Push 2.2 changes to kinetic-devel (#81)

* Add auto generated files for release 2.2

* Add description and moveit configs for release 2.2

* Modified the examples and gazebo packages for release 2.2

* Modified kortex driver for release 2.2

* Modified documentation for release 2.2

* Add dof and vision documentation for kortex_driver

* Remove Protobuf install instructions because it's not useful for a user anymore

* Added an option in the kortex driver launch file to set the soft limits to hard and use the corresponding MoveIt config joint limits file.

* Added a warning in the kortex driver documentation for hard limits usage

kortex_api/.gitignore

@@ -1,2 +1,2 @@
 include
-lib
+lib

kortex_control/arms/gen3/6dof/config/joint_position_controllers.yaml

@@ -0,0 +1,75 @@
+# Publish all joint states -----------------------------------
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50  
+
+gen3_joint_trajectory_controller:
+    type: effort_controllers/JointTrajectoryController
+    joints:
+        - joint_1
+        - joint_2
+        - joint_3
+        - joint_4
+        - joint_5
+        - joint_6
+    constraints:
+        goal_time: 1.0
+        stopped_velocity_tolerance: 0.5
+    stop_trajectory_duration: 1.0
+    state_publish_rate:  25
+    action_monitor_rate: 25
+    gains:
+        joint_1: {p: 3000.0, i: 0.0, d: 2.0, i_clamp_min: -100.0, i_clamp_max: 100.0}
+        joint_2: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -5.0, i_clamp_max: 5.0}
+        joint_3: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        joint_4: {p: 750.0, i: 0.0, d: 0.2, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        joint_5: {p: 5000.0, i: 0.0, d: 1.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        joint_6: {p: 100.0, i: 0.0, d: 0.0, i_clamp_min: -0.1, i_clamp_max: 0.1}
+
+joint_1_position_controller:
+    joint: joint_1
+    pid:
+        p: 3000.0
+        i: 0.0
+        d: 2.0
+    type: effort_controllers/JointPositionController
+
+joint_2_position_controller:
+    joint: joint_2
+    pid:
+        p: 50000.0
+        i: 0.0
+        d: 0.0
+    type: effort_controllers/JointPositionController
+
+joint_3_position_controller:
+    joint: joint_3
+    pid:
+        p: 50000.0
+        i: 0.0
+        d: 0.0
+    type: effort_controllers/JointPositionController
+
+joint_4_position_controller:
+    joint: joint_4
+    pid:
+        p: 750.0
+        i: 0.0
+        d: 0.2
+    type: effort_controllers/JointPositionController
+
+joint_5_position_controller:
+    joint: joint_5
+    pid:
+        p: 5000.0
+        i: 0.0
+        d: 1.0
+    type: effort_controllers/JointPositionController
+
+joint_6_position_controller:
+    joint: joint_6
+    pid:
+        p: 100.0
+        i: 0.0
+        d: 0.0
+    type: effort_controllers/JointPositionController

kortex_control/grippers/robotiq_2f_140/config/gripper_action_controller_parameters.yaml

@@ -0,0 +1,13 @@
+robotiq_2f_140_gripper_controller:
+    type: position_controllers/GripperActionController
+    joint: finger_joint
+    action_monitor_rate: 100
+
+gazebo_ros_control:
+  pid_gains:
+        finger_joint: {p: 10.0, i: 0.0, d: 0.01} 
+        right_outer_knuckle_joint: {p: 10.0, i: 0.0, d: 0.00} 
+        right_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} 
+        left_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} 
+        left_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} 
+        right_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} 

kortex_control/grippers/robotiq_2f_85/config/gripper_action_controller_parameters.yaml

@@ -1,13 +1,13 @@
 robotiq_2f_85_gripper_controller:
     type: position_controllers/GripperActionController
-    joint: gripper_finger1_joint
+    joint: finger_joint
     action_monitor_rate: 100
 
 gazebo_ros_control:
   pid_gains:
-        gripper_finger1_joint: {p: 10.0, i: 0.0, d: 0.01} 
-        gripper_finger2_joint: {p: 10.0, i: 0.0, d: 0.01} 
-        gripper_finger1_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} 
-        gripper_finger2_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} 
-        gripper_finger1_finger_tip_joint: {p: 10.0, i: 0.0, d: 0.00} 
-        gripper_finger2_finger_tip_joint: {p: 10.0, i: 0.0, d: 0.00} 
+        finger_joint: {p: 10.0, i: 0.0, d: 0.01} 
+        right_outer_knuckle_joint: {p: 10.0, i: 0.0, d: 0.00} 
+        right_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} 
+        left_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} 
+        left_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} 
+        right_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} 

kortex_control/package.xml

@@ -1,6 +1,6 @@
 <package>
   <name>kortex_control</name>
-  <version>2.0.0</version>
+  <version>2.2.0</version>
   <description>
     <p>Gazebo Ros Control package for Kortex robots</p>
     <p>This package contains launch and configuration files for the ros_control controllers for simulation</p>

kortex_description/CMakeLists.txt

@@ -9,7 +9,7 @@ catkin_package()
 find_package(roslaunch)
 
 # Install
-foreach(dir arms grippers robots)
+foreach(dir arms grippers robots launch)
 	install(DIRECTORY ${dir}/
 		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
 endforeach(dir)

kortex_description/arms/gen3/6dof/config/gazebo_initial_joint_positions.yaml

@@ -0,0 +1,6 @@
+initial_joint_positions: "-J joint_1 1.57
+                          -J joint_2 -0.35
+                          -J joint_3 -2.00
+                          -J joint_4 0
+                          -J joint_5 -1.00
+                          -J joint_6 1.57 "

kortex_description/arms/gen3/6dof/config/joint_limits.yaml

@@ -0,0 +1,7 @@
+joint_names:
+  - joint_1
+  - joint_2
+  - joint_3
+  - joint_4
+  - joint_5
+  - joint_6