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WIP: Add support for R-2000iB 165f #52

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WIP: Add support for R-2000iB 165f #52

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049492a
Add support for R-2000iB 165f
simonschmeisser Nov 29, 2019
d4b6b47
adapt launchfiles for fanuc
simonschmeisser Nov 29, 2019
8b8cd6d
Adapted CMakeLists.txt and package.xml based on r2000ic package
simonschmeisser Nov 29, 2019
5fb0476
rename test file to include variant
simonschmeisser Nov 29, 2019
0432f29
Set G.A. vd. Hoorn as maintainer
simonschmeisser Dec 2, 2019
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15 changes: 15 additions & 0 deletions fanuc_r2000ib_support/CMakeLists.txt
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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 ${CATKIN_PACKAGE_SHARE_DESTINATION})
1 change: 1 addition & 0 deletions fanuc_r2000ib_support/config/joint_names_r2000ib165f.yaml
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controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
3 changes: 3 additions & 0 deletions fanuc_r2000ib_support/launch/load_r2000ib165f.launch
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<launch>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find fanuc_r2000ib_support)/urdf/r2000ib165f.xacro'" />
</launch>
19 changes: 19 additions & 0 deletions fanuc_r2000ib_support/launch/robot_interface_downloading_r2000ib165f.launch
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<!--
Manipulator specific version of 'robot_interface_streaming.launch'.

Usage:
robot_interface_streaming_r2000ib165f.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" />
<arg name="enable_control_hand" default="true" />
<!-- <arg name="use_bswap" default="true" />-->
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<rosparam command="load" file="$(find fanuc_r2000ib_support)/config/joint_names_r2000ib165f.yaml" />

<include file="$(find mitsubishi_driver)/launch/robot_interface_downloading.launch">
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<arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="enable_control_hand" value="$(arg enable_control_hand)" />
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<!-- <arg name="use_bswap" value="$(arg use_bswap)" />-->
</include>
</launch>
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17 changes: 17 additions & 0 deletions fanuc_r2000ib_support/launch/robot_interface_streaming_r2000ib165f.launch
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<!--
Manipulator specific version of 'robot_interface_streaming.launch'.

Usage:
robot_interface_streaming_r2000ib165f.launch robot_ip:=<value>
-->
<launch>
<arg name="robot_ip" />
<!-- <arg name="use_bswap" default="true" />-->

<rosparam command="load" file="$(find fanuc_r2000ib_support)/config/joint_names_r2000ib165f.yaml" />

<include file="$(find mitsubishi_driver)/launch/robot_interface_streaming.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
<!-- <arg name="use_bswap" value="$(arg use_bswap)" />-->
</include>
</launch>
7 changes: 7 additions & 0 deletions fanuc_r2000ib_support/launch/test_r2000ib165f.launch
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<launch>
<include file="$(find fanuc_r2000ib_support)/launch/load_r2000ib165f.launch" />
<param name="use_gui" value="true" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
</launch>
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28 changes: 28 additions & 0 deletions fanuc_r2000ib_support/package.xml
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<?xml version="1.0"?>
<package format="2">
<name>fanuc_r2000ib_support</name>
<version>0.0.1</version>
<description>
<p>
Support for the fanuc_r2000ib series of robots
</p>
</description>
<author email="[email protected]">Simon Schmeisser (isys vision)</author>
<maintainer email="[email protected]">Simon Schmeisser (isys vision)</maintainer>
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I would be ok with it, but are you going to maintain this? Otherwise, please don't list your name here.

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I think we should discuss increasing load-balancing, bus-factor and community involvement at some point and as such I would be willing to (co-)maintain some of those packages. However now it was just an oversight and I put the field back to its default value ;)

<license>Apache2</license>

<!-- urls -->

<buildtool_depend>catkin</buildtool_depend>

<test_depend>roslaunch</test_depend>


<!-- exec depends -->
<exec_depend>fanuc_resources</exec_depend>
<exec_depend>xacro</exec_depend>

<export>
<architecture_independent />
</export>
</package>
12 changes: 12 additions & 0 deletions fanuc_r2000ib_support/tests/roslaunch_test.xml
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<?xml version="1.0"?>
<launch>

<group ns="load_r2000ib165f__">
<include file="$(find fanuc_r2000ib_support)/launch/load_r2000ib165f.launch"/>
</group>

<group ns="test_r2000ib165f__">
<include file="$(find fanuc_r2000ib_support)/launch/test_r2000ib165f.launch"/>
</group>

</launch>
6 changes: 6 additions & 0 deletions fanuc_r2000ib_support/urdf/r2000ib165f.xacro
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<?xml version="1.0" ?>

<robot name="fanuc_r2000ib" xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:include filename="$(find fanuc_r2000ib_support)/urdf/r2000ib165f_macro.xacro"/>
<xacro:fanuc_r2000ib165f prefix=""/>
</robot>
187 changes: 187 additions & 0 deletions fanuc_r2000ib_support/urdf/r2000ib165f_macro.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:include filename="$(find fanuc_resources)/urdf/common_materials.xacro"/>

<xacro:macro name="fanuc_r2000ib165f" params="prefix">
<!-- links -->
<link name="${prefix}base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/visual/base_link.stl"/>
</geometry>
<xacro:material_fanuc_yellow />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/collision/base_link.stl"/>
</geometry>
</collision>
</link>
<link name="${prefix}link_1">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/visual/link_1.stl"/>
</geometry>
<xacro:material_fanuc_yellow />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/collision/link_1.stl"/>
</geometry>
</collision>
</link>
<link name="${prefix}link_2">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/visual/link_2.stl"/>
</geometry>
<xacro:material_fanuc_white />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/collision/link_2.stl"/>
</geometry>
</collision>
</link>
<link name="${prefix}link_3">
<!-- The manual and also the model files show this link in the 90deg position (ie right angle) -->
<!-- However, the coordinate system treats the straight configuration as 0deg and the limits as asymmetric -->
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Could you explain this comment a little more?

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No ... I rather remove it as this (and the mitsubishi launch files) were copied from a not so well matching template

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Perhaps you could compare/use the fanuc_r2000ic_support package I pushed to my fork?

<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/visual/link_3.stl"/>
</geometry>
<xacro:material_fanuc_yellow />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/collision/link_3.stl"/>
</geometry>
</collision>
</link>
<link name="${prefix}link_4">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/visual/link_4.stl"/>
</geometry>
<xacro:material_fanuc_yellow />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/collision/link_4.stl"/>
</geometry>
</collision>
</link>
<link name="${prefix}link_5">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/visual/link_5.stl"/>
</geometry>
<xacro:material_fanuc_yellow />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/collision/link_5.stl"/>
</geometry>
</collision>
</link>
<link name="${prefix}link_6">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/visual/link_6.stl"/>
</geometry>
<xacro:material_fanuc_yellow />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/collision/link_6.stl"/>
</geometry>
</collision>
</link>

<!-- joints: main serial chain -->
<joint name="${prefix}joint_1" type="revolute">
<origin xyz="0 0 0.67" rpy="0 0 0"/>
<parent link="${prefix}base_link"/>
<child link="${prefix}link_1"/>
<axis xyz="0 0 1"/>
<limit lower="${radians(-180)}" upper="${radians(180)}" effort="0" velocity="${radians(110)}" />
</joint>
<joint name="${prefix}joint_2" type="revolute">
<origin xyz="0.312 0 0" rpy="0 0 0"/>
<parent link="${prefix}link_1"/>
<child link="${prefix}link_2"/>
<axis xyz="0 1 0"/>
<limit lower="${radians(-60)}" upper="${radians(75)}" effort="0" velocity="${radians(110)}" />
</joint>
<joint name="${prefix}joint_3" type="revolute">
<origin xyz="0 0 1.075" rpy="0 0 0"/>
<parent link="${prefix}link_2"/>
<child link="${prefix}link_3"/>
<axis xyz="0 -1 0"/>
<!-- note that the data sheet claims an lower limit of -132 but that is not reachable due to
collisions with the base -->
<limit lower="${radians(-90)}" upper="${radians(230)}" effort="0" velocity="${radians(110)}" />
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Please use the specced joint limit.

Collision avoidance should deal with potential collisions, and inverted mountings may actually make use of the actual joint limits without colliding.

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Just curious: What would be inverted in that case?

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@gavanderhoorn gavanderhoorn Nov 29, 2019 •
edited
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Up-side-down mounting of the entire robot.

Robots can also be placed on pedestals, which lets them reach "under themselves".

Edit: for this particular series you'd need a special variant, but in general we just use the joint limits as given in the manual or datasheet.

</joint>
<joint name="${prefix}joint_4" type="revolute">
<origin xyz="0 0 0.225" rpy="0 0 0"/>
<parent link="${prefix}link_3"/>
<child link="${prefix}link_4"/>
<axis xyz="-1 0 0"/>
<limit lower="${radians(-360)}" upper="${radians(360)}" effort="0" velocity="${radians(150)}" />
</joint>
<joint name="${prefix}joint_5" type="revolute">
<origin xyz="1.280 0 0.0" rpy="0 0 0"/>
<parent link="${prefix}link_4"/>
<child link="${prefix}link_5"/>
<axis xyz="0 -1 0"/>
<limit lower="${radians(-125)}" upper="${radians(125)}" effort="0" velocity="${radians(125)}" />
</joint>
<joint name="${prefix}joint_6" type="revolute">
<origin xyz="0.215 0 0.0" rpy="0 0 0"/>
<parent link="${prefix}link_5"/>
<child link="${prefix}link_6"/>
<axis xyz="-1 0 0"/>
<limit lower="${radians(-360)}" upper="${radians(360)}" effort="0" velocity="${radians(220)}" />
</joint>

<!-- ROS-Industrial 'base' frame: base_link to Fanuc World Coordinates transform -->
<link name="${prefix}base" />
<joint name="${prefix}base_link-base" type="fixed">
<origin xyz="0 0 0.670" rpy="0 0 0"/>
<parent link="${prefix}base_link"/>
<child link="${prefix}base"/>
</joint>

<!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
<link name="${prefix}flange" />
<joint name="${prefix}joint_6-flange" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="${prefix}link_6" />
<child link="${prefix}flange" />
</joint>

<!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
<link name="${prefix}tool0" />
<joint name="${prefix}link_6-tool0" type="fixed">
<origin xyz="0 0 0" rpy="${pi} ${-pi/2.0} 0" />
<parent link="${prefix}link_6" />
<child link="${prefix}tool0" />
</joint>


</xacro:macro>
</robot>