From 049492a5fa8ff9185a10331a3049389499fc7455 Mon Sep 17 00:00:00 2001 From: Simon Schmeisser Date: Fri, 29 Nov 2019 16:19:43 +0100 Subject: [PATCH 1/5] Add support for R-2000iB 165f --- fanuc_r2000ib_support/CMakeLists.txt | 15 ++ .../config/joint_names_r2000ib165f.yaml | 1 + .../launch/load_r2000ib165f.launch | 3 + ...t_interface_downloading_r2000ib165f.launch | 19 ++ ...bot_interface_streaming_r2000ib165f.launch | 17 ++ .../launch/test_r2000ib165f.launch | 7 + .../r2000ib165f/collision/base_link.stl | Bin 0 -> 1784 bytes .../meshes/r2000ib165f/collision/link_1.stl | Bin 0 -> 4384 bytes .../meshes/r2000ib165f/collision/link_2.stl | Bin 0 -> 3584 bytes .../meshes/r2000ib165f/collision/link_3.stl | Bin 0 -> 6684 bytes .../meshes/r2000ib165f/collision/link_4.stl | Bin 0 -> 3884 bytes .../meshes/r2000ib165f/collision/link_5.stl | Bin 0 -> 4284 bytes .../meshes/r2000ib165f/collision/link_6.stl | Bin 0 -> 2684 bytes .../meshes/r2000ib165f/visual/base_link.stl | Bin 0 -> 1784 bytes .../meshes/r2000ib165f/visual/link_1.stl | Bin 0 -> 4384 bytes .../meshes/r2000ib165f/visual/link_2.stl | Bin 0 -> 3584 bytes .../meshes/r2000ib165f/visual/link_3.stl | Bin 0 -> 6684 bytes .../meshes/r2000ib165f/visual/link_4.stl | Bin 0 -> 3884 bytes .../meshes/r2000ib165f/visual/link_5.stl | Bin 0 -> 4284 bytes .../meshes/r2000ib165f/visual/link_6.stl | Bin 0 -> 2684 bytes fanuc_r2000ib_support/package.xml | 28 +++ .../tests/roslaunch_test.xml | 12 ++ fanuc_r2000ib_support/urdf/r2000ib165f.xacro | 6 + .../urdf/r2000ib165f_macro.xacro | 187 ++++++++++++++++++ 24 files changed, 295 insertions(+) create mode 100644 fanuc_r2000ib_support/CMakeLists.txt create mode 100644 fanuc_r2000ib_support/config/joint_names_r2000ib165f.yaml create mode 100644 fanuc_r2000ib_support/launch/load_r2000ib165f.launch create mode 100644 fanuc_r2000ib_support/launch/robot_interface_downloading_r2000ib165f.launch create mode 100644 fanuc_r2000ib_support/launch/robot_interface_streaming_r2000ib165f.launch create mode 100644 fanuc_r2000ib_support/launch/test_r2000ib165f.launch create mode 100644 fanuc_r2000ib_support/meshes/r2000ib165f/collision/base_link.stl create mode 100644 fanuc_r2000ib_support/meshes/r2000ib165f/collision/link_1.stl create mode 100644 fanuc_r2000ib_support/meshes/r2000ib165f/collision/link_2.stl create mode 100644 fanuc_r2000ib_support/meshes/r2000ib165f/collision/link_3.stl create mode 100644 fanuc_r2000ib_support/meshes/r2000ib165f/collision/link_4.stl create mode 100644 fanuc_r2000ib_support/meshes/r2000ib165f/collision/link_5.stl create mode 100644 fanuc_r2000ib_support/meshes/r2000ib165f/collision/link_6.stl create mode 100644 fanuc_r2000ib_support/meshes/r2000ib165f/visual/base_link.stl create mode 100644 fanuc_r2000ib_support/meshes/r2000ib165f/visual/link_1.stl create mode 100644 fanuc_r2000ib_support/meshes/r2000ib165f/visual/link_2.stl create mode 100644 fanuc_r2000ib_support/meshes/r2000ib165f/visual/link_3.stl create mode 100644 fanuc_r2000ib_support/meshes/r2000ib165f/visual/link_4.stl create mode 100644 fanuc_r2000ib_support/meshes/r2000ib165f/visual/link_5.stl create mode 100644 fanuc_r2000ib_support/meshes/r2000ib165f/visual/link_6.stl create mode 100644 fanuc_r2000ib_support/package.xml create mode 100644 fanuc_r2000ib_support/tests/roslaunch_test.xml create mode 100644 fanuc_r2000ib_support/urdf/r2000ib165f.xacro create mode 100644 fanuc_r2000ib_support/urdf/r2000ib165f_macro.xacro diff --git a/fanuc_r2000ib_support/CMakeLists.txt b/fanuc_r2000ib_support/CMakeLists.txt new file mode 100644 index 00000000..9445d933 --- /dev/null +++ b/fanuc_r2000ib_support/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 3.1.0) + +project(fanuc_r2000ib_support) + +find_package(catkin REQUIRED) + +catkin_package() + +if (CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + #roslaunch_add_file_check(tests/roslaunch_test.xml) +endif() + +install(DIRECTORY config launch meshes urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) \ No newline at end of file diff --git a/fanuc_r2000ib_support/config/joint_names_r2000ib165f.yaml b/fanuc_r2000ib_support/config/joint_names_r2000ib165f.yaml new file mode 100644 index 00000000..75abbcb6 --- /dev/null +++ b/fanuc_r2000ib_support/config/joint_names_r2000ib165f.yaml @@ -0,0 +1 @@ +controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6'] \ No newline at end of file diff --git a/fanuc_r2000ib_support/launch/load_r2000ib165f.launch b/fanuc_r2000ib_support/launch/load_r2000ib165f.launch new file mode 100644 index 00000000..b92b3d2d --- /dev/null +++ b/fanuc_r2000ib_support/launch/load_r2000ib165f.launch @@ -0,0 +1,3 @@ + + + \ No newline at end of file diff --git a/fanuc_r2000ib_support/launch/robot_interface_downloading_r2000ib165f.launch b/fanuc_r2000ib_support/launch/robot_interface_downloading_r2000ib165f.launch new file mode 100644 index 00000000..45bc2f28 --- /dev/null +++ b/fanuc_r2000ib_support/launch/robot_interface_downloading_r2000ib165f.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + \ No newline at end of file diff --git a/fanuc_r2000ib_support/launch/robot_interface_streaming_r2000ib165f.launch b/fanuc_r2000ib_support/launch/robot_interface_streaming_r2000ib165f.launch new file mode 100644 index 00000000..5919fa3e --- /dev/null +++ b/fanuc_r2000ib_support/launch/robot_interface_streaming_r2000ib165f.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/fanuc_r2000ib_support/launch/test_r2000ib165f.launch b/fanuc_r2000ib_support/launch/test_r2000ib165f.launch new file mode 100644 index 00000000..9706f0cc --- /dev/null +++ b/fanuc_r2000ib_support/launch/test_r2000ib165f.launch @@ -0,0 +1,7 @@ + + + + + + + \ No newline at end of file diff --git a/fanuc_r2000ib_support/meshes/r2000ib165f/collision/base_link.stl b/fanuc_r2000ib_support/meshes/r2000ib165f/collision/base_link.stl new file mode 100644 index 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+ Support for the fanuc_r2000ib series of robots +

+ + Simon Schmeisser (isys vision) + Simon Schmeisser (isys vision) + Apache2 + + + + catkin + + roslaunch + + + + fanuc_resources + xacro + + + + + diff --git a/fanuc_r2000ib_support/tests/roslaunch_test.xml b/fanuc_r2000ib_support/tests/roslaunch_test.xml new file mode 100644 index 00000000..f5641595 --- /dev/null +++ b/fanuc_r2000ib_support/tests/roslaunch_test.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/fanuc_r2000ib_support/urdf/r2000ib165f.xacro b/fanuc_r2000ib_support/urdf/r2000ib165f.xacro new file mode 100644 index 00000000..c920bd22 --- /dev/null +++ b/fanuc_r2000ib_support/urdf/r2000ib165f.xacro @@ -0,0 +1,6 @@ + + + + + + diff --git a/fanuc_r2000ib_support/urdf/r2000ib165f_macro.xacro b/fanuc_r2000ib_support/urdf/r2000ib165f_macro.xacro new file mode 100644 index 00000000..b2517d1f --- /dev/null +++ b/fanuc_r2000ib_support/urdf/r2000ib165f_macro.xacro @@ -0,0 +1,187 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From d4b6b478ef1393145652dd4509257cd0d54320ba Mon Sep 17 00:00:00 2001 From: Simon Schmeisser Date: Fri, 29 Nov 2019 17:13:15 +0100 Subject: [PATCH 2/5] adapt launchfiles for fanuc --- ...t_interface_downloading_r2000ib165f.launch | 19 -------------- ...bot_interface_streaming_r2000ib165f.launch | 18 +++++++++---- .../robot_state_visualize_r2000ib165f.launch | 26 +++++++++++++++++++ .../launch/test_r2000ib165f.launch | 3 ++- .../urdf/r2000ib165f_macro.xacro | 6 +---- 5 files changed, 42 insertions(+), 30 deletions(-) delete mode 100644 fanuc_r2000ib_support/launch/robot_interface_downloading_r2000ib165f.launch create mode 100644 fanuc_r2000ib_support/launch/robot_state_visualize_r2000ib165f.launch diff --git a/fanuc_r2000ib_support/launch/robot_interface_downloading_r2000ib165f.launch b/fanuc_r2000ib_support/launch/robot_interface_downloading_r2000ib165f.launch deleted file mode 100644 index 45bc2f28..00000000 --- a/fanuc_r2000ib_support/launch/robot_interface_downloading_r2000ib165f.launch +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - \ No newline at end of file diff --git a/fanuc_r2000ib_support/launch/robot_interface_streaming_r2000ib165f.launch b/fanuc_r2000ib_support/launch/robot_interface_streaming_r2000ib165f.launch index 5919fa3e..4a41b909 100644 --- a/fanuc_r2000ib_support/launch/robot_interface_streaming_r2000ib165f.launch +++ b/fanuc_r2000ib_support/launch/robot_interface_streaming_r2000ib165f.launch @@ -1,17 +1,25 @@ + - - + + + - + - + + - \ No newline at end of file + diff --git a/fanuc_r2000ib_support/launch/robot_state_visualize_r2000ib165f.launch b/fanuc_r2000ib_support/launch/robot_state_visualize_r2000ib165f.launch new file mode 100644 index 00000000..08531a49 --- /dev/null +++ b/fanuc_r2000ib_support/launch/robot_state_visualize_r2000ib165f.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + diff --git a/fanuc_r2000ib_support/launch/test_r2000ib165f.launch b/fanuc_r2000ib_support/launch/test_r2000ib165f.launch index 9706f0cc..af59102d 100644 --- a/fanuc_r2000ib_support/launch/test_r2000ib165f.launch +++ b/fanuc_r2000ib_support/launch/test_r2000ib165f.launch @@ -1,7 +1,8 @@ + - \ No newline at end of file + diff --git a/fanuc_r2000ib_support/urdf/r2000ib165f_macro.xacro b/fanuc_r2000ib_support/urdf/r2000ib165f_macro.xacro index b2517d1f..dd69236c 100644 --- a/fanuc_r2000ib_support/urdf/r2000ib165f_macro.xacro +++ b/fanuc_r2000ib_support/urdf/r2000ib165f_macro.xacro @@ -50,8 +50,6 @@ - - @@ -132,9 +130,7 @@ - - + From 8b8cd6d7b0d1faccadb66203c5346e68019c0a5f Mon Sep 17 00:00:00 2001 From: Simon Schmeisser Date: Fri, 29 Nov 2019 18:11:50 +0100 Subject: [PATCH 3/5] Adapted CMakeLists.txt and package.xml based on r2000ic package --- fanuc_r2000ib_support/CMakeLists.txt | 4 +-- fanuc_r2000ib_support/package.xml | 48 +++++++++++++++++++++++++--- 2 files changed, 46 insertions(+), 6 deletions(-) diff --git a/fanuc_r2000ib_support/CMakeLists.txt b/fanuc_r2000ib_support/CMakeLists.txt index 9445d933..e34d2d61 100644 --- a/fanuc_r2000ib_support/CMakeLists.txt +++ b/fanuc_r2000ib_support/CMakeLists.txt @@ -8,8 +8,8 @@ catkin_package() if (CATKIN_ENABLE_TESTING) find_package(roslaunch REQUIRED) - #roslaunch_add_file_check(tests/roslaunch_test.xml) + roslaunch_add_file_check(tests/roslaunch_test_r2000ib165f.xml) endif() install(DIRECTORY config launch meshes urdf - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) \ No newline at end of file + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/fanuc_r2000ib_support/package.xml b/fanuc_r2000ib_support/package.xml index cfaabfbc..68af037b 100644 --- a/fanuc_r2000ib_support/package.xml +++ b/fanuc_r2000ib_support/package.xml @@ -1,28 +1,68 @@ + fanuc_r2000ib_support 0.0.1

- Support for the fanuc_r2000ib series of robots + ROS-Industrial support for the Fanuc R-2000iB (and variants). +

+

+ This package contains configuration data, 3D models and launch files + for Fanuc R-2000iB manipulators. This includes the /165F variant only. +

+

Specifications:

+
    +
  • R-2000iB/165F - "Conventional dress-out"
    • +
+

+ Joint limits and maximum joint velocities are based on the information available + online at https://www.robots.com/robots/fanuc-r-2000ib-165f + All urdfs 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). +

+

+ 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.

Simon Schmeisser (isys vision) Simon Schmeisser (isys vision) Apache2 - + http://wiki.ros.org/fanuc_r2000ib_support + https://github.com/ros-industrial/fanuc_experimental/issues + https://github.com/ros-industrial/fanuc_experimental catkin roslaunch - + fanuc_driver fanuc_resources + joint_state_publisher + robot_state_publisher + rviz xacro - + + + + support_package + description + fanuc + industrial + ros-industrial + r2000ib + experimental + + + + + From 5fb04761f228756122c190da068658d78347b380 Mon Sep 17 00:00:00 2001 From: Simon Schmeisser Date: Fri, 29 Nov 2019 18:31:42 +0100 Subject: [PATCH 4/5] rename test file to include variant --- .../tests/{roslaunch_test.xml => roslaunch_test_r2000ib165f.xml} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename fanuc_r2000ib_support/tests/{roslaunch_test.xml => roslaunch_test_r2000ib165f.xml} (100%) diff --git a/fanuc_r2000ib_support/tests/roslaunch_test.xml b/fanuc_r2000ib_support/tests/roslaunch_test_r2000ib165f.xml similarity index 100% rename from fanuc_r2000ib_support/tests/roslaunch_test.xml rename to fanuc_r2000ib_support/tests/roslaunch_test_r2000ib165f.xml From 0432f29c548ec62248d55df67ca784426e870b5e Mon Sep 17 00:00:00 2001 From: Simon Schmeisser Date: Mon, 2 Dec 2019 07:57:39 +0100 Subject: [PATCH 5/5] Set G.A. vd. Hoorn as maintainer --- fanuc_r2000ib_support/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/fanuc_r2000ib_support/package.xml b/fanuc_r2000ib_support/package.xml index 68af037b..b02ff151 100644 --- a/fanuc_r2000ib_support/package.xml +++ b/fanuc_r2000ib_support/package.xml @@ -29,7 +29,7 @@

Simon Schmeisser (isys vision) - Simon Schmeisser (isys vision) + G.A. vd. Hoorn (TU Delft Robotics Institute) Apache2 http://wiki.ros.org/fanuc_r2000ib_support