiating end effector -->
<xacro:blending_eff_definition prefix=""/>

<xacro:swri_demo_cell prefix=""/>

<!-- Attach the end effector to the end of the robot arm (tool0) -->
<joint name="link_t_to_eff" type="fixed">
<parent link="tool0"/>
Expand All @@ -26,11 +23,5 @@
<child link="base_link"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>

<joint name="world_to_demo_cell" type="fixed">
<parent link="world_frame"/>
<child link="demo_cell_base_link"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>

</robot>