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add single panda #1799

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Oct 30, 2023
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017a34d
add single panda
yuki-asano Apr 28, 2023
2479817
update from latest franka_control.launch
yuki-asano May 9, 2023
aa2f556
add comments
yuki-asano May 9, 2023
c943a29
remove unused config
yuki-asano May 9, 2023
d19204b
remove gazebo descriptions
yuki-asano May 12, 2023
7a093af
move code for panda.l and modify messages
yuki-asano May 12, 2023
dfa63af
change name
yuki-asano May 12, 2023
3a79e15
change to include franka_control.launch
yuki-asano May 15, 2023
74fc6e4
change larm to rarm
yuki-asano May 23, 2023
0c7347b
panda.urdf.xacro is unnecessary
pazeshun May 19, 2023
21dcf54
[panda_eus] Add panda.urdf and panda.l to .gitignore
pazeshun May 19, 2023
0a7fad9
[panda_eus] Extract common part of panda-interface.l and dual_panda-i…
pazeshun May 24, 2023
9dfe6fb
[jsk_panda_robot] Add single panda to README
pazeshun May 25, 2023
c0bba79
[jsk_panda_robot] Add notice about end-coords, reset-pose, and reset-…
pazeshun May 26, 2023
65cc004
[panda_eus] Improve error message from :set-joint-pd-gain
pazeshun May 26, 2023
c6164d9
enable access to gripper-grasp-action
yuki-asano May 31, 2023
6abfe11
add missing bracket
yuki-asano May 31, 2023
3ff3fd7
Enable to get results of :stop-gripper/:homing-gripper/:start-grasp/:…
pazeshun May 31, 2023
39c9c2e
Enable to get results of :stop-gripper/:homing-gripper/:start-grasp/:…
pazeshun May 31, 2023
e677731
Consider compatibility with FR3 (Franka Research 3)
pazeshun May 31, 2023
499d90d
Remove unnecessary method
pazeshun May 31, 2023
0066eb7
extract action from hash
yuki-asano Jun 1, 2023
fc875a0
Revert "extract action from hash"
yuki-asano Jun 1, 2023
66b1e5e
Merge pull request #1 from pazeshun/add-single-panda
yuki-asano Jun 1, 2023
b1460d4
Merge branch 'master' into panda-devel-2
yuki-asano Jun 1, 2023
f58e301
Make errors from :get-*-result readable when * is not called
pazeshun Jun 1, 2023
aacbf62
Force to call all :wait-for-result and postprocess even if some of th…
pazeshun Jun 1, 2023
653bb9b
Merge pull request #2 from pazeshun/add-single-panda
yuki-asano Jun 2, 2023
408bce5
[panda_eus] Change dual_panda's end-coords to the same as single panda
pazeshun Jul 31, 2023
5f3c673
[panda_eus] Move end-coords of single panda and dual_panda to the cen…
pazeshun Aug 4, 2023
b555196
Merge pull request #3 from pazeshun/change-end-coords
yuki-asano Oct 12, 2023
0a34501
[panda_eus] Make :gripper method work
pazeshun Oct 16, 2023
72a2bc6
[panda_eus] Make URDF follow euslisp model
pazeshun Oct 16, 2023
141b6cf
[panda_eus] Enable to get gripper method result without waiting
pazeshun Oct 17, 2023
f8d3cc4
[panda_eus] Enable to get status of gripper actions
pazeshun Oct 17, 2023
e7e82d5
Merge pull request #4 from pazeshun/fix-gripper-state
yuki-asano Oct 26, 2023
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33 changes: 32 additions & 1 deletion jsk_panda_robot/README.md
Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,35 @@
```


## Running single Panda
### Boot robot
1. Please turn on the controller box and unlock joints by accessing desk.
### Via roseus
1. Start controller on controller PC:
```bash
ssh [email protected] # Or ssh [email protected]
roslaunch jsk_panda_startup panda.launch robot_ip:=<IP OF TARGET ROBOT>
```

2. Controlling single Panda via roseus:
1. Setting up network:
```bash
rossetmaster dual-panda1.jsk.imi.i.u-tokyo.ac.jp # Or rossetmaster dual-panda2.jsk.imi.i.u-tokyo.ac.jp
rossetip
```
2. Execute following script in roseus:
```lisp
(load "package://panda_eus/euslisp/panda-interface.l")
(panda-init)
(send *robot* :angle-vector (send *robot* :reset-pose))
(when (send *ri* :check-error)
(send *ri* :recover-error))
(send *ri* :angle-vector (send *robot* :angle-vector) 3000)
```
- Notice
- `(send *ri* :recover-error)` is required every time when you press and release the black switch (`activated` -> `monitored stop` -> `activated`).


## Running Dual-Panda
### Boot robot
1. Please turn on the controller box and unlock joints by accessing desk.
Expand Down Expand Up @@ -76,7 +105,9 @@
(send *ri* :recover-error))
(send *ri* :angle-vector (send *robot* :angle-vector) 3000)
```
`(send *ri* :recover-error)` is required every time when you press and release the black switch (`activated` -> `monitored stop` -> `activated`).
- Notice
- `(send *ri* :recover-error)` is required every time when you press and release the black switch (`activated` -> `monitored stop` -> `activated`).
- `dual_panda`'s `reset-pose` and `reset-manip-pose` are different from single `panda`'s ones for historical reasons.
#### Record/play rosbag
```bash
roslaunch jsk_panda_startup dual_panda1_record.launch # Or roslaunch jsk_panda_startup dual_panda2_record.launch
Expand Down
19 changes: 19 additions & 0 deletions jsk_panda_robot/jsk_panda_startup/launch/franka.launch
Original file line number Diff line number Diff line change
@@ -0,0 +1,19 @@
<?xml version="1.0" ?>

<launch>
<arg name="robot_ip" default="192.168.0.2"/>
<arg name="robot" default="panda" />
<arg name="arm_id" default="$(arg robot)" />
<arg name="load_gripper" default="true" />
<arg name="xacro_args" default="" />

<include file="$(find franka_control)/launch/franka_control.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="robot" value="$(arg robot)" />
<arg name="arm_id" value="$(arg arm_id)" />
<arg name="load_gripper" value="$(arg load_gripper)" />
<arg name="xacro_args" value="$(arg xacro_args)" />
</include>

<node name="position_joint_trajectory_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="position_joint_trajectory_controller" />
</launch>
17 changes: 17 additions & 0 deletions jsk_panda_robot/jsk_panda_startup/launch/panda.launch
Original file line number Diff line number Diff line change
@@ -0,0 +1,17 @@
<?xml version="1.0" ?>

<launch>
<arg name="robot_ip" default="192.168.0.2"/>
<arg name="robot" default="panda" />
<arg name="arm_id" default="$(arg robot)" />
<arg name="load_gripper" default="true" />
<arg name="xacro_args" default="" />

<include file="$(find jsk_panda_startup)/launch/franka.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="robot" value="$(arg robot)" />
<arg name="arm_id" value="$(arg arm_id)" />
<arg name="load_gripper" value="$(arg load_gripper)" />
<arg name="xacro_args" value="$(arg xacro_args)" />
</include>
</launch>
2 changes: 2 additions & 0 deletions jsk_panda_robot/panda_eus/.gitignore
Original file line number Diff line number Diff line change
@@ -1,2 +1,4 @@
models/dual_panda.l
models/dual_panda.urdf
models/panda.l
models/panda.urdf
29 changes: 24 additions & 5 deletions jsk_panda_robot/panda_eus/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -10,9 +10,6 @@ find_package(franka_description) # Just in case when description is not release

catkin_package()

###
### dual_panda.l generation
###
set(_franka_description_min_ver "0.10.0")
set(_xacro_min_ver "1.13.14")
if(franka_description_FOUND
Expand All @@ -25,6 +22,10 @@ if(franka_description_FOUND
# xacro.load_yaml cannot be recognized when xacro < 1.13.14, while it is recommended when xacro >= 1.13.14.
# PR introducing xacro.load_yaml: https://github.com/ros/xacro/pull/283
# Related issue: https://github.com/ros/xacro/issues/298

###
### dual_panda.l generation
###
add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/models/dual_panda.l
COMMAND rosrun euscollada collada2eus -I dual_panda.urdf -C dual_panda.yaml -O dual_panda.l
WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/models
Expand All @@ -34,9 +35,27 @@ if(franka_description_FOUND
WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/models
DEPENDS ${PROJECT_SOURCE_DIR}/models/dual_panda.urdf.xacro)

add_custom_target(generate_panda_lisp ALL DEPENDS ${PROJECT_SOURCE_DIR}/models/dual_panda.l)
add_custom_target(generate_dual_panda_lisp ALL DEPENDS ${PROJECT_SOURCE_DIR}/models/dual_panda.l)

###
### panda.l generation
###
set(_panda_xacro ${franka_description_SOURCE_PREFIX}/robots/panda/panda.urdf.xacro) # franka_description is installed from source
if(NOT EXISTS ${_panda_xacro})
set(_panda_xacro ${franka_description_PREFIX}/share/franka_description/robots/panda/panda.urdf.xacro) # franka_description is installed from apt
endif()
add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/models/panda.l
COMMAND rosrun euscollada collada2eus -I panda.urdf -C panda.yaml -O panda.l
WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/models
DEPENDS ${PROJECT_SOURCE_DIR}/models/panda.urdf ${PROJECT_SOURCE_DIR}/models/panda.yaml)
add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/models/panda.urdf
COMMAND rosrun xacro xacro --inorder ${_panda_xacro} hand:=true > ${PROJECT_SOURCE_DIR}/models/panda.urdf
DEPENDS ${_panda_xacro})

add_custom_target(generate_panda_lisp ALL DEPENDS ${PROJECT_SOURCE_DIR}/models/panda.l)

else()
message(WARNING "Dependency is not met, so skip generating dual_panda.l")
message(WARNING "Dependency is not met, so skip generating panda.l and dual_panda.l")
message(WARNING "franka_description version: ${franka_description_VERSION}, must be >= ${_franka_description_min_ver}")
message(WARNING "xacro version: ${xacro_VERSION}, must be >= ${_xacro_min_ver}")
endif()
Expand Down
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