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Minimal ros2_control xacro definitions #1

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merged 7 commits into from
Jan 30, 2025
Merged

Minimal ros2_control xacro definitions #1

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8b42565
unified naming for joints & links
macmacal Jan 27, 2025
b38ae2d
initial ros2_control params
macmacal Jan 27, 2025
4d04a2a
github repo (pre-commit) boilerplate
macmacal Jan 27, 2025
32d789f
pre-commit fmt
macmacal Jan 28, 2025
4d6999f
minor typos
macmacal Jan 29, 2025
b44839b
updated readme
macmacal Jan 30, 2025
6f2741f
Merge branch 'humble-devel' into feature/ros2_control
macmacal Jan 30, 2025
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3 changes: 3 additions & 0 deletions README.md
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@@ -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)

Expand All @@ -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]
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29 changes: 29 additions & 0 deletions urdf/robotiq_hande_gripper.ros2_control.xacro
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@@ -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>
8 changes: 6 additions & 2 deletions urdf/robotiq_hande_gripper.urdf.xacro
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@@ -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>
46 changes: 25 additions & 21 deletions urdf/robotiq_hande_gripper.xacro
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Expand Up @@ -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"/>
Expand All @@ -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"/>
Expand All @@ -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"/>
Expand All @@ -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"/>
Expand All @@ -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>