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Add custom xarm packages

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This commit is contained in:
Nicolas Hiillos
2023-03-21 13:33:51 +02:00
parent 1763aee9ca
commit e42e0fea90
176 changed files with 13024 additions and 6 deletions
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104
src/custom_xarm_description/launch/_robot_description.launch.py Normal file
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#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2021, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
import os
import sys
from ament_index_python import get_package_share_directory
from launch.launch_description_sources import load_python_launch_file_as_module
from launch import LaunchDescription
from launch.actions import OpaqueFunction, DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
def launch_setup(context, *args, **kwargs):
prefix = LaunchConfiguration('prefix', default='')
hw_ns = LaunchConfiguration('hw_ns', default='xarm')
limited = LaunchConfiguration('limited', default=False)
effort_control = LaunchConfiguration('effort_control', default=False)
velocity_control = LaunchConfiguration('velocity_control', default=False)
add_gripper = LaunchConfiguration('add_gripper', default=False)
add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
dof = LaunchConfiguration('dof', default=7)
robot_type = LaunchConfiguration('robot_type', default='xarm')
ros2_control_plugin = LaunchConfiguration('ros2_control_plugin', default='uf_robot_hardware/UFRobotSystemHardware')
joint_states_remapping = LaunchConfiguration('joint_states_remapping', default='joint_states')
xacro_file = LaunchConfiguration('xacro_file', default=PathJoinSubstitution([FindPackageShare('xarm_description'), 'urdf', 'xarm_device.urdf.xacro']))
add_realsense_d435i = LaunchConfiguration('add_realsense_d435i', default=False)
add_other_geometry = LaunchConfiguration('add_other_geometry', default=False)
geometry_type = LaunchConfiguration('geometry_type', default='box')
geometry_mass = LaunchConfiguration('geometry_mass', default=0.1)
geometry_height = LaunchConfiguration('geometry_height', default=0.1)
geometry_radius = LaunchConfiguration('geometry_radius', default=0.1)
geometry_length = LaunchConfiguration('geometry_length', default=0.1)
geometry_width = LaunchConfiguration('geometry_width', default=0.1)
geometry_mesh_filename = LaunchConfiguration('geometry_mesh_filename', default='')
geometry_mesh_origin_xyz = LaunchConfiguration('geometry_mesh_origin_xyz', default='"0 0 0"')
geometry_mesh_origin_rpy = LaunchConfiguration('geometry_mesh_origin_rpy', default='"0 0 0"')
geometry_mesh_tcp_xyz = LaunchConfiguration('geometry_mesh_tcp_xyz', default='"0 0 0"')
geometry_mesh_tcp_rpy = LaunchConfiguration('geometry_mesh_tcp_rpy', default='"0 0 0"')
# robot_description
# xarm_description/launch/lib/robot_description_lib.py
mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory('xarm_description'), 'launch', 'lib', 'robot_description_lib.py'))
get_xacro_file_content = getattr(mod, 'get_xacro_file_content')
robot_description = {
'robot_description': get_xacro_file_content(
xacro_file=xacro_file,
arguments={
'prefix': prefix,
'hw_ns': hw_ns.perform(context).strip('/'),
'limited': limited,
'effort_control': effort_control,
'velocity_control': velocity_control,
'add_gripper': add_gripper,
'add_vacuum_gripper': add_vacuum_gripper,
'dof': dof,
'robot_type': robot_type,
'ros2_control_plugin': ros2_control_plugin,
'add_realsense_d435i': add_realsense_d435i,
'add_other_geometry': add_other_geometry,
'geometry_type': geometry_type,
'geometry_mass': geometry_mass,
'geometry_height': geometry_height,
'geometry_radius': geometry_radius,
'geometry_length': geometry_length,
'geometry_width': geometry_width,
'geometry_mesh_filename': geometry_mesh_filename,
'geometry_mesh_origin_xyz': geometry_mesh_origin_xyz,
'geometry_mesh_origin_rpy': geometry_mesh_origin_rpy,
'geometry_mesh_tcp_xyz': geometry_mesh_tcp_xyz,
'geometry_mesh_tcp_rpy': geometry_mesh_tcp_rpy,
}
)
}
# robot state publisher node
robot_state_publisher_node = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='screen',
parameters=[robot_description],
remappings=[
# ('joint_states', joint_states_remapping),
('/tf', 'tf'),
('/tf_static', 'tf_static'),
]
)
return [
robot_state_publisher_node
]
def generate_launch_description():
return LaunchDescription([
OpaqueFunction(function=launch_setup)
])

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src/custom_xarm_description/launch/_robot_joint_state.launch.py Normal file
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#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2021, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
from launch import LaunchDescription
from launch.actions import OpaqueFunction, IncludeLaunchDescription, DeclareLaunchArgument
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
def launch_setup(context, *args, **kwargs):
prefix = LaunchConfiguration('prefix', default='')
hw_ns = LaunchConfiguration('hw_ns', default='xarm')
limited = LaunchConfiguration('limited', default=False)
effort_control = LaunchConfiguration('effort_control', default=False)
velocity_control = LaunchConfiguration('velocity_control', default=False)
add_gripper = LaunchConfiguration('add_gripper', default=False)
add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
dof = LaunchConfiguration('dof', default=7)
robot_type = LaunchConfiguration('robot_type', default='xarm')
ros2_control_plugin = LaunchConfiguration('ros2_control_plugin', default='uf_robot_hardware/UFRobotSystemHardware')
joint_states_remapping = LaunchConfiguration('joint_states_remapping', default='joint_states')
add_realsense_d435i = LaunchConfiguration('add_realsense_d435i', default=False)
add_other_geometry = LaunchConfiguration('add_other_geometry', default=False)
geometry_type = LaunchConfiguration('geometry_type', default='box')
geometry_mass = LaunchConfiguration('geometry_mass', default=0.1)
geometry_height = LaunchConfiguration('geometry_height', default=0.1)
geometry_radius = LaunchConfiguration('geometry_radius', default=0.1)
geometry_length = LaunchConfiguration('geometry_length', default=0.1)
geometry_width = LaunchConfiguration('geometry_width', default=0.1)
geometry_mesh_filename = LaunchConfiguration('geometry_mesh_filename', default='')
geometry_mesh_origin_xyz = LaunchConfiguration('geometry_mesh_origin_xyz', default='"0 0 0"')
geometry_mesh_origin_rpy = LaunchConfiguration('geometry_mesh_origin_rpy', default='"0 0 0"')
geometry_mesh_tcp_xyz = LaunchConfiguration('geometry_mesh_tcp_xyz', default='"0 0 0"')
geometry_mesh_tcp_rpy = LaunchConfiguration('geometry_mesh_tcp_rpy', default='"0 0 0"')
# robot description launch
# xarm_description/launch/_robot_description.launch.py
robot_description_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_description'), 'launch', '_robot_description.launch.py'])),
launch_arguments={
'prefix': prefix,
'hw_ns': hw_ns,
'limited': limited,
'effort_control': effort_control,
'velocity_control': velocity_control,
'add_gripper': add_gripper,
'add_vacuum_gripper': add_vacuum_gripper,
'dof': dof,
'robot_type': robot_type,
'ros2_control_plugin': ros2_control_plugin,
'joint_states_remapping': joint_states_remapping,
'add_realsense_d435i': add_realsense_d435i,
'add_other_geometry': add_other_geometry,
'geometry_type': geometry_type,
'geometry_mass': geometry_mass,
'geometry_height': geometry_height,
'geometry_radius': geometry_radius,
'geometry_length': geometry_length,
'geometry_width': geometry_width,
'geometry_mesh_filename': geometry_mesh_filename,
'geometry_mesh_origin_xyz': geometry_mesh_origin_xyz,
'geometry_mesh_origin_rpy': geometry_mesh_origin_rpy,
'geometry_mesh_tcp_xyz': geometry_mesh_tcp_xyz,
'geometry_mesh_tcp_rpy': geometry_mesh_tcp_rpy,
}.items(),
)
# joint state publisher node
joint_state_publisher_node = Node(
package='joint_state_publisher',
executable='joint_state_publisher',
name='joint_state_publisher',
output='screen',
parameters=[{'source_list': ['{}{}/joint_states'.format(prefix.perform(context), hw_ns.perform(context))]}],
)
return [
robot_description_launch,
joint_state_publisher_node,
]
def generate_launch_description():
return LaunchDescription([
OpaqueFunction(function=launch_setup)
])

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src/custom_xarm_description/launch/_robot_rviz_display.launch.py Normal file
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#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2021, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
def generate_launch_description():
prefix = LaunchConfiguration('prefix', default='')
hw_ns = LaunchConfiguration('hw_ns', default='xarm')
limited = LaunchConfiguration('limited', default=False)
effort_control = LaunchConfiguration('effort_control', default=False)
velocity_control = LaunchConfiguration('velocity_control', default=False)
add_gripper = LaunchConfiguration('add_gripper', default=False)
add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
dof = LaunchConfiguration('dof', default=7)
robot_type = LaunchConfiguration('robot_type', default='xarm')
add_realsense_d435i = LaunchConfiguration('add_realsense_d435i', default=False)
add_other_geometry = LaunchConfiguration('add_other_geometry', default=False)
geometry_type = LaunchConfiguration('geometry_type', default='box')
geometry_mass = LaunchConfiguration('geometry_mass', default=0.1)
geometry_height = LaunchConfiguration('geometry_height', default=0.1)
geometry_radius = LaunchConfiguration('geometry_radius', default=0.1)
geometry_length = LaunchConfiguration('geometry_length', default=0.1)
geometry_width = LaunchConfiguration('geometry_width', default=0.1)
geometry_mesh_filename = LaunchConfiguration('geometry_mesh_filename', default='')
geometry_mesh_origin_xyz = LaunchConfiguration('geometry_mesh_origin_xyz', default='"0 0 0"')
geometry_mesh_origin_rpy = LaunchConfiguration('geometry_mesh_origin_rpy', default='"0 0 0"')
geometry_mesh_tcp_xyz = LaunchConfiguration('geometry_mesh_tcp_xyz', default='"0 0 0"')
geometry_mesh_tcp_rpy = LaunchConfiguration('geometry_mesh_tcp_rpy', default='"0 0 0"')
# robot joint state launch
# xarm_description/launch/_robot_joint_state.launch.py
robot_joint_state_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/_robot_joint_state.launch.py']),
launch_arguments={
'prefix': prefix,
'hw_ns': hw_ns,
'limited': limited,
'effort_control': effort_control,
'velocity_control': velocity_control,
'add_gripper': add_gripper,
'add_vacuum_gripper': add_vacuum_gripper,
'dof': dof,
'robot_type': robot_type,
'add_realsense_d435i': add_realsense_d435i,
'add_other_geometry': add_other_geometry,
'geometry_type': geometry_type,
'geometry_mass': geometry_mass,
'geometry_height': geometry_height,
'geometry_radius': geometry_radius,
'geometry_length': geometry_length,
'geometry_width': geometry_width,
'geometry_mesh_filename': geometry_mesh_filename,
'geometry_mesh_origin_xyz': geometry_mesh_origin_xyz,
'geometry_mesh_origin_rpy': geometry_mesh_origin_rpy,
'geometry_mesh_tcp_xyz': geometry_mesh_tcp_xyz,
'geometry_mesh_tcp_rpy': geometry_mesh_tcp_rpy,
}.items(),
)
# rviz2 display launch
# xarm_description/launch/_rviz_display.launch.py
rviz2_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/_rviz_display.launch.py']),
)
return LaunchDescription([
robot_joint_state_launch,
rviz2_launch
])

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src/custom_xarm_description/launch/_rviz_display.launch.py Normal file
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#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2021, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
from launch import LaunchDescription
from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch.actions import RegisterEventHandler, EmitEvent
from launch.event_handlers import OnProcessExit
from launch.events import Shutdown
def generate_launch_description():
# rviz2 node
rviz2_params = PathJoinSubstitution([FindPackageShare('xarm_description'), 'rviz', 'display.rviz'])
rviz2_node = Node(
package='rviz2',
executable='rviz2',
name='rviz2',
output='screen',
arguments=['-d', rviz2_params],
remappings=[
('/tf', 'tf'),
('/tf_static', 'tf_static'),
]
)
return LaunchDescription([
RegisterEventHandler(event_handler=OnProcessExit(
target_action=rviz2_node,
on_exit=[EmitEvent(event=Shutdown())]
)),
rviz2_node,
])

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src/custom_xarm_description/launch/lib/robot_description_lib.py Normal file
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#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2021, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
def get_xacro_file_content(
xacro_file=PathJoinSubstitution([FindPackageShare('xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
arguments={}):
command = [
PathJoinSubstitution([FindExecutable(name='xacro')]),
' ',
xacro_file,
' '
]
if arguments and isinstance(arguments, dict):
for key, val in arguments.items():
command.extend([
'{}:='.format(key),
val,
' '
])
return Command(command)

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src/custom_xarm_description/launch/lite6_rviz_display.launch.py Normal file
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#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2021, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
def generate_launch_description():
prefix = LaunchConfiguration('prefix', default='')
hw_ns = LaunchConfiguration('hw_ns', default='ufactory')
limited = LaunchConfiguration('limited', default=False)
effort_control = LaunchConfiguration('effort_control', default=False)
velocity_control = LaunchConfiguration('velocity_control', default=False)
add_gripper = LaunchConfiguration('add_gripper', default=False)
add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
# robot rviz launch
# xarm_description/launch/_robot_rviz_display.launch.py
robot_rviz_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/_robot_rviz_display.launch.py']),
launch_arguments={
'prefix': prefix,
'hw_ns': hw_ns,
'limited': limited,
'effort_control': effort_control,
'velocity_control': velocity_control,
'add_gripper': add_gripper,
'add_vacuum_gripper': add_vacuum_gripper,
'dof': '6',
'robot_type': 'lite',
}.items(),
)
return LaunchDescription([
robot_rviz_launch
])

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src/custom_xarm_description/launch/xarm5_rviz_display.launch.py Normal file
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#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2021, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
def generate_launch_description():
prefix = LaunchConfiguration('prefix', default='')
hw_ns = LaunchConfiguration('hw_ns', default='xarm')
limited = LaunchConfiguration('limited', default=False)
effort_control = LaunchConfiguration('effort_control', default=False)
velocity_control = LaunchConfiguration('velocity_control', default=False)
add_gripper = LaunchConfiguration('add_gripper', default=False)
add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
# robot rviz launch
# xarm_description/launch/_robot_rviz_display.launch.py
robot_rviz_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/_robot_rviz_display.launch.py']),
launch_arguments={
'prefix': prefix,
'hw_ns': hw_ns,
'limited': limited,
'effort_control': effort_control,
'velocity_control': velocity_control,
'add_gripper': add_gripper,
'add_vacuum_gripper': add_vacuum_gripper,
'dof': '5',
'robot_type': 'xarm',
}.items(),
)
return LaunchDescription([
robot_rviz_launch
])

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src/custom_xarm_description/launch/xarm6_rviz_display.launch.py Normal file
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#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2021, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
def generate_launch_description():
prefix = LaunchConfiguration('prefix', default='')
hw_ns = LaunchConfiguration('hw_ns', default='xarm')
limited = LaunchConfiguration('limited', default=False)
effort_control = LaunchConfiguration('effort_control', default=False)
velocity_control = LaunchConfiguration('velocity_control', default=False)
add_gripper = LaunchConfiguration('add_gripper', default=False)
add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
# robot rviz launch
# xarm_description/launch/_robot_rviz_display.launch.py
robot_rviz_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/_robot_rviz_display.launch.py']),
launch_arguments={
'prefix': prefix,
'hw_ns': hw_ns,
'limited': limited,
'effort_control': effort_control,
'velocity_control': velocity_control,
'add_gripper': add_gripper,
'add_vacuum_gripper': add_vacuum_gripper,
'dof': '6',
'robot_type': 'xarm',
}.items(),
)
return LaunchDescription([
robot_rviz_launch
])

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src/custom_xarm_description/launch/xarm7_rviz_display.launch.py Normal file
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#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2021, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
def generate_launch_description():
prefix = LaunchConfiguration('prefix', default='')
hw_ns = LaunchConfiguration('hw_ns', default='xarm')
limited = LaunchConfiguration('limited', default=False)
effort_control = LaunchConfiguration('effort_control', default=False)
velocity_control = LaunchConfiguration('velocity_control', default=False)
add_gripper = LaunchConfiguration('add_gripper', default=False)
add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
# robot rviz launch
# xarm_description/launch/_robot_rviz_display.launch.py
robot_rviz_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/_robot_rviz_display.launch.py']),
launch_arguments={
'prefix': prefix,
'hw_ns': hw_ns,
'limited': limited,
'effort_control': effort_control,
'velocity_control': velocity_control,
'add_gripper': add_gripper,
'add_vacuum_gripper': add_vacuum_gripper,
'dof': '7',
'robot_type': 'xarm',
}.items(),
)
return LaunchDescription([
robot_rviz_launch
])