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Push the changes for release 2.1 #65

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merged 2 commits into from
Dec 20, 2019
Merged

Push the changes for release 2.1 #65

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635ab98
Push to release 2.1
alexvannobel Dec 9, 2019
c076363
Merge branch 'kinetic-devel' into prepare-2-1-0-release
alexvannobel Dec 20, 2019
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3 changes: 2 additions & 1 deletion .gitignore
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@@ -1 +1,2 @@
kortex_driver/build
kortex_driver/build
kortex_driver/protos
1 change: 1 addition & 0 deletions CMakeLists.txt
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/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake
3 changes: 2 additions & 1 deletion kortex_api/scripts/download_kortex_api.bash
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Expand Up @@ -29,14 +29,15 @@ 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/2.0.0/kortex_api_2.0.0.zip
jfrog rt dl --flat generic-local-stable/API/2.1.0/kortex_api_2.1.0-3.zip ./
RESULT=$?
if [ "${RESULT}" -ne 0 ]; then
echo "ERROR while fetching the kortex api. code = ${RESULT}"
exit $?
fi

# Unzip it
mv kortex_api_2.1.0-3.zip kortex_api.zip
unzip -d kortex_api kortex_api.zip > /dev/null
RESULT=$?
if [ "${RESULT}" -ne 0 ]; then
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0 ...n3/config/joint_position_controllers.yaml → ...of/config/joint_position_controllers.yaml
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75 changes: 75 additions & 0 deletions kortex_control/arms/gen3_lite/6dof/config/joint_position_controllers.yaml
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# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50

gen3_lite_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
11 changes: 11 additions & 0 deletions kortex_control/grippers/gen3_lite_2f/config/gripper_action_controller_parameters.yaml
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gen3_lite_2f_gripper_controller:
type: position_controllers/GripperActionController
joint: right_finger_bottom_joint
action_monitor_rate: 100

gazebo_ros_control:
pid_gains:
right_finger_bottom_joint: {p: 0.1, i: 0.0, d: 0.0}
right_finger_tip_joint: {p: 1.0, i: 0.0, d: 0.0}
left_finger_bottom_joint: {p: 10.0, i: 0.0, d: 0.0}
left_finger_tip_joint: {p: 1.0, i: 0.0, d: 0.0}
2 changes: 1 addition & 1 deletion kortex_control/readme.md
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Expand Up @@ -21,4 +21,4 @@ The `joint_position_controllers.yaml` file for the chosen arm is loaded to the P

## ROS Control support for the real arm

ROS Control support for the Kinova Gen3 Ultra lightweight robot is not currently available and will be part of a future release.
ROS Control support for the Kinova Gen3 and Gen3 lite robots is not currently available and will be part of a future release.
7 changes: 7 additions & 0 deletions kortex_description/arms/gen3/7dof/config/gazebo_initial_joint_positions.yaml
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initial_joint_positions: "-J joint_1 1.57
-J joint_2 -0.35
-J joint_3 3.14
-J joint_4 -2.00
-J joint_5 0
-J joint_6 -1.00
-J joint_7 1.57"
0 ...iption/arms/gen3/config/joint_limits.yaml → ...n/arms/gen3/7dof/config/joint_limits.yaml
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0 ...escription/arms/gen3/meshes/base_link.STL → ...ption/arms/gen3/7dof/meshes/base_link.STL
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0 ...iption/arms/gen3/meshes/bracelet_link.STL → ...n/arms/gen3/7dof/meshes/bracelet_link.STL
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0 ...on/arms/gen3/meshes/end_effector_link.STL → ...ms/gen3/7dof/meshes/end_effector_link.STL
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0 ...ription/arms/gen3/meshes/forearm_link.STL → ...on/arms/gen3/7dof/meshes/forearm_link.STL
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0 ...tion/arms/gen3/meshes/half_arm_1_link.STL → ...arms/gen3/7dof/meshes/half_arm_1_link.STL
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0 ...tion/arms/gen3/meshes/half_arm_2_link.STL → ...arms/gen3/7dof/meshes/half_arm_2_link.STL
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0 ...iption/arms/gen3/meshes/shoulder_link.STL → ...n/arms/gen3/7dof/meshes/shoulder_link.STL
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0 ...ms/gen3/meshes/spherical_wrist_1_link.STL → ...n3/7dof/meshes/spherical_wrist_1_link.STL
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0 ...ms/gen3/meshes/spherical_wrist_2_link.STL → ...n3/7dof/meshes/spherical_wrist_2_link.STL
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0 ...ription/arms/gen3/urdf/GEN3_URDF_V12.urdf → ...on/arms/gen3/7dof/urdf/GEN3_URDF_V12.urdf
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34 changes: 17 additions & 17 deletions ...scription/arms/gen3/urdf/gen3_macro.xacro → ...tion/arms/gen3/7dof/urdf/gen3_macro.xacro
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Expand Up @@ -5,7 +5,7 @@
<!-- Propagate last link name information because it is the gripper's parent link -->
<xacro:property name="last_arm_link" value="end_effector_link"/>

<xacro:macro name="load_arm" params="parent:='' *origin">
<xacro:macro name="load_arm" params="parent:='' dof vision *origin">
<link name="base_link">
<inertial>
<origin xyz="-0.000648 -0.000166 0.084487" rpy="0 0 0" />
Expand All @@ -15,7 +15,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3/meshes/base_link.STL" />
<mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/base_link.STL" />
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1" />
Expand All @@ -24,7 +24,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3/meshes/base_link.STL" />
<mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/base_link.STL" />
</geometry>
</collision>
</link>
Expand All @@ -37,7 +37,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3/meshes/shoulder_link.STL" />
<mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/shoulder_link.STL" />
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1" />
Expand All @@ -46,7 +46,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3/meshes/shoulder_link.STL" />
<mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/shoulder_link.STL" />
</geometry>
</collision>
</link>
Expand All @@ -73,7 +73,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3/meshes/half_arm_1_link.STL" />
<mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/half_arm_1_link.STL" />
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1" />
Expand All @@ -82,7 +82,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3/meshes/half_arm_1_link.STL" />
<mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/half_arm_1_link.STL" />
</geometry>
</collision>
</link>
Expand All @@ -107,7 +107,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3/meshes/half_arm_2_link.STL" />
<mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/half_arm_2_link.STL" />
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1" />
Expand All @@ -116,7 +116,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3/meshes/half_arm_2_link.STL" />
<mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/half_arm_2_link.STL" />
</geometry>
</collision>
</link>
Expand All @@ -143,7 +143,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3/meshes/forearm_link.STL" />
<mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/forearm_link.STL" />
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1" />
Expand All @@ -152,7 +152,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3/meshes/forearm_link.STL" />
<mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/forearm_link.STL" />
</geometry>
</collision>
</link>
Expand All @@ -177,7 +177,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3/meshes/spherical_wrist_1_link.STL" />
<mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/spherical_wrist_1_link.STL" />
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1" />
Expand All @@ -186,7 +186,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3/meshes/spherical_wrist_1_link.STL" />
<mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/spherical_wrist_1_link.STL" />
</geometry>
</collision>
</link>
Expand All @@ -213,7 +213,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3/meshes/spherical_wrist_2_link.STL" />
<mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/spherical_wrist_2_link.STL" />
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1" />
Expand All @@ -222,7 +222,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3/meshes/spherical_wrist_2_link.STL" />
<mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/spherical_wrist_2_link.STL" />
</geometry>
</collision>
</link>
Expand All @@ -247,7 +247,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3/meshes/bracelet_link.STL" />
<mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/bracelet_link.STL" />
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1" />
Expand All @@ -256,7 +256,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://kortex_description/arms/gen3/meshes/bracelet_link.STL" />
<mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/bracelet_link.STL" />
</geometry>
</collision>
</link>
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0 ...s/gen3/urdf/gen3_transmission_macro.xacro → ...3/7dof/urdf/gen3_transmission_macro.xacro
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7 changes: 7 additions & 0 deletions kortex_description/arms/gen3_lite/6dof/config/joint_limits.yaml
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joint_names:
- joint_1
- joint_2
- joint_3
- joint_4
- joint_5
- joint_6
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