diff --git a/.gitignore b/.gitignore deleted file mode 100644 index ff6b363e..00000000 --- a/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -kortex_driver/build -kortex_driver/protos \ No newline at end of file diff --git a/kortex_api/.gitignore b/kortex_api/.gitignore index 349cf4e2..a6510dfe 100644 --- a/kortex_api/.gitignore +++ b/kortex_api/.gitignore @@ -1,2 +1,2 @@ include -lib +lib \ No newline at end of file diff --git a/kortex_api/readme.md b/kortex_api/readme.md deleted file mode 100644 index dc16f5b0..00000000 --- a/kortex_api/readme.md +++ /dev/null @@ -1,23 +0,0 @@ - - -# Kortex API -This package contains all the C++ files used by the driver node. This package is mandatory because most of the other packages use it. More detailed documentation is available on the Kortex API [repository](https://github.com/Kinovarobotics/kortex). - -## Downloading the Kortex API - -When you use `catkin_make` to build `ros_kortex`, the [download_kortex_api](./scripts/download_kortex_api.bash) script automatically checks whether or not the API was downloaded. If it is not present, the script downloads and extracts it in the correct folders. - -You can also manually download the API [from here](https://artifactory.kinovaapps.com/artifactory/generic-local-public/kortex/API/2.0.0/kortex_api_2.0.0.zip), extract it and copy the contents of the include and lib folders: - - ```cpp/linux_gcc_x86-64/lib``` to the ```kortex_api/lib``` folder - - ```cpp/linux_gcc_x86-64/include``` to the ```kortex_api/include``` folder - diff --git a/kortex_api/scripts/download_kortex_api.bash b/kortex_api/scripts/download_kortex_api.bash deleted file mode 100755 index d287bc74..00000000 --- a/kortex_api/scripts/download_kortex_api.bash +++ /dev/null @@ -1,81 +0,0 @@ -#!/bin/bash - -# Designed to be run from working directory kortex_api/scripts - -KORTEX_API_FOLDER_PATH="../" -INCLUDE_FOLDER_PATH="${KORTEX_API_FOLDER_PATH}/include" -LIB_FOLDER_PATH="${KORTEX_API_FOLDER_PATH}/lib" - -# Check if include and lib directories exist -if [ ! -d ${INCLUDE_FOLDER_PATH} ]; then - echo "include does not exist, creating directory..." - mkdir ${INCLUDE_FOLDER_PATH} -fi -if [ ! -d ${LIB_FOLDER_PATH} ]; then - echo "lib does not exist, creating directory..." - mkdir ${LIB_FOLDER_PATH} -fi - -# Check if include and lib directories are empty -if [ ! -z "$(ls -A ${INCLUDE_FOLDER_PATH})" ]; then - echo "include is not empty, exiting..." - exit 0 -fi - -if [ ! -z "$(ls -A ${LIB_FOLDER_PATH})" ]; then - echo "lib is not empty, exiting..." - exit 0 -fi - -# Download the API from Google Drive -echo "Downloading the Kortex API from the Web..." -wget -q -O kortex_api.zip https://artifactory.kinovaapps.com/artifactory/generic-local-public/kortex/API/2.1.0/kortex_api_2.1.0.zip -RESULT=$? -if [ "${RESULT}" -ne 0 ]; then - echo "ERROR while fetching the kortex api. code = ${RESULT}" - exit $? -fi - -# Unzip it -unzip -d kortex_api kortex_api.zip > /dev/null -RESULT=$? -if [ "${RESULT}" -ne 0 ]; then - echo "ERROR while extracting the kortex api. code = ${RESULT}" - exit $? -fi - -# Copy the include folder -cp -R kortex_api/cpp/linux_gcc_x86-64/include/ ${KORTEX_API_FOLDER_PATH} -RESULT=$? -if [ "${RESULT}" -ne 0 ]; then - echo "ERROR while copying the kortex api header files. code = ${RESULT}" - exit $? -fi - -# Copy the lib folder -cp -R kortex_api/cpp/linux_gcc_x86-64/lib/ ${KORTEX_API_FOLDER_PATH} -RESULT=$? -if [ "${RESULT}" -ne 0 ]; then - echo "ERROR while copying the kortex api library. code = ${RESULT}" - exit $? -fi - -# Make the libraries executable -chmod +x ${LIB_FOLDER_PATH}/release/libKortexApi.a -RESULT=$? -if [ "${RESULT}" -ne 0 ]; then - echo "ERROR while executing chmod +x on the kortex api release library. code = ${RESULT}" - exit $? -fi - -chmod +x ${LIB_FOLDER_PATH}/debug/libKortexApi.a -RESULT=$? -if [ "${RESULT}" -ne 0 ]; then - echo "ERROR while executing chmod +x on the kortex api debug library. code = ${RESULT}" - exit $? -fi - -# Cleanup -rm -rf kortex_api/ kortex_api.zip - -exit ${RESULT} diff --git a/kortex_control/arms/gen3/6dof/config/joint_position_controllers.yaml b/kortex_control/arms/gen3/6dof/config/joint_position_controllers.yaml new file mode 100644 index 00000000..05e23931 --- /dev/null +++ b/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 diff --git a/kortex_control/grippers/robotiq_2f_140/config/gripper_action_controller_parameters.yaml b/kortex_control/grippers/robotiq_2f_140/config/gripper_action_controller_parameters.yaml new file mode 100644 index 00000000..bc61292d --- /dev/null +++ b/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} \ No newline at end of file diff --git a/kortex_control/grippers/robotiq_2f_85/config/gripper_action_controller_parameters.yaml b/kortex_control/grippers/robotiq_2f_85/config/gripper_action_controller_parameters.yaml index 090141f8..dc06e4f8 100644 --- a/kortex_control/grippers/robotiq_2f_85/config/gripper_action_controller_parameters.yaml +++ b/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} \ No newline at end of file + 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} \ No newline at end of file diff --git a/kortex_control/package.xml b/kortex_control/package.xml index 56f2364a..935cfab5 100644 --- a/kortex_control/package.xml +++ b/kortex_control/package.xml @@ -1,6 +1,6 @@ kortex_control - 2.0.0 + 2.2.0

Gazebo Ros Control package for Kortex robots

This package contains launch and configuration files for the ros_control controllers for simulation

diff --git a/kortex_description/CMakeLists.txt b/kortex_description/CMakeLists.txt index ef584765..40d07049 100644 --- a/kortex_description/CMakeLists.txt +++ b/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) diff --git a/kortex_description/arms/gen3/6dof/config/gazebo_initial_joint_positions.yaml b/kortex_description/arms/gen3/6dof/config/gazebo_initial_joint_positions.yaml new file mode 100644 index 00000000..62f19ff8 --- /dev/null +++ b/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 " \ No newline at end of file diff --git a/kortex_description/arms/gen3/6dof/config/joint_limits.yaml b/kortex_description/arms/gen3/6dof/config/joint_limits.yaml new file mode 100644 index 00000000..8692c090 --- /dev/null +++ b/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 diff --git a/kortex_description/arms/gen3/6dof/meshes/base_link.STL b/kortex_description/arms/gen3/6dof/meshes/base_link.STL new file mode 100644 index 00000000..93f35be2 Binary files /dev/null and b/kortex_description/arms/gen3/6dof/meshes/base_link.STL differ diff --git a/kortex_description/arms/gen3/6dof/meshes/bicep_link.STL b/kortex_description/arms/gen3/6dof/meshes/bicep_link.STL new file mode 100644 index 00000000..579db320 Binary files /dev/null and b/kortex_description/arms/gen3/6dof/meshes/bicep_link.STL differ diff --git a/kortex_description/arms/gen3/6dof/meshes/bracelet_no_vision_link.STL b/kortex_description/arms/gen3/6dof/meshes/bracelet_no_vision_link.STL new file mode 100644 index 00000000..326b1d79 Binary files /dev/null and b/kortex_description/arms/gen3/6dof/meshes/bracelet_no_vision_link.STL differ diff --git a/kortex_description/arms/gen3/6dof/meshes/bracelet_with_vision_link.STL b/kortex_description/arms/gen3/6dof/meshes/bracelet_with_vision_link.STL new file mode 100644 index 00000000..98941ffd Binary files /dev/null and b/kortex_description/arms/gen3/6dof/meshes/bracelet_with_vision_link.STL differ diff --git a/kortex_description/arms/gen3/6dof/meshes/forearm_link.STL b/kortex_description/arms/gen3/6dof/meshes/forearm_link.STL new file mode 100644 index 00000000..c1831b60 Binary files /dev/null and b/kortex_description/arms/gen3/6dof/meshes/forearm_link.STL differ diff --git a/kortex_description/arms/gen3/6dof/meshes/shoulder_link.STL b/kortex_description/arms/gen3/6dof/meshes/shoulder_link.STL new file mode 100644 index 00000000..03928f37 Binary files /dev/null and b/kortex_description/arms/gen3/6dof/meshes/shoulder_link.STL differ diff --git a/kortex_description/arms/gen3/6dof/meshes/spherical_wrist_1_link.STL b/kortex_description/arms/gen3/6dof/meshes/spherical_wrist_1_link.STL new file mode 100644 index 00000000..e3cb5df5 Binary files /dev/null and b/kortex_description/arms/gen3/6dof/meshes/spherical_wrist_1_link.STL differ diff --git a/kortex_description/arms/gen3/6dof/meshes/spherical_wrist_2_link.STL b/kortex_description/arms/gen3/6dof/meshes/spherical_wrist_2_link.STL new file mode 100644 index 00000000..0fcd6d63 Binary files /dev/null and b/kortex_description/arms/gen3/6dof/meshes/spherical_wrist_2_link.STL differ diff --git a/kortex_description/arms/gen3/6dof/urdf/GEN3-6DOF_NO-VISION_URDF_ARM_V01.urdf b/kortex_description/arms/gen3/6dof/urdf/GEN3-6DOF_NO-VISION_URDF_ARM_V01.urdf new file mode 100644 index 00000000..960ae01c --- /dev/null +++ b/kortex_description/arms/gen3/6dof/urdf/GEN3-6DOF_NO-VISION_URDF_ARM_V01.urdf @@ -0,0 +1,205 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/kortex_description/arms/gen3/6dof/urdf/GEN3-6DOF_VISION_URDF_ARM_V01.urdf b/kortex_description/arms/gen3/6dof/urdf/GEN3-6DOF_VISION_URDF_ARM_V01.urdf new file mode 100644 index 00000000..89b673eb --- /dev/null +++ b/kortex_description/arms/gen3/6dof/urdf/GEN3-6DOF_VISION_URDF_ARM_V01.urdf @@ -0,0 +1,226 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro new file mode 100644 index 00000000..db152ab5 --- /dev/null +++ b/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro @@ -0,0 +1,244 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kortex_description/arms/gen3/6dof/urdf/gen3_transmission_macro.xacro b/kortex_description/arms/gen3/6dof/urdf/gen3_transmission_macro.xacro new file mode 100644 index 00000000..9dd1f76e --- /dev/null +++ b/kortex_description/arms/gen3/6dof/urdf/gen3_transmission_macro.xacro @@ -0,0 +1,68 @@ + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + 1 + + + + + + \ No newline at end of file diff --git a/kortex_description/arms/gen3/7dof/meshes/bracelet_no_vision_link.STL b/kortex_description/arms/gen3/7dof/meshes/bracelet_no_vision_link.STL new file mode 100644 index 00000000..326b1d79 Binary files /dev/null and b/kortex_description/arms/gen3/7dof/meshes/bracelet_no_vision_link.STL differ diff --git a/kortex_description/arms/gen3/7dof/meshes/bracelet_link.STL b/kortex_description/arms/gen3/7dof/meshes/bracelet_with_vision_link.STL similarity index 100% rename from kortex_description/arms/gen3/7dof/meshes/bracelet_link.STL rename to kortex_description/arms/gen3/7dof/meshes/bracelet_with_vision_link.STL diff --git a/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro index e95c6f04..41b50b3a 100644 --- a/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro +++ b/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro @@ -62,7 +62,7 @@ xyz="0 0 1" /> + velocity="1.3963" /> @@ -96,7 +96,7 @@ link="${prefix}half_arm_1_link" /> - + @@ -132,7 +132,7 @@ xyz="0 0 1" /> + velocity="1.3963" /> @@ -166,7 +166,7 @@ link="${prefix}forearm_link" /> - + @@ -202,7 +202,7 @@ xyz="0 0 1" /> + velocity="1.2218" /> @@ -236,18 +236,19 @@ link="${prefix}spherical_wrist_2_link" /> - + + - - - + + + - + @@ -256,10 +257,35 @@ - + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -272,7 +298,7 @@ xyz="0 0 1" /> + velocity="1.2218" /> - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + - diff --git a/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_transmission_macro.xacro b/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_transmission_macro.xacro index 3fe7ecae..d6e40348 100644 --- a/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_transmission_macro.xacro +++ b/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_transmission_macro.xacro @@ -3,12 +3,12 @@ - + transmission_interface/SimpleTransmission - + hardware_interface/PositionJointInterface - + 1 hardware_interface/PositionJointInterface @@ -16,24 +16,24 @@ - ${prefix}right_finger_bottom_joint - ${prefix}right_finger_tip_joint + right_finger_bottom_joint + right_finger_tip_joint -0.676 0.149 5.0 - ${prefix}right_finger_bottom_joint - ${prefix}left_finger_bottom_joint + right_finger_bottom_joint + left_finger_bottom_joint -1.0 0.0 5.0 - ${prefix}right_finger_bottom_joint - ${prefix}left_finger_tip_joint + right_finger_bottom_joint + left_finger_tip_joint -0.676 0.149 5.0 @@ -42,10 +42,10 @@ - ${prefix}my_gen3_lite_gripper - ${prefix}end_effector_link - ${prefix}right_finger_dist_link - ${prefix}left_finger_dist_link + my_gen3_lite_gripper + end_effector_link + right_finger_dist_link + left_finger_dist_link 100 10 diff --git a/kortex_description/grippers/robotiq_2f_140/LICENSE b/kortex_description/grippers/robotiq_2f_140/LICENSE new file mode 100644 index 00000000..316f6108 --- /dev/null +++ b/kortex_description/grippers/robotiq_2f_140/LICENSE @@ -0,0 +1,23 @@ +Copyright (c) 2013, ROS-Industrial +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + + Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + Redistributions in binary form must reproduce the above copyright notice, this + list of conditions and the following disclaimer in the documentation and/or + other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON +ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. \ No newline at end of file diff --git a/kortex_description/grippers/robotiq_2f_140/README.md b/kortex_description/grippers/robotiq_2f_140/README.md new file mode 100644 index 00000000..0db6472d --- /dev/null +++ b/kortex_description/grippers/robotiq_2f_140/README.md @@ -0,0 +1,12 @@ +This is the README file from Robotiq's package for the 2F-140 gripper. The package's license file can also be found in this folder. +We used commit `4e3196c1c6a83f54acfa3dd8cf02b575ebba3e53` from [Robotiq's ROS Industrial Github repository](https://github.com/ros-industrial/robotiq) + +# Robotiq 140mm 2-Finger-Adaptive-Gripper + +This package contains the URDF files describing the 140mm stroke gripper from robotiq, also known as series **C3**. + +## Robot Visual +![140](https://user-images.githubusercontent.com/8356912/49428409-463f8580-f7a6-11e8-8278-5246acdc5c14.png) + +## Robot Collision +![1402](https://user-images.githubusercontent.com/8356912/49428407-463f8580-f7a6-11e8-9c4e-df69e478f107.png) diff --git a/kortex_description/grippers/robotiq_2f_140/config/joint_limits.yaml b/kortex_description/grippers/robotiq_2f_140/config/joint_limits.yaml new file mode 100644 index 00000000..3c16e30a --- /dev/null +++ b/kortex_description/grippers/robotiq_2f_140/config/joint_limits.yaml @@ -0,0 +1,8 @@ +gripper_joint_names: + - finger_joint + +gripper_joint_limits_min: + - 0.000 + +gripper_joint_limits_max: + - 0.700 \ No newline at end of file diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_finger.stl b/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_finger.stl new file mode 100644 index 00000000..4eb5a1fa Binary files /dev/null and b/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_finger.stl differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_knuckle.stl b/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_knuckle.stl new file mode 100644 index 00000000..49e8169d Binary files /dev/null and b/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_knuckle.stl differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_outer_finger.stl b/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_outer_finger.stl new file mode 100644 index 00000000..046135f2 Binary files /dev/null and b/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_outer_finger.stl differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_outer_knuckle.stl b/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_outer_knuckle.stl new file mode 100644 index 00000000..2d53aa7c Binary files /dev/null and b/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_outer_knuckle.stl differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_base_link.stl b/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_base_link.stl new file mode 100644 index 00000000..7eccbbbe Binary files /dev/null and b/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_base_link.stl differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_coupling.stl b/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_coupling.stl new file mode 100644 index 00000000..3afb3826 Binary files /dev/null and b/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_coupling.stl differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_finger.stl b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_finger.stl new file mode 100644 index 00000000..ad723f3d Binary files /dev/null and b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_finger.stl differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_knuckle.stl b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_knuckle.stl new file mode 100644 index 00000000..616da3d3 Binary files /dev/null and b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_knuckle.stl differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_finger.stl b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_finger.stl new file mode 100644 index 00000000..64301c5f Binary files /dev/null and b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_finger.stl differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_knuckle.stl b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_knuckle.stl new file mode 100644 index 00000000..9621fc84 Binary files /dev/null and b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_knuckle.stl differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_base_link.stl b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_base_link.stl new file mode 100644 index 00000000..d0f3a2ca Binary files /dev/null and b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_base_link.stl differ diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_coupling.stl b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_coupling.stl new file mode 100644 index 00000000..02c600fe Binary files /dev/null and b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_coupling.stl differ diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro new file mode 100644 index 00000000..572af024 --- /dev/null +++ b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro @@ -0,0 +1,7 @@ + + + + + + + diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_transmission_macro.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_transmission_macro.xacro new file mode 100644 index 00000000..9f3d3a71 --- /dev/null +++ b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_transmission_macro.xacro @@ -0,0 +1,74 @@ + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + 1 + hardware_interface/PositionJointInterface + + + + + + finger_joint + right_outer_knuckle_joint + -1.0 + 0.0 + 5.0 + + + finger_joint + right_inner_knuckle_joint + -1.0 + 0.0 + 5.0 + + + finger_joint + left_inner_knuckle_joint + -1.0 + 0.0 + 5.0 + + + finger_joint + left_inner_finger_joint + 1.0 + 0.0 + 5.0 + + + finger_joint + right_inner_finger_joint + 1.0 + 0.0 + 5.0 + + + + + my_robotiq_gripper + bracelet_link + left_inner_finger + right_inner_finger + + 100 + 10 + 3 + 10 + 0.001 + false + __default_topic__ + + + + + + + diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f.xacro new file mode 100644 index 00000000..4b1853fa --- /dev/null +++ b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f.xacro @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Black + + + + + + + + + + + + + + + + + + + diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f_140_model_macro.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f_140_model_macro.xacro new file mode 100644 index 00000000..29351833 --- /dev/null +++ b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f_140_model_macro.xacro @@ -0,0 +1,225 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kortex_description/grippers/robotiq_2f_85/LICENSE b/kortex_description/grippers/robotiq_2f_85/LICENSE index 9b28cd85..316f6108 100644 --- a/kortex_description/grippers/robotiq_2f_85/LICENSE +++ b/kortex_description/grippers/robotiq_2f_85/LICENSE @@ -1,14 +1,23 @@ -This repository contains content covered by multiple licenses. +Copyright (c) 2013, ROS-Industrial +All rights reserved. -For contents or modifications not covered by a separate license, the following license applies: -Copyright 2015, Stanley Innovation, Inc. +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: -Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. -1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. + Redistributions in binary form must reproduce the above copyright notice, this + list of conditions and the following disclaimer in the documentation and/or + other materials provided with the distribution. -2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. \ No newline at end of file +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON +ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. \ No newline at end of file diff --git a/kortex_description/grippers/robotiq_2f_85/README.md b/kortex_description/grippers/robotiq_2f_85/README.md new file mode 100644 index 00000000..cd862a9f --- /dev/null +++ b/kortex_description/grippers/robotiq_2f_85/README.md @@ -0,0 +1,13 @@ +This is the README file from Robotiq's package for the 2F-85 gripper. The package's license file can also be found in this folder. +We used commit `4e3196c1c6a83f54acfa3dd8cf02b575ebba3e53` from [Robotiq's ROS Industrial Github repository](https://github.com/ros-industrial/robotiq) + +# Robotiq 85mm 2-Finger-Adaptive-Gripper + +This package contains the URDF files describing the 85mm stroke gripper from robotiq, also known as series **C3**. + +## Robot Visual +![85](https://user-images.githubusercontent.com/8356912/49428405-45a6ef00-f7a6-11e8-822b-c6870c39d445.png) + +## Robot Collision +![852](https://user-images.githubusercontent.com/8356912/49428404-450e5880-f7a6-11e8-82a8-564247ebe7fc.png) + diff --git a/kortex_description/grippers/robotiq_2f_85/config/joint_limits.yaml b/kortex_description/grippers/robotiq_2f_85/config/joint_limits.yaml index adda3d77..3c64028a 100644 --- a/kortex_description/grippers/robotiq_2f_85/config/joint_limits.yaml +++ b/kortex_description/grippers/robotiq_2f_85/config/joint_limits.yaml @@ -1,8 +1,8 @@ gripper_joint_names: - - gripper_finger1_joint + - finger_joint gripper_joint_limits_min: - 0.000 gripper_joint_limits_max: - - 0.804 \ No newline at end of file + - 0.800 \ No newline at end of file diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/collision/kinova_robotiq_coupler.stl b/kortex_description/grippers/robotiq_2f_85/meshes/collision/kinova_robotiq_coupler.stl deleted file mode 100755 index af139fe0..00000000 Binary files a/kortex_description/grippers/robotiq_2f_85/meshes/collision/kinova_robotiq_coupler.stl and /dev/null differ diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_base_link.stl b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_base_link.stl deleted file mode 100644 index 5f51dbc3..00000000 Binary files a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_base_link.stl and /dev/null differ diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_finger_link.stl b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_finger_link.stl deleted file mode 100644 index d1ff9530..00000000 Binary files a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_finger_link.stl and /dev/null differ diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_finger_tip_link.stl b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_finger_tip_link.stl deleted file mode 100644 index 4d5ce52c..00000000 Binary files a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_finger_tip_link.stl and /dev/null differ diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_inner_knuckle_link.stl b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_inner_knuckle_link.stl deleted file mode 100644 index aef20afe..00000000 Binary files a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_inner_knuckle_link.stl and /dev/null differ diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_knuckle_link.stl b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_knuckle_link.stl deleted file mode 100644 index c593f301..00000000 Binary files a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_knuckle_link.stl and /dev/null differ diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_base_link.stl b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_base_link.stl new file mode 100644 index 00000000..cb9fec8c Binary files /dev/null and b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_base_link.stl differ diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_inner_finger.dae b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_inner_finger.dae new file mode 100644 index 00000000..0863206e --- /dev/null +++ b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_inner_finger.dae @@ -0,0 +1,56 @@ + + + + + VCGLab + VCGLib | MeshLab + + Mon Dec 3 16:35:50 2018 GMT + Mon Dec 3 16:35:50 2018 GMT + Y_UP + + + + + + 7 -18.9031 44.5146 -7 -13.9031 44.5149 -7 -18.9031 44.5146 7 -13.9031 44.5149 -7 -23.9018 13.5144 7 -23.9018 13.5144 -7 5.563 2.24789 7 5.563 2.24789 -7 -1.45127 -5.82184 7 -0.834774 -5.94165 7 -1.45127 -5.82184 -7 -0.834774 -5.94165 7 -2.05187 -5.63825 -7 -2.05187 -5.63825 -7 -19.9533 0.87644 7 -19.9533 0.87644 -7 5.7675 1.65408 7 5.7675 1.65408 7 5.9088 1.04215 -7 5.9088 1.04215 7 -20.6251 1.16853 -7 -20.6251 1.16853 7 -23.9014 6.51442 -7 -23.9014 6.51442 7 -21.2564 1.54031 -7 -21.8376 1.98625 7 -21.8376 1.98625 -7 -21.2564 1.54031 7 -22.8162 3.07301 7 -23.199 3.69762 -7 -23.199 3.69762 -7 -22.8162 3.07301 -7 -23.5028 4.36423 7 -23.5028 4.36423 -7 -23.7231 5.0629 7 -23.7231 5.0629 7 5.98537 0.418805 -7 5.98537 0.418805 -7 5.99635 -0.20913 7 5.99635 -0.20913 7 -22.3601 2.49971 -7 -22.3601 2.49971 -7 -23.8567 5.78321 7 -23.8567 5.78321 -7.5 -22.1867 3.93849 -7.5 4.9959 -0.202394 -7.5 4.98562 0.378963 -7.5 -21.9642 9.42908 -7.5 -21.5984 9.88103 -7.5 2.16462 4.50715 -7.5 2.67323 4.22538 -7.5 2.821 -4.12819 -7.5 3.28118 -3.77278 -7.5 -16.2747 11.2427 -7.5 1.62673 4.72797 -7.5 -0.492538 -4.97568 -7.5 -1.06685 -4.88486 -7.5 0.66821 -4.95515 -7.5 1.23895 -4.84407 -7.5 4.62539 -1.89889 -7.5 4.37367 -2.42302 -7.5 4.55534 2.06129 -7.5 4.76383 1.51851 -7.5 3.14569 3.88647 -7.5 -22.8401 7.2957 -7.5 -22.716 7.86376 -7.5 -19.1404 11.3588 -7.5 -18.5696 11.4698 -7.5 -20.2241 10.9425 -7.5 -20.7224 10.6429 -7.5 -21.4771 3.01969 -7.5 -21.0471 2.62822 -7.5 -19.5282 1.78671 -7.5 -1.62673 -4.72797 -7.5 -20.066 2.00753 -7.5 4.90791 0.955196 -7.5 4.28523 2.5762 -7.5 3.95718 3.05626 -7.5 -22.5268 8.41357 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+ + + + + + + + + + + + + + + diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_inner_knuckle.dae b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_inner_knuckle.dae new file mode 100644 index 00000000..a32a3a74 --- /dev/null +++ b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_inner_knuckle.dae @@ -0,0 +1,56 @@ + + + + + VCGLab + VCGLib | MeshLab + + Mon Dec 3 16:34:34 2018 GMT + Mon Dec 3 16:34:34 2018 GMT + Y_UP + + + + + + -16.7877 18.9747 31.4552 16.7877 28.0996 23.6618 17 18.0385 30.3589 16.7877 18.9747 31.4552 13.1548 30.4682 26.4351 13.5 39.564 42.9502 16.9466 27.6365 23.1196 13.5 39.6132 43.575 13.5 39.2476 44.7635 13.5 38.8557 45.2525 13.5 39.5054 44.1923 -17 18.0385 30.3589 -15.1957 20.5359 33.2831 15.1957 20.5359 33.2831 -13.5 38.3546 45.6288 -13.5 37.7756 45.8686 -13.5 37.1552 45.9569 -13.5 36.5323 45.8881 13.5 38.3546 45.6288 13.5 37.1552 45.9569 13.5 37.7756 45.8686 13.5 36.5323 45.8881 16.9466 18.5116 30.913 -16.9466 18.5116 30.913 -13.5 38.8557 45.2525 -16.7877 28.0996 23.6618 -13.5 39.2476 44.7635 -13.5 39.5054 44.1923 -13.5 39.6132 43.575 -13.5 39.564 42.9502 -13.1548 30.4682 26.4351 -16.9466 27.6365 23.1196 -19.5 -0.314016 -5.99178 19.5 0.470755 -5.9815 19.5 -0.314016 -5.99178 -19.5 0.470755 -5.9815 -19.5 1.24747 -5.86889 19.5 1.24747 -5.86889 -12 32.5535 47.3539 12 32.5535 47.3539 12 33.1012 47.9161 -12 33.1012 47.9161 19.5 4.01478 -4.45887 -19.5 4.01478 -4.45887 -19.5 4.56244 -3.89669 19.5 4.56244 -3.89669 -19.5 3.39844 -4.94476 19.5 2.72394 -5.34604 19.5 3.39844 -4.94476 -19.5 2.72394 -5.34604 -19.5 2.00284 -5.65585 19.5 2.00284 -5.65585 19.5 -5.34604 -2.72394 -19.5 -5.34604 -2.72394 19.5 -5.65585 -2.00284 -19.5 -5.65585 -2.00284 12 42.148 40.1894 -12 42.5315 40.8741 12 42.5315 40.8741 -12 42.148 40.1894 12 41.6784 39.5605 -12 41.6784 39.5605 19.5 -1.8541 -5.70634 -19.5 -1.8541 -5.70634 -19.5 -2.58307 -5.41551 19.5 -2.58307 -5.41551 19.5 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39 0 3 0 40 0 22 1 3 1 39 1 79 2 29 2 80 2 0 3 38 3 41 3 38 4 0 4 23 4 13 5 39 5 91 5 17 6 147 6 140 6 23 7 147 7 17 7 121 8 147 8 23 8 119 9 121 9 23 9 0 10 119 10 23 10 0 11 41 11 119 11 6 12 1 12 58 12 6 13 60 13 1 13 1 14 56 14 58 14 1 15 60 15 56 15 25 16 59 16 61 16 59 17 25 17 57 17 104 18 103 18 23 18 12 19 135 19 109 19 106 20 97 20 83 20 17 21 16 21 23 21 23 22 16 22 15 22 14 23 24 23 23 23 15 24 14 24 23 24 16 25 114 25 15 25 14 26 131 26 24 26 14 27 129 27 131 27 90 28 12 28 109 28 12 29 90 29 38 29 123 30 107 30 45 30 123 31 6 31 107 31 106 32 107 32 22 32 22 33 107 33 6 33 6 34 9 34 22 34 8 35 9 35 6 35 8 36 92 36 93 36 133 37 27 37 95 37 12 38 96 38 135 38 103 39 85 39 96 39 91 40 108 40 13 40 106 41 22 41 2 41 106 42 2 42 97 42 97 43 2 43 13 43 22 44 39 44 2 44 13 45 2 45 39 45 110 46 6 46 58 46 110 47 78 47 6 47 114 48 117 48 15 48 16 49 113 49 114 49 20 50 116 50 115 50 3 51 118 51 40 51 118 52 3 52 22 52 139 53 21 53 141 53 120 54 118 54 22 54 104 55 122 55 44 55 124 56 4 56 123 56 123 57 4 57 6 57 60 58 4 58 124 58 6 59 4 59 60 59 61 60 149 60 125 60 10 61 8 61 6 61 7 62 10 62 6 62 137 63 10 63 7 63 8 64 10 64 92 64 78 65 5 65 6 65 6 66 5 66 7 66 78 67 81 67 5 67 7 68 5 68 81 68 7 69 126 69 137 69 126 70 7 70 81 70 18 71 20 71 22 71 9 72 18 72 22 72 18 73 128 73 130 73 9 74 128 74 18 74 8 75 93 75 143 75 143 76 9 76 8 76 143 77 128 77 9 77 132 78 10 78 137 78 10 79 132 79 92 79 80 80 28 80 127 80 29 81 28 81 80 81 26 82 94 82 95 82 27 83 26 83 95 83 103 84 11 84 23 84 96 85 11 85 103 85 11 86 96 86 12 86 38 87 23 87 11 87 12 88 38 88 11 88 97 89 13 89 134 89 108 90 134 90 13 90 27 91 133 91 136 91 27 92 136 92 28 92 28 93 136 93 127 93 14 94 145 94 129 94 15 95 145 95 14 95 117 96 145 96 15 96 16 97 138 97 113 97 138 98 17 98 140 98 138 99 16 99 17 99 131 100 142 100 24 100 24 101 142 101 26 101 26 102 142 102 94 102 18 103 130 103 144 103 20 104 144 104 116 104 18 105 144 105 20 105 112 106 141 106 19 106 21 107 19 107 141 107 112 108 19 108 115 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64 155 67 156 66 156 68 156 66 157 69 157 68 157 71 158 70 158 72 158 73 159 70 159 71 159 74 160 70 160 75 160 72 161 70 161 74 161 54 162 76 162 55 162 77 163 76 163 54 163 74 164 75 164 76 164 74 165 76 165 77 165 79 166 80 166 78 166 81 167 78 167 80 167 83 168 82 168 84 168 85 169 82 169 83 169 84 170 82 170 86 170 82 171 87 171 86 171 86 172 88 172 89 172 87 173 88 173 86 173 89 174 88 174 71 174 88 175 73 175 71 175 38 176 90 176 39 176 91 177 39 177 90 177 93 178 92 178 94 178 94 179 92 179 95 179 85 180 83 180 96 180 97 181 96 181 83 181 32 182 98 182 99 182 32 183 34 183 98 183 63 184 99 184 98 184 98 185 62 185 63 185 65 186 100 186 64 186 64 187 100 187 101 187 101 188 100 188 67 188 100 189 66 189 67 189 46 190 102 190 43 190 63 191 102 191 99 191 102 192 32 192 99 192 102 193 101 193 67 193 82 194 102 194 87 194 104 195 102 195 103 195 32 196 102 196 35 196 67 197 68 197 102 197 102 198 50 198 36 198 43 199 102 199 44 199 102 200 36 200 35 200 102 201 63 201 64 201 101 202 102 202 64 202 102 203 53 203 55 203 102 204 46 204 49 204 50 205 102 205 49 205 44 206 102 206 104 206 88 207 87 207 102 207 70 208 102 208 75 208 76 209 75 209 102 209 103 210 102 210 85 210 70 211 73 211 102 211 76 212 102 212 55 212 82 213 85 213 102 213 88 214 102 214 73 214 47 215 48 215 105 215 33 216 37 216 105 216 37 217 51 217 105 217 71 218 105 218 89 218 83 219 84 219 105 219 77 220 54 220 105 220 86 221 89 221 105 221 33 222 105 222 34 222 106 223 83 223 105 223 42 224 105 224 48 224 71 225 72 225 105 225 47 226 105 226 51 226 62 227 105 227 65 227 86 228 105 228 84 228 74 229 77 229 105 229 42 230 45 230 105 230 52 231 105 231 54 231 98 232 105 232 62 232 100 233 105 233 66 233 105 234 107 234 106 234 66 235 105 235 69 235 74 236 105 236 72 236 107 237 105 237 45 237 98 238 34 238 105 238 100 239 65 239 105 239 69 240 105 240 68 240 102 241 68 241 105 241 52 242 53 242 105 242 102 243 105 243 53 243 90 244 108 244 91 244 108 245 90 245 109 245 57 246 110 246 58 246 111 247 110 247 57 247 79 248 110 248 111 248 78 249 110 249 79 249 113 250 112 250 114 250 112 251 115 251 114 251 115 252 116 252 114 252 117 253 114 253 116 253 41 254 40 254 118 254 119 255 41 255 118 255 118 256 120 256 119 256 119 257 120 257 121 257 44 258 122 258 45 258 45 259 122 259 123 259 124 260 122 260 125 260 123 261 122 261 124 261 80 262 126 262 81 262 127 263 126 263 80 263 130 264 128 264 129 264 128 265 131 265 129 265 92 266 132 266 95 266 133 267 95 267 132 267 97 268 134 268 96 268 96 269 134 269 135 269 134 270 108 270 109 270 135 271 134 271 109 271 136 272 132 272 137 272 132 273 136 273 133 273 136 274 126 274 127 274 126 275 136 275 137 275 139 276 138 276 140 276 139 277 141 277 138 277 113 278 138 278 112 278 112 279 138 279 141 279 128 280 142 280 131 280 143 281 142 281 128 281 93 282 94 282 142 282 143 283 93 283 142 283 129 284 144 284 130 284 145 285 144 285 129 285 116 286 144 286 117 286 145 287 117 287 144 287 139 288 140 288 146 288 147 289 146 289 140 289 147 290 121 290 146 290 120 291 146 291 121 291 60 292 148 292 61 292 61 293 148 293 149 293 124 294 125 294 148 294 149 295 148 295 125 295

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99 1738 97 1738 839 1738 93 1739 842 1739 840 1739 93 1740 840 1740 95 1740 855 1741 59 1741 854 1741 855 1742 60 1742 59 1742 841 1743 99 1743 839 1743 75 1744 869 1744 77 1744 859 1745 869 1745 75 1745 51 1746 99 1746 841 1746 91 1747 842 1747 93 1747 844 1748 842 1748 91 1748 73 1749 859 1749 75 1749 843 1750 51 1750 841 1750 856 1751 65 1751 60 1751 856 1752 60 1752 855 1752 52 1753 51 1753 843 1753 857 1754 70 1754 65 1754 857 1755 73 1755 70 1755 857 1756 65 1756 856 1756 89 1757 844 1757 91 1757 857 1758 858 1758 73 1758 73 1759 858 1759 859 1759 846 1760 844 1760 89 1760 845 1761 52 1761 843 1761 55 1762 52 1762 845 1762 87 1763 846 1763 89 1763 848 1764 846 1764 87 1764 847 1765 55 1765 845 1765 57 1766 55 1766 847 1766 85 1767 848 1767 87 1767 850 1768 848 1768 85 1768 849 1769 57 1769 847 1769 63 1770 57 1770 849 1770 83 1771 850 1771 85 1771 852 1772 850 1772 83 1772 851 1773 63 1773 849 1773 67 1774 63 1774 851 1774 81 1775 852 1775 83 1775 863 1776 852 1776 81 1776 853 1777 67 1777 851 1777 68 1778 67 1778 853 1778 79 1779 863 1779 81 1779

+ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_outer_knuckle.dae b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_outer_knuckle.dae new file mode 100644 index 00000000..41abc83c --- /dev/null +++ b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_outer_knuckle.dae @@ -0,0 +1,63 @@ + + + + + VCGLab + VCGLib | MeshLab + + Y_UP + lun lug 18 06:13:31 2016 + lun lug 18 06:13:31 2016 + + + + + + + + + 4.5 26.6297 5.11588 11.5 26.6297 5.11588 11.5 26.1146 4.71048 4.5 26.1146 4.71048 11.5 25.5118 4.45291 4.5 25.5118 4.45291 11.5 24.8628 4.36087 4.5 24.8628 4.36087 11.5 24.2122 4.4407 4.5 24.2122 4.4407 11.5 23.6047 4.68691 4.5 23.6047 4.68691 11.5 23.0821 5.08257 4.5 23.0821 5.08257 11.5 22.6802 5.60048 4.5 22.6802 5.60048 11.5 22.4269 6.20503 4.5 22.4269 6.20503 11.5 22.3393 6.85466 4.5 22.3393 6.85466 11.5 22.4237 7.50471 4.5 22.4237 7.50471 11.5 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1331 49 1331 48 1332 49 1332 51 1332 47 1333 49 1333 50 1333 42 1334 47 1334 43 1334 47 1335 50 1335 43 1335 39 1336 42 1336 1 1336 42 1337 43 1337 1 1337 39 1338 1 1338 38 1338 38 1339 1 1339 0 1339

+ + + + + + + + + + + + + + + + + + + diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_pad.dae b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_pad.dae new file mode 100644 index 00000000..e0c6e645 --- /dev/null +++ b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_pad.dae @@ -0,0 +1,104 @@ + + + 2016-07-17T22:25:43.361178 + 2016-07-17T22:25:43.361188 + Z_UP + + + + + + + + 0.0 0.0 0.0 1.0 + + + 0.0 0.0 0.0 1.0 + + + 0.7 0.7 0.7 1.0 + + + 1 1 1 1.0 + + + 0.0 + + + 0.0 0.0 0.0 1.0 + + + 0.0 + + + 0.0 0.0 0.0 1.0 + + + 1.0 + + + + + + 0 + + + + + + + + + + 4.38531e-14 -1 -4.451336e-05 4.38531e-14 -1 -4.451336e-05 -4.38531e-14 1 4.451336e-05 -4.38531e-14 1 4.451336e-05 -1 -4.385301e-14 -2.011189e-15 -1 -4.385301e-14 -2.011189e-15 -2.009237e-15 -4.451336e-05 1 -2.009237e-15 -4.451336e-05 1 1 4.385301e-14 2.011189e-15 1 4.385301e-14 2.011189e-15 2.009237e-15 4.451336e-05 -1 2.009237e-15 4.451336e-05 -1 + + + + + + + + + + -10 -23.90175 13.51442 10 -23.9033 48.51442 -10 -23.9033 48.51442 10 -23.90175 13.51442 -10 -18.90175 13.51464 -10 -18.9033 48.51464 10 -18.90175 13.51464 10 -18.9033 48.51464 + + + + + + + + + + + + + + +

0 0 1 0 2 0 3 1 1 1 0 1 4 2 5 2 6 2 5 3 7 3 6 3 2 4 5 4 4 4 2 5 4 5 0 5 5 6 2 6 1 6 5 7 1 7 7 7 7 8 1 8 6 8 1 9 3 9 6 9 0 10 4 10 3 10 4 11 6 11 3 11

+ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_gripper_coupling.stl b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_gripper_coupling.stl new file mode 100644 index 00000000..02c600fe Binary files /dev/null and b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_gripper_coupling.stl differ diff --git a/kortex_description/grippers/robotiq_2f_85/readme.md b/kortex_description/grippers/robotiq_2f_85/readme.md deleted file mode 100644 index ae6811f7..00000000 --- a/kortex_description/grippers/robotiq_2f_85/readme.md +++ /dev/null @@ -1,18 +0,0 @@ -This ROS package was cloned from https://github.com/waypointrobotics/robotiq_85_gripper into ros_kortex to use the description files for the Robotiq 2f 85 gripper. Only the robotiq_85_description folder was copied (along with this readme and the LICENSE file from the original repo). -The repository was cloned at commit 7e09b0d4d90179cf4809193914c7f6d44a9140a6. - -The xacro files were modified to allow proper simulation of the gripper in Gazebo. - -The original readme file follows: - -# robotiq_85_gripper -Common packages for the Robotiq 85 Gripper provided by Stanley Innovation - -Defaults to 'ttyUSB0' and 115200 baud rate - -Single gripper and left gripper (in dual gripper configuration) need to be configured as device 9 using the Robotiq User Interface -Right gripper (in dual gripper configuration) need to be configured as device 9 using the Robotiq User Interface - - -start with: -roslaunch robotiq_85_bringup robotiq_85.launch run_test:=true \ No newline at end of file diff --git a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro index a81af3dc..bbe7e590 100644 --- a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro +++ b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro @@ -1,335 +1,7 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - 100000 - 100000 - 100000000.0 - 1.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - 100000 - 100000 - 100000000.0 - 1.0 - - - - - - - - - - - - - - - - - - - - - - 1 - 100000 - 100000 - 100000000.0 - 1.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - 100000 - 100000 - 100000000.0 - 1.0 - - - - - - - - - - - - - - - - - - - - - - 1 - 100000 - 100000 - 100000000.0 - 1.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - 100000 - 100000 - 100000000.0 - 1.0 - - - - - - - - - - - - - - - - - - - - - - 1 - 100000 - 100000 - 100000000.0 - 1.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - 100000 - 100000 - 100000000.0 - 1.0 - - - - - - - - - - - - - - - - - - - - - - 1 - 100000 - 100000 - 100000000.0 - 1.0 - - - - + + + + + + + diff --git a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_transmission_macro.xacro b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_transmission_macro.xacro index ec7e790b..78d38248 100644 --- a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_transmission_macro.xacro +++ b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_transmission_macro.xacro @@ -3,12 +3,12 @@ - + transmission_interface/SimpleTransmission - + hardware_interface/PositionJointInterface - + 1 hardware_interface/PositionJointInterface @@ -16,52 +16,47 @@ - ${prefix}gripper_finger1_joint - ${prefix}gripper_finger2_joint + finger_joint + right_outer_knuckle_joint 1.0 0.0 5.0 - - ${prefix}gripper_finger1_joint - ${prefix}gripper_finger2_inner_knuckle_joint + finger_joint + right_inner_knuckle_joint 1.0 0.0 5.0 - - ${prefix}gripper_finger1_joint - ${prefix}gripper_finger1_inner_knuckle_joint + finger_joint + left_inner_knuckle_joint 1.0 0.0 5.0 - - ${prefix}gripper_finger1_joint - ${prefix}gripper_finger1_finger_tip_joint + finger_joint + left_inner_finger_joint -1.0 0.0 5.0 - - ${prefix}gripper_finger1_joint - ${prefix}gripper_finger2_finger_tip_joint + finger_joint + right_inner_finger_joint -1.0 0.0 5.0 - my_robotiq_gripper - ${prefix}bracelet_link - ${prefix}gripper_finger1_finger_tip_link - ${prefix}gripper_finger2_finger_tip_link + bracelet_link + left_inner_finger + right_inner_finger 100 10 @@ -71,6 +66,7 @@ false __default_topic__ + diff --git a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_arg2f.xacro b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_arg2f.xacro new file mode 100644 index 00000000..5f4035be --- /dev/null +++ b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_arg2f.xacro @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Black + + + + + + + + + + + + + + + + + + + diff --git a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_arg2f_85_model_macro.xacro b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_arg2f_85_model_macro.xacro new file mode 100644 index 00000000..6d17507a --- /dev/null +++ b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_arg2f_85_model_macro.xacro @@ -0,0 +1,206 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kortex_description/launch/visualize.launch b/kortex_description/launch/visualize.launch new file mode 100644 index 00000000..30914192 --- /dev/null +++ b/kortex_description/launch/visualize.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + [base_feedback/joint_state] + + + + + + + + \ No newline at end of file diff --git a/kortex_description/package.xml b/kortex_description/package.xml index 10560d2e..530f2fad 100644 --- a/kortex_description/package.xml +++ b/kortex_description/package.xml @@ -1,6 +1,6 @@ kortex_description - 2.0.0 + 2.2.0

URDF Description package for Kortex-compatible robots

This package contains configuration data, 3D models and launch files diff --git a/kortex_description/robots/gen3_robotiq_2f_140.xacro b/kortex_description/robots/gen3_robotiq_2f_140.xacro new file mode 100644 index 00000000..969be469 --- /dev/null +++ b/kortex_description/robots/gen3_robotiq_2f_140.xacro @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/kortex_description/robots/kortex_robot.xacro b/kortex_description/robots/kortex_robot.xacro index 4a4c39f1..807ef1b5 100644 --- a/kortex_description/robots/kortex_robot.xacro +++ b/kortex_description/robots/kortex_robot.xacro @@ -25,7 +25,7 @@ - + diff --git a/kortex_driver/.gitignore b/kortex_driver/.gitignore new file mode 100644 index 00000000..567609b1 --- /dev/null +++ b/kortex_driver/.gitignore @@ -0,0 +1 @@ +build/ diff --git a/kortex_driver/CMakeLists.txt b/kortex_driver/CMakeLists.txt index 990cf0ba..5c167577 100644 --- a/kortex_driver/CMakeLists.txt +++ b/kortex_driver/CMakeLists.txt @@ -4,28 +4,33 @@ project(kortex_driver) add_compile_options(-std=c++11) add_definitions(-D_OS_UNIX) -find_path (KORTEX_API_DOWNLOADER_PATH # Set this variable - download_kortex_api.bash # To the Working dir of this file - ${PROJECT_SOURCE_DIR}/../kortex_api/scripts) # Search this file here - -if(KORTEX_API_DOWNLOADER_PATH) - execute_process(COMMAND ./download_kortex_api.bash - WORKING_DIRECTORY ${KORTEX_API_DOWNLOADER_PATH} - RESULT_VARIABLE DOWNLOAD_API_RESULT) -else() - message(FATAL_ERROR "Could not find download_kortex_api.bash in current workspace") +option(USE_CONAN "Use the Conan package manager to automatically fetch the Kortex API" ON) + +# Explicitely specify the build type in case the user did not do it +if(NOT CMAKE_BUILD_TYPE) + set(CMAKE_BUILD_TYPE Release) endif() -if(NOT DOWNLOAD_API_RESULT EQUAL 0) - message(FATAL_ERROR "Download of the Kortex API failed") +if(USE_CONAN) + # Include conan.cmake module and download Kortex API from artifactory + include(${PROJECT_SOURCE_DIR}/cmake/conan.cmake) + conan_check(REQUIRED) + conan_add_remote(NAME kinova_public + URL https://artifactory.kinovaapps.com/artifactory/api/conan/conan-public) + conan_cmake_run(CONANFILE conanfile.py + UPDATE + BASIC_SETUP CMAKE_TARGETS + NO_OUTPUT_DIRS + SETTINGS kortex_api_cpp:compiler=gcc kortex_api_cpp:compiler.version=5 kortex_api_cpp:compiler.libcxx=libstdc++11) endif() ## find catkin and any catkin packages -find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation actionlib control_msgs) +find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation actionlib control_msgs urdf) find_package(Boost REQUIRED COMPONENTS system) file(GLOB_RECURSE generated_files RELATIVE ${PROJECT_SOURCE_DIR} "src/generated/*.cpp") -file(GLOB_RECURSE non_generated_files RELATIVE ${PROJECT_SOURCE_DIR} "src/non-generated/*.cpp") +file(GLOB_RECURSE non_generated_files RELATIVE ${PROJECT_SOURCE_DIR} "src/non-generated/driver/*.cpp") +file(GLOB_RECURSE test_files RELATIVE ${PROJECT_SOURCE_DIR} "src/non-generated/tests/*.cc") # Find all auto-generated subdirectories in msg/generated file(GLOB children RELATIVE ${PROJECT_SOURCE_DIR}/msg/generated ${PROJECT_SOURCE_DIR}/msg/generated/*) @@ -67,39 +72,49 @@ include_directories(include ${catkin_INCLUDE_DIRS}) include_directories(include ${Boost_INCLUDE_DIRS}) include_directories(include ${PROJECT_SOURCE_DIR}/src) include_directories(include ${PROJECT_SOURCE_DIR}/include) -include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/client) -include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/client_stubs) -include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/messages) -include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/common) -include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include) -link_directories(${PROJECT_SOURCE_DIR}/../kortex_api/lib/release) +if(NOT USE_CONAN) + include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/client) + include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/client_stubs) + include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/messages) + include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/common) + include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include) + link_directories(${PROJECT_SOURCE_DIR}/../kortex_api/lib/release) +endif() +# Generated files library add_library(kortex_driver_generated_files ${generated_files}) -target_link_libraries(kortex_driver_generated_files ${catkin_LIBRARIES} KortexApi gcov) +if(USE_CONAN) + target_link_libraries(kortex_driver_generated_files CONAN_PKG::kortex_api_cpp ${catkin_LIBRARIES} gcov) +else() + target_link_libraries(kortex_driver_generated_files KortexApiCpp ${catkin_LIBRARIES} gcov) +endif() add_dependencies(kortex_driver_generated_files ${PROJECT_NAME}_gencpp) +# Remove deprecation warnings from Kortex API +target_compile_options(kortex_driver_generated_files PRIVATE "-Wno-deprecated-declarations") -add_executable(kortex_arm_driver ${non_generated_files}) -target_link_libraries(kortex_arm_driver ${catkin_LIBRARIES} KortexApi gcov kortex_driver_generated_files) -add_dependencies(kortex_arm_driver kortex_driver_generated_files) - -# Install - -install(TARGETS kortex_driver_generated_files kortex_arm_driver - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -) - -install(DIRECTORY ${PROJECT_SOURCE_DIR}/../kortex_api/include/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -) +# Non-generated files library (driver implementation) +add_library(kortex_arm_driver_implementation ${non_generated_files}) +if(USE_CONAN) + target_link_libraries(kortex_arm_driver_implementation CONAN_PKG::kortex_api_cpp ${catkin_LIBRARIES} gcov kortex_driver_generated_files) +else() + target_link_libraries(kortex_arm_driver_implementation KortexApiCpp ${catkin_LIBRARIES} gcov kortex_driver_generated_files) +endif() +add_dependencies(kortex_arm_driver_implementation kortex_driver_generated_files) -install(DIRECTORY launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} - FILES_MATCHING PATTERN "*.launch" -) +# Entry point executable for the driver +add_executable(kortex_arm_driver src/non-generated/main.cpp) +if(USE_CONAN) + target_link_libraries(kortex_arm_driver CONAN_PKG::kortex_api_cpp ${catkin_LIBRARIES} gcov kortex_arm_driver_implementation) +else() + target_link_libraries(kortex_arm_driver KortexApiCpp ${catkin_LIBRARIES} gcov kortex_arm_driver_implementation) +endif() +add_dependencies(kortex_arm_driver kortex_arm_driver_implementation) + +## Add gtest based cpp test target and link libraries +if(CATKIN_ENABLE_TESTING) + find_package(rostest REQUIRED) + catkin_add_gtest(kortex_arm_driver_func_tests ${test_files}) + target_link_libraries(kortex_arm_driver_func_tests ${catkin_LIBRARIES} kortex_arm_driver_implementation) + add_dependencies(kortex_arm_driver_func_tests kortex_arm_driver_implementation) +endif() diff --git a/kortex_driver/cmake/README.md b/kortex_driver/cmake/README.md new file mode 100644 index 00000000..14be9d0c --- /dev/null +++ b/kortex_driver/cmake/README.md @@ -0,0 +1,3 @@ +File: **conan.cmake** +Version: **0.14** +External Link: https://github.com/conan-io/cmake-conan/releases diff --git a/kortex_driver/cmake/conan.cmake b/kortex_driver/cmake/conan.cmake new file mode 100644 index 00000000..1eae75ef --- /dev/null +++ b/kortex_driver/cmake/conan.cmake @@ -0,0 +1,554 @@ +# The MIT License (MIT) + +# Copyright (c) 2018 JFrog + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + + + +# This file comes from: https://github.com/conan-io/cmake-conan. Please refer +# to this repository for issues and documentation. + +# Its purpose is to wrap and launch Conan C/C++ Package Manager when cmake is called. +# It will take CMake current settings (os, compiler, compiler version, architecture) +# and translate them to conan settings for installing and retrieving dependencies. + +# It is intended to facilitate developers building projects that have conan dependencies, +# but it is only necessary on the end-user side. It is not necessary to create conan +# packages, in fact it shouldn't be use for that. Check the project documentation. + + +include(CMakeParseArguments) + +function(_get_msvc_ide_version result) + set(${result} "" PARENT_SCOPE) + if(NOT MSVC_VERSION VERSION_LESS 1400 AND MSVC_VERSION VERSION_LESS 1500) + set(${result} 8 PARENT_SCOPE) + elseif(NOT MSVC_VERSION VERSION_LESS 1500 AND MSVC_VERSION VERSION_LESS 1600) + set(${result} 9 PARENT_SCOPE) + elseif(NOT MSVC_VERSION VERSION_LESS 1600 AND MSVC_VERSION VERSION_LESS 1700) + set(${result} 10 PARENT_SCOPE) + elseif(NOT MSVC_VERSION VERSION_LESS 1700 AND MSVC_VERSION VERSION_LESS 1800) + set(${result} 11 PARENT_SCOPE) + elseif(NOT MSVC_VERSION VERSION_LESS 1800 AND MSVC_VERSION VERSION_LESS 1900) + set(${result} 12 PARENT_SCOPE) + elseif(NOT MSVC_VERSION VERSION_LESS 1900 AND MSVC_VERSION VERSION_LESS 1910) + set(${result} 14 PARENT_SCOPE) + elseif(NOT MSVC_VERSION VERSION_LESS 1910 AND MSVC_VERSION VERSION_LESS 1920) + set(${result} 15 PARENT_SCOPE) + elseif(NOT MSVC_VERSION VERSION_LESS 1920 AND MSVC_VERSION VERSION_LESS 1930) + set(${result} 16 PARENT_SCOPE) + else() + message(FATAL_ERROR "Conan: Unknown MSVC compiler version [${MSVC_VERSION}]") + endif() +endfunction() + +function(conan_cmake_settings result) + #message(STATUS "COMPILER " ${CMAKE_CXX_COMPILER}) + #message(STATUS "COMPILER " ${CMAKE_CXX_COMPILER_ID}) + #message(STATUS "VERSION " ${CMAKE_CXX_COMPILER_VERSION}) + #message(STATUS "FLAGS " ${CMAKE_LANG_FLAGS}) + #message(STATUS "LIB ARCH " ${CMAKE_CXX_LIBRARY_ARCHITECTURE}) + #message(STATUS "BUILD TYPE " ${CMAKE_BUILD_TYPE}) + #message(STATUS "GENERATOR " ${CMAKE_GENERATOR}) + #message(STATUS "GENERATOR WIN64 " ${CMAKE_CL_64}) + + message(STATUS "Conan: Automatic detection of conan settings from cmake") + + parse_arguments(${ARGV}) + + if(ARGUMENTS_BUILD_TYPE) + set(_CONAN_SETTING_BUILD_TYPE ${ARGUMENTS_BUILD_TYPE}) + elseif(CMAKE_BUILD_TYPE) + set(_CONAN_SETTING_BUILD_TYPE ${CMAKE_BUILD_TYPE}) + else() + message(FATAL_ERROR "Please specify in command line CMAKE_BUILD_TYPE (-DCMAKE_BUILD_TYPE=Release)") + endif() + + string(TOUPPER ${_CONAN_SETTING_BUILD_TYPE} _CONAN_SETTING_BUILD_TYPE_UPPER) + if (_CONAN_SETTING_BUILD_TYPE_UPPER STREQUAL "DEBUG") + set(_CONAN_SETTING_BUILD_TYPE "Debug") + elseif(_CONAN_SETTING_BUILD_TYPE_UPPER STREQUAL "RELEASE") + set(_CONAN_SETTING_BUILD_TYPE "Release") + elseif(_CONAN_SETTING_BUILD_TYPE_UPPER STREQUAL "RELWITHDEBINFO") + set(_CONAN_SETTING_BUILD_TYPE "RelWithDebInfo") + elseif(_CONAN_SETTING_BUILD_TYPE_UPPER STREQUAL "MINSIZEREL") + set(_CONAN_SETTING_BUILD_TYPE "MinSizeRel") + endif() + + if(ARGUMENTS_ARCH) + set(_CONAN_SETTING_ARCH ${ARGUMENTS_ARCH}) + endif() + #handle -s os setting + if(CMAKE_SYSTEM_NAME) + #use default conan os setting if CMAKE_SYSTEM_NAME is not defined + set(CONAN_SYSTEM_NAME ${CMAKE_SYSTEM_NAME}) + if(${CMAKE_SYSTEM_NAME} STREQUAL "Darwin") + set(CONAN_SYSTEM_NAME Macos) + endif() + set(CONAN_SUPPORTED_PLATFORMS Windows Linux Macos Android iOS FreeBSD WindowsStore) + list (FIND CONAN_SUPPORTED_PLATFORMS "${CONAN_SYSTEM_NAME}" _index) + if (${_index} GREATER -1) + #check if the cmake system is a conan supported one + set(_CONAN_SETTING_OS ${CONAN_SYSTEM_NAME}) + else() + message(FATAL_ERROR "cmake system ${CONAN_SYSTEM_NAME} is not supported by conan. Use one of ${CONAN_SUPPORTED_PLATFORMS}") + endif() + endif() + + get_property(_languages GLOBAL PROPERTY ENABLED_LANGUAGES) + if (";${_languages};" MATCHES ";CXX;") + set(LANGUAGE CXX) + set(USING_CXX 1) + elseif (";${_languages};" MATCHES ";C;") + set(LANGUAGE C) + set(USING_CXX 0) + else () + message(FATAL_ERROR "Conan: Neither C or C++ was detected as a language for the project. Unabled to detect compiler version.") + endif() + + if (${CMAKE_${LANGUAGE}_COMPILER_ID} STREQUAL GNU) + # using GCC + # TODO: Handle other params + string(REPLACE "." ";" VERSION_LIST ${CMAKE_${LANGUAGE}_COMPILER_VERSION}) + list(GET VERSION_LIST 0 MAJOR) + list(GET VERSION_LIST 1 MINOR) + set(COMPILER_VERSION ${MAJOR}.${MINOR}) + if(${MAJOR} GREATER 4) + set(COMPILER_VERSION ${MAJOR}) + endif() + set(_CONAN_SETTING_COMPILER gcc) + set(_CONAN_SETTING_COMPILER_VERSION ${COMPILER_VERSION}) + if (USING_CXX) + conan_cmake_detect_unix_libcxx(_LIBCXX) + set(_CONAN_SETTING_COMPILER_LIBCXX ${_LIBCXX}) + endif () + elseif (${CMAKE_${LANGUAGE}_COMPILER_ID} STREQUAL AppleClang) + # using AppleClang + string(REPLACE "." ";" VERSION_LIST ${CMAKE_${LANGUAGE}_COMPILER_VERSION}) + list(GET VERSION_LIST 0 MAJOR) + list(GET VERSION_LIST 1 MINOR) + set(_CONAN_SETTING_COMPILER apple-clang) + set(_CONAN_SETTING_COMPILER_VERSION ${MAJOR}.${MINOR}) + if (USING_CXX) + conan_cmake_detect_unix_libcxx(_LIBCXX) + set(_CONAN_SETTING_COMPILER_LIBCXX ${_LIBCXX}) + endif () + elseif (${CMAKE_${LANGUAGE}_COMPILER_ID} STREQUAL Clang) + string(REPLACE "." ";" VERSION_LIST ${CMAKE_${LANGUAGE}_COMPILER_VERSION}) + list(GET VERSION_LIST 0 MAJOR) + list(GET VERSION_LIST 1 MINOR) + set(_CONAN_SETTING_COMPILER clang) + set(_CONAN_SETTING_COMPILER_VERSION ${MAJOR}.${MINOR}) + if(APPLE) + cmake_policy(GET CMP0025 APPLE_CLANG_POLICY_ENABLED) + if(NOT APPLE_CLANG_POLICY_ENABLED) + message(STATUS "Conan: APPLE and Clang detected. Assuming apple-clang compiler. Set CMP0025 to avoid it") + set(_CONAN_SETTING_COMPILER apple-clang) + endif() + endif() + if(${_CONAN_SETTING_COMPILER} STREQUAL clang AND ${MAJOR} GREATER 7) + set(_CONAN_SETTING_COMPILER_VERSION ${MAJOR}) + endif() + if (USING_CXX) + conan_cmake_detect_unix_libcxx(_LIBCXX) + set(_CONAN_SETTING_COMPILER_LIBCXX ${_LIBCXX}) + endif () + elseif(${CMAKE_${LANGUAGE}_COMPILER_ID} STREQUAL MSVC) + set(_VISUAL "Visual Studio") + _get_msvc_ide_version(_VISUAL_VERSION) + if("${_VISUAL_VERSION}" STREQUAL "") + message(FATAL_ERROR "Conan: Visual Studio not recognized") + else() + set(_CONAN_SETTING_COMPILER ${_VISUAL}) + set(_CONAN_SETTING_COMPILER_VERSION ${_VISUAL_VERSION}) + endif() + + if(NOT _CONAN_SETTING_ARCH) + if (MSVC_${LANGUAGE}_ARCHITECTURE_ID MATCHES "64") + set(_CONAN_SETTING_ARCH x86_64) + elseif (MSVC_${LANGUAGE}_ARCHITECTURE_ID MATCHES "^ARM") + message(STATUS "Conan: Using default ARM architecture from MSVC") + set(_CONAN_SETTING_ARCH armv6) + elseif (MSVC_${LANGUAGE}_ARCHITECTURE_ID MATCHES "86") + set(_CONAN_SETTING_ARCH x86) + else () + message(FATAL_ERROR "Conan: Unknown MSVC architecture [${MSVC_${LANGUAGE}_ARCHITECTURE_ID}]") + endif() + endif() + + conan_cmake_detect_vs_runtime(_vs_runtime) + message(STATUS "Conan: Detected VS runtime: ${_vs_runtime}") + set(_CONAN_SETTING_COMPILER_RUNTIME ${_vs_runtime}) + + if (CMAKE_GENERATOR_TOOLSET) + set(_CONAN_SETTING_COMPILER_TOOLSET ${CMAKE_VS_PLATFORM_TOOLSET}) + elseif(CMAKE_VS_PLATFORM_TOOLSET AND (CMAKE_GENERATOR STREQUAL "Ninja")) + set(_CONAN_SETTING_COMPILER_TOOLSET ${CMAKE_VS_PLATFORM_TOOLSET}) + endif() + else() + message(FATAL_ERROR "Conan: compiler setup not recognized") + endif() + + # If profile is defined it is used + if(CMAKE_BUILD_TYPE STREQUAL "Debug" AND ARGUMENTS_DEBUG_PROFILE) + set(_APPLIED_PROFILES ${ARGUMENTS_DEBUG_PROFILE}) + elseif(CMAKE_BUILD_TYPE STREQUAL "Release" AND ARGUMENTS_RELEASE_PROFILE) + set(_APPLIED_PROFILES ${ARGUMENTS_RELEASE_PROFILE}) + elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo" AND ARGUMENTS_RELWITHDEBINFO_PROFILE) + set(_APPLIED_PROFILES ${ARGUMENTS_RELWITHDEBINFO_PROFILE}) + elseif(CMAKE_BUILD_TYPE STREQUAL "MinSizeRel" AND ARGUMENTS_MINSIZEREL_PROFILE) + set(_APPLIED_PROFILES ${ARGUMENTS_MINSIZEREL_PROFILE}) + elseif(ARGUMENTS_PROFILE) + set(_APPLIED_PROFILES ${ARGUMENTS_PROFILE}) + endif() + + foreach(ARG ${_APPLIED_PROFILES}) + set(_SETTINGS ${_SETTINGS} -pr ${ARG}) + endforeach() + + if(NOT _SETTINGS OR ARGUMENTS_PROFILE_AUTO STREQUAL "ALL") + set(ARGUMENTS_PROFILE_AUTO arch build_type compiler compiler.version + compiler.runtime compiler.libcxx compiler.toolset) + endif() + + # Automatic from CMake + foreach(ARG ${ARGUMENTS_PROFILE_AUTO}) + string(TOUPPER ${ARG} _arg_name) + string(REPLACE "." "_" _arg_name ${_arg_name}) + if(_CONAN_SETTING_${_arg_name}) + set(_SETTINGS ${_SETTINGS} -s ${ARG}=${_CONAN_SETTING_${_arg_name}}) + endif() + endforeach() + + foreach(ARG ${ARGUMENTS_SETTINGS}) + set(_SETTINGS ${_SETTINGS} -s ${ARG}) + endforeach() + + message(STATUS "Conan: Settings= ${_SETTINGS}") + + set(${result} ${_SETTINGS} PARENT_SCOPE) +endfunction() + + +function(conan_cmake_detect_unix_libcxx result) + # Take into account any -stdlib in compile options + get_directory_property(compile_options DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} COMPILE_OPTIONS) + + # Take into account any _GLIBCXX_USE_CXX11_ABI in compile definitions + get_directory_property(defines DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} COMPILE_DEFINITIONS) + foreach(define ${defines}) + if(define MATCHES "_GLIBCXX_USE_CXX11_ABI") + if(define MATCHES "^-D") + set(compile_options ${compile_options} "${define}") + else() + set(compile_options ${compile_options} "-D${define}") + endif() + endif() + endforeach() + + execute_process( + COMMAND ${CMAKE_COMMAND} -E echo "#include " + COMMAND ${CMAKE_CXX_COMPILER} -x c++ ${compile_options} -E -dM - + OUTPUT_VARIABLE string_defines + ) + + if(string_defines MATCHES "#define __GLIBCXX__") + # Allow -D_GLIBCXX_USE_CXX11_ABI=ON/OFF as argument to cmake + if(DEFINED _GLIBCXX_USE_CXX11_ABI) + if(_GLIBCXX_USE_CXX11_ABI) + set(${result} libstdc++11 PARENT_SCOPE) + return() + else() + set(${result} libstdc++ PARENT_SCOPE) + return() + endif() + endif() + + if(string_defines MATCHES "#define _GLIBCXX_USE_CXX11_ABI 1\n") + set(${result} libstdc++11 PARENT_SCOPE) + else() + # Either the compiler is missing the define because it is old, and so + # it can't use the new abi, or the compiler was configured to use the + # old abi by the user or distro (e.g. devtoolset on RHEL/CentOS) + set(${result} libstdc++ PARENT_SCOPE) + endif() + else() + set(${result} libc++ PARENT_SCOPE) + endif() +endfunction() + +function(conan_cmake_detect_vs_runtime result) + string(TOUPPER ${CMAKE_BUILD_TYPE} build_type) + set(variables CMAKE_CXX_FLAGS_${build_type} CMAKE_C_FLAGS_${build_type} CMAKE_CXX_FLAGS CMAKE_C_FLAGS) + foreach(variable ${variables}) + string(REPLACE " " ";" flags ${${variable}}) + foreach (flag ${flags}) + if(${flag} STREQUAL "/MD" OR ${flag} STREQUAL "/MDd" OR ${flag} STREQUAL "/MT" OR ${flag} STREQUAL "/MTd") + string(SUBSTRING ${flag} 1 -1 runtime) + set(${result} ${runtime} PARENT_SCOPE) + return() + endif() + endforeach() + endforeach() + if(${build_type} STREQUAL "DEBUG") + set(${result} "MDd" PARENT_SCOPE) + else() + set(${result} "MD" PARENT_SCOPE) + endif() +endfunction() + + +macro(parse_arguments) + set(options BASIC_SETUP CMAKE_TARGETS UPDATE KEEP_RPATHS NO_LOAD NO_OUTPUT_DIRS OUTPUT_QUIET NO_IMPORTS) + set(oneValueArgs CONANFILE ARCH BUILD_TYPE INSTALL_FOLDER CONAN_COMMAND) + set(multiValueArgs DEBUG_PROFILE RELEASE_PROFILE RELWITHDEBINFO_PROFILE MINSIZEREL_PROFILE + PROFILE REQUIRES OPTIONS IMPORTS SETTINGS BUILD ENV GENERATORS PROFILE_AUTO + INSTALL_ARGS) + cmake_parse_arguments(ARGUMENTS "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) +endmacro() + +function(conan_cmake_install) + # Calls "conan install" + # Argument BUILD is equivalant to --build={missing, PkgName,...} or + # --build when argument is 'BUILD all' (which builds all packages from source) + # Argument CONAN_COMMAND, to specify the conan path, e.g. in case of running from source + # cmake does not identify conan as command, even if it is +x and it is in the path + parse_arguments(${ARGV}) + + if(CONAN_CMAKE_MULTI) + set(ARGUMENTS_GENERATORS ${ARGUMENTS_GENERATORS} cmake_multi) + else() + set(ARGUMENTS_GENERATORS ${ARGUMENTS_GENERATORS} cmake) + endif() + + set(CONAN_BUILD_POLICY "") + foreach(ARG ${ARGUMENTS_BUILD}) + if(${ARG} STREQUAL "all") + set(CONAN_BUILD_POLICY ${CONAN_BUILD_POLICY} --build) + break() + else() + set(CONAN_BUILD_POLICY ${CONAN_BUILD_POLICY} --build=${ARG}) + endif() + endforeach() + if(ARGUMENTS_CONAN_COMMAND) + set(conan_command ${ARGUMENTS_CONAN_COMMAND}) + else() + set(conan_command conan) + endif() + set(CONAN_OPTIONS "") + if(ARGUMENTS_CONANFILE) + set(CONANFILE ${CMAKE_CURRENT_SOURCE_DIR}/${ARGUMENTS_CONANFILE}) + # A conan file has been specified - apply specified options as well if provided + foreach(ARG ${ARGUMENTS_OPTIONS}) + set(CONAN_OPTIONS ${CONAN_OPTIONS} -o=${ARG}) + endforeach() + else() + set(CONANFILE ".") + endif() + if(ARGUMENTS_UPDATE) + set(CONAN_INSTALL_UPDATE --update) + endif() + if(ARGUMENTS_NO_IMPORTS) + set(CONAN_INSTALL_NO_IMPORTS --no-imports) + endif() + set(CONAN_INSTALL_FOLDER "") + if(ARGUMENTS_INSTALL_FOLDER) + set(CONAN_INSTALL_FOLDER -if=${ARGUMENTS_INSTALL_FOLDER}) + endif() + foreach(ARG ${ARGUMENTS_GENERATORS}) + set(CONAN_GENERATORS ${CONAN_GENERATORS} -g=${ARG}) + endforeach() + foreach(ARG ${ARGUMENTS_ENV}) + set(CONAN_ENV_VARS ${CONAN_ENV_VARS} -e=${ARG}) + endforeach() + set(conan_args install ${CONANFILE} ${settings} ${CONAN_ENV_VARS} ${CONAN_GENERATORS} ${CONAN_BUILD_POLICY} ${CONAN_INSTALL_UPDATE} ${CONAN_INSTALL_NO_IMPORTS} ${CONAN_OPTIONS} ${CONAN_INSTALL_FOLDER} ${ARGUMENTS_INSTALL_ARGS}) + + string (REPLACE ";" " " _conan_args "${conan_args}") + message(STATUS "Conan executing: ${conan_command} ${_conan_args}") + + if(ARGUMENTS_OUTPUT_QUIET) + execute_process(COMMAND ${conan_command} ${conan_args} + RESULT_VARIABLE return_code + OUTPUT_VARIABLE conan_output + ERROR_VARIABLE conan_output + WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}) + else() + execute_process(COMMAND ${conan_command} ${conan_args} + RESULT_VARIABLE return_code + WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}) + endif() + + if(NOT "${return_code}" STREQUAL "0") + message(FATAL_ERROR "Conan install failed='${return_code}'") + endif() + +endfunction() + + +function(conan_cmake_setup_conanfile) + parse_arguments(${ARGV}) + if(ARGUMENTS_CONANFILE) + get_filename_component(_CONANFILE_NAME ${ARGUMENTS_CONANFILE} NAME) + # configure_file will make sure cmake re-runs when conanfile is updated + configure_file(${ARGUMENTS_CONANFILE} ${CMAKE_CURRENT_BINARY_DIR}/${_CONANFILE_NAME}.junk) + file(REMOVE ${CMAKE_CURRENT_BINARY_DIR}/${_CONANFILE_NAME}.junk) + else() + conan_cmake_generate_conanfile(${ARGV}) + endif() +endfunction() + +function(conan_cmake_generate_conanfile) + # Generate, writing in disk a conanfile.txt with the requires, options, and imports + # specified as arguments + # This will be considered as temporary file, generated in CMAKE_CURRENT_BINARY_DIR) + parse_arguments(${ARGV}) + set(_FN "${CMAKE_CURRENT_BINARY_DIR}/conanfile.txt") + + file(WRITE ${_FN} "[generators]\ncmake\n\n[requires]\n") + foreach(ARG ${ARGUMENTS_REQUIRES}) + file(APPEND ${_FN} ${ARG} "\n") + endforeach() + + file(APPEND ${_FN} ${ARG} "\n[options]\n") + foreach(ARG ${ARGUMENTS_OPTIONS}) + file(APPEND ${_FN} ${ARG} "\n") + endforeach() + + file(APPEND ${_FN} ${ARG} "\n[imports]\n") + foreach(ARG ${ARGUMENTS_IMPORTS}) + file(APPEND ${_FN} ${ARG} "\n") + endforeach() +endfunction() + + +macro(conan_load_buildinfo) + if(CONAN_CMAKE_MULTI) + set(_CONANBUILDINFO conanbuildinfo_multi.cmake) + else() + set(_CONANBUILDINFO conanbuildinfo.cmake) + endif() + if(ARGUMENTS_INSTALL_FOLDER) + set(_CONANBUILDINFOFOLDER ${ARGUMENTS_INSTALL_FOLDER}) + else() + set(_CONANBUILDINFOFOLDER ${CMAKE_CURRENT_BINARY_DIR}) + endif() + # Checks for the existence of conanbuildinfo.cmake, and loads it + # important that it is macro, so variables defined at parent scope + if(EXISTS "${_CONANBUILDINFOFOLDER}/${_CONANBUILDINFO}") + message(STATUS "Conan: Loading ${_CONANBUILDINFO}") + include(${_CONANBUILDINFOFOLDER}/${_CONANBUILDINFO}) + else() + message(FATAL_ERROR "${_CONANBUILDINFO} doesn't exist in ${CMAKE_CURRENT_BINARY_DIR}") + endif() +endmacro() + + +macro(conan_cmake_run) + parse_arguments(${ARGV}) + + if(CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE AND NOT CONAN_EXPORTED + AND NOT ARGUMENTS_BUILD_TYPE) + set(CONAN_CMAKE_MULTI ON) + message(STATUS "Conan: Using cmake-multi generator") + else() + set(CONAN_CMAKE_MULTI OFF) + endif() + + if(NOT CONAN_EXPORTED) + conan_cmake_setup_conanfile(${ARGV}) + if(CONAN_CMAKE_MULTI) + foreach(CMAKE_BUILD_TYPE "Release" "Debug") + set(ENV{CONAN_IMPORT_PATH} ${CMAKE_BUILD_TYPE}) + conan_cmake_settings(settings ${ARGV}) + conan_cmake_install(SETTINGS ${settings} ${ARGV}) + endforeach() + set(CMAKE_BUILD_TYPE) + else() + conan_cmake_settings(settings ${ARGV}) + conan_cmake_install(SETTINGS ${settings} ${ARGV}) + endif() + endif() + + if (NOT ARGUMENTS_NO_LOAD) + conan_load_buildinfo() + endif() + + if(ARGUMENTS_BASIC_SETUP) + foreach(_option CMAKE_TARGETS KEEP_RPATHS NO_OUTPUT_DIRS) + if(ARGUMENTS_${_option}) + if(${_option} STREQUAL "CMAKE_TARGETS") + list(APPEND _setup_options "TARGETS") + else() + list(APPEND _setup_options ${_option}) + endif() + endif() + endforeach() + conan_basic_setup(${_setup_options}) + endif() +endmacro() + +macro(conan_check) + # Checks conan availability in PATH + # Arguments REQUIRED and VERSION are optional + # Example usage: + # conan_check(VERSION 1.0.0 REQUIRED) + message(STATUS "Conan: checking conan executable in path") + set(options REQUIRED) + set(oneValueArgs VERSION) + cmake_parse_arguments(CONAN "${options}" "${oneValueArgs}" "" ${ARGN}) + + find_program(CONAN_CMD conan) + if(NOT CONAN_CMD AND CONAN_REQUIRED) + message(FATAL_ERROR "Conan executable not found!") + endif() + message(STATUS "Conan: Found program ${CONAN_CMD}") + execute_process(COMMAND ${CONAN_CMD} --version + OUTPUT_VARIABLE CONAN_VERSION_OUTPUT + ERROR_VARIABLE CONAN_VERSION_OUTPUT) + message(STATUS "Conan: Version found ${CONAN_VERSION_OUTPUT}") + + if(DEFINED CONAN_VERSION) + string(REGEX MATCH ".*Conan version ([0-9]+\.[0-9]+\.[0-9]+)" FOO + "${CONAN_VERSION_OUTPUT}") + if(${CMAKE_MATCH_1} VERSION_LESS ${CONAN_VERSION}) + message(FATAL_ERROR "Conan outdated. Installed: ${CMAKE_MATCH_1}, \ + required: ${CONAN_VERSION}. Consider updating via 'pip \ + install conan==${CONAN_VERSION}'.") + endif() + endif() +endmacro() + +macro(conan_add_remote) + # Adds a remote + # Arguments URL and NAME are required, INDEX is optional + # Example usage: + # conan_add_remote(NAME bincrafters INDEX 1 + # URL https://api.bintray.com/conan/bincrafters/public-conan) + set(oneValueArgs URL NAME INDEX) + cmake_parse_arguments(CONAN "" "${oneValueArgs}" "" ${ARGN}) + + if(DEFINED CONAN_INDEX) + set(CONAN_INDEX_ARG "-i ${CONAN_INDEX}") + endif() + + message(STATUS "Conan: Adding ${CONAN_NAME} remote repository (${CONAN_URL})") + execute_process(COMMAND ${CONAN_CMD} remote add ${CONAN_NAME} ${CONAN_URL} + ${CONAN_INDEX_ARG} -f) +endmacro() diff --git a/kortex_driver/conanfile.py b/kortex_driver/conanfile.py new file mode 100644 index 00000000..d494effe --- /dev/null +++ b/kortex_driver/conanfile.py @@ -0,0 +1,9 @@ +from conans import ConanFile, CMake +import os +import shutil +import time + +class ROSKortexConan(ConanFile): + + def requirements(self): + self.requires("kortex_api_cpp/2.2.0-r.31@kortex/stable") diff --git a/kortex_driver/include/kortex_driver/generated/actuatorconfig_proto_converter.h b/kortex_driver/include/kortex_driver/generated/actuatorconfig_proto_converter.h index 573f7ec8..b5dd37e9 100644 --- a/kortex_driver/include/kortex_driver/generated/actuatorconfig_proto_converter.h +++ b/kortex_driver/include/kortex_driver/generated/actuatorconfig_proto_converter.h @@ -58,6 +58,7 @@ #include "kortex_driver/CommandModeInformation.h" #include "kortex_driver/Servoing.h" #include "kortex_driver/PositionCommand.h" +#include "kortex_driver/CoggingFeedforwardModeInformation.h" int ToProtoData(kortex_driver::AxisPosition input, Kinova::Api::ActuatorConfig::AxisPosition *output); @@ -77,5 +78,6 @@ int ToProtoData(kortex_driver::CustomDataSelection input, Kinova::Api::ActuatorC int ToProtoData(kortex_driver::CommandModeInformation input, Kinova::Api::ActuatorConfig::CommandModeInformation *output); int ToProtoData(kortex_driver::Servoing input, Kinova::Api::ActuatorConfig::Servoing *output); int ToProtoData(kortex_driver::PositionCommand input, Kinova::Api::ActuatorConfig::PositionCommand *output); +int ToProtoData(kortex_driver::CoggingFeedforwardModeInformation input, Kinova::Api::ActuatorConfig::CoggingFeedforwardModeInformation *output); #endif \ No newline at end of file diff --git a/kortex_driver/include/kortex_driver/generated/actuatorconfig_ros_converter.h b/kortex_driver/include/kortex_driver/generated/actuatorconfig_ros_converter.h index fdaaf470..3412b504 100644 --- a/kortex_driver/include/kortex_driver/generated/actuatorconfig_ros_converter.h +++ b/kortex_driver/include/kortex_driver/generated/actuatorconfig_ros_converter.h @@ -58,6 +58,7 @@ #include "kortex_driver/CommandModeInformation.h" #include "kortex_driver/Servoing.h" #include "kortex_driver/PositionCommand.h" +#include "kortex_driver/CoggingFeedforwardModeInformation.h" int ToRosData(Kinova::Api::ActuatorConfig::AxisPosition input, kortex_driver::AxisPosition &output); @@ -77,5 +78,6 @@ int ToRosData(Kinova::Api::ActuatorConfig::CustomDataSelection input, kortex_dri int ToRosData(Kinova::Api::ActuatorConfig::CommandModeInformation input, kortex_driver::CommandModeInformation &output); int ToRosData(Kinova::Api::ActuatorConfig::Servoing input, kortex_driver::Servoing &output); int ToRosData(Kinova::Api::ActuatorConfig::PositionCommand input, kortex_driver::PositionCommand &output); +int ToRosData(Kinova::Api::ActuatorConfig::CoggingFeedforwardModeInformation input, kortex_driver::CoggingFeedforwardModeInformation &output); #endif \ No newline at end of file diff --git a/kortex_driver/include/kortex_driver/generated/actuatorconfig_services.h b/kortex_driver/include/kortex_driver/generated/actuatorconfig_services.h index b7b150c3..7ec46094 100644 --- a/kortex_driver/include/kortex_driver/generated/actuatorconfig_services.h +++ b/kortex_driver/include/kortex_driver/generated/actuatorconfig_services.h @@ -45,6 +45,8 @@ #include "kortex_driver/GetCommandMode.h" #include "kortex_driver/GetServoing.h" #include "kortex_driver/GetTorqueOffset.h" +#include "kortex_driver/SetCoggingFeedforwardMode.h" +#include "kortex_driver/GetCoggingFeedforwardMode.h" #include "kortex_driver/KortexError.h" #include "kortex_driver/SetDeviceID.h" @@ -78,6 +80,8 @@ class ActuatorConfigServices bool GetCommandMode(kortex_driver::GetCommandMode::Request &req, kortex_driver::GetCommandMode::Response &res); bool GetServoing(kortex_driver::GetServoing::Request &req, kortex_driver::GetServoing::Response &res); bool GetTorqueOffset(kortex_driver::GetTorqueOffset::Request &req, kortex_driver::GetTorqueOffset::Response &res); + bool SetCoggingFeedforwardMode(kortex_driver::SetCoggingFeedforwardMode::Request &req, kortex_driver::SetCoggingFeedforwardMode::Response &res); + bool GetCoggingFeedforwardMode(kortex_driver::GetCoggingFeedforwardMode::Request &req, kortex_driver::GetCoggingFeedforwardMode::Response &res); private: uint32_t m_current_device_id; @@ -109,5 +113,7 @@ class ActuatorConfigServices ros::ServiceServer m_serviceGetCommandMode; ros::ServiceServer m_serviceGetServoing; ros::ServiceServer m_serviceGetTorqueOffset; + ros::ServiceServer m_serviceSetCoggingFeedforwardMode; + ros::ServiceServer m_serviceGetCoggingFeedforwardMode; }; #endif diff --git a/kortex_driver/include/kortex_driver/generated/base_proto_converter.h b/kortex_driver/include/kortex_driver/generated/base_proto_converter.h index 6872f1be..52a4a7a5 100644 --- a/kortex_driver/include/kortex_driver/generated/base_proto_converter.h +++ b/kortex_driver/include/kortex_driver/generated/base_proto_converter.h @@ -50,12 +50,18 @@ #include "kortex_driver/AdvancedSequenceHandle.h" #include "kortex_driver/SequenceTaskHandle.h" #include "kortex_driver/SequenceTask.h" +#include "kortex_driver/SequenceTasks.h" +#include "kortex_driver/SequenceTasksConfiguration.h" +#include "kortex_driver/SequenceTaskConfiguration.h" +#include "kortex_driver/SequenceTasksRange.h" +#include "kortex_driver/SequenceTasksPair.h" #include "kortex_driver/Sequence.h" #include "kortex_driver/SequenceList.h" #include "kortex_driver/AppendActionInformation.h" #include "kortex_driver/ActionHandle.h" #include "kortex_driver/RequestedActionType.h" #include "kortex_driver/Action.h" +#include "kortex_driver/Snapshot.h" #include "kortex_driver/SwitchControlMapping.h" #include "kortex_driver/ChangeTwist.h" #include "kortex_driver/ChangeJointSpeeds.h" @@ -162,7 +168,7 @@ #include "kortex_driver/ConstrainedJointAngle.h" #include "kortex_driver/JointAngles.h" #include "kortex_driver/JointAngle.h" -#include "kortex_driver/JointSpeeds.h" +#include "kortex_driver/Base_JointSpeeds.h" #include "kortex_driver/JointSpeed.h" #include "kortex_driver/JointTorques.h" #include "kortex_driver/JointTorque.h" @@ -171,6 +177,9 @@ #include "kortex_driver/Gripper.h" #include "kortex_driver/Finger.h" #include "kortex_driver/SystemTime.h" +#include "kortex_driver/ControllerConfigurationMode.h" +#include "kortex_driver/ControllerConfiguration.h" +#include "kortex_driver/ControllerConfigurationList.h" #include "kortex_driver/ActuatorInformation.h" #include "kortex_driver/ArmStateInformation.h" #include "kortex_driver/ArmStateNotification.h" @@ -184,6 +193,8 @@ #include "kortex_driver/PreComputedJointTrajectoryElement.h" #include "kortex_driver/TrajectoryErrorElement.h" #include "kortex_driver/TrajectoryErrorReport.h" +#include "kortex_driver/FirmwareBundleVersions.h" +#include "kortex_driver/FirmwareComponentVersion.h" int ToProtoData(kortex_driver::FullUserProfile input, Kinova::Api::Base::FullUserProfile *output); @@ -195,12 +206,18 @@ int ToProtoData(kortex_driver::SequenceHandle input, Kinova::Api::Base::Sequence int ToProtoData(kortex_driver::AdvancedSequenceHandle input, Kinova::Api::Base::AdvancedSequenceHandle *output); int ToProtoData(kortex_driver::SequenceTaskHandle input, Kinova::Api::Base::SequenceTaskHandle *output); int ToProtoData(kortex_driver::SequenceTask input, Kinova::Api::Base::SequenceTask *output); +int ToProtoData(kortex_driver::SequenceTasks input, Kinova::Api::Base::SequenceTasks *output); +int ToProtoData(kortex_driver::SequenceTasksConfiguration input, Kinova::Api::Base::SequenceTasksConfiguration *output); +int ToProtoData(kortex_driver::SequenceTaskConfiguration input, Kinova::Api::Base::SequenceTaskConfiguration *output); +int ToProtoData(kortex_driver::SequenceTasksRange input, Kinova::Api::Base::SequenceTasksRange *output); +int ToProtoData(kortex_driver::SequenceTasksPair input, Kinova::Api::Base::SequenceTasksPair *output); int ToProtoData(kortex_driver::Sequence input, Kinova::Api::Base::Sequence *output); int ToProtoData(kortex_driver::SequenceList input, Kinova::Api::Base::SequenceList *output); int ToProtoData(kortex_driver::AppendActionInformation input, Kinova::Api::Base::AppendActionInformation *output); int ToProtoData(kortex_driver::ActionHandle input, Kinova::Api::Base::ActionHandle *output); int ToProtoData(kortex_driver::RequestedActionType input, Kinova::Api::Base::RequestedActionType *output); int ToProtoData(kortex_driver::Action input, Kinova::Api::Base::Action *output); +int ToProtoData(kortex_driver::Snapshot input, Kinova::Api::Base::Snapshot *output); int ToProtoData(kortex_driver::SwitchControlMapping input, Kinova::Api::Base::SwitchControlMapping *output); int ToProtoData(kortex_driver::ChangeTwist input, Kinova::Api::Base::ChangeTwist *output); int ToProtoData(kortex_driver::ChangeJointSpeeds input, Kinova::Api::Base::ChangeJointSpeeds *output); @@ -307,7 +324,7 @@ int ToProtoData(kortex_driver::ConstrainedJointAngles input, Kinova::Api::Base:: int ToProtoData(kortex_driver::ConstrainedJointAngle input, Kinova::Api::Base::ConstrainedJointAngle *output); int ToProtoData(kortex_driver::JointAngles input, Kinova::Api::Base::JointAngles *output); int ToProtoData(kortex_driver::JointAngle input, Kinova::Api::Base::JointAngle *output); -int ToProtoData(kortex_driver::JointSpeeds input, Kinova::Api::Base::JointSpeeds *output); +int ToProtoData(kortex_driver::Base_JointSpeeds input, Kinova::Api::Base::JointSpeeds *output); int ToProtoData(kortex_driver::JointSpeed input, Kinova::Api::Base::JointSpeed *output); int ToProtoData(kortex_driver::JointTorques input, Kinova::Api::Base::JointTorques *output); int ToProtoData(kortex_driver::JointTorque input, Kinova::Api::Base::JointTorque *output); @@ -316,6 +333,9 @@ int ToProtoData(kortex_driver::GripperRequest input, Kinova::Api::Base::GripperR int ToProtoData(kortex_driver::Gripper input, Kinova::Api::Base::Gripper *output); int ToProtoData(kortex_driver::Finger input, Kinova::Api::Base::Finger *output); int ToProtoData(kortex_driver::SystemTime input, Kinova::Api::Base::SystemTime *output); +int ToProtoData(kortex_driver::ControllerConfigurationMode input, Kinova::Api::Base::ControllerConfigurationMode *output); +int ToProtoData(kortex_driver::ControllerConfiguration input, Kinova::Api::Base::ControllerConfiguration *output); +int ToProtoData(kortex_driver::ControllerConfigurationList input, Kinova::Api::Base::ControllerConfigurationList *output); int ToProtoData(kortex_driver::ActuatorInformation input, Kinova::Api::Base::ActuatorInformation *output); int ToProtoData(kortex_driver::ArmStateInformation input, Kinova::Api::Base::ArmStateInformation *output); int ToProtoData(kortex_driver::ArmStateNotification input, Kinova::Api::Base::ArmStateNotification *output); @@ -329,5 +349,7 @@ int ToProtoData(kortex_driver::PreComputedJointTrajectory input, Kinova::Api::Ba int ToProtoData(kortex_driver::PreComputedJointTrajectoryElement input, Kinova::Api::Base::PreComputedJointTrajectoryElement *output); int ToProtoData(kortex_driver::TrajectoryErrorElement input, Kinova::Api::Base::TrajectoryErrorElement *output); int ToProtoData(kortex_driver::TrajectoryErrorReport input, Kinova::Api::Base::TrajectoryErrorReport *output); +int ToProtoData(kortex_driver::FirmwareBundleVersions input, Kinova::Api::Base::FirmwareBundleVersions *output); +int ToProtoData(kortex_driver::FirmwareComponentVersion input, Kinova::Api::Base::FirmwareComponentVersion *output); #endif \ No newline at end of file diff --git a/kortex_driver/include/kortex_driver/generated/base_ros_converter.h b/kortex_driver/include/kortex_driver/generated/base_ros_converter.h index 3709bc08..c05cd620 100644 --- a/kortex_driver/include/kortex_driver/generated/base_ros_converter.h +++ b/kortex_driver/include/kortex_driver/generated/base_ros_converter.h @@ -50,12 +50,18 @@ #include "kortex_driver/AdvancedSequenceHandle.h" #include "kortex_driver/SequenceTaskHandle.h" #include "kortex_driver/SequenceTask.h" +#include "kortex_driver/SequenceTasks.h" +#include "kortex_driver/SequenceTasksConfiguration.h" +#include "kortex_driver/SequenceTaskConfiguration.h" +#include "kortex_driver/SequenceTasksRange.h" +#include "kortex_driver/SequenceTasksPair.h" #include "kortex_driver/Sequence.h" #include "kortex_driver/SequenceList.h" #include "kortex_driver/AppendActionInformation.h" #include "kortex_driver/ActionHandle.h" #include "kortex_driver/RequestedActionType.h" #include "kortex_driver/Action.h" +#include "kortex_driver/Snapshot.h" #include "kortex_driver/SwitchControlMapping.h" #include "kortex_driver/ChangeTwist.h" #include "kortex_driver/ChangeJointSpeeds.h" @@ -162,7 +168,7 @@ #include "kortex_driver/ConstrainedJointAngle.h" #include "kortex_driver/JointAngles.h" #include "kortex_driver/JointAngle.h" -#include "kortex_driver/JointSpeeds.h" +#include "kortex_driver/Base_JointSpeeds.h" #include "kortex_driver/JointSpeed.h" #include "kortex_driver/JointTorques.h" #include "kortex_driver/JointTorque.h" @@ -171,6 +177,9 @@ #include "kortex_driver/Gripper.h" #include "kortex_driver/Finger.h" #include "kortex_driver/SystemTime.h" +#include "kortex_driver/ControllerConfigurationMode.h" +#include "kortex_driver/ControllerConfiguration.h" +#include "kortex_driver/ControllerConfigurationList.h" #include "kortex_driver/ActuatorInformation.h" #include "kortex_driver/ArmStateInformation.h" #include "kortex_driver/ArmStateNotification.h" @@ -184,6 +193,8 @@ #include "kortex_driver/PreComputedJointTrajectoryElement.h" #include "kortex_driver/TrajectoryErrorElement.h" #include "kortex_driver/TrajectoryErrorReport.h" +#include "kortex_driver/FirmwareBundleVersions.h" +#include "kortex_driver/FirmwareComponentVersion.h" int ToRosData(Kinova::Api::Base::FullUserProfile input, kortex_driver::FullUserProfile &output); @@ -195,12 +206,18 @@ int ToRosData(Kinova::Api::Base::SequenceHandle input, kortex_driver::SequenceHa int ToRosData(Kinova::Api::Base::AdvancedSequenceHandle input, kortex_driver::AdvancedSequenceHandle &output); int ToRosData(Kinova::Api::Base::SequenceTaskHandle input, kortex_driver::SequenceTaskHandle &output); int ToRosData(Kinova::Api::Base::SequenceTask input, kortex_driver::SequenceTask &output); +int ToRosData(Kinova::Api::Base::SequenceTasks input, kortex_driver::SequenceTasks &output); +int ToRosData(Kinova::Api::Base::SequenceTasksConfiguration input, kortex_driver::SequenceTasksConfiguration &output); +int ToRosData(Kinova::Api::Base::SequenceTaskConfiguration input, kortex_driver::SequenceTaskConfiguration &output); +int ToRosData(Kinova::Api::Base::SequenceTasksRange input, kortex_driver::SequenceTasksRange &output); +int ToRosData(Kinova::Api::Base::SequenceTasksPair input, kortex_driver::SequenceTasksPair &output); int ToRosData(Kinova::Api::Base::Sequence input, kortex_driver::Sequence &output); int ToRosData(Kinova::Api::Base::SequenceList input, kortex_driver::SequenceList &output); int ToRosData(Kinova::Api::Base::AppendActionInformation input, kortex_driver::AppendActionInformation &output); int ToRosData(Kinova::Api::Base::ActionHandle input, kortex_driver::ActionHandle &output); int ToRosData(Kinova::Api::Base::RequestedActionType input, kortex_driver::RequestedActionType &output); int ToRosData(Kinova::Api::Base::Action input, kortex_driver::Action &output); +int ToRosData(Kinova::Api::Base::Snapshot input, kortex_driver::Snapshot &output); int ToRosData(Kinova::Api::Base::SwitchControlMapping input, kortex_driver::SwitchControlMapping &output); int ToRosData(Kinova::Api::Base::ChangeTwist input, kortex_driver::ChangeTwist &output); int ToRosData(Kinova::Api::Base::ChangeJointSpeeds input, kortex_driver::ChangeJointSpeeds &output); @@ -307,7 +324,7 @@ int ToRosData(Kinova::Api::Base::ConstrainedJointAngles input, kortex_driver::Co int ToRosData(Kinova::Api::Base::ConstrainedJointAngle input, kortex_driver::ConstrainedJointAngle &output); int ToRosData(Kinova::Api::Base::JointAngles input, kortex_driver::JointAngles &output); int ToRosData(Kinova::Api::Base::JointAngle input, kortex_driver::JointAngle &output); -int ToRosData(Kinova::Api::Base::JointSpeeds input, kortex_driver::JointSpeeds &output); +int ToRosData(Kinova::Api::Base::JointSpeeds input, kortex_driver::Base_JointSpeeds &output); int ToRosData(Kinova::Api::Base::JointSpeed input, kortex_driver::JointSpeed &output); int ToRosData(Kinova::Api::Base::JointTorques input, kortex_driver::JointTorques &output); int ToRosData(Kinova::Api::Base::JointTorque input, kortex_driver::JointTorque &output); @@ -316,6 +333,9 @@ int ToRosData(Kinova::Api::Base::GripperRequest input, kortex_driver::GripperReq int ToRosData(Kinova::Api::Base::Gripper input, kortex_driver::Gripper &output); int ToRosData(Kinova::Api::Base::Finger input, kortex_driver::Finger &output); int ToRosData(Kinova::Api::Base::SystemTime input, kortex_driver::SystemTime &output); +int ToRosData(Kinova::Api::Base::ControllerConfigurationMode input, kortex_driver::ControllerConfigurationMode &output); +int ToRosData(Kinova::Api::Base::ControllerConfiguration input, kortex_driver::ControllerConfiguration &output); +int ToRosData(Kinova::Api::Base::ControllerConfigurationList input, kortex_driver::ControllerConfigurationList &output); int ToRosData(Kinova::Api::Base::ActuatorInformation input, kortex_driver::ActuatorInformation &output); int ToRosData(Kinova::Api::Base::ArmStateInformation input, kortex_driver::ArmStateInformation &output); int ToRosData(Kinova::Api::Base::ArmStateNotification input, kortex_driver::ArmStateNotification &output); @@ -329,5 +349,7 @@ int ToRosData(Kinova::Api::Base::PreComputedJointTrajectory input, kortex_driver int ToRosData(Kinova::Api::Base::PreComputedJointTrajectoryElement input, kortex_driver::PreComputedJointTrajectoryElement &output); int ToRosData(Kinova::Api::Base::TrajectoryErrorElement input, kortex_driver::TrajectoryErrorElement &output); int ToRosData(Kinova::Api::Base::TrajectoryErrorReport input, kortex_driver::TrajectoryErrorReport &output); +int ToRosData(Kinova::Api::Base::FirmwareBundleVersions input, kortex_driver::FirmwareBundleVersions &output); +int ToRosData(Kinova::Api::Base::FirmwareComponentVersion input, kortex_driver::FirmwareComponentVersion &output); #endif \ No newline at end of file diff --git a/kortex_driver/include/kortex_driver/generated/base_services.h b/kortex_driver/include/kortex_driver/generated/base_services.h index bc81955a..ecfa5253 100644 --- a/kortex_driver/include/kortex_driver/generated/base_services.h +++ b/kortex_driver/include/kortex_driver/generated/base_services.h @@ -39,8 +39,6 @@ #include "kortex_driver/ReadSequence.h" #include "kortex_driver/DeleteSequence.h" #include "kortex_driver/ReadAllSequences.h" -#include "kortex_driver/DeleteSequenceTask.h" -#include "kortex_driver/DeleteAllSequenceTasks.h" #include "kortex_driver/PlaySequence.h" #include "kortex_driver/PlayAdvancedSequence.h" #include "kortex_driver/StopSequence.h" @@ -161,19 +159,32 @@ #include "kortex_driver/GetBridgeConfig.h" #include "kortex_driver/PlayPreComputedJointTrajectory.h" #include "kortex_driver/GetProductConfiguration.h" -#include "kortex_driver/UpdateDegreeOfFreedomConfiguration.h" -#include "kortex_driver/UpdateBaseTypeConfiguration.h" #include "kortex_driver/UpdateEndEffectorTypeConfiguration.h" -#include "kortex_driver/UpdateVisionModuleTypeConfiguration.h" -#include "kortex_driver/UpdateInterfaceModuleTypeConfiguration.h" -#include "kortex_driver/UpdateArmLateralityConfiguration.h" -#include "kortex_driver/UpdateWristTypeConfiguration.h" #include "kortex_driver/RestoreFactoryProductConfiguration.h" #include "kortex_driver/GetTrajectoryErrorReport.h" #include "kortex_driver/GetAllJointsSpeedSoftLimitation.h" #include "kortex_driver/GetAllJointsTorqueSoftLimitation.h" #include "kortex_driver/GetTwistSoftLimitation.h" #include "kortex_driver/GetWrenchSoftLimitation.h" +#include "kortex_driver/SetControllerConfigurationMode.h" +#include "kortex_driver/GetControllerConfigurationMode.h" +#include "kortex_driver/StartTeaching.h" +#include "kortex_driver/StopTeaching.h" +#include "kortex_driver/AddSequenceTasks.h" +#include "kortex_driver/UpdateSequenceTask.h" +#include "kortex_driver/SwapSequenceTasks.h" +#include "kortex_driver/ReadSequenceTask.h" +#include "kortex_driver/ReadAllSequenceTasks.h" +#include "kortex_driver/DeleteSequenceTask.h" +#include "kortex_driver/DeleteAllSequenceTasks.h" +#include "kortex_driver/TakeSnapshot.h" +#include "kortex_driver/GetFirmwareBundleVersions.h" +#include "kortex_driver/MoveSequenceTask.h" +#include "kortex_driver/DuplicateMapping.h" +#include "kortex_driver/DuplicateMap.h" +#include "kortex_driver/SetControllerConfiguration.h" +#include "kortex_driver/GetControllerConfiguration.h" +#include "kortex_driver/GetAllControllerConfigurations.h" #include "kortex_driver/KortexError.h" #include "kortex_driver/SetDeviceID.h" @@ -201,8 +212,6 @@ class BaseServices bool ReadSequence(kortex_driver::ReadSequence::Request &req, kortex_driver::ReadSequence::Response &res); bool DeleteSequence(kortex_driver::DeleteSequence::Request &req, kortex_driver::DeleteSequence::Response &res); bool ReadAllSequences(kortex_driver::ReadAllSequences::Request &req, kortex_driver::ReadAllSequences::Response &res); - bool DeleteSequenceTask(kortex_driver::DeleteSequenceTask::Request &req, kortex_driver::DeleteSequenceTask::Response &res); - bool DeleteAllSequenceTasks(kortex_driver::DeleteAllSequenceTasks::Request &req, kortex_driver::DeleteAllSequenceTasks::Response &res); bool PlaySequence(kortex_driver::PlaySequence::Request &req, kortex_driver::PlaySequence::Response &res); bool PlayAdvancedSequence(kortex_driver::PlayAdvancedSequence::Request &req, kortex_driver::PlayAdvancedSequence::Response &res); bool StopSequence(kortex_driver::StopSequence::Request &req, kortex_driver::StopSequence::Response &res); @@ -323,19 +332,32 @@ class BaseServices bool GetBridgeConfig(kortex_driver::GetBridgeConfig::Request &req, kortex_driver::GetBridgeConfig::Response &res); bool PlayPreComputedJointTrajectory(kortex_driver::PlayPreComputedJointTrajectory::Request &req, kortex_driver::PlayPreComputedJointTrajectory::Response &res); bool GetProductConfiguration(kortex_driver::GetProductConfiguration::Request &req, kortex_driver::GetProductConfiguration::Response &res); - bool UpdateDegreeOfFreedomConfiguration(kortex_driver::UpdateDegreeOfFreedomConfiguration::Request &req, kortex_driver::UpdateDegreeOfFreedomConfiguration::Response &res); - bool UpdateBaseTypeConfiguration(kortex_driver::UpdateBaseTypeConfiguration::Request &req, kortex_driver::UpdateBaseTypeConfiguration::Response &res); bool UpdateEndEffectorTypeConfiguration(kortex_driver::UpdateEndEffectorTypeConfiguration::Request &req, kortex_driver::UpdateEndEffectorTypeConfiguration::Response &res); - bool UpdateVisionModuleTypeConfiguration(kortex_driver::UpdateVisionModuleTypeConfiguration::Request &req, kortex_driver::UpdateVisionModuleTypeConfiguration::Response &res); - bool UpdateInterfaceModuleTypeConfiguration(kortex_driver::UpdateInterfaceModuleTypeConfiguration::Request &req, kortex_driver::UpdateInterfaceModuleTypeConfiguration::Response &res); - bool UpdateArmLateralityConfiguration(kortex_driver::UpdateArmLateralityConfiguration::Request &req, kortex_driver::UpdateArmLateralityConfiguration::Response &res); - bool UpdateWristTypeConfiguration(kortex_driver::UpdateWristTypeConfiguration::Request &req, kortex_driver::UpdateWristTypeConfiguration::Response &res); bool RestoreFactoryProductConfiguration(kortex_driver::RestoreFactoryProductConfiguration::Request &req, kortex_driver::RestoreFactoryProductConfiguration::Response &res); bool GetTrajectoryErrorReport(kortex_driver::GetTrajectoryErrorReport::Request &req, kortex_driver::GetTrajectoryErrorReport::Response &res); bool GetAllJointsSpeedSoftLimitation(kortex_driver::GetAllJointsSpeedSoftLimitation::Request &req, kortex_driver::GetAllJointsSpeedSoftLimitation::Response &res); bool GetAllJointsTorqueSoftLimitation(kortex_driver::GetAllJointsTorqueSoftLimitation::Request &req, kortex_driver::GetAllJointsTorqueSoftLimitation::Response &res); bool GetTwistSoftLimitation(kortex_driver::GetTwistSoftLimitation::Request &req, kortex_driver::GetTwistSoftLimitation::Response &res); bool GetWrenchSoftLimitation(kortex_driver::GetWrenchSoftLimitation::Request &req, kortex_driver::GetWrenchSoftLimitation::Response &res); + bool SetControllerConfigurationMode(kortex_driver::SetControllerConfigurationMode::Request &req, kortex_driver::SetControllerConfigurationMode::Response &res); + bool GetControllerConfigurationMode(kortex_driver::GetControllerConfigurationMode::Request &req, kortex_driver::GetControllerConfigurationMode::Response &res); + bool StartTeaching(kortex_driver::StartTeaching::Request &req, kortex_driver::StartTeaching::Response &res); + bool StopTeaching(kortex_driver::StopTeaching::Request &req, kortex_driver::StopTeaching::Response &res); + bool AddSequenceTasks(kortex_driver::AddSequenceTasks::Request &req, kortex_driver::AddSequenceTasks::Response &res); + bool UpdateSequenceTask(kortex_driver::UpdateSequenceTask::Request &req, kortex_driver::UpdateSequenceTask::Response &res); + bool SwapSequenceTasks(kortex_driver::SwapSequenceTasks::Request &req, kortex_driver::SwapSequenceTasks::Response &res); + bool ReadSequenceTask(kortex_driver::ReadSequenceTask::Request &req, kortex_driver::ReadSequenceTask::Response &res); + bool ReadAllSequenceTasks(kortex_driver::ReadAllSequenceTasks::Request &req, kortex_driver::ReadAllSequenceTasks::Response &res); + bool DeleteSequenceTask(kortex_driver::DeleteSequenceTask::Request &req, kortex_driver::DeleteSequenceTask::Response &res); + bool DeleteAllSequenceTasks(kortex_driver::DeleteAllSequenceTasks::Request &req, kortex_driver::DeleteAllSequenceTasks::Response &res); + bool TakeSnapshot(kortex_driver::TakeSnapshot::Request &req, kortex_driver::TakeSnapshot::Response &res); + bool GetFirmwareBundleVersions(kortex_driver::GetFirmwareBundleVersions::Request &req, kortex_driver::GetFirmwareBundleVersions::Response &res); + bool MoveSequenceTask(kortex_driver::MoveSequenceTask::Request &req, kortex_driver::MoveSequenceTask::Response &res); + bool DuplicateMapping(kortex_driver::DuplicateMapping::Request &req, kortex_driver::DuplicateMapping::Response &res); + bool DuplicateMap(kortex_driver::DuplicateMap::Request &req, kortex_driver::DuplicateMap::Response &res); + bool SetControllerConfiguration(kortex_driver::SetControllerConfiguration::Request &req, kortex_driver::SetControllerConfiguration::Response &res); + bool GetControllerConfiguration(kortex_driver::GetControllerConfiguration::Request &req, kortex_driver::GetControllerConfiguration::Response &res); + bool GetAllControllerConfigurations(kortex_driver::GetAllControllerConfigurations::Request &req, kortex_driver::GetAllControllerConfigurations::Response &res); private: uint32_t m_current_device_id; @@ -389,8 +411,6 @@ class BaseServices ros::ServiceServer m_serviceReadSequence; ros::ServiceServer m_serviceDeleteSequence; ros::ServiceServer m_serviceReadAllSequences; - ros::ServiceServer m_serviceDeleteSequenceTask; - ros::ServiceServer m_serviceDeleteAllSequenceTasks; ros::ServiceServer m_servicePlaySequence; ros::ServiceServer m_servicePlayAdvancedSequence; ros::ServiceServer m_serviceStopSequence; @@ -497,18 +517,31 @@ class BaseServices ros::ServiceServer m_serviceGetBridgeConfig; ros::ServiceServer m_servicePlayPreComputedJointTrajectory; ros::ServiceServer m_serviceGetProductConfiguration; - ros::ServiceServer m_serviceUpdateDegreeOfFreedomConfiguration; - ros::ServiceServer m_serviceUpdateBaseTypeConfiguration; ros::ServiceServer m_serviceUpdateEndEffectorTypeConfiguration; - ros::ServiceServer m_serviceUpdateVisionModuleTypeConfiguration; - ros::ServiceServer m_serviceUpdateInterfaceModuleTypeConfiguration; - ros::ServiceServer m_serviceUpdateArmLateralityConfiguration; - ros::ServiceServer m_serviceUpdateWristTypeConfiguration; ros::ServiceServer m_serviceRestoreFactoryProductConfiguration; ros::ServiceServer m_serviceGetTrajectoryErrorReport; ros::ServiceServer m_serviceGetAllJointsSpeedSoftLimitation; ros::ServiceServer m_serviceGetAllJointsTorqueSoftLimitation; ros::ServiceServer m_serviceGetTwistSoftLimitation; ros::ServiceServer m_serviceGetWrenchSoftLimitation; + ros::ServiceServer m_serviceSetControllerConfigurationMode; + ros::ServiceServer m_serviceGetControllerConfigurationMode; + ros::ServiceServer m_serviceStartTeaching; + ros::ServiceServer m_serviceStopTeaching; + ros::ServiceServer m_serviceAddSequenceTasks; + ros::ServiceServer m_serviceUpdateSequenceTask; + ros::ServiceServer m_serviceSwapSequenceTasks; + ros::ServiceServer m_serviceReadSequenceTask; + ros::ServiceServer m_serviceReadAllSequenceTasks; + ros::ServiceServer m_serviceDeleteSequenceTask; + ros::ServiceServer m_serviceDeleteAllSequenceTasks; + ros::ServiceServer m_serviceTakeSnapshot; + ros::ServiceServer m_serviceGetFirmwareBundleVersions; + ros::ServiceServer m_serviceMoveSequenceTask; + ros::ServiceServer m_serviceDuplicateMapping; + ros::ServiceServer m_serviceDuplicateMap; + ros::ServiceServer m_serviceSetControllerConfiguration; + ros::ServiceServer m_serviceGetControllerConfiguration; + ros::ServiceServer m_serviceGetAllControllerConfigurations; }; #endif diff --git a/kortex_driver/include/kortex_driver/generated/controlconfig_proto_converter.h b/kortex_driver/include/kortex_driver/generated/controlconfig_proto_converter.h index bce9a462..c93da6a3 100644 --- a/kortex_driver/include/kortex_driver/generated/controlconfig_proto_converter.h +++ b/kortex_driver/include/kortex_driver/generated/controlconfig_proto_converter.h @@ -48,6 +48,17 @@ #include "kortex_driver/ToolConfiguration.h" #include "kortex_driver/ControlConfigurationNotification.h" #include "kortex_driver/CartesianReferenceFrameInfo.h" +#include "kortex_driver/TwistLinearSoftLimit.h" +#include "kortex_driver/TwistAngularSoftLimit.h" +#include "kortex_driver/JointSpeedSoftLimits.h" +#include "kortex_driver/JointAccelerationSoftLimits.h" +#include "kortex_driver/KinematicLimits.h" +#include "kortex_driver/KinematicLimitsList.h" +#include "kortex_driver/DesiredSpeeds.h" +#include "kortex_driver/LinearTwist.h" +#include "kortex_driver/AngularTwist.h" +#include "kortex_driver/ControlConfig_JointSpeeds.h" +#include "kortex_driver/ControlConfig_ControlModeInformation.h" int ToProtoData(kortex_driver::GravityVector input, Kinova::Api::ControlConfig::GravityVector *output); @@ -57,5 +68,16 @@ int ToProtoData(kortex_driver::CartesianTransform input, Kinova::Api::ControlCon int ToProtoData(kortex_driver::ToolConfiguration input, Kinova::Api::ControlConfig::ToolConfiguration *output); int ToProtoData(kortex_driver::ControlConfigurationNotification input, Kinova::Api::ControlConfig::ControlConfigurationNotification *output); int ToProtoData(kortex_driver::CartesianReferenceFrameInfo input, Kinova::Api::ControlConfig::CartesianReferenceFrameInfo *output); +int ToProtoData(kortex_driver::TwistLinearSoftLimit input, Kinova::Api::ControlConfig::TwistLinearSoftLimit *output); +int ToProtoData(kortex_driver::TwistAngularSoftLimit input, Kinova::Api::ControlConfig::TwistAngularSoftLimit *output); +int ToProtoData(kortex_driver::JointSpeedSoftLimits input, Kinova::Api::ControlConfig::JointSpeedSoftLimits *output); +int ToProtoData(kortex_driver::JointAccelerationSoftLimits input, Kinova::Api::ControlConfig::JointAccelerationSoftLimits *output); +int ToProtoData(kortex_driver::KinematicLimits input, Kinova::Api::ControlConfig::KinematicLimits *output); +int ToProtoData(kortex_driver::KinematicLimitsList input, Kinova::Api::ControlConfig::KinematicLimitsList *output); +int ToProtoData(kortex_driver::DesiredSpeeds input, Kinova::Api::ControlConfig::DesiredSpeeds *output); +int ToProtoData(kortex_driver::LinearTwist input, Kinova::Api::ControlConfig::LinearTwist *output); +int ToProtoData(kortex_driver::AngularTwist input, Kinova::Api::ControlConfig::AngularTwist *output); +int ToProtoData(kortex_driver::ControlConfig_JointSpeeds input, Kinova::Api::ControlConfig::JointSpeeds *output); +int ToProtoData(kortex_driver::ControlConfig_ControlModeInformation input, Kinova::Api::ControlConfig::ControlModeInformation *output); #endif \ No newline at end of file diff --git a/kortex_driver/include/kortex_driver/generated/controlconfig_ros_converter.h b/kortex_driver/include/kortex_driver/generated/controlconfig_ros_converter.h index ec8cd96f..c22531fb 100644 --- a/kortex_driver/include/kortex_driver/generated/controlconfig_ros_converter.h +++ b/kortex_driver/include/kortex_driver/generated/controlconfig_ros_converter.h @@ -48,6 +48,17 @@ #include "kortex_driver/ToolConfiguration.h" #include "kortex_driver/ControlConfigurationNotification.h" #include "kortex_driver/CartesianReferenceFrameInfo.h" +#include "kortex_driver/TwistLinearSoftLimit.h" +#include "kortex_driver/TwistAngularSoftLimit.h" +#include "kortex_driver/JointSpeedSoftLimits.h" +#include "kortex_driver/JointAccelerationSoftLimits.h" +#include "kortex_driver/KinematicLimits.h" +#include "kortex_driver/KinematicLimitsList.h" +#include "kortex_driver/DesiredSpeeds.h" +#include "kortex_driver/LinearTwist.h" +#include "kortex_driver/AngularTwist.h" +#include "kortex_driver/ControlConfig_JointSpeeds.h" +#include "kortex_driver/ControlConfig_ControlModeInformation.h" int ToRosData(Kinova::Api::ControlConfig::GravityVector input, kortex_driver::GravityVector &output); @@ -57,5 +68,16 @@ int ToRosData(Kinova::Api::ControlConfig::CartesianTransform input, kortex_drive int ToRosData(Kinova::Api::ControlConfig::ToolConfiguration input, kortex_driver::ToolConfiguration &output); int ToRosData(Kinova::Api::ControlConfig::ControlConfigurationNotification input, kortex_driver::ControlConfigurationNotification &output); int ToRosData(Kinova::Api::ControlConfig::CartesianReferenceFrameInfo input, kortex_driver::CartesianReferenceFrameInfo &output); +int ToRosData(Kinova::Api::ControlConfig::TwistLinearSoftLimit input, kortex_driver::TwistLinearSoftLimit &output); +int ToRosData(Kinova::Api::ControlConfig::TwistAngularSoftLimit input, kortex_driver::TwistAngularSoftLimit &output); +int ToRosData(Kinova::Api::ControlConfig::JointSpeedSoftLimits input, kortex_driver::JointSpeedSoftLimits &output); +int ToRosData(Kinova::Api::ControlConfig::JointAccelerationSoftLimits input, kortex_driver::JointAccelerationSoftLimits &output); +int ToRosData(Kinova::Api::ControlConfig::KinematicLimits input, kortex_driver::KinematicLimits &output); +int ToRosData(Kinova::Api::ControlConfig::KinematicLimitsList input, kortex_driver::KinematicLimitsList &output); +int ToRosData(Kinova::Api::ControlConfig::DesiredSpeeds input, kortex_driver::DesiredSpeeds &output); +int ToRosData(Kinova::Api::ControlConfig::LinearTwist input, kortex_driver::LinearTwist &output); +int ToRosData(Kinova::Api::ControlConfig::AngularTwist input, kortex_driver::AngularTwist &output); +int ToRosData(Kinova::Api::ControlConfig::JointSpeeds input, kortex_driver::ControlConfig_JointSpeeds &output); +int ToRosData(Kinova::Api::ControlConfig::ControlModeInformation input, kortex_driver::ControlConfig_ControlModeInformation &output); #endif \ No newline at end of file diff --git a/kortex_driver/include/kortex_driver/generated/controlconfig_services.h b/kortex_driver/include/kortex_driver/generated/controlconfig_services.h index 106d3ef4..5483d206 100644 --- a/kortex_driver/include/kortex_driver/generated/controlconfig_services.h +++ b/kortex_driver/include/kortex_driver/generated/controlconfig_services.h @@ -38,6 +38,25 @@ #include "kortex_driver/ControlConfig_Unsubscribe.h" #include "kortex_driver/SetCartesianReferenceFrame.h" #include "kortex_driver/GetCartesianReferenceFrame.h" +#include "kortex_driver/ControlConfig_GetControlMode.h" +#include "kortex_driver/SetJointSpeedSoftLimits.h" +#include "kortex_driver/SetTwistLinearSoftLimit.h" +#include "kortex_driver/SetTwistAngularSoftLimit.h" +#include "kortex_driver/SetJointAccelerationSoftLimits.h" +#include "kortex_driver/GetKinematicHardLimits.h" +#include "kortex_driver/GetKinematicSoftLimits.h" +#include "kortex_driver/GetAllKinematicSoftLimits.h" +#include "kortex_driver/SetDesiredLinearTwist.h" +#include "kortex_driver/SetDesiredAngularTwist.h" +#include "kortex_driver/SetDesiredJointSpeeds.h" +#include "kortex_driver/GetDesiredSpeeds.h" +#include "kortex_driver/ResetGravityVector.h" +#include "kortex_driver/ResetPayloadInformation.h" +#include "kortex_driver/ResetToolConfiguration.h" +#include "kortex_driver/ResetJointSpeedSoftLimits.h" +#include "kortex_driver/ResetTwistLinearSoftLimit.h" +#include "kortex_driver/ResetTwistAngularSoftLimit.h" +#include "kortex_driver/ResetJointAccelerationSoftLimits.h" #include "kortex_driver/KortexError.h" #include "kortex_driver/SetDeviceID.h" @@ -64,6 +83,25 @@ class ControlConfigServices bool ControlConfig_Unsubscribe(kortex_driver::ControlConfig_Unsubscribe::Request &req, kortex_driver::ControlConfig_Unsubscribe::Response &res); bool SetCartesianReferenceFrame(kortex_driver::SetCartesianReferenceFrame::Request &req, kortex_driver::SetCartesianReferenceFrame::Response &res); bool GetCartesianReferenceFrame(kortex_driver::GetCartesianReferenceFrame::Request &req, kortex_driver::GetCartesianReferenceFrame::Response &res); + bool ControlConfig_GetControlMode(kortex_driver::ControlConfig_GetControlMode::Request &req, kortex_driver::ControlConfig_GetControlMode::Response &res); + bool SetJointSpeedSoftLimits(kortex_driver::SetJointSpeedSoftLimits::Request &req, kortex_driver::SetJointSpeedSoftLimits::Response &res); + bool SetTwistLinearSoftLimit(kortex_driver::SetTwistLinearSoftLimit::Request &req, kortex_driver::SetTwistLinearSoftLimit::Response &res); + bool SetTwistAngularSoftLimit(kortex_driver::SetTwistAngularSoftLimit::Request &req, kortex_driver::SetTwistAngularSoftLimit::Response &res); + bool SetJointAccelerationSoftLimits(kortex_driver::SetJointAccelerationSoftLimits::Request &req, kortex_driver::SetJointAccelerationSoftLimits::Response &res); + bool GetKinematicHardLimits(kortex_driver::GetKinematicHardLimits::Request &req, kortex_driver::GetKinematicHardLimits::Response &res); + bool GetKinematicSoftLimits(kortex_driver::GetKinematicSoftLimits::Request &req, kortex_driver::GetKinematicSoftLimits::Response &res); + bool GetAllKinematicSoftLimits(kortex_driver::GetAllKinematicSoftLimits::Request &req, kortex_driver::GetAllKinematicSoftLimits::Response &res); + bool SetDesiredLinearTwist(kortex_driver::SetDesiredLinearTwist::Request &req, kortex_driver::SetDesiredLinearTwist::Response &res); + bool SetDesiredAngularTwist(kortex_driver::SetDesiredAngularTwist::Request &req, kortex_driver::SetDesiredAngularTwist::Response &res); + bool SetDesiredJointSpeeds(kortex_driver::SetDesiredJointSpeeds::Request &req, kortex_driver::SetDesiredJointSpeeds::Response &res); + bool GetDesiredSpeeds(kortex_driver::GetDesiredSpeeds::Request &req, kortex_driver::GetDesiredSpeeds::Response &res); + bool ResetGravityVector(kortex_driver::ResetGravityVector::Request &req, kortex_driver::ResetGravityVector::Response &res); + bool ResetPayloadInformation(kortex_driver::ResetPayloadInformation::Request &req, kortex_driver::ResetPayloadInformation::Response &res); + bool ResetToolConfiguration(kortex_driver::ResetToolConfiguration::Request &req, kortex_driver::ResetToolConfiguration::Response &res); + bool ResetJointSpeedSoftLimits(kortex_driver::ResetJointSpeedSoftLimits::Request &req, kortex_driver::ResetJointSpeedSoftLimits::Response &res); + bool ResetTwistLinearSoftLimit(kortex_driver::ResetTwistLinearSoftLimit::Request &req, kortex_driver::ResetTwistLinearSoftLimit::Response &res); + bool ResetTwistAngularSoftLimit(kortex_driver::ResetTwistAngularSoftLimit::Request &req, kortex_driver::ResetTwistAngularSoftLimit::Response &res); + bool ResetJointAccelerationSoftLimits(kortex_driver::ResetJointAccelerationSoftLimits::Request &req, kortex_driver::ResetJointAccelerationSoftLimits::Response &res); private: uint32_t m_current_device_id; @@ -89,5 +127,24 @@ class ControlConfigServices ros::ServiceServer m_serviceControlConfig_Unsubscribe; ros::ServiceServer m_serviceSetCartesianReferenceFrame; ros::ServiceServer m_serviceGetCartesianReferenceFrame; + ros::ServiceServer m_serviceControlConfig_GetControlMode; + ros::ServiceServer m_serviceSetJointSpeedSoftLimits; + ros::ServiceServer m_serviceSetTwistLinearSoftLimit; + ros::ServiceServer m_serviceSetTwistAngularSoftLimit; + ros::ServiceServer m_serviceSetJointAccelerationSoftLimits; + ros::ServiceServer m_serviceGetKinematicHardLimits; + ros::ServiceServer m_serviceGetKinematicSoftLimits; + ros::ServiceServer m_serviceGetAllKinematicSoftLimits; + ros::ServiceServer m_serviceSetDesiredLinearTwist; + ros::ServiceServer m_serviceSetDesiredAngularTwist; + ros::ServiceServer m_serviceSetDesiredJointSpeeds; + ros::ServiceServer m_serviceGetDesiredSpeeds; + ros::ServiceServer m_serviceResetGravityVector; + ros::ServiceServer m_serviceResetPayloadInformation; + ros::ServiceServer m_serviceResetToolConfiguration; + ros::ServiceServer m_serviceResetJointSpeedSoftLimits; + ros::ServiceServer m_serviceResetTwistLinearSoftLimit; + ros::ServiceServer m_serviceResetTwistAngularSoftLimit; + ros::ServiceServer m_serviceResetJointAccelerationSoftLimits; }; #endif diff --git a/kortex_driver/include/kortex_driver/generated/productconfiguration_proto_converter.h b/kortex_driver/include/kortex_driver/generated/productconfiguration_proto_converter.h index 7e577d4c..213530f8 100644 --- a/kortex_driver/include/kortex_driver/generated/productconfiguration_proto_converter.h +++ b/kortex_driver/include/kortex_driver/generated/productconfiguration_proto_converter.h @@ -42,22 +42,10 @@ #include "kortex_driver/CompleteProductConfiguration.h" -#include "kortex_driver/ProductConfigurationDegreeOfFreedom.h" -#include "kortex_driver/ProductConfigurationBaseType.h" #include "kortex_driver/ProductConfigurationEndEffectorType.h" -#include "kortex_driver/ProductConfigurationVisionModuleType.h" -#include "kortex_driver/ProductConfigurationInterfaceModuleType.h" -#include "kortex_driver/ProductConfigurationLaterality.h" -#include "kortex_driver/ProductConfigurationWristType.h" int ToProtoData(kortex_driver::CompleteProductConfiguration input, Kinova::Api::ProductConfiguration::CompleteProductConfiguration *output); -int ToProtoData(kortex_driver::ProductConfigurationDegreeOfFreedom input, Kinova::Api::ProductConfiguration::ProductConfigurationDegreeOfFreedom *output); -int ToProtoData(kortex_driver::ProductConfigurationBaseType input, Kinova::Api::ProductConfiguration::ProductConfigurationBaseType *output); int ToProtoData(kortex_driver::ProductConfigurationEndEffectorType input, Kinova::Api::ProductConfiguration::ProductConfigurationEndEffectorType *output); -int ToProtoData(kortex_driver::ProductConfigurationVisionModuleType input, Kinova::Api::ProductConfiguration::ProductConfigurationVisionModuleType *output); -int ToProtoData(kortex_driver::ProductConfigurationInterfaceModuleType input, Kinova::Api::ProductConfiguration::ProductConfigurationInterfaceModuleType *output); -int ToProtoData(kortex_driver::ProductConfigurationLaterality input, Kinova::Api::ProductConfiguration::ProductConfigurationLaterality *output); -int ToProtoData(kortex_driver::ProductConfigurationWristType input, Kinova::Api::ProductConfiguration::ProductConfigurationWristType *output); #endif \ No newline at end of file diff --git a/kortex_driver/include/kortex_driver/generated/productconfiguration_ros_converter.h b/kortex_driver/include/kortex_driver/generated/productconfiguration_ros_converter.h index e1f06a84..4998b0a2 100644 --- a/kortex_driver/include/kortex_driver/generated/productconfiguration_ros_converter.h +++ b/kortex_driver/include/kortex_driver/generated/productconfiguration_ros_converter.h @@ -42,22 +42,10 @@ #include "kortex_driver/CompleteProductConfiguration.h" -#include "kortex_driver/ProductConfigurationDegreeOfFreedom.h" -#include "kortex_driver/ProductConfigurationBaseType.h" #include "kortex_driver/ProductConfigurationEndEffectorType.h" -#include "kortex_driver/ProductConfigurationVisionModuleType.h" -#include "kortex_driver/ProductConfigurationInterfaceModuleType.h" -#include "kortex_driver/ProductConfigurationLaterality.h" -#include "kortex_driver/ProductConfigurationWristType.h" int ToRosData(Kinova::Api::ProductConfiguration::CompleteProductConfiguration input, kortex_driver::CompleteProductConfiguration &output); -int ToRosData(Kinova::Api::ProductConfiguration::ProductConfigurationDegreeOfFreedom input, kortex_driver::ProductConfigurationDegreeOfFreedom &output); -int ToRosData(Kinova::Api::ProductConfiguration::ProductConfigurationBaseType input, kortex_driver::ProductConfigurationBaseType &output); int ToRosData(Kinova::Api::ProductConfiguration::ProductConfigurationEndEffectorType input, kortex_driver::ProductConfigurationEndEffectorType &output); -int ToRosData(Kinova::Api::ProductConfiguration::ProductConfigurationVisionModuleType input, kortex_driver::ProductConfigurationVisionModuleType &output); -int ToRosData(Kinova::Api::ProductConfiguration::ProductConfigurationInterfaceModuleType input, kortex_driver::ProductConfigurationInterfaceModuleType &output); -int ToRosData(Kinova::Api::ProductConfiguration::ProductConfigurationLaterality input, kortex_driver::ProductConfigurationLaterality &output); -int ToRosData(Kinova::Api::ProductConfiguration::ProductConfigurationWristType input, kortex_driver::ProductConfigurationWristType &output); #endif \ No newline at end of file diff --git a/kortex_driver/include/kortex_driver/non-generated/kortex_arm_driver.h b/kortex_driver/include/kortex_driver/non-generated/kortex_arm_driver.h index 440f0b4a..09595b86 100644 --- a/kortex_driver/include/kortex_driver/non-generated/kortex_arm_driver.h +++ b/kortex_driver/include/kortex_driver/non-generated/kortex_arm_driver.h @@ -79,6 +79,7 @@ class KortexArmDriver std::string m_ip_address; std::string m_username; std::string m_password; + bool m_use_hard_limits; int m_cyclic_data_publish_rate; int m_api_rpc_timeout_ms; int m_api_session_inactivity_timeout_ms; @@ -147,6 +148,7 @@ class KortexArmDriver // Private methods bool isGripperPresent(); + void setAngularTrajectorySoftLimitsToMax(); void publishFeedback(); }; diff --git a/kortex_driver/include/kortex_driver/non-generated/kortex_subscribers.h b/kortex_driver/include/kortex_driver/non-generated/kortex_subscribers.h index b1265d49..26e14216 100644 --- a/kortex_driver/include/kortex_driver/non-generated/kortex_subscribers.h +++ b/kortex_driver/include/kortex_driver/non-generated/kortex_subscribers.h @@ -19,7 +19,7 @@ #include "BaseClientRpc.h" #include "kortex_driver/TwistCommand.h" -#include "kortex_driver/JointSpeeds.h" +#include "kortex_driver/Base_JointSpeeds.h" #include "kortex_driver/generated/base_proto_converter.h" #include "kortex_driver/non-generated/kortex_math_util.h" @@ -45,7 +45,7 @@ class KortexSubscribers ros::Subscriber m_emergency_stop_sub; // Callbacks - void new_joint_speeds_cb(const kortex_driver::JointSpeeds& joint_speeds); + void new_joint_speeds_cb(const kortex_driver::Base_JointSpeeds& joint_speeds); void new_twist_cb(const kortex_driver::TwistCommand& twist); void clear_faults_cb(const std_msgs::Empty& empty); void stop_cb(const std_msgs::Empty& empty); diff --git a/kortex_driver/include/kortex_driver/non-generated/robotiq_gripper_command_action_server.h b/kortex_driver/include/kortex_driver/non-generated/robotiq_gripper_command_action_server.h index a44df86e..6eb4394d 100644 --- a/kortex_driver/include/kortex_driver/non-generated/robotiq_gripper_command_action_server.h +++ b/kortex_driver/include/kortex_driver/non-generated/robotiq_gripper_command_action_server.h @@ -30,6 +30,8 @@ #define GRIPPER_TRAJECTORY_TIME_LIMIT 2.0 #define MAX_GRIPPER_RELATIVE_ERROR 0.05 +#define MAX_CONSECUTIVE_POSITION_DIFFERENCE 0.01 +#define MAX_CONSECUTIVE_IDENTICAL_POSITIONS 4 class RobotiqGripperCommandActionServer { diff --git a/kortex_driver/launch/kortex_driver.launch b/kortex_driver/launch/kortex_driver.launch index 2eb6542f..3d6fe61d 100644 --- a/kortex_driver/launch/kortex_driver.launch +++ b/kortex_driver/launch/kortex_driver.launch @@ -6,6 +6,7 @@ + @@ -18,7 +19,7 @@ - + @@ -67,6 +68,7 @@ + @@ -80,24 +82,83 @@ + + - [base_feedback/joint_state] + + + + + + + + + + + + + + + + + + + + + + + topics: + - name: /$(arg robot_name)/base_feedback + timeout: 10 + negative: False + - name: /$(arg robot_name)/base_feedback/joint_state + timeout: 10 + negative: False + - name: /$(arg robot_name)/joint_states + timeout: 10 + negative: False + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kortex_driver/msg/generated/SubErrorCodes.msg b/kortex_driver/msg/generated/SubErrorCodes.msg index 4d8bba03..a5797ae5 100644 --- a/kortex_driver/msg/generated/SubErrorCodes.msg +++ b/kortex_driver/msg/generated/SubErrorCodes.msg @@ -186,3 +186,9 @@ uint32 NVRAM_READ_FAIL = 133 uint32 NVRAM_WRITE_FAIL = 134 uint32 NETWORK_NO_ADDRESS_ASSIGNED = 135 + +uint32 READ_PERMISSION_DENIED = 136 + +uint32 CONTROLLER_INVALID_MAPPING = 137 + +uint32 ACTION_IN_USE = 138 diff --git a/kortex_driver/msg/generated/actuator_config/CoggingFeedforwardMode.msg b/kortex_driver/msg/generated/actuator_config/CoggingFeedforwardMode.msg new file mode 100644 index 00000000..2e6d7953 --- /dev/null +++ b/kortex_driver/msg/generated/actuator_config/CoggingFeedforwardMode.msg @@ -0,0 +1,6 @@ + +uint32 FEEDFORWARD_OFF = 0 + +uint32 FEEDFORWARD_ADAPTIVE = 1 + +uint32 FEEDFORWARD_CALIBRATED = 2 diff --git a/kortex_driver/msg/generated/actuator_config/CoggingFeedforwardModeInformation.msg b/kortex_driver/msg/generated/actuator_config/CoggingFeedforwardModeInformation.msg new file mode 100644 index 00000000..6fe16300 --- /dev/null +++ b/kortex_driver/msg/generated/actuator_config/CoggingFeedforwardModeInformation.msg @@ -0,0 +1,2 @@ + +uint32 cogging_feedforward_mode \ No newline at end of file diff --git a/kortex_driver/msg/generated/actuator_config/CustomDataIndex.msg b/kortex_driver/msg/generated/actuator_config/CustomDataIndex.msg index b6b7cfcc..c7a9b458 100644 --- a/kortex_driver/msg/generated/actuator_config/CustomDataIndex.msg +++ b/kortex_driver/msg/generated/actuator_config/CustomDataIndex.msg @@ -110,3 +110,81 @@ uint32 FLOAT_CURRENT_MOTOR_CMD = 53 uint32 FLOAT_TORQUE_JOINT_CMD = 54 uint32 FLOAT_POSITION_UNWRAPPED = 55 + +uint32 UINT32_HALL_SENSOR_0 = 56 + +uint32 UINT32_HALL_SENSOR_1 = 57 + +uint32 UINT32_HALL_SENSOR_2 = 58 + +uint32 INT32_HALL_SENSOR_SCALED_0 = 59 + +uint32 INT32_HALL_SENSOR_SCALED_1 = 60 + +uint32 INT32_HALL_SENSOR_SCALED_2 = 61 + +uint32 FLOAT_COGGING_COEFFICIENT_A_0 = 62 + +uint32 FLOAT_COGGING_COEFFICIENT_A_1 = 63 + +uint32 FLOAT_COGGING_COEFFICIENT_A_2 = 64 + +uint32 FLOAT_COGGING_COEFFICIENT_A_3 = 65 + +uint32 FLOAT_COGGING_COEFFICIENT_A_4 = 66 + +uint32 FLOAT_COGGING_COEFFICIENT_A_5 = 67 + +uint32 FLOAT_COGGING_COEFFICIENT_A_6 = 68 + +uint32 FLOAT_COGGING_COEFFICIENT_A_7 = 69 + +uint32 FLOAT_COGGING_COEFFICIENT_A_8 = 70 + +uint32 FLOAT_COGGING_COEFFICIENT_A_9 = 71 + +uint32 FLOAT_COGGING_COEFFICIENT_A_10 = 72 + +uint32 FLOAT_COGGING_COEFFICIENT_A_11 = 73 + +uint32 FLOAT_COGGING_COEFFICIENT_A_12 = 74 + +uint32 FLOAT_COGGING_COEFFICIENT_A_13 = 75 + +uint32 FLOAT_COGGING_COEFFICIENT_A_14 = 76 + +uint32 FLOAT_COGGING_COEFFICIENT_A_15 = 77 + +uint32 FLOAT_COGGING_COEFFICIENT_B_0 = 78 + +uint32 FLOAT_COGGING_COEFFICIENT_B_1 = 79 + +uint32 FLOAT_COGGING_COEFFICIENT_B_2 = 80 + +uint32 FLOAT_COGGING_COEFFICIENT_B_3 = 81 + +uint32 FLOAT_COGGING_COEFFICIENT_B_4 = 82 + +uint32 FLOAT_COGGING_COEFFICIENT_B_5 = 83 + +uint32 FLOAT_COGGING_COEFFICIENT_B_6 = 84 + +uint32 FLOAT_COGGING_COEFFICIENT_B_7 = 85 + +uint32 FLOAT_COGGING_COEFFICIENT_B_8 = 86 + +uint32 FLOAT_COGGING_COEFFICIENT_B_9 = 87 + +uint32 FLOAT_COGGING_COEFFICIENT_B_10 = 88 + +uint32 FLOAT_COGGING_COEFFICIENT_B_11 = 89 + +uint32 FLOAT_COGGING_COEFFICIENT_B_12 = 90 + +uint32 FLOAT_COGGING_COEFFICIENT_B_13 = 91 + +uint32 FLOAT_COGGING_COEFFICIENT_B_14 = 92 + +uint32 FLOAT_COGGING_COEFFICIENT_B_15 = 93 + +uint32 FLOAT_CURRENT_COGGING_FEEDFORWARD = 94 diff --git a/kortex_driver/msg/generated/actuator_config/EncoderDerivativeParameters.msg b/kortex_driver/msg/generated/actuator_config/EncoderDerivativeParameters.msg index b736d756..df323b3b 100644 --- a/kortex_driver/msg/generated/actuator_config/EncoderDerivativeParameters.msg +++ b/kortex_driver/msg/generated/actuator_config/EncoderDerivativeParameters.msg @@ -1,3 +1,3 @@ uint32 max_window_width -uint32 min_encoder_tick_count \ No newline at end of file +float32 min_angle \ No newline at end of file diff --git a/kortex_driver/msg/generated/base/ActionType.msg b/kortex_driver/msg/generated/base/ActionType.msg index ca04d2fa..d9afad29 100644 --- a/kortex_driver/msg/generated/base/ActionType.msg +++ b/kortex_driver/msg/generated/base/ActionType.msg @@ -13,6 +13,8 @@ uint32 REACH_JOINT_ANGLES = 7 uint32 TOGGLE_ADMITTANCE_MODE = 13 +uint32 SNAPSHOT = 14 + uint32 SWITCH_CONTROL_MAPPING = 16 uint32 NAVIGATE_JOINTS = 17 diff --git a/kortex_driver/msg/generated/base/Action_action_parameters.msg b/kortex_driver/msg/generated/base/Action_action_parameters.msg index 93d35efd..a5a2853f 100644 --- a/kortex_driver/msg/generated/base/Action_action_parameters.msg +++ b/kortex_driver/msg/generated/base/Action_action_parameters.msg @@ -1,10 +1,11 @@ TwistCommand[] send_twist_command WrenchCommand[] send_wrench_command -JointSpeeds[] send_joint_speeds +Base_JointSpeeds[] send_joint_speeds ConstrainedPose[] reach_pose ConstrainedJointAngles[] reach_joint_angles uint32[] toggle_admittance_mode +Snapshot[] snapshot SwitchControlMapping[] switch_control_mapping uint32[] navigate_joints uint32[] navigate_mappings diff --git a/kortex_driver/msg/generated/base/Base_ControlMode.msg b/kortex_driver/msg/generated/base/Base_ControlMode.msg index 07829726..0ded911c 100644 --- a/kortex_driver/msg/generated/base/Base_ControlMode.msg +++ b/kortex_driver/msg/generated/base/Base_ControlMode.msg @@ -5,8 +5,6 @@ uint32 ANGULAR_JOYSTICK = 1 uint32 CARTESIAN_JOYSTICK = 2 -uint32 VISION_JOYSTICK = 3 - uint32 ANGULAR_TRAJECTORY = 4 uint32 CARTESIAN_TRAJECTORY = 5 diff --git a/kortex_driver/msg/generated/base/JointSpeeds.msg b/kortex_driver/msg/generated/base/Base_JointSpeeds.msg similarity index 100% rename from kortex_driver/msg/generated/base/JointSpeeds.msg rename to kortex_driver/msg/generated/base/Base_JointSpeeds.msg diff --git a/kortex_driver/msg/generated/base/ChangeJointSpeeds.msg b/kortex_driver/msg/generated/base/ChangeJointSpeeds.msg index 8fcf5341..65dac638 100644 --- a/kortex_driver/msg/generated/base/ChangeJointSpeeds.msg +++ b/kortex_driver/msg/generated/base/ChangeJointSpeeds.msg @@ -1,2 +1,2 @@ -JointSpeeds joint_speeds \ No newline at end of file +Base_JointSpeeds joint_speeds \ No newline at end of file diff --git a/kortex_driver/msg/generated/base/ConfigurationChangeNotification_configuration_change.msg b/kortex_driver/msg/generated/base/ConfigurationChangeNotification_configuration_change.msg index bd3db1c4..fb45e2d7 100644 --- a/kortex_driver/msg/generated/base/ConfigurationChangeNotification_configuration_change.msg +++ b/kortex_driver/msg/generated/base/ConfigurationChangeNotification_configuration_change.msg @@ -8,4 +8,5 @@ UserProfileHandle[] user_profile_handle ProtectionZoneHandle[] protection_zone_handle SafetyHandle[] safety_handle NetworkHandle[] network_handle -Ssid[] ssid \ No newline at end of file +Ssid[] ssid +ControllerHandle[] controller_handle \ No newline at end of file diff --git a/kortex_driver/msg/generated/base/ControllerConfiguration.msg b/kortex_driver/msg/generated/base/ControllerConfiguration.msg new file mode 100644 index 00000000..1a99b019 --- /dev/null +++ b/kortex_driver/msg/generated/base/ControllerConfiguration.msg @@ -0,0 +1,6 @@ + +ControllerHandle handle +string name +MappingHandle active_mapping_handle +string analog_input_identifier_enum +string digital_input_identifier_enum \ No newline at end of file diff --git a/kortex_driver/msg/generated/base/ControllerConfigurationList.msg b/kortex_driver/msg/generated/base/ControllerConfigurationList.msg new file mode 100644 index 00000000..9e00af62 --- /dev/null +++ b/kortex_driver/msg/generated/base/ControllerConfigurationList.msg @@ -0,0 +1,2 @@ + +ControllerConfiguration[] controller_configurations \ No newline at end of file diff --git a/kortex_driver/msg/generated/base/ControllerConfigurationMode.msg b/kortex_driver/msg/generated/base/ControllerConfigurationMode.msg new file mode 100644 index 00000000..5304e28e --- /dev/null +++ b/kortex_driver/msg/generated/base/ControllerConfigurationMode.msg @@ -0,0 +1,2 @@ + +bool enable \ No newline at end of file diff --git a/kortex_driver/msg/generated/base/ControllerElementEventType.msg b/kortex_driver/msg/generated/base/ControllerElementEventType.msg index 47c3b0b3..b8b60f02 100644 --- a/kortex_driver/msg/generated/base/ControllerElementEventType.msg +++ b/kortex_driver/msg/generated/base/ControllerElementEventType.msg @@ -6,3 +6,5 @@ uint32 AXIS_MOVED = 1 uint32 BUTTON_DOWN = 2 uint32 BUTTON_UP = 3 + +uint32 BUTTON_CLICK = 4 diff --git a/kortex_driver/msg/generated/base/ControllerType.msg b/kortex_driver/msg/generated/base/ControllerType.msg index f902299f..538a75f1 100644 --- a/kortex_driver/msg/generated/base/ControllerType.msg +++ b/kortex_driver/msg/generated/base/ControllerType.msg @@ -5,4 +5,6 @@ uint32 XBOX_CONTROLLER = 1 uint32 WRIST_CONTROLLER = 2 -uint32 GPIO_JOYSTICK = 3 +uint32 BASIC_JOYSTICK_CONTROLLER = 3 + +uint32 BASE_GPIO_CONTROLLER = 4 diff --git a/kortex_driver/msg/generated/base/FirmwareBundleVersions.msg b/kortex_driver/msg/generated/base/FirmwareBundleVersions.msg new file mode 100644 index 00000000..b4605a57 --- /dev/null +++ b/kortex_driver/msg/generated/base/FirmwareBundleVersions.msg @@ -0,0 +1,3 @@ + +string main_bundle_version +FirmwareComponentVersion[] components_versions \ No newline at end of file diff --git a/kortex_driver/msg/generated/base/FirmwareComponentVersion.msg b/kortex_driver/msg/generated/base/FirmwareComponentVersion.msg new file mode 100644 index 00000000..b7da3035 --- /dev/null +++ b/kortex_driver/msg/generated/base/FirmwareComponentVersion.msg @@ -0,0 +1,4 @@ + +string name +string version +uint32 device_id \ No newline at end of file diff --git a/kortex_driver/msg/generated/base/Gen3GpioPinId.msg b/kortex_driver/msg/generated/base/Gen3GpioPinId.msg new file mode 100644 index 00000000..c5dea1d2 --- /dev/null +++ b/kortex_driver/msg/generated/base/Gen3GpioPinId.msg @@ -0,0 +1,26 @@ + +uint32 UNSPECIFIED_PIN = 0 + +uint32 GPIO_PIN_B = 1 + +uint32 GPIO_PIN_C = 2 + +uint32 GPIO_PIN_D = 3 + +uint32 GPIO_PIN_E = 4 + +uint32 GPIO_PIN_G = 5 + +uint32 GPIO_PIN_H = 6 + +uint32 GPIO_PIN_I = 7 + +uint32 GPIO_PIN_K = 8 + +uint32 GPIO_PIN_N = 9 + +uint32 GPIO_PIN_O = 10 + +uint32 GPIO_PIN_S = 11 + +uint32 GPIO_PIN_T = 12 diff --git a/kortex_driver/msg/generated/base/GpioBehavior.msg b/kortex_driver/msg/generated/base/GpioBehavior.msg new file mode 100644 index 00000000..08a5d62e --- /dev/null +++ b/kortex_driver/msg/generated/base/GpioBehavior.msg @@ -0,0 +1,10 @@ + +uint32 UNSPECIFIED_GPIO_BEHAVIOR = 0 + +uint32 GPIO_FALLING = 1 + +uint32 GPIO_RISING = 2 + +uint32 GPIO_PULSE_LOW = 3 + +uint32 GPIO_PULSE_HIGH = 4 diff --git a/kortex_driver/msg/generated/base/GpioEvent.msg b/kortex_driver/msg/generated/base/GpioEvent.msg index 8b99ecfc..6dae8984 100644 --- a/kortex_driver/msg/generated/base/GpioEvent.msg +++ b/kortex_driver/msg/generated/base/GpioEvent.msg @@ -1,3 +1,4 @@ -uint32 gpio_state -uint32 device_identifier \ No newline at end of file +uint32 input_type +uint32 behavior +uint32 input_identifier \ No newline at end of file diff --git a/kortex_driver/msg/generated/base/GpioState.msg b/kortex_driver/msg/generated/base/GpioState.msg deleted file mode 100644 index 4249b74d..00000000 --- a/kortex_driver/msg/generated/base/GpioState.msg +++ /dev/null @@ -1,8 +0,0 @@ - -uint32 UNSPECIFIED_GPIO_STATE = 0 - -uint32 GPIO_OFF = 1 - -uint32 GPIO_PULSE = 2 - -uint32 GPIO_ON = 3 diff --git a/kortex_driver/msg/generated/base/MapElement.msg b/kortex_driver/msg/generated/base/MapElement.msg index 2f4e6845..4cf42f52 100644 --- a/kortex_driver/msg/generated/base/MapElement.msg +++ b/kortex_driver/msg/generated/base/MapElement.msg @@ -1,3 +1,4 @@ MapEvent event -Action action \ No newline at end of file +Action action +string name \ No newline at end of file diff --git a/kortex_driver/msg/generated/base/MappingInfoNotification.msg b/kortex_driver/msg/generated/base/MappingInfoNotification.msg index 8f42376b..164791e6 100644 --- a/kortex_driver/msg/generated/base/MappingInfoNotification.msg +++ b/kortex_driver/msg/generated/base/MappingInfoNotification.msg @@ -3,4 +3,5 @@ uint32 controller_identifier MapHandle active_map_handle Timestamp timestamp UserProfileHandle user_handle -Connection connection \ No newline at end of file +Connection connection +MappingHandle mapping_handle \ No newline at end of file diff --git a/kortex_driver/msg/generated/base/SequenceTaskConfiguration.msg b/kortex_driver/msg/generated/base/SequenceTaskConfiguration.msg new file mode 100644 index 00000000..09131f40 --- /dev/null +++ b/kortex_driver/msg/generated/base/SequenceTaskConfiguration.msg @@ -0,0 +1,3 @@ + +SequenceTaskHandle sequence_task_handle +SequenceTask sequence_task \ No newline at end of file diff --git a/kortex_driver/msg/generated/base/SequenceTasks.msg b/kortex_driver/msg/generated/base/SequenceTasks.msg new file mode 100644 index 00000000..a0ac8d66 --- /dev/null +++ b/kortex_driver/msg/generated/base/SequenceTasks.msg @@ -0,0 +1,2 @@ + +SequenceTask[] sequence_tasks \ No newline at end of file diff --git a/kortex_driver/msg/generated/base/SequenceTasksConfiguration.msg b/kortex_driver/msg/generated/base/SequenceTasksConfiguration.msg new file mode 100644 index 00000000..2365a72a --- /dev/null +++ b/kortex_driver/msg/generated/base/SequenceTasksConfiguration.msg @@ -0,0 +1,3 @@ + +SequenceTaskHandle sequence_task_handle +SequenceTask[] sequence_tasks \ No newline at end of file diff --git a/kortex_driver/msg/generated/base/SequenceTasksPair.msg b/kortex_driver/msg/generated/base/SequenceTasksPair.msg new file mode 100644 index 00000000..0c735728 --- /dev/null +++ b/kortex_driver/msg/generated/base/SequenceTasksPair.msg @@ -0,0 +1,4 @@ + +SequenceHandle sequence_handle +uint32 first_task_index +uint32 second_task_index \ No newline at end of file diff --git a/kortex_driver/msg/generated/base/SequenceTasksRange.msg b/kortex_driver/msg/generated/base/SequenceTasksRange.msg new file mode 100644 index 00000000..953b07b0 --- /dev/null +++ b/kortex_driver/msg/generated/base/SequenceTasksRange.msg @@ -0,0 +1,3 @@ + +uint32 first_task_index +uint32 second_task_index \ No newline at end of file diff --git a/kortex_driver/msg/generated/base/Snapshot.msg b/kortex_driver/msg/generated/base/Snapshot.msg new file mode 100644 index 00000000..f9c62d48 --- /dev/null +++ b/kortex_driver/msg/generated/base/Snapshot.msg @@ -0,0 +1,2 @@ + +uint32 snapshot_type \ No newline at end of file diff --git a/kortex_driver/msg/generated/base/SnapshotType.msg b/kortex_driver/msg/generated/base/SnapshotType.msg new file mode 100644 index 00000000..6f8978e7 --- /dev/null +++ b/kortex_driver/msg/generated/base/SnapshotType.msg @@ -0,0 +1,10 @@ + +uint32 UNSPECIFIED_SNAPSHOT = 0 + +uint32 CARTESIAN_POSITION_SNAPSHOT = 1 + +uint32 JOINT_POSITION_SNAPSHOT = 2 + +uint32 GRIPPER_SNAPSHOT = 3 + +uint32 COMBINED_SNAPSHOT = 4 diff --git a/kortex_driver/msg/generated/base/WristDigitalInputIdentifier.msg b/kortex_driver/msg/generated/base/WristDigitalInputIdentifier.msg new file mode 100644 index 00000000..9e8440c3 --- /dev/null +++ b/kortex_driver/msg/generated/base/WristDigitalInputIdentifier.msg @@ -0,0 +1,8 @@ + +uint32 UNSPECIFIED_WRIST_DIGITAL = 0 + +uint32 WRIST_BUTTON_1 = 1 + +uint32 WRIST_BUTTON_2 = 2 + +uint32 WRIST_BUTTON_BOTH = 3 diff --git a/kortex_driver/msg/generated/control_config/AngularTwist.msg b/kortex_driver/msg/generated/control_config/AngularTwist.msg new file mode 100644 index 00000000..6ea2ee15 --- /dev/null +++ b/kortex_driver/msg/generated/control_config/AngularTwist.msg @@ -0,0 +1,2 @@ + +float32 angular \ No newline at end of file diff --git a/kortex_driver/msg/generated/control_config/ControlConfig_ControlMode.msg b/kortex_driver/msg/generated/control_config/ControlConfig_ControlMode.msg new file mode 100644 index 00000000..0ded911c --- /dev/null +++ b/kortex_driver/msg/generated/control_config/ControlConfig_ControlMode.msg @@ -0,0 +1,22 @@ + +uint32 UNSPECIFIED_CONTROL_MODE = 0 + +uint32 ANGULAR_JOYSTICK = 1 + +uint32 CARTESIAN_JOYSTICK = 2 + +uint32 ANGULAR_TRAJECTORY = 4 + +uint32 CARTESIAN_TRAJECTORY = 5 + +uint32 CARTESIAN_ADMITTANCE = 6 + +uint32 JOINT_ADMITTANCE = 7 + +uint32 NULL_SPACE_ADMITTANCE = 8 + +uint32 FORCE_CONTROL = 10 + +uint32 FORCE_CONTROL_MOTION_RESTRICTED = 11 + +uint32 IDLE = 13 diff --git a/kortex_driver/msg/generated/control_config/ControlConfig_ControlModeInformation.msg b/kortex_driver/msg/generated/control_config/ControlConfig_ControlModeInformation.msg new file mode 100644 index 00000000..713ed378 --- /dev/null +++ b/kortex_driver/msg/generated/control_config/ControlConfig_ControlModeInformation.msg @@ -0,0 +1,2 @@ + +uint32 control_mode \ No newline at end of file diff --git a/kortex_driver/msg/generated/control_config/ControlConfig_JointSpeeds.msg b/kortex_driver/msg/generated/control_config/ControlConfig_JointSpeeds.msg new file mode 100644 index 00000000..e85a31a4 --- /dev/null +++ b/kortex_driver/msg/generated/control_config/ControlConfig_JointSpeeds.msg @@ -0,0 +1,2 @@ + +float32[] joint_speed \ No newline at end of file diff --git a/kortex_driver/msg/generated/control_config/ControlConfigurationEvent.msg b/kortex_driver/msg/generated/control_config/ControlConfigurationEvent.msg index e5d8a350..d677f333 100644 --- a/kortex_driver/msg/generated/control_config/ControlConfigurationEvent.msg +++ b/kortex_driver/msg/generated/control_config/ControlConfigurationEvent.msg @@ -5,8 +5,6 @@ uint32 ANGLE_UNIT_CHANGED = 1 uint32 GRAVITY_VECTOR_CHANGED = 2 -uint32 VISION_JOYSTICK_CONFIGURATION_CHANGED = 3 - uint32 JOINT_ADMITTANCE_CONFIGURATION_CHANGED = 4 uint32 NULL_ADMITTANCE_CONFIGURATION_CHANGED = 5 @@ -28,3 +26,17 @@ uint32 PAYLOAD_CONFIGURATION_CHANGED = 12 uint32 CARTESIAN_REFERENCE_CHANGED = 13 uint32 CHANGE_CONTROL_MODE_FAILED = 14 + +uint32 JOINT_SPEED_SOFT_LIMITS_CHANGED = 16 + +uint32 TWIST_LINEAR_SOFT_LIMIT_CHANGED = 17 + +uint32 TWIST_ANGULAR_SOFT_LIMIT_CHANGED = 18 + +uint32 JOINT_ACCELERATION_SOFT_LIMITS_CHANGED = 19 + +uint32 DESIRED_TWIST_LINEAR_SPEED_CHANGED = 20 + +uint32 DESIRED_TWIST_ANGULAR_SPEED_CHANGED = 21 + +uint32 DESIRED_JOINT_SPEED_CHANGED = 22 diff --git a/kortex_driver/msg/generated/control_config/DesiredSpeeds.msg b/kortex_driver/msg/generated/control_config/DesiredSpeeds.msg new file mode 100644 index 00000000..be5aa139 --- /dev/null +++ b/kortex_driver/msg/generated/control_config/DesiredSpeeds.msg @@ -0,0 +1,4 @@ + +float32 linear +float32 angular +float32[] joint_speed \ No newline at end of file diff --git a/kortex_driver/msg/generated/control_config/JointAccelerationSoftLimits.msg b/kortex_driver/msg/generated/control_config/JointAccelerationSoftLimits.msg new file mode 100644 index 00000000..b1aad358 --- /dev/null +++ b/kortex_driver/msg/generated/control_config/JointAccelerationSoftLimits.msg @@ -0,0 +1,3 @@ + +uint32 control_mode +float32[] joint_acceleration_soft_limits \ No newline at end of file diff --git a/kortex_driver/msg/generated/control_config/JointSpeedSoftLimits.msg b/kortex_driver/msg/generated/control_config/JointSpeedSoftLimits.msg new file mode 100644 index 00000000..ce90f8de --- /dev/null +++ b/kortex_driver/msg/generated/control_config/JointSpeedSoftLimits.msg @@ -0,0 +1,3 @@ + +uint32 control_mode +float32[] joint_speed_soft_limits \ No newline at end of file diff --git a/kortex_driver/msg/generated/control_config/KinematicLimits.msg b/kortex_driver/msg/generated/control_config/KinematicLimits.msg new file mode 100644 index 00000000..9be9fa1d --- /dev/null +++ b/kortex_driver/msg/generated/control_config/KinematicLimits.msg @@ -0,0 +1,6 @@ + +uint32 control_mode +float32 twist_linear +float32 twist_angular +float32[] joint_speed_limits +float32[] joint_acceleration_limits \ No newline at end of file diff --git a/kortex_driver/msg/generated/control_config/KinematicLimitsList.msg b/kortex_driver/msg/generated/control_config/KinematicLimitsList.msg new file mode 100644 index 00000000..b4070543 --- /dev/null +++ b/kortex_driver/msg/generated/control_config/KinematicLimitsList.msg @@ -0,0 +1,2 @@ + +KinematicLimits[] kinematic_limits_list \ No newline at end of file diff --git a/kortex_driver/msg/generated/control_config/LinearTwist.msg b/kortex_driver/msg/generated/control_config/LinearTwist.msg new file mode 100644 index 00000000..9a7bee90 --- /dev/null +++ b/kortex_driver/msg/generated/control_config/LinearTwist.msg @@ -0,0 +1,2 @@ + +float32 linear \ No newline at end of file diff --git a/kortex_driver/msg/generated/control_config/TwistAngularSoftLimit.msg b/kortex_driver/msg/generated/control_config/TwistAngularSoftLimit.msg new file mode 100644 index 00000000..9882e9cf --- /dev/null +++ b/kortex_driver/msg/generated/control_config/TwistAngularSoftLimit.msg @@ -0,0 +1,3 @@ + +uint32 control_mode +float32 twist_angular_soft_limit \ No newline at end of file diff --git a/kortex_driver/msg/generated/control_config/TwistLinearSoftLimit.msg b/kortex_driver/msg/generated/control_config/TwistLinearSoftLimit.msg new file mode 100644 index 00000000..7182135f --- /dev/null +++ b/kortex_driver/msg/generated/control_config/TwistLinearSoftLimit.msg @@ -0,0 +1,3 @@ + +uint32 control_mode +float32 twist_linear_soft_limit \ No newline at end of file diff --git a/kortex_driver/msg/generated/product_configuration/BaseType.msg b/kortex_driver/msg/generated/product_configuration/BaseType.msg index e22729fa..6bbf9d09 100644 --- a/kortex_driver/msg/generated/product_configuration/BaseType.msg +++ b/kortex_driver/msg/generated/product_configuration/BaseType.msg @@ -3,6 +3,8 @@ uint32 BASE_TYPE_UNSPECIFIED = 0 uint32 BASE_TYPE_L53_QUICK_CONNECT = 1 +uint32 BASE_TYPE_L53_FIXED = 2 + uint32 BASE_TYPE_L31_FIXED = 3 uint32 BASE_TYPE_HDK_FIXED = 4 diff --git a/kortex_driver/msg/generated/product_configuration/EndEffectorType.msg b/kortex_driver/msg/generated/product_configuration/EndEffectorType.msg index 20ee9ec4..5cba4e99 100644 --- a/kortex_driver/msg/generated/product_configuration/EndEffectorType.msg +++ b/kortex_driver/msg/generated/product_configuration/EndEffectorType.msg @@ -6,3 +6,5 @@ uint32 END_EFFECTOR_TYPE_NOT_INSTALLED = 1 uint32 END_EFFECTOR_TYPE_L31_GRIPPER_2F = 2 uint32 END_EFFECTOR_TYPE_ROBOTIQ_2F_85 = 3 + +uint32 END_EFFECTOR_TYPE_ROBOTIQ_2F_140 = 4 diff --git a/kortex_driver/msg/generated/product_configuration/ProductConfigurationBaseType.msg b/kortex_driver/msg/generated/product_configuration/ProductConfigurationBaseType.msg deleted file mode 100644 index ca3cfe1c..00000000 --- a/kortex_driver/msg/generated/product_configuration/ProductConfigurationBaseType.msg +++ /dev/null @@ -1,2 +0,0 @@ - -uint32 base_type \ No newline at end of file diff --git a/kortex_driver/msg/generated/product_configuration/ProductConfigurationDegreeOfFreedom.msg b/kortex_driver/msg/generated/product_configuration/ProductConfigurationDegreeOfFreedom.msg deleted file mode 100644 index 5905a2c8..00000000 --- a/kortex_driver/msg/generated/product_configuration/ProductConfigurationDegreeOfFreedom.msg +++ /dev/null @@ -1,2 +0,0 @@ - -uint32 degree_of_freedom \ No newline at end of file diff --git a/kortex_driver/msg/generated/product_configuration/ProductConfigurationInterfaceModuleType.msg b/kortex_driver/msg/generated/product_configuration/ProductConfigurationInterfaceModuleType.msg deleted file mode 100644 index cff32715..00000000 --- a/kortex_driver/msg/generated/product_configuration/ProductConfigurationInterfaceModuleType.msg +++ /dev/null @@ -1,2 +0,0 @@ - -uint32 interface_module_type \ No newline at end of file diff --git a/kortex_driver/msg/generated/product_configuration/ProductConfigurationLaterality.msg b/kortex_driver/msg/generated/product_configuration/ProductConfigurationLaterality.msg deleted file mode 100644 index f0d7ac7a..00000000 --- a/kortex_driver/msg/generated/product_configuration/ProductConfigurationLaterality.msg +++ /dev/null @@ -1,2 +0,0 @@ - -uint32 arm_laterality \ No newline at end of file diff --git a/kortex_driver/msg/generated/product_configuration/ProductConfigurationVisionModuleType.msg b/kortex_driver/msg/generated/product_configuration/ProductConfigurationVisionModuleType.msg deleted file mode 100644 index 5503e0de..00000000 --- a/kortex_driver/msg/generated/product_configuration/ProductConfigurationVisionModuleType.msg +++ /dev/null @@ -1,2 +0,0 @@ - -uint32 vision_module_type \ No newline at end of file diff --git a/kortex_driver/msg/generated/product_configuration/ProductConfigurationWristType.msg b/kortex_driver/msg/generated/product_configuration/ProductConfigurationWristType.msg deleted file mode 100644 index 48dfd4be..00000000 --- a/kortex_driver/msg/generated/product_configuration/ProductConfigurationWristType.msg +++ /dev/null @@ -1,2 +0,0 @@ - -uint32 wrist_type \ No newline at end of file diff --git a/kortex_driver/package.xml b/kortex_driver/package.xml index bedf0b91..4616c464 100644 --- a/kortex_driver/package.xml +++ b/kortex_driver/package.xml @@ -1,7 +1,7 @@ kortex_driver - 2.0.0 + 2.2.0 THe kortex package that act as a robot's driver. diff --git a/kortex_driver/protos/ActuatorConfig.proto b/kortex_driver/protos/ActuatorConfig.proto index c805739d..4072cc2d 100644 --- a/kortex_driver/protos/ActuatorConfig.proto +++ b/kortex_driver/protos/ActuatorConfig.proto @@ -20,94 +20,101 @@ package Kinova.Api.ActuatorConfig; service ActuatorConfig {//@PROXY_ID=10 @ERROR=Kinova.Api.Error // Retrieves axis offsets for absolute and relative encoder - rpc GetAxisOffsets (Kinova.Api.Common.Empty) returns (AxisOffsets); //@RPC_ID=1 + rpc GetAxisOffsets (Kinova.Api.Common.Empty) returns (AxisOffsets); //@RPC_ID=1 // Sets offsets for absolute and relative encoder - rpc SetAxisOffsets (AxisPosition) returns (Kinova.Api.Common.Empty); //@RPC_ID=2 + // Invoking this method shall invalidate arm calibration if one exists. This method is for kinova usage only. + rpc SetAxisOffsets (AxisPosition) returns (Kinova.Api.Common.Empty); //@RPC_ID=2 // Reads torque calibration parameters (internal use only) - rpc ReadTorqueCalibration (Kinova.Api.Common.Empty) returns (TorqueCalibration); //@RPC_ID=3 + rpc ReadTorqueCalibration (Kinova.Api.Common.Empty) returns (TorqueCalibration); //@RPC_ID=3 // Writes torque calibration parameters (internal use only) - rpc WriteTorqueCalibration (TorqueCalibration) returns (Kinova.Api.Common.Empty); //@RPC_ID=4 + rpc WriteTorqueCalibration (TorqueCalibration) returns (Kinova.Api.Common.Empty); //@RPC_ID=4 // Sets zero torque calibration - rpc SetTorqueOffset (TorqueOffset) returns (Kinova.Api.Common.Empty); //@RPC_ID=5 + rpc SetTorqueOffset (TorqueOffset) returns (Kinova.Api.Common.Empty); //@RPC_ID=5 // Retrieves actuator control mode - rpc GetControlMode (Kinova.Api.Common.Empty) returns (ControlModeInformation); //@RPC_ID=6 + rpc GetControlMode (Kinova.Api.Common.Empty) returns (ControlModeInformation); //@RPC_ID=6 // Sets actuator control mode - rpc SetControlMode (ControlModeInformation) returns (Kinova.Api.Common.Empty); //@RPC_ID=7 + rpc SetControlMode (ControlModeInformation) returns (Kinova.Api.Common.Empty); //@RPC_ID=7 // Retrieves activated control loop(s) - rpc GetActivatedControlLoop (Kinova.Api.Common.Empty) returns (ControlLoop); //@RPC_ID=8 + rpc GetActivatedControlLoop (Kinova.Api.Common.Empty) returns (ControlLoop); //@RPC_ID=8 // Sets activated control loop(s) - rpc SetActivatedControlLoop (ControlLoop) returns (Kinova.Api.Common.Empty); //@RPC_ID=9 + rpc SetActivatedControlLoop (ControlLoop) returns (Kinova.Api.Common.Empty); //@RPC_ID=9 // Retrieves motor drive FOC parameters (internal use only) - rpc GetVectorDriveParameters (Kinova.Api.Common.Empty) returns (VectorDriveParameters); //@RPC_ID=10 + rpc GetVectorDriveParameters (Kinova.Api.Common.Empty) returns (VectorDriveParameters); //@RPC_ID=10 // Sets motor drive FOC parameters (internal use only) - rpc SetVectorDriveParameters (VectorDriveParameters) returns (Kinova.Api.Common.Empty); //@RPC_ID=11 + rpc SetVectorDriveParameters (VectorDriveParameters) returns (Kinova.Api.Common.Empty); //@RPC_ID=11 // Retrieves encoder derivative parameters (internal use only) - rpc GetEncoderDerivativeParameters (Kinova.Api.Common.Empty) returns (EncoderDerivativeParameters); //@RPC_ID=12 + rpc GetEncoderDerivativeParameters (Kinova.Api.Common.Empty) returns (EncoderDerivativeParameters); //@RPC_ID=12 // Sets encoder derivative parameters (internal use only) - rpc SetEncoderDerivativeParameters (EncoderDerivativeParameters) returns (Kinova.Api.Common.Empty); //@RPC_ID=13 + rpc SetEncoderDerivativeParameters (EncoderDerivativeParameters) returns (Kinova.Api.Common.Empty); //@RPC_ID=13 // Retrieves control loop parameters - rpc GetControlLoopParameters (LoopSelection) returns (ControlLoopParameters); //@RPC_ID=14 + rpc GetControlLoopParameters (LoopSelection) returns (ControlLoopParameters); //@RPC_ID=14 // Sets control loop parameters - rpc SetControlLoopParameters (ControlLoopParameters) returns (Kinova.Api.Common.Empty); //@RPC_ID=15 + rpc SetControlLoopParameters (ControlLoopParameters) returns (Kinova.Api.Common.Empty); //@RPC_ID=15 // Starts frequency response test (internal use only) - rpc StartFrequencyResponse (FrequencyResponse) returns (Kinova.Api.Common.Empty); //@RPC_ID=16 + rpc StartFrequencyResponse (FrequencyResponse) returns (Kinova.Api.Common.Empty); //@RPC_ID=16 // Stops frequency response test (internal use only) - rpc StopFrequencyResponse (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty); //@RPC_ID=17 + rpc StopFrequencyResponse (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty); //@RPC_ID=17 // Starts step response test (internal use only) - rpc StartStepResponse (StepResponse) returns (Kinova.Api.Common.Empty); //@RPC_ID=18 + rpc StartStepResponse (StepResponse) returns (Kinova.Api.Common.Empty); //@RPC_ID=18 // Stops step response test (internal use only) - rpc StopStepResponse (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty); //@RPC_ID=19 + rpc StopStepResponse (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty); //@RPC_ID=19 // Starts ramp response test (internal use only) - rpc StartRampResponse (RampResponse) returns (Kinova.Api.Common.Empty); //@RPC_ID=20 + rpc StartRampResponse (RampResponse) returns (Kinova.Api.Common.Empty); //@RPC_ID=20 // Stops ramp response test (internal use only) - rpc StopRampResponse (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty); //@RPC_ID=21 + rpc StopRampResponse (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty); //@RPC_ID=21 // Selects custom data - rpc SelectCustomData (CustomDataSelection) returns (Kinova.Api.Common.Empty); //@RPC_ID=22 + rpc SelectCustomData (CustomDataSelection) returns (Kinova.Api.Common.Empty); //@RPC_ID=22 // Retrieves selected custom data - rpc GetSelectedCustomData (Kinova.Api.Common.Empty) returns (CustomDataSelection); //@RPC_ID=23 + rpc GetSelectedCustomData (Kinova.Api.Common.Empty) returns (CustomDataSelection); //@RPC_ID=23 // Sets command mode (config versus cyclic) - rpc SetCommandMode (CommandModeInformation) returns (Kinova.Api.Common.Empty); //@RPC_ID=24 + rpc SetCommandMode (CommandModeInformation) returns (Kinova.Api.Common.Empty); //@RPC_ID=24 // Clears all error(s) and warning(s) (bank A and B) - rpc ClearFaults (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty); //@RPC_ID=25 + rpc ClearFaults (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty); //@RPC_ID=25 // Enables or disables servoing - rpc SetServoing (Servoing) returns (Kinova.Api.Common.Empty); //@RPC_ID=26 + rpc SetServoing (Servoing) returns (Kinova.Api.Common.Empty); //@RPC_ID=26 // Moves the actuator to the desired position - rpc MoveToPosition (PositionCommand) returns (Kinova.Api.Common.Empty); //@RPC_ID=27 + rpc MoveToPosition (PositionCommand) returns (Kinova.Api.Common.Empty); //@RPC_ID=27 // Retrieves command mode (config versus cyclic) - rpc GetCommandMode (Kinova.Api.Common.Empty) returns (CommandModeInformation); //@RPC_ID=28 + rpc GetCommandMode (Kinova.Api.Common.Empty) returns (CommandModeInformation); //@RPC_ID=28 // Retrieves servoing state - rpc GetServoing (Kinova.Api.Common.Empty) returns (Servoing); //@RPC_ID=29 + rpc GetServoing (Kinova.Api.Common.Empty) returns (Servoing); //@RPC_ID=29 // Retrieves torque offset calibration - rpc GetTorqueOffset (Kinova.Api.Common.Empty) returns (TorqueOffset); //@RPC_ID=30 + rpc GetTorqueOffset (Kinova.Api.Common.Empty) returns (TorqueOffset); //@RPC_ID=30 + + // Sets cogging feedforward mode + rpc SetCoggingFeedforwardMode (CoggingFeedforwardModeInformation) returns (Kinova.Api.Common.Empty); //@RPC_ID=31 + + // Retrieves cogging feedforward mode + rpc GetCoggingFeedforwardMode (Kinova.Api.Common.Empty) returns (CoggingFeedforwardModeInformation); //@RPC_ID=32 } // Identifies ActuatorConfig service current version @@ -158,6 +165,14 @@ enum ControlLoopSelection MOTOR_CURRENT = 32; // 0x20 - Motor current control } +// Admissable cogging feedforward modes +enum CoggingFeedforwardMode +{ + FEEDFORWARD_OFF = 0; // No cogging compensation + FEEDFORWARD_ADAPTIVE = 1; // Cogging compensation with adaptive parameters + FEEDFORWARD_CALIBRATED = 2; // Cogging compensation with calibrated parameters +} + // Axis position message AxisPosition { @@ -216,8 +231,8 @@ message VectorDriveParameters // Variable window derivative parameters message EncoderDerivativeParameters { - uint32 max_window_width = 1; // Maximum window width - uint32 min_encoder_tick_count = 2; // Minimum encoder tick count + uint32 max_window_width = 1; // Maximum window width + float min_angle = 2; // Minimum angle for derivative (degrees) } // Control loop parameters (discrete transfer function) @@ -285,6 +300,12 @@ message PositionCommand float acceleration = 3; // Acceleration value (degrees per second^squared) } +// Cogging feedforward mode +message CoggingFeedforwardModeInformation +{ + CoggingFeedforwardMode cogging_feedforward_mode = 1; // Cogging feedforward mode +} + // Admissible bank A actuator safeties enum SafetyIdentifierBankA { UNSPECIFIED_ACTUATOR_SAFETY_IDENTIFIER_BANK_A = 0; // 0x0 - Unspecified actuator safety @@ -375,4 +396,43 @@ enum CustomDataIndex { FLOAT_CURRENT_MOTOR_CMD = 53; // Motor current command sent to motor drive (Amperes) FLOAT_TORQUE_JOINT_CMD = 54; // Axis torque command sent to joint torque control loop (Newton-meters) FLOAT_POSITION_UNWRAPPED = 55; // Actuator position unwrapped (degrees) + UINT32_HALL_SENSOR_0 = 56; // Hall sensor 0 value (raw) + UINT32_HALL_SENSOR_1 = 57; // Hall sensor 1 value (raw) + UINT32_HALL_SENSOR_2 = 58; // Hall sensor 2 value (raw) + INT32_HALL_SENSOR_SCALED_0 = 59; // Hall sensor 0 scaled value (raw) + INT32_HALL_SENSOR_SCALED_1 = 60; // Hall sensor 1 scaled value (raw) + INT32_HALL_SENSOR_SCALED_2 = 61; // Hall sensor 2 scaled value (raw) + FLOAT_COGGING_COEFFICIENT_A_0 = 62; // Cogging torque cancellation coefficient A0 (Amperes) + FLOAT_COGGING_COEFFICIENT_A_1 = 63; // Cogging torque cancellation coefficient A1 (Amperes) + FLOAT_COGGING_COEFFICIENT_A_2 = 64; // Cogging torque cancellation coefficient A2 (Amperes) + FLOAT_COGGING_COEFFICIENT_A_3 = 65; // Cogging torque cancellation coefficient A3 (Amperes) + FLOAT_COGGING_COEFFICIENT_A_4 = 66; // Cogging torque cancellation coefficient A4 (Amperes) + FLOAT_COGGING_COEFFICIENT_A_5 = 67; // Cogging torque cancellation coefficient A5 (Amperes) + FLOAT_COGGING_COEFFICIENT_A_6 = 68; // Cogging torque cancellation coefficient A6 (Amperes) + FLOAT_COGGING_COEFFICIENT_A_7 = 69; // Cogging torque cancellation coefficient A7 (Amperes) + FLOAT_COGGING_COEFFICIENT_A_8 = 70; // Cogging torque cancellation coefficient A8 (Amperes) + FLOAT_COGGING_COEFFICIENT_A_9 = 71; // Cogging torque cancellation coefficient A9 (Amperes) + FLOAT_COGGING_COEFFICIENT_A_10 = 72; // Cogging torque cancellation coefficient A10 (Amperes) + FLOAT_COGGING_COEFFICIENT_A_11 = 73; // Cogging torque cancellation coefficient A11 (Amperes) + FLOAT_COGGING_COEFFICIENT_A_12 = 74; // Cogging torque cancellation coefficient A12 (Amperes) + FLOAT_COGGING_COEFFICIENT_A_13 = 75; // Cogging torque cancellation coefficient A13 (Amperes) + FLOAT_COGGING_COEFFICIENT_A_14 = 76; // Cogging torque cancellation coefficient A14 (Amperes) + FLOAT_COGGING_COEFFICIENT_A_15 = 77; // Cogging torque cancellation coefficient A15 (Amperes) + FLOAT_COGGING_COEFFICIENT_B_0 = 78; // Cogging torque cancellation coefficient B0 (Amperes) + FLOAT_COGGING_COEFFICIENT_B_1 = 79; // Cogging torque cancellation coefficient B1 (Amperes) + FLOAT_COGGING_COEFFICIENT_B_2 = 80; // Cogging torque cancellation coefficient B2 (Amperes) + FLOAT_COGGING_COEFFICIENT_B_3 = 81; // Cogging torque cancellation coefficient B3 (Amperes) + FLOAT_COGGING_COEFFICIENT_B_4 = 82; // Cogging torque cancellation coefficient B4 (Amperes) + FLOAT_COGGING_COEFFICIENT_B_5 = 83; // Cogging torque cancellation coefficient B5 (Amperes) + FLOAT_COGGING_COEFFICIENT_B_6 = 84; // Cogging torque cancellation coefficient B6 (Amperes) + FLOAT_COGGING_COEFFICIENT_B_7 = 85; // Cogging torque cancellation coefficient B7 (Amperes) + FLOAT_COGGING_COEFFICIENT_B_8 = 86; // Cogging torque cancellation coefficient B8 (Amperes) + FLOAT_COGGING_COEFFICIENT_B_9 = 87; // Cogging torque cancellation coefficient B9 (Amperes) + FLOAT_COGGING_COEFFICIENT_B_10 = 88; // Cogging torque cancellation coefficient B10 (Amperes) + FLOAT_COGGING_COEFFICIENT_B_11 = 89; // Cogging torque cancellation coefficient B11 (Amperes) + FLOAT_COGGING_COEFFICIENT_B_12 = 90; // Cogging torque cancellation coefficient B12 (Amperes) + FLOAT_COGGING_COEFFICIENT_B_13 = 91; // Cogging torque cancellation coefficient B13 (Amperes) + FLOAT_COGGING_COEFFICIENT_B_14 = 92; // Cogging torque cancellation coefficient B14 (Amperes) + FLOAT_COGGING_COEFFICIENT_B_15 = 93; // Cogging torque cancellation coefficient B15 (Amperes) + FLOAT_CURRENT_COGGING_FEEDFORWARD = 94; // Commanded cogging cancellation feedforward current sent to motor drive (Amperes) } diff --git a/kortex_driver/protos/Base.proto b/kortex_driver/protos/Base.proto index 5c7c83ed..87a0517f 100644 --- a/kortex_driver/protos/Base.proto +++ b/kortex_driver/protos/Base.proto @@ -60,11 +60,9 @@ service Base {//@PROXY_ID=2 @ERROR=Kinova.Api.Error // Retrieves the list of all existing sequences rpc ReadAllSequences (Kinova.Api.Common.Empty) returns (SequenceList);//@RPC_ID=12 - // Deletes a specific task from the specified sequence - rpc DeleteSequenceTask (SequenceTaskHandle) returns (Kinova.Api.Common.Empty);//@RPC_ID=13 + // DeleteSequenceTask is still RPC_ID=13, but is at position 221 in this file - // Deletes all tasks from the specified sequence - rpc DeleteAllSequenceTasks (SequenceHandle) returns (Kinova.Api.Common.Empty);//@RPC_ID=14 + // DeleteAllSequenceTasks is still RPC_ID=14, but is at position 222 in this file // Plays an existing sequence rpc PlaySequence (SequenceHandle) returns (Kinova.Api.Common.Empty);//@RPC_ID=15 @@ -228,13 +226,13 @@ service Base {//@PROXY_ID=2 @ERROR=Kinova.Api.Error // Subscribes to robot event topic for notifications rpc RobotEventTopic (Kinova.Api.Common.NotificationOptions) returns (Kinova.Api.Common.NotificationHandle);//@RPC_ID=107 @PUB_SUB=RobotEventNotification - // Moves robot to the specifed tool pose (position and orientation) while imposing specified constraints + // Moves robot to the specified tool pose (position and orientation) while imposing specified constraints. rpc PlayCartesianTrajectory (ConstrainedPose) returns (Kinova.Api.Common.Empty);//@RPC_ID=109 - // Moves robot to the specifed position while imposing specified constraints + // Moves robot to the specified position while imposing specified constraints. rpc PlayCartesianTrajectoryPosition (ConstrainedPosition) returns (Kinova.Api.Common.Empty);//@RPC_ID=110 - // Moves to the specifed orientation while imposing specified constraints + // Moves to the specified orientation while imposing specified constraints. rpc PlayCartesianTrajectoryOrientation (ConstrainedOrientation) returns (Kinova.Api.Common.Empty);//@RPC_ID=111 // Stops robot movement @@ -261,10 +259,10 @@ service Base {//@PROXY_ID=2 @ERROR=Kinova.Api.Error // Sends a twist (screw consisting of linear and angular velocity) command to be applied to the tool rpc SendTwistCommand (TwistCommand) returns (Kinova.Api.Common.Empty);//@RPC_ID=121 - // Moves joints to the specified joint angles while imposing specified constraints + // Moves joints to the specified joint angles while imposing specified constraints. rpc PlayJointTrajectory (ConstrainedJointAngles) returns (Kinova.Api.Common.Empty);//@RPC_ID=124 - // Moves specifed joint to the specifed joint angle while imposing specified constraints + // Moves specifed joint to the specifed joint angle while imposing specified constraints. rpc PlaySelectedJointTrajectory (ConstrainedJointAngle) returns (Kinova.Api.Common.Empty);//@RPC_ID=125 // Retrieves the currently measured joint angles for each joint @@ -361,16 +359,16 @@ service Base {//@PROXY_ID=2 @ERROR=Kinova.Api.Error rpc GetCapSenseConfig (Kinova.Api.Common.Empty) returns (CapSenseConfig);//@RPC_ID=181 // Retrieves speed hard limits for all joints - rpc GetAllJointsSpeedHardLimitation (Kinova.Api.Common.Empty) returns (JointsLimitationsList);//@RPC_ID=183 + rpc GetAllJointsSpeedHardLimitation (Kinova.Api.Common.Empty) returns (JointsLimitationsList);//@RPC_ID=183 @DEPRECATED="This function will be removed in a future release. Use GetKinematicHardLimits from the ControlConfig service instead." // Retrieves torque hard limits for all joints - rpc GetAllJointsTorqueHardLimitation (Kinova.Api.Common.Empty) returns (JointsLimitationsList);//@RPC_ID=184 + rpc GetAllJointsTorqueHardLimitation (Kinova.Api.Common.Empty) returns (JointsLimitationsList);//@RPC_ID=184 @DEPRECATED // Retrieves twist hard limitations - rpc GetTwistHardLimitation (Kinova.Api.Common.Empty) returns (TwistLimitation);//@RPC_ID=185 + rpc GetTwistHardLimitation (Kinova.Api.Common.Empty) returns (TwistLimitation);//@RPC_ID=185 @DEPRECATED="This function will be removed in a future release. Use GetKinematicHardLimits from the ControlConfig service instead." // Retrieves wrench hard limitations - rpc GetWrenchHardLimitation (Kinova.Api.Common.Empty) returns (WrenchLimitation);//@RPC_ID=186 + rpc GetWrenchHardLimitation (Kinova.Api.Common.Empty) returns (WrenchLimitation);//@RPC_ID=186 @DEPRECATED /* * Sends the desired joystick speeds to all joints with one command. @@ -403,27 +401,9 @@ service Base {//@PROXY_ID=2 @ERROR=Kinova.Api.Error // Retrieves product configuration information rpc GetProductConfiguration (Kinova.Api.Common.Empty) returns (Kinova.Api.ProductConfiguration.CompleteProductConfiguration);//@RPC_ID=198 - // Set new value for Degree of Freedom in product configuration (Identification Number) - rpc UpdateDegreeOfFreedomConfiguration (Kinova.Api.ProductConfiguration.ProductConfigurationDegreeOfFreedom) returns (Kinova.Api.Common.Empty);//@RPC_ID=199 - - // Set new Base type in product configuration (Identification Number) - rpc UpdateBaseTypeConfiguration (Kinova.Api.ProductConfiguration.ProductConfigurationBaseType) returns (Kinova.Api.Common.Empty);//@RPC_ID=200 - // Set new end-effector type in product configuration (Identification Number) rpc UpdateEndEffectorTypeConfiguration (Kinova.Api.ProductConfiguration.ProductConfigurationEndEffectorType) returns (Kinova.Api.Common.Empty);//@RPC_ID=201 - - // Set new vision module type in product configuration (Identification Number) - rpc UpdateVisionModuleTypeConfiguration (Kinova.Api.ProductConfiguration.ProductConfigurationVisionModuleType) returns (Kinova.Api.Common.Empty);//@RPC_ID=202 - - // Set new interface module type in product configuration (Identification Number) - rpc UpdateInterfaceModuleTypeConfiguration (Kinova.Api.ProductConfiguration.ProductConfigurationInterfaceModuleType) returns (Kinova.Api.Common.Empty);//@RPC_ID=203 - - // Set new arm laterality in product configuration (Identification Number) - rpc UpdateArmLateralityConfiguration (Kinova.Api.ProductConfiguration.ProductConfigurationLaterality) returns (Kinova.Api.Common.Empty);//@RPC_ID=204 - - // Sets new wrist type in product configuration (Identification Number) - rpc UpdateWristTypeConfiguration (Kinova.Api.ProductConfiguration.ProductConfigurationWristType) returns (Kinova.Api.Common.Empty);//@RPC_ID=205 - + // Restores product configuration to factory product configuration rpc RestoreFactoryProductConfiguration (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty);//@RPC_ID=206 @@ -434,16 +414,73 @@ service Base {//@PROXY_ID=2 @ERROR=Kinova.Api.Error rpc GetTrajectoryErrorReport (Kinova.Api.Common.Empty) returns (TrajectoryErrorReport);//@RPC_ID=207 // Retrieves list of soft speed limits for all joints - rpc GetAllJointsSpeedSoftLimitation (Kinova.Api.Common.Empty) returns (JointsLimitationsList);//@RPC_ID=208 + rpc GetAllJointsSpeedSoftLimitation (Kinova.Api.Common.Empty) returns (JointsLimitationsList);//@RPC_ID=208 @DEPRECATED="This function will be removed in a future release. Use GetKinematicSoftLimits from the ControlConfig service instead." // Retrieves list of soft torque limits for all joints - rpc GetAllJointsTorqueSoftLimitation (Kinova.Api.Common.Empty) returns (JointsLimitationsList);//@RPC_ID=209 + rpc GetAllJointsTorqueSoftLimitation (Kinova.Api.Common.Empty) returns (JointsLimitationsList);//@RPC_ID=209 @DEPRECATED // Retrieves all twist soft limitations - rpc GetTwistSoftLimitation (Kinova.Api.Common.Empty) returns (TwistLimitation);//@RPC_ID=210 + rpc GetTwistSoftLimitation (Kinova.Api.Common.Empty) returns (TwistLimitation);//@RPC_ID=210 @DEPRECATED="This function will be removed in a future release. Use GetKinematicSoftLimits from the ControlConfig service instead." // Retrieves all wrench soft limitations - rpc GetWrenchSoftLimitation (Kinova.Api.Common.Empty) returns (WrenchLimitation);//@RPC_ID=211 + rpc GetWrenchSoftLimitation (Kinova.Api.Common.Empty) returns (WrenchLimitation);//@RPC_ID=211 @DEPRECATED + + // Sets controller configuration mode + rpc SetControllerConfigurationMode (ControllerConfigurationMode) returns (Kinova.Api.Common.Empty);//@RPC_ID=212 + + // Retrieves current controller configuration mode + rpc GetControllerConfigurationMode (Kinova.Api.Common.Empty) returns (ControllerConfigurationMode);//@RPC_ID=213 + + // Enables the teaching mode on a sequence + rpc StartTeaching (SequenceTaskHandle) returns (Kinova.Api.Common.Empty);//@RPC_ID=214 + + // Disables the teaching mode on a sequence + rpc StopTeaching (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty);//@RPC_ID=215 + + // Adds tasks to the specified sequence + rpc AddSequenceTasks (SequenceTasksConfiguration) returns (SequenceTasksRange);//@RPC_ID=216 + + // Updates a task within the specified sequence + rpc UpdateSequenceTask (SequenceTaskConfiguration) returns (Kinova.Api.Common.Empty);//@RPC_ID=217 + + // Swaps two task indexes in a sequence + rpc SwapSequenceTasks (SequenceTasksPair) returns (Kinova.Api.Common.Empty);//@RPC_ID=218 + + // Reads a specific task from the specified sequence + rpc ReadSequenceTask (SequenceTaskHandle) returns (SequenceTask);//@RPC_ID=219 + + // Reads all tasks from the specified sequence + rpc ReadAllSequenceTasks (SequenceHandle) returns (SequenceTasks);//@RPC_ID=220 + + // Deletes a specific task from the specified sequence + rpc DeleteSequenceTask (SequenceTaskHandle) returns (Kinova.Api.Common.Empty);//@RPC_ID=13 + + // Deletes all tasks from the specified sequence + rpc DeleteAllSequenceTasks (SequenceHandle) returns (Kinova.Api.Common.Empty);//@RPC_ID=14 + + // Take a snapshot of current robot Cartesian, joint or gripper position + rpc TakeSnapshot (Snapshot) returns (Kinova.Api.Common.Empty);//@RPC_ID=223 + + // Retrieves current firmware bundle versions + rpc GetFirmwareBundleVersions (Kinova.Api.Common.Empty) returns (FirmwareBundleVersions);//@RPC_ID=224 + + // Move task to new index in a sequence + rpc MoveSequenceTask (SequenceTasksPair) returns (Kinova.Api.Common.Empty);//@RPC_ID=227 + + // Duplicates an existing mapping + rpc DuplicateMapping (MappingHandle) returns (MappingHandle);//@RPC_ID=228 + + // Duplicates an existing map + rpc DuplicateMap (MapHandle) returns (MapHandle);//@RPC_ID=229 + + // Sets controller configuration + rpc SetControllerConfiguration (ControllerConfiguration) returns (Kinova.Api.Common.Empty);//@RPC_ID=230 + + // Retrieves current controller configuration + rpc GetControllerConfiguration (ControllerHandle) returns (ControllerConfiguration);//@RPC_ID=231 + + // Retrieves all controller configurations + rpc GetAllControllerConfigurations (Kinova.Api.Common.Empty) returns (ControllerConfigurationList);//@RPC_ID=232 } // Identifies Base service current version @@ -509,11 +546,41 @@ message SequenceTaskHandle { // Information on a single task within a sequence message SequenceTask { - uint32 group_identifier = 1; // Specifies the order in which this task must be executed + uint32 group_identifier = 1; // This field is deprecated and unused. Use task_index in the SequenceTaskHandle instead. Action action = 2; // Specifies the action to execute string application_data = 3; // Application data (reserved for use by Web App) } +// Information on multiple tasks within a sequence +message SequenceTasks { + repeated SequenceTask sequence_tasks = 1; // List of tasks +} + +// Reference to a specific task within a sequence, and information on list of sequence tasks to be inserted +message SequenceTasksConfiguration { + SequenceTaskHandle sequence_task_handle = 1; // Sequence Handle and task index as the insertion point + repeated SequenceTask sequence_tasks = 2; // Tasks to be inserted +} + +// Reference to a specific task within a sequence, and configuration information on task to be updated +message SequenceTaskConfiguration { + SequenceTaskHandle sequence_task_handle = 1; // Sequence Handle and index of task to update + SequenceTask sequence_task = 2; // Configuration information on task to be updated +} + +// Information on a range of task indexes +message SequenceTasksRange { + uint32 first_task_index = 1; // Index of first task + uint32 second_task_index = 2; // Index of second task +} + +// Information on a sequence and a pair of tasks to be operated on +message SequenceTasksPair { + SequenceHandle sequence_handle = 1; // Sequence handle + uint32 first_task_index = 2; // Index of first task + uint32 second_task_index = 3; // Index of second task +} + // Information about a sequence message Sequence { SequenceHandle handle = 1; // Sequence handle @@ -554,9 +621,10 @@ message Action { TwistCommand send_twist_command = 4; // Control the tool in velocity WrenchCommand send_wrench_command = 5; // Control the tool in force (EXPERIMENTAL) JointSpeeds send_joint_speeds = 7; // Action to control each joint speed - ConstrainedPose reach_pose = 9; // Reach a pose given Cartesian constraints - ConstrainedJointAngles reach_joint_angles = 10; // Reach a series of joint angles given angular constraints + ConstrainedPose reach_pose = 9; // Reach a pose given Cartesian constraints. + ConstrainedJointAngles reach_joint_angles = 10; // Reach a series of joint angles given angular constraints. AdmittanceMode toggle_admittance_mode = 16; // Enable or disable the admittance mode + Snapshot snapshot = 17; // Take a snapshot of current robot position SwitchControlMapping switch_control_mapping = 19; // Switch the active controller map JointNavigationDirection navigate_joints = 20; // Select the next actuator to control in a map NavigationDirection navigate_mappings = 21; // Select a different map @@ -582,6 +650,7 @@ enum ActionType { REACH_POSE = 6; // Reach a pose REACH_JOINT_ANGLES = 7; // Reach a series of joint angles TOGGLE_ADMITTANCE_MODE = 13; // Enable or disable the admittance mode + SNAPSHOT = 14; // Take a snapshot of current robot position SWITCH_CONTROL_MAPPING = 16; // Switch the active controller map NAVIGATE_JOINTS = 17; // Select the next actuator to control from control mapping NAVIGATE_MAPPINGS = 18; // Select a different map @@ -597,6 +666,20 @@ enum ActionType { PLAY_PRE_COMPUTED_TRAJECTORY = 39; // Play a pre-computed trajectory } +// Admissible types of snapshots +enum SnapshotType { + UNSPECIFIED_SNAPSHOT = 0; // Unspecified snapshot type + CARTESIAN_POSITION_SNAPSHOT = 1; // Snapshot of the current Cartesian robot position + JOINT_POSITION_SNAPSHOT = 2; // Snapshot of the current joint robot position + GRIPPER_SNAPSHOT = 3; // Snapshot of the current gripper position + COMBINED_SNAPSHOT = 4; // Snapshot of the current robot and gripper positions +} + +// Action parameter to take a snapshot of current robot position +message Snapshot { + SnapshotType snapshot_type = 1; // Snapshot type +} + // Action parameter to switch the active controller map message SwitchControlMapping { uint32 controller_identifier = 1; // Identifier of the controller for which changing the active map is requested @@ -894,6 +977,7 @@ message ConfigurationChangeNotification { Kinova.Api.Common.SafetyHandle safety_handle = 11; // Safety for which the configuration changed NetworkHandle network_handle = 12; // Network element for which the configuration changed Ssid ssid = 14; // Wi-Fi instance for which the configuration changed + ControllerHandle controller_handle = 16; // Controller instance for which the configuration changed } Kinova.Api.Common.Connection connection = 15; // Connection that caused the configuration event } @@ -905,14 +989,15 @@ message MappingInfoNotification { Kinova.Api.Common.Timestamp timestamp = 3; // Event timestamp Kinova.Api.Common.UserProfileHandle user_handle = 4; // User that caused the mapping information event Kinova.Api.Common.Connection connection = 5; // Connection that caused the mapping information event + MappingHandle mapping_handle = 6; // Mapping for which the map was activated } -// Admissible robot control modes +// Admissible robot control modes. +// This enum may be removed in a future release. It has been moved to ControlConfig service. enum ControlMode { UNSPECIFIED_CONTROL_MODE = 0; // Unspecified control mode ANGULAR_JOYSTICK = 1; // Angular joystick mode CARTESIAN_JOYSTICK = 2; // Cartesian joystick mode - VISION_JOYSTICK = 3; // Vision joystick mode ANGULAR_TRAJECTORY = 4; // Angular trajectory mode CARTESIAN_TRAJECTORY = 5; // Cartesian trajectory mode CARTESIAN_ADMITTANCE = 6; // Cartesian admittance mode @@ -924,6 +1009,7 @@ enum ControlMode { }; // Control mode information +// This message may be removed in a future release. It has been moved to ControlConfig service. message ControlModeInformation { ControlMode mode = 1; // Control mode } @@ -1000,7 +1086,7 @@ message SequenceInfoNotification { EventIdSequenceInfoNotification event_identifier = 1; // Sequence event type SequenceHandle sequence_handle = 2; // Handle of the sequence that this event refers to uint32 task_index = 3; // Task index - uint32 group_identifier = 4; // Specifies the order in which this task must be executed + uint32 group_identifier = 4; // This field is deprecated and unused. Use task_index instead. Kinova.Api.Common.Timestamp timestamp = 5; // Event timestamp Kinova.Api.Common.UserProfileHandle user_handle = 6; // User that caused the sequence event SubErrorCodes abort_details = 7; // Details if event_identifier is equal to ABORT @@ -1057,7 +1143,8 @@ enum ControllerType { UNSPECIFIED_CONTROLLER_TYPE = 0; // Unspecified controller device type XBOX_CONTROLLER = 1; // Xbox gamepad WRIST_CONTROLLER = 2; // Wrist buttons - GPIO_JOYSTICK = 3; // GPIO joystick connected to Kinova robot base + BASIC_JOYSTICK_CONTROLLER = 3; // Simplified joystick connected to Kinova robot base + BASE_GPIO_CONTROLLER = 4; // GPIO Controller (not implemented yet) } // Reference to a specific controller device @@ -1079,7 +1166,7 @@ message ControllerElementHandle { message ControllerNotification { oneof state { ControllerState controller_state = 1; // Used to indicate if a controller connection or disconnection event occured - ControllerElementState controller_element = 2; // Used to indicate if a specific button (or axis) was pressed (or moved) (not implemented yet) + ControllerElementState controller_element = 2; // Used to indicate if a specific button (or axis) was pressed (or moved) } Kinova.Api.Common.Timestamp timestamp = 3; // Event timestamp Kinova.Api.Common.UserProfileHandle user_handle = 4; // User that caused the controller event @@ -1117,6 +1204,7 @@ enum ControllerElementEventType { AXIS_MOVED = 1; // Controller axis moved BUTTON_DOWN = 2; // Controller button pressed BUTTON_UP = 3; // Controller button released + BUTTON_CLICK = 4; // Controller button clicked } // Admissible action event types @@ -1315,8 +1403,9 @@ message ControllerEvent { // A GPIO event (not implemented yet) message GpioEvent { - GpioState gpio_state = 1; // New GPIO state - uint32 device_identifier = 2; // GPIO device identifier for which this event occured + ControllerInputType input_type = 1; // Type of controller input that caused the event_identifier + GpioBehavior behavior = 2; // GPIO behavior that occured + uint32 input_identifier = 3; // GPIO PIN ID that caused the event } // A map event @@ -1333,6 +1422,7 @@ message MapEvent { message MapElement { MapEvent event = 1; // Map event that occured Action action = 2; // Action to invoke upon event occurence + string name = 3; // Map element friendly name } // Reference to a specific new active map for the specified mapping and map group @@ -1495,7 +1585,7 @@ message Orientation { enum JointTrajectoryConstraintType { UNSPECIFIED_JOINT_CONSTRAINT = 0; // Unspecified joint constraint JOINT_CONSTRAINT_DURATION = 1; // Duration constraint (in second) - JOINT_CONSTRAINT_SPEED = 2; // Speed constraint (in meters per second) (not implemented yet) + JOINT_CONSTRAINT_SPEED = 2; // Speed constraint (in meters per second) } // A Cartesian tool speed (translation speed and angular speed) @@ -1507,8 +1597,8 @@ message CartesianSpeed { // Cartesian trajectory constraint that can be applied when controlling in Cartesian trajectory mode message CartesianTrajectoryConstraint { oneof type { - CartesianSpeed speed = 1; // Speed constraint (in meters per second) - float duration = 2; // Duration constraint (in meters per second) (not implemented yet) + CartesianSpeed speed = 1; // Speed constraint + float duration = 2; // Duration constraint (in seconds) (not implemented yet) } } @@ -1716,12 +1806,30 @@ enum LedState { LED_ON = 3; // LED is one } -// Admissible GPIO states (not implemented yet) -enum GpioState { - UNSPECIFIED_GPIO_STATE = 0; // Unspecified GPIO state - GPIO_OFF = 1; // GPIO is off - GPIO_PULSE = 2; // GPIO is in pulse state - GPIO_ON = 3; // GPIO is on +// Admissible GPIO behavior (not implemented yet) +enum GpioBehavior { + UNSPECIFIED_GPIO_BEHAVIOR = 0; // Unspecified GPIO behavior + GPIO_FALLING = 1; // Falling edge + GPIO_RISING = 2; // Rising edge + GPIO_PULSE_LOW = 3; // Sequence of HIGH - LOW - HIGH + GPIO_PULSE_HIGH = 4; // Sequence of LOW - HIGH - LOW +} + +// Available GPIO PIN (not implemented yet) +enum Gen3GpioPinId { + UNSPECIFIED_PIN = 0; // Unspecified PIN ID + GPIO_PIN_B = 1; // GPIO PIN B + GPIO_PIN_C = 2; // GPIO PIN C + GPIO_PIN_D = 3; // GPIO PIN D + GPIO_PIN_E = 4; // GPIO PIN E + GPIO_PIN_G = 5; // GPIO PIN G + GPIO_PIN_H = 6; // GPIO PIN H + GPIO_PIN_I = 7; // GPIO PIN I + GPIO_PIN_K = 8; // GPIO PIN K + GPIO_PIN_N = 9; // GPIO PIN N + GPIO_PIN_O = 10; // GPIO PIN O + GPIO_PIN_S = 11; // GPIO PIN S + GPIO_PIN_T = 12; // GPIO PIN T } // Identifies the system time (not implemented yet) @@ -1764,6 +1872,32 @@ enum Xbox360AnalogInputIdentifier { XBOX360_TRIGGER_RIGHT = 6; // Trigger right input } +// Admissible Wrist digital inputs +enum WristDigitalInputIdentifier { + UNSPECIFIED_WRIST_DIGITAL = 0; // Unspecified digital input + WRIST_BUTTON_1 = 1; // Button 1 input + WRIST_BUTTON_2 = 2; // Button 2 input + WRIST_BUTTON_BOTH = 3; // Button 1 + Button 2 combo +} + +// Controller configuration mode information +message ControllerConfigurationMode { + bool enable = 1; // Enable controller configuration mode. Set to true to configure controllers, false for normal operation +} + +// Controller configuration information +message ControllerConfiguration { + ControllerHandle handle = 1; // Controller identifier + string name = 2; // Controller friendly name + MappingHandle active_mapping_handle = 3; // Mapping that is active on this controller + string analog_input_identifier_enum = 4; // Name that identifies the enum used to interpret the ‘analog_input_identifier’ field (for example in ControllerEvent). Thus 'analog_input_identifier_enum' shall take the name of an existing enum (ex. Xbox360AnalogInputIdentifier) + string digital_input_identifier_enum = 5; // Name that identifies the enum used to interpret the ‘digital_input_identifier’ field (for example in ControllerEvent). Thus 'digital_input_identifier_enum' shall take the name of an existing enum (ex. Xbox360DigitalInputIdentifier, WristDigitalInputIdentifier) +} + +// Controller configuration information for multiple controllers +message ControllerConfigurationList { + repeated ControllerConfiguration controller_configurations = 1; // List of controller configurations +} // A count of the number of actuators in the robot message ActuatorInformation { @@ -1931,3 +2065,18 @@ message TrajectoryErrorReport { repeated TrajectoryErrorElement trajectory_error_elements = 1; } + +// Firmware bundle versions including main firmware bundle version and components versions +message FirmwareBundleVersions +{ + string main_bundle_version = 1; // Version of the main bundle + repeated FirmwareComponentVersion components_versions = 2; // List containing all components of the bundle +} + +// Individual component with its version +message FirmwareComponentVersion +{ + string name = 1; // Name of the component + string version = 2; // Version of the component + uint32 device_id = 3; // Device id of the component +} diff --git a/kortex_driver/protos/BaseCyclic.proto b/kortex_driver/protos/BaseCyclic.proto index 49fc43d3..c4f9636e 100644 --- a/kortex_driver/protos/BaseCyclic.proto +++ b/kortex_driver/protos/BaseCyclic.proto @@ -113,9 +113,9 @@ message BaseFeedback float tool_pose_theta_x = 16; // Measured Cartesian orientation (X-Axis) of the tool (in degrees) float tool_pose_theta_y = 17; // Measured Cartesian orientation (Y-Axis) of the tool (in degrees) float tool_pose_theta_z = 18; // Measured Cartesian orientation (Z-Axis) of the tool (in degrees) - float tool_twist_linear_x = 19; // Measured Cartesian linear velocity (X-Axis) of the tool (in meters) - float tool_twist_linear_y = 20; // Measured Cartesian linear velocity (Y-Axis) of the tool (in meters) - float tool_twist_linear_z = 21; // Measured Cartesian linear velocity (Z-Axis) of the tool (in meters) + float tool_twist_linear_x = 19; // Measured Cartesian linear velocity (X-Axis) of the tool (in meters per second) + float tool_twist_linear_y = 20; // Measured Cartesian linear velocity (Y-Axis) of the tool (in meters per second) + float tool_twist_linear_z = 21; // Measured Cartesian linear velocity (Z-Axis) of the tool (in meters per second) float tool_twist_angular_x = 22; // Measured Cartesian angular velocity (X-Axis) of the tool (in degrees per second) float tool_twist_angular_y = 23; // Measured Cartesian angular velocity (Y-Axis) of the tool (in degrees per second) float tool_twist_angular_z = 24; // Measured Cartesian angular velocity (Z-Axis) of the tool (in degrees per second) diff --git a/kortex_driver/protos/ControlConfig.proto b/kortex_driver/protos/ControlConfig.proto index bcbef3a2..55a50c40 100644 --- a/kortex_driver/protos/ControlConfig.proto +++ b/kortex_driver/protos/ControlConfig.proto @@ -48,6 +48,63 @@ service ControlConfig {//@PROXY_ID=16 @ERROR=Kinova.Api.Error // Retrieves the current reference frame used by the twist and wrench commands rpc GetCartesianReferenceFrame (Kinova.Api.Common.Empty) returns (CartesianReferenceFrameInfo);//@RPC_ID=10 + + // Retrieves current control mode (not implemented yet) + rpc GetControlMode (Kinova.Api.Common.Empty) returns (ControlModeInformation);//@RPC_ID=13 + + // Set the software joint speed limits. + rpc SetJointSpeedSoftLimits (JointSpeedSoftLimits) returns (Kinova.Api.Common.Empty);//@RPC_ID=14 + + // Set the software twist linear limit. + rpc SetTwistLinearSoftLimit (TwistLinearSoftLimit) returns (Kinova.Api.Common.Empty);//@RPC_ID=15 + + // Set the software twist angular limit. + rpc SetTwistAngularSoftLimit (TwistAngularSoftLimit) returns (Kinova.Api.Common.Empty);//@RPC_ID=16 + + // Set the software joint acceleration limits. + rpc SetJointAccelerationSoftLimits (JointAccelerationSoftLimits) returns (Kinova.Api.Common.Empty);//@RPC_ID=17 + + // Retrieves angular and twist hard limits. + rpc GetKinematicHardLimits (Kinova.Api.Common.Empty) returns (KinematicLimits);//@RPC_ID=18 + + // Retrieves the software kinematic limits for a specific control mode. + rpc GetKinematicSoftLimits (ControlModeInformation) returns (KinematicLimits);//@RPC_ID=19 + + // Retrieves the software kinematic limits for all control modes. + rpc GetAllKinematicSoftLimits (Kinova.Api.Common.Empty) returns (KinematicLimitsList);//@RPC_ID=20 + + // Set the desired linear twist when using the joystick. + rpc SetDesiredLinearTwist (LinearTwist) returns (Kinova.Api.Common.Empty);//@RPC_ID=21 + + // Set the desired angular twist when using the joystick. + rpc SetDesiredAngularTwist (AngularTwist) returns (Kinova.Api.Common.Empty);//@RPC_ID=22 + + // Set the desired joint speeds when using the joystick in angular mode. + rpc SetDesiredJointSpeeds (JointSpeeds) returns (Kinova.Api.Common.Empty);//@RPC_ID=23 + + // Retrieves the desired joystick speeds + rpc GetDesiredSpeeds (Kinova.Api.Common.Empty) returns (DesiredSpeeds);//@RPC_ID=24 + + // Resets gravity vector to default values + rpc ResetGravityVector (Kinova.Api.Common.Empty) returns (GravityVector);//@RPC_ID=25 + + // Resets payload information to default values + rpc ResetPayloadInformation (Kinova.Api.Common.Empty) returns (PayloadInformation);//@RPC_ID=26 + + // Resets tool configuration to default values + rpc ResetToolConfiguration (Kinova.Api.Common.Empty) returns (ToolConfiguration);//@RPC_ID=27 + + // Resets joint speed soft limits to default values + rpc ResetJointSpeedSoftLimits (ControlModeInformation) returns (JointSpeedSoftLimits);//@RPC_ID=28 + + // Resets twist linear soft limit to default value + rpc ResetTwistLinearSoftLimit (ControlModeInformation) returns (TwistLinearSoftLimit);//@RPC_ID=29 + + // Resets twist angular soft limit to default value + rpc ResetTwistAngularSoftLimit (ControlModeInformation) returns (TwistAngularSoftLimit);//@RPC_ID=30 + + // Resets joint acceleration soft limits to default values + rpc ResetJointAccelerationSoftLimits (ControlModeInformation) returns (JointAccelerationSoftLimits);//@RPC_ID=31 } // Identifies ControlConfig current version @@ -102,7 +159,6 @@ enum ControlConfigurationEvent { UNSPECIFIED_CONTROL_CONFIGURATION_EVENT = 0; // Unspecified control configuration event ANGLE_UNIT_CHANGED = 1; // Angle unit changed event GRAVITY_VECTOR_CHANGED = 2; // Gravity vector changed event - VISION_JOYSTICK_CONFIGURATION_CHANGED = 3; // Vision joystick configuration changed event JOINT_ADMITTANCE_CONFIGURATION_CHANGED = 4; // Joint admittance configuration changed event NULL_ADMITTANCE_CONFIGURATION_CHANGED = 5; // Null admittance configuration changed event CARTESIAN_ADMITTANCE_CONFIGURATION_CHANGED = 6; // Cartesian admittance configuration changed event @@ -114,6 +170,13 @@ enum ControlConfigurationEvent { PAYLOAD_CONFIGURATION_CHANGED = 12; // Payload configuration event CARTESIAN_REFERENCE_CHANGED = 13; // Cartesian reference event CHANGE_CONTROL_MODE_FAILED = 14; // Control mode change fail event + JOINT_SPEED_SOFT_LIMITS_CHANGED = 16; // Joint speed software limits changed event + TWIST_LINEAR_SOFT_LIMIT_CHANGED = 17; // Linear speed software limit changed event + TWIST_ANGULAR_SOFT_LIMIT_CHANGED = 18; // Angular speed software limit changed event + JOINT_ACCELERATION_SOFT_LIMITS_CHANGED = 19; // Joint acceleration software limits changed event + DESIRED_TWIST_LINEAR_SPEED_CHANGED = 20; // Desired joystick twist linear speed changed event + DESIRED_TWIST_ANGULAR_SPEED_CHANGED = 21; // Desired joystick twist angular speed changed event + DESIRED_JOINT_SPEED_CHANGED = 22; // Desired joystick joint speed changed event } // Notification about a single control configuration event @@ -128,3 +191,83 @@ message ControlConfigurationNotification { message CartesianReferenceFrameInfo { Kinova.Api.Common.CartesianReferenceFrame reference_frame = 1; // Reference frame } + +// Software twist linear speed limit +message TwistLinearSoftLimit { + ControlMode control_mode = 1; // Control mode + float twist_linear_soft_limit = 2; // Software linear twist limit +} + +// Software twist angular speed limit +message TwistAngularSoftLimit { + ControlMode control_mode = 1; // Control mode + float twist_angular_soft_limit = 2; // Software angular twist limit +} + +// Software joint speed limits +message JointSpeedSoftLimits { + ControlMode control_mode = 1; // Control mode + repeated float joint_speed_soft_limits = 2; // Software joint speed limits +} + +// Software Joint acceleration limits +message JointAccelerationSoftLimits { + ControlMode control_mode = 1; // Control mode + repeated float joint_acceleration_soft_limits = 2; // Software acceleration limits +} + +// Kinematic limits +message KinematicLimits { + ControlMode control_mode = 1; // Control mode + float twist_linear = 2; // Linear twist limits + float twist_angular = 3; // Angular twist limits + repeated float joint_speed_limits = 4; // Joint speed limits + repeated float joint_acceleration_limits = 5; // Joint Acceleration limits +} + +// Kinematic limits +message KinematicLimitsList { + repeated KinematicLimits kinematic_limits_list = 1; // List of kinematic limits +} + +// Desired Joystick speeds. +message DesiredSpeeds { + float linear = 1; // Desired linear speed (meters / second) + float angular = 2; // Desired angular speed (degrees / second) + repeated float joint_speed = 3; // Desired joint speeds (degrees / second) +} + +// Desired Joystick linear speed. +message LinearTwist { + float linear = 1; // Desired linear speed (meters / second) +} + +// Desired Joystick angular speed. +message AngularTwist { + float angular = 1; // Desired angular speed (degrees / second) +} + +// Desired Joystick joint speeds. +message JointSpeeds { + repeated float joint_speed = 1; // Desired joint speeds (degrees / second) +} + +// Admissible robot control modes +enum ControlMode { + UNSPECIFIED_CONTROL_MODE = 0; // Unspecified control mode + ANGULAR_JOYSTICK = 1; // Angular joystick mode + CARTESIAN_JOYSTICK = 2; // Cartesian joystick mode + ANGULAR_TRAJECTORY = 4; // Angular trajectory mode + CARTESIAN_TRAJECTORY = 5; // Cartesian trajectory mode + CARTESIAN_ADMITTANCE = 6; // Cartesian admittance mode + JOINT_ADMITTANCE = 7; // Joint admittance mode + NULL_SPACE_ADMITTANCE = 8; // Null space mode + FORCE_CONTROL = 10; // Force control mode + FORCE_CONTROL_MOTION_RESTRICTED = 11; // Force control motion restricted mode + IDLE = 13; // Idle +}; + +// Control mode information +message ControlModeInformation { + ControlMode control_mode = 1; // Control mode +} diff --git a/kortex_driver/protos/Errors.proto b/kortex_driver/protos/Errors.proto index 7c43acf7..dad290ac 100644 --- a/kortex_driver/protos/Errors.proto +++ b/kortex_driver/protos/Errors.proto @@ -133,7 +133,7 @@ enum SubErrorCodes { ADDRESS_NOT_IN_VALID_RANGE = 120; // IP Address not valid against netmask ADDRESS_NOT_CONFIGURABLE = 121; // IP Address not configurable on specified interface - + SESSION_NOT_IN_CONTROL = 130; // Trying to perform command from a non-controlling session in single-level mode METHOD_TIMEOUT = 131; // Timeout occured during method execution @@ -142,5 +142,11 @@ enum SubErrorCodes { NVRAM_READ_FAIL = 133; // Failed to read in NVRAM. NVRAM_WRITE_FAIL = 134; // Failed to write in NVRAM. - NETWORK_NO_ADDRESS_ASSIGNED = 135; // The specified interface has no assigned IP + NETWORK_NO_ADDRESS_ASSIGNED = 135; // The specified interface has no assigned IP + + READ_PERMISSION_DENIED = 136; // Attempting read command on unreadable entity + + CONTROLLER_INVALID_MAPPING = 137; // Attempting to assign an unsuited mapping to controller + + ACTION_IN_USE = 138; // Attempting to delete an Action used by another entity } diff --git a/kortex_driver/protos/ProductConfiguration.proto b/kortex_driver/protos/ProductConfiguration.proto index 37d4ab6a..9a840bb6 100644 --- a/kortex_driver/protos/ProductConfiguration.proto +++ b/kortex_driver/protos/ProductConfiguration.proto @@ -27,6 +27,7 @@ enum ModelId { enum BaseType { BASE_TYPE_UNSPECIFIED = 0; // Unspecified base type BASE_TYPE_L53_QUICK_CONNECT = 1; // L53 (Gen3) Quick Connect Base + BASE_TYPE_L53_FIXED = 2; // L53 (Gen3) Fixed Base BASE_TYPE_L31_FIXED = 3; // L31 (PICO) Fixed Base BASE_TYPE_HDK_FIXED = 4; // HDK Fixed Base } @@ -37,6 +38,7 @@ enum EndEffectorType { END_EFFECTOR_TYPE_NOT_INSTALLED = 1; // No gripper installed END_EFFECTOR_TYPE_L31_GRIPPER_2F = 2; // L31 (PICO) gripper, 2 fingers END_EFFECTOR_TYPE_ROBOTIQ_2F_85 = 3; // Robotiq 2F-85 gripper, 2 fingers + END_EFFECTOR_TYPE_ROBOTIQ_2F_140 = 4; // Robotiq 2F-140 gripper, 2 fingers } // Admissible vision modules @@ -88,37 +90,8 @@ message CompleteProductConfiguration { WristType wrist_type = 12; // Wrist type of the device } -// New degree of freedom configuration -message ProductConfigurationDegreeOfFreedom { - uint32 degree_of_freedom = 1; // New degree of freedom -} - -// New base type configuration -message ProductConfigurationBaseType { - BaseType base_type = 1; // New base type -} - // New end-effector installed on arm message ProductConfigurationEndEffectorType { EndEffectorType end_effector_type = 1; // New end-effector type } -// New vision module installed on arm -message ProductConfigurationVisionModuleType { - VisionModuleType vision_module_type = 1; // New vision module type -} - -// New interface module installed on arm -message ProductConfigurationInterfaceModuleType { - InterfaceModuleType interface_module_type = 1; // New interface module type -} - -// New arm laterality for the arm -message ProductConfigurationLaterality { - ArmLaterality arm_laterality = 1; // New arm laterality -} - -// New wrist type for the arm -message ProductConfigurationWristType { - WristType wrist_type = 1; // New wrist type -} diff --git a/kortex_driver/readme.md b/kortex_driver/readme.md index 7b194ce7..6e913b2b 100644 --- a/kortex_driver/readme.md +++ b/kortex_driver/readme.md @@ -22,6 +22,7 @@ 1. [Topics](#topics) 1. [Services](#services) 1. [Compatibility break between v1.1.X and v2.0.X](#compatibility) +1. [About Conan](#conan) 1. [Support for multiple arms](#multiple) 1. [Generation (advanced)](#generation) @@ -48,12 +49,15 @@ The `kortex_driver` node is the node responsible for the communication between t **Arguments**: - **arm** : Name of your robot arm model. See the `kortex_description/arms` folder to see the available robot models. The default value is **gen3**. +- **dof** : Number of DOFs of your robot. The default value is for Gen3 is **7** and the default value for Gen3 lite is **6**. You will have to specify this value only if you have a Gen3 6DOF. +- **vision** : Boolean value to indicate if your arm has a Vision Module. The default value is for Gen3 is **true** and the default value for Gen3 lite is **false**. You will have to specify this value only if you have a Gen3 6DOF without a Vision Module. This argument only affects the visual representation of the arm in RViz. - **gripper** : Name of your robot arm's tool / gripper. See the `kortex_description/grippers` folder to see the available end effector models (or to add your own). The default value is **""**. For Gen3, you can also put **robotiq_2f_85**. For Gen3 lite, you need to put **gen3_lite_2f**. - **robot_name** : This is the namespace in which the driver will run. It defaults to **my_$(arg arm)** (so "my_gen3" for arm="gen3"). - **prefix** : This is an optional prefix for all joint and link names in the kortex_description. It is used to allow differentiating between different arms in the same URDF. It defaults to **an empty string**. **Note** : Changing the prefix invalidates the MoveIt! configuration, and requires modifying said configuration, plus the .yaml files with harcoded joint names. - **ip_address** : The IP address of the robot you're connecting to. The default value is **192.168.1.10**. - **username** : The username for the robot connection. The default value is **admin**. - **password** : The password for the robot connection. The default value is **admin**. +- **use_hard_limits** : [**Gen3 only**] If set to **true**, the arm's soft speed and acceleration limits are set to the hard limits and the MoveIt configuration uses those limits for the trajectories. If **false**, the default soft limit values are used. The default value for the parameter is **false**. **Be aware that setting this argument to true will set you arm's speed and acceleration limits to the maximum, so it will move way faster! Be cautious when using it for the first time as it may cause unwanted behaviour.** - **cyclic_data_publish_rate** : Publish rate of the *base_feedback* and *joint_state* topics, in Hz. The default value is **100** Hz. - **api_rpc_timeout_ms** : The default X-axis position of the robot in Gazebo. The default value is **0.0**. - **api_session_inactivity_timeout_ms** : The duration after which the robot will clean the client session if the client hangs up the connection brutally (should not happen with the ROS driver). The default value is **35000** ms and is not normally changed. @@ -214,6 +218,27 @@ Many things have been changed in the ros_kortex repository between versions 1.1. * The **/my_robot_name/base_feedback/joint_state** topic is now advertised as **/my_robot_name/joint_state**. * The [kortex_driver launch file](launch/kortex_driver.launch) is now located in the `kortex_driver` package instead of the `kortex_bringup` package, which was deleted. Some arguments were added to the file. + +## About Conan + +From release 2.2.0 onwards, the Kortex API is automatically downloaded from our Artifactory Conan server. The steps to install and setup Conan have been added to the root readme file. Conan downloads the binaries and header files in the Conan cache, by default situated in the `~/.conan/` directory. + +If you want to learn more about Conan, you can read about it [on their website](https://conan.io/). + +If you still want to download the ZIP files for the API, you can find the link in the [Kortex repository](https://github.com/Kinovarobotics/kortex). + +You will have to extract the API in the `kortex_api` folder as such: +```sh +kortex_api/ +┬ +├ include/ +└ lib/ +``` + +You will then have to build the catkin workspace and pass it the option to disable Conan so it links with your local API: +```sh +catkin_make -DUSE_CONAN=OFF +``` ## Support for multiple arms diff --git a/kortex_driver/scripts/ros_kortex_generator.py b/kortex_driver/scripts/ros_kortex_generator.py index 6e7b9050..7bc002a7 100755 --- a/kortex_driver/scripts/ros_kortex_generator.py +++ b/kortex_driver/scripts/ros_kortex_generator.py @@ -25,6 +25,7 @@ import shutil import sys import re +from pathlib import PurePath from enum import Enum from collections import OrderedDict @@ -42,6 +43,7 @@ # There are some packages we don't want to generate because the use of their RPC's as ROS services doesn't make sense at all and could cause some undefined behaviour NON_GENERATED_PACKAGES = ["Session"] +PROTO_FILES_RELATIVE_PATH = PurePath("..", "protos") class DetailedOneOf: ''' @@ -247,7 +249,7 @@ class DetailedRPC: - prepend_on_notification: If the RPC is a Notification RPC, is put to "OnNotification". Otherwise, it is empty [string] - notification_message_cpp_namespace: Full C++ namespace of the message that corresponds to the Notification RPC ("SafetyNotification" for the RPC "SafetyTopic") [string] ''' - def __init__(self, rpc, package, is_rpc_duplicated, is_input_type_duplicated, is_output_type_duplicated, notification_message=None): + def __init__(self, rpc, package, is_rpc_duplicated, is_rpc_deprecated, is_input_type_duplicated, is_output_type_duplicated, notification_message=None): ''' Constructor for the DetailedRPC @@ -255,6 +257,7 @@ def __init__(self, rpc, package, is_rpc_duplicated, is_input_type_duplicated, is - rpc: Protobuf object for the RPC [ServiceDescriptorProto] - package: Full name of the message's package (ex. "Kinova.Api.Common") [string] - is_rpc_duplicated: True if the message type is duplicated in the generation context (ex. Feedback) [bool] + - is_rpc_deprecated: True if the message type is deprecated in the C++ Kortex API [bool] - is_input_type_duplicated: True if the input type of the RPC is duplicated in the generation context [bool] - is_output_type_duplicated: True if the output type of the RPC is duplicated in the generation context [bool] - notification_message: Protobuf object for the Notification message that corresponds to the Notification RPC (optional) [DescrptorProto] @@ -262,6 +265,7 @@ def __init__(self, rpc, package, is_rpc_duplicated, is_input_type_duplicated, is self.name = rpc.name self.name_lowercase_with_underscores = '_'.join(re.findall('[A-Z][^A-Z]*', self.name)).lower() self.rpc = rpc + self.is_rpc_deprecated = is_rpc_deprecated self.cpp_namespace = package.replace(".", "::") self.full_proto_package_name = package @@ -324,7 +328,9 @@ def generate_code(request, response): rpcs_unordered_set = set() duplicated_messages_unordered_set = set() duplicated_rpcs_unordered_set = set() + deprecated_rpcs_dict_of_lists = OrderedDict() for filename, proto_file in file_map.items(): + # Traverse proto files with the recursive calls for item, package in traverse(proto_file): # Skip the packages we don't want to generate @@ -349,18 +355,30 @@ def generate_code(request, response): else: duplicated_rpcs_unordered_set.add(method.name) + # Parse through the proto files to find deprecation tags that the recursive function cannot find + proto_file_reader = open(str(PurePath(PROTO_FILES_RELATIVE_PATH, filename)), encoding='utf8', mode='r') + filename_without_extension = filename.replace('.proto', '') + deprecated_rpcs_dict_of_lists[filename_without_extension] = list() + RPC_REGULAR_EXPRESSION = r'.*rpc (\w*) * \((\S*)\) *returns* \((\S*)\).*' + text_line = "_" + while text_line != "": + text_line = proto_file_reader.readline() + if "rpc " in text_line: + if re.search(r'@DEPRECATED', text_line): + rpc_name = re.sub(RPC_REGULAR_EXPRESSION, r'\1', text_line).strip() + deprecated_rpcs_dict_of_lists[filename_without_extension].append(rpc_name) + + # print (deprecated_rpcs_dict_of_lists.items()) + # Remove old generated files and create new directories for package in packages_dict.values(): for s in ['srv', 'msg']: - try: - shutil.rmtree("../{}/generated/{}".format(s, package.short_name_lowercase_with_underscores)) - except: - pass - os.mkdir("../{}/generated/{}".format(s, package.short_name_lowercase_with_underscores)) - shutil.rmtree("../src/generated") - shutil.rmtree("../include/kortex_driver/generated") - os.mkdir("../src/generated") - os.mkdir("../include/kortex_driver/generated") + shutil.rmtree("../{}/generated/{}".format(s, package.short_name_lowercase_with_underscores), ignore_errors=True) + os.makedirs("../{}/generated/{}".format(s, package.short_name_lowercase_with_underscores)) + shutil.rmtree("../src/generated", ignore_errors=True) + shutil.rmtree("../include/kortex_driver/generated", ignore_errors=True) + os.makedirs("../src/generated") + os.makedirs("../include/kortex_driver/generated") ########################################### # Parse the proto files to add the messages and RPC's to the DetailedPackage's @@ -411,6 +429,8 @@ def generate_code(request, response): # If this is a Protobuf service (a group of RPC's) if isinstance(item, ServiceDescriptorProto): + # Get sublist of all deprecated methods in this service + deprecated_rpcs_in_this_service = deprecated_rpcs_dict_of_lists[item.name] # Register every RPC in the Protobuf service for rpc in item.method: # Do not generate the services that cause generation bugs @@ -421,7 +441,10 @@ def generate_code(request, response): is_output_type_duplicated = rpc.output_type.split(".")[-1] in duplicated_messages_unordered_set notification_message = list(filter(lambda x: x.name == rpc.name.replace("Topic", "Notification") , notification_messages_list)) - temp_rpc = DetailedRPC(rpc, package, is_rpc_duplicated, is_input_type_duplicated, is_output_type_duplicated, notification_message) + # Find out if this RPC is deprecated + is_rpc_deprecated = True if rpc.name in deprecated_rpcs_in_this_service else False + + temp_rpc = DetailedRPC(rpc, package, is_rpc_duplicated, is_rpc_deprecated, is_input_type_duplicated, is_output_type_duplicated, notification_message) current_package.addRPC(temp_rpc) ########################################### diff --git a/kortex_api/scripts/source_and_build_workspace.bash b/kortex_driver/scripts/source_and_build_workspace.bash similarity index 88% rename from kortex_api/scripts/source_and_build_workspace.bash rename to kortex_driver/scripts/source_and_build_workspace.bash index 665847ce..07301013 100755 --- a/kortex_api/scripts/source_and_build_workspace.bash +++ b/kortex_driver/scripts/source_and_build_workspace.bash @@ -6,4 +6,4 @@ source /opt/ros/kinetic/setup.bash rm -rf devel/ build/ -catkin_make +catkin_make -DGENERATE_PROTO_ROS_WRAPPER=OFF diff --git a/kortex_driver/scripts/tests/build_workspace_and_tests.bash b/kortex_driver/scripts/tests/build_workspace_and_tests.bash new file mode 100755 index 00000000..98ab2ed2 --- /dev/null +++ b/kortex_driver/scripts/tests/build_workspace_and_tests.bash @@ -0,0 +1,12 @@ +#!/bin/bash + +# This is a helper script that sources ROS, cleans and builds the catkin workspace and the tests, and installs the missing rosdep +# It is meant to be run from the root of the workspace +rosdep update +apt-get update +rosdep -y install --from-paths src --ignore-src +rm -rf devel/ build/ +catkin_make +catkin_make tests +echo 'Finished building the package!' +exit 0 diff --git a/kortex_driver/scripts/tests/launch_test.py b/kortex_driver/scripts/tests/launch_test.py new file mode 100644 index 00000000..4abdd9fc --- /dev/null +++ b/kortex_driver/scripts/tests/launch_test.py @@ -0,0 +1,67 @@ +#!/usr/bin/env python3 +import argparse +import subprocess +import time +import os +import signal + +# Get arguments +parser = argparse.ArgumentParser(description='Launch ROS examples or ROS driver automated tests for a given arm configuration.') +parser.add_argument('--no-vision', action='store_true', help='Add this option if the arm doesn\'t have a vision module') +parser.add_argument('ip', type = str, help='Arm IP address (enter \'none\' if testing Gazebo)') +parser.add_argument('arm', choices = ['gen3', 'gen3_lite'], help='Arm type') +parser.add_argument('dof', type = int, help='Number of DOF for the arm') +parser.add_argument('gripper', choices = ['robotiq_2f_85', 'robotiq_2f_140', 'gen3_lite_2f', 'none'], help='Gripper type') +parser.add_argument('test_case', choices = ['driver', 'examples', 'gazebo'], help='Test case to run') + +args = parser.parse_args() + +# Create the command for the driver +command = [] +if args.test_case == 'driver' or args.test_case == 'examples': + if args.test_case == 'driver': + command.append("rostest") + command.append("--reuse-master") + elif args.test_case == 'examples': + command.append("roslaunch") + command.append("kortex_driver") + command.append("kortex_driver.launch") + command.append("ip_address:={}".format(args.ip)) + command.append("start_moveit:=true") +elif args.test_case == 'gazebo': + command.append("rostest") + command.append("--reuse-master") + command.append("kortex_gazebo") + command.append("spawn_kortex_robot.launch") + command.append("gazebo_gui:=false") + command.append("start_delay_seconds:=20") #longer load time for Gazebo in Docker +command.append("start_rviz:=false") +command.append("arm:={}".format(args.arm)) +command.append("dof:={}".format(args.dof)) +# Add vision option +if args.no_vision: + command.append("vision:=false") +else: + command.append("vision:=true") +# Add gripper option +if args.gripper != 'none': + command.append("gripper:={}".format(args.gripper)) + +try: + ros_master_process = subprocess.Popen(['roscore'], stdout=subprocess.DEVNULL) + time.sleep(3) + # If we want to run the tests for the driver + if args.test_case == 'driver': + subprocess.run(command) + # If we want to test the examples + elif args.test_case == 'examples': + driver_roslaunch_process = subprocess.Popen(command, stdout=subprocess.DEVNULL) + print ("Starting the ROS Kortex driver...") + time.sleep(10) + examples_tests_process = subprocess.Popen(['rostest', '--reuse-master', 'kortex_examples', 'run_all_examples.launch', 'robot_name:=my_{}'.format(args.arm)]) + examples_tests_process.wait() + elif args.test_case == 'gazebo': + subprocess.run(command) + +finally: + os.killpg(os.getpid(), signal.SIGTERM) diff --git a/kortex_driver/src/generated/actuatorconfig_proto_converter.cpp b/kortex_driver/src/generated/actuatorconfig_proto_converter.cpp index 74e8102e..4d52e169 100644 --- a/kortex_driver/src/generated/actuatorconfig_proto_converter.cpp +++ b/kortex_driver/src/generated/actuatorconfig_proto_converter.cpp @@ -91,7 +91,7 @@ int ToProtoData(kortex_driver::EncoderDerivativeParameters input, Kinova::Api::A { output->set_max_window_width(input.max_window_width); - output->set_min_encoder_tick_count(input.min_encoder_tick_count); + output->set_min_angle(input.min_angle); return 0; } @@ -180,3 +180,10 @@ int ToProtoData(kortex_driver::PositionCommand input, Kinova::Api::ActuatorConfi return 0; } +int ToProtoData(kortex_driver::CoggingFeedforwardModeInformation input, Kinova::Api::ActuatorConfig::CoggingFeedforwardModeInformation *output) +{ + + output->set_cogging_feedforward_mode((Kinova::Api::ActuatorConfig::CoggingFeedforwardMode)input.cogging_feedforward_mode); + + return 0; +} diff --git a/kortex_driver/src/generated/actuatorconfig_ros_converter.cpp b/kortex_driver/src/generated/actuatorconfig_ros_converter.cpp index 47e62eee..054b2ea4 100644 --- a/kortex_driver/src/generated/actuatorconfig_ros_converter.cpp +++ b/kortex_driver/src/generated/actuatorconfig_ros_converter.cpp @@ -107,7 +107,7 @@ int ToRosData(Kinova::Api::ActuatorConfig::EncoderDerivativeParameters input, ko { output.max_window_width = input.max_window_width(); - output.min_encoder_tick_count = input.min_encoder_tick_count(); + output.min_angle = input.min_angle(); @@ -212,5 +212,14 @@ int ToRosData(Kinova::Api::ActuatorConfig::PositionCommand input, kortex_driver: + return 0; +} +int ToRosData(Kinova::Api::ActuatorConfig::CoggingFeedforwardModeInformation input, kortex_driver::CoggingFeedforwardModeInformation &output) +{ + + output.cogging_feedforward_mode = input.cogging_feedforward_mode(); + + + return 0; } diff --git a/kortex_driver/src/generated/actuatorconfig_services.cpp b/kortex_driver/src/generated/actuatorconfig_services.cpp index 2596b663..39aca451 100644 --- a/kortex_driver/src/generated/actuatorconfig_services.cpp +++ b/kortex_driver/src/generated/actuatorconfig_services.cpp @@ -72,6 +72,8 @@ ActuatorConfigServices::ActuatorConfigServices(ros::NodeHandle& n, Kinova::Api:: m_serviceGetCommandMode = m_n.advertiseService("actuator_config/get_command_mode", &ActuatorConfigServices::GetCommandMode, this); m_serviceGetServoing = m_n.advertiseService("actuator_config/get_servoing", &ActuatorConfigServices::GetServoing, this); m_serviceGetTorqueOffset = m_n.advertiseService("actuator_config/get_torque_offset", &ActuatorConfigServices::GetTorqueOffset, this); + m_serviceSetCoggingFeedforwardMode = m_n.advertiseService("actuator_config/set_cogging_feedforward_mode", &ActuatorConfigServices::SetCoggingFeedforwardMode, this); + m_serviceGetCoggingFeedforwardMode = m_n.advertiseService("actuator_config/get_cogging_feedforward_mode", &ActuatorConfigServices::GetCoggingFeedforwardMode, this); } bool ActuatorConfigServices::SetDeviceID(kortex_driver::SetDeviceID::Request &req, kortex_driver::SetDeviceID::Response &res) @@ -672,3 +674,68 @@ bool ActuatorConfigServices::GetTorqueOffset(kortex_driver::GetTorqueOffset::Req ToRosData(output, res.output); return true; } + +bool ActuatorConfigServices::SetCoggingFeedforwardMode(kortex_driver::SetCoggingFeedforwardMode::Request &req, kortex_driver::SetCoggingFeedforwardMode::Response &res) +{ + + Kinova::Api::ActuatorConfig::CoggingFeedforwardModeInformation input; + ToProtoData(req.input, &input); + kortex_driver::KortexError result_error; + + try + { + m_actuatorconfig->SetCoggingFeedforwardMode(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + return true; +} + +bool ActuatorConfigServices::GetCoggingFeedforwardMode(kortex_driver::GetCoggingFeedforwardMode::Request &req, kortex_driver::GetCoggingFeedforwardMode::Response &res) +{ + + Kinova::Api::ActuatorConfig::CoggingFeedforwardModeInformation output; + + kortex_driver::KortexError result_error; + + try + { + output = m_actuatorconfig->GetCoggingFeedforwardMode(m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + ToRosData(output, res.output); + return true; +} diff --git a/kortex_driver/src/generated/base_proto_converter.cpp b/kortex_driver/src/generated/base_proto_converter.cpp index a9679945..9e1d250f 100644 --- a/kortex_driver/src/generated/base_proto_converter.cpp +++ b/kortex_driver/src/generated/base_proto_converter.cpp @@ -99,6 +99,54 @@ int ToProtoData(kortex_driver::SequenceTask input, Kinova::Api::Base::SequenceTa return 0; } +int ToProtoData(kortex_driver::SequenceTasks input, Kinova::Api::Base::SequenceTasks *output) +{ + + output->clear_sequence_tasks(); + for(int i = 0; i < input.sequence_tasks.size(); i++) + { + ToProtoData(input.sequence_tasks[i], output->add_sequence_tasks()); + } + + return 0; +} +int ToProtoData(kortex_driver::SequenceTasksConfiguration input, Kinova::Api::Base::SequenceTasksConfiguration *output) +{ + + ToProtoData(input.sequence_task_handle, output->mutable_sequence_task_handle()); + output->clear_sequence_tasks(); + for(int i = 0; i < input.sequence_tasks.size(); i++) + { + ToProtoData(input.sequence_tasks[i], output->add_sequence_tasks()); + } + + return 0; +} +int ToProtoData(kortex_driver::SequenceTaskConfiguration input, Kinova::Api::Base::SequenceTaskConfiguration *output) +{ + + ToProtoData(input.sequence_task_handle, output->mutable_sequence_task_handle()); + ToProtoData(input.sequence_task, output->mutable_sequence_task()); + + return 0; +} +int ToProtoData(kortex_driver::SequenceTasksRange input, Kinova::Api::Base::SequenceTasksRange *output) +{ + + output->set_first_task_index(input.first_task_index); + output->set_second_task_index(input.second_task_index); + + return 0; +} +int ToProtoData(kortex_driver::SequenceTasksPair input, Kinova::Api::Base::SequenceTasksPair *output) +{ + + ToProtoData(input.sequence_handle, output->mutable_sequence_handle()); + output->set_first_task_index(input.first_task_index); + output->set_second_task_index(input.second_task_index); + + return 0; +} int ToProtoData(kortex_driver::Sequence input, Kinova::Api::Base::Sequence *output) { @@ -178,6 +226,10 @@ int ToProtoData(kortex_driver::Action input, Kinova::Api::Base::Action *output) { output->set_toggle_admittance_mode((Kinova::Api::Base::AdmittanceMode)input.oneof_action_parameters.toggle_admittance_mode[0]); } + if(input.oneof_action_parameters.snapshot.size() > 0) + { + ToProtoData(input.oneof_action_parameters.snapshot[0], output->mutable_snapshot()); + } if(input.oneof_action_parameters.switch_control_mapping.size() > 0) { ToProtoData(input.oneof_action_parameters.switch_control_mapping[0], output->mutable_switch_control_mapping()); @@ -233,6 +285,13 @@ int ToProtoData(kortex_driver::Action input, Kinova::Api::Base::Action *output) return 0; } +int ToProtoData(kortex_driver::Snapshot input, Kinova::Api::Base::Snapshot *output) +{ + + output->set_snapshot_type((Kinova::Api::Base::SnapshotType)input.snapshot_type); + + return 0; +} int ToProtoData(kortex_driver::SwitchControlMapping input, Kinova::Api::Base::SwitchControlMapping *output) { @@ -595,6 +654,10 @@ int ToProtoData(kortex_driver::ConfigurationChangeNotification input, Kinova::Ap { ToProtoData(input.oneof_configuration_change.ssid[0], output->mutable_ssid()); } + if(input.oneof_configuration_change.controller_handle.size() > 0) + { + ToProtoData(input.oneof_configuration_change.controller_handle[0], output->mutable_controller_handle()); + } return 0; } @@ -605,7 +668,8 @@ int ToProtoData(kortex_driver::MappingInfoNotification input, Kinova::Api::Base: ToProtoData(input.active_map_handle, output->mutable_active_map_handle()); ToProtoData(input.timestamp, output->mutable_timestamp()); ToProtoData(input.user_handle, output->mutable_user_handle()); - ToProtoData(input.connection, output->mutable_connection()); + ToProtoData(input.connection, output->mutable_connection()); + ToProtoData(input.mapping_handle, output->mutable_mapping_handle()); return 0; } @@ -1003,8 +1067,9 @@ int ToProtoData(kortex_driver::ControllerEvent input, Kinova::Api::Base::Control int ToProtoData(kortex_driver::GpioEvent input, Kinova::Api::Base::GpioEvent *output) { - output->set_gpio_state((Kinova::Api::Base::GpioState)input.gpio_state); - output->set_device_identifier(input.device_identifier); + output->set_input_type((Kinova::Api::Base::ControllerInputType)input.input_type); + output->set_behavior((Kinova::Api::Base::GpioBehavior)input.behavior); + output->set_input_identifier(input.input_identifier); return 0; } @@ -1032,6 +1097,7 @@ int ToProtoData(kortex_driver::MapElement input, Kinova::Api::Base::MapElement * ToProtoData(input.event, output->mutable_event()); ToProtoData(input.action, output->mutable_action()); + output->set_name(input.name); return 0; } @@ -1339,7 +1405,7 @@ int ToProtoData(kortex_driver::JointAngle input, Kinova::Api::Base::JointAngle * return 0; } -int ToProtoData(kortex_driver::JointSpeeds input, Kinova::Api::Base::JointSpeeds *output) +int ToProtoData(kortex_driver::Base_JointSpeeds input, Kinova::Api::Base::JointSpeeds *output) { output->clear_joint_speeds(); @@ -1428,6 +1494,35 @@ int ToProtoData(kortex_driver::SystemTime input, Kinova::Api::Base::SystemTime * return 0; } +int ToProtoData(kortex_driver::ControllerConfigurationMode input, Kinova::Api::Base::ControllerConfigurationMode *output) +{ + + output->set_enable(input.enable); + + return 0; +} +int ToProtoData(kortex_driver::ControllerConfiguration input, Kinova::Api::Base::ControllerConfiguration *output) +{ + + ToProtoData(input.handle, output->mutable_handle()); + output->set_name(input.name); + ToProtoData(input.active_mapping_handle, output->mutable_active_mapping_handle()); + output->set_analog_input_identifier_enum(input.analog_input_identifier_enum); + output->set_digital_input_identifier_enum(input.digital_input_identifier_enum); + + return 0; +} +int ToProtoData(kortex_driver::ControllerConfigurationList input, Kinova::Api::Base::ControllerConfigurationList *output) +{ + + output->clear_controller_configurations(); + for(int i = 0; i < input.controller_configurations.size(); i++) + { + ToProtoData(input.controller_configurations[i], output->add_controller_configurations()); + } + + return 0; +} int ToProtoData(kortex_driver::ActuatorInformation input, Kinova::Api::Base::ActuatorInformation *output) { @@ -1566,3 +1661,24 @@ int ToProtoData(kortex_driver::TrajectoryErrorReport input, Kinova::Api::Base::T return 0; } +int ToProtoData(kortex_driver::FirmwareBundleVersions input, Kinova::Api::Base::FirmwareBundleVersions *output) +{ + + output->set_main_bundle_version(input.main_bundle_version); + output->clear_components_versions(); + for(int i = 0; i < input.components_versions.size(); i++) + { + ToProtoData(input.components_versions[i], output->add_components_versions()); + } + + return 0; +} +int ToProtoData(kortex_driver::FirmwareComponentVersion input, Kinova::Api::Base::FirmwareComponentVersion *output) +{ + + output->set_name(input.name); + output->set_version(input.version); + output->set_device_id(input.device_id); + + return 0; +} diff --git a/kortex_driver/src/generated/base_ros_converter.cpp b/kortex_driver/src/generated/base_ros_converter.cpp index f1c7a47e..e8c1f2d4 100644 --- a/kortex_driver/src/generated/base_ros_converter.cpp +++ b/kortex_driver/src/generated/base_ros_converter.cpp @@ -119,6 +119,68 @@ int ToRosData(Kinova::Api::Base::SequenceTask input, kortex_driver::SequenceTask + return 0; +} +int ToRosData(Kinova::Api::Base::SequenceTasks input, kortex_driver::SequenceTasks &output) +{ + + output.sequence_tasks.clear(); + for(int i = 0; i < input.sequence_tasks_size(); i++) + { + kortex_driver::SequenceTask temp; + ToRosData(input.sequence_tasks(i), temp); + output.sequence_tasks.push_back(temp); + } + + + + return 0; +} +int ToRosData(Kinova::Api::Base::SequenceTasksConfiguration input, kortex_driver::SequenceTasksConfiguration &output) +{ + + ToRosData(input.sequence_task_handle(), output.sequence_task_handle); + output.sequence_tasks.clear(); + for(int i = 0; i < input.sequence_tasks_size(); i++) + { + kortex_driver::SequenceTask temp; + ToRosData(input.sequence_tasks(i), temp); + output.sequence_tasks.push_back(temp); + } + + + + return 0; +} +int ToRosData(Kinova::Api::Base::SequenceTaskConfiguration input, kortex_driver::SequenceTaskConfiguration &output) +{ + + ToRosData(input.sequence_task_handle(), output.sequence_task_handle); + ToRosData(input.sequence_task(), output.sequence_task); + + + + return 0; +} +int ToRosData(Kinova::Api::Base::SequenceTasksRange input, kortex_driver::SequenceTasksRange &output) +{ + + output.first_task_index = input.first_task_index(); + output.second_task_index = input.second_task_index(); + + + + return 0; +} +int ToRosData(Kinova::Api::Base::SequenceTasksPair input, kortex_driver::SequenceTasksPair &output) +{ + + ToRosData(input.sequence_handle(), output.sequence_handle); + output.first_task_index = input.first_task_index(); + output.second_task_index = input.second_task_index(); + + + return 0; } int ToRosData(Kinova::Api::Base::Sequence input, kortex_driver::Sequence &output) @@ -243,6 +305,14 @@ int ToRosData(Kinova::Api::Base::Action input, kortex_driver::Action &output) break; } + case Kinova::Api::Base::Action::kSnapshot: + { + decltype(output.oneof_action_parameters.snapshot)::value_type temp; + ToRosData(input.snapshot(), temp); + output.oneof_action_parameters.snapshot.push_back(temp); + break; + } + case Kinova::Api::Base::Action::kSwitchControlMapping: { decltype(output.oneof_action_parameters.switch_control_mapping)::value_type temp; @@ -345,6 +415,15 @@ int ToRosData(Kinova::Api::Base::Action input, kortex_driver::Action &output) break; }} + return 0; +} +int ToRosData(Kinova::Api::Base::Snapshot input, kortex_driver::Snapshot &output) +{ + + output.snapshot_type = input.snapshot_type(); + + + return 0; } int ToRosData(Kinova::Api::Base::SwitchControlMapping input, kortex_driver::SwitchControlMapping &output) @@ -837,6 +916,14 @@ int ToRosData(Kinova::Api::Base::ConfigurationChangeNotification input, kortex_d ToRosData(input.ssid(), temp); output.oneof_configuration_change.ssid.push_back(temp); break; + } + + case Kinova::Api::Base::ConfigurationChangeNotification::kControllerHandle: + { + decltype(output.oneof_configuration_change.controller_handle)::value_type temp; + ToRosData(input.controller_handle(), temp); + output.oneof_configuration_change.controller_handle.push_back(temp); + break; }} return 0; @@ -849,6 +936,7 @@ int ToRosData(Kinova::Api::Base::MappingInfoNotification input, kortex_driver::M ToRosData(input.timestamp(), output.timestamp); ToRosData(input.user_handle(), output.user_handle); ToRosData(input.connection(), output.connection); + ToRosData(input.mapping_handle(), output.mapping_handle); @@ -1368,8 +1456,9 @@ int ToRosData(Kinova::Api::Base::ControllerEvent input, kortex_driver::Controlle int ToRosData(Kinova::Api::Base::GpioEvent input, kortex_driver::GpioEvent &output) { - output.gpio_state = input.gpio_state(); - output.device_identifier = input.device_identifier(); + output.input_type = input.input_type(); + output.behavior = input.behavior(); + output.input_identifier = input.input_identifier(); @@ -1416,6 +1505,7 @@ int ToRosData(Kinova::Api::Base::MapElement input, kortex_driver::MapElement &ou ToRosData(input.event(), output.event); ToRosData(input.action(), output.action); + output.name = input.name(); @@ -1809,7 +1899,7 @@ int ToRosData(Kinova::Api::Base::JointAngle input, kortex_driver::JointAngle &ou return 0; } -int ToRosData(Kinova::Api::Base::JointSpeeds input, kortex_driver::JointSpeeds &output) +int ToRosData(Kinova::Api::Base::JointSpeeds input, kortex_driver::Base_JointSpeeds &output) { output.joint_speeds.clear(); @@ -1920,6 +2010,43 @@ int ToRosData(Kinova::Api::Base::SystemTime input, kortex_driver::SystemTime &ou + return 0; +} +int ToRosData(Kinova::Api::Base::ControllerConfigurationMode input, kortex_driver::ControllerConfigurationMode &output) +{ + + output.enable = input.enable(); + + + + return 0; +} +int ToRosData(Kinova::Api::Base::ControllerConfiguration input, kortex_driver::ControllerConfiguration &output) +{ + + ToRosData(input.handle(), output.handle); + output.name = input.name(); + ToRosData(input.active_mapping_handle(), output.active_mapping_handle); + output.analog_input_identifier_enum = input.analog_input_identifier_enum(); + output.digital_input_identifier_enum = input.digital_input_identifier_enum(); + + + + return 0; +} +int ToRosData(Kinova::Api::Base::ControllerConfigurationList input, kortex_driver::ControllerConfigurationList &output) +{ + + output.controller_configurations.clear(); + for(int i = 0; i < input.controller_configurations_size(); i++) + { + kortex_driver::ControllerConfiguration temp; + ToRosData(input.controller_configurations(i), temp); + output.controller_configurations.push_back(temp); + } + + + return 0; } int ToRosData(Kinova::Api::Base::ActuatorInformation input, kortex_driver::ActuatorInformation &output) @@ -2090,5 +2217,32 @@ int ToRosData(Kinova::Api::Base::TrajectoryErrorReport input, kortex_driver::Tra + return 0; +} +int ToRosData(Kinova::Api::Base::FirmwareBundleVersions input, kortex_driver::FirmwareBundleVersions &output) +{ + + output.main_bundle_version = input.main_bundle_version(); + output.components_versions.clear(); + for(int i = 0; i < input.components_versions_size(); i++) + { + kortex_driver::FirmwareComponentVersion temp; + ToRosData(input.components_versions(i), temp); + output.components_versions.push_back(temp); + } + + + + return 0; +} +int ToRosData(Kinova::Api::Base::FirmwareComponentVersion input, kortex_driver::FirmwareComponentVersion &output) +{ + + output.name = input.name(); + output.version = input.version(); + output.device_id = input.device_id(); + + + return 0; } diff --git a/kortex_driver/src/generated/base_services.cpp b/kortex_driver/src/generated/base_services.cpp index 82369aa6..b40f51d2 100644 --- a/kortex_driver/src/generated/base_services.cpp +++ b/kortex_driver/src/generated/base_services.cpp @@ -94,8 +94,6 @@ BaseServices::BaseServices(ros::NodeHandle& n, Kinova::Api::Base::BaseClient* ba m_serviceReadSequence = m_n.advertiseService("base/read_sequence", &BaseServices::ReadSequence, this); m_serviceDeleteSequence = m_n.advertiseService("base/delete_sequence", &BaseServices::DeleteSequence, this); m_serviceReadAllSequences = m_n.advertiseService("base/read_all_sequences", &BaseServices::ReadAllSequences, this); - m_serviceDeleteSequenceTask = m_n.advertiseService("base/delete_sequence_task", &BaseServices::DeleteSequenceTask, this); - m_serviceDeleteAllSequenceTasks = m_n.advertiseService("base/delete_all_sequence_tasks", &BaseServices::DeleteAllSequenceTasks, this); m_servicePlaySequence = m_n.advertiseService("base/play_sequence", &BaseServices::PlaySequence, this); m_servicePlayAdvancedSequence = m_n.advertiseService("base/play_advanced_sequence", &BaseServices::PlayAdvancedSequence, this); m_serviceStopSequence = m_n.advertiseService("base/stop_sequence", &BaseServices::StopSequence, this); @@ -202,19 +200,32 @@ BaseServices::BaseServices(ros::NodeHandle& n, Kinova::Api::Base::BaseClient* ba m_serviceGetBridgeConfig = m_n.advertiseService("base/get_bridge_config", &BaseServices::GetBridgeConfig, this); m_servicePlayPreComputedJointTrajectory = m_n.advertiseService("base/play_pre_computed_joint_trajectory", &BaseServices::PlayPreComputedJointTrajectory, this); m_serviceGetProductConfiguration = m_n.advertiseService("base/get_product_configuration", &BaseServices::GetProductConfiguration, this); - m_serviceUpdateDegreeOfFreedomConfiguration = m_n.advertiseService("base/update_degree_of_freedom_configuration", &BaseServices::UpdateDegreeOfFreedomConfiguration, this); - m_serviceUpdateBaseTypeConfiguration = m_n.advertiseService("base/update_base_type_configuration", &BaseServices::UpdateBaseTypeConfiguration, this); m_serviceUpdateEndEffectorTypeConfiguration = m_n.advertiseService("base/update_end_effector_type_configuration", &BaseServices::UpdateEndEffectorTypeConfiguration, this); - m_serviceUpdateVisionModuleTypeConfiguration = m_n.advertiseService("base/update_vision_module_type_configuration", &BaseServices::UpdateVisionModuleTypeConfiguration, this); - m_serviceUpdateInterfaceModuleTypeConfiguration = m_n.advertiseService("base/update_interface_module_type_configuration", &BaseServices::UpdateInterfaceModuleTypeConfiguration, this); - m_serviceUpdateArmLateralityConfiguration = m_n.advertiseService("base/update_arm_laterality_configuration", &BaseServices::UpdateArmLateralityConfiguration, this); - m_serviceUpdateWristTypeConfiguration = m_n.advertiseService("base/update_wrist_type_configuration", &BaseServices::UpdateWristTypeConfiguration, this); m_serviceRestoreFactoryProductConfiguration = m_n.advertiseService("base/restore_factory_product_configuration", &BaseServices::RestoreFactoryProductConfiguration, this); m_serviceGetTrajectoryErrorReport = m_n.advertiseService("base/get_trajectory_error_report", &BaseServices::GetTrajectoryErrorReport, this); m_serviceGetAllJointsSpeedSoftLimitation = m_n.advertiseService("base/get_all_joints_speed_soft_limitation", &BaseServices::GetAllJointsSpeedSoftLimitation, this); m_serviceGetAllJointsTorqueSoftLimitation = m_n.advertiseService("base/get_all_joints_torque_soft_limitation", &BaseServices::GetAllJointsTorqueSoftLimitation, this); m_serviceGetTwistSoftLimitation = m_n.advertiseService("base/get_twist_soft_limitation", &BaseServices::GetTwistSoftLimitation, this); m_serviceGetWrenchSoftLimitation = m_n.advertiseService("base/get_wrench_soft_limitation", &BaseServices::GetWrenchSoftLimitation, this); + m_serviceSetControllerConfigurationMode = m_n.advertiseService("base/set_controller_configuration_mode", &BaseServices::SetControllerConfigurationMode, this); + m_serviceGetControllerConfigurationMode = m_n.advertiseService("base/get_controller_configuration_mode", &BaseServices::GetControllerConfigurationMode, this); + m_serviceStartTeaching = m_n.advertiseService("base/start_teaching", &BaseServices::StartTeaching, this); + m_serviceStopTeaching = m_n.advertiseService("base/stop_teaching", &BaseServices::StopTeaching, this); + m_serviceAddSequenceTasks = m_n.advertiseService("base/add_sequence_tasks", &BaseServices::AddSequenceTasks, this); + m_serviceUpdateSequenceTask = m_n.advertiseService("base/update_sequence_task", &BaseServices::UpdateSequenceTask, this); + m_serviceSwapSequenceTasks = m_n.advertiseService("base/swap_sequence_tasks", &BaseServices::SwapSequenceTasks, this); + m_serviceReadSequenceTask = m_n.advertiseService("base/read_sequence_task", &BaseServices::ReadSequenceTask, this); + m_serviceReadAllSequenceTasks = m_n.advertiseService("base/read_all_sequence_tasks", &BaseServices::ReadAllSequenceTasks, this); + m_serviceDeleteSequenceTask = m_n.advertiseService("base/delete_sequence_task", &BaseServices::DeleteSequenceTask, this); + m_serviceDeleteAllSequenceTasks = m_n.advertiseService("base/delete_all_sequence_tasks", &BaseServices::DeleteAllSequenceTasks, this); + m_serviceTakeSnapshot = m_n.advertiseService("base/take_snapshot", &BaseServices::TakeSnapshot, this); + m_serviceGetFirmwareBundleVersions = m_n.advertiseService("base/get_firmware_bundle_versions", &BaseServices::GetFirmwareBundleVersions, this); + m_serviceMoveSequenceTask = m_n.advertiseService("base/move_sequence_task", &BaseServices::MoveSequenceTask, this); + m_serviceDuplicateMapping = m_n.advertiseService("base/duplicate_mapping", &BaseServices::DuplicateMapping, this); + m_serviceDuplicateMap = m_n.advertiseService("base/duplicate_map", &BaseServices::DuplicateMap, this); + m_serviceSetControllerConfiguration = m_n.advertiseService("base/set_controller_configuration", &BaseServices::SetControllerConfiguration, this); + m_serviceGetControllerConfiguration = m_n.advertiseService("base/get_controller_configuration", &BaseServices::GetControllerConfiguration, this); + m_serviceGetAllControllerConfigurations = m_n.advertiseService("base/get_all_controller_configurations", &BaseServices::GetAllControllerConfigurations, this); } bool BaseServices::SetDeviceID(kortex_driver::SetDeviceID::Request &req, kortex_driver::SetDeviceID::Response &res) @@ -631,70 +642,6 @@ bool BaseServices::ReadAllSequences(kortex_driver::ReadAllSequences::Request &r return true; } -bool BaseServices::DeleteSequenceTask(kortex_driver::DeleteSequenceTask::Request &req, kortex_driver::DeleteSequenceTask::Response &res) -{ - - Kinova::Api::Base::SequenceTaskHandle input; - ToProtoData(req.input, &input); - kortex_driver::KortexError result_error; - - try - { - m_base->DeleteSequenceTask(input, m_current_device_id, m_api_options); - } - - catch (Kinova::Api::KDetailedException& ex) - { - result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); - result_error.code = ex.getErrorInfo().getError().error_code(); - result_error.description = ex.toString(); - m_pub_Error.publish(result_error); - ROS_INFO("Kortex exception"); - ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); - ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); - ROS_INFO("KINOVA exception description: %s\n", ex.what()); - return false; - } - catch (std::runtime_error& ex2) - { - ROS_INFO("%s", ex2.what()); - return false; - } - return true; -} - -bool BaseServices::DeleteAllSequenceTasks(kortex_driver::DeleteAllSequenceTasks::Request &req, kortex_driver::DeleteAllSequenceTasks::Response &res) -{ - - Kinova::Api::Base::SequenceHandle input; - ToProtoData(req.input, &input); - kortex_driver::KortexError result_error; - - try - { - m_base->DeleteAllSequenceTasks(input, m_current_device_id, m_api_options); - } - - catch (Kinova::Api::KDetailedException& ex) - { - result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); - result_error.code = ex.getErrorInfo().getError().error_code(); - result_error.description = ex.toString(); - m_pub_Error.publish(result_error); - ROS_INFO("Kortex exception"); - ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); - ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); - ROS_INFO("KINOVA exception description: %s\n", ex.what()); - return false; - } - catch (std::runtime_error& ex2) - { - ROS_INFO("%s", ex2.what()); - return false; - } - return true; -} - bool BaseServices::PlaySequence(kortex_driver::PlaySequence::Request &req, kortex_driver::PlaySequence::Response &res) { @@ -3943,6 +3890,7 @@ bool BaseServices::Base_GetCapSenseConfig(kortex_driver::Base_GetCapSenseConfig: bool BaseServices::GetAllJointsSpeedHardLimitation(kortex_driver::GetAllJointsSpeedHardLimitation::Request &req, kortex_driver::GetAllJointsSpeedHardLimitation::Response &res) { + ROS_WARN("The base/get_all_joints_speed_hard_limitation service will be deprecated in a future release."); Kinova::Api::Base::JointsLimitationsList output; @@ -3976,6 +3924,7 @@ bool BaseServices::GetAllJointsSpeedHardLimitation(kortex_driver::GetAllJointsSp bool BaseServices::GetAllJointsTorqueHardLimitation(kortex_driver::GetAllJointsTorqueHardLimitation::Request &req, kortex_driver::GetAllJointsTorqueHardLimitation::Response &res) { + ROS_WARN("The base/get_all_joints_torque_hard_limitation service will be deprecated in a future release."); Kinova::Api::Base::JointsLimitationsList output; @@ -4009,6 +3958,7 @@ bool BaseServices::GetAllJointsTorqueHardLimitation(kortex_driver::GetAllJointsT bool BaseServices::GetTwistHardLimitation(kortex_driver::GetTwistHardLimitation::Request &req, kortex_driver::GetTwistHardLimitation::Response &res) { + ROS_WARN("The base/get_twist_hard_limitation service will be deprecated in a future release."); Kinova::Api::Base::TwistLimitation output; @@ -4042,6 +3992,7 @@ bool BaseServices::GetTwistHardLimitation(kortex_driver::GetTwistHardLimitation: bool BaseServices::GetWrenchHardLimitation(kortex_driver::GetWrenchHardLimitation::Request &req, kortex_driver::GetWrenchHardLimitation::Response &res) { + ROS_WARN("The base/get_wrench_hard_limitation service will be deprecated in a future release."); Kinova::Api::Base::WrenchLimitation output; @@ -4340,16 +4291,16 @@ bool BaseServices::GetProductConfiguration(kortex_driver::GetProductConfiguratio return true; } -bool BaseServices::UpdateDegreeOfFreedomConfiguration(kortex_driver::UpdateDegreeOfFreedomConfiguration::Request &req, kortex_driver::UpdateDegreeOfFreedomConfiguration::Response &res) +bool BaseServices::UpdateEndEffectorTypeConfiguration(kortex_driver::UpdateEndEffectorTypeConfiguration::Request &req, kortex_driver::UpdateEndEffectorTypeConfiguration::Response &res) { - Kinova::Api::ProductConfiguration::ProductConfigurationDegreeOfFreedom input; + Kinova::Api::ProductConfiguration::ProductConfigurationEndEffectorType input; ToProtoData(req.input, &input); kortex_driver::KortexError result_error; try { - m_base->UpdateDegreeOfFreedomConfiguration(input, m_current_device_id, m_api_options); + m_base->UpdateEndEffectorTypeConfiguration(input, m_current_device_id, m_api_options); } catch (Kinova::Api::KDetailedException& ex) @@ -4372,16 +4323,14 @@ bool BaseServices::UpdateDegreeOfFreedomConfiguration(kortex_driver::UpdateDegre return true; } -bool BaseServices::UpdateBaseTypeConfiguration(kortex_driver::UpdateBaseTypeConfiguration::Request &req, kortex_driver::UpdateBaseTypeConfiguration::Response &res) +bool BaseServices::RestoreFactoryProductConfiguration(kortex_driver::RestoreFactoryProductConfiguration::Request &req, kortex_driver::RestoreFactoryProductConfiguration::Response &res) { - Kinova::Api::ProductConfiguration::ProductConfigurationBaseType input; - ToProtoData(req.input, &input); kortex_driver::KortexError result_error; try { - m_base->UpdateBaseTypeConfiguration(input, m_current_device_id, m_api_options); + m_base->RestoreFactoryProductConfiguration(m_current_device_id, m_api_options); } catch (Kinova::Api::KDetailedException& ex) @@ -4404,16 +4353,16 @@ bool BaseServices::UpdateBaseTypeConfiguration(kortex_driver::UpdateBaseTypeConf return true; } -bool BaseServices::UpdateEndEffectorTypeConfiguration(kortex_driver::UpdateEndEffectorTypeConfiguration::Request &req, kortex_driver::UpdateEndEffectorTypeConfiguration::Response &res) +bool BaseServices::GetTrajectoryErrorReport(kortex_driver::GetTrajectoryErrorReport::Request &req, kortex_driver::GetTrajectoryErrorReport::Response &res) { - Kinova::Api::ProductConfiguration::ProductConfigurationEndEffectorType input; - ToProtoData(req.input, &input); + Kinova::Api::Base::TrajectoryErrorReport output; + kortex_driver::KortexError result_error; try { - m_base->UpdateEndEffectorTypeConfiguration(input, m_current_device_id, m_api_options); + output = m_base->GetTrajectoryErrorReport(m_current_device_id, m_api_options); } catch (Kinova::Api::KDetailedException& ex) @@ -4433,19 +4382,21 @@ bool BaseServices::UpdateEndEffectorTypeConfiguration(kortex_driver::UpdateEndEf ROS_INFO("%s", ex2.what()); return false; } + ToRosData(output, res.output); return true; } -bool BaseServices::UpdateVisionModuleTypeConfiguration(kortex_driver::UpdateVisionModuleTypeConfiguration::Request &req, kortex_driver::UpdateVisionModuleTypeConfiguration::Response &res) +bool BaseServices::GetAllJointsSpeedSoftLimitation(kortex_driver::GetAllJointsSpeedSoftLimitation::Request &req, kortex_driver::GetAllJointsSpeedSoftLimitation::Response &res) { + ROS_WARN("The base/get_all_joints_speed_soft_limitation service will be deprecated in a future release."); + + Kinova::Api::Base::JointsLimitationsList output; - Kinova::Api::ProductConfiguration::ProductConfigurationVisionModuleType input; - ToProtoData(req.input, &input); kortex_driver::KortexError result_error; try { - m_base->UpdateVisionModuleTypeConfiguration(input, m_current_device_id, m_api_options); + output = m_base->GetAllJointsSpeedSoftLimitation(m_current_device_id, m_api_options); } catch (Kinova::Api::KDetailedException& ex) @@ -4465,19 +4416,89 @@ bool BaseServices::UpdateVisionModuleTypeConfiguration(kortex_driver::UpdateVisi ROS_INFO("%s", ex2.what()); return false; } + ToRosData(output, res.output); return true; } -bool BaseServices::UpdateInterfaceModuleTypeConfiguration(kortex_driver::UpdateInterfaceModuleTypeConfiguration::Request &req, kortex_driver::UpdateInterfaceModuleTypeConfiguration::Response &res) +bool BaseServices::GetAllJointsTorqueSoftLimitation(kortex_driver::GetAllJointsTorqueSoftLimitation::Request &req, kortex_driver::GetAllJointsTorqueSoftLimitation::Response &res) { + ROS_WARN("The base/get_all_joints_torque_soft_limitation service will be deprecated in a future release."); + + Kinova::Api::Base::JointsLimitationsList output; + + kortex_driver::KortexError result_error; + + try + { + output = m_base->GetAllJointsTorqueSoftLimitation(m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + ToRosData(output, res.output); + return true; +} + +bool BaseServices::GetTwistSoftLimitation(kortex_driver::GetTwistSoftLimitation::Request &req, kortex_driver::GetTwistSoftLimitation::Response &res) +{ + ROS_WARN("The base/get_twist_soft_limitation service will be deprecated in a future release."); + + Kinova::Api::Base::TwistLimitation output; + + kortex_driver::KortexError result_error; + + try + { + output = m_base->GetTwistSoftLimitation(m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + ToRosData(output, res.output); + return true; +} + +bool BaseServices::GetWrenchSoftLimitation(kortex_driver::GetWrenchSoftLimitation::Request &req, kortex_driver::GetWrenchSoftLimitation::Response &res) +{ + ROS_WARN("The base/get_wrench_soft_limitation service will be deprecated in a future release."); + + Kinova::Api::Base::WrenchLimitation output; - Kinova::Api::ProductConfiguration::ProductConfigurationInterfaceModuleType input; - ToProtoData(req.input, &input); kortex_driver::KortexError result_error; try { - m_base->UpdateInterfaceModuleTypeConfiguration(input, m_current_device_id, m_api_options); + output = m_base->GetWrenchSoftLimitation(m_current_device_id, m_api_options); } catch (Kinova::Api::KDetailedException& ex) @@ -4497,19 +4518,52 @@ bool BaseServices::UpdateInterfaceModuleTypeConfiguration(kortex_driver::UpdateI ROS_INFO("%s", ex2.what()); return false; } + ToRosData(output, res.output); return true; } -bool BaseServices::UpdateArmLateralityConfiguration(kortex_driver::UpdateArmLateralityConfiguration::Request &req, kortex_driver::UpdateArmLateralityConfiguration::Response &res) +bool BaseServices::SetControllerConfigurationMode(kortex_driver::SetControllerConfigurationMode::Request &req, kortex_driver::SetControllerConfigurationMode::Response &res) { - Kinova::Api::ProductConfiguration::ProductConfigurationLaterality input; + Kinova::Api::Base::ControllerConfigurationMode input; ToProtoData(req.input, &input); kortex_driver::KortexError result_error; try { - m_base->UpdateArmLateralityConfiguration(input, m_current_device_id, m_api_options); + m_base->SetControllerConfigurationMode(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + return true; +} + +bool BaseServices::GetControllerConfigurationMode(kortex_driver::GetControllerConfigurationMode::Request &req, kortex_driver::GetControllerConfigurationMode::Response &res) +{ + + Kinova::Api::Base::ControllerConfigurationMode output; + + kortex_driver::KortexError result_error; + + try + { + output = m_base->GetControllerConfigurationMode(m_current_device_id, m_api_options); } catch (Kinova::Api::KDetailedException& ex) @@ -4529,19 +4583,20 @@ bool BaseServices::UpdateArmLateralityConfiguration(kortex_driver::UpdateArmLate ROS_INFO("%s", ex2.what()); return false; } + ToRosData(output, res.output); return true; } -bool BaseServices::UpdateWristTypeConfiguration(kortex_driver::UpdateWristTypeConfiguration::Request &req, kortex_driver::UpdateWristTypeConfiguration::Response &res) +bool BaseServices::StartTeaching(kortex_driver::StartTeaching::Request &req, kortex_driver::StartTeaching::Response &res) { - Kinova::Api::ProductConfiguration::ProductConfigurationWristType input; + Kinova::Api::Base::SequenceTaskHandle input; ToProtoData(req.input, &input); kortex_driver::KortexError result_error; try { - m_base->UpdateWristTypeConfiguration(input, m_current_device_id, m_api_options); + m_base->StartTeaching(input, m_current_device_id, m_api_options); } catch (Kinova::Api::KDetailedException& ex) @@ -4564,14 +4619,14 @@ bool BaseServices::UpdateWristTypeConfiguration(kortex_driver::UpdateWristTypeCo return true; } -bool BaseServices::RestoreFactoryProductConfiguration(kortex_driver::RestoreFactoryProductConfiguration::Request &req, kortex_driver::RestoreFactoryProductConfiguration::Response &res) +bool BaseServices::StopTeaching(kortex_driver::StopTeaching::Request &req, kortex_driver::StopTeaching::Response &res) { kortex_driver::KortexError result_error; try { - m_base->RestoreFactoryProductConfiguration(m_current_device_id, m_api_options); + m_base->StopTeaching(m_current_device_id, m_api_options); } catch (Kinova::Api::KDetailedException& ex) @@ -4594,16 +4649,18 @@ bool BaseServices::RestoreFactoryProductConfiguration(kortex_driver::RestoreFact return true; } -bool BaseServices::GetTrajectoryErrorReport(kortex_driver::GetTrajectoryErrorReport::Request &req, kortex_driver::GetTrajectoryErrorReport::Response &res) +bool BaseServices::AddSequenceTasks(kortex_driver::AddSequenceTasks::Request &req, kortex_driver::AddSequenceTasks::Response &res) { - Kinova::Api::Base::TrajectoryErrorReport output; + Kinova::Api::Base::SequenceTasksConfiguration input; + ToProtoData(req.input, &input); + Kinova::Api::Base::SequenceTasksRange output; kortex_driver::KortexError result_error; try { - output = m_base->GetTrajectoryErrorReport(m_current_device_id, m_api_options); + output = m_base->AddSequenceTasks(input, m_current_device_id, m_api_options); } catch (Kinova::Api::KDetailedException& ex) @@ -4627,16 +4684,48 @@ bool BaseServices::GetTrajectoryErrorReport(kortex_driver::GetTrajectoryErrorRep return true; } -bool BaseServices::GetAllJointsSpeedSoftLimitation(kortex_driver::GetAllJointsSpeedSoftLimitation::Request &req, kortex_driver::GetAllJointsSpeedSoftLimitation::Response &res) +bool BaseServices::UpdateSequenceTask(kortex_driver::UpdateSequenceTask::Request &req, kortex_driver::UpdateSequenceTask::Response &res) { - Kinova::Api::Base::JointsLimitationsList output; + Kinova::Api::Base::SequenceTaskConfiguration input; + ToProtoData(req.input, &input); + kortex_driver::KortexError result_error; + + try + { + m_base->UpdateSequenceTask(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + return true; +} + +bool BaseServices::SwapSequenceTasks(kortex_driver::SwapSequenceTasks::Request &req, kortex_driver::SwapSequenceTasks::Response &res) +{ + Kinova::Api::Base::SequenceTasksPair input; + ToProtoData(req.input, &input); kortex_driver::KortexError result_error; try { - output = m_base->GetAllJointsSpeedSoftLimitation(m_current_device_id, m_api_options); + m_base->SwapSequenceTasks(input, m_current_device_id, m_api_options); } catch (Kinova::Api::KDetailedException& ex) @@ -4656,20 +4745,21 @@ bool BaseServices::GetAllJointsSpeedSoftLimitation(kortex_driver::GetAllJointsSp ROS_INFO("%s", ex2.what()); return false; } - ToRosData(output, res.output); return true; } -bool BaseServices::GetAllJointsTorqueSoftLimitation(kortex_driver::GetAllJointsTorqueSoftLimitation::Request &req, kortex_driver::GetAllJointsTorqueSoftLimitation::Response &res) +bool BaseServices::ReadSequenceTask(kortex_driver::ReadSequenceTask::Request &req, kortex_driver::ReadSequenceTask::Response &res) { - Kinova::Api::Base::JointsLimitationsList output; + Kinova::Api::Base::SequenceTaskHandle input; + ToProtoData(req.input, &input); + Kinova::Api::Base::SequenceTask output; kortex_driver::KortexError result_error; try { - output = m_base->GetAllJointsTorqueSoftLimitation(m_current_device_id, m_api_options); + output = m_base->ReadSequenceTask(input, m_current_device_id, m_api_options); } catch (Kinova::Api::KDetailedException& ex) @@ -4693,16 +4783,18 @@ bool BaseServices::GetAllJointsTorqueSoftLimitation(kortex_driver::GetAllJointsT return true; } -bool BaseServices::GetTwistSoftLimitation(kortex_driver::GetTwistSoftLimitation::Request &req, kortex_driver::GetTwistSoftLimitation::Response &res) +bool BaseServices::ReadAllSequenceTasks(kortex_driver::ReadAllSequenceTasks::Request &req, kortex_driver::ReadAllSequenceTasks::Response &res) { - Kinova::Api::Base::TwistLimitation output; + Kinova::Api::Base::SequenceHandle input; + ToProtoData(req.input, &input); + Kinova::Api::Base::SequenceTasks output; kortex_driver::KortexError result_error; try { - output = m_base->GetTwistSoftLimitation(m_current_device_id, m_api_options); + output = m_base->ReadAllSequenceTasks(input, m_current_device_id, m_api_options); } catch (Kinova::Api::KDetailedException& ex) @@ -4726,16 +4818,314 @@ bool BaseServices::GetTwistSoftLimitation(kortex_driver::GetTwistSoftLimitation: return true; } -bool BaseServices::GetWrenchSoftLimitation(kortex_driver::GetWrenchSoftLimitation::Request &req, kortex_driver::GetWrenchSoftLimitation::Response &res) +bool BaseServices::DeleteSequenceTask(kortex_driver::DeleteSequenceTask::Request &req, kortex_driver::DeleteSequenceTask::Response &res) { - Kinova::Api::Base::WrenchLimitation output; - + Kinova::Api::Base::SequenceTaskHandle input; + ToProtoData(req.input, &input); kortex_driver::KortexError result_error; try { - output = m_base->GetWrenchSoftLimitation(m_current_device_id, m_api_options); + m_base->DeleteSequenceTask(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + return true; +} + +bool BaseServices::DeleteAllSequenceTasks(kortex_driver::DeleteAllSequenceTasks::Request &req, kortex_driver::DeleteAllSequenceTasks::Response &res) +{ + + Kinova::Api::Base::SequenceHandle input; + ToProtoData(req.input, &input); + kortex_driver::KortexError result_error; + + try + { + m_base->DeleteAllSequenceTasks(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + return true; +} + +bool BaseServices::TakeSnapshot(kortex_driver::TakeSnapshot::Request &req, kortex_driver::TakeSnapshot::Response &res) +{ + + Kinova::Api::Base::Snapshot input; + ToProtoData(req.input, &input); + kortex_driver::KortexError result_error; + + try + { + m_base->TakeSnapshot(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + return true; +} + +bool BaseServices::GetFirmwareBundleVersions(kortex_driver::GetFirmwareBundleVersions::Request &req, kortex_driver::GetFirmwareBundleVersions::Response &res) +{ + + Kinova::Api::Base::FirmwareBundleVersions output; + + kortex_driver::KortexError result_error; + + try + { + output = m_base->GetFirmwareBundleVersions(m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + ToRosData(output, res.output); + return true; +} + +bool BaseServices::MoveSequenceTask(kortex_driver::MoveSequenceTask::Request &req, kortex_driver::MoveSequenceTask::Response &res) +{ + + Kinova::Api::Base::SequenceTasksPair input; + ToProtoData(req.input, &input); + kortex_driver::KortexError result_error; + + try + { + m_base->MoveSequenceTask(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + return true; +} + +bool BaseServices::DuplicateMapping(kortex_driver::DuplicateMapping::Request &req, kortex_driver::DuplicateMapping::Response &res) +{ + + Kinova::Api::Base::MappingHandle input; + ToProtoData(req.input, &input); + Kinova::Api::Base::MappingHandle output; + + kortex_driver::KortexError result_error; + + try + { + output = m_base->DuplicateMapping(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + ToRosData(output, res.output); + return true; +} + +bool BaseServices::DuplicateMap(kortex_driver::DuplicateMap::Request &req, kortex_driver::DuplicateMap::Response &res) +{ + + Kinova::Api::Base::MapHandle input; + ToProtoData(req.input, &input); + Kinova::Api::Base::MapHandle output; + + kortex_driver::KortexError result_error; + + try + { + output = m_base->DuplicateMap(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + ToRosData(output, res.output); + return true; +} + +bool BaseServices::SetControllerConfiguration(kortex_driver::SetControllerConfiguration::Request &req, kortex_driver::SetControllerConfiguration::Response &res) +{ + + Kinova::Api::Base::ControllerConfiguration input; + ToProtoData(req.input, &input); + kortex_driver::KortexError result_error; + + try + { + m_base->SetControllerConfiguration(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + return true; +} + +bool BaseServices::GetControllerConfiguration(kortex_driver::GetControllerConfiguration::Request &req, kortex_driver::GetControllerConfiguration::Response &res) +{ + + Kinova::Api::Base::ControllerHandle input; + ToProtoData(req.input, &input); + Kinova::Api::Base::ControllerConfiguration output; + + kortex_driver::KortexError result_error; + + try + { + output = m_base->GetControllerConfiguration(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + ToRosData(output, res.output); + return true; +} + +bool BaseServices::GetAllControllerConfigurations(kortex_driver::GetAllControllerConfigurations::Request &req, kortex_driver::GetAllControllerConfigurations::Response &res) +{ + + Kinova::Api::Base::ControllerConfigurationList output; + + kortex_driver::KortexError result_error; + + try + { + output = m_base->GetAllControllerConfigurations(m_current_device_id, m_api_options); } catch (Kinova::Api::KDetailedException& ex) diff --git a/kortex_driver/src/generated/controlconfig_proto_converter.cpp b/kortex_driver/src/generated/controlconfig_proto_converter.cpp index 2e53bcb1..c6541423 100644 --- a/kortex_driver/src/generated/controlconfig_proto_converter.cpp +++ b/kortex_driver/src/generated/controlconfig_proto_converter.cpp @@ -80,3 +80,118 @@ int ToProtoData(kortex_driver::CartesianReferenceFrameInfo input, Kinova::Api::C return 0; } +int ToProtoData(kortex_driver::TwistLinearSoftLimit input, Kinova::Api::ControlConfig::TwistLinearSoftLimit *output) +{ + + output->set_control_mode((Kinova::Api::ControlConfig::ControlMode)input.control_mode); + output->set_twist_linear_soft_limit(input.twist_linear_soft_limit); + + return 0; +} +int ToProtoData(kortex_driver::TwistAngularSoftLimit input, Kinova::Api::ControlConfig::TwistAngularSoftLimit *output) +{ + + output->set_control_mode((Kinova::Api::ControlConfig::ControlMode)input.control_mode); + output->set_twist_angular_soft_limit(input.twist_angular_soft_limit); + + return 0; +} +int ToProtoData(kortex_driver::JointSpeedSoftLimits input, Kinova::Api::ControlConfig::JointSpeedSoftLimits *output) +{ + + output->set_control_mode((Kinova::Api::ControlConfig::ControlMode)input.control_mode); + output->clear_joint_speed_soft_limits(); + for(int i = 0; i < input.joint_speed_soft_limits.size(); i++) + { + output->add_joint_speed_soft_limits(input.joint_speed_soft_limits[i]); + } + + return 0; +} +int ToProtoData(kortex_driver::JointAccelerationSoftLimits input, Kinova::Api::ControlConfig::JointAccelerationSoftLimits *output) +{ + + output->set_control_mode((Kinova::Api::ControlConfig::ControlMode)input.control_mode); + output->clear_joint_acceleration_soft_limits(); + for(int i = 0; i < input.joint_acceleration_soft_limits.size(); i++) + { + output->add_joint_acceleration_soft_limits(input.joint_acceleration_soft_limits[i]); + } + + return 0; +} +int ToProtoData(kortex_driver::KinematicLimits input, Kinova::Api::ControlConfig::KinematicLimits *output) +{ + + output->set_control_mode((Kinova::Api::ControlConfig::ControlMode)input.control_mode); + output->set_twist_linear(input.twist_linear); + output->set_twist_angular(input.twist_angular); + output->clear_joint_speed_limits(); + for(int i = 0; i < input.joint_speed_limits.size(); i++) + { + output->add_joint_speed_limits(input.joint_speed_limits[i]); + } + output->clear_joint_acceleration_limits(); + for(int i = 0; i < input.joint_acceleration_limits.size(); i++) + { + output->add_joint_acceleration_limits(input.joint_acceleration_limits[i]); + } + + return 0; +} +int ToProtoData(kortex_driver::KinematicLimitsList input, Kinova::Api::ControlConfig::KinematicLimitsList *output) +{ + + output->clear_kinematic_limits_list(); + for(int i = 0; i < input.kinematic_limits_list.size(); i++) + { + ToProtoData(input.kinematic_limits_list[i], output->add_kinematic_limits_list()); + } + + return 0; +} +int ToProtoData(kortex_driver::DesiredSpeeds input, Kinova::Api::ControlConfig::DesiredSpeeds *output) +{ + + output->set_linear(input.linear); + output->set_angular(input.angular); + output->clear_joint_speed(); + for(int i = 0; i < input.joint_speed.size(); i++) + { + output->add_joint_speed(input.joint_speed[i]); + } + + return 0; +} +int ToProtoData(kortex_driver::LinearTwist input, Kinova::Api::ControlConfig::LinearTwist *output) +{ + + output->set_linear(input.linear); + + return 0; +} +int ToProtoData(kortex_driver::AngularTwist input, Kinova::Api::ControlConfig::AngularTwist *output) +{ + + output->set_angular(input.angular); + + return 0; +} +int ToProtoData(kortex_driver::ControlConfig_JointSpeeds input, Kinova::Api::ControlConfig::JointSpeeds *output) +{ + + output->clear_joint_speed(); + for(int i = 0; i < input.joint_speed.size(); i++) + { + output->add_joint_speed(input.joint_speed[i]); + } + + return 0; +} +int ToProtoData(kortex_driver::ControlConfig_ControlModeInformation input, Kinova::Api::ControlConfig::ControlModeInformation *output) +{ + + output->set_control_mode((Kinova::Api::ControlConfig::ControlMode)input.control_mode); + + return 0; +} diff --git a/kortex_driver/src/generated/controlconfig_ros_converter.cpp b/kortex_driver/src/generated/controlconfig_ros_converter.cpp index 00d0c776..531310d7 100644 --- a/kortex_driver/src/generated/controlconfig_ros_converter.cpp +++ b/kortex_driver/src/generated/controlconfig_ros_converter.cpp @@ -92,5 +92,144 @@ int ToRosData(Kinova::Api::ControlConfig::CartesianReferenceFrameInfo input, kor + return 0; +} +int ToRosData(Kinova::Api::ControlConfig::TwistLinearSoftLimit input, kortex_driver::TwistLinearSoftLimit &output) +{ + + output.control_mode = input.control_mode(); + output.twist_linear_soft_limit = input.twist_linear_soft_limit(); + + + + return 0; +} +int ToRosData(Kinova::Api::ControlConfig::TwistAngularSoftLimit input, kortex_driver::TwistAngularSoftLimit &output) +{ + + output.control_mode = input.control_mode(); + output.twist_angular_soft_limit = input.twist_angular_soft_limit(); + + + + return 0; +} +int ToRosData(Kinova::Api::ControlConfig::JointSpeedSoftLimits input, kortex_driver::JointSpeedSoftLimits &output) +{ + + output.control_mode = input.control_mode(); + output.joint_speed_soft_limits.clear(); + for(int i = 0; i < input.joint_speed_soft_limits_size(); i++) + { + output.joint_speed_soft_limits.push_back(input.joint_speed_soft_limits(i)); + } + + + + return 0; +} +int ToRosData(Kinova::Api::ControlConfig::JointAccelerationSoftLimits input, kortex_driver::JointAccelerationSoftLimits &output) +{ + + output.control_mode = input.control_mode(); + output.joint_acceleration_soft_limits.clear(); + for(int i = 0; i < input.joint_acceleration_soft_limits_size(); i++) + { + output.joint_acceleration_soft_limits.push_back(input.joint_acceleration_soft_limits(i)); + } + + + + return 0; +} +int ToRosData(Kinova::Api::ControlConfig::KinematicLimits input, kortex_driver::KinematicLimits &output) +{ + + output.control_mode = input.control_mode(); + output.twist_linear = input.twist_linear(); + output.twist_angular = input.twist_angular(); + output.joint_speed_limits.clear(); + for(int i = 0; i < input.joint_speed_limits_size(); i++) + { + output.joint_speed_limits.push_back(input.joint_speed_limits(i)); + } + output.joint_acceleration_limits.clear(); + for(int i = 0; i < input.joint_acceleration_limits_size(); i++) + { + output.joint_acceleration_limits.push_back(input.joint_acceleration_limits(i)); + } + + + + return 0; +} +int ToRosData(Kinova::Api::ControlConfig::KinematicLimitsList input, kortex_driver::KinematicLimitsList &output) +{ + + output.kinematic_limits_list.clear(); + for(int i = 0; i < input.kinematic_limits_list_size(); i++) + { + kortex_driver::KinematicLimits temp; + ToRosData(input.kinematic_limits_list(i), temp); + output.kinematic_limits_list.push_back(temp); + } + + + + return 0; +} +int ToRosData(Kinova::Api::ControlConfig::DesiredSpeeds input, kortex_driver::DesiredSpeeds &output) +{ + + output.linear = input.linear(); + output.angular = input.angular(); + output.joint_speed.clear(); + for(int i = 0; i < input.joint_speed_size(); i++) + { + output.joint_speed.push_back(input.joint_speed(i)); + } + + + + return 0; +} +int ToRosData(Kinova::Api::ControlConfig::LinearTwist input, kortex_driver::LinearTwist &output) +{ + + output.linear = input.linear(); + + + + return 0; +} +int ToRosData(Kinova::Api::ControlConfig::AngularTwist input, kortex_driver::AngularTwist &output) +{ + + output.angular = input.angular(); + + + + return 0; +} +int ToRosData(Kinova::Api::ControlConfig::JointSpeeds input, kortex_driver::ControlConfig_JointSpeeds &output) +{ + + output.joint_speed.clear(); + for(int i = 0; i < input.joint_speed_size(); i++) + { + output.joint_speed.push_back(input.joint_speed(i)); + } + + + + return 0; +} +int ToRosData(Kinova::Api::ControlConfig::ControlModeInformation input, kortex_driver::ControlConfig_ControlModeInformation &output) +{ + + output.control_mode = input.control_mode(); + + + return 0; } diff --git a/kortex_driver/src/generated/controlconfig_services.cpp b/kortex_driver/src/generated/controlconfig_services.cpp index 0ca3c834..eb06f4f2 100644 --- a/kortex_driver/src/generated/controlconfig_services.cpp +++ b/kortex_driver/src/generated/controlconfig_services.cpp @@ -66,6 +66,25 @@ ControlConfigServices::ControlConfigServices(ros::NodeHandle& n, Kinova::Api::Co m_serviceControlConfig_Unsubscribe = m_n.advertiseService("control_config/unsubscribe", &ControlConfigServices::ControlConfig_Unsubscribe, this); m_serviceSetCartesianReferenceFrame = m_n.advertiseService("control_config/set_cartesian_reference_frame", &ControlConfigServices::SetCartesianReferenceFrame, this); m_serviceGetCartesianReferenceFrame = m_n.advertiseService("control_config/get_cartesian_reference_frame", &ControlConfigServices::GetCartesianReferenceFrame, this); + m_serviceControlConfig_GetControlMode = m_n.advertiseService("control_config/get_control_mode", &ControlConfigServices::ControlConfig_GetControlMode, this); + m_serviceSetJointSpeedSoftLimits = m_n.advertiseService("control_config/set_joint_speed_soft_limits", &ControlConfigServices::SetJointSpeedSoftLimits, this); + m_serviceSetTwistLinearSoftLimit = m_n.advertiseService("control_config/set_twist_linear_soft_limit", &ControlConfigServices::SetTwistLinearSoftLimit, this); + m_serviceSetTwistAngularSoftLimit = m_n.advertiseService("control_config/set_twist_angular_soft_limit", &ControlConfigServices::SetTwistAngularSoftLimit, this); + m_serviceSetJointAccelerationSoftLimits = m_n.advertiseService("control_config/set_joint_acceleration_soft_limits", &ControlConfigServices::SetJointAccelerationSoftLimits, this); + m_serviceGetKinematicHardLimits = m_n.advertiseService("control_config/get_kinematic_hard_limits", &ControlConfigServices::GetKinematicHardLimits, this); + m_serviceGetKinematicSoftLimits = m_n.advertiseService("control_config/get_kinematic_soft_limits", &ControlConfigServices::GetKinematicSoftLimits, this); + m_serviceGetAllKinematicSoftLimits = m_n.advertiseService("control_config/get_all_kinematic_soft_limits", &ControlConfigServices::GetAllKinematicSoftLimits, this); + m_serviceSetDesiredLinearTwist = m_n.advertiseService("control_config/set_desired_linear_twist", &ControlConfigServices::SetDesiredLinearTwist, this); + m_serviceSetDesiredAngularTwist = m_n.advertiseService("control_config/set_desired_angular_twist", &ControlConfigServices::SetDesiredAngularTwist, this); + m_serviceSetDesiredJointSpeeds = m_n.advertiseService("control_config/set_desired_joint_speeds", &ControlConfigServices::SetDesiredJointSpeeds, this); + m_serviceGetDesiredSpeeds = m_n.advertiseService("control_config/get_desired_speeds", &ControlConfigServices::GetDesiredSpeeds, this); + m_serviceResetGravityVector = m_n.advertiseService("control_config/reset_gravity_vector", &ControlConfigServices::ResetGravityVector, this); + m_serviceResetPayloadInformation = m_n.advertiseService("control_config/reset_payload_information", &ControlConfigServices::ResetPayloadInformation, this); + m_serviceResetToolConfiguration = m_n.advertiseService("control_config/reset_tool_configuration", &ControlConfigServices::ResetToolConfiguration, this); + m_serviceResetJointSpeedSoftLimits = m_n.advertiseService("control_config/reset_joint_speed_soft_limits", &ControlConfigServices::ResetJointSpeedSoftLimits, this); + m_serviceResetTwistLinearSoftLimit = m_n.advertiseService("control_config/reset_twist_linear_soft_limit", &ControlConfigServices::ResetTwistLinearSoftLimit, this); + m_serviceResetTwistAngularSoftLimit = m_n.advertiseService("control_config/reset_twist_angular_soft_limit", &ControlConfigServices::ResetTwistAngularSoftLimit, this); + m_serviceResetJointAccelerationSoftLimits = m_n.advertiseService("control_config/reset_joint_acceleration_soft_limits", &ControlConfigServices::ResetJointAccelerationSoftLimits, this); } bool ControlConfigServices::SetDeviceID(kortex_driver::SetDeviceID::Request &req, kortex_driver::SetDeviceID::Response &res) @@ -420,3 +439,633 @@ bool ControlConfigServices::GetCartesianReferenceFrame(kortex_driver::GetCartesi ToRosData(output, res.output); return true; } + +bool ControlConfigServices::ControlConfig_GetControlMode(kortex_driver::ControlConfig_GetControlMode::Request &req, kortex_driver::ControlConfig_GetControlMode::Response &res) +{ + + Kinova::Api::ControlConfig::ControlModeInformation output; + + kortex_driver::KortexError result_error; + + try + { + output = m_controlconfig->GetControlMode(m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + ToRosData(output, res.output); + return true; +} + +bool ControlConfigServices::SetJointSpeedSoftLimits(kortex_driver::SetJointSpeedSoftLimits::Request &req, kortex_driver::SetJointSpeedSoftLimits::Response &res) +{ + + Kinova::Api::ControlConfig::JointSpeedSoftLimits input; + ToProtoData(req.input, &input); + kortex_driver::KortexError result_error; + + try + { + m_controlconfig->SetJointSpeedSoftLimits(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + return true; +} + +bool ControlConfigServices::SetTwistLinearSoftLimit(kortex_driver::SetTwistLinearSoftLimit::Request &req, kortex_driver::SetTwistLinearSoftLimit::Response &res) +{ + + Kinova::Api::ControlConfig::TwistLinearSoftLimit input; + ToProtoData(req.input, &input); + kortex_driver::KortexError result_error; + + try + { + m_controlconfig->SetTwistLinearSoftLimit(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + return true; +} + +bool ControlConfigServices::SetTwistAngularSoftLimit(kortex_driver::SetTwistAngularSoftLimit::Request &req, kortex_driver::SetTwistAngularSoftLimit::Response &res) +{ + + Kinova::Api::ControlConfig::TwistAngularSoftLimit input; + ToProtoData(req.input, &input); + kortex_driver::KortexError result_error; + + try + { + m_controlconfig->SetTwistAngularSoftLimit(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + return true; +} + +bool ControlConfigServices::SetJointAccelerationSoftLimits(kortex_driver::SetJointAccelerationSoftLimits::Request &req, kortex_driver::SetJointAccelerationSoftLimits::Response &res) +{ + + Kinova::Api::ControlConfig::JointAccelerationSoftLimits input; + ToProtoData(req.input, &input); + kortex_driver::KortexError result_error; + + try + { + m_controlconfig->SetJointAccelerationSoftLimits(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + return true; +} + +bool ControlConfigServices::GetKinematicHardLimits(kortex_driver::GetKinematicHardLimits::Request &req, kortex_driver::GetKinematicHardLimits::Response &res) +{ + + Kinova::Api::ControlConfig::KinematicLimits output; + + kortex_driver::KortexError result_error; + + try + { + output = m_controlconfig->GetKinematicHardLimits(m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + ToRosData(output, res.output); + return true; +} + +bool ControlConfigServices::GetKinematicSoftLimits(kortex_driver::GetKinematicSoftLimits::Request &req, kortex_driver::GetKinematicSoftLimits::Response &res) +{ + + Kinova::Api::ControlConfig::ControlModeInformation input; + ToProtoData(req.input, &input); + Kinova::Api::ControlConfig::KinematicLimits output; + + kortex_driver::KortexError result_error; + + try + { + output = m_controlconfig->GetKinematicSoftLimits(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + ToRosData(output, res.output); + return true; +} + +bool ControlConfigServices::GetAllKinematicSoftLimits(kortex_driver::GetAllKinematicSoftLimits::Request &req, kortex_driver::GetAllKinematicSoftLimits::Response &res) +{ + + Kinova::Api::ControlConfig::KinematicLimitsList output; + + kortex_driver::KortexError result_error; + + try + { + output = m_controlconfig->GetAllKinematicSoftLimits(m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + ToRosData(output, res.output); + return true; +} + +bool ControlConfigServices::SetDesiredLinearTwist(kortex_driver::SetDesiredLinearTwist::Request &req, kortex_driver::SetDesiredLinearTwist::Response &res) +{ + + Kinova::Api::ControlConfig::LinearTwist input; + ToProtoData(req.input, &input); + kortex_driver::KortexError result_error; + + try + { + m_controlconfig->SetDesiredLinearTwist(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + return true; +} + +bool ControlConfigServices::SetDesiredAngularTwist(kortex_driver::SetDesiredAngularTwist::Request &req, kortex_driver::SetDesiredAngularTwist::Response &res) +{ + + Kinova::Api::ControlConfig::AngularTwist input; + ToProtoData(req.input, &input); + kortex_driver::KortexError result_error; + + try + { + m_controlconfig->SetDesiredAngularTwist(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + return true; +} + +bool ControlConfigServices::SetDesiredJointSpeeds(kortex_driver::SetDesiredJointSpeeds::Request &req, kortex_driver::SetDesiredJointSpeeds::Response &res) +{ + + Kinova::Api::ControlConfig::JointSpeeds input; + ToProtoData(req.input, &input); + kortex_driver::KortexError result_error; + + try + { + m_controlconfig->SetDesiredJointSpeeds(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + return true; +} + +bool ControlConfigServices::GetDesiredSpeeds(kortex_driver::GetDesiredSpeeds::Request &req, kortex_driver::GetDesiredSpeeds::Response &res) +{ + + Kinova::Api::ControlConfig::DesiredSpeeds output; + + kortex_driver::KortexError result_error; + + try + { + output = m_controlconfig->GetDesiredSpeeds(m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + ToRosData(output, res.output); + return true; +} + +bool ControlConfigServices::ResetGravityVector(kortex_driver::ResetGravityVector::Request &req, kortex_driver::ResetGravityVector::Response &res) +{ + + Kinova::Api::ControlConfig::GravityVector output; + + kortex_driver::KortexError result_error; + + try + { + output = m_controlconfig->ResetGravityVector(m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + ToRosData(output, res.output); + return true; +} + +bool ControlConfigServices::ResetPayloadInformation(kortex_driver::ResetPayloadInformation::Request &req, kortex_driver::ResetPayloadInformation::Response &res) +{ + + Kinova::Api::ControlConfig::PayloadInformation output; + + kortex_driver::KortexError result_error; + + try + { + output = m_controlconfig->ResetPayloadInformation(m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + ToRosData(output, res.output); + return true; +} + +bool ControlConfigServices::ResetToolConfiguration(kortex_driver::ResetToolConfiguration::Request &req, kortex_driver::ResetToolConfiguration::Response &res) +{ + + Kinova::Api::ControlConfig::ToolConfiguration output; + + kortex_driver::KortexError result_error; + + try + { + output = m_controlconfig->ResetToolConfiguration(m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + ToRosData(output, res.output); + return true; +} + +bool ControlConfigServices::ResetJointSpeedSoftLimits(kortex_driver::ResetJointSpeedSoftLimits::Request &req, kortex_driver::ResetJointSpeedSoftLimits::Response &res) +{ + + Kinova::Api::ControlConfig::ControlModeInformation input; + ToProtoData(req.input, &input); + Kinova::Api::ControlConfig::JointSpeedSoftLimits output; + + kortex_driver::KortexError result_error; + + try + { + output = m_controlconfig->ResetJointSpeedSoftLimits(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + ToRosData(output, res.output); + return true; +} + +bool ControlConfigServices::ResetTwistLinearSoftLimit(kortex_driver::ResetTwistLinearSoftLimit::Request &req, kortex_driver::ResetTwistLinearSoftLimit::Response &res) +{ + + Kinova::Api::ControlConfig::ControlModeInformation input; + ToProtoData(req.input, &input); + Kinova::Api::ControlConfig::TwistLinearSoftLimit output; + + kortex_driver::KortexError result_error; + + try + { + output = m_controlconfig->ResetTwistLinearSoftLimit(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + ToRosData(output, res.output); + return true; +} + +bool ControlConfigServices::ResetTwistAngularSoftLimit(kortex_driver::ResetTwistAngularSoftLimit::Request &req, kortex_driver::ResetTwistAngularSoftLimit::Response &res) +{ + + Kinova::Api::ControlConfig::ControlModeInformation input; + ToProtoData(req.input, &input); + Kinova::Api::ControlConfig::TwistAngularSoftLimit output; + + kortex_driver::KortexError result_error; + + try + { + output = m_controlconfig->ResetTwistAngularSoftLimit(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + ToRosData(output, res.output); + return true; +} + +bool ControlConfigServices::ResetJointAccelerationSoftLimits(kortex_driver::ResetJointAccelerationSoftLimits::Request &req, kortex_driver::ResetJointAccelerationSoftLimits::Response &res) +{ + + Kinova::Api::ControlConfig::ControlModeInformation input; + ToProtoData(req.input, &input); + Kinova::Api::ControlConfig::JointAccelerationSoftLimits output; + + kortex_driver::KortexError result_error; + + try + { + output = m_controlconfig->ResetJointAccelerationSoftLimits(input, m_current_device_id, m_api_options); + } + + catch (Kinova::Api::KDetailedException& ex) + { + result_error.subCode = ex.getErrorInfo().getError().error_sub_code(); + result_error.code = ex.getErrorInfo().getError().error_code(); + result_error.description = ex.toString(); + m_pub_Error.publish(result_error); + ROS_INFO("Kortex exception"); + ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code()); + ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code()); + ROS_INFO("KINOVA exception description: %s\n", ex.what()); + return false; + } + catch (std::runtime_error& ex2) + { + ROS_INFO("%s", ex2.what()); + return false; + } + ToRosData(output, res.output); + return true; +} diff --git a/kortex_driver/src/generated/productconfiguration_proto_converter.cpp b/kortex_driver/src/generated/productconfiguration_proto_converter.cpp index 293ee64f..7fd28374 100644 --- a/kortex_driver/src/generated/productconfiguration_proto_converter.cpp +++ b/kortex_driver/src/generated/productconfiguration_proto_converter.cpp @@ -34,20 +34,6 @@ int ToProtoData(kortex_driver::CompleteProductConfiguration input, Kinova::Api:: return 0; } -int ToProtoData(kortex_driver::ProductConfigurationDegreeOfFreedom input, Kinova::Api::ProductConfiguration::ProductConfigurationDegreeOfFreedom *output) -{ - - output->set_degree_of_freedom(input.degree_of_freedom); - - return 0; -} -int ToProtoData(kortex_driver::ProductConfigurationBaseType input, Kinova::Api::ProductConfiguration::ProductConfigurationBaseType *output) -{ - - output->set_base_type((Kinova::Api::ProductConfiguration::BaseType)input.base_type); - - return 0; -} int ToProtoData(kortex_driver::ProductConfigurationEndEffectorType input, Kinova::Api::ProductConfiguration::ProductConfigurationEndEffectorType *output) { @@ -55,31 +41,3 @@ int ToProtoData(kortex_driver::ProductConfigurationEndEffectorType input, Kinova return 0; } -int ToProtoData(kortex_driver::ProductConfigurationVisionModuleType input, Kinova::Api::ProductConfiguration::ProductConfigurationVisionModuleType *output) -{ - - output->set_vision_module_type((Kinova::Api::ProductConfiguration::VisionModuleType)input.vision_module_type); - - return 0; -} -int ToProtoData(kortex_driver::ProductConfigurationInterfaceModuleType input, Kinova::Api::ProductConfiguration::ProductConfigurationInterfaceModuleType *output) -{ - - output->set_interface_module_type((Kinova::Api::ProductConfiguration::InterfaceModuleType)input.interface_module_type); - - return 0; -} -int ToProtoData(kortex_driver::ProductConfigurationLaterality input, Kinova::Api::ProductConfiguration::ProductConfigurationLaterality *output) -{ - - output->set_arm_laterality((Kinova::Api::ProductConfiguration::ArmLaterality)input.arm_laterality); - - return 0; -} -int ToProtoData(kortex_driver::ProductConfigurationWristType input, Kinova::Api::ProductConfiguration::ProductConfigurationWristType *output) -{ - - output->set_wrist_type((Kinova::Api::ProductConfiguration::WristType)input.wrist_type); - - return 0; -} diff --git a/kortex_driver/src/generated/productconfiguration_ros_converter.cpp b/kortex_driver/src/generated/productconfiguration_ros_converter.cpp index 926cc257..106fc819 100644 --- a/kortex_driver/src/generated/productconfiguration_ros_converter.cpp +++ b/kortex_driver/src/generated/productconfiguration_ros_converter.cpp @@ -34,24 +34,6 @@ int ToRosData(Kinova::Api::ProductConfiguration::CompleteProductConfiguration in - return 0; -} -int ToRosData(Kinova::Api::ProductConfiguration::ProductConfigurationDegreeOfFreedom input, kortex_driver::ProductConfigurationDegreeOfFreedom &output) -{ - - output.degree_of_freedom = input.degree_of_freedom(); - - - - return 0; -} -int ToRosData(Kinova::Api::ProductConfiguration::ProductConfigurationBaseType input, kortex_driver::ProductConfigurationBaseType &output) -{ - - output.base_type = input.base_type(); - - - return 0; } int ToRosData(Kinova::Api::ProductConfiguration::ProductConfigurationEndEffectorType input, kortex_driver::ProductConfigurationEndEffectorType &output) @@ -61,41 +43,5 @@ int ToRosData(Kinova::Api::ProductConfiguration::ProductConfigurationEndEffector - return 0; -} -int ToRosData(Kinova::Api::ProductConfiguration::ProductConfigurationVisionModuleType input, kortex_driver::ProductConfigurationVisionModuleType &output) -{ - - output.vision_module_type = input.vision_module_type(); - - - - return 0; -} -int ToRosData(Kinova::Api::ProductConfiguration::ProductConfigurationInterfaceModuleType input, kortex_driver::ProductConfigurationInterfaceModuleType &output) -{ - - output.interface_module_type = input.interface_module_type(); - - - - return 0; -} -int ToRosData(Kinova::Api::ProductConfiguration::ProductConfigurationLaterality input, kortex_driver::ProductConfigurationLaterality &output) -{ - - output.arm_laterality = input.arm_laterality(); - - - - return 0; -} -int ToRosData(Kinova::Api::ProductConfiguration::ProductConfigurationWristType input, kortex_driver::ProductConfigurationWristType &output) -{ - - output.wrist_type = input.wrist_type(); - - - return 0; } diff --git a/kortex_driver/src/non-generated/kortex_arm_driver.cpp b/kortex_driver/src/non-generated/driver/kortex_arm_driver.cpp similarity index 89% rename from kortex_driver/src/non-generated/kortex_arm_driver.cpp rename to kortex_driver/src/non-generated/driver/kortex_arm_driver.cpp index 21339ba4..a93a4d20 100644 --- a/kortex_driver/src/non-generated/kortex_arm_driver.cpp +++ b/kortex_driver/src/non-generated/driver/kortex_arm_driver.cpp @@ -14,6 +14,9 @@ KortexArmDriver::KortexArmDriver(ros::NodeHandle nh): m_node_handle(nh), m_node_is_running(true), m_consecutive_base_cyclic_timeouts(0) { + // Parameter to let the other nodes know this node is up + ros::param::set("is_initialized", false); + // Start the node in the different initialization functions parseRosArguments(); initApi(); @@ -29,6 +32,7 @@ KortexArmDriver::KortexArmDriver(ros::NodeHandle nh): m_node_handle(nh), m_node_ // If we get here and no error was thrown we started the node correctly ROS_INFO("%sThe Kortex driver has been initialized correctly!%s", GREEN_COLOR_CONSOLE, RESET_COLOR_CONSOLE); + ros::param::set("is_initialized", true); } KortexArmDriver::~KortexArmDriver() @@ -120,6 +124,13 @@ void KortexArmDriver::parseRosArguments() throw new std::runtime_error(error_string); } + if (!ros::param::get("~use_hard_limits", m_use_hard_limits)) + { + std::string error_string = "Usage of hard limits as soft was not specified in the launch file, shutting down the node..."; + ROS_ERROR("%s", error_string.c_str()); + throw new std::runtime_error(error_string); + } + if (!ros::param::get("~cyclic_data_publish_rate", m_cyclic_data_publish_rate)) { std::string error_string = "Publish rate of the cyclic data was not specified in the launch file, shutting down the node..."; @@ -276,6 +287,11 @@ void KortexArmDriver::verifyProductConfiguration() ROS_ERROR("%s", error_string.c_str()); throw new std::runtime_error(error_string); } + // Set Angular Trajectories soft limits to max if the option is true in the launch file + if (m_use_hard_limits) + { + setAngularTrajectorySoftLimitsToMax(); + } } else if (m_arm_name == "gen3_lite") { @@ -319,6 +335,15 @@ void KortexArmDriver::verifyProductConfiguration() throw new std::runtime_error(error_string); } } + else if (m_gripper_name == "robotiq_2f_140") + { + if (product_config.end_effector_type() != Kinova::Api::ProductConfiguration::EndEffectorType::END_EFFECTOR_TYPE_ROBOTIQ_2F_140) + { + std::string error_string = "The gripper model specified in the launch file doesn't match the detected arm's gripper model, shutting down the node..."; + ROS_ERROR("%s", error_string.c_str()); + throw new std::runtime_error(error_string); + } + } else if (m_gripper_name == "gen3_lite_2f") { if (product_config.end_effector_type() != Kinova::Api::ProductConfiguration::EndEffectorType::END_EFFECTOR_TYPE_L31_GRIPPER_2F) @@ -335,11 +360,6 @@ void KortexArmDriver::verifyProductConfiguration() throw new std::runtime_error(error_string); } - // Set the ROS Param for the degrees of freedom - m_node_handle.setParam("degrees_of_freedom", int(product_config.degree_of_freedom())); - m_node_handle.setParam("is_gripper_present", isGripperPresent()); - m_node_handle.setParam("gripper_joint_names", m_gripper_joint_names); - // Find all the devices and print the device ID's ROS_INFO("-------------------------------------------------"); ROS_INFO("Scanning all devices in robot... "); @@ -377,6 +397,13 @@ void KortexArmDriver::verifyProductConfiguration() } } ROS_INFO("-------------------------------------------------"); + + // Set the ROS Param for the degrees of freedom + m_node_handle.setParam("degrees_of_freedom", int(product_config.degree_of_freedom())); + m_node_handle.setParam("is_gripper_present", isGripperPresent()); + m_node_handle.setParam("gripper_joint_names", m_gripper_joint_names); + m_node_handle.setParam("has_vision_module", m_is_vision_module_present); + m_node_handle.setParam("has_interconnect_module", m_is_interconnect_module_present); } void KortexArmDriver::initSubscribers() @@ -431,6 +458,40 @@ bool KortexArmDriver::isGripperPresent() return m_gripper_name != ""; } +void KortexArmDriver::setAngularTrajectorySoftLimitsToMax() +{ + try + { + auto hard_limits = m_control_config->GetKinematicHardLimits(); + Kinova::Api::ControlConfig::ControlMode target_control_mode = Kinova::Api::ControlConfig::ANGULAR_TRAJECTORY; + + // Set Joint Speed limits to max + Kinova::Api::ControlConfig::JointSpeedSoftLimits jpsl; + jpsl.set_control_mode(target_control_mode); + for (auto j : hard_limits.joint_speed_limits()) + { + jpsl.add_joint_speed_soft_limits(j); + } + m_control_config->SetJointSpeedSoftLimits(jpsl); + + // Set Joint Acceleration limits to max + Kinova::Api::ControlConfig::JointAccelerationSoftLimits jasl; + jasl.set_control_mode(target_control_mode); + for (auto j : hard_limits.joint_acceleration_limits()) + { + jasl.add_joint_acceleration_soft_limits(j); + } + m_control_config->SetJointAccelerationSoftLimits(jasl); + } + catch (Kinova::Api::KDetailedException& ex) + { + ROS_WARN("Kortex exception while getting the base_feedback"); + ROS_WARN("Error code: %s\n", Kinova::Api::ErrorCodes_Name(ex.getErrorInfo().getError().error_code()).c_str()); + ROS_WARN("Error sub code: %s\n", Kinova::Api::SubErrorCodes_Name(Kinova::Api::SubErrorCodes(ex.getErrorInfo().getError().error_sub_code())).c_str()); + ROS_WARN("Error description: %s\n", ex.what()); + } +} + void KortexArmDriver::publishFeedback() { diff --git a/kortex_driver/src/non-generated/kortex_math_util.cpp b/kortex_driver/src/non-generated/driver/kortex_math_util.cpp similarity index 100% rename from kortex_driver/src/non-generated/kortex_math_util.cpp rename to kortex_driver/src/non-generated/driver/kortex_math_util.cpp diff --git a/kortex_driver/src/non-generated/kortex_subscribers.cpp b/kortex_driver/src/non-generated/driver/kortex_subscribers.cpp similarity index 97% rename from kortex_driver/src/non-generated/kortex_subscribers.cpp rename to kortex_driver/src/non-generated/driver/kortex_subscribers.cpp index f26a5253..22e1f6b9 100644 --- a/kortex_driver/src/non-generated/kortex_subscribers.cpp +++ b/kortex_driver/src/non-generated/driver/kortex_subscribers.cpp @@ -28,10 +28,10 @@ KortexSubscribers::~KortexSubscribers() { } -void KortexSubscribers::new_joint_speeds_cb(const kortex_driver::JointSpeeds& joint_speeds) +void KortexSubscribers::new_joint_speeds_cb(const kortex_driver::Base_JointSpeeds& joint_speeds) { Kinova::Api::Base::JointSpeeds speeds; - kortex_driver::JointSpeeds joint_speeds_in_rad(joint_speeds); // Since joint_speeds is const we need this copy + kortex_driver::Base_JointSpeeds joint_speeds_in_rad(joint_speeds); // Since joint_speeds is const we need this copy // Convert radians in degrees for (unsigned int i = 0; i < joint_speeds.joint_speeds.size(); i++) diff --git a/kortex_driver/src/non-generated/pre_computed_joint_trajectory_action_server.cpp b/kortex_driver/src/non-generated/driver/pre_computed_joint_trajectory_action_server.cpp similarity index 98% rename from kortex_driver/src/non-generated/pre_computed_joint_trajectory_action_server.cpp rename to kortex_driver/src/non-generated/driver/pre_computed_joint_trajectory_action_server.cpp index c87bd326..1c4e7aa2 100644 --- a/kortex_driver/src/non-generated/pre_computed_joint_trajectory_action_server.cpp +++ b/kortex_driver/src/non-generated/driver/pre_computed_joint_trajectory_action_server.cpp @@ -30,7 +30,7 @@ PreComputedJointTrajectoryActionServer::PreComputedJointTrajectoryActionServer(c } if (!ros::param::get("~default_goal_tolerance", m_default_goal_tolerance)) { - ROS_WARN("Parameter default_goal_tolerance was not specified; assuming 0.005 radians as default value."); + ROS_WARN("Parameter default_goal_tolerance was not specified; assuming 0.005 as default value."); m_default_goal_tolerance = 0.005; } if (!ros::param::get("~joint_names", m_joint_names)) @@ -92,6 +92,10 @@ void PreComputedJointTrajectoryActionServer::goal_received_callback(actionlib::A Kinova::Api::Base::PreComputedJointTrajectory proto_trajectory; + // For logging purposes + std::ofstream myfile; + myfile.open ("moveit_trajectory.csv"); + // Set the continuity mode proto_trajectory.set_mode(Kinova::Api::Base::TrajectoryContinuityMode::TRAJECTORY_CONTINUITY_MODE_POSITION); @@ -99,21 +103,28 @@ void PreComputedJointTrajectoryActionServer::goal_received_callback(actionlib::A for (auto traj_point : m_goal.getGoal()->trajectory.points) { Kinova::Api::Base::PreComputedJointTrajectoryElement* proto_element = proto_trajectory.add_trajectory_elements(); + myfile << traj_point.time_from_start.toSec() << ","; for (auto position : traj_point.positions) { proto_element->add_joint_angles(m_math_util.toDeg(position)); + myfile << position << ","; } for (auto velocity : traj_point.velocities) { proto_element->add_joint_speeds(m_math_util.toDeg(velocity)); + myfile << velocity << ","; } for (auto acceleration : traj_point.accelerations) { proto_element->add_joint_accelerations(m_math_util.toDeg(acceleration)); + myfile << acceleration << ","; } + myfile << "\n"; proto_element->set_time_from_start(traj_point.time_from_start.toSec()); } + myfile.close(); + // Send the trajectory to the robot try { diff --git a/kortex_driver/src/non-generated/robotiq_gripper_command_action_server.cpp b/kortex_driver/src/non-generated/driver/robotiq_gripper_command_action_server.cpp similarity index 98% rename from kortex_driver/src/non-generated/robotiq_gripper_command_action_server.cpp rename to kortex_driver/src/non-generated/driver/robotiq_gripper_command_action_server.cpp index 1ff48f0b..962e8ae0 100644 --- a/kortex_driver/src/non-generated/robotiq_gripper_command_action_server.cpp +++ b/kortex_driver/src/non-generated/driver/robotiq_gripper_command_action_server.cpp @@ -116,7 +116,7 @@ void RobotiqGripperCommandActionServer::gripper_position_polling_thread() // Get gripper position and find if we're stuck feedback = m_base_cyclic->RefreshFeedback(); actual_gripper_position = feedback.interconnect().gripper_feedback().motor(0).position() / 100.0; - if (fabs(actual_gripper_position - previous_gripper_position) > 0.01) + if (fabs(actual_gripper_position - previous_gripper_position) > MAX_CONSECUTIVE_POSITION_DIFFERENCE) { n_stuck = 0; } @@ -127,7 +127,7 @@ void RobotiqGripperCommandActionServer::gripper_position_polling_thread() previous_gripper_position = actual_gripper_position; // If we're stuck, the trajectory is over - if (n_stuck >= 4) // 200ms in the same position + if (n_stuck >= MAX_CONSECUTIVE_IDENTICAL_POSITIONS) // 200ms in the same position { m_is_trajectory_running_lock.lock(); m_is_trajectory_running = false; diff --git a/kortex_driver/src/non-generated/tests/kortex_arm_driver_func_tests.cc b/kortex_driver/src/non-generated/tests/kortex_arm_driver_func_tests.cc new file mode 100644 index 00000000..42ac5233 --- /dev/null +++ b/kortex_driver/src/non-generated/tests/kortex_arm_driver_func_tests.cc @@ -0,0 +1,68 @@ +#include +#include +#include +#include + +class KortexDriverTest : public ::testing::Test { + protected: + + void SetUp() override + { + } + + void TearDown() override + { + } + + ros::NodeHandle n; + +}; + +// Wait for is_initialized to become true or until we reach the 10 seconds timeout +TEST_F(KortexDriverTest, initializeDriver) +{ + bool is_initialized = false; + const int max_attempts = 20; + for (int i = 0; i < max_attempts && is_initialized == false; i++) + { + ros::param::get("is_initialized", is_initialized); + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + } + ASSERT_TRUE(is_initialized); +} + +// Check for all MoveIt services +// If they're advertised, then MoveIt started correctly +TEST_F(KortexDriverTest, initializeMoveIt) +{ + std::this_thread::sleep_for(std::chrono::milliseconds(10000)); + + ASSERT_TRUE(ros::service::waitForService("apply_planning_scene", 30)); + ASSERT_TRUE(ros::service::waitForService("clear_octomap", 30)); + ASSERT_TRUE(ros::service::waitForService("compute_cartesian_path", 30)); + ASSERT_TRUE(ros::service::waitForService("compute_fk", 30)); + ASSERT_TRUE(ros::service::waitForService("compute_ik", 30)); + ASSERT_TRUE(ros::service::waitForService("get_planning_scene", 30)); + ASSERT_TRUE(ros::service::waitForService("plan_kinematic_path", 30)); + ASSERT_TRUE(ros::service::waitForService("query_planner_interface", 30)); + ASSERT_TRUE(ros::service::waitForService("check_state_validity", 30)); +} + +// Make sure the robot_description is parsable +TEST_F(KortexDriverTest, parseURDF) +{ + urdf::Model model; + ASSERT_TRUE(model.initParam("robot_description")); +} + +int main(int argc, char** argv){ + ros::init(argc, argv, "KortexArmDriverInitTestsNode"); + testing::InitGoogleTest(&argc, argv); + + std::thread t([]{while(ros::ok()) ros::spin();}); + + auto res = RUN_ALL_TESTS(); + + ros::shutdown(); + return res; +} \ No newline at end of file diff --git a/kortex_driver/srv/generated/actuator_config/GetCoggingFeedforwardMode.srv b/kortex_driver/srv/generated/actuator_config/GetCoggingFeedforwardMode.srv new file mode 100644 index 00000000..9fe719df --- /dev/null +++ b/kortex_driver/srv/generated/actuator_config/GetCoggingFeedforwardMode.srv @@ -0,0 +1,3 @@ +Empty input +--- +CoggingFeedforwardModeInformation output \ No newline at end of file diff --git a/kortex_driver/srv/generated/actuator_config/SetCoggingFeedforwardMode.srv b/kortex_driver/srv/generated/actuator_config/SetCoggingFeedforwardMode.srv new file mode 100644 index 00000000..5766f767 --- /dev/null +++ b/kortex_driver/srv/generated/actuator_config/SetCoggingFeedforwardMode.srv @@ -0,0 +1,3 @@ +CoggingFeedforwardModeInformation input +--- +Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/AddSequenceTasks.srv b/kortex_driver/srv/generated/base/AddSequenceTasks.srv new file mode 100644 index 00000000..2bce3e5c --- /dev/null +++ b/kortex_driver/srv/generated/base/AddSequenceTasks.srv @@ -0,0 +1,3 @@ +SequenceTasksConfiguration input +--- +SequenceTasksRange output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/DuplicateMap.srv b/kortex_driver/srv/generated/base/DuplicateMap.srv new file mode 100644 index 00000000..399961a4 --- /dev/null +++ b/kortex_driver/srv/generated/base/DuplicateMap.srv @@ -0,0 +1,3 @@ +MapHandle input +--- +MapHandle output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/DuplicateMapping.srv b/kortex_driver/srv/generated/base/DuplicateMapping.srv new file mode 100644 index 00000000..7b51d73c --- /dev/null +++ b/kortex_driver/srv/generated/base/DuplicateMapping.srv @@ -0,0 +1,3 @@ +MappingHandle input +--- +MappingHandle output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/GetAllControllerConfigurations.srv b/kortex_driver/srv/generated/base/GetAllControllerConfigurations.srv new file mode 100644 index 00000000..f5414908 --- /dev/null +++ b/kortex_driver/srv/generated/base/GetAllControllerConfigurations.srv @@ -0,0 +1,3 @@ +Empty input +--- +ControllerConfigurationList output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/GetControllerConfiguration.srv b/kortex_driver/srv/generated/base/GetControllerConfiguration.srv new file mode 100644 index 00000000..6f58bbfa --- /dev/null +++ b/kortex_driver/srv/generated/base/GetControllerConfiguration.srv @@ -0,0 +1,3 @@ +ControllerHandle input +--- +ControllerConfiguration output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/GetControllerConfigurationMode.srv b/kortex_driver/srv/generated/base/GetControllerConfigurationMode.srv new file mode 100644 index 00000000..62323719 --- /dev/null +++ b/kortex_driver/srv/generated/base/GetControllerConfigurationMode.srv @@ -0,0 +1,3 @@ +Empty input +--- +ControllerConfigurationMode output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/GetFirmwareBundleVersions.srv b/kortex_driver/srv/generated/base/GetFirmwareBundleVersions.srv new file mode 100644 index 00000000..8bcabb6a --- /dev/null +++ b/kortex_driver/srv/generated/base/GetFirmwareBundleVersions.srv @@ -0,0 +1,3 @@ +Empty input +--- +FirmwareBundleVersions output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/MoveSequenceTask.srv b/kortex_driver/srv/generated/base/MoveSequenceTask.srv new file mode 100644 index 00000000..781d09a2 --- /dev/null +++ b/kortex_driver/srv/generated/base/MoveSequenceTask.srv @@ -0,0 +1,3 @@ +SequenceTasksPair input +--- +Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/ReadAllSequenceTasks.srv b/kortex_driver/srv/generated/base/ReadAllSequenceTasks.srv new file mode 100644 index 00000000..7f83e4c5 --- /dev/null +++ b/kortex_driver/srv/generated/base/ReadAllSequenceTasks.srv @@ -0,0 +1,3 @@ +SequenceHandle input +--- +SequenceTasks output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/ReadSequenceTask.srv b/kortex_driver/srv/generated/base/ReadSequenceTask.srv new file mode 100644 index 00000000..727d451e --- /dev/null +++ b/kortex_driver/srv/generated/base/ReadSequenceTask.srv @@ -0,0 +1,3 @@ +SequenceTaskHandle input +--- +SequenceTask output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/SendJointSpeedsCommand.srv b/kortex_driver/srv/generated/base/SendJointSpeedsCommand.srv index 18656d38..055bd54e 100644 --- a/kortex_driver/srv/generated/base/SendJointSpeedsCommand.srv +++ b/kortex_driver/srv/generated/base/SendJointSpeedsCommand.srv @@ -1,3 +1,3 @@ -JointSpeeds input +Base_JointSpeeds input --- Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/SendJointSpeedsJoystickCommand.srv b/kortex_driver/srv/generated/base/SendJointSpeedsJoystickCommand.srv index 18656d38..055bd54e 100644 --- a/kortex_driver/srv/generated/base/SendJointSpeedsJoystickCommand.srv +++ b/kortex_driver/srv/generated/base/SendJointSpeedsJoystickCommand.srv @@ -1,3 +1,3 @@ -JointSpeeds input +Base_JointSpeeds input --- Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/SetControllerConfiguration.srv b/kortex_driver/srv/generated/base/SetControllerConfiguration.srv new file mode 100644 index 00000000..e785bdc2 --- /dev/null +++ b/kortex_driver/srv/generated/base/SetControllerConfiguration.srv @@ -0,0 +1,3 @@ +ControllerConfiguration input +--- +Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/SetControllerConfigurationMode.srv b/kortex_driver/srv/generated/base/SetControllerConfigurationMode.srv new file mode 100644 index 00000000..9c3825aa --- /dev/null +++ b/kortex_driver/srv/generated/base/SetControllerConfigurationMode.srv @@ -0,0 +1,3 @@ +ControllerConfigurationMode input +--- +Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/StartTeaching.srv b/kortex_driver/srv/generated/base/StartTeaching.srv new file mode 100644 index 00000000..b4170eb4 --- /dev/null +++ b/kortex_driver/srv/generated/base/StartTeaching.srv @@ -0,0 +1,3 @@ +SequenceTaskHandle input +--- +Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/StopTeaching.srv b/kortex_driver/srv/generated/base/StopTeaching.srv new file mode 100644 index 00000000..4d7a11a3 --- /dev/null +++ b/kortex_driver/srv/generated/base/StopTeaching.srv @@ -0,0 +1,3 @@ +Empty input +--- +Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/SwapSequenceTasks.srv b/kortex_driver/srv/generated/base/SwapSequenceTasks.srv new file mode 100644 index 00000000..781d09a2 --- /dev/null +++ b/kortex_driver/srv/generated/base/SwapSequenceTasks.srv @@ -0,0 +1,3 @@ +SequenceTasksPair input +--- +Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/TakeSnapshot.srv b/kortex_driver/srv/generated/base/TakeSnapshot.srv new file mode 100644 index 00000000..acc5a544 --- /dev/null +++ b/kortex_driver/srv/generated/base/TakeSnapshot.srv @@ -0,0 +1,3 @@ +Snapshot input +--- +Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/UpdateArmLateralityConfiguration.srv b/kortex_driver/srv/generated/base/UpdateArmLateralityConfiguration.srv deleted file mode 100644 index 0fcf0437..00000000 --- a/kortex_driver/srv/generated/base/UpdateArmLateralityConfiguration.srv +++ /dev/null @@ -1,3 +0,0 @@ -ProductConfigurationLaterality input ---- -Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/UpdateBaseTypeConfiguration.srv b/kortex_driver/srv/generated/base/UpdateBaseTypeConfiguration.srv deleted file mode 100644 index af530c3c..00000000 --- a/kortex_driver/srv/generated/base/UpdateBaseTypeConfiguration.srv +++ /dev/null @@ -1,3 +0,0 @@ -ProductConfigurationBaseType input ---- -Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/UpdateDegreeOfFreedomConfiguration.srv b/kortex_driver/srv/generated/base/UpdateDegreeOfFreedomConfiguration.srv deleted file mode 100644 index c3728f89..00000000 --- a/kortex_driver/srv/generated/base/UpdateDegreeOfFreedomConfiguration.srv +++ /dev/null @@ -1,3 +0,0 @@ -ProductConfigurationDegreeOfFreedom input ---- -Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/UpdateInterfaceModuleTypeConfiguration.srv b/kortex_driver/srv/generated/base/UpdateInterfaceModuleTypeConfiguration.srv deleted file mode 100644 index 38f4773f..00000000 --- a/kortex_driver/srv/generated/base/UpdateInterfaceModuleTypeConfiguration.srv +++ /dev/null @@ -1,3 +0,0 @@ -ProductConfigurationInterfaceModuleType input ---- -Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/UpdateSequenceTask.srv b/kortex_driver/srv/generated/base/UpdateSequenceTask.srv new file mode 100644 index 00000000..ad95ec47 --- /dev/null +++ b/kortex_driver/srv/generated/base/UpdateSequenceTask.srv @@ -0,0 +1,3 @@ +SequenceTaskConfiguration input +--- +Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/UpdateVisionModuleTypeConfiguration.srv b/kortex_driver/srv/generated/base/UpdateVisionModuleTypeConfiguration.srv deleted file mode 100644 index f27a89f1..00000000 --- a/kortex_driver/srv/generated/base/UpdateVisionModuleTypeConfiguration.srv +++ /dev/null @@ -1,3 +0,0 @@ -ProductConfigurationVisionModuleType input ---- -Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/base/UpdateWristTypeConfiguration.srv b/kortex_driver/srv/generated/base/UpdateWristTypeConfiguration.srv deleted file mode 100644 index 79142039..00000000 --- a/kortex_driver/srv/generated/base/UpdateWristTypeConfiguration.srv +++ /dev/null @@ -1,3 +0,0 @@ -ProductConfigurationWristType input ---- -Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/control_config/ControlConfig_GetControlMode.srv b/kortex_driver/srv/generated/control_config/ControlConfig_GetControlMode.srv new file mode 100644 index 00000000..345b6cf9 --- /dev/null +++ b/kortex_driver/srv/generated/control_config/ControlConfig_GetControlMode.srv @@ -0,0 +1,3 @@ +Empty input +--- +ControlConfig_ControlModeInformation output \ No newline at end of file diff --git a/kortex_driver/srv/generated/control_config/GetAllKinematicSoftLimits.srv b/kortex_driver/srv/generated/control_config/GetAllKinematicSoftLimits.srv new file mode 100644 index 00000000..7382c9e0 --- /dev/null +++ b/kortex_driver/srv/generated/control_config/GetAllKinematicSoftLimits.srv @@ -0,0 +1,3 @@ +Empty input +--- +KinematicLimitsList output \ No newline at end of file diff --git a/kortex_driver/srv/generated/control_config/GetDesiredSpeeds.srv b/kortex_driver/srv/generated/control_config/GetDesiredSpeeds.srv new file mode 100644 index 00000000..922ffd49 --- /dev/null +++ b/kortex_driver/srv/generated/control_config/GetDesiredSpeeds.srv @@ -0,0 +1,3 @@ +Empty input +--- +DesiredSpeeds output \ No newline at end of file diff --git a/kortex_driver/srv/generated/control_config/GetKinematicHardLimits.srv b/kortex_driver/srv/generated/control_config/GetKinematicHardLimits.srv new file mode 100644 index 00000000..22633d7d --- /dev/null +++ b/kortex_driver/srv/generated/control_config/GetKinematicHardLimits.srv @@ -0,0 +1,3 @@ +Empty input +--- +KinematicLimits output \ No newline at end of file diff --git a/kortex_driver/srv/generated/control_config/GetKinematicSoftLimits.srv b/kortex_driver/srv/generated/control_config/GetKinematicSoftLimits.srv new file mode 100644 index 00000000..2a253c20 --- /dev/null +++ b/kortex_driver/srv/generated/control_config/GetKinematicSoftLimits.srv @@ -0,0 +1,3 @@ +ControlConfig_ControlModeInformation input +--- +KinematicLimits output \ No newline at end of file diff --git a/kortex_driver/srv/generated/control_config/ResetGravityVector.srv b/kortex_driver/srv/generated/control_config/ResetGravityVector.srv new file mode 100644 index 00000000..2d7fb24a --- /dev/null +++ b/kortex_driver/srv/generated/control_config/ResetGravityVector.srv @@ -0,0 +1,3 @@ +Empty input +--- +GravityVector output \ No newline at end of file diff --git a/kortex_driver/srv/generated/control_config/ResetJointAccelerationSoftLimits.srv b/kortex_driver/srv/generated/control_config/ResetJointAccelerationSoftLimits.srv new file mode 100644 index 00000000..72c58a06 --- /dev/null +++ b/kortex_driver/srv/generated/control_config/ResetJointAccelerationSoftLimits.srv @@ -0,0 +1,3 @@ +ControlConfig_ControlModeInformation input +--- +JointAccelerationSoftLimits output \ No newline at end of file diff --git a/kortex_driver/srv/generated/control_config/ResetJointSpeedSoftLimits.srv b/kortex_driver/srv/generated/control_config/ResetJointSpeedSoftLimits.srv new file mode 100644 index 00000000..1010cd8b --- /dev/null +++ b/kortex_driver/srv/generated/control_config/ResetJointSpeedSoftLimits.srv @@ -0,0 +1,3 @@ +ControlConfig_ControlModeInformation input +--- +JointSpeedSoftLimits output \ No newline at end of file diff --git a/kortex_driver/srv/generated/control_config/ResetPayloadInformation.srv b/kortex_driver/srv/generated/control_config/ResetPayloadInformation.srv new file mode 100644 index 00000000..8ace35bb --- /dev/null +++ b/kortex_driver/srv/generated/control_config/ResetPayloadInformation.srv @@ -0,0 +1,3 @@ +Empty input +--- +PayloadInformation output \ No newline at end of file diff --git a/kortex_driver/srv/generated/control_config/ResetToolConfiguration.srv b/kortex_driver/srv/generated/control_config/ResetToolConfiguration.srv new file mode 100644 index 00000000..f7aad83b --- /dev/null +++ b/kortex_driver/srv/generated/control_config/ResetToolConfiguration.srv @@ -0,0 +1,3 @@ +Empty input +--- +ToolConfiguration output \ No newline at end of file diff --git a/kortex_driver/srv/generated/control_config/ResetTwistAngularSoftLimit.srv b/kortex_driver/srv/generated/control_config/ResetTwistAngularSoftLimit.srv new file mode 100644 index 00000000..78dcf951 --- /dev/null +++ b/kortex_driver/srv/generated/control_config/ResetTwistAngularSoftLimit.srv @@ -0,0 +1,3 @@ +ControlConfig_ControlModeInformation input +--- +TwistAngularSoftLimit output \ No newline at end of file diff --git a/kortex_driver/srv/generated/control_config/ResetTwistLinearSoftLimit.srv b/kortex_driver/srv/generated/control_config/ResetTwistLinearSoftLimit.srv new file mode 100644 index 00000000..5ccca5e2 --- /dev/null +++ b/kortex_driver/srv/generated/control_config/ResetTwistLinearSoftLimit.srv @@ -0,0 +1,3 @@ +ControlConfig_ControlModeInformation input +--- +TwistLinearSoftLimit output \ No newline at end of file diff --git a/kortex_driver/srv/generated/control_config/SetDesiredAngularTwist.srv b/kortex_driver/srv/generated/control_config/SetDesiredAngularTwist.srv new file mode 100644 index 00000000..e7ad9ccd --- /dev/null +++ b/kortex_driver/srv/generated/control_config/SetDesiredAngularTwist.srv @@ -0,0 +1,3 @@ +AngularTwist input +--- +Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/control_config/SetDesiredJointSpeeds.srv b/kortex_driver/srv/generated/control_config/SetDesiredJointSpeeds.srv new file mode 100644 index 00000000..3df0702b --- /dev/null +++ b/kortex_driver/srv/generated/control_config/SetDesiredJointSpeeds.srv @@ -0,0 +1,3 @@ +ControlConfig_JointSpeeds input +--- +Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/control_config/SetDesiredLinearTwist.srv b/kortex_driver/srv/generated/control_config/SetDesiredLinearTwist.srv new file mode 100644 index 00000000..fa9bff41 --- /dev/null +++ b/kortex_driver/srv/generated/control_config/SetDesiredLinearTwist.srv @@ -0,0 +1,3 @@ +LinearTwist input +--- +Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/control_config/SetJointAccelerationSoftLimits.srv b/kortex_driver/srv/generated/control_config/SetJointAccelerationSoftLimits.srv new file mode 100644 index 00000000..8c0bc277 --- /dev/null +++ b/kortex_driver/srv/generated/control_config/SetJointAccelerationSoftLimits.srv @@ -0,0 +1,3 @@ +JointAccelerationSoftLimits input +--- +Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/control_config/SetJointSpeedSoftLimits.srv b/kortex_driver/srv/generated/control_config/SetJointSpeedSoftLimits.srv new file mode 100644 index 00000000..253a2611 --- /dev/null +++ b/kortex_driver/srv/generated/control_config/SetJointSpeedSoftLimits.srv @@ -0,0 +1,3 @@ +JointSpeedSoftLimits input +--- +Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/control_config/SetTwistAngularSoftLimit.srv b/kortex_driver/srv/generated/control_config/SetTwistAngularSoftLimit.srv new file mode 100644 index 00000000..643d91a1 --- /dev/null +++ b/kortex_driver/srv/generated/control_config/SetTwistAngularSoftLimit.srv @@ -0,0 +1,3 @@ +TwistAngularSoftLimit input +--- +Empty output \ No newline at end of file diff --git a/kortex_driver/srv/generated/control_config/SetTwistLinearSoftLimit.srv b/kortex_driver/srv/generated/control_config/SetTwistLinearSoftLimit.srv new file mode 100644 index 00000000..a07d6969 --- /dev/null +++ b/kortex_driver/srv/generated/control_config/SetTwistLinearSoftLimit.srv @@ -0,0 +1,3 @@ +TwistLinearSoftLimit input +--- +Empty output \ No newline at end of file diff --git a/kortex_driver/templates/services.cpp.jinja2 b/kortex_driver/templates/services.cpp.jinja2 index 8914b46c..36f5af45 100644 --- a/kortex_driver/templates/services.cpp.jinja2 +++ b/kortex_driver/templates/services.cpp.jinja2 @@ -58,6 +58,10 @@ bool {{package.short_name}}Services::SetApiOptions(kortex_driver::SetApiOptions: {% for method in package.methods %} bool {{package.short_name}}Services::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}(kortex_driver::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}::Request &req, kortex_driver::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}::Response &res) { + {% if method.is_rpc_deprecated -%} + ROS_WARN("The {{package.short_name_lowercase_with_underscores}}/{%- if method.prepend_on_notification -%}activate_publishing_of_{%- endif -%}{{method.name_lowercase_with_underscores}} service is now deprecated and will be removed in a future release."); + {% endif -%} + {% if method.is_notification_rpc %} // If the notification is already activated, don't activate multiple times if (m_is_activated_{{method.name}}) diff --git a/kortex_examples/CMakeLists.txt b/kortex_examples/CMakeLists.txt index 5e5c656a..378adbb7 100644 --- a/kortex_examples/CMakeLists.txt +++ b/kortex_examples/CMakeLists.txt @@ -10,6 +10,7 @@ find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation ## Declare a catkin package catkin_package() +catkin_python_setup() include_directories(include ${catkin_INCLUDE_DIRS}) include_directories(include ${PROJECT_SOURCE_DIR}/src) @@ -18,39 +19,37 @@ include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/client_s include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/messages) include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/common) -add_executable(example_actuator_configuration_cpp cpp/actuator_config/example_actuator_configuration.cpp) +add_executable(example_actuator_configuration_cpp src/actuator_config/example_actuator_configuration.cpp) add_dependencies(example_actuator_configuration_cpp ${catkin_EXPORTED_TARGETS}) target_link_libraries(example_actuator_configuration_cpp ${catkin_LIBRARIES} ) -add_executable(example_vision_configuration_cpp cpp/vision_config/example_vision_configuration.cpp) +add_executable(example_vision_configuration_cpp src/vision_config/example_vision_configuration.cpp) add_dependencies(example_vision_configuration_cpp ${catkin_EXPORTED_TARGETS}) target_link_libraries(example_vision_configuration_cpp ${catkin_LIBRARIES} ) -add_executable(example_full_arm_movement_cpp cpp/full_arm/example_full_arm_movement.cpp) +add_executable(example_full_arm_movement_cpp src/full_arm/example_full_arm_movement.cpp) add_dependencies(example_full_arm_movement_cpp ${catkin_EXPORTED_TARGETS}) target_link_libraries(example_full_arm_movement_cpp ${catkin_LIBRARIES} ) -add_executable(example_cartesian_poses_with_notifications_cpp cpp/full_arm/example_cartesian_poses_with_notifications.cpp) +add_executable(example_cartesian_poses_with_notifications_cpp src/full_arm/example_cartesian_poses_with_notifications.cpp) add_dependencies(example_cartesian_poses_with_notifications_cpp ${catkin_EXPORTED_TARGETS}) target_link_libraries(example_cartesian_poses_with_notifications_cpp ${catkin_LIBRARIES} ) +if(CATKIN_ENABLE_TESTING) + find_package(rostest REQUIRED) + catkin_add_gtest(kortex_examples_tests src/tests/kortex_examples_tests.cc) + target_link_libraries(kortex_examples_tests ${catkin_LIBRARIES}) +endif() + # Install ## Mark executable scripts (Python etc.) for installation ## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# python/actuator_config/example_actuator_configuration.py -# python/full_arm/example_cartesian_poses_with_notifications.py -# python/full_arm/example_full_arm_movement.py -# python/move_it/example_move_it_trajectories.py -# python/vision_config/example_vision_configuration.py -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) -catkin_install_python(PROGRAMS python/actuator_config/example_actuator_configuration.py - python/full_arm/example_cartesian_poses_with_notifications.py - python/full_arm/example_full_arm_movement.py - python/move_it/example_move_it_trajectories.py - python/vision_config/example_vision_configuration.py +catkin_install_python(PROGRAMS src/actuator_config/example_actuator_configuration.py + src/full_arm/example_cartesian_poses_with_notifications.py + src/full_arm/example_full_arm_movement.py + src/move_it/example_move_it_trajectories.py + src/vision_config/example_vision_configuration.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) ## Mark executables and/or libraries for installation diff --git a/kortex_examples/launch/actuator_config_cpp.launch b/kortex_examples/launch/actuator_config_cpp.launch new file mode 100644 index 00000000..8554df3d --- /dev/null +++ b/kortex_examples/launch/actuator_config_cpp.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/kortex_examples/launch/actuator_config_python.launch b/kortex_examples/launch/actuator_config_python.launch new file mode 100644 index 00000000..1bbcd4ee --- /dev/null +++ b/kortex_examples/launch/actuator_config_python.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/kortex_examples/launch/cartesian_poses_with_notifications_cpp.launch b/kortex_examples/launch/cartesian_poses_with_notifications_cpp.launch new file mode 100644 index 00000000..47b984c8 --- /dev/null +++ b/kortex_examples/launch/cartesian_poses_with_notifications_cpp.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/kortex_examples/launch/cartesian_poses_with_notifications_python.launch b/kortex_examples/launch/cartesian_poses_with_notifications_python.launch new file mode 100644 index 00000000..49793303 --- /dev/null +++ b/kortex_examples/launch/cartesian_poses_with_notifications_python.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/kortex_examples/launch/full_arm_movement_cpp.launch b/kortex_examples/launch/full_arm_movement_cpp.launch new file mode 100644 index 00000000..98c79983 --- /dev/null +++ b/kortex_examples/launch/full_arm_movement_cpp.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/kortex_examples/launch/full_arm_movement_python.launch b/kortex_examples/launch/full_arm_movement_python.launch new file mode 100644 index 00000000..9bab2b0b --- /dev/null +++ b/kortex_examples/launch/full_arm_movement_python.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/kortex_examples/launch/moveit_example.launch b/kortex_examples/launch/moveit_example.launch index e1e958c4..403f5bdf 100644 --- a/kortex_examples/launch/moveit_example.launch +++ b/kortex_examples/launch/moveit_example.launch @@ -1,9 +1,10 @@ - + - - - - - + + + - \ No newline at end of file + + + + \ No newline at end of file diff --git a/kortex_examples/launch/run_all_examples.launch b/kortex_examples/launch/run_all_examples.launch new file mode 100644 index 00000000..d20e6edc --- /dev/null +++ b/kortex_examples/launch/run_all_examples.launch @@ -0,0 +1,56 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/kortex_examples/launch/vision_configuration_cpp.launch b/kortex_examples/launch/vision_configuration_cpp.launch new file mode 100644 index 00000000..16246746 --- /dev/null +++ b/kortex_examples/launch/vision_configuration_cpp.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/kortex_examples/launch/vision_configuration_python.launch b/kortex_examples/launch/vision_configuration_python.launch new file mode 100644 index 00000000..ac355d03 --- /dev/null +++ b/kortex_examples/launch/vision_configuration_python.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/kortex_examples/package.xml b/kortex_examples/package.xml index b202d6d3..ede7b258 100644 --- a/kortex_examples/package.xml +++ b/kortex_examples/package.xml @@ -1,7 +1,7 @@ kortex_examples - 2.0.0 + 2.2.0 THe kortex package that act as a robot's driver. diff --git a/kortex_examples/python/full_arm/example_cartesian_poses_with_notifications.py b/kortex_examples/python/full_arm/example_cartesian_poses_with_notifications.py deleted file mode 100755 index d8dd52d6..00000000 --- a/kortex_examples/python/full_arm/example_cartesian_poses_with_notifications.py +++ /dev/null @@ -1,219 +0,0 @@ -#!/usr/bin/env python -### -# KINOVA (R) KORTEX (TM) -# -# Copyright (c) 2019 Kinova inc. All rights reserved. -# -# This software may be modified and distributed -# under the terms of the BSD 3-Clause license. -# -# Refer to the LICENSE file for details. -# -### - -import sys -import rospy -import threading -from kortex_driver.srv import * -from kortex_driver.msg import * - -class ExampleCartesianActionsWithNotifications: - def __init__(self): - rospy.init_node('example_cartesian_poses_with_notifications_python') - - self.HOME_ACTION_IDENTIFIER = 2 - - self.pose_1_done = threading.Event() - self.pose_2_done = threading.Event() - self.pose_3_done = threading.Event() - - # Get node params - self.robot_name = rospy.get_param('~robot_name', "my_gen3") - - rospy.loginfo("Using robot_name " + self.robot_name) - - # Init the services - clear_faults_full_name = '/' + self.robot_name + '/base/clear_faults' - rospy.wait_for_service(clear_faults_full_name) - self.clear_faults = rospy.ServiceProxy(clear_faults_full_name, Base_ClearFaults) - - read_action_full_name = '/' + self.robot_name + '/base/read_action' - rospy.wait_for_service(read_action_full_name) - self.read_action = rospy.ServiceProxy(read_action_full_name, ReadAction) - - execute_action_full_name = '/' + self.robot_name + '/base/execute_action' - rospy.wait_for_service(execute_action_full_name) - self.execute_action = rospy.ServiceProxy(execute_action_full_name, ExecuteAction) - - set_cartesian_reference_frame_full_name = '/' + self.robot_name + '/control_config/set_cartesian_reference_frame' - rospy.wait_for_service(set_cartesian_reference_frame_full_name) - self.set_cartesian_reference_frame = rospy.ServiceProxy(set_cartesian_reference_frame_full_name, SetCartesianReferenceFrame) - - activate_publishing_of_action_notification_full_name = '/' + self.robot_name + '/base/activate_publishing_of_action_topic' - rospy.wait_for_service(activate_publishing_of_action_notification_full_name) - self.activate_publishing_of_action_notification = rospy.ServiceProxy(activate_publishing_of_action_notification_full_name, OnNotificationActionTopic) - - def example_clear_faults(self): - try: - self.clear_faults() - except rospy.ServiceException: - rospy.logerr("Failed to call ClearFaults") - else: - rospy.loginfo("Cleared the faults successfully") - rospy.sleep(2.5) - - def example_home_the_robot(self): - # The Home Action is used to home the robot. It cannot be deleted and is always ID #2: - req = ReadActionRequest() - req.input.identifier = self.HOME_ACTION_IDENTIFIER - try: - res = self.read_action(req) - except rospy.ServiceException: - rospy.logerr("Failed to call ReadAction") - # Execute the HOME action if we could read it - else: - # What we just read is the input of the ExecuteAction service - req = ExecuteActionRequest() - req.input = res.output - rospy.loginfo("Sending the robot home...") - try: - self.execute_action(req) - except rospy.ServiceException: - rospy.logerr("Failed to call ExecuteAction") - - def example_set_cartesian_reference_frame(self): - # Prepare the request with the frame we want to set - req = SetCartesianReferenceFrameRequest() - req.input.reference_frame = CartesianReferenceFrame.CARTESIAN_REFERENCE_FRAME_MIXED - - # Call the service - try: - self.set_cartesian_reference_frame() - except rospy.ServiceException: - rospy.logerr("Failed to call SetCartesianReferenceFrame") - else: - rospy.loginfo("Set the cartesian reference frame successfully") - - # Wait a bit - rospy.sleep(0.25) - - def notification_callback(self, notif): - if notif.action_event == ActionEvent.ACTION_END: - rospy.loginfo("Action has ended.") - if notif.handle.identifier == 1001: - self.pose_1_done.set() - if notif.handle.identifier == 1002: - self.pose_2_done.set() - if notif.handle.identifier == 1003: - self.pose_3_done.set() - if notif.action_event == ActionEvent.ACTION_ABORT: - rospy.logerr("Action was aborted!") - if notif.handle.identifier == 1001: - self.pose_1_done.set() - if notif.handle.identifier == 1002: - self.pose_2_done.set() - if notif.handle.identifier == 1003: - self.pose_3_done.set() - - def example_subscribe_to_a_robot_notification(self): - # Activate the publishing of the ActionNotification - req = OnNotificationActionTopicRequest() - rospy.loginfo("Activating the action notifications...") - try: - self.activate_publishing_of_action_notification(req) - except rospy.ServiceException: - rospy.logerr("Failed to call OnNotificationActionTopic") - else: - rospy.loginfo("Successfully activated the Action Notifications!") - - # Subscribe to the ActionNotification with the given callback - rospy.Subscriber("/" + self.robot_name + "/action_topic", ActionNotification, self.notification_callback) - - rospy.sleep(1.0) - - def main(self): - #******************************************************************************* - # Make sure to clear the robot's faults else it won't move if it's already in fault - self.example_clear_faults() - #******************************************************************************* - - #******************************************************************************* - # Set the reference frame to "Mixed" - self.example_set_cartesian_reference_frame() - - #******************************************************************************* - # Subscribe to ActionNotification's from the robot to know when a cartesian pose is finished - self.example_subscribe_to_a_robot_notification() - - #******************************************************************************* - # Prepare and send pose 1 - my_cartesian_speed = CartesianSpeed() - my_cartesian_speed.translation = 0.1 # m/s - my_cartesian_speed.orientation = 15 # deg/s - - my_constrained_pose = ConstrainedPose() - my_constrained_pose.constraint.oneof_type.speed.append(my_cartesian_speed) - - my_constrained_pose.target_pose.x = 0.374 - my_constrained_pose.target_pose.y = 0.081 - my_constrained_pose.target_pose.z = 0.450 - my_constrained_pose.target_pose.theta_x = -57.6 - my_constrained_pose.target_pose.theta_y = 91.1 - my_constrained_pose.target_pose.theta_z = 2.3 - - req = ExecuteActionRequest() - req.input.oneof_action_parameters.reach_pose.append(my_constrained_pose) - req.input.name = "pose1" - req.input.handle.identifier = 1001 - - rospy.loginfo("Sending pose 1...") - try: - self.execute_action(req) - except rospy.ServiceException: - rospy.logerr("Failed to send pose 1") - else: - rospy.loginfo("Waiting for pose 1 to finish...") - - self.pose_1_done.wait() - - # Prepare and send pose 2 - req.input.handle.identifier = 1002 - req.input.name = "pose2" - - my_constrained_pose.target_pose.z = 0.3 - - req.input.oneof_action_parameters.reach_pose[0] = my_constrained_pose - - rospy.loginfo("Sending pose 2...") - try: - self.execute_action(req) - except rospy.ServiceException: - rospy.logerr("Failed to send pose 2") - else: - rospy.loginfo("Waiting for pose 2 to finish...") - - self.pose_2_done.wait() - - # Prepare and send pose 3 - req.input.handle.identifier = 1003 - req.input.name = "pose3" - - my_constrained_pose.target_pose.z = 0.20 - - req.input.oneof_action_parameters.reach_pose[0] = my_constrained_pose - - rospy.loginfo("Sending pose 3...") - try: - self.execute_action(req) - except rospy.ServiceException: - rospy.logerr("Failed to send pose 3") - else: - rospy.loginfo("Waiting for pose 3 to finish...") - - self.pose_3_done.wait() - - rospy.loginfo("Example finished") - -if __name__ == "__main__": - ex = ExampleCartesianActionsWithNotifications() - ex.main() diff --git a/kortex_examples/python/full_arm/example_full_arm_movement.py b/kortex_examples/python/full_arm/example_full_arm_movement.py deleted file mode 100755 index 472272ed..00000000 --- a/kortex_examples/python/full_arm/example_full_arm_movement.py +++ /dev/null @@ -1,222 +0,0 @@ -#!/usr/bin/env python -### -# KINOVA (R) KORTEX (TM) -# -# Copyright (c) 2019 Kinova inc. All rights reserved. -# -# This software may be modified and distributed -# under the terms of the BSD 3-Clause license. -# -# Refer to the LICENSE file for details. -# -### - -import sys -import rospy -from kortex_driver.srv import * -from kortex_driver.msg import * - -class ExampleFullArmMovement: - def __init__(self): - rospy.init_node('example_full_arm_movement_python') - - self.HOME_ACTION_IDENTIFIER = 2 - - # Get node params - self.robot_name = rospy.get_param('~robot_name', "my_gen3") - self.degrees_of_freedom = rospy.get_param("/" + self.robot_name + "/degrees_of_freedom", 7) - self.is_gripper_present = rospy.get_param("/" + self.robot_name + "/is_gripper_present", False) - - rospy.loginfo("Using robot_name " + self.robot_name + " , robot has " + str(self.degrees_of_freedom) + " degrees of freedom and is_gripper_present is " + str(self.is_gripper_present)) - - # Init the services - clear_faults_full_name = '/' + self.robot_name + '/base/clear_faults' - rospy.wait_for_service(clear_faults_full_name) - self.clear_faults = rospy.ServiceProxy(clear_faults_full_name, Base_ClearFaults) - - read_action_full_name = '/' + self.robot_name + '/base/read_action' - rospy.wait_for_service(read_action_full_name) - self.read_action = rospy.ServiceProxy(read_action_full_name, ReadAction) - - execute_action_full_name = '/' + self.robot_name + '/base/execute_action' - rospy.wait_for_service(execute_action_full_name) - self.execute_action = rospy.ServiceProxy(execute_action_full_name, ExecuteAction) - - set_cartesian_reference_frame_full_name = '/' + self.robot_name + '/control_config/set_cartesian_reference_frame' - rospy.wait_for_service(set_cartesian_reference_frame_full_name) - self.set_cartesian_reference_frame = rospy.ServiceProxy(set_cartesian_reference_frame_full_name, SetCartesianReferenceFrame) - - play_cartesian_trajectory_full_name = '/' + self.robot_name + '/base/play_cartesian_trajectory' - rospy.wait_for_service(play_cartesian_trajectory_full_name) - self.play_cartesian_trajectory = rospy.ServiceProxy(play_cartesian_trajectory_full_name, PlayCartesianTrajectory) - - play_joint_trajectory_full_name = '/' + self.robot_name + '/base/play_joint_trajectory' - rospy.wait_for_service(play_joint_trajectory_full_name) - self.play_joint_trajectory = rospy.ServiceProxy(play_joint_trajectory_full_name, PlayJointTrajectory) - - send_gripper_command_full_name = '/' + self.robot_name + '/base/send_gripper_command' - rospy.wait_for_service(send_gripper_command_full_name) - self.send_gripper_command = rospy.ServiceProxy(send_gripper_command_full_name, SendGripperCommand) - - def example_clear_faults(self): - try: - self.clear_faults() - except rospy.ServiceException: - rospy.logerr("Failed to call ClearFaults") - else: - rospy.loginfo("Cleared the faults successfully") - rospy.sleep(2.5) - - def example_home_the_robot(self): - # The Home Action is used to home the robot. It cannot be deleted and is always ID #2: - req = ReadActionRequest() - req.input.identifier = self.HOME_ACTION_IDENTIFIER - try: - res = self.read_action(req) - except rospy.ServiceException: - rospy.logerr("Failed to call ReadAction") - # Execute the HOME action if we could read it - else: - # What we just read is the input of the ExecuteAction service - req = ExecuteActionRequest() - req.input = res.output - rospy.loginfo("Sending the robot home...") - try: - self.execute_action(req) - except rospy.ServiceException: - rospy.logerr("Failed to call ExecuteAction") - - def example_set_cartesian_reference_frame(self): - # Prepare the request with the frame we want to set - req = SetCartesianReferenceFrameRequest() - req.input.reference_frame = CartesianReferenceFrame.CARTESIAN_REFERENCE_FRAME_MIXED - - # Call the service - try: - self.set_cartesian_reference_frame() - except rospy.ServiceException: - rospy.logerr("Failed to call SetCartesianReferenceFrame") - else: - rospy.loginfo("Set the cartesian reference frame successfully") - - # Wait a bit - rospy.sleep(0.25) - - def example_send_cartesian_pose(self): - # Get the actual cartesian pose to increment it - # You can create a subscriber to listen to the base_feedback - # Here we only need the latest message in the topic though - feedback = rospy.wait_for_message("/" + self.robot_name + "/base_feedback", BaseCyclic_Feedback) - - req = PlayCartesianTrajectoryRequest() - req.input.target_pose.x = feedback.base.commanded_tool_pose_x - req.input.target_pose.y = feedback.base.commanded_tool_pose_y - req.input.target_pose.z = feedback.base.commanded_tool_pose_z + 0.15 - req.input.target_pose.theta_x = feedback.base.commanded_tool_pose_theta_x - req.input.target_pose.theta_y = feedback.base.commanded_tool_pose_theta_y - req.input.target_pose.theta_z = feedback.base.commanded_tool_pose_theta_z + 35 - - pose_speed = CartesianSpeed() - pose_speed.translation = 0.1 - pose_speed.orientation = 15 - - # The constraint is a one_of in Protobuf. The one_of concept does not exist in ROS - # To specify a one_of, create it and put it in the appropriate list of the oneof_type member of the ROS object : - req.input.constraint.oneof_type.speed.append(pose_speed) - - # Call the service - rospy.loginfo("Sending the robot to the cartesian pose...") - try: - self.play_cartesian_trajectory(req) - except rospy.ServiceException: - rospy.logerr("Failed to call PlayCartesianTrajectory") - - def example_send_joint_angles(self): - # Create the list of angles - req = PlayJointTrajectoryRequest() - # Here the arm is vertical (all zeros) - for i in range(self.degrees_of_freedom): - temp_angle = JointAngle() - temp_angle.joint_identifier = i - temp_angle.value = 0.0 - req.input.joint_angles.joint_angles.append(temp_angle) - - # Send the angles - rospy.loginfo("Sending the robot vertical...") - try: - self.play_joint_trajectory(req) - except rospy.ServiceException: - rospy.logerr("Failed to call PlayJointTrajectory") - - def example_send_gripper_command(self, value): - # Initialize the request - # This works for the Robotiq Gripper 2F_85 - # Close the gripper - req = SendGripperCommandRequest() - finger = Finger() - finger.finger_identifier = 0 - finger.value = value - req.input.gripper.finger.append(finger) - req.input.mode = GripperMode.GRIPPER_POSITION - - rospy.loginfo("Sending the gripper command...") - - # Call the service - try: - self.send_gripper_command(req) - except rospy.ServiceException: - rospy.logerr("Failed to call SendGripperCommand") - - def main(self): - #******************************************************************************* - # Make sure to clear the robot's faults else it won't move if it's already in fault - self.example_clear_faults() - #******************************************************************************* - - #******************************************************************************* - # Move the robot to the Home position with an Action - self.example_home_the_robot() - rospy.sleep(10.0) - #******************************************************************************* - - #******************************************************************************* - # Example of gripper command - # Let's fully open the gripper - if self.is_gripper_present: - self.example_send_gripper_command(0.0) - rospy.sleep(2.0) - else: - rospy.logwarn("No gripper is present on the arm.") - #******************************************************************************* - - #******************************************************************************* - # Set the reference frame to "Mixed" - self.example_set_cartesian_reference_frame() - - # Example of cartesian pose - # Let's make it move in Z - self.example_send_cartesian_pose() - rospy.sleep(10.0) - #******************************************************************************* - - #******************************************************************************* - # Example of angular position - # Let's send the arm to vertical position - self.example_send_joint_angles() - rospy.sleep(10.0) - #******************************************************************************* - - #******************************************************************************* - # Example of gripper command - # Let's close the gripper at 50% - if self.is_gripper_present: - self.example_send_gripper_command(0.5) - rospy.sleep(2.0) - else: - rospy.logwarn("No gripper is present on the arm.") - #******************************************************************************* - - -if __name__ == "__main__": - ex = ExampleFullArmMovement() - ex.main() diff --git a/kortex_examples/setup.py b/kortex_examples/setup.py new file mode 100644 index 00000000..a257e287 --- /dev/null +++ b/kortex_examples/setup.py @@ -0,0 +1,7 @@ +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +setup(**generate_distutils_setup( + packages=['kortex_examples'], + package_dir={'': 'src'} +)) \ No newline at end of file diff --git a/kortex_examples/cpp/actuator_config/example_actuator_configuration.cpp b/kortex_examples/src/actuator_config/example_actuator_configuration.cpp similarity index 86% rename from kortex_examples/cpp/actuator_config/example_actuator_configuration.cpp rename to kortex_examples/src/actuator_config/example_actuator_configuration.cpp index 8b140098..7bd12b02 100644 --- a/kortex_examples/cpp/actuator_config/example_actuator_configuration.cpp +++ b/kortex_examples/src/actuator_config/example_actuator_configuration.cpp @@ -11,6 +11,7 @@ */ #include "ros/ros.h" +#include #include #include #include @@ -21,6 +22,8 @@ #include #include +typedef kortex_driver::GetControlLoopParameters::Response::_output_type ControlLoopParameters; + std::string control_loop_to_string(uint32_t int_control_loop) { switch (int_control_loop) @@ -44,7 +47,7 @@ std::string control_loop_to_string(uint32_t int_control_loop) } } -void example_find_actuators_and_set_device_id(ros::NodeHandle& n, const std::string& robot_name, uint32_t device_id) +bool example_find_actuators_and_set_device_id(ros::NodeHandle& n, const std::string& robot_name, uint32_t device_id) { ros::ServiceClient service_client_read_all_devices = n.serviceClient("/" + robot_name + "/device_manager/read_all_devices"); kortex_driver::ReadAllDevices service_read_all_devices; @@ -75,7 +78,7 @@ void example_find_actuators_and_set_device_id(ros::NodeHandle& n, const std::str { std::string error_string = "Failed to call ReadAllDevices"; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } oss << "----------------------------"; @@ -91,7 +94,7 @@ void example_find_actuators_and_set_device_id(ros::NodeHandle& n, const std::str { std::string error_string = "Device id " + std::to_string(device_id) + " does not correspond to an actuator's device id."; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } // We need to set the device ID of the actuator we want to configure @@ -106,28 +109,31 @@ void example_find_actuators_and_set_device_id(ros::NodeHandle& n, const std::str { std::string error_string = "Failed to call SetDeviceID"; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } + return true; + } -void example_clear_actuator_faults(ros::NodeHandle& n, const std::string& robot_name) +bool example_clear_actuator_faults(ros::NodeHandle& n, const std::string& robot_name) { ros::ServiceClient service_client_clear_faults = n.serviceClient("/" + robot_name + "/actuator_config/clear_faults"); kortex_driver::ActuatorConfig_ClearFaults service_clear_faults; if (service_client_clear_faults.call(service_clear_faults)) { ROS_INFO("Faults were cleared properly."); + return true; } else { std::string error_string = "Failed to call ActuatorConfig_ClearFaults"; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } } -kortex_driver::GetControlLoopParameters::Response::_output_type example_get_control_loop_parameters(ros::NodeHandle& n, const std::string& robot_name) +bool example_get_control_loop_parameters(ros::NodeHandle& n, const std::string& robot_name, ControlLoopParameters& output) { // Get the actuator control loop parameters ros::ServiceClient service_client_get_control_loop_parameters = n.serviceClient("/" + robot_name + "/actuator_config/get_control_loop_parameters"); @@ -151,13 +157,14 @@ kortex_driver::GetControlLoopParameters::Response::_output_type example_get_cont oss << "]" << std::endl; oss << "Error dead band : " << initial_parameters.error_dead_band << std::endl; ROS_INFO("%s", oss.str().c_str()); - return initial_parameters; + output = initial_parameters; + return true; } else { std::string error_string = "Failed to call GetControlLoopParameters"; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } } @@ -166,6 +173,11 @@ int main(int argc, char **argv) // Init the node and get the namespace parameter ros::init(argc, argv, "actuator_configuration_example_cpp"); + // For testing purpose + ros::param::del("/kortex_examples_test_results/actuator_configuration_cpp"); + + bool success = true; + ros::NodeHandle n; std::string robot_name = "my_gen3"; int device_id = 1; @@ -196,15 +208,19 @@ int main(int argc, char **argv) //------------------------------------------------------------- // Find actuators and set which one we want to configure - example_find_actuators_and_set_device_id(n, robot_name, device_id); + success &= example_find_actuators_and_set_device_id(n, robot_name, device_id); //------------------------------------------------------------- // Clear the faults on a specific actuator - example_clear_actuator_faults(n, robot_name); + success &= example_clear_actuator_faults(n, robot_name); //------------------------------------------------------------- // Get the control loop parameters on a specific actuator - auto control_loop_parameters = example_get_control_loop_parameters(n, robot_name); + ControlLoopParameters parameters; + success &= example_get_control_loop_parameters(n, robot_name, parameters); - return 0; + // Report success for testing purposes + ros::param::set("/kortex_examples_test_results/actuator_configuration_cpp", success); + + return success ? 0 : 1; } \ No newline at end of file diff --git a/kortex_examples/python/actuator_config/example_actuator_configuration.py b/kortex_examples/src/actuator_config/example_actuator_configuration.py similarity index 59% rename from kortex_examples/python/actuator_config/example_actuator_configuration.py rename to kortex_examples/src/actuator_config/example_actuator_configuration.py index 8dc2001f..7291a3c2 100755 --- a/kortex_examples/python/actuator_config/example_actuator_configuration.py +++ b/kortex_examples/src/actuator_config/example_actuator_configuration.py @@ -13,34 +13,40 @@ import sys import rospy +from std_msgs.msg import Bool from kortex_driver.srv import * from kortex_driver.msg import * class ExampleActuatorConfiguration: def __init__(self): - rospy.init_node('example_actuator_configuration_python') - - # Get node params - self.robot_name = rospy.get_param('~robot_name', "my_gen3") - self.device_id = rospy.get_param('~device_id', 1) - rospy.loginfo("Using robot_name " + self.robot_name + " and device_id " + str(self.device_id)) - - # Init the services - read_all_devices_full_name = '/' + self.robot_name + '/device_manager/read_all_devices' - rospy.wait_for_service(read_all_devices_full_name) - self.read_all_devices = rospy.ServiceProxy(read_all_devices_full_name, ReadAllDevices) - - set_device_id_full_name = '/' + self.robot_name + '/actuator_config/set_device_id' - rospy.wait_for_service(set_device_id_full_name) - self.set_device_id = rospy.ServiceProxy(set_device_id_full_name, SetDeviceID) - - clear_faults_full_name = '/' + self.robot_name + '/actuator_config/clear_faults' - rospy.wait_for_service(clear_faults_full_name) - self.clear_faults = rospy.ServiceProxy(clear_faults_full_name, ActuatorConfig_ClearFaults) - - get_control_loop_parameters_full_name = '/' + self.robot_name + '/actuator_config/get_control_loop_parameters' - rospy.wait_for_service(get_control_loop_parameters_full_name) - self.get_control_loop_parameters = rospy.ServiceProxy(get_control_loop_parameters_full_name, GetControlLoopParameters) + try: + rospy.init_node('example_actuator_configuration_python') + + # Get node params + self.robot_name = rospy.get_param('~robot_name', "my_gen3") + self.device_id = rospy.get_param('~device_id', 1) + rospy.loginfo("Using robot_name " + self.robot_name + " and device_id " + str(self.device_id)) + + # Init the services + read_all_devices_full_name = '/' + self.robot_name + '/device_manager/read_all_devices' + rospy.wait_for_service(read_all_devices_full_name, 0.5) + self.read_all_devices = rospy.ServiceProxy(read_all_devices_full_name, ReadAllDevices) + + set_device_id_full_name = '/' + self.robot_name + '/actuator_config/set_device_id' + rospy.wait_for_service(set_device_id_full_name, 0.5) + self.set_device_id = rospy.ServiceProxy(set_device_id_full_name, SetDeviceID) + + clear_faults_full_name = '/' + self.robot_name + '/actuator_config/clear_faults' + rospy.wait_for_service(clear_faults_full_name, 0.5) + self.clear_faults = rospy.ServiceProxy(clear_faults_full_name, ActuatorConfig_ClearFaults) + + get_control_loop_parameters_full_name = '/' + self.robot_name + '/actuator_config/get_control_loop_parameters' + rospy.wait_for_service(get_control_loop_parameters_full_name, 0.5) + self.get_control_loop_parameters = rospy.ServiceProxy(get_control_loop_parameters_full_name, GetControlLoopParameters) + except: + self.is_init_success = False + else: + self.is_init_success = True def control_loop_to_string(self, control_loop): if control_loop == ControlLoopSelection.RESERVED: @@ -76,6 +82,7 @@ def example_find_actuators_and_set_device_id(self): except rospy.ServiceException: rospy.logerr("Failed to call ReadAllDevices.") + return False else: rospy.loginfo("-------------------------------") @@ -85,6 +92,7 @@ def example_find_actuators_and_set_device_id(self): rospy.loginfo("Device id " + str(self.device_id) + " is a valid actuator device id.") else: raise ValueError("Device id " + str(self.device_id) + " does not correspond to an actuator's device id.") + return False # We need to set the device ID of the actuator we want to configure req = SetDeviceIDRequest() @@ -93,20 +101,25 @@ def example_find_actuators_and_set_device_id(self): self.set_device_id(req) except rospy.ServiceException: rospy.logerr("Failed to call SetDeviceId") + return False + + return True def example_clear_actuator_faults(self): try: self.clear_faults() rospy.loginfo("Faults were cleared successfully on actuator " + str(self.device_id)) + return True except rospy.ServiceException: rospy.logerr("Failed to call ActuatorConfig_ClearFaults") + return False - def example_get_control_loop_parameters(self): + def example_get_control_loop_parameters(self, output): try: control_loop_parameters_response = self.get_control_loop_parameters() except rospy.ServiceException: rospy.logerr("Failed to call GetControlLoopParameters") - return None + return False else: # The msg file can be found at kortex_driver/msg/generated/actuator_config/ControlLoopParameters.msg oss = "" @@ -126,21 +139,37 @@ def example_get_control_loop_parameters(self): oss = oss + "Error dead band : " + str(control_loop_parameters.error_dead_band) + "\n" rospy.loginfo(oss) - return control_loop_parameters + output = control_loop_parameters + return True def main(self): - - #------------------------------------------------------------- - # Find actuators and set which one we want to configure - self.example_find_actuators_and_set_device_id() - - #------------------------------------------------------------- - # Clear the faults on a specific actuator - self.example_clear_actuator_faults() + # For testing purposes + success = self.is_init_success + try: + rospy.delete_param("/kortex_examples_test_results/actuator_configuration_python") + except: + pass + + if success: + + #------------------------------------------------------------- + # Find actuators and set which one we want to configure + success &= self.example_find_actuators_and_set_device_id() + + #------------------------------------------------------------- + # Clear the faults on a specific actuator + success &= self.example_clear_actuator_faults() + + #------------------------------------------------------------- + # Get the control loop parameters on a specific actuator + control_loop_parameters = None + success &= self.example_get_control_loop_parameters(control_loop_parameters) - #------------------------------------------------------------- - # Get the control loop parameters on a specific actuator - control_loop_parameters = self.example_get_control_loop_parameters() + # For testing purposes + rospy.set_param("/kortex_examples_test_results/actuator_configuration_python", success) + + if not success: + rospy.logerr("The example encountered an error.") if __name__ == "__main__": ex = ExampleActuatorConfiguration() diff --git a/kortex_examples/cpp/full_arm/example_cartesian_poses_with_notifications.cpp b/kortex_examples/src/full_arm/example_cartesian_poses_with_notifications.cpp similarity index 76% rename from kortex_examples/cpp/full_arm/example_cartesian_poses_with_notifications.cpp rename to kortex_examples/src/full_arm/example_cartesian_poses_with_notifications.cpp index fdfa06ce..53baf774 100644 --- a/kortex_examples/cpp/full_arm/example_cartesian_poses_with_notifications.cpp +++ b/kortex_examples/src/full_arm/example_cartesian_poses_with_notifications.cpp @@ -28,10 +28,14 @@ #include #include +#define HOME_ACTION_IDENTIFIER 2 + bool Pose1Done = false; bool Pose2Done = false; bool Pose3Done = false; +bool all_notifs_succeeded = true; + //Callback that is called when the robot publish a ActionNotification void notification_callback(const kortex_driver::ActionNotification::ConstPtr& notif) { @@ -40,7 +44,6 @@ void notification_callback(const kortex_driver::ActionNotification::ConstPtr& no //This event is published when an action has ended or was aborted case kortex_driver::ActionEvent::ACTION_END: { - ROS_INFO("Action has ended!"); if(notif->handle.identifier == 1001) { Pose1Done = true; @@ -60,6 +63,7 @@ void notification_callback(const kortex_driver::ActionNotification::ConstPtr& no case kortex_driver::ActionEvent::ACTION_ABORT: { ROS_ERROR("Action was aborted!"); + all_notifs_succeeded = false; if(notif->handle.identifier == 1001) { Pose1Done = true; @@ -82,7 +86,42 @@ void notification_callback(const kortex_driver::ActionNotification::ConstPtr& no } -void example_cartesian_action(ros::NodeHandle n, std::string robot_name) +bool example_home_the_robot(ros::NodeHandle n, std::string robot_name) +{ + ros::ServiceClient service_client_read_action = n.serviceClient("/" + robot_name + "/base/read_action"); + kortex_driver::ReadAction service_read_action; + + // The Home Action is used to home the robot. It cannot be deleted and is always ID #2: + service_read_action.request.input.identifier = HOME_ACTION_IDENTIFIER; + + if (!service_client_read_action.call(service_read_action)) + { + std::string error_string = "Failed to call ReadAction"; + ROS_ERROR("%s", error_string.c_str()); + return false; + } + + // We can now execute the Action that we read + ros::ServiceClient service_client_execute_action = n.serviceClient("/" + robot_name + "/base/execute_action"); + kortex_driver::ExecuteAction service_execute_action; + + service_execute_action.request.input = service_read_action.response.output; + + if (service_client_execute_action.call(service_execute_action)) + { + ROS_INFO("The Home position action was sent to the robot."); + } + else + { + std::string error_string = "Failed to call ExecuteAction"; + ROS_ERROR("%s", error_string.c_str()); + return false; + } + + return true; +} + +bool example_cartesian_action(ros::NodeHandle n, std::string robot_name) { ros::ServiceClient service_client_activate_notif = n.serviceClient("/" + robot_name + "/base/activate_publishing_of_action_topic"); kortex_driver::OnNotificationActionTopic service_activate_notif; @@ -96,7 +135,7 @@ void example_cartesian_action(ros::NodeHandle n, std::string robot_name) { std::string error_string = "Action notification publication failed"; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } ros::Duration(1.00).sleep(); @@ -131,7 +170,7 @@ void example_cartesian_action(ros::NodeHandle n, std::string robot_name) { std::string error_string = "Failed to call ExecuteAction on pose 1"; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } // Waiting for the pose 1 to end @@ -157,7 +196,7 @@ void example_cartesian_action(ros::NodeHandle n, std::string robot_name) { std::string error_string = "Failed to call ExecuteAction on pose 2"; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } //Waiting for the pose 2 to end. @@ -170,7 +209,7 @@ void example_cartesian_action(ros::NodeHandle n, std::string robot_name) service_execute_action.request.input.handle.identifier = 1003; service_execute_action.request.input.name = "pose3"; - my_constrained_pose.target_pose.z = 0.20f; + my_constrained_pose.target_pose.x = 0.45f; service_execute_action.request.input.oneof_action_parameters.reach_pose.clear(); service_execute_action.request.input.oneof_action_parameters.reach_pose.push_back(my_constrained_pose); @@ -181,9 +220,9 @@ void example_cartesian_action(ros::NodeHandle n, std::string robot_name) } else { - std::string error_string = "Failed to call ExecuteAction on pose 1"; + std::string error_string = "Failed to call ExecuteAction on pose 3"; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } // Waiting for the pose 3 to end @@ -191,10 +230,12 @@ void example_cartesian_action(ros::NodeHandle n, std::string robot_name) { ros::spinOnce(); } + + return true; } // This function sets the reference frame to the robot's base -void example_set_cartesian_reference_frame(ros::NodeHandle n, std::string robot_name) +bool example_set_cartesian_reference_frame(ros::NodeHandle n, std::string robot_name) { // Initialize the ServiceClient ros::ServiceClient service_client_set_cartesian_reference_frame = n.serviceClient("/" + robot_name + "/control_config/set_cartesian_reference_frame"); @@ -205,7 +246,7 @@ void example_set_cartesian_reference_frame(ros::NodeHandle n, std::string robot_ { std::string error_string = "Failed to call SetCartesianReferenceFrame"; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } else { @@ -214,12 +255,19 @@ void example_set_cartesian_reference_frame(ros::NodeHandle n, std::string robot_ // Wait a bit std::this_thread::sleep_for(std::chrono::milliseconds(250)); + + return true; } int main(int argc, char **argv) { ros::init(argc, argv, "full_arm_cartesian_action_cpp"); + // For testing purpose + ros::param::del("/kortex_examples_test_results/cartesian_poses_with_notifications_cpp"); + + bool success = true; + //******************************************************************************* // ROS Parameters ros::NodeHandle n; @@ -238,9 +286,17 @@ int main(int argc, char **argv) } ros::Subscriber sub = n.subscribe("/" + robot_name + "/action_topic", 1000, notification_callback); - example_set_cartesian_reference_frame(n, robot_name); + success &= example_set_cartesian_reference_frame(n, robot_name); std::this_thread::sleep_for(std::chrono::milliseconds(1000)); - example_cartesian_action(n, robot_name); + success &= example_home_the_robot(n, robot_name); + std::this_thread::sleep_for(std::chrono::milliseconds(10000)); + success &= example_cartesian_action(n, robot_name); + success &= all_notifs_succeeded; + + // Report success for testing purposes + ros::param::set("/kortex_examples_test_results/cartesian_poses_with_notifications_cpp", success); + + return success ? 0 : 1; return 0; } \ No newline at end of file diff --git a/kortex_examples/src/full_arm/example_cartesian_poses_with_notifications.py b/kortex_examples/src/full_arm/example_cartesian_poses_with_notifications.py new file mode 100755 index 00000000..d5af91b4 --- /dev/null +++ b/kortex_examples/src/full_arm/example_cartesian_poses_with_notifications.py @@ -0,0 +1,261 @@ +#!/usr/bin/env python +### +# KINOVA (R) KORTEX (TM) +# +# Copyright (c) 2019 Kinova inc. All rights reserved. +# +# This software may be modified and distributed +# under the terms of the BSD 3-Clause license. +# +# Refer to the LICENSE file for details. +# +### + +import sys +import rospy +import threading +from kortex_driver.srv import * +from kortex_driver.msg import * + +class ExampleCartesianActionsWithNotifications: + def __init__(self): + try: + rospy.init_node('example_cartesian_poses_with_notifications_python') + + self.HOME_ACTION_IDENTIFIER = 2 + + self.pose_1_done = threading.Event() + self.pose_2_done = threading.Event() + self.pose_3_done = threading.Event() + + self.all_notifs_succeeded = True + + # Get node params + self.robot_name = rospy.get_param('~robot_name', "my_gen3") + + rospy.loginfo("Using robot_name " + self.robot_name) + + # Init the services + clear_faults_full_name = '/' + self.robot_name + '/base/clear_faults' + rospy.wait_for_service(clear_faults_full_name) + self.clear_faults = rospy.ServiceProxy(clear_faults_full_name, Base_ClearFaults) + + read_action_full_name = '/' + self.robot_name + '/base/read_action' + rospy.wait_for_service(read_action_full_name) + self.read_action = rospy.ServiceProxy(read_action_full_name, ReadAction) + + execute_action_full_name = '/' + self.robot_name + '/base/execute_action' + rospy.wait_for_service(execute_action_full_name) + self.execute_action = rospy.ServiceProxy(execute_action_full_name, ExecuteAction) + + set_cartesian_reference_frame_full_name = '/' + self.robot_name + '/control_config/set_cartesian_reference_frame' + rospy.wait_for_service(set_cartesian_reference_frame_full_name) + self.set_cartesian_reference_frame = rospy.ServiceProxy(set_cartesian_reference_frame_full_name, SetCartesianReferenceFrame) + + activate_publishing_of_action_notification_full_name = '/' + self.robot_name + '/base/activate_publishing_of_action_topic' + rospy.wait_for_service(activate_publishing_of_action_notification_full_name) + self.activate_publishing_of_action_notification = rospy.ServiceProxy(activate_publishing_of_action_notification_full_name, OnNotificationActionTopic) + except: + self.is_init_success = False + else: + self.is_init_success = True + + def example_clear_faults(self): + try: + self.clear_faults() + except rospy.ServiceException: + rospy.logerr("Failed to call ClearFaults") + return False + else: + rospy.loginfo("Cleared the faults successfully") + rospy.sleep(2.5) + return True + + def example_home_the_robot(self): + # The Home Action is used to home the robot. It cannot be deleted and is always ID #2: + req = ReadActionRequest() + req.input.identifier = self.HOME_ACTION_IDENTIFIER + try: + res = self.read_action(req) + except rospy.ServiceException: + rospy.logerr("Failed to call ReadAction") + return False + # Execute the HOME action if we could read it + else: + # What we just read is the input of the ExecuteAction service + req = ExecuteActionRequest() + req.input = res.output + rospy.loginfo("Sending the robot home...") + try: + self.execute_action(req) + except rospy.ServiceException: + rospy.logerr("Failed to call ExecuteAction") + return False + else: + return True + + def example_set_cartesian_reference_frame(self): + # Prepare the request with the frame we want to set + req = SetCartesianReferenceFrameRequest() + req.input.reference_frame = CartesianReferenceFrame.CARTESIAN_REFERENCE_FRAME_MIXED + + # Call the service + try: + self.set_cartesian_reference_frame() + except rospy.ServiceException: + rospy.logerr("Failed to call SetCartesianReferenceFrame") + return False + else: + rospy.loginfo("Set the cartesian reference frame successfully") + return True + + # Wait a bit + rospy.sleep(0.25) + + def notification_callback(self, notif): + if notif.action_event == ActionEvent.ACTION_END: + if notif.handle.identifier == 1001: + self.pose_1_done.set() + if notif.handle.identifier == 1002: + self.pose_2_done.set() + if notif.handle.identifier == 1003: + self.pose_3_done.set() + if notif.action_event == ActionEvent.ACTION_ABORT: + rospy.logerr("Action was aborted!") + self.all_notifs_succeeded = False + if notif.handle.identifier == 1001: + self.pose_1_done.set() + if notif.handle.identifier == 1002: + self.pose_2_done.set() + if notif.handle.identifier == 1003: + self.pose_3_done.set() + + def example_subscribe_to_a_robot_notification(self): + # Activate the publishing of the ActionNotification + req = OnNotificationActionTopicRequest() + rospy.loginfo("Activating the action notifications...") + try: + self.activate_publishing_of_action_notification(req) + except rospy.ServiceException: + rospy.logerr("Failed to call OnNotificationActionTopic") + return False + else: + rospy.loginfo("Successfully activated the Action Notifications!") + + # Subscribe to the ActionNotification with the given callback + rospy.Subscriber("/" + self.robot_name + "/action_topic", ActionNotification, self.notification_callback) + + rospy.sleep(1.0) + + return True + + def main(self): + # For testing purposes + success = self.is_init_success + try: + rospy.delete_param("/kortex_examples_test_results/cartesian_poses_with_notifications_python") + except: + pass + + if success: + + #******************************************************************************* + # Make sure to clear the robot's faults else it won't move if it's already in fault + success &= self.example_clear_faults() + #******************************************************************************* + + #******************************************************************************* + # Start the example from the Home position + success &= self.example_home_the_robot() + rospy.sleep(7) + #******************************************************************************* + + #******************************************************************************* + # Set the reference frame to "Mixed" + success &= self.example_set_cartesian_reference_frame() + + #******************************************************************************* + # Subscribe to ActionNotification's from the robot to know when a cartesian pose is finished + success &= self.example_subscribe_to_a_robot_notification() + + #******************************************************************************* + # Prepare and send pose 1 + my_cartesian_speed = CartesianSpeed() + my_cartesian_speed.translation = 0.1 # m/s + my_cartesian_speed.orientation = 15 # deg/s + + my_constrained_pose = ConstrainedPose() + my_constrained_pose.constraint.oneof_type.speed.append(my_cartesian_speed) + + my_constrained_pose.target_pose.x = 0.374 + my_constrained_pose.target_pose.y = 0.081 + my_constrained_pose.target_pose.z = 0.450 + my_constrained_pose.target_pose.theta_x = -57.6 + my_constrained_pose.target_pose.theta_y = 91.1 + my_constrained_pose.target_pose.theta_z = 2.3 + + req = ExecuteActionRequest() + req.input.oneof_action_parameters.reach_pose.append(my_constrained_pose) + req.input.name = "pose1" + req.input.handle.identifier = 1001 + + rospy.loginfo("Sending pose 1...") + try: + self.execute_action(req) + except rospy.ServiceException: + rospy.logerr("Failed to send pose 1") + success = False + else: + rospy.loginfo("Waiting for pose 1 to finish...") + + self.pose_1_done.wait() + + # Prepare and send pose 2 + req.input.handle.identifier = 1002 + req.input.name = "pose2" + + my_constrained_pose.target_pose.z = 0.3 + + req.input.oneof_action_parameters.reach_pose[0] = my_constrained_pose + + rospy.loginfo("Sending pose 2...") + try: + self.execute_action(req) + except rospy.ServiceException: + rospy.logerr("Failed to send pose 2") + success = False + else: + rospy.loginfo("Waiting for pose 2 to finish...") + + self.pose_2_done.wait() + + # Prepare and send pose 3 + req.input.handle.identifier = 1003 + req.input.name = "pose3" + + my_constrained_pose.target_pose.x = 0.45 + + req.input.oneof_action_parameters.reach_pose[0] = my_constrained_pose + + rospy.loginfo("Sending pose 3...") + try: + self.execute_action(req) + except rospy.ServiceException: + rospy.logerr("Failed to send pose 3") + success = False + else: + rospy.loginfo("Waiting for pose 3 to finish...") + + self.pose_3_done.wait() + + success &= self.all_notifs_succeeded + + # For testing purposes + rospy.set_param("/kortex_examples_test_results/cartesian_poses_with_notifications_python", success) + + if not success: + rospy.logerr("The example encountered an error.") + +if __name__ == "__main__": + ex = ExampleCartesianActionsWithNotifications() + ex.main() diff --git a/kortex_examples/cpp/full_arm/example_full_arm_movement.cpp b/kortex_examples/src/full_arm/example_full_arm_movement.cpp similarity index 89% rename from kortex_examples/cpp/full_arm/example_full_arm_movement.cpp rename to kortex_examples/src/full_arm/example_full_arm_movement.cpp index bbd16930..2ed97ee0 100644 --- a/kortex_examples/cpp/full_arm/example_full_arm_movement.cpp +++ b/kortex_examples/src/full_arm/example_full_arm_movement.cpp @@ -26,7 +26,7 @@ #define HOME_ACTION_IDENTIFIER 2 -void example_clear_faults(ros::NodeHandle n, std::string robot_name) +bool example_clear_faults(ros::NodeHandle n, std::string robot_name) { ros::ServiceClient service_client_clear_faults = n.serviceClient("/" + robot_name + "/base/clear_faults"); kortex_driver::Base_ClearFaults service_clear_faults; @@ -36,14 +36,15 @@ void example_clear_faults(ros::NodeHandle n, std::string robot_name) { std::string error_string = "Failed to clear the faults"; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } // Wait a bit std::this_thread::sleep_for(std::chrono::milliseconds(500)); + return true; } -void example_home_the_robot(ros::NodeHandle n, std::string robot_name) +bool example_home_the_robot(ros::NodeHandle n, std::string robot_name) { ros::ServiceClient service_client_read_action = n.serviceClient("/" + robot_name + "/base/read_action"); kortex_driver::ReadAction service_read_action; @@ -55,7 +56,7 @@ void example_home_the_robot(ros::NodeHandle n, std::string robot_name) { std::string error_string = "Failed to call ReadAction"; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } // We can now execute the Action that we read @@ -72,11 +73,13 @@ void example_home_the_robot(ros::NodeHandle n, std::string robot_name) { std::string error_string = "Failed to call ExecuteAction"; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } + + return true; } -void example_set_cartesian_reference_frame(ros::NodeHandle n, std::string robot_name) +bool example_set_cartesian_reference_frame(ros::NodeHandle n, std::string robot_name) { // Initialize the ServiceClient ros::ServiceClient service_client_set_cartesian_reference_frame = n.serviceClient("/" + robot_name + "/control_config/set_cartesian_reference_frame"); @@ -87,14 +90,16 @@ void example_set_cartesian_reference_frame(ros::NodeHandle n, std::string robot_ { std::string error_string = "Failed to call SetCartesianReferenceFrame"; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } // Wait a bit std::this_thread::sleep_for(std::chrono::milliseconds(250)); + + return true; } -void example_send_cartesian_pose(ros::NodeHandle n, std::string robot_name) +bool example_send_cartesian_pose(ros::NodeHandle n, std::string robot_name) { // Get the actual cartesian pose to increment it // You can create a subscriber to listen to the base_feedback @@ -137,11 +142,13 @@ void example_send_cartesian_pose(ros::NodeHandle n, std::string robot_name) { std::string error_string = "Failed to call PlayCartesianTrajectory"; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } + + return true; } -void example_send_joint_angles(ros::NodeHandle n, std::string robot_name, int degrees_of_freedom) +bool example_send_joint_angles(ros::NodeHandle n, std::string robot_name, int degrees_of_freedom) { // Initialize the ServiceClient ros::ServiceClient service_client_play_joint_trajectory = n.serviceClient("/" + robot_name + "/base/play_joint_trajectory"); @@ -169,11 +176,13 @@ void example_send_joint_angles(ros::NodeHandle n, std::string robot_name, int de { std::string error_string = "Failed to call PlayJointTrajectory"; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } + + return true; } -void example_send_gripper_command(ros::NodeHandle n, std::string robot_name, double value) +bool example_send_gripper_command(ros::NodeHandle n, std::string robot_name, double value) { // Initialize the ServiceClient ros::ServiceClient service_client_send_gripper_command = n.serviceClient("/" + robot_name + "/base/send_gripper_command"); @@ -194,14 +203,21 @@ void example_send_gripper_command(ros::NodeHandle n, std::string robot_name, dou { std::string error_string = "Failed to call SendGripperCommand"; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } + + return true; } int main(int argc, char **argv) { ros::init(argc, argv, "full_arm_movement_example_cpp"); + // For testing purpose + ros::param::del("/kortex_examples_test_results/full_arm_movement_cpp"); + + bool success = true; + //******************************************************************************* // ROS Parameters ros::NodeHandle n; @@ -248,12 +264,12 @@ int main(int argc, char **argv) //******************************************************************************* // Make sure to clear the robot's faults else it won't move if it's already in fault - example_clear_faults(n, robot_name); + success &= example_clear_faults(n, robot_name); //******************************************************************************* //******************************************************************************* // Move the robot to the Home position with an Action - example_home_the_robot(n, robot_name); + success &= example_home_the_robot(n, robot_name); std::this_thread::sleep_for(std::chrono::milliseconds(10000)); //******************************************************************************* @@ -262,25 +278,25 @@ int main(int argc, char **argv) // Let's close the gripper if (is_gripper_present) { - example_send_gripper_command(n, robot_name, 0.0); + success &= example_send_gripper_command(n, robot_name, 0.0); std::this_thread::sleep_for(std::chrono::milliseconds(2000)); } //******************************************************************************* //******************************************************************************* // Set the reference frame to "Mixed" - example_set_cartesian_reference_frame(n, robot_name); + success &= example_set_cartesian_reference_frame(n, robot_name); // Example of cartesian pose // Let's make it move in Z - example_send_cartesian_pose(n, robot_name); + success &= example_send_cartesian_pose(n, robot_name); std::this_thread::sleep_for(std::chrono::milliseconds(10000)); //******************************************************************************* //******************************************************************************* // Example of angular position // Let's send the arm to vertical position - example_send_joint_angles(n, robot_name, degrees_of_freedom); + success &= example_send_joint_angles(n, robot_name, degrees_of_freedom); std::this_thread::sleep_for(std::chrono::milliseconds(10000)); //******************************************************************************* @@ -289,10 +305,13 @@ int main(int argc, char **argv) // Let's close the gripper if (is_gripper_present) { - example_send_gripper_command(n, robot_name, 0.5); + success &= example_send_gripper_command(n, robot_name, 0.5); std::this_thread::sleep_for(std::chrono::milliseconds(2000)); } //******************************************************************************* - return 0; + // Report success for testing purposes + ros::param::set("/kortex_examples_test_results/full_arm_movement_cpp", success); + + return success ? 0 : 1; } \ No newline at end of file diff --git a/kortex_examples/src/full_arm/example_full_arm_movement.py b/kortex_examples/src/full_arm/example_full_arm_movement.py new file mode 100755 index 00000000..81449913 --- /dev/null +++ b/kortex_examples/src/full_arm/example_full_arm_movement.py @@ -0,0 +1,258 @@ +#!/usr/bin/env python +### +# KINOVA (R) KORTEX (TM) +# +# Copyright (c) 2019 Kinova inc. All rights reserved. +# +# This software may be modified and distributed +# under the terms of the BSD 3-Clause license. +# +# Refer to the LICENSE file for details. +# +### + +import sys +import rospy +from kortex_driver.srv import * +from kortex_driver.msg import * + +class ExampleFullArmMovement: + def __init__(self): + try: + rospy.init_node('example_full_arm_movement_python') + + self.HOME_ACTION_IDENTIFIER = 2 + + # Get node params + self.robot_name = rospy.get_param('~robot_name', "my_gen3") + self.degrees_of_freedom = rospy.get_param("/" + self.robot_name + "/degrees_of_freedom", 7) + self.is_gripper_present = rospy.get_param("/" + self.robot_name + "/is_gripper_present", False) + + rospy.loginfo("Using robot_name " + self.robot_name + " , robot has " + str(self.degrees_of_freedom) + " degrees of freedom and is_gripper_present is " + str(self.is_gripper_present)) + + # Init the services + clear_faults_full_name = '/' + self.robot_name + '/base/clear_faults' + rospy.wait_for_service(clear_faults_full_name) + self.clear_faults = rospy.ServiceProxy(clear_faults_full_name, Base_ClearFaults) + + read_action_full_name = '/' + self.robot_name + '/base/read_action' + rospy.wait_for_service(read_action_full_name) + self.read_action = rospy.ServiceProxy(read_action_full_name, ReadAction) + + execute_action_full_name = '/' + self.robot_name + '/base/execute_action' + rospy.wait_for_service(execute_action_full_name) + self.execute_action = rospy.ServiceProxy(execute_action_full_name, ExecuteAction) + + set_cartesian_reference_frame_full_name = '/' + self.robot_name + '/control_config/set_cartesian_reference_frame' + rospy.wait_for_service(set_cartesian_reference_frame_full_name) + self.set_cartesian_reference_frame = rospy.ServiceProxy(set_cartesian_reference_frame_full_name, SetCartesianReferenceFrame) + + play_cartesian_trajectory_full_name = '/' + self.robot_name + '/base/play_cartesian_trajectory' + rospy.wait_for_service(play_cartesian_trajectory_full_name) + self.play_cartesian_trajectory = rospy.ServiceProxy(play_cartesian_trajectory_full_name, PlayCartesianTrajectory) + + play_joint_trajectory_full_name = '/' + self.robot_name + '/base/play_joint_trajectory' + rospy.wait_for_service(play_joint_trajectory_full_name) + self.play_joint_trajectory = rospy.ServiceProxy(play_joint_trajectory_full_name, PlayJointTrajectory) + + send_gripper_command_full_name = '/' + self.robot_name + '/base/send_gripper_command' + rospy.wait_for_service(send_gripper_command_full_name) + self.send_gripper_command = rospy.ServiceProxy(send_gripper_command_full_name, SendGripperCommand) + except: + self.is_init_success = False + else: + self.is_init_success = True + + def example_clear_faults(self): + try: + self.clear_faults() + except rospy.ServiceException: + rospy.logerr("Failed to call ClearFaults") + return False + else: + rospy.loginfo("Cleared the faults successfully") + rospy.sleep(2.5) + return True + + def example_home_the_robot(self): + # The Home Action is used to home the robot. It cannot be deleted and is always ID #2: + req = ReadActionRequest() + req.input.identifier = self.HOME_ACTION_IDENTIFIER + try: + res = self.read_action(req) + except rospy.ServiceException: + rospy.logerr("Failed to call ReadAction") + return False + # Execute the HOME action if we could read it + else: + # What we just read is the input of the ExecuteAction service + req = ExecuteActionRequest() + req.input = res.output + rospy.loginfo("Sending the robot home...") + try: + self.execute_action(req) + except rospy.ServiceException: + rospy.logerr("Failed to call ExecuteAction") + return False + else: + return True + + def example_set_cartesian_reference_frame(self): + # Prepare the request with the frame we want to set + req = SetCartesianReferenceFrameRequest() + req.input.reference_frame = CartesianReferenceFrame.CARTESIAN_REFERENCE_FRAME_MIXED + + # Call the service + try: + self.set_cartesian_reference_frame() + except rospy.ServiceException: + rospy.logerr("Failed to call SetCartesianReferenceFrame") + return False + else: + rospy.loginfo("Set the cartesian reference frame successfully") + + # Wait a bit + rospy.sleep(0.25) + return True + + def example_send_cartesian_pose(self): + # Get the actual cartesian pose to increment it + # You can create a subscriber to listen to the base_feedback + # Here we only need the latest message in the topic though + feedback = rospy.wait_for_message("/" + self.robot_name + "/base_feedback", BaseCyclic_Feedback) + + req = PlayCartesianTrajectoryRequest() + req.input.target_pose.x = feedback.base.commanded_tool_pose_x + req.input.target_pose.y = feedback.base.commanded_tool_pose_y + req.input.target_pose.z = feedback.base.commanded_tool_pose_z + 0.15 + req.input.target_pose.theta_x = feedback.base.commanded_tool_pose_theta_x + req.input.target_pose.theta_y = feedback.base.commanded_tool_pose_theta_y + req.input.target_pose.theta_z = feedback.base.commanded_tool_pose_theta_z + 35 + + pose_speed = CartesianSpeed() + pose_speed.translation = 0.1 + pose_speed.orientation = 15 + + # The constraint is a one_of in Protobuf. The one_of concept does not exist in ROS + # To specify a one_of, create it and put it in the appropriate list of the oneof_type member of the ROS object : + req.input.constraint.oneof_type.speed.append(pose_speed) + + # Call the service + rospy.loginfo("Sending the robot to the cartesian pose...") + try: + self.play_cartesian_trajectory(req) + except rospy.ServiceException: + rospy.logerr("Failed to call PlayCartesianTrajectory") + return False + else: + return True + + def example_send_joint_angles(self): + # Create the list of angles + req = PlayJointTrajectoryRequest() + # Here the arm is vertical (all zeros) + for i in range(self.degrees_of_freedom): + temp_angle = JointAngle() + temp_angle.joint_identifier = i + temp_angle.value = 0.0 + req.input.joint_angles.joint_angles.append(temp_angle) + + # Send the angles + rospy.loginfo("Sending the robot vertical...") + try: + self.play_joint_trajectory(req) + except rospy.ServiceException: + rospy.logerr("Failed to call PlayJointTrajectory") + return False + else: + return True + + def example_send_gripper_command(self, value): + # Initialize the request + # This works for the Robotiq Gripper 2F_85 + # Close the gripper + req = SendGripperCommandRequest() + finger = Finger() + finger.finger_identifier = 0 + finger.value = value + req.input.gripper.finger.append(finger) + req.input.mode = GripperMode.GRIPPER_POSITION + + rospy.loginfo("Sending the gripper command...") + + # Call the service + try: + self.send_gripper_command(req) + except rospy.ServiceException: + rospy.logerr("Failed to call SendGripperCommand") + return False + else: + return True + + def main(self): + # For testing purposes + success = self.is_init_success + try: + rospy.delete_param("/kortex_examples_test_results/full_arm_movement_python") + except: + pass + + if success: + #******************************************************************************* + # Make sure to clear the robot's faults else it won't move if it's already in fault + success &= self.example_clear_faults() + #******************************************************************************* + + #******************************************************************************* + # Move the robot to the Home position with an Action + success &= self.example_home_the_robot() + rospy.sleep(10.0) + #******************************************************************************* + + #******************************************************************************* + # Example of gripper command + # Let's fully open the gripper + if self.is_gripper_present: + success &= self.example_send_gripper_command(0.0) + rospy.sleep(2.0) + else: + rospy.logwarn("No gripper is present on the arm.") + #******************************************************************************* + + #******************************************************************************* + # Set the reference frame to "Mixed" + success &= self.example_set_cartesian_reference_frame() + + # Example of cartesian pose + # Let's make it move in Z + success &= self.example_send_cartesian_pose() + rospy.sleep(10.0) + #******************************************************************************* + + #******************************************************************************* + # Example of angular position + # Let's send the arm to vertical position + success &= self.example_send_joint_angles() + rospy.sleep(10.0) + #******************************************************************************* + + #******************************************************************************* + # Example of gripper command + # Let's close the gripper at 50% + if self.is_gripper_present: + success &= self.example_send_gripper_command(0.5) + rospy.sleep(2.0) + else: + rospy.logwarn("No gripper is present on the arm.") + #******************************************************************************* + + # For testing purposes + rospy.set_param("/kortex_examples_test_results/full_arm_movement_python", success) + + if not success: + rospy.logerr("The example encountered an error.") + + +if __name__ == "__main__": + ex = ExampleFullArmMovement() + ex.main() diff --git a/kortex_examples/python/move_it/example_move_it_trajectories.py b/kortex_examples/src/move_it/example_move_it_trajectories.py similarity index 59% rename from kortex_examples/python/move_it/example_move_it_trajectories.py rename to kortex_examples/src/move_it/example_move_it_trajectories.py index d7cb6c55..82db88f9 100755 --- a/kortex_examples/python/move_it/example_move_it_trajectories.py +++ b/kortex_examples/src/move_it/example_move_it_trajectories.py @@ -58,25 +58,35 @@ def __init__(self): moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('example_move_it_trajectories') - self.is_gripper_present = rospy.get_param(rospy.get_namespace() + "is_gripper_present", False) - gripper_joint_names = rospy.get_param(rospy.get_namespace() + "gripper_joint_names", []) - self.gripper_joint_name = gripper_joint_names[0] - self.degrees_of_freedom = rospy.get_param(rospy.get_namespace() + "degrees_of_freedom", 7) - - # Create the MoveItInterface necessary objects - arm_group_name = "arm" - self.robot = moveit_commander.RobotCommander("robot_description") - self.scene = moveit_commander.PlanningSceneInterface(ns=rospy.get_namespace()) - self.arm_group = moveit_commander.MoveGroupCommander(arm_group_name, ns=rospy.get_namespace()) - self.display_trajectory_publisher = rospy.Publisher(rospy.get_namespace() + 'move_group/display_planned_path', - moveit_msgs.msg.DisplayTrajectory, - queue_size=20) - - if self.is_gripper_present: - gripper_group_name = "gripper" - self.gripper_group = moveit_commander.MoveGroupCommander(gripper_group_name, ns=rospy.get_namespace()) - - rospy.loginfo("Initializing node in namespace " + rospy.get_namespace()) + try: + self.is_gripper_present = rospy.get_param(rospy.get_namespace() + "is_gripper_present", False) + if self.is_gripper_present: + gripper_joint_names = rospy.get_param(rospy.get_namespace() + "gripper_joint_names", []) + self.gripper_joint_name = gripper_joint_names[0] + else: + gripper_joint_name = "" + self.degrees_of_freedom = rospy.get_param(rospy.get_namespace() + "degrees_of_freedom", 7) + + # Create the MoveItInterface necessary objects + arm_group_name = "arm" + self.robot = moveit_commander.RobotCommander("robot_description") + self.scene = moveit_commander.PlanningSceneInterface(ns=rospy.get_namespace()) + self.arm_group = moveit_commander.MoveGroupCommander(arm_group_name, ns=rospy.get_namespace()) + self.display_trajectory_publisher = rospy.Publisher(rospy.get_namespace() + 'move_group/display_planned_path', + moveit_msgs.msg.DisplayTrajectory, + queue_size=20) + + if self.is_gripper_present: + gripper_group_name = "gripper" + self.gripper_group = moveit_commander.MoveGroupCommander(gripper_group_name, ns=rospy.get_namespace()) + + rospy.loginfo("Initializing node in namespace " + rospy.get_namespace()) + except Exception as e: + print (e) + self.is_init_success = False + else: + self.is_init_success = True + def reach_named_position(self, target): arm_group = self.arm_group @@ -88,10 +98,11 @@ def reach_named_position(self, target): # Plan the trajectory planned_path1 = arm_group.plan() # Execute the trajectory and block while it's not finished - arm_group.execute(planned_path1, wait=True) + return arm_group.execute(planned_path1, wait=True) def reach_joint_angles(self, tolerance): arm_group = self.arm_group + success = True # Get the current joint positions joint_positions = arm_group.get_current_joint_values() @@ -120,12 +131,13 @@ def reach_joint_angles(self, tolerance): arm_group.set_joint_value_target(joint_positions) # Plan and execute in one command - arm_group.go(wait=True) + success &= arm_group.go(wait=True) # Show joint positions after movement new_joint_positions = arm_group.get_current_joint_values() rospy.loginfo("Printing current joint positions after movement :") for p in new_joint_positions: rospy.loginfo(p) + return success def get_cartesian_pose(self): arm_group = self.arm_group @@ -152,7 +164,7 @@ def reach_cartesian_pose(self, pose, tolerance, constraints): # Plan and execute rospy.loginfo("Planning and going to the Cartesian Pose") - arm_group.go(wait=True) + return arm_group.go(wait=True) def reach_gripper_position(self, relative_position): gripper_group = self.gripper_group @@ -161,54 +173,68 @@ def reach_gripper_position(self, relative_position): gripper_joint = self.robot.get_joint(self.gripper_joint_name) gripper_max_absolute_pos = gripper_joint.max_bound() gripper_min_absolute_pos = gripper_joint.min_bound() - gripper_joint.move(relative_position * (gripper_max_absolute_pos - gripper_min_absolute_pos) + gripper_min_absolute_pos, True) + try: + val = gripper_joint.move(relative_position * (gripper_max_absolute_pos - gripper_min_absolute_pos) + gripper_min_absolute_pos, True) + return val + except: + return False def main(): example = ExampleMoveItTrajectories() - rospy.loginfo("Press any key to start Named Target Vertical sub example") - raw_input() - example.reach_named_position("vertical") - - rospy.loginfo("Press any key to start Reach Joint Angles sub example") - raw_input() - example.reach_joint_angles(tolerance=0.01) #rad - - rospy.loginfo("Press any key to start Named Target Home sub example") - raw_input() - example.reach_named_position("home") - - rospy.loginfo("Press any key to start Reach Cartesian Pose sub example") - raw_input() - actual_pose = example.get_cartesian_pose() - actual_pose.position.z -= 0.2 - example.reach_cartesian_pose(pose=actual_pose, tolerance=0.01, constraints=None) - - if example.degrees_of_freedom == 7: - rospy.loginfo("Press any key to start Reach Cartesian Pose With Constraints sub example") - raw_input() + # For testing purposes + success = example.is_init_success + try: + rospy.delete_param("/kortex_examples_test_results/moveit_general_python") + except: + pass + + if success: + rospy.loginfo("Reaching Named Target Vertical...") + + success &= example.reach_named_position("vertical") + + rospy.loginfo("Reaching Joint Angles...") + + success &= example.reach_joint_angles(tolerance=0.01) #rad + + rospy.loginfo("Reaching Named Target Home...") + + success &= example.reach_named_position("home") + + rospy.loginfo("Reaching Cartesian Pose...") - # Get actual pose actual_pose = example.get_cartesian_pose() - actual_pose.position.y -= 0.3 + actual_pose.position.z -= 0.2 + success &= example.reach_cartesian_pose(pose=actual_pose, tolerance=0.01, constraints=None) - # Orientation constraint (we want the end effector to stay the same orientation) - constraints = moveit_msgs.msg.Constraints() - orientation_constraint = moveit_msgs.msg.OrientationConstraint() - orientation_constraint.orientation = actual_pose.orientation - constraints.orientation_constraints.append(orientation_constraint) - - # Send the goal - example.reach_cartesian_pose(pose=actual_pose, tolerance=0.01, constraints=constraints) - - if example.is_gripper_present: - rospy.loginfo("Press any key to open the gripper sub example") - raw_input() - example.reach_gripper_position(0) - - rospy.loginfo("Press any key to bring the gripper to half-closed sub example") - raw_input() - example.reach_gripper_position(0.5) + if example.degrees_of_freedom == 7: + rospy.loginfo("Reach Cartesian Pose with constraints...") + # Get actual pose + actual_pose = example.get_cartesian_pose() + actual_pose.position.y -= 0.3 + + # Orientation constraint (we want the end effector to stay the same orientation) + constraints = moveit_msgs.msg.Constraints() + orientation_constraint = moveit_msgs.msg.OrientationConstraint() + orientation_constraint.orientation = actual_pose.orientation + constraints.orientation_constraints.append(orientation_constraint) + + # Send the goal + success &= example.reach_cartesian_pose(pose=actual_pose, tolerance=0.01, constraints=constraints) + + if example.is_gripper_present: + rospy.loginfo("Opening the gripper...") + success &= example.reach_gripper_position(0) + + rospy.loginfo("Closing the gripper 50%...") + success &= example.reach_gripper_position(0.5) + + # For testing purposes + rospy.set_param("/kortex_examples_test_results/moveit_general_python", success) + + if not success: + rospy.logerr("The example encountered an error.") if __name__ == '__main__': main() diff --git a/kortex_examples/python/move_it/simulation_pid_tuning.py b/kortex_examples/src/move_it/simulation_pid_tuning.py similarity index 100% rename from kortex_examples/python/move_it/simulation_pid_tuning.py rename to kortex_examples/src/move_it/simulation_pid_tuning.py diff --git a/kortex_examples/src/tests/kortex_examples_tests.cc b/kortex_examples/src/tests/kortex_examples_tests.cc new file mode 100644 index 00000000..e5cc8683 --- /dev/null +++ b/kortex_examples/src/tests/kortex_examples_tests.cc @@ -0,0 +1,99 @@ +#include +#include +#include + +class KortexDriverTest : public ::testing::Test { + protected: + + void SetUp() override + { + // Make sure we erase all test results + for (auto ex : examples) + { + ros::param::del(example_prefix + ex.first); + } + + // Look for the //has_vision_module parameter to know if the vision examples should fail + ros::param::get("~robot_name", robot_name); + ros::param::get("/" + robot_name + "/has_vision_module", has_vision_module); + + // Add the vision configuration examples to the list of tests to run if needed + if (has_vision_module) + { + examples.push_back(std::make_pair("vision_configuration_cpp", true)); + examples.push_back(std::make_pair("vision_configuration_python", true)); + } + } + + void TearDown() override + { + } + + ros::NodeHandle n; + std::string robot_name; + bool has_vision_module; + const int timeout_seconds = 90; + const std::string example_prefix = "/kortex_examples_test_results/"; + // The first element is the name of the example + // The second element is a boolean value to indicate what value we expect when running this test + std::vector> examples = + { + {"actuator_configuration_python", true}, + {"cartesian_poses_with_notifications_cpp", true}, + {"cartesian_poses_with_notifications_python", true}, + {"full_arm_movement_cpp", true}, + {"full_arm_movement_python", true}, + {"actuator_configuration_cpp", true}, + {"moveit_general_python", true} + }; + + bool waitForExample(std::string example_name) + { + bool success = false; + for (int i = 0; i < timeout_seconds && !success; i++) + { + // If the parameter is not yet on the server, wait for it to come up + if (!ros::param::has(example_prefix + example_name)) + { + std::this_thread::sleep_for(std::chrono::milliseconds(1000)); + } + // If the parameter is set on the server, break + if (ros::param::get(example_prefix + example_name, success)) + { + break; + } + } + return success; + } + +}; + +// Check if all examples ran correctly +TEST_F(KortexDriverTest, checkAllExamplesSuccess) +{ + bool success = true; + std::ostringstream failed_tests_message; + failed_tests_message << "The following examples failed :" << std::endl; + for (auto ex : examples) + { + bool example_success = waitForExample(ex.first); + if (!example_success) + { + failed_tests_message << "\t- " << ex.first << std::endl; + } + success &= (example_success == ex.second); + } + ASSERT_TRUE(success) << failed_tests_message.str(); +} + +int main(int argc, char** argv){ + ros::init(argc, argv, "KortexArmDriverInitTestsNode"); + testing::InitGoogleTest(&argc, argv); + + std::thread t([]{while(ros::ok()) ros::spin();}); + + auto res = RUN_ALL_TESTS(); + + ros::shutdown(); + return res; +} \ No newline at end of file diff --git a/kortex_examples/cpp/vision_config/example_vision_configuration.cpp b/kortex_examples/src/vision_config/example_vision_configuration.cpp similarity index 91% rename from kortex_examples/cpp/vision_config/example_vision_configuration.cpp rename to kortex_examples/src/vision_config/example_vision_configuration.cpp index 5826f816..45ae83e1 100644 --- a/kortex_examples/cpp/vision_config/example_vision_configuration.cpp +++ b/kortex_examples/src/vision_config/example_vision_configuration.cpp @@ -125,7 +125,7 @@ std::string bitrate_enum_to_string(uint32_t enum_value) return s; } -void example_get_intrinsic_parameters(ros::NodeHandle n, const std::string& robot_name) +bool example_get_intrinsic_parameters(ros::NodeHandle n, const std::string& robot_name) { ros::ServiceClient service_client_get_intrinsic_parameters = n.serviceClient("/" + robot_name + "/vision_config/get_intrinsic_parameters"); kortex_driver::GetIntrinsicParameters service_get_intrinsic_parameters; @@ -139,7 +139,7 @@ void example_get_intrinsic_parameters(ros::NodeHandle n, const std::string& robo { std::string error_string = "Failed to call GetIntrinsicParameters"; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } auto output = service_get_intrinsic_parameters.response.output; // The message description can be seen at msg/generated/vision_config/IntrinsicParameters.msg @@ -165,9 +165,11 @@ void example_get_intrinsic_parameters(ros::NodeHandle n, const std::string& robo << "---------------------------------"; ROS_INFO("%s", oss.str().c_str()); + + return true; } -void example_get_extrinsic_parameters(ros::NodeHandle n, const std::string& robot_name) +bool example_get_extrinsic_parameters(ros::NodeHandle n, const std::string& robot_name) { ros::ServiceClient service_client_get_extrinsic_parameters = n.serviceClient("/" + robot_name + "/vision_config/get_extrinsic_parameters"); kortex_driver::GetExtrinsicParameters service_get_extrinsic_parameters; @@ -178,7 +180,7 @@ void example_get_extrinsic_parameters(ros::NodeHandle n, const std::string& robo { std::string error_string = "Failed to call GetExtrinsicParameters"; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } auto output = service_get_extrinsic_parameters.response.output; // The message description can be seen at msg/generated/vision_config/ExtrinsicParameters.msg @@ -197,9 +199,11 @@ void example_get_extrinsic_parameters(ros::NodeHandle n, const std::string& robo << std::endl << "---------------------------------" << std::endl; ROS_INFO("%s", oss.str().c_str()); + + return true; } -void example_get_sensor_settings(ros::NodeHandle n, const std::string& robot_name) +bool example_get_sensor_settings(ros::NodeHandle n, const std::string& robot_name) { ros::ServiceClient service_client_get_sensor_settings = n.serviceClient("/" + robot_name + "/vision_config/get_sensor_settings"); kortex_driver::GetSensorSettings service_get_sensor_settings; @@ -214,7 +218,7 @@ void example_get_sensor_settings(ros::NodeHandle n, const std::string& robot_nam { std::string error_string = "Failed to call GetSensorSettings"; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } auto output = service_get_sensor_settings.response.output; @@ -229,9 +233,11 @@ void example_get_sensor_settings(ros::NodeHandle n, const std::string& robot_nam "---------------------------------"; ROS_INFO("%s", oss.str().c_str()); + + return true; } -void example_change_the_resolution(ros::NodeHandle n, const std::string& robot_name) +bool example_change_the_resolution(ros::NodeHandle n, const std::string& robot_name) { ros::ServiceClient service_client_set_sensor_settings = n.serviceClient("/" + robot_name + "/vision_config/set_sensor_settings"); kortex_driver::SetSensorSettings service_set_sensor_settings; @@ -253,13 +259,15 @@ void example_change_the_resolution(ros::NodeHandle n, const std::string& robot_n { std::string error_string = "Failed to call SetSensorSettings"; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } ROS_INFO("Resolution changed successfully."); + + return true; } -void example_get_sensor_option_value(ros::NodeHandle n, const std::string& robot_name) +bool example_get_sensor_option_value(ros::NodeHandle n, const std::string& robot_name) { ros::ServiceClient service_client_get_sensor_option_value = n.serviceClient("/" + robot_name + "/vision_config/get_option_value"); kortex_driver::GetOptionValue service_get_sensor_option_value; @@ -285,7 +293,7 @@ void example_get_sensor_option_value(ros::NodeHandle n, const std::string& robot { std::string error_string = "Failed to call GetOptionValue"; ROS_ERROR("%s", error_string.c_str()); - throw new std::runtime_error(error_string); + return false; } auto output = service_get_sensor_option_value.response.output; @@ -299,6 +307,8 @@ void example_get_sensor_option_value(ros::NodeHandle n, const std::string& robot << "---------------------------------" << std::endl; ROS_INFO("%s", oss.str().c_str()); + + return true; } int main(int argc, char **argv) @@ -306,6 +316,11 @@ int main(int argc, char **argv) // Init the node and get the namespace parameter ros::init(argc, argv, "vision_configuration_example_cpp"); + // For testing purpose + ros::param::del("/kortex_examples_test_results/vision_configuration_cpp"); + + bool success = true; + ros::NodeHandle n; std::string robot_name = "my_gen3"; @@ -323,23 +338,26 @@ int main(int argc, char **argv) //------------------------------------------------------------- // Get the intrinsic parameters for a given sensor - example_get_intrinsic_parameters(n, robot_name); + success &= example_get_intrinsic_parameters(n, robot_name); //------------------------------------------------------------- // Get the extrinsic parameters for a given sensor - example_get_extrinsic_parameters(n, robot_name); + success &= example_get_extrinsic_parameters(n, robot_name); //------------------------------------------------------------- // Get the sensor settings for a given sensor - example_get_sensor_settings(n, robot_name); + success &= example_get_sensor_settings(n, robot_name); //------------------------------------------------------------- // Set the extrinsic parameters for a given sensor - example_change_the_resolution(n, robot_name); + success &= example_change_the_resolution(n, robot_name); //------------------------------------------------------------- // Get an option value - example_get_sensor_option_value(n, robot_name); + success &= example_get_sensor_option_value(n, robot_name); - return 0; + // Report success for testing purposes + ros::param::set("/kortex_examples_test_results/vision_configuration_cpp", success); + + return success ? 0 : 1; } \ No newline at end of file diff --git a/kortex_examples/python/vision_config/example_vision_configuration.py b/kortex_examples/src/vision_config/example_vision_configuration.py similarity index 72% rename from kortex_examples/python/vision_config/example_vision_configuration.py rename to kortex_examples/src/vision_config/example_vision_configuration.py index 3e56004c..5f8b50da 100755 --- a/kortex_examples/python/vision_config/example_vision_configuration.py +++ b/kortex_examples/src/vision_config/example_vision_configuration.py @@ -18,32 +18,37 @@ class ExampleVisionConfiguration: def __init__(self): - rospy.init_node('example_vision_configuration_python') - - # Get node params - self.robot_name = rospy.get_param('~robot_name', "my_gen3") - rospy.loginfo("Using robot_name " + self.robot_name) - - # Init the services - get_intrinsic_parameters_full_name = '/' + self.robot_name + '/vision_config/get_intrinsic_parameters' - rospy.wait_for_service(get_intrinsic_parameters_full_name) - self.get_intrinsic_parameters = rospy.ServiceProxy(get_intrinsic_parameters_full_name, GetIntrinsicParameters) - - get_extrinsic_parameters_full_name = '/' + self.robot_name + '/vision_config/get_extrinsic_parameters' - rospy.wait_for_service(get_extrinsic_parameters_full_name) - self.get_extrinsic_parameters = rospy.ServiceProxy(get_extrinsic_parameters_full_name, GetExtrinsicParameters) - - get_sensor_settings_full_name = '/' + self.robot_name + '/vision_config/get_sensor_settings' - rospy.wait_for_service(get_sensor_settings_full_name) - self.get_sensor_settings = rospy.ServiceProxy(get_sensor_settings_full_name, GetSensorSettings) - - set_sensor_settings_full_name = '/' + self.robot_name + '/vision_config/set_sensor_settings' - rospy.wait_for_service(set_sensor_settings_full_name) - self.set_sensor_settings = rospy.ServiceProxy(set_sensor_settings_full_name, SetSensorSettings) - - get_option_value_full_name = '/' + self.robot_name + '/vision_config/get_option_value' - rospy.wait_for_service(get_option_value_full_name) - self.get_option_value = rospy.ServiceProxy(get_option_value_full_name, GetOptionValue) + try: + rospy.init_node('example_vision_configuration_python') + + # Get node params + self.robot_name = rospy.get_param('~robot_name', "my_gen3") + rospy.loginfo("Using robot_name " + self.robot_name) + + # Init the services + get_intrinsic_parameters_full_name = '/' + self.robot_name + '/vision_config/get_intrinsic_parameters' + rospy.wait_for_service(get_intrinsic_parameters_full_name, 0.5) + self.get_intrinsic_parameters = rospy.ServiceProxy(get_intrinsic_parameters_full_name, GetIntrinsicParameters) + + get_extrinsic_parameters_full_name = '/' + self.robot_name + '/vision_config/get_extrinsic_parameters' + rospy.wait_for_service(get_extrinsic_parameters_full_name, 0.5) + self.get_extrinsic_parameters = rospy.ServiceProxy(get_extrinsic_parameters_full_name, GetExtrinsicParameters) + + get_sensor_settings_full_name = '/' + self.robot_name + '/vision_config/get_sensor_settings' + rospy.wait_for_service(get_sensor_settings_full_name, 0.5) + self.get_sensor_settings = rospy.ServiceProxy(get_sensor_settings_full_name, GetSensorSettings) + + set_sensor_settings_full_name = '/' + self.robot_name + '/vision_config/set_sensor_settings' + rospy.wait_for_service(set_sensor_settings_full_name, 0.5) + self.set_sensor_settings = rospy.ServiceProxy(set_sensor_settings_full_name, SetSensorSettings) + + get_option_value_full_name = '/' + self.robot_name + '/vision_config/get_option_value' + rospy.wait_for_service(get_option_value_full_name, 0.5) + self.get_option_value = rospy.ServiceProxy(get_option_value_full_name, GetOptionValue) + except: + self.is_init_success = False + else: + self.is_init_success = True def sensor_type_enum_to_string(self, enum_value): s = "" @@ -107,6 +112,7 @@ def example_get_intrinsic_parameters(self): res = self.get_intrinsic_parameters(req) except rospy.ServiceException: rospy.logerr("Failed to call GetIntrinsicParameters") + return False else: # Print them # The message description can be seen at msg/generated/vision_config/IntrinsicParameters.msg @@ -134,12 +140,15 @@ def example_get_intrinsic_parameters(self): rospy.loginfo(out) + return True + def example_get_extrinsic_parameters(self): # Call the service try: res = self.get_extrinsic_parameters() except rospy.ServiceException: rospy.logerr("Failed to call GetExtrinsicParameters") + return False else: # Print the result # The message description can be seen at msg/generated/vision_config/ExtrinsicParameters.msg @@ -158,6 +167,7 @@ def example_get_extrinsic_parameters(self): out += "\n" + "---------------------------------" + "\n" rospy.loginfo(out) + return True def example_get_sensor_settings(self): # Call the service @@ -167,6 +177,7 @@ def example_get_sensor_settings(self): res = self.get_sensor_settings(req) except rospy.ServiceException: rospy.logerr("Failed to call GetSensorSettings") + return False else: # Print the result sensor_settings = res.output @@ -179,6 +190,8 @@ def example_get_sensor_settings(self): rospy.loginfo(out) + return True + def example_change_the_resolution(self): rospy.loginfo("Changing the resolution...") req = SetSensorSettingsRequest() @@ -192,8 +205,10 @@ def example_change_the_resolution(self): self.set_sensor_settings(req) except rospy.ServiceException: rospy.logerr("Failed to call SetSensorSettings and change the resolution") + return False else: rospy.loginfo("Resolution changed successfully") + return True def example_get_sensor_option_value(self): req = GetOptionValueRequest() @@ -215,6 +230,7 @@ def example_get_sensor_option_value(self): res = self.get_option_value(req) except rospy.ServiceException: rospy.logerr("Failed to call GetOptionValue") + return False else: option_value = res.output out = "\n---------------------------------\n" @@ -227,28 +243,44 @@ def example_get_sensor_option_value(self): out += "---------------------------------\n" rospy.loginfo(out) + + return True def main(self): - #------------------------------------------------------------- - # Get the intrinsic parameters for a given sensor - self.example_get_intrinsic_parameters() + # For testing purposes + success = self.is_init_success + try: + rospy.delete_param("/kortex_examples_test_results/vision_configuration_python") + except: + pass + + if success: + #------------------------------------------------------------- + # Get the intrinsic parameters for a given sensor + success &= self.example_get_intrinsic_parameters() + + #------------------------------------------------------------- + # Get the extrinsic parameters for a given sensor + success &= self.example_get_extrinsic_parameters() + + #------------------------------------------------------------- + # Get the sensor settings for a given sensor + success &= self.example_get_sensor_settings() - #------------------------------------------------------------- - # Get the extrinsic parameters for a given sensor - self.example_get_extrinsic_parameters() + #------------------------------------------------------------- + # Set the extrinsic parameters for a given sensor + success &= self.example_change_the_resolution() - #------------------------------------------------------------- - # Get the sensor settings for a given sensor - self.example_get_sensor_settings() + #------------------------------------------------------------- + # Get an option value + success &= self.example_get_sensor_option_value() - #------------------------------------------------------------- - # Set the extrinsic parameters for a given sensor - self.example_change_the_resolution() + # For testing purposes + rospy.set_param("/kortex_examples_test_results/vision_configuration_python", success) - #------------------------------------------------------------- - # Get an option value - self.example_get_sensor_option_value() + if not success: + rospy.logerr("The example encountered an error.") if __name__ == "__main__": ex = ExampleVisionConfiguration() diff --git a/kortex_gazebo/CMakeLists.txt b/kortex_gazebo/CMakeLists.txt index fc6936a2..0de0abab 100644 --- a/kortex_gazebo/CMakeLists.txt +++ b/kortex_gazebo/CMakeLists.txt @@ -13,6 +13,11 @@ catkin_package() find_package(roslaunch) +foreach(dir config launch meshes urdf) + install(DIRECTORY ${dir}/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) +endforeach(dir) + # Gazebo is compiled with Protobuf 2.6.1 and Kortex with Protobuf 3.5.1 # The 2.6.1 includes are prepended to the include_directories so the Gazebo plugins we compile here build include_directories(BEFORE ./include/) @@ -23,15 +28,3 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}") # To add your Gazebo plugin to this package, put your source file under src and uncomment/modify those lines # add_library(my_gazebo_plugin SHARED src/my_gazebo_plugin.cpp) # target_link_libraries(my_gazebo_plugin ${GAZEBO_LIBRARIES}) - - -# Install -install(PROGRAMS - scripts/home_robot.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -install(DIRECTORY launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} - FILES_MATCHING PATTERN "*.launch" -) diff --git a/kortex_gazebo/launch/spawn_kortex_robot.launch b/kortex_gazebo/launch/spawn_kortex_robot.launch index 05e556c2..646f42c8 100644 --- a/kortex_gazebo/launch/spawn_kortex_robot.launch +++ b/kortex_gazebo/launch/spawn_kortex_robot.launch @@ -12,11 +12,11 @@ - + - + @@ -35,6 +35,9 @@ + + + @@ -134,7 +137,14 @@ - + + + + + + + + diff --git a/kortex_gazebo/package.xml b/kortex_gazebo/package.xml index 37e59b59..9f78046c 100644 --- a/kortex_gazebo/package.xml +++ b/kortex_gazebo/package.xml @@ -1,6 +1,6 @@ kortex_gazebo - 2.0.0 + 2.2.0

Gazebo simulation package for Kortex robots

This package contains launch files to spawn the Kortex robot in Gazebo and visualize it in RViz

diff --git a/kortex_gazebo/scripts/home_robot.py b/kortex_gazebo/scripts/home_robot.py index 8a52fbc8..c95c0a92 100755 --- a/kortex_gazebo/scripts/home_robot.py +++ b/kortex_gazebo/scripts/home_robot.py @@ -45,40 +45,63 @@ import geometry_msgs.msg from std_srvs.srv import Empty -class home_robot(object): +class ExampleInitializeGazeboRobot(object): """home_robot""" def __init__(self): - # Initialize the node - super(home_robot, self).__init__() + super(ExampleInitializeGazeboRobot, self).__init__() rospy.init_node('init_robot') - # Create the MoveItInterface necessary objects - moveit_commander.roscpp_initialize(sys.argv) - group_name = "arm" - self.robot = moveit_commander.RobotCommander() - self.scene = moveit_commander.PlanningSceneInterface() - self.group = moveit_commander.MoveGroupCommander(group_name) + try: + # Create the MoveItInterface necessary objects + moveit_commander.roscpp_initialize(sys.argv) + group_name = "arm" + self.robot = moveit_commander.RobotCommander() + self.scene = moveit_commander.PlanningSceneInterface() + self.group = moveit_commander.MoveGroupCommander(group_name) + except Exception as e: + rospy.logerr(e) + self.is_init_success = False + else: + self.is_init_success = True + def home_the_robot(self): # Home the robot self.group.set_named_target("home") - self.group.go(wait=True) + return self.group.go(wait=True) def main(): try: - # Sleep before unpausing Gazebo so the robot does not fall - time.sleep(5) + # For testing purposes + try: + rospy.delete_param("is_initialized") + except: + pass # Unpause the physics # This will let MoveIt finish its initialization + rospy.loginfo("Unpausing") rospy.wait_for_service('/gazebo/unpause_physics') unpause_gazebo = rospy.ServiceProxy('/gazebo/unpause_physics', Empty) resp = unpause_gazebo() + rospy.loginfo("Unpaused") - home_robot() + example = ExampleInitializeGazeboRobot() + rospy.loginfo("Created example") + success = example.is_init_success + rospy.loginfo("success = {}".format(success)) + if success: + success &= example.home_the_robot() - except KeyboardInterrupt: - return + except: + success = False + + # For testing purposes + rospy.set_param("is_initialized", success) + if not success: + rospy.logerr("The Gazebo initialization encountered an error.") + else: + rospy.loginfo("The Gazebo initialization executed without fail.") if __name__ == '__main__': main() diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/trajectory_execution.launch.xml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/trajectory_execution.launch.xml index 2d825e83..9a8e008c 100644 --- a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/trajectory_execution.launch.xml +++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/trajectory_execution.launch.xml @@ -9,7 +9,7 @@ - + diff --git a/kortex_move_it_config/gen3_move_it_config/config/6dof/joint_limits.yaml b/kortex_move_it_config/gen3_move_it_config/config/6dof/default_joint_limits.yaml similarity index 100% rename from kortex_move_it_config/gen3_move_it_config/config/6dof/joint_limits.yaml rename to kortex_move_it_config/gen3_move_it_config/config/6dof/default_joint_limits.yaml diff --git a/kortex_move_it_config/gen3_move_it_config/config/6dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_move_it_config/config/6dof/hard_joint_limits.yaml new file mode 100644 index 00000000..6783c6e2 --- /dev/null +++ b/kortex_move_it_config/gen3_move_it_config/config/6dof/hard_joint_limits.yaml @@ -0,0 +1,34 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + joint_1: + has_velocity_limits: true + max_velocity: 1.37 + has_acceleration_limits: true + max_acceleration: 1.56 + joint_2: + has_velocity_limits: true + max_velocity: 1.37 + has_acceleration_limits: true + max_acceleration: 1.56 + joint_3: + has_velocity_limits: true + max_velocity: 1.37 + has_acceleration_limits: true + max_acceleration: 1.56 + joint_4: + has_velocity_limits: true + max_velocity: 1.15 + has_acceleration_limits: true + max_acceleration: 3.0 + joint_5: + has_velocity_limits: true + max_velocity: 1.15 + has_acceleration_limits: true + max_acceleration: 3.0 + joint_6: + has_velocity_limits: true + max_velocity: 1.15 + has_acceleration_limits: true + max_acceleration: 3.0 \ No newline at end of file diff --git a/kortex_move_it_config/gen3_move_it_config/config/7dof/joint_limits.yaml b/kortex_move_it_config/gen3_move_it_config/config/7dof/default_joint_limits.yaml similarity index 100% rename from kortex_move_it_config/gen3_move_it_config/config/7dof/joint_limits.yaml rename to kortex_move_it_config/gen3_move_it_config/config/7dof/default_joint_limits.yaml diff --git a/kortex_move_it_config/gen3_move_it_config/config/7dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_move_it_config/config/7dof/hard_joint_limits.yaml new file mode 100644 index 00000000..642c2528 --- /dev/null +++ b/kortex_move_it_config/gen3_move_it_config/config/7dof/hard_joint_limits.yaml @@ -0,0 +1,39 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + joint_1: + has_velocity_limits: true + max_velocity: 1.37 + has_acceleration_limits: true + max_acceleration: 1.56 + joint_2: + has_velocity_limits: true + max_velocity: 1.37 + has_acceleration_limits: true + max_acceleration: 1.56 + joint_3: + has_velocity_limits: true + max_velocity: 1.37 + has_acceleration_limits: true + max_acceleration: 1.56 + joint_4: + has_velocity_limits: true + max_velocity: 1.37 + has_acceleration_limits: true + max_acceleration: 1.56 + joint_5: + has_velocity_limits: true + max_velocity: 1.15 + has_acceleration_limits: true + max_acceleration: 3.0 + joint_6: + has_velocity_limits: true + max_velocity: 1.15 + has_acceleration_limits: true + max_acceleration: 3.0 + joint_7: + has_velocity_limits: true + max_velocity: 1.15 + has_acceleration_limits: true + max_acceleration: 3.0 \ No newline at end of file diff --git a/kortex_move_it_config/gen3_move_it_config/launch/move_group.launch b/kortex_move_it_config/gen3_move_it_config/launch/move_group.launch index 9ab01af0..20422937 100644 --- a/kortex_move_it_config/gen3_move_it_config/launch/move_group.launch +++ b/kortex_move_it_config/gen3_move_it_config/launch/move_group.launch @@ -2,9 +2,11 @@ + + diff --git a/kortex_move_it_config/gen3_move_it_config/launch/planning_context.launch b/kortex_move_it_config/gen3_move_it_config/launch/planning_context.launch index 0e8b6ad9..0ef0c93b 100644 --- a/kortex_move_it_config/gen3_move_it_config/launch/planning_context.launch +++ b/kortex_move_it_config/gen3_move_it_config/launch/planning_context.launch @@ -8,6 +8,9 @@ + + + @@ -16,7 +19,8 @@ - + + diff --git a/kortex_move_it_config/gen3_move_it_config/package.xml b/kortex_move_it_config/gen3_move_it_config/package.xml index df2ceb75..9b5353eb 100644 --- a/kortex_move_it_config/gen3_move_it_config/package.xml +++ b/kortex_move_it_config/gen3_move_it_config/package.xml @@ -1,7 +1,7 @@ gen3_move_it_config - 2.0.0 + 2.2.0 An automatically generated package with all the configuration and launch files for using the gen3 with the MoveIt! Motion Planning Framework diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/.setup_assistant b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/.setup_assistant new file mode 100644 index 00000000..e8017e1b --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: kortex_description + relative_path: robots/gen3_robotiq_2f_85.xacro + xacro_args: --inorder arm:=gen3 gripper:=robotiq_2f_85 + SRDF: + relative_path: config/gen3_robotiq_2f_85.srdf + CONFIG: + author_name: Alexandre Vannobel + author_email: avannobel@kinova.ca + generated_timestamp: 1551813671 \ No newline at end of file diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/CMakeLists.txt b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/CMakeLists.txt new file mode 100644 index 00000000..82f2429c --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(gen3_robotiq_2f_140_move_it_config) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/default_joint_limits.yaml similarity index 89% rename from kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/joint_limits.yaml rename to kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/default_joint_limits.yaml index 3f51e47d..426d9e04 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/joint_limits.yaml +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/default_joint_limits.yaml @@ -32,32 +32,32 @@ joint_limits: max_velocity: 0.86 has_acceleration_limits: true max_acceleration: 0.3 - gripper_finger1_finger_tip_joint: + left_inner_finger_joint: has_velocity_limits: true max_velocity: 2 has_acceleration_limits: false max_acceleration: 0 - gripper_finger1_inner_knuckle_joint: + right_inner_knuckle_joint: has_velocity_limits: true max_velocity: 2 has_acceleration_limits: false max_acceleration: 0 - gripper_finger1_joint: + finger_joint: has_velocity_limits: true max_velocity: 2 has_acceleration_limits: false max_acceleration: 0 - gripper_finger2_finger_tip_joint: + right_inner_finger_joint: has_velocity_limits: true max_velocity: 2 has_acceleration_limits: false max_acceleration: 0 - gripper_finger2_inner_knuckle_joint: + left_inner_knuckle_joint: has_velocity_limits: true max_velocity: 2 has_acceleration_limits: false max_acceleration: 0 - gripper_finger2_joint: + right_outer_knuckle_joint: has_velocity_limits: true max_velocity: 2 has_acceleration_limits: false diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/fake_controllers.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/fake_controllers.yaml new file mode 100644 index 00000000..5b130b75 --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/fake_controllers.yaml @@ -0,0 +1,11 @@ + - name: fake_arm_controller + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 + - name: fake_gripper_controller + joints: + - finger_joint \ No newline at end of file diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/gen3_robotiq_2f_140.srdf b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/gen3_robotiq_2f_140.srdf new file mode 100644 index 00000000..d723b13c --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/gen3_robotiq_2f_140.srdf @@ -0,0 +1,196 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/hard_joint_limits.yaml new file mode 100644 index 00000000..eb4a100f --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/hard_joint_limits.yaml @@ -0,0 +1,64 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + joint_1: + has_velocity_limits: true + max_velocity: 1.37 + has_acceleration_limits: true + max_acceleration: 1.56 + joint_2: + has_velocity_limits: true + max_velocity: 1.37 + has_acceleration_limits: true + max_acceleration: 1.56 + joint_3: + has_velocity_limits: true + max_velocity: 1.37 + has_acceleration_limits: true + max_acceleration: 1.56 + joint_4: + has_velocity_limits: true + max_velocity: 1.15 + has_acceleration_limits: true + max_acceleration: 3.0 + joint_5: + has_velocity_limits: true + max_velocity: 1.15 + has_acceleration_limits: true + max_acceleration: 3.0 + joint_6: + has_velocity_limits: true + max_velocity: 1.15 + has_acceleration_limits: true + max_acceleration: 3.0 + left_inner_finger_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + right_inner_knuckle_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + finger_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + right_inner_finger_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + left_inner_knuckle_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + right_outer_knuckle_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/ros_controllers.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/ros_controllers.yaml new file mode 100644 index 00000000..b741c94d --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/ros_controllers.yaml @@ -0,0 +1,22 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 +controller_list: + - name: "gen3_joint_trajectory_controller" + action_ns: follow_joint_trajectory + default: True + type: FollowJointTrajectory + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 + + - name: "robotiq_2f_140_gripper_controller" + action_ns: gripper_cmd + default: True + type: GripperCommand + joints: + - finger_joint \ No newline at end of file diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/default_joint_limits.yaml similarity index 90% rename from kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/joint_limits.yaml rename to kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/default_joint_limits.yaml index fc8246b3..f943baec 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/joint_limits.yaml +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/default_joint_limits.yaml @@ -37,32 +37,32 @@ joint_limits: max_velocity: 0.86 has_acceleration_limits: true max_acceleration: 0.3 - gripper_finger1_finger_tip_joint: + left_inner_finger_joint: has_velocity_limits: true max_velocity: 2 has_acceleration_limits: false max_acceleration: 0 - gripper_finger1_inner_knuckle_joint: + right_inner_knuckle_joint: has_velocity_limits: true max_velocity: 2 has_acceleration_limits: false max_acceleration: 0 - gripper_finger1_joint: + finger_joint: has_velocity_limits: true max_velocity: 2 has_acceleration_limits: false max_acceleration: 0 - gripper_finger2_finger_tip_joint: + right_inner_finger_joint: has_velocity_limits: true max_velocity: 2 has_acceleration_limits: false max_acceleration: 0 - gripper_finger2_inner_knuckle_joint: + left_inner_knuckle_joint: has_velocity_limits: true max_velocity: 2 has_acceleration_limits: false max_acceleration: 0 - gripper_finger2_joint: + right_outer_knuckle_joint: has_velocity_limits: true max_velocity: 2 has_acceleration_limits: false diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/fake_controllers.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/fake_controllers.yaml new file mode 100644 index 00000000..ca87393a --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/fake_controllers.yaml @@ -0,0 +1,13 @@ +controller_list: + - name: fake_arm_controller + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 + - joint_7 + - name: fake_gripper_controller + joints: + - finger_joint \ No newline at end of file diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/gen3_robotiq_2f_140.srdf b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/gen3_robotiq_2f_140.srdf new file mode 100644 index 00000000..8884d19c --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/gen3_robotiq_2f_140.srdf @@ -0,0 +1,216 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/hard_joint_limits.yaml new file mode 100644 index 00000000..583d6682 --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/hard_joint_limits.yaml @@ -0,0 +1,69 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + joint_1: + has_velocity_limits: true + max_velocity: 1.37 + has_acceleration_limits: true + max_acceleration: 1.56 + joint_2: + has_velocity_limits: true + max_velocity: 1.37 + has_acceleration_limits: true + max_acceleration: 1.56 + joint_3: + has_velocity_limits: true + max_velocity: 1.37 + has_acceleration_limits: true + max_acceleration: 1.56 + joint_4: + has_velocity_limits: true + max_velocity: 1.37 + has_acceleration_limits: true + max_acceleration: 1.56 + joint_5: + has_velocity_limits: true + max_velocity: 1.15 + has_acceleration_limits: true + max_acceleration: 3.0 + joint_6: + has_velocity_limits: true + max_velocity: 1.15 + has_acceleration_limits: true + max_acceleration: 3.0 + joint_7: + has_velocity_limits: true + max_velocity: 1.15 + has_acceleration_limits: true + max_acceleration: 3.0 + left_inner_finger_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + right_inner_knuckle_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + finger_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + right_inner_finger_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + left_inner_knuckle_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + right_outer_knuckle_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/ros_controllers.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/ros_controllers.yaml new file mode 100644 index 00000000..53436240 --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/ros_controllers.yaml @@ -0,0 +1,23 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 +controller_list: + - name: "gen3_joint_trajectory_controller" + action_ns: follow_joint_trajectory + default: True + type: FollowJointTrajectory + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 + - joint_7 + + - name: "robotiq_2f_140_gripper_controller" + action_ns: gripper_cmd + default: True + type: GripperCommand + joints: + - finger_joint \ No newline at end of file diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/chomp_planning.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/chomp_planning.yaml new file mode 100644 index 00000000..75258e53 --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/kinematics.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/kinematics.yaml new file mode 100644 index 00000000..cce65093 --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/kinematics.yaml @@ -0,0 +1,5 @@ +arm: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + kinematics_solver_attempts: 3 diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/ompl_planning.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/ompl_planning.yaml new file mode 100644 index 00000000..a49c255b --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/ompl_planning.yaml @@ -0,0 +1,176 @@ +planner_configs: + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +arm: + default_planner_config: RRTConnect + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(joint_1,joint_2) + longest_valid_segment_fraction: 0.005 +gripper: + default_planner_config: RRTConnect + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo \ No newline at end of file diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/sensors_3d.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/sensors_3d.yaml new file mode 100644 index 00000000..d2955dcd --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/sensors_3d.yaml @@ -0,0 +1,3 @@ +# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it +sensors: + - {} \ No newline at end of file diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/chomp_planning_pipeline.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 00000000..0d872ab1 --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/default_warehouse_db.launch b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/default_warehouse_db.launch new file mode 100644 index 00000000..182c096d --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/demo.launch b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/demo.launch new file mode 100644 index 00000000..340aed47 --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/demo.launch @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/fake_moveit_controller_manager.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 00000000..f3a2be33 --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/gen3_robotiq_2f_140_moveit_controller_manager.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/gen3_robotiq_2f_140_moveit_controller_manager.launch.xml new file mode 100644 index 00000000..0d27267f --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/gen3_robotiq_2f_140_moveit_controller_manager.launch.xml @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/gen3_robotiq_2f_140_moveit_sensor_manager.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/gen3_robotiq_2f_140_moveit_sensor_manager.launch.xml new file mode 100644 index 00000000..5d02698d --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/gen3_robotiq_2f_140_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/joystick_control.launch b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/joystick_control.launch new file mode 100644 index 00000000..9411f6e6 --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/move_group.launch b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/move_group.launch new file mode 100644 index 00000000..2a927a10 --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/move_group.launch @@ -0,0 +1,85 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/moveit.rviz b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/moveit.rviz new file mode 100644 index 00000000..0877e1e7 --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/moveit.rviz @@ -0,0 +1,689 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.74256 + Tree Height: 664 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + Name: MotionPlanning + Planned Path: + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: left_arm + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.2 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Scene Robot: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: /base_link + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.9965 + Focal Point: + X: 0.113567 + Y: 0.10592 + Z: 2.23518e-07 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.509797 + Target Frame: /base_link + Value: XYOrbit (rviz) + Yaw: 5.65995 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1337 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + Motion Planning: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 459 + Y: -243 diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/moveit_rviz.launch b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/moveit_rviz.launch new file mode 100644 index 00000000..794f7e5c --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/ompl_planning_pipeline.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 00000000..56d02bf4 --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/planning_context.launch b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/planning_context.launch new file mode 100644 index 00000000..a9676df5 --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/planning_context.launch @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/planning_pipeline.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/planning_pipeline.launch.xml new file mode 100644 index 00000000..c2c6d8e2 --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/run_benchmark_ompl.launch b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/run_benchmark_ompl.launch new file mode 100644 index 00000000..cf416398 --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/sensor_manager.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/sensor_manager.launch.xml new file mode 100644 index 00000000..a19ae58a --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/sensor_manager.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/setup_assistant.launch b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/setup_assistant.launch new file mode 100644 index 00000000..b74e781f --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/trajectory_execution.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/trajectory_execution.launch.xml new file mode 100644 index 00000000..92cfbd85 --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/trajectory_execution.launch.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/warehouse.launch b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/warehouse.launch new file mode 100644 index 00000000..9bb4298b --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/warehouse_settings.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/warehouse_settings.launch.xml new file mode 100644 index 00000000..e473b083 --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/package.xml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/package.xml new file mode 100644 index 00000000..fd892061 --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/package.xml @@ -0,0 +1,35 @@ + + + gen3_robotiq_2f_140_move_it_config + 2.2.0 + + An automatically generated package with all the configuration and launch files for using the gen3_robotiq_2f_140 with the MoveIt! Motion Planning Framework + + Alexandre Vannobel + + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit/issues + https://github.com/ros-planning/moveit + + catkin + + moveit_ros_move_group + moveit_fake_controller_manager + moveit_kinematics + moveit_planners_ompl + moveit_ros_visualization + moveit_setup_assistant + joint_state_publisher + robot_state_publisher + xacro + industrial_trajectory_filters + + + kortex_description + kortex_description + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/default_joint_limits.yaml new file mode 100644 index 00000000..426d9e04 --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/default_joint_limits.yaml @@ -0,0 +1,64 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + joint_1: + has_velocity_limits: true + max_velocity: 0.86 + has_acceleration_limits: true + max_acceleration: 0.3 + joint_2: + has_velocity_limits: true + max_velocity: 0.86 + has_acceleration_limits: true + max_acceleration: 0.3 + joint_3: + has_velocity_limits: true + max_velocity: 0.86 + has_acceleration_limits: true + max_acceleration: 0.3 + joint_4: + has_velocity_limits: true + max_velocity: 0.86 + has_acceleration_limits: true + max_acceleration: 0.3 + joint_5: + has_velocity_limits: true + max_velocity: 0.86 + has_acceleration_limits: true + max_acceleration: 0.3 + joint_6: + has_velocity_limits: true + max_velocity: 0.86 + has_acceleration_limits: true + max_acceleration: 0.3 + left_inner_finger_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + right_inner_knuckle_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + finger_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + right_inner_finger_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + left_inner_knuckle_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + right_outer_knuckle_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/fake_controllers.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/fake_controllers.yaml index e3376f77..5b130b75 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/fake_controllers.yaml +++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/fake_controllers.yaml @@ -8,4 +8,4 @@ - joint_6 - name: fake_gripper_controller joints: - - gripper_finger1_joint \ No newline at end of file + - finger_joint \ No newline at end of file diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/gen3_robotiq_2f_85.srdf b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/gen3_robotiq_2f_85.srdf index cac6a8a8..318de95c 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/gen3_robotiq_2f_85.srdf +++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/gen3_robotiq_2f_85.srdf @@ -19,15 +19,17 @@ - - - - - - - - - + + + + + + + + + + + @@ -55,29 +57,29 @@ - - - - - - + + + + + + - - - - - - + + + + + + - + - - - - - + + + + + @@ -86,82 +88,110 @@ - - - - - - - - - + + + + + + + + + + + - - - - - - - - - + + + + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/hard_joint_limits.yaml new file mode 100644 index 00000000..eb4a100f --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/hard_joint_limits.yaml @@ -0,0 +1,64 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + joint_1: + has_velocity_limits: true + max_velocity: 1.37 + has_acceleration_limits: true + max_acceleration: 1.56 + joint_2: + has_velocity_limits: true + max_velocity: 1.37 + has_acceleration_limits: true + max_acceleration: 1.56 + joint_3: + has_velocity_limits: true + max_velocity: 1.37 + has_acceleration_limits: true + max_acceleration: 1.56 + joint_4: + has_velocity_limits: true + max_velocity: 1.15 + has_acceleration_limits: true + max_acceleration: 3.0 + joint_5: + has_velocity_limits: true + max_velocity: 1.15 + has_acceleration_limits: true + max_acceleration: 3.0 + joint_6: + has_velocity_limits: true + max_velocity: 1.15 + has_acceleration_limits: true + max_acceleration: 3.0 + left_inner_finger_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + right_inner_knuckle_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + finger_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + right_inner_finger_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + left_inner_knuckle_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + right_outer_knuckle_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/ros_controllers.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/ros_controllers.yaml index b5a190cd..792f1fc1 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/ros_controllers.yaml +++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/ros_controllers.yaml @@ -19,4 +19,4 @@ controller_list: default: True type: GripperCommand joints: - - gripper_finger1_joint \ No newline at end of file + - finger_joint \ No newline at end of file diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/default_joint_limits.yaml new file mode 100644 index 00000000..f943baec --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/default_joint_limits.yaml @@ -0,0 +1,69 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + joint_1: + has_velocity_limits: true + max_velocity: 0.86 + has_acceleration_limits: true + max_acceleration: 0.3 + joint_2: + has_velocity_limits: true + max_velocity: 0.86 + has_acceleration_limits: true + max_acceleration: 0.3 + joint_3: + has_velocity_limits: true + max_velocity: 0.86 + has_acceleration_limits: true + max_acceleration: 0.3 + joint_4: + has_velocity_limits: true + max_velocity: 0.86 + has_acceleration_limits: true + max_acceleration: 0.3 + joint_5: + has_velocity_limits: true + max_velocity: 0.86 + has_acceleration_limits: true + max_acceleration: 0.3 + joint_6: + has_velocity_limits: true + max_velocity: 0.86 + has_acceleration_limits: true + max_acceleration: 0.3 + joint_7: + has_velocity_limits: true + max_velocity: 0.86 + has_acceleration_limits: true + max_acceleration: 0.3 + left_inner_finger_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + right_inner_knuckle_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + finger_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + right_inner_finger_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + left_inner_knuckle_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + right_outer_knuckle_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/fake_controllers.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/fake_controllers.yaml index 5a22332f..ca87393a 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/fake_controllers.yaml +++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/fake_controllers.yaml @@ -10,4 +10,4 @@ controller_list: - joint_7 - name: fake_gripper_controller joints: - - gripper_finger1_joint \ No newline at end of file + - finger_joint \ No newline at end of file diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/gen3_robotiq_2f_85.srdf b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/gen3_robotiq_2f_85.srdf index 5d7b8dd3..3ae9e136 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/gen3_robotiq_2f_85.srdf +++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/gen3_robotiq_2f_85.srdf @@ -20,15 +20,17 @@ - - - - - - - - - + + + + + + + + + + + @@ -59,131 +61,156 @@ - - - - - - + + + + + + - - - - - - + + + + + + - + - - - - - + + + + + + + + + - + + + + + + + + + + + - - - - - - - - - + + + + + + + + + + + - - - - - - - - - - - - + + + + + + + + + - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/hard_joint_limits.yaml new file mode 100644 index 00000000..583d6682 --- /dev/null +++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/hard_joint_limits.yaml @@ -0,0 +1,69 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + joint_1: + has_velocity_limits: true + max_velocity: 1.37 + has_acceleration_limits: true + max_acceleration: 1.56 + joint_2: + has_velocity_limits: true + max_velocity: 1.37 + has_acceleration_limits: true + max_acceleration: 1.56 + joint_3: + has_velocity_limits: true + max_velocity: 1.37 + has_acceleration_limits: true + max_acceleration: 1.56 + joint_4: + has_velocity_limits: true + max_velocity: 1.37 + has_acceleration_limits: true + max_acceleration: 1.56 + joint_5: + has_velocity_limits: true + max_velocity: 1.15 + has_acceleration_limits: true + max_acceleration: 3.0 + joint_6: + has_velocity_limits: true + max_velocity: 1.15 + has_acceleration_limits: true + max_acceleration: 3.0 + joint_7: + has_velocity_limits: true + max_velocity: 1.15 + has_acceleration_limits: true + max_acceleration: 3.0 + left_inner_finger_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + right_inner_knuckle_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + finger_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + right_inner_finger_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + left_inner_knuckle_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 + right_outer_knuckle_joint: + has_velocity_limits: true + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/ros_controllers.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/ros_controllers.yaml index 2ce1b65e..5b62d88e 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/ros_controllers.yaml +++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/ros_controllers.yaml @@ -20,4 +20,4 @@ controller_list: default: True type: GripperCommand joints: - - gripper_finger1_joint \ No newline at end of file + - finger_joint \ No newline at end of file diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/move_group.launch b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/move_group.launch index c37858ff..efaa685e 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/move_group.launch +++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/move_group.launch @@ -2,9 +2,11 @@ + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/planning_context.launch b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/planning_context.launch index 44ef9420..583764e0 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/planning_context.launch +++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/planning_context.launch @@ -7,6 +7,9 @@ + + + @@ -16,7 +19,8 @@ - + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/package.xml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/package.xml index f5c53901..01b1f25a 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/package.xml +++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/package.xml @@ -1,7 +1,7 @@ gen3_robotiq_2f_85_move_it_config - 2.0.0 + 2.2.0 An automatically generated package with all the configuration and launch files for using the gen3_robotiq_2f_85 with the MoveIt! Motion Planning Framework diff --git a/kortex_move_it_config/kortex_move_it_config/package.xml b/kortex_move_it_config/kortex_move_it_config/package.xml index f3fbf987..93b08565 100644 --- a/kortex_move_it_config/kortex_move_it_config/package.xml +++ b/kortex_move_it_config/kortex_move_it_config/package.xml @@ -1,7 +1,7 @@ kortex_move_it_config - 2.0.0 + 2.2.0 The metapackage for the automatically generated MoveIt! configuration packages diff --git a/readme.md b/readme.md index 156a936e..8fc0981b 100644 --- a/readme.md +++ b/readme.md @@ -8,7 +8,6 @@ You can refer to the [Kortex repository "Download links" section](https://github ### Accessing the color and depth streams To access the color and depth streams, you will need to clone and follow the instructions to install the [ros_kortex_vision repository ](https://github.com/Kinovarobotics/ros_kortex_vision). - ## Installation ### Setup @@ -19,21 +18,25 @@ You can find the instructions to install ROS Kinetic (for Ubuntu 16.04) [here](h [Google Protocol Buffers](https://developers.google.com/protocol-buffers/) is used by Kinova to define the Kortex APIs and to automatically generate ROS messages, services and C++ classes from the Kortex API `.proto` files. The installation of Google Protocol Buffers is required by developers implementing new APIs with the robot. However, since we already provide all the necessary generated files on GitHub, this is not required for most end users of the robot. -If you have a specific use case that requires you to install it, you can follow the instructions provided [at the end of this readme file](#protobuf-installation). We recommend that you contact Kinova if you have any specific questions about this. - - ### Build These are the instructions to run in a terminal to create the workspace, clone the `ros_kortex` repository, install the necessary ROS dependencies and build the package: + sudo apt install python3 python3-pip + sudo python3 -m pip install conan + conan config set general.revisions_enabled=1 + conan profile new default --detect > /dev/null + conan profile update settings.compiler.libcxx=libstdc++11 default mkdir -p catkin_workspace/src cd catkin_workspace/src git clone https://github.com/Kinovarobotics/ros_kortex.git cd ../ - rosdep install --from-paths src --ignore-src + rosdep install --from-paths src --ignore-src -y catkin_make source devel/setup.bash +As you see, there are instructions to install the Conan package manager. You can learn more about why we use Conan [in this specific section of the kortex_driver readme](kortex_driver/readme.md#conan). + ## Contents The following is a description of the packages included in this repository. @@ -61,13 +64,3 @@ This metapackage contains the auto-generated MoveIt! files to use the Kinova Gen ### third_party This folder contains the third-party packages we use with the ROS Kortex packages. Currently, it consists of two packages used for the simulation of the Robotiq Gripper in Gazebo. We use [gazebo-pkgs](third_party/gazebo-pkgs/README.md) for grasping support in Gazebo and [roboticsgroup_gazebo_plugins](third_party/roboticsgroup_gazebo_plugins/README.md) to mimic joint support in Gazebo. - - -## Instructions to install Protocol Buffers (optional) - -You can clone the Protocol Buffers repository from GitHub with this command: - -```cpp -git clone https://github.com/protocolbuffers/protobuf --branch 3.5.1.1 (you must use this specific version) -``` -You can install Protocol Buffers by following these [instructions](https://github.com/protocolbuffers/protobuf/blob/master/src/README.md).