Merge pull request #1 from macmacal/feature/ros2_control

Minimal ros2_control xacro definitions
macmacal · Jan 30, 2025 · 52de37c · 52de37c
2 parents 8f5e6ac + 6f2741f
commit 52de37c
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Showing 4 changed files with 63 additions and 23 deletions.
diff --git a/README.md b/README.md
@@ -1,4 +1,6 @@
 # robotiq_hande_description
+### For the driver, check the [robotiq_hande_driver](https://github.com/AGH-CEAI/robotiq_hande_driver/) package from AGH UST.
+---
 
 [![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit)
 
@@ -7,6 +9,7 @@ This package contains meshes and URDF description of [Robotiq Hand-E gripper](ht
 - The gripper comes with coupler model (but without flange).
 - This repository comes with CAD models imported from STEP files to FreeCAD format (FCStd).
 - Package has been developed and tested in ROS 2 Humble.
+- The definitions for the `ros2_control` framework are available in the [robotiq_hande_gripper.ros2_control.xacro](./urdf/robotiq_hande_gripper.ros2_control.xacro) file.
 
 
 > [!IMPORTANT]

diff --git a/urdf/robotiq_hande_gripper.ros2_control.xacro b/urdf/robotiq_hande_gripper.ros2_control.xacro
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:macro name="robotiq_hande_ros2_control" params="name prefix tty use_fake_hardware:=false">
+    <ros2_control name="${name}" type="system">
+      <hardware>
+        <xacro:if value="${use_fake_hardware}">
+          <plugin>mock_components/GenericSystem</plugin>
+        </xacro:if>
+
+        <xacro:unless value="${use_fake_hardware}">
+          <plugin>robotiq_hande_driver/RobotiqHandeHardwareInterface</plugin>
+          <param name="tty">${tty}</param>
+        </xacro:unless>
+      </hardware>
+
+      <!-- The right finger joint uses the mimic feature -->
+      <joint name="${prefix}robotiq_hande_left_finger_joint">
+        <command_interface name="position">
+          <param name="min">0</param>
+          <param name="max">0.025</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">0.025</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+      </joint>
+    </ros2_control>
+  </xacro:macro>
+</robot>
diff --git a/urdf/robotiq_hande_gripper.urdf.xacro b/urdf/robotiq_hande_gripper.urdf.xacro
@@ -1,7 +1,11 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="robotiq_hande_gripper">
+  <xacro:arg name="parent" default="tool0"/>
+  <xacro:arg name="tty" default="/dev/ttyXXX"/>
+  <xacro:arg name="use_fake_hardware" default="true"/>
+
   <xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.xacro"/>
 
-  <link name="tool0"/>
-  <xacro:robotiq_hande_gripper parent="tool0" prefix=""/>
+  <link name="$(arg parent)"/>
+  <xacro:robotiq_hande_gripper name="robotiq_hande_gripper" prefix="" parent="$(arg parent)" tty="$(arg tty)" use_fake_hardware="$(arg use_fake_hardware)"/>
 </robot>
diff --git a/urdf/robotiq_hande_gripper.xacro b/urdf/robotiq_hande_gripper.xacro
@@ -5,19 +5,23 @@
   -->
 
   <xacro:include filename="$(find robotiq_hande_description)/urdf/materials.xacro"/>
+  <xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.ros2_control.xacro"/>
+
+  <xacro:macro name="robotiq_hande_gripper" params="name prefix parent tty use_fake_hardware">
+    <!-- ros2_control parameters  -->
+    <xacro:robotiq_hande_ros2_control name="${name}" prefix="${prefix}" tty="${tty}" use_fake_hardware="${use_fake_hardware}"/>
 
-  <xacro:macro name="robotiq_hande_gripper" params="prefix parent">
     <!-- Robotiq Coupler -->
-    <!--  + Height added by the coupler: 13.9mm -->
-    <!--  + Reference frame: at the middle (6.95mm) -->
+    <!--  + Height added by the coupler (13.9mm) -->
+    <!--  + Reference frame at the middle (6.95mm) -->
 
-    <joint name="robotiq_coupler_joint" type="fixed">
+    <joint name="${prefix}robotiq_hande_coupler_joint" type="fixed">
       <origin xyz="0 0 0.00695" rpy="0 0 ${-pi/2.0}"/>
       <parent link="${parent}"/>
-      <child link="${prefix}robotiq_coupler"/>
+      <child link="${prefix}robotiq_hande_coupler"/>
     </joint>
 
-    <link name="${prefix}robotiq_coupler">
+    <link name="${prefix}robotiq_hande_coupler">
       <inertial>
         <mass value="0.168"/>
         <inertia ixx="6.17674E-05" ixy="0.0" ixz="0.0" iyy="6.17674E-05" iyz="0.0" izz="1.18125E-04"/>
@@ -39,11 +43,11 @@
 
     <joint name="${prefix}robotiq_hande_base_joint" type="fixed">
       <origin rpy="0 0 0" xyz="0 0 0.055"/>
-      <parent link="${prefix}robotiq_coupler"/>
-      <child link="${prefix}hande_link"/>
+      <parent link="${prefix}robotiq_hande_coupler"/>
+      <child link="${prefix}robotiq_hande_link"/>
     </joint>
 
-    <link name="${prefix}hande_link">
+    <link name="${prefix}robotiq_hande_link">
       <inertial>
         <mass value="0.86387"/>
         <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.0006"/>
@@ -64,15 +68,15 @@
       </visual>
     </link>
 
-    <joint name="${prefix}hande_left_finger_joint" type="prismatic">
+    <joint name="${prefix}robotiq_hande_left_finger_joint" type="prismatic">
       <origin rpy="0 0 0" xyz="0 -0.025 0.0345"/>
-      <parent link="${prefix}hande_link"/>
-      <child link="${prefix}hande_left_finger"/>
+      <parent link="${prefix}robotiq_hande_link"/>
+      <child link="${prefix}robotiq_hande_left_finger"/>
       <axis xyz="0 1 0"/>
       <limit effort="130" lower="0" upper="0.025" velocity="0.15"/>
     </joint>
 
-    <link name="${prefix}hande_left_finger">
+    <link name="${prefix}robotiq_hande_left_finger">
       <inertial>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <mass value="0.03804"/>
@@ -95,16 +99,16 @@
       </visual>
     </link>
 
-    <joint name="${prefix}hande_right_finger_joint" type="prismatic">
+    <joint name="${prefix}robotiq_hande_right_finger_joint" type="prismatic">
       <origin rpy="0 0 0" xyz="0 0.025 0.0345"/>
-      <parent link="${prefix}hande_link"/>
-      <child link="${prefix}hande_right_finger"/>
+      <parent link="${prefix}robotiq_hande_link"/>
+      <child link="${prefix}robotiq_hande_right_finger"/>
       <axis xyz="0 -1 0"/>
       <limit effort="130" lower="0" upper="0.025" velocity="0.15"/>
-      <mimic joint="${prefix}hande_left_finger_joint" multiplier="1" offset="0"/>
+      <mimic joint="${prefix}robotiq_hande_left_finger_joint" multiplier="1" offset="0"/>
     </joint>
 
-    <link name="${prefix}hande_right_finger">
+    <link name="${prefix}robotiq_hande_right_finger">
       <inertial>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <mass value="0.03804"/>
@@ -129,10 +133,10 @@
 
     <joint name="${prefix}robotiq_hande_end_joint" type="fixed">
       <origin rpy="0 0 0" xyz="0 0 0.095"/>
-      <parent link="${prefix}hande_link"/>
-      <child link="${prefix}hande_end"/>
+      <parent link="${prefix}robotiq_hande_link"/>
+      <child link="${prefix}robotiq_hande_end"/>
     </joint>
 
-    <link name="${prefix}hande_end"/>
+    <link name="${prefix}robotiq_hande_end"/>
   </xacro:macro>
 </robot>