├── images ├── ros_vispa.png ├── vispa_ros2.png ├── Matlab_Example.PNG ├── vispa_render.jpg └── coppeliasim_vispa.png ├── meshes ├── Link0-DHReference-PublicRelease.stl ├── Link1-DHReference-PublicRelease.stl ├── Link2-DHReference-PublicRelease.stl ├── Link3-DHReference-PublicRelease.stl ├── Link4-DHReference-PublicRelease.stl ├── Link5-DHReference-PublicRelease.stl ├── Link6-DHReference-PublicRelease.stl └── package.xml ├── CITATION.cff ├── launch ├── display.launch └── display.launch.py ├── action.yml ├── package.xml ├── rviz ├── vispa_ros1.rviz └── vispa_ros2.rviz ├── .github └── workflows │ └── main.yml ├── CMakeLists.txt ├── matlab_import.m ├── urdf ├── VISPA_modifiedDH.urdf ├── VISPA_modifiedDH_CoppeliaSim.urdf └── VISPA_modifiedDH_Ros2.urdf ├── README.md └── LICENSE.txt /images/ros_vispa.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AirbusDefenceAndSpace/vispa/HEAD/images/ros_vispa.png -------------------------------------------------------------------------------- /images/vispa_ros2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AirbusDefenceAndSpace/vispa/HEAD/images/vispa_ros2.png -------------------------------------------------------------------------------- /images/Matlab_Example.PNG: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AirbusDefenceAndSpace/vispa/HEAD/images/Matlab_Example.PNG -------------------------------------------------------------------------------- /images/vispa_render.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AirbusDefenceAndSpace/vispa/HEAD/images/vispa_render.jpg -------------------------------------------------------------------------------- /images/coppeliasim_vispa.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AirbusDefenceAndSpace/vispa/HEAD/images/coppeliasim_vispa.png -------------------------------------------------------------------------------- /meshes/Link0-DHReference-PublicRelease.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AirbusDefenceAndSpace/vispa/HEAD/meshes/Link0-DHReference-PublicRelease.stl -------------------------------------------------------------------------------- /meshes/Link1-DHReference-PublicRelease.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AirbusDefenceAndSpace/vispa/HEAD/meshes/Link1-DHReference-PublicRelease.stl -------------------------------------------------------------------------------- /meshes/Link2-DHReference-PublicRelease.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AirbusDefenceAndSpace/vispa/HEAD/meshes/Link2-DHReference-PublicRelease.stl -------------------------------------------------------------------------------- /meshes/Link3-DHReference-PublicRelease.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AirbusDefenceAndSpace/vispa/HEAD/meshes/Link3-DHReference-PublicRelease.stl -------------------------------------------------------------------------------- /meshes/Link4-DHReference-PublicRelease.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AirbusDefenceAndSpace/vispa/HEAD/meshes/Link4-DHReference-PublicRelease.stl -------------------------------------------------------------------------------- /meshes/Link5-DHReference-PublicRelease.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AirbusDefenceAndSpace/vispa/HEAD/meshes/Link5-DHReference-PublicRelease.stl -------------------------------------------------------------------------------- /meshes/Link6-DHReference-PublicRelease.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AirbusDefenceAndSpace/vispa/HEAD/meshes/Link6-DHReference-PublicRelease.stl -------------------------------------------------------------------------------- /CITATION.cff: -------------------------------------------------------------------------------- 1 | cff-version: 1.2.0 2 | message: "If you use this software, please cite it using these metadata." 3 | authors: 4 | - family-names: "Shilton" 5 | given-names: "Mark" 6 | orcid: "https://orcid.org/0000-0002-6410-8139" 7 | - family-names: "Garland" 8 | given-names: "Martin" 9 | - family-names: "Hackett" 10 | given-names: "Chris" 11 | - family-names: "Allouis" 12 | given-names: "Elie" 13 | - family-names: "Lisle" 14 | given-names: "Matt" 15 | - family-names: "Meringolo" 16 | given-names: "Connor" 17 | - family-names: "Paganini" 18 | given-names: "Davide" 19 | - family-names: "Hall" 20 | given-names: "Alexander" 21 | orcid: "https://orcid.org/0000-0002-5866-2221" 22 | title: "VISPA URDF" 23 | version: 0.2 24 | url: "https://github.com/AirbusDefenceAndSpace/vispa" 25 | 26 | 27 | -------------------------------------------------------------------------------- /launch/display.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /action.yml: -------------------------------------------------------------------------------- 1 | repository: 2 | description: > 3 | Repository spec (/) for the repository to fetch 4 | statistics for. 5 | default: ${{ github.repository }} 6 | ghtoken: 7 | description: > 8 | GitHub API token for reading repo stats and for interacting with the data 9 | repo (must be set if repo to fetch stats for is not the data repo). 10 | default: ${{ github.token }} 11 | databranch: 12 | description: > 13 | Data branch: Branch to push data to (in the data repo). 14 | default: github-repo-stats 15 | ghpagesprefix: 16 | description: > 17 | Set this if the data branch in the data repo is exposed via GitHub pages. 18 | Must not end with a slash. Example: https://jgehrcke.github.io/ghrs-test 19 | default: none 20 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | vispa 5 | 0.0.1 6 | URDF Package of VISPA 7 | mark 8 | See LICENSE file in root of directory 9 | 10 | ament_cmake 11 | urdf 12 | launch_ros 13 | 14 | launch_ros 15 | robot_state_publisher 16 | joint_state_publisher_gui 17 | 18 | ament_cmake 19 | 20 | -------------------------------------------------------------------------------- /rviz/vispa_ros1.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Name: Displays 4 | - Class: rviz/Views 5 | Name: Views 6 | Visualization Manager: 7 | Displays: 8 | - Class: rviz/Grid 9 | Name: Grid 10 | Value: true 11 | - Alpha: 1.0 12 | Class: rviz/RobotModel 13 | Enabled: true 14 | Name: RobotModel 15 | Robot Description: robot_description 16 | Value: true 17 | - Class: rviz/TF 18 | Name: TF 19 | Value: false 20 | Global Options: 21 | Fixed Frame: base_link 22 | Frame Rate: 30 23 | Name: root 24 | Tools: 25 | - Class: rviz/MoveCamera 26 | Value: true 27 | Views: 28 | Current: 29 | Class: rviz/Orbit 30 | Distance: 1.7 31 | Name: Current View 32 | Pitch: 0.33 33 | Value: Orbit (rviz) 34 | Yaw: 5.5 35 | Window Geometry: 36 | Height: 800 37 | Width: 1200 38 | -------------------------------------------------------------------------------- /.github/workflows/main.yml: -------------------------------------------------------------------------------- 1 | on: 2 | schedule: 3 | # Run this once per day, towards the end of the day for keeping the most 4 | # recent data point most meaningful (hours are interpreted in UTC). 5 | - cron: "0 23 * * *" 6 | workflow_dispatch: # Allow for running this manually. 7 | 8 | jobs: 9 | j1: 10 | name: repostats-for-nice-project 11 | runs-on: ubuntu-latest 12 | steps: 13 | - name: run-ghrs 14 | uses: jgehrcke/github-repo-stats@v1.1.0 15 | with: 16 | # Define the stats repository (the repo to fetch 17 | # stats for and to generate the report for). 18 | # Remove the parameter when the stats repository 19 | # and the data repository are the same. 20 | # repository: AirbusDefenceAndSpace/vispa 21 | # Set a GitHub API token that can read the stats 22 | # repository, and that can push to the data 23 | # repository (which this workflow file lives in), 24 | # to store data and the report files. 25 | ghtoken: ${{ secrets.ghrs_github_api_token }} 26 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ################################################################################ 2 | # Set minimum required version of cmake, project name and compile options 3 | ################################################################################ 4 | cmake_minimum_required(VERSION 3.5) 5 | project(vispa) 6 | 7 | if(NOT CMAKE_CXX_STANDARD) 8 | set(CMAKE_CXX_STANDARD 14) 9 | endif() 10 | 11 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 12 | add_compile_options(-Wall -Wextra -Wpedantic) 13 | endif() 14 | 15 | ################################################################################ 16 | # Find ament packages and libraries for ament and system dependencies 17 | ################################################################################ 18 | find_package(ament_cmake REQUIRED) 19 | find_package(urdf REQUIRED) 20 | 21 | 22 | install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) 23 | install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME}) 24 | install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME}) 25 | install(DIRECTORY meshes DESTINATION share/${PROJECT_NAME}) 26 | 27 | ################################################################################ 28 | # Macro for ament package 29 | ################################################################################ 30 | ament_package() 31 | -------------------------------------------------------------------------------- /meshes/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | CAD_STL 4 | 0.0.0 5 | The CAD_STL package 6 | 7 | 8 | 9 | 10 | mark 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | -------------------------------------------------------------------------------- /launch/display.launch.py: -------------------------------------------------------------------------------- 1 | import os 2 | 3 | from ament_index_python.packages import get_package_share_directory 4 | 5 | from launch import LaunchDescription 6 | from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription 7 | from launch.conditions import IfCondition 8 | from launch.launch_description_sources import PythonLaunchDescriptionSource 9 | from launch.substitutions import LaunchConfiguration, PythonExpression 10 | from launch_ros.actions import Node 11 | 12 | 13 | def generate_launch_description(): 14 | # Get the launch directory 15 | bringup_dir = get_package_share_directory('vispa') 16 | launch_dir = os.path.join(bringup_dir, 'launch') 17 | 18 | # Launch configuration variables specific to simulation 19 | rviz_config_file = LaunchConfiguration('rviz_config_file') 20 | use_robot_state_pub = LaunchConfiguration('use_robot_state_pub') 21 | use_joint_state_pub = LaunchConfiguration('use_joint_state_pub') 22 | use_rviz = LaunchConfiguration('use_rviz') 23 | urdf_file= LaunchConfiguration('urdf_file') 24 | 25 | declare_rviz_config_file_cmd = DeclareLaunchArgument( 26 | 'rviz_config_file', 27 | default_value=os.path.join(bringup_dir, 'rviz', 'vispa_ros2.rviz'), 28 | description='Full path to the RVIZ config file to use') 29 | declare_use_robot_state_pub_cmd = DeclareLaunchArgument( 30 | 'use_robot_state_pub', 31 | default_value='True', 32 | description='Whether to start the robot state publisher') 33 | declare_use_joint_state_pub_cmd = DeclareLaunchArgument( 34 | 'use_joint_state_pub', 35 | default_value='True', 36 | description='Whether to start the joint state publisher') 37 | declare_use_rviz_cmd = DeclareLaunchArgument( 38 | 'use_rviz', 39 | default_value='True', 40 | description='Whether to start RVIZ') 41 | 42 | declare_urdf_cmd = DeclareLaunchArgument( 43 | 'urdf_file', 44 | default_value=os.path.join(bringup_dir, 'urdf', 'VISPA_modifiedDH_Ros2.urdf'), 45 | description='Whether to start RVIZ') 46 | 47 | 48 | start_robot_state_publisher_cmd = Node( 49 | condition=IfCondition(use_robot_state_pub), 50 | package='robot_state_publisher', 51 | executable='robot_state_publisher', 52 | name='robot_state_publisher', 53 | output='screen', 54 | #parameters=[{'use_sim_time': use_sim_time}], 55 | arguments=[urdf_file]) 56 | 57 | start_joint_state_publisher_cmd = Node( 58 | condition=IfCondition(use_joint_state_pub), 59 | package='joint_state_publisher_gui', 60 | executable='joint_state_publisher_gui', 61 | name='joint_state_publisher_gui', 62 | output='screen', 63 | arguments=[urdf_file]) 64 | 65 | rviz_cmd = Node( 66 | condition=IfCondition(use_rviz), 67 | package='rviz2', 68 | executable='rviz2', 69 | name='rviz2', 70 | arguments=['-d', rviz_config_file], 71 | output='screen') 72 | 73 | 74 | # Create the launch description and populate 75 | ld = LaunchDescription() 76 | 77 | # Declare the launch options 78 | ld.add_action(declare_rviz_config_file_cmd) 79 | ld.add_action(declare_urdf_cmd) 80 | ld.add_action(declare_use_robot_state_pub_cmd) 81 | ld.add_action(declare_use_joint_state_pub_cmd) 82 | ld.add_action(declare_use_rviz_cmd) 83 | 84 | 85 | # Add any conditioned actions 86 | ld.add_action(start_joint_state_publisher_cmd) 87 | ld.add_action(start_robot_state_publisher_cmd) 88 | ld.add_action(rviz_cmd) 89 | 90 | return ld 91 | 92 | -------------------------------------------------------------------------------- /matlab_import.m: -------------------------------------------------------------------------------- 1 | close all 2 | clear 3 | clc 4 | 5 | folder = fileparts(which(mfilename)); 6 | addpath(genpath(folder)); 7 | 8 | vispa = importrobot('VISPA_modifiedDH.urdf'); 9 | vispa.DataFormat = 'row'; 10 | vispa.Gravity = [0,0,-9.81]; 11 | 12 | nJoints = 6; 13 | posStart = [0,0,pi/2,0,pi/2,pi/2]; 14 | posEnd = [pi/4, -pi/2, 0, pi, 0, 0]; 15 | 16 | timeStart = 0; 17 | timeEnd = 3; 18 | numberPoints = 100; 19 | 20 | time = linspace(timeStart, timeEnd, numberPoints); 21 | 22 | jointPositions = zeros(nJoints, length(time)); 23 | jointVelocities = zeros(nJoints, length(time)); 24 | jointAccelerations = zeros(nJoints, length(time)); 25 | 26 | for nJoint = 1:6 27 | 28 | polyCoefficientsPos = ... 29 | get5thPolynomialTrajectoryCoefficients(timeStart, timeEnd,... 30 | posStart(nJoint), ... 31 | posEnd(nJoint)); 32 | 33 | polyCoefficientsVel = polyder(polyCoefficientsPos); 34 | polyCoefficientsAcc = polyder(polyCoefficientsVel); 35 | 36 | for timeIndex = 1:length(time) 37 | sampleTime = time(timeIndex); 38 | jointPositions(nJoint, timeIndex) = polyval(polyCoefficientsPos, ... 39 | sampleTime); 40 | jointVelocities(nJoint, timeIndex) = polyval(polyCoefficientsVel, ... 41 | sampleTime); 42 | jointAccelerations(nJoint, timeIndex) = polyval(polyCoefficientsAcc, ... 43 | sampleTime); 44 | end 45 | end 46 | 47 | figure; 48 | axis equal 49 | 50 | jointTorques = zeros(nJoints, length(time)); 51 | for timeIndex = 1:length(time) 52 | torques = inverseDynamics(vispa, ... 53 | jointPositions(:, timeIndex)',... 54 | jointVelocities(:, timeIndex)',... 55 | jointAccelerations(:, timeIndex)'); 56 | jointTorques(:, timeIndex) = torques'; 57 | 58 | show(vispa, jointPositions(:,timeIndex)','Visuals', 'off') 59 | endEffectorPose = getTransform(vispa, jointPositions(:,timeIndex)',... 60 | 'Link_6'); 61 | 62 | endEffectorPos = endEffectorPose(1:3,4)'; 63 | hold on; 64 | plot3(endEffectorPos(1),endEffectorPos(2),endEffectorPos(3),'k*') 65 | 66 | end 67 | 68 | show(vispa, posStart, 'Visuals', 'on'); 69 | show(vispa, posEnd, 'Visuals', 'on'); 70 | 71 | figure; 72 | hold on; 73 | tags = strings(1,nJoints); 74 | for nJoint = 1:6 75 | p(nJoint) = plot(time,jointPositions(nJoint,:)); 76 | tags(nJoint) = sprintf('Joint%u', nJoint); 77 | end 78 | legend(p(1:nJoint), tags) 79 | title('Example Trajectory: Joint Positions') 80 | xlabel('Joint Position [rad]') 81 | ylabel('Time [s]') 82 | 83 | figure; 84 | hold on; 85 | tags = strings(1,nJoints); 86 | for nJoint = 1:6 87 | p(nJoint) = plot(time,jointVelocities(nJoint,:)); 88 | tags(nJoint) = sprintf('Joint%u', nJoint); 89 | end 90 | legend(p(1:nJoint), tags) 91 | title('Example Trajectory: Joint Velocities') 92 | xlabel('Joint Velocities [rad/s]') 93 | ylabel('Time [s]') 94 | 95 | figure; 96 | hold on; 97 | tags = strings(1,nJoints); 98 | for nJoint = 1:6 99 | p(nJoint) = plot(time,jointAccelerations(nJoint,:)); 100 | tags(nJoint) = sprintf('Joint%u', nJoint); 101 | end 102 | legend(p(1:nJoint), tags) 103 | title('Example Trajectory: Joint Accelerations') 104 | xlabel('Joint Accelerations [rad/s2]') 105 | ylabel('Time [s]') 106 | 107 | figure; 108 | hold on; 109 | tags = strings(1,nJoints); 110 | for nJoint = 1:6 111 | p(nJoint) = plot(time,jointTorques(nJoint,:)); 112 | tags(nJoint) = sprintf('Joint%u', nJoint); 113 | end 114 | legend(p(1:nJoint), tags) 115 | title('Example Trajectory: Joint Torques') 116 | xlabel('Joint Torques [Nm]') 117 | ylabel('Time [s]') 118 | 119 | 120 | function polyCoefficients = get5thPolynomialTrajectoryCoefficients(timeStart, timeEnd, posStart, posEnd) 121 | 122 | A = [... 123 | 1, timeStart, timeStart^2, timeStart^3, timeStart^4, timeStart^5;... 124 | 1, timeEnd, timeEnd^2, timeEnd^3, timeEnd^4, timeEnd^5;... 125 | 0, 1, 2*timeStart, 3*timeStart^2, 4*timeStart^3, 5*timeStart^4;... 126 | 0, 1, 2*timeEnd, 3*timeEnd^2, 4*timeEnd^3, 5*timeEnd^4; 127 | 0, 0, 1, 6*timeStart, 12*timeStart^2, 20*timeStart^3; 128 | 0, 0, 1, 6*timeEnd, 12*timeEnd^2, 20*timeEnd^3]; 129 | 130 | b = [posStart, posEnd, 0, 0, 0, 0]'; 131 | 132 | polyCoefficients = flipud(A\b); 133 | 134 | end 135 | -------------------------------------------------------------------------------- /urdf/VISPA_modifiedDH.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | -------------------------------------------------------------------------------- /urdf/VISPA_modifiedDH_CoppeliaSim.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | -------------------------------------------------------------------------------- /urdf/VISPA_modifiedDH_Ros2.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | -------------------------------------------------------------------------------- /rviz/vispa_ros2.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz_common/Displays 3 | Help Height: 138 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Global Options1 8 | - /Status1 9 | Splitter Ratio: 0.5 10 | Tree Height: 442 11 | - Class: rviz_common/Selection 12 | Name: Selection 13 | - Class: rviz_common/Tool Properties 14 | Expanded: 15 | - /2D Goal Pose1 16 | - /Publish Point1 17 | Name: Tool Properties 18 | Splitter Ratio: 0.5886790156364441 19 | - Class: rviz_common/Views 20 | Expanded: 21 | - /Current View1 22 | Name: Views 23 | Splitter Ratio: 0.5 24 | Visualization Manager: 25 | Class: "" 26 | Displays: 27 | - Alpha: 0.5 28 | Cell Size: 1 29 | Class: rviz_default_plugins/Grid 30 | Color: 160; 160; 164 31 | Enabled: true 32 | Line Style: 33 | Line Width: 0.029999999329447746 34 | Value: Lines 35 | Name: Grid 36 | Normal Cell Count: 0 37 | Offset: 38 | X: 0 39 | Y: 0 40 | Z: 0 41 | Plane: XY 42 | Plane Cell Count: 10 43 | Reference Frame: 44 | Value: true 45 | - Alpha: 1 46 | Class: rviz_default_plugins/RobotModel 47 | Collision Enabled: false 48 | Description File: "" 49 | Description Source: Topic 50 | Description Topic: 51 | Depth: 5 52 | Durability Policy: Volatile 53 | History Policy: Keep Last 54 | Reliability Policy: Reliable 55 | Value: "/robot_description" 56 | Enabled: true 57 | Links: 58 | All Links Enabled: true 59 | Expand Joint Details: false 60 | Expand Link Details: false 61 | Expand Tree: false 62 | Link Tree Style: "" 63 | Name: RobotModel 64 | TF Prefix: "" 65 | Update Interval: 0 66 | Value: true 67 | Visual Enabled: true 68 | - Class: rviz_default_plugins/TF 69 | Enabled: true 70 | Frame Timeout: 15 71 | Frames: 72 | All Enabled: true 73 | Marker Scale: 1 74 | Name: TF 75 | Show Arrows: false 76 | Show Axes: false 77 | Show Names: false 78 | Tree: 79 | {} 80 | Update Interval: 0 81 | Value: true 82 | Enabled: true 83 | Global Options: 84 | Background Color: 48; 48; 48 85 | Fixed Frame: world 86 | Frame Rate: 30 87 | Name: root 88 | Tools: 89 | - Class: rviz_default_plugins/Interact 90 | Hide Inactive Objects: true 91 | - Class: rviz_default_plugins/MoveCamera 92 | - Class: rviz_default_plugins/Select 93 | - Class: rviz_default_plugins/FocusCamera 94 | - Class: rviz_default_plugins/Measure 95 | Line color: 128; 128; 0 96 | - Class: rviz_default_plugins/SetInitialPose 97 | Topic: 98 | Depth: 5 99 | Durability Policy: Volatile 100 | History Policy: Keep Last 101 | Reliability Policy: Reliable 102 | Value: /initialpose 103 | - Class: rviz_default_plugins/SetGoal 104 | Topic: 105 | Depth: 5 106 | Durability Policy: Volatile 107 | History Policy: Keep Last 108 | Reliability Policy: Reliable 109 | Value: /goal_pose 110 | - Class: rviz_default_plugins/PublishPoint 111 | Single click: true 112 | Topic: 113 | Depth: 5 114 | Durability Policy: Volatile 115 | History Policy: Keep Last 116 | Reliability Policy: Reliable 117 | Value: /clicked_point 118 | Transformation: 119 | Current: 120 | Class: rviz_default_plugins/TF 121 | Value: true 122 | Views: 123 | Current: 124 | Class: rviz_default_plugins/Orbit 125 | Distance: 2.5 126 | Enable Stereo Rendering: 127 | Stereo Eye Separation: 0.05999999865889549 128 | Stereo Focal Distance: 1 129 | Swap Stereo Eyes: false 130 | Value: false 131 | Focal Point: 132 | X: -0.0788613 133 | Y: -0.00114221 134 | Z: 0.103488 135 | Focal Shape Fixed Size: true 136 | Focal Shape Size: 0.05000000074505806 137 | Invert Z Axis: false 138 | Name: Current View 139 | Near Clip Distance: 0.009999999776482582 140 | Pitch: 0.605398 141 | Target Frame: 142 | Value: Orbit (rviz) 143 | Yaw: 0.785398006439209 144 | Saved: ~ 145 | Window Geometry: 146 | Displays: 147 | collapsed: false 148 | Height: 846 149 | Hide Left Dock: false 150 | Hide Right Dock: false 151 | QMainWindow State: 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152 | Selection: 153 | collapsed: false 154 | Tool Properties: 155 | collapsed: false 156 | Views: 157 | collapsed: false 158 | Width: 1200 159 | X: 144 160 | Y: 60 161 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | (C) 2022 Airbus Defence and Space. Licensed under Apache 2.0 2 | 3 | 4 |

5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 |

13 | 14 | 15 | # VISPA Description [![Tweet](https://img.shields.io/twitter/url/http/shields.io.svg?style=social)](https://twitter.com/intent/tweet?text=Try%20out%20VISPA%20a%20space%20robotic%20arm%20for%20next%20gen%20space!&url=https://www.github.com/AirbusDefenceAndSpace/vispa&via=AirbusSpace&hashtags=vispa,robotic,urdf,space) 16 | 17 | ![VISPA](images/vispa_render.jpg) 18 | 19 | This collection of files and folders containing the necessary information to visualise and simulate the Versatile In-Space and Planetary Arm (VISPA). At the heart of the description package is the Unified Robot Description Format (URDF) that is commonly utalised in robotics to represent a robot model in the XML format. 20 | 21 | - [VISPA Description](#vispa-description) 22 | - [Folder Structure](#folder-structure) 23 | - [urdf](#urdf) 24 | - [meshes](#meshes) 25 | - [rviz](#rviz) 26 | - [launch](#launch) 27 | - [Viewing Model](#viewing-model) 28 | - [ROS 2 (distro foxy)](#ros-2-distro-foxy) 29 | - [ROS 1 (distro kinetic)](#ros-1-distro-kinetic) 30 | - [CoppeliaSim (Version 4.2)](#coppeliasim-version-42) 31 | - [Matlab](#matlab) 32 | - [Caveats](#caveats) 33 | - [TODO](#todo) 34 | 35 | ## Folder Structure 36 | 37 | ``` 38 | vispa_description 39 | | README.md 40 | | CMakeLists.txt 41 | | package.xml 42 | | 43 | └─ images 44 | | coppeliasim_vispa.png 45 | | ... 46 | └─ launch 47 | | display.launch 48 | | display.launch.py 49 | └─ meshes 50 | | Link0_DHReference-PublicRelease.stl 51 | | Link0_DHReference-PublicRelease-col.stl 52 | | ... 53 | | Link6_DHReference-PublicRelease.stl 54 | | Link6_DHReference-PublicRelease-col.stl 55 | └─ rviz 56 | | vispa_ros1.rviz 57 | | vispa_ros2.rviz 58 | └─ urdf 59 | VISPA_modifiedDH.urdf 60 | VISPA_modifiedDH_Ros2.urdf 61 | 62 | 63 | ``` 64 | ### urdf 65 | This folder contains the URDF file (VISPA_modifiedDH.urdf) that describes the robotic arm characteristics, and links to CAD data. 66 | 67 | ### meshes 68 | 69 | Stores the CAD files for sections for the arm in STL format. Each section has two corresponding files; one for visulaisation and one for collision checking algorithms. The colision check STL files are smaller in size to allow quicker processing this is achieved by decimating the mesh. 70 | 71 | ### rviz 72 | 73 | Setting files to view the model in the Robotic Operation System (ROS) visualisation tool (RViz). ROS has two 'main' versions, ROS1 and ROS2, with subsequent two versions of Rviz. 74 | 75 | ### launch 76 | 77 | ROS works by using started scripts or launch files start 'nodes'. The launch folder contains launch files for ROS1 and ROS2. ROS2 uses python instead of the previous custom .launch file type. 78 | 79 | ## Viewing Model 80 | 81 | ### ROS 2 (distro foxy + Ubuntu 18.04 LTS) 82 | 83 | This was tested on Ubuntu 18.04LTS with the ROS2 Foxy version. The following assumes Ros2 is already installed, if not then the webpage - https://docs.ros.org/en/dashing/Installation/Ubuntu-Install-Binary.html - is proably a good starting point to understanding how to install it. 84 | 85 | Start by cloning the vispa repo to a suitable location. 86 | 87 | ```bash 88 | git clone https://github.com/AirbusDefenceAndSpace/vispa.git 89 | cd vispa 90 | ``` 91 | 92 | Then build the package using the following two commands. The author used the Zsh command shell, if using another one for instance, Bash, then change the suffix on 'setup.' to what is appropriate. 93 | 94 | ```bash 95 | colcon build 96 | . install/setup.zsh 97 | ``` 98 | Then launch the rviz viewer that hopefully should load the Vispa Urdf and provide a small gui to control joint positions. 99 | 100 | ```bash 101 | ros2 launch vispa display.launch.py 102 | ``` 103 | ![Ros](images/vispa_ros2.png) 104 | 105 | ### ROS 1 (distro kinetic) 106 | 107 | This is the basic command to get the model to run with the original rviz, but no gurantees on this... 108 | 109 | ```bash 110 | roslaunch urdf_tutorial display.launch model:=src/vispa_description/vispa.urdf gui:=True 111 | ``` 112 | 113 | ### CoppeliaSim (Version 4.2 + Windows 10) 114 | 115 | CoppeliaSim is a robotic simulator used in industry and academia. This was tested on version 4.2 in Windows 10. I used git bash to perform the clone but other methods in windows are available. 116 | 117 | ```bash 118 | git clone https://github.com/AirbusDefenceAndSpace/vispa.git 119 | cd vispa 120 | ``` 121 | 122 | Start CoppeliaSim and select 'Plugins -> URDF Importer' 123 | 124 | Navigate to the **VISPA_modifiedDH_CoppeliaSim.urdf** file in the `vispa/urdf` folder and select. It will then take a few moments to import. 125 | 126 | ![CoppeliaSim](images/coppeliasim_vispa.png) 127 | 128 | ### Matlab (R2020b + Robotic Systems Toolbox) 129 | 130 | An example matlab script is included (matlab_import.m) that loads the URDF, generates a simple trajectory, and generates some simple plots of joint data. Its important to mention that the scipt uses the `importrobot` function from Matlab's own Robotic Systems Toolbox (https://uk.mathworks.com/products/robotics.html) 131 | 132 | Get the vispa repository via the cloning command. 133 | 134 | ```bash 135 | git clone https://github.com/AirbusDefenceAndSpace/vispa.git 136 | ``` 137 | 138 | Open Matlab, then change the current working directory to the repo. Open matlab_import.m and click run. 139 | 140 | ![Matlab](images/Matlab_Example.PNG) 141 | 142 | ## Caveats 143 | 144 | 1) Important into ROS using ROS2; have in the past used ROS1 but at this stage unable to document the exact proceedure. 145 | 2) CAD STL models might need to be reduced in size as load times is larger than normal expected. 146 | 147 | ## TODO 148 | 149 | -------------------------------------------------------------------------------- /LICENSE.txt: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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