Merge pull request #101 from AdarshKaran/humble

neo_simulation2 Humble branch updated with arm support and urdf files updated to modular xacros

README.md

@@ -1,3 +1,3 @@
 This simulation package provides a quick and easy way to try out the autonomous mobile robots from Neobotix in ROS-2. It comes with the most commonly used configuration but is open for any kind of modification.
 
-Please find our documentations in https://neobotix-docs.de/ros/ros2/simulation.html
+Please find our documentations in https://neobotix-docs.de/ros/ros2/simulation_classic.html

components/arm/elite_arm.urdf.xacro

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+<?xml version="1.0"?>
+<!-- This is the main URDF file for mpo_700-->
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="elite">
+
+            <!-- create arm from macro-->
+            <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
+
+            <xacro:arg name="arm_type" default="ec66"/>
+            <xacro:arg name="use_gazebo" default="true"/>
+
+            <!--Elite arm parameters-->
+            <xacro:arg name="tf_prefix" default="$(arg arm_type)"/>
+            <xacro:arg name="joint_limit_params_file" default="$(find elite_description)/config/$(arg arm_type)/joint_limits.yaml"/>
+            <xacro:arg name="joint_origin_params_file" default="$(find elite_description)/config/$(arg arm_type)/joint_origins.yaml"/>
+            <xacro:arg name="link_inertials_params_file" default="$(find elite_description)/config/$(arg arm_type)/link_inertials.yaml"/>
+            <xacro:arg name="initial_joint_positions_file" default="$(find elite_description)/config/$(arg arm_type)/initial_positions.yaml"/>
+
+            <!-- create arm -->
+            <xacro:include filename="$(find elite_description)/urdf/macro/elite_macro.xacro" />
+            <xacro:elite_robot 
+                name="$(arg arm_type)"
+                tf_prefix="$(arg tf_prefix)"
+                arm_parent="cabinet_link"
+                joint_limits_parameters_file="$(arg joint_limit_params_file)"
+                joint_origins_parameters_file="$(arg joint_origin_params_file)"
+                link_inertials_parameters_file="$(arg link_inertials_params_file)"
+            >
+                <origin xyz="0.133 0.0 0.416" rpy="0.0 0.0 -1.5708" />
+            </xacro:elite_robot>
+
+            <!-- If both Elite Arm and Simulation is used -->
+            <xacro:if value="$(arg use_gazebo)">
+                <xacro:include filename="$(find elite_description)/urdf/elite_gazebo_ros2_control.urdf.xacro" />
+            </xacro:if>  
+
+</robot>
+

components/arm/ur_arm.urdf.xacro

@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<!-- This is the main URDF file for mpo_700-->
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="ur">
+
+            <!-- create arm from macro-->
+            <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
+
+            <xacro:arg name="arm_type" default="ur10"/>
+            <xacro:arg name="use_gazebo" default="true"/>
+
+            <!-- UR arm parameters -->
+            <xacro:arg name="tf_prefix" default="$(arg arm_type)" />
+            <xacro:arg name="joint_limit_params" default="$(find ur_description)/config/$(arg arm_type)/joint_limits.yaml"/>
+            <xacro:arg name="kinematics_params" default="$(find ur_description)/config/$(arg arm_type)/default_kinematics.yaml"/>
+            <xacro:arg name="physical_params" default="$(find ur_description)/config/$(arg arm_type)/physical_parameters.yaml"/>
+            <xacro:arg name="visual_params" default="$(find ur_description)/config/$(arg arm_type)/visual_parameters.yaml"/>
+            <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
+            <xacro:arg name="safety_limits" default="false"/>
+            <xacro:arg name="safety_pos_margin" default="0.15"/>
+            <xacro:arg name="safety_k_position" default="20"/>
+            <xacro:arg name="sim_gazebo" default="$(arg use_gazebo)" />
+            <xacro:arg name="simulation_controllers" default="$(find neo_simulation2)/configs/ur_config/$(arg arm_type)/ur_controllers.yaml"/>
+            <xacro:arg name="initial_positions_file" default="$(find neo_simulation2)/configs/ur_config/initial_joint_positions.yaml"/>
+
+            <!-- parse initial positions as a dictionary -->
+            <xacro:property 
+                name="ur_initial_positions"
+                value="${xacro.load_yaml('$(arg initial_positions_file)')}"
+                />
+
+            <xacro:ur_robot 
+                name="$(arg arm_type)"
+                tf_prefix="$(arg tf_prefix)"
+                parent="cabinet_link"
+                joint_limits_parameters_file="$(arg joint_limit_params)"
+                kinematics_parameters_file="$(arg kinematics_params)"
+                physical_parameters_file="$(arg physical_params)"
+                visual_parameters_file="$(arg visual_params)"
+                safety_limits="$(arg safety_limits)"
+                safety_pos_margin="$(arg safety_pos_margin)"
+                safety_k_position="$(arg safety_k_position)"
+                sim_gazebo="$(arg sim_gazebo)"
+                initial_positions = "${ur_initial_positions}"
+                >
+                <!-- position robot in the world -->
+                <origin xyz="0.133 0.0 0.416" rpy="0.0 0.0 -1.5708" />
+            </xacro:ur_robot>
+
+            <!-- If both UR Arm and Simulation is used -->
+            <xacro:if value="$(arg use_gazebo)">
+                <gazebo reference="cabinet_link">
+                </gazebo>
+                <gazebo>
+                    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+                        <parameters>$(arg simulation_controllers)</parameters>
+                    </plugin>
+                </gazebo>
+            </xacro:if>
+
+</robot>
+

components/common_macro/gazebo_diff_drive_plugin_macro.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mp_500">
+
+    <!--Gazebo Diff Drive and Joint States Publisher plugin Macro-->
+    <xacro:macro name="gazebo_diff_drive_plugin" params="
+        update_rate
+        joint_prefix
+        wheel_separation
+        wheel_diameter
+        command_topic
+        odometry_topic 
+        odom_frame
+        base_frame
+        max_wheel_torque
+        max_acceleration
+        ">
+
+        <gazebo>
+            <plugin name="diff_drive" filename="libgazebo_ros_diff_drive.so">
+                <!-- Replace camelCase elements with camel_case ones -->
+                <update_rate>${update_rate}</update_rate>
+                <left_joint>${joint_prefix}_left_joint</left_joint>
+                <right_joint>${joint_prefix}_right_joint</right_joint>
+                <wheel_separation>${wheel_separation}</wheel_separation>
+                <wheel_diameter>${wheel_diameter}</wheel_diameter>
+                <publish_odom>true</publish_odom>
+                <publish_odom_tf>true</publish_odom_tf>
+                <publish_wheel_tf>true</publish_wheel_tf>
+                <command_topic>${command_topic}</command_topic>
+
+                <odometry_topic>${odometry_topic}</odometry_topic>
+                <odometry_frame>${odom_frame}</odometry_frame>
+                <robot_base_frame>${base_frame}</robot_base_frame>
+
+                <!-- wheelTorque and wheelAcceleration now have max_ prefix -->
+                <max_wheel_torque>${max_wheel_torque}</max_wheel_torque>
+                <max_acceleration>${max_acceleration}</max_acceleration>
+            </plugin>
+
+            <plugin name="joint_states" filename="libgazebo_ros_joint_state_publisher.so">
+                <joint_name>${joint_prefix}_left_joint</joint_name>
+                <joint_name>${joint_prefix}_right_joint</joint_name>
+            </plugin>
+
+        </gazebo>
+    </xacro:macro>
+
+</robot>

components/common_macro/gazebo_lidar_macro.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mpo">
+
+    <xacro:macro name="gazebo_lidar_sensor" params="
+      sensor_name 
+      link_name 
+      update_rate 
+      min_range 
+      max_range 
+      horizontal_samples 
+      min_angle 
+      max_angle 
+      noise_mean 
+      noise_stddev
+      topic_name
+      visualize='false'
+      ">
+
+        <gazebo reference="${link_name}">
+          <sensor name="${sensor_name}" type="ray">
+            <always_on>true</always_on>
+            <pose>0 0 0 0 0 0</pose>
+            <visualize>${visualize}</visualize>
+            <update_rate>${update_rate}</update_rate>
+            <ray>
+              <scan>
+                <horizontal>
+                  <samples>${horizontal_samples}</samples>
+                  <resolution>1</resolution>
+                  <min_angle>${min_angle}</min_angle>
+                  <max_angle>${max_angle}</max_angle>
+                </horizontal>
+              </scan>
+              <range>
+                <min>${min_range}</min>
+                <max>${max_range}</max>
+                <resolution>0.05</resolution>
+              </range>
+              <noise>
+                <type>gaussian</type>
+                <!-- Noise parameters based on published spec for Hokuyo laser
+                    achieving "+-30mm" accuracy at range < 10m.  A mean of 0.0m and
+                    stddev of 0.01m will put 99.7% of samples within 0.03m of the true
+                    reading. -->
+                <mean>${noise_mean}</mean>
+                <stddev>${noise_stddev}</stddev>
+              </noise>
+            </ray>
+            <plugin filename="libgazebo_ros_ray_sensor.so" name="${sensor_name}_plugin">
+              <ros>
+                <argument>~/out:=${topic_name}</argument>
+              </ros>
+              <output_type>sensor_msgs/LaserScan</output_type>
+              <frame_name>${link_name}</frame_name>
+            </plugin>
+          </sensor>
+        </gazebo>
+    </xacro:macro>
+
+</robot>

components/common_macro/gazebo_object_controller_macro.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mpo">
+
+    <!--Gazebo Object Controller Macro-->
+    <xacro:macro name="gazebo_object_controller" params="
+        odom_update_rate 
+        controller_update_rate
+        odom_frame
+        base_frame
+        covariance_yaw
+        ">
+
+        <gazebo>
+            <plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
+                <commandTopic>cmd_vel</commandTopic>
+                <odometryTopic>odom</odometryTopic>
+                <robotNamespace><remapping>/tf:=tf</remapping></robotNamespace>
+                <ros>    <remapping>/tf:=tf</remapping>    </ros>
+
+                <!-- Set odom publish rate -->
+                <odometryRate>${odom_update_rate}</odometryRate>
+
+                <!-- Set control loop update rate -->
+                <publish_rate>${controller_update_rate}</publish_rate>
+
+                <!-- Set if odom required -->
+                <publish_odom>true</publish_odom>
+                <publish_odom_tf>true</publish_odom_tf>
+
+                <!-- Frame IDs -->
+                <odometryFrame>${odom_frame}</odometryFrame>
+                <robotBaseFrame>${base_frame}</robotBaseFrame>
+
+                <!-- Set odom covariance -->
+                <covariance_x>0.0001</covariance_x>
+                <covariance_y>0.0001</covariance_y>
+                <covariance_yaw>${covariance_yaw}</covariance_yaw>
+            </plugin>  
+        </gazebo>
+    </xacro:macro>
+
+</robot>

components/common_macro/mpo_cabinet_macro.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mpo">
+
+    <!--WHEEL MACRO-->
+    <xacro:macro name="cabinet" params="
+        neo_robot_name
+        parent_link
+        inertial_rpy
+        visual_rpy
+        collision_rpy
+        *origin
+        model_scale
+        ">
+
+        <joint name="cabinet_joint" type="fixed">
+            <xacro:insert_block name="origin"/>
+            <joint_properties damping="1" friction="1"/>
+            <parent link="${parent_link}"/>
+            <child link="cabinet_link"/>
+        </joint>
+
+        <link name="cabinet_link">
+            <inertial>
+                <mass value="10"/>
+                <origin rpy="${inertial_rpy}" xyz="0 0 0"/>
+                <inertia ixx="0.457072" ixy="0.0" ixz="0.0" iyy="0.23616" iyz="0.0" izz="0.686"/>
+            </inertial>
+            <visual>
+                <origin rpy="${visual_rpy}" xyz="0 0 0"/>
+                <geometry>
+                    <mesh filename="package://neo_simulation2/robots/${neo_robot_name}/meshes/cabin.dae" scale="${model_scale}"/>
+                </geometry>
+            </visual>
+            <collision>
+                <origin rpy="${collision_rpy}" xyz="0 0 0"/>
+                <geometry>
+                    <mesh filename="package://neo_simulation2/robots/mpo_700/meshes/cabin.dae" scale="${model_scale}"/>
+                </geometry>
+            </collision>
+        </link>
+    </xacro:macro>
+
+   </robot>

configs/ur_config/initial_joint_positions.yaml

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+shoulder_pan_joint: 1.5
+shoulder_lift_joint: -2.5
+elbow_joint: 2.0
+wrist_1_joint: 0.0
+wrist_2_joint: -1.5
+wrist_3_joint: 0.0