Integrate franka_description as subdirectory

CHANGELOG.md

@@ -1,5 +1,9 @@
 # CHANGELOG
 
+## 0.1.1 - UNRELEASED
+
+  * Integrate franka_description as subdirectory
+
 ## 0.1.0 - 2017-09-15
 
   * Initial release

franka_control/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>franka_control</name>
-  <version>0.1.0</version>
+  <version>0.1.1</version>
   <description>franka_control provides a hardware node to control a Franka Emika research robot</description>
   <maintainer email="[email protected]">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>

franka_description/CMakeLists.txt

@@ -0,0 +1,5 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(franka_description)
+
+find_package(catkin REQUIRED)
+catkin_package(CATKIN_DEPENDS xacro)

franka_description/mainpage.dox

@@ -0,0 +1,6 @@
+/**
+ * @mainpage
+ * @htmlinclude "manifest.html"
+ *
+ * Overview page for Franka Emika research robots: https://frankaemika.github.io
+ */

franka_description/package.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>franka_description</name>
+  <version>0.1.1</version>
+  <description>franka_description contains URDF files and meshes of Franka Emika robots</description>
+  <maintainer email="[email protected]">Franka Emika GmbH</maintainer>
+  <license>Apache 2.0</license>
+
+  <url type="website">http://wiki.ros.org/franka_description</url>
+  <url type="repository">https://github.com/frankaemika/franka_ros</url>
+  <url type="bugtracker">https://github.com/frankaemika/franka_ros/issues</url>
+  <author>Franka Emika GmbH</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>xacro</exec_depend>
+</package>

franka_description/robots/hand.urdf.xacro

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hand">
+  <xacro:include filename="hand.xacro"/>
+  <xacro:hand ns="panda"/>
+</robot>

franka_description/robots/hand.xacro

@@ -0,0 +1,75 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hand">
+  <xacro:macro name="hand" params="connected_to:='' ns:='' rpy:='0 0 0' xyz:='0 0 0' ">
+    <xacro:unless value="${connected_to == ''}">
+      <joint name="${ns}_hand_joint" type="fixed">
+        <parent link="${connected_to}"/>
+        <child link="${ns}_hand"/>
+        <origin xyz="${xyz}" rpy="${rpy}"/>
+      </joint>
+    </xacro:unless>
+    <link name="${ns}_hand">
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://franka_description/meshes/hand.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://franka_description/meshes/hand_collision.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${ns}_leftfinger">
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://franka_description/meshes/leftfinger.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://franka_description/meshes/leftfinger_collision.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${ns}_rightfinger">
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://franka_description/meshes/rightfinger.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://franka_description/meshes/rightfinger_collision.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${ns}_finger_joint1" type="prismatic">
+      <parent link="${ns}_hand"/>
+      <child link="${ns}_leftfinger"/>
+      <origin xyz="0 0 0.0584" rpy="0 0 0"/>
+      <axis xyz="0 1 0"/>
+      <limit effort="20" lower="-0.001" upper="0.04" velocity="0.3"/>
+    </joint>
+    <joint name="${ns}_finger_joint2" type="prismatic">
+      <parent link="${ns}_hand"/>
+      <child link="${ns}_rightfinger"/>
+      <origin xyz="0 0 0.0584" rpy="0 0 0"/>
+      <axis xyz="0 -1 0"/>
+      <limit effort="20" lower="-0.001" upper="0.04" velocity="0.3"/>
+    </joint>
+  </xacro:macro>
+</robot>

franka_description/robots/panda_arm.urdf.xacro

@@ -0,0 +1,5 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
+  <xacro:include filename="$(find franka_description)/robots/panda_arm.xacro" />
+  <xacro:panda_arm />
+</robot>

franka_description/robots/panda_arm.xacro

@@ -0,0 +1,211 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
+  <xacro:macro name="panda_arm" params="arm_id:='panda' description_pkg:='franka_description' connected_to:='' xyz:='0 0 0' rpy:='0 0 0'">
+    <xacro:unless value="${not connected_to}">
+      <joint name="${arm_id}_joint_${connected_to}" type="fixed">
+        <parent link="${connected_to}"/>
+        <child link="${arm_id}_link0"/>
+        <origin rpy="${rpy}" xyz="${xyz}"/>
+      </joint>
+    </xacro:unless>
+    <link name="${arm_id}_link0">
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/link0.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/link0_collision.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${arm_id}_link1">
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/link1.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/link1_collision.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${arm_id}_joint1" type="revolute">
+      <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.818745" soft_upper_limit="2.818745"/>
+      <origin rpy="0 0 0" xyz="0 0 0.333"/>
+      <parent link="${arm_id}_link0"/>
+      <child link="${arm_id}_link1"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.5"/>
+    </joint>
+    <link name="${arm_id}_link2">
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/link2.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/link2_collision.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${arm_id}_joint2" type="revolute">
+      <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.74097" soft_upper_limit="1.74097"/>
+      <origin rpy="-1.570796326794897 0 0" xyz="0 0 0"/>
+      <parent link="${arm_id}_link1"/>
+      <child link="${arm_id}_link2"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.5"/>
+    </joint>
+    <link name="${arm_id}_link3">
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/link3.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/link3_collision.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${arm_id}_joint3" type="revolute">
+      <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.818745" soft_upper_limit="2.818745"/>
+      <origin rpy="1.570796326794897 0 0" xyz="0 -0.316 0"/>
+      <parent link="${arm_id}_link2"/>
+      <child link="${arm_id}_link3"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.5"/>
+    </joint>
+    <link name="${arm_id}_link4">
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/link4.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/link4_collision.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${arm_id}_joint4" type="revolute">
+      <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.98452" soft_upper_limit="0.082935"/>
+      <origin rpy="1.570796326794897 0 0" xyz="0.0825 0 0"/>
+      <parent link="${arm_id}_link3"/>
+      <child link="${arm_id}_link4"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="87" lower="-3.1416" upper="0.0873" velocity="2.5"/>
+    </joint>
+    <link name="${arm_id}_link5">
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/link5.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/link5_collision.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${arm_id}_joint5" type="revolute">
+      <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.818745" soft_upper_limit="2.818745"/>
+      <origin rpy="-1.570796326794897 0 0" xyz="-0.0825 0.384 0"/>
+      <parent link="${arm_id}_link4"/>
+      <child link="${arm_id}_link5"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="12" lower="-2.9671" upper="2.9671" velocity="3"/>
+    </joint>
+    <link name="${arm_id}_link6">
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/link6.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/link6_collision.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${arm_id}_joint6" type="revolute">
+      <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.082935" soft_upper_limit="3.631185"/>
+      <origin rpy="1.570796326794897 0 0" xyz="0 0 0"/>
+      <parent link="${arm_id}_link5"/>
+      <child link="${arm_id}_link6"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="12" lower="-0.0873" upper="3.8223" velocity="3"/>
+    </joint>
+    <link name="${arm_id}_link7">
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/link7.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://${description_pkg}/meshes/link7_collision.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${arm_id}_joint7" type="revolute">
+      <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.818745" soft_upper_limit="2.818745"/>
+      <origin rpy="1.570796326794897 0 0" xyz="0.088 0 0"/>
+      <parent link="${arm_id}_link6"/>
+      <child link="${arm_id}_link7"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="12" lower="-2.9671" upper="2.9671" velocity="3"/>
+    </joint>
+    <link name="${arm_id}_link8"/>
+    <joint name="${arm_id}_joint8" type="fixed">
+      <origin rpy="0 0 0" xyz="0 0 0.107"/>
+      <parent link="${arm_id}_link7"/>
+      <child link="${arm_id}_link8"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+  </xacro:macro>
+</robot>

franka_description/robots/panda_arm_hand.urdf.xacro

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
+  <xacro:include filename="$(find franka_description)/robots/panda_arm.xacro"/>
+  <xacro:include filename="$(find franka_description)/robots/hand.xacro"/>
+  <xacro:panda_arm />
+  <xacro:hand ns="panda" rpy="0 0 ${-pi/4}" connected_to="panda_link8"/>
+</robot>

franka_description/rosdoc.yaml

@@ -0,0 +1,2 @@
+- builder: doxygen
+  javadoc_autobrief: YES

franka_example_controllers/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>franka_example_controllers</name>
-  <version>0.1.0</version>
+  <version>0.1.1</version>
   <description>The franka_example_controllers package</description>
   <maintainer email="[email protected]">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>

franka_gripper/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>franka_gripper</name>
-  <version>0.1.0</version>
+  <version>0.1.1</version>
   <description>This package implements the franka gripper of type Franka Hand for the use in ros</description>
   <maintainer email="[email protected]">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>

franka_hw/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>franka_hw</name>
-  <version>0.1.0</version>
+  <version>0.1.1</version>
   <description>franka_hw provides hardware interfaces for using Franka Emika research robots with ros_control</description>
   <maintainer email="[email protected]">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>