├── .gitignore ├── .gitignore~ ├── .vscode ├── c_cpp_properties.json └── settings.json ├── LICENSE ├── LICENSE.md ├── Note for German decimal point ├── dual_arm_manipulation ├── .vscode │ ├── c_cpp_properties.json │ └── settings.json ├── README.md ├── Setup │ ├── eigen3.sh │ ├── git.sh │ ├── robotics_tasks.sh │ ├── ros.sh │ └── ros.sh~ ├── dual_arm_robot_applications │ ├── CMakeLists.txt │ ├── include │ │ ├── dual_arm_demonstrator_iml │ │ │ ├── DualArmRobot.h │ │ │ └── SceneManager.h │ │ ├── dual_arm_toolbox │ │ │ ├── TrajectoryProcessor.h │ │ │ └── Transform.h │ │ └── ur_logging │ │ │ ├── Stopwatch.h │ │ │ ├── UrLogger.h │ │ │ └── UrMessageListener.h │ ├── launch │ │ ├── dual_arm_robot_bringup.launch │ │ ├── dual_arm_robot_offline_rviz.launch │ │ ├── dual_arm_robot_ros_control_rviz.launch │ │ ├── dual_arm_robot_ros_control_start.launch │ │ ├── dual_arm_robot_rviz.launch │ │ ├── dual_arm_robot_tcp_wrench_publisher.launch │ │ ├── robotiq_2Finger_action_server.launch │ │ ├── ur5_olddriver_rviz.launch │ │ ├── ur5_ros_control_hi.launch │ │ ├── ur5_ros_control_rviz.launch │ │ └── ur5_rviz.launch │ ├── meshes │ │ └── shelf │ │ │ ├── shelf.stl │ │ │ └── table_rondi.stl │ ├── package.xml │ ├── src │ │ ├── dual_arm_demonstrator_iml │ │ │ ├── DualArmRobot.cpp │ │ │ └── SceneManager.cpp │ │ ├── dual_arm_robot_vel_force_experiment.cpp │ │ ├── dual_arm_toolbox │ │ │ ├── TrajectoryProcessor.cpp │ │ │ └── Transform.cpp │ │ ├── executables │ │ │ ├── demonstration_setup_helper.cpp │ │ │ ├── dual_arm_robot_demonstration.cpp │ │ │ ├── dual_arm_robot_grasp_experiment.cpp │ │ │ ├── dual_arm_robot_lift_experiment_force.cpp │ │ │ ├── dual_arm_robot_lift_experiment_force_1.cpp │ │ │ ├── dual_arm_robot_lift_experiment_force_2.cpp │ │ │ ├── dual_arm_robot_lift_experiment_planning.cpp │ │ │ └── dual_arm_robot_logger.cpp │ │ ├── left_force_hold_exp.cpp │ │ └── ur_logging │ │ │ ├── Stopwatch.cpp │ │ │ ├── UrLogger.cpp │ │ │ └── UrMessageListener.cpp │ ├── tf_transformation_for_robots │ └── tf_transformation_for_robots~ ├── dual_arm_robot_description │ ├── CMakeLists.txt │ ├── launch │ │ ├── display_urdf.launch │ │ └── dual_arm_robot_upload.launch │ ├── meshes │ │ ├── endeffector │ │ │ ├── ee_frame.stl │ │ │ └── ee_spring.stl │ │ └── table │ │ │ ├── table.stl │ │ │ ├── table_back.stl │ │ │ ├── table_camerahanger.stl │ │ │ ├── table_front.stl │ │ │ ├── table_ground.stl │ │ │ ├── table_platform_right.stl │ │ │ ├── table_platform_ur5.stl │ │ │ └── table_side.stl │ ├── package.xml │ ├── src │ │ └── parser.cpp │ └── urdf │ │ ├── dual_arm_robot.urdf │ │ ├── dual_arm_robot.urdf.xacro │ │ ├── dual_arm_robot_gripper.urdf.xacro │ │ ├── endeffector.urdf.xacro │ │ ├── ikfast_commands.txt │ │ ├── table.urdf.xacro │ │ └── ur5.urdf.xacro ├── dual_arm_robot_driver │ ├── CMakeLists.txt │ ├── config │ │ ├── left_controllers.yaml │ │ ├── right_controllers.yaml │ │ └── ur5_controllers.yaml │ ├── launch │ │ ├── dual_arm_robot_bringup.launch │ │ └── dual_arm_robot_bringup_ros_control.launch │ └── package.xml ├── dual_arm_robot_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── dual_arm_robot.srdf │ │ ├── dual_arm_robot.srdf~ │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ └── ompl_planning.yaml │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── dual_arm_robot_moveit_controller_manager.launch.xml │ │ ├── dual_arm_robot_moveit_planning_execution.launch │ │ ├── dual_arm_robot_moveit_sensor_manager.launch.xml │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml ├── joint_trajectory_admittance_controller │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── CMakeLists.txt~ │ ├── README.md │ ├── controller_plugins.xml │ ├── images │ │ ├── new_trajectory.png │ │ ├── new_trajectory.svg │ │ ├── trajectory_replacement_future.png │ │ ├── trajectory_replacement_future.svg │ │ ├── trajectory_replacement_now.png │ │ ├── trajectory_replacement_now.svg │ │ ├── trajectory_replacement_past.png │ │ └── trajectory_replacement_past.svg │ ├── include │ │ ├── admittance_control │ │ │ └── admittance_control.h │ │ ├── joint_trajectory_admittance_controller │ │ │ ├── hardware_interface_adapter.h │ │ │ ├── init_joint_trajectory.h │ │ │ ├── joint_trajectory_admittance_controller.h │ │ │ ├── joint_trajectory_admittance_controller_impl.h │ │ │ ├── joint_trajectory_msg_utils.h │ │ │ ├── joint_trajectory_segment.h │ │ │ └── tolerances.h │ │ └── trajectory_interface_admittance │ │ │ ├── pos_vel_acc_state.h │ │ │ ├── quintic_spline_segment.h │ │ │ └── trajectory_interface.h │ ├── mainpage.dox │ ├── package.xml │ ├── ros_control_plugins.xml~ │ ├── rosdoc.yaml │ ├── src │ │ └── joint_trajectory_admittance_controller.cpp │ └── test │ │ ├── init_joint_trajectory_test.cpp │ │ ├── joint_trajectory_controller.test │ │ ├── joint_trajectory_controller_test.cpp │ │ ├── joint_trajectory_msg_utils_test.cpp │ │ ├── joint_trajectory_segment_test.cpp │ │ ├── quintic_spline_segment_test.cpp │ │ ├── rrbot.cpp │ │ ├── rrbot.xacro │ │ ├── rrbot_controllers.yaml │ │ ├── tolerances.test │ │ ├── tolerances.yaml │ │ ├── tolerances_test.cpp │ │ └── trajectory_interface_test.cpp ├── my_cart_controller_pkg │ ├── CMakeLists.txt │ ├── config │ │ └── ur10_controller_setup.yaml │ ├── controller_plugins.xml │ ├── include │ │ └── my_controller_pkg │ │ │ └── my_controller_file.h │ ├── package.xml │ └── src │ │ └── my_controller_file.cpp └── my_controller_pkg │ ├── CMakeLists.txt │ ├── config │ └── ur10_controller_setup.yaml │ ├── controller_plugins.xml │ ├── include │ └── my_controller_pkg │ │ └── my_controller_file.h │ ├── package.xml │ └── src │ └── my_controller_file.cpp ├── readme.txt ├── readme.txt~ ├── robotiq ├── robotiq │ ├── CMakeLists.txt │ └── package.xml ├── robotiq_action_server │ ├── CMakeLists.txt │ ├── include │ │ └── robotiq_action_server │ │ │ └── robotiq_c_model_action_server.h │ ├── launch │ │ └── robotiq_c_model_action_server.launch │ ├── package.xml │ └── src │ │ ├── robotiq_action_server_client_test.cpp │ │ ├── robotiq_c_model_action_server.cpp │ │ └── robotiq_c_model_action_server_node.cpp ├── robotiq_c2_model_visualization │ ├── CMakeLists.txt │ ├── launch │ │ └── test_robotiq_c2_model.launch │ ├── meshes │ │ └── robotiq_c2 │ │ │ ├── collision │ │ │ ├── robotiq_85_gripper_adapter_plate.dae │ │ │ ├── robotiq_85_gripper_base.dae │ │ │ ├── robotiq_85_gripper_joint_0_L.dae │ │ │ ├── robotiq_85_gripper_joint_0_R.dae │ │ │ ├── robotiq_85_gripper_joint_1_L.dae │ │ │ ├── robotiq_85_gripper_joint_1_R.dae │ │ │ ├── robotiq_85_gripper_joint_2_L.dae │ │ │ ├── robotiq_85_gripper_joint_2_R.dae │ │ │ ├── robotiq_85_gripper_joint_3_L.dae │ │ │ └── robotiq_85_gripper_joint_3_R.dae │ │ │ └── visual │ │ │ ├── adapter_plate.dae │ │ │ ├── robotiq_85_gripper_adapter_plate.dae │ │ │ ├── robotiq_85_gripper_base.dae │ │ │ ├── robotiq_85_gripper_joint_0_L.dae │ │ │ ├── robotiq_85_gripper_joint_0_R.dae │ │ │ ├── robotiq_85_gripper_joint_1_L.dae │ │ │ ├── robotiq_85_gripper_joint_1_R.dae │ │ │ ├── robotiq_85_gripper_joint_2_L.dae │ │ │ ├── robotiq_85_gripper_joint_2_R.dae │ │ │ ├── robotiq_85_gripper_joint_3_L.dae │ │ │ └── robotiq_85_gripper_joint_3_R.dae │ ├── package.xml │ ├── urdf │ │ ├── robotiq_c2_model.urdf │ │ ├── robotiq_c2_model.xacro │ │ └── robotiq_c2_model_macro.xacro │ └── visualize.rviz ├── robotiq_c_model_control │ ├── CMakeLists.txt │ ├── include │ │ └── robotiq_c_model_control │ │ │ └── c_model_ethercat_client.h │ ├── launch │ │ └── c_model_ethercat.launch │ ├── mainpage.dox │ ├── msg │ │ ├── CModel_robot_input.msg │ │ └── CModel_robot_output.msg │ ├── nodes │ │ ├── CModelRtuNode.py │ │ ├── CModelSimpleController.py │ │ ├── CModelStatusListener.py │ │ └── CModelTcpNode.py │ ├── package.xml │ ├── setup.py │ └── src │ │ └── robotiq_c_model_control │ │ ├── __init__.py │ │ ├── baseCModel.py │ │ ├── c_model_ethercat_client.cpp │ │ ├── c_model_ethercat_node.cpp │ │ └── robotiq_c_ctrl.py ├── robotiq_ethercat │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── robotiq_ethercat │ │ │ └── ethercat_manager.h │ ├── package.xml │ └── src │ │ └── ethercat_manager.cpp ├── robotiq_force_torque_sensor │ ├── .vscode │ │ ├── c_cpp_properties.json │ │ └── settings.json │ ├── CMakeLists.txt │ ├── include │ │ └── robotiq_force_torque_sensor │ │ │ ├── rq_int.h │ │ │ ├── rq_sensor_com.h │ │ │ └── rq_sensor_state.h │ ├── meshes │ │ ├── collision │ │ │ ├── robotiq_fts150.stl │ │ │ └── robotiq_fts300.dae │ │ └── visual │ │ │ ├── robotiq_fts150.stl │ │ │ └── robotiq_fts300.dae │ ├── msg │ │ └── ft_sensor.msg │ ├── nodes │ │ ├── rq_sensor.cpp │ │ └── rq_test_sensor.cpp │ ├── package.xml │ ├── src │ │ ├── rq_sensor_com.cpp │ │ └── rq_sensor_state.cpp │ ├── srv │ │ └── sensor_accessor.srv │ └── urdf │ │ ├── robotiq_fts150.urdf.xacro │ │ └── robotiq_fts300.urdf.xacro ├── robotiq_joint_state_publisher │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── src │ │ └── s_model_joint_states.cpp ├── robotiq_modbus_rtu │ ├── CMakeLists.txt │ ├── mainpage.dox │ ├── package.xml │ ├── setup.py │ └── src │ │ └── robotiq_modbus_rtu │ │ ├── __init__.py │ │ └── comModbusRtu.py ├── robotiq_modbus_tcp │ ├── CMakeLists.txt │ ├── mainpage.dox │ ├── package.xml │ ├── setup.py │ └── src │ │ └── robotiq_modbus_tcp │ │ ├── __init__.py │ │ └── comModbusTcp.py ├── robotiq_s_model_articulated_gazebo │ ├── CMakeLists.txt │ ├── launch │ │ └── robotiq_gripper_empty_world.launch │ └── package.xml ├── robotiq_s_model_articulated_gazebo_plugins │ ├── CMakeLists.txt │ ├── include │ │ └── robotiq_s_model_articulated_gazebo_plugins │ │ │ └── RobotiqHandPlugin.h │ ├── package.xml │ └── src │ │ └── RobotiqHandPlugin.cpp ├── robotiq_s_model_articulated_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── SModelRobotInput.msg │ │ └── SModelRobotOutput.msg │ └── package.xml ├── robotiq_s_model_control │ ├── CMakeLists.txt │ ├── include │ │ └── robotiq_s_model_control │ │ │ └── s_model_ethercat_client.h │ ├── launch │ │ └── s_model_ethercat.launch │ ├── mainpage.dox │ ├── msg │ │ ├── SModel_robot_input.msg │ │ └── SModel_robot_output.msg │ ├── nodes │ │ ├── SModelSimpleController.py │ │ ├── SModelStatusListener.py │ │ └── SModelTcpNode.py │ ├── package.xml │ ├── setup.py │ └── src │ │ └── robotiq_s_model_control │ │ ├── __init__.py │ │ ├── baseSModel.py │ │ ├── s_model_ethercat_client.cpp │ │ └── s_model_ethercat_node.cpp └── robotiq_s_model_visualization │ ├── CMakeLists.txt │ ├── cfg │ ├── robotiq_hand_macro.urdf.xacro │ ├── s-model_articulated.urdf │ ├── s-model_articulated.xacro │ ├── s-model_articulated_macro.xacro │ ├── s-model_finger_articulated_macro.xacro │ ├── s-model_mesh.urdf │ ├── s-model_mesh.xacro │ ├── s-model_mesh.xml │ └── s-model_mesh_macro.xacro │ ├── mainpage.dox │ ├── meshes │ ├── s-model │ │ ├── collision │ │ │ ├── GRIPPER_CLOSED.stl │ │ │ ├── GRIPPER_OPEN.stl │ │ │ ├── GRIPPER_OPEN_FINGER_1.stl │ │ │ ├── GRIPPER_OPEN_FINGER_2.stl │ │ │ ├── GRIPPER_OPEN_FINGER_3.stl │ │ │ └── GRIPPER_OPEN_PALM.stl │ │ └── visual │ │ │ ├── GRIPPER_CLOSED.stl │ │ │ ├── GRIPPER_OPEN.stl │ │ │ ├── GRIPPER_OPEN_FINGER_1.stl │ │ │ ├── GRIPPER_OPEN_FINGER_2.stl │ │ │ ├── GRIPPER_OPEN_FINGER_3.stl │ │ │ └── GRIPPER_OPEN_PALM.stl │ └── s-model_articulated │ │ ├── collision │ │ ├── link_0.STL │ │ ├── link_1.STL │ │ ├── link_2.STL │ │ ├── link_3.STL │ │ └── palm.STL │ │ └── visual │ │ ├── link_0.STL │ │ ├── link_1.STL │ │ ├── link_2.STL │ │ ├── link_3.STL │ │ └── palm.STL │ └── package.xml ├── universal_robot ├── .vscode │ ├── c_cpp_properties.json │ └── settings.json └── universal_robot │ ├── .gitignore │ ├── .travis.yml │ ├── README.md │ ├── universal_robot │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml │ ├── ur10_moveit_config │ ├── .setup_assistant │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur10.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── ur10_moveit_controller_manager.launch.xml │ │ ├── ur10_moveit_planning_execution.launch │ │ ├── ur10_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml │ ├── ur3_moveit_config │ ├── .setup_assistant │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur3.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── ur3_moveit_controller_manager.launch.xml │ │ ├── ur3_moveit_planning_execution.launch │ │ ├── ur3_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml │ ├── ur5_moveit_config │ ├── .setup_assistant │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── config │ │ ├── controllers.yaml │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── ur5.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── ur5_moveit_controller_manager.launch.xml │ │ ├── ur5_moveit_planning_execution.launch │ │ ├── ur5_moveit_sensor_manager.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml │ ├── ur_bringup │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── ur10_bringup.launch │ │ ├── ur10_bringup_joint_limited.launch │ │ ├── ur3_bringup.launch │ │ ├── ur3_bringup_joint_limited.launch │ │ ├── ur5_bringup.launch │ │ ├── ur5_bringup_joint_limited.launch │ │ └── ur_common.launch │ └── package.xml │ ├── ur_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── test.launch │ │ ├── ur10_upload.launch │ │ ├── ur3_upload.launch │ │ └── ur5_upload.launch │ ├── meshes │ │ ├── ur10 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ ├── ur3 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── forearm.dae │ │ │ │ ├── shoulder.dae │ │ │ │ ├── upperarm.dae │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist2.dae │ │ │ │ └── wrist3.dae │ │ └── ur5 │ │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ ├── model.pdf │ ├── package.xml │ └── urdf │ │ ├── common.gazebo.xacro │ │ ├── ur.gazebo.xacro │ │ ├── ur.transmission.xacro │ │ ├── ur10.urdf.xacro │ │ ├── ur10_joint_limited_robot.urdf.xacro │ │ ├── ur10_robot.urdf.xacro │ │ ├── ur3.urdf.xacro │ │ ├── ur3_joint_limited_robot.urdf.xacro │ │ ├── ur3_robot.urdf.xacro │ │ ├── ur5.urdf.xacro │ │ ├── ur5_joint_limited_robot.urdf.xacro │ │ └── ur5_robot.urdf.xacro │ ├── ur_driver │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ └── URDriver.cfg │ ├── package.xml │ ├── prog │ ├── prog_reset │ ├── setup.py │ ├── src │ │ └── ur_driver │ │ │ ├── __init__.py │ │ │ ├── deserialize.py │ │ │ ├── deserializeRT.py │ │ │ ├── driver.py │ │ │ ├── io_interface.py │ │ │ ├── testRT_comm.py │ │ │ └── test_comm.py │ ├── test_io.py │ └── test_move.py │ ├── ur_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── controller │ │ ├── arm_controller_ur10.yaml │ │ ├── arm_controller_ur3.yaml │ │ ├── arm_controller_ur5.yaml │ │ └── joint_state_controller.yaml │ ├── launch │ │ ├── controller_utils.launch │ │ ├── ur10.launch │ │ ├── ur10_joint_limited.launch │ │ ├── ur3.launch │ │ ├── ur3_joint_limited.launch │ │ ├── ur5.launch │ │ └── ur5_joint_limited.launch │ └── package.xml │ ├── ur_kinematics │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── ur_kinematics │ │ │ ├── ikfast.h │ │ │ ├── ur_kin.h │ │ │ └── ur_moveit_plugin.h │ ├── package.xml │ ├── src │ │ ├── ur_kin.cpp │ │ ├── ur_kin_py.cpp │ │ ├── ur_kinematics │ │ │ └── test_analytical_ik.py │ │ └── ur_moveit_plugin.cpp │ └── ur_moveit_plugins.xml │ └── ur_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── msg │ ├── Analog.msg │ ├── Digital.msg │ ├── IOStates.msg │ ├── MasterboardDataMsg.msg │ ├── RobotStateRTMsg.msg │ └── ToolDataMsg.msg │ ├── package.xml │ └── srv │ ├── SetIO.srv │ └── SetPayload.srv └── ur_modern_driver ├── .gitignore ├── .vscode ├── c_cpp_properties.json └── settings.json ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── ur10_controllers.yaml ├── ur3_controllers.yaml └── ur5_controllers.yaml ├── include └── ur_modern_driver │ ├── do_output.h │ ├── robot_state.h │ ├── robot_state_RT.h │ ├── ur_communication.h │ ├── ur_driver.h │ ├── ur_hardware_interface.h │ └── ur_realtime_communication.h ├── launch ├── ur10_bringup.launch ├── ur10_bringup_compatible.launch ├── ur10_bringup_joint_limited.launch ├── ur10_ros_control.launch ├── ur3_bringup.launch ├── ur3_bringup_joint_limited.launch ├── ur3_ros_control.launch ├── ur5_bringup.launch ├── ur5_bringup_compatible.launch ├── ur5_bringup_joint_limited.launch ├── ur5_ros_control.launch └── ur_common.launch ├── package.xml ├── src ├── do_output.cpp ├── robot_state.cpp ├── robot_state_RT.cpp ├── ur_communication.cpp ├── ur_driver.cpp ├── ur_hardware_interface.cpp ├── ur_realtime_communication.cpp └── ur_ros_wrapper.cpp └── test_move.py /.gitignore: -------------------------------------------------------------------------------- 1 | # Compiled Object files 2 | *.slo 3 | *.lo 4 | *.o 5 | *.obj 6 | 7 | # Precompiled Headers 8 | *.gch 9 | *.pch 10 | 11 | # Compiled Dynamic libraries 12 | *.so 13 | *.dylib 14 | *.dll 15 | 16 | # Fortran module files 17 | *.mod 18 | 19 | # Compiled Static libraries 20 | *.lai 21 | *.la 22 | *.a 23 | *.lib 24 | 25 | # Executables 26 | *.exe 27 | *.out 28 | *.app 29 | 30 | dataLog/ 31 | 32 | \.vscode/settings\.json 33 | -------------------------------------------------------------------------------- /.gitignore~: -------------------------------------------------------------------------------- 1 | # Compiled Object files 2 | *.slo 3 | *.lo 4 | *.o 5 | *.obj 6 | 7 | # Precompiled Headers 8 | *.gch 9 | *.pch 10 | 11 | # Compiled Dynamic libraries 12 | *.so 13 | *.dylib 14 | *.dll 15 | 16 | # Fortran module files 17 | *.mod 18 | 19 | # Compiled Static libraries 20 | *.lai 21 | *.la 22 | *.a 23 | *.lib 24 | 25 | # Executables 26 | *.exe 27 | *.out 28 | *.app 29 | 30 | dataLog/ 31 | 32 | \.vscode/settings\.json 33 | 34 | robotiq 35 | 36 | ros_canopen 37 | 38 | universal_robot 39 | -------------------------------------------------------------------------------- /.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "python.autoComplete.extraPaths": [ 3 | "/home/gnc428/catkin_ws/devel/lib/python2.7/dist-packages", 4 | "/opt/ros/indigo/lib/python2.7/dist-packages" 5 | ], 6 | "files.associations": { 7 | "array": "cpp", 8 | "slist": "cpp", 9 | "initializer_list": "cpp", 10 | "cctype": "cpp", 11 | "cmath": "cpp", 12 | "csignal": "cpp", 13 | "cstdarg": "cpp", 14 | "cstddef": "cpp", 15 | "cstdio": "cpp", 16 | "cstdlib": "cpp", 17 | "cstring": "cpp", 18 | "ctime": "cpp", 19 | "cwchar": "cpp", 20 | "strstream": "cpp", 21 | "iosfwd": "cpp", 22 | "cinttypes": "cpp", 23 | "cstdint": "cpp", 24 | "typeindex": "cpp", 25 | "cwctype": "cpp", 26 | "core": "cpp", 27 | "chrono": "cpp", 28 | "ratio": "cpp", 29 | "thread": "cpp" 30 | }, 31 | "C_Cpp.intelliSenseEngineFallback": "Disabled" 32 | } -------------------------------------------------------------------------------- /LICENSE.md: -------------------------------------------------------------------------------- 1 | 2 | Copyright (C) 2018 3 | -------------------------------------------------------------------------------- /Note for German decimal point: -------------------------------------------------------------------------------- 1 | Um bei dem Moveit! Setup Assistenten das korrekte Dezimaltrennzeichen zu verwenden muss dieser Befehl eingegeben werden. Andernfalls werden Dezimalzahlen falsch gespeichert. 2 | export LC_NUMERIC=C 3 | -------------------------------------------------------------------------------- /dual_arm_manipulation/.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "python.autoComplete.extraPaths": [ 3 | "/home/chunting/catkin_ws/devel/lib/python2.7/dist-packages", 4 | "/opt/ros/indigo/lib/python2.7/dist-packages" 5 | ], 6 | "files.associations": { 7 | "cctype": "cpp", 8 | "cmath": "cpp", 9 | "csignal": "cpp", 10 | "cstdarg": "cpp", 11 | "cstddef": "cpp", 12 | "cstdio": "cpp", 13 | "cstdlib": "cpp", 14 | "cstring": "cpp", 15 | "ctime": "cpp", 16 | "cwchar": "cpp", 17 | "cwctype": "cpp", 18 | "strstream": "cpp", 19 | "chrono": "cpp", 20 | "cstdint": "cpp", 21 | "initializer_list": "cpp", 22 | "iosfwd": "cpp", 23 | "ratio": "cpp", 24 | "thread": "cpp", 25 | "cinttypes": "cpp", 26 | "typeindex": "cpp" 27 | } 28 | } -------------------------------------------------------------------------------- /dual_arm_manipulation/README.md: -------------------------------------------------------------------------------- 1 | # Dual-Arm-Robot-Force-Controlled-Object-Manipulation 2 | This Repository is the complete workspace of a project that realizes force-controlled object manipulation with a dual-arm-robot (UR5 and UR10). You can watch a demonstration video of the system by following this link: https://www.youtube.com/watch?v=O0-cC2ST5L8 3 | 4 | 5 | # Package overview: 6 | dual_arm_robot_applications: This package contains all important Files to execute using rosrun and roslaunch and start the demonstration. 7 | 8 | dual_arm_robot_description: This package contains the description files of the robot and the environment including the table and the side walls. 9 | 10 | dual_arm_robot_driver: This package contains configuration files for the controller. 11 | 12 | dual_arm_robot_moveit_config: This is the package generated by the MoveIt! Setup Assistant. It’s configured to function with ROS Control. 13 | 14 | joint_trajectory_admittance_controller: This package contains the source code of the controller that is used for the force-controlled grasp. It's based on the 15 | 16 | 17 | # Run demonstration: 18 | 1. roslaunch dual_arm_robot_ros_control_rviz.launch/dual_arm_robot_offline_rviz.launch 19 | 2. rosrun dual_arm_robot_demonstration 20 | 21 | 22 | # Documentation: 23 | For German speakers my master's thesis provides detailed information. For everyone else I hope some of the diagrams are useful! 24 | https://drive.google.com/file/d/0B-7XIb6B00m6WUFaQndJS2NzZUE/view?usp=sharing 25 | -------------------------------------------------------------------------------- /dual_arm_manipulation/Setup/eigen3.sh: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | sudo apt-get install -y libeigen3-dev 5 | -------------------------------------------------------------------------------- /dual_arm_manipulation/Setup/git.sh: -------------------------------------------------------------------------------- 1 | # /bin/bash 2 | 3 | sudo apt-get update 4 | sudo apt-get install git-all 5 | 6 | git config --global user.name "Chunting Jiao" 7 | git config --global user.email jiaochunting@gmail.com 8 | 9 | git --help 10 | 11 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_applications/include/dual_arm_toolbox/Transform.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by Chunting on 27.12.16. 3 | // 4 | 5 | #ifndef PROJECT_TRANSFORM_H 6 | #define PROJECT_TRANSFORM_H 7 | 8 | // ROS 9 | #include 10 | #include 11 | 12 | // Controller Manager 13 | #include 14 | #include 15 | #include 16 | 17 | // MoveIt! 18 | #include 19 | #include 20 | #include 21 | #include 22 | #include 23 | #include 24 | //#include 25 | //#include 26 | 27 | // Rviz 28 | #include 29 | 30 | // Trajectory tools 31 | #include 32 | #include 33 | 34 | // KDL 35 | #include 36 | 37 | 38 | namespace dual_arm_toolbox{ 39 | class Transform { 40 | protected: 41 | public: 42 | static void transformPoseToKDL(geometry_msgs::Pose pose, KDL::Frame& kdl_frame); 43 | static void transformKDLtoPose(KDL::Frame kdl_frame, geometry_msgs::Pose& pose); 44 | }; 45 | } 46 | 47 | #endif //PROJECT_TRANSFORM_H 48 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_applications/include/ur_logging/Stopwatch.h: -------------------------------------------------------------------------------- 1 | #include 2 | //#include 3 | 4 | class Stopwatch{ 5 | protected: 6 | public: 7 | Stopwatch(); 8 | void restart(); 9 | ros::Duration elapsed(); 10 | private: 11 | ros::Time start_; 12 | }; 13 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_applications/launch/dual_arm_robot_ros_control_start.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_applications/launch/dual_arm_robot_tcp_wrench_publisher.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_applications/launch/robotiq_2Finger_action_server.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_applications/launch/ur5_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 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 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_applications/meshes/shelf/shelf.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Chunting/dual_arm_manipulation/c8da294dcd35d5aa8c53c7fee252b1e6720489ba/dual_arm_manipulation/dual_arm_robot_applications/meshes/shelf/shelf.stl -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_applications/meshes/shelf/table_rondi.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Chunting/dual_arm_manipulation/c8da294dcd35d5aa8c53c7fee252b1e6720489ba/dual_arm_manipulation/dual_arm_robot_applications/meshes/shelf/table_rondi.stl -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_applications/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | dual_arm_robot_applications 4 | 1.0.0 5 | 6 | Applications for the dual arm robot 7 | 8 | 9 | Chunting Hoeltgen 10 | Chunting Hoeltgen 11 | 12 | BSD 13 | 14 | catkin 15 | roscpp 16 | tf 17 | roscpp 18 | tf 19 | rospy 20 | actionlib 21 | control_msgs 22 | sensor_msgs 23 | trajectory_msgs 24 | ur_msgs 25 | python-lxml 26 | 27 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_applications/src/dual_arm_toolbox/Transform.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by Chunting on 17.10.16. 3 | // 4 | 5 | #include "dual_arm_toolbox/Transform.h" 6 | 7 | using namespace dual_arm_toolbox; 8 | /* 9 | geometry_msgs/Pose.msg: 10 | geometry_msgs/Point position [x y z] 11 | geometry_msgs/Quaternion orientation [x y z w] 12 | */ 13 | void Transform::transformPoseToKDL(geometry_msgs::Pose pose, KDL::Frame& kdl_frame){ 14 | kdl_frame.M = kdl_frame.M.Quaternion( 15 | pose.orientation.x, 16 | pose.orientation.y, 17 | pose.orientation.z, 18 | pose.orientation.w 19 | ); 20 | kdl_frame.p.x(pose.position.x); 21 | kdl_frame.p.y(pose.position.y); 22 | kdl_frame.p.z(pose.position.z); 23 | } 24 | 25 | void Transform::transformKDLtoPose(KDL::Frame kdl_frame, geometry_msgs::Pose& pose){ 26 | kdl_frame.M.GetQuaternion( 27 | pose.orientation.x, 28 | pose.orientation.y, 29 | pose.orientation.z, 30 | pose.orientation.w 31 | ); 32 | pose.position.x = kdl_frame.p.x(); 33 | pose.position.y = kdl_frame.p.y(); 34 | pose.position.z = kdl_frame.p.z(); 35 | } -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_applications/src/executables/dual_arm_robot_logger.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by Chunting on 24.03.17. 3 | // 4 | 5 | // ROS 6 | #include 7 | #include 8 | 9 | //#include "../../include/ur_logging/UrLogger.h" 10 | #include "ur_logging/UrLogger.h" 11 | 12 | 13 | int main(int argc, char **argv){ 14 | ros::init(argc, argv, "dual_arm_robot_logger"); 15 | ros::NodeHandle nh; 16 | 17 | ros::AsyncSpinner asyncSpinner(1); 18 | asyncSpinner.start(); 19 | 20 | std::vector ur_namespaces; 21 | ur_namespaces.push_back("left"); 22 | ur_namespaces.push_back("right"); 23 | UR_Logger ur_logger(nh, ur_namespaces); 24 | // sampling rate, hz 25 | ur_logger.start(20); 26 | // sampling time, second 27 | ros::Duration(60).sleep(); 28 | ur_logger.stop(); 29 | 30 | ros::shutdown(); 31 | return 0; 32 | } -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_applications/src/ur_logging/Stopwatch.cpp: -------------------------------------------------------------------------------- 1 | #include "ur_logging/Stopwatch.h" 2 | 3 | Stopwatch::Stopwatch(){ 4 | start_ = ros::Time::now(); 5 | } 6 | 7 | void Stopwatch::restart(){ 8 | start_ = ros::Time::now(); 9 | } 10 | 11 | ros::Duration Stopwatch::elapsed(){ 12 | return (ros::Time::now() - start_); 13 | } 14 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_description/launch/display_urdf.launch: -------------------------------------------------------------------------------- 1 | 2 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_description/launch/dual_arm_robot_upload.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_description/meshes/endeffector/ee_frame.stl: -------------------------------------------------------------------------------- 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ROS_ERROR("Need a urdf file as argument"); 8 | return -1; 9 | } 10 | std::string urdf_file = argv[1]; 11 | 12 | urdf::Model model; 13 | if (!model.initFile(urdf_file)){ 14 | ROS_ERROR("Failed to parse urdf file"); 15 | return -1; 16 | } 17 | ROS_INFO("Successfully parsed urdf file"); 18 | return 0; 19 | } 20 | 21 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_description/urdf/ikfast_commands.txt: -------------------------------------------------------------------------------- 1 | EXPORT PYTHON PATH 2 | export PYTHONPATH=$PYTHONPATH:`openrave-config --python-dir` 3 | 4 | ROUND COLLADA VALUES 5 | rosrun moveit_ikfast round_collada_numbers.py dual_arm_robot.dae dual_arm_robot.rounded.dae 5 6 | 7 | CREATE IK FAST SOLUTION 8 | python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=dual_arm_robot.rounded.dae --iktype=transform6d --baselink=8 --eelink=16 --savefile=ikfast61_right_manipulator.cpp 9 | 10 | CREATE PLUGIN 11 | catkin_create_pkg dual_arm_robot_ik_fast_right_manipulator_plugin 12 | 13 | GENERATE CODE FOR PLUGIN (move ikfast61_right.cpp first) 14 | rosrun moveit_ikfast create_ikfast_moveit_plugin.py dual_arm_robot right_manipulator dual_arm_robot_ik_fast_right_manipulator_plugin src/ikfast61_right.cpp 15 | 16 | 17 | 18 | WEBSITE: 19 | http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/ikfast_tutorial.html?highlight=fast 20 | 21 | TO UPDATE CHANGES EASILY: 22 | update_ikfast_plugin.sh 23 | 24 | ??? 25 | export OPENRAVE_PLUGINS="/home/Chunting/catkin_ws/devel/share/openrave-0.9/plugins" 26 | 27 | 28 | DID NOT WORK 29 | [plugindatabase.h:577 Create] Failed to create name fcl_, interface collisionchecker 30 | [plugindatabase.h:577 Create] Failed to create name ode, interface collisionchecker 31 | 32 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/.setup_assistant: -------------------------------------------------------------------------------- 1 | moveit_setup_assistant_config: 2 | URDF: 3 | package: dual_arm_robot_description 4 | relative_path: urdf/dual_arm_robot.urdf.xacro 5 | use_jade_xacro: true 6 | SRDF: 7 | relative_path: config/dual_arm_robot.srdf 8 | CONFIG: 9 | author_name: Chunting Jiao 10 | author_email: jiaochunting@gmail.com 11 | generated_timestamp: 1552457695 -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(dual_arm_robot_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 9 | PATTERN "setup_assistant.launch" EXCLUDE) 10 | install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 11 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/config/controllers.yaml: -------------------------------------------------------------------------------- 1 | ### ros-control settings: 2 | controller_list: 3 | - name: left/left_vel_based_pos_traj_controller #or pos_based_pos_traj_controller 4 | action_ns: follow_joint_trajectory 5 | type: FollowJointTrajectory 6 | joints: 7 | - left_shoulder_pan_joint 8 | - left_shoulder_lift_joint 9 | - left_elbow_joint 10 | - left_wrist_1_joint 11 | - left_wrist_2_joint 12 | - left_wrist_3_joint 13 | 14 | - name: right/right_vel_based_pos_traj_controller #or pos_based_pos_traj_controller 15 | action_ns: follow_joint_trajectory 16 | type: FollowJointTrajectory 17 | joints: 18 | - right_shoulder_pan_joint 19 | - right_shoulder_lift_joint 20 | - right_elbow_joint 21 | - right_wrist_1_joint 22 | - right_wrist_2_joint 23 | - right_wrist_3_joint 24 | 25 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_left_manipulator_controller 3 | joints: 4 | - left_shoulder_pan_joint 5 | - left_shoulder_lift_joint 6 | - left_elbow_joint 7 | - left_wrist_1_joint 8 | - left_wrist_2_joint 9 | - left_wrist_3_joint 10 | - name: fake_right_manipulator_controller 11 | joints: 12 | - right_shoulder_pan_joint 13 | - right_shoulder_lift_joint 14 | - right_elbow_joint 15 | - right_wrist_1_joint 16 | - right_wrist_2_joint 17 | - right_wrist_3_joint 18 | - name: fake_arms_controller 19 | joints: 20 | - left_shoulder_pan_joint 21 | - left_shoulder_lift_joint 22 | - left_elbow_joint 23 | - left_wrist_1_joint 24 | - left_wrist_2_joint 25 | - left_wrist_3_joint 26 | - right_shoulder_pan_joint 27 | - right_shoulder_lift_joint 28 | - right_elbow_joint 29 | - right_wrist_1_joint 30 | - right_wrist_2_joint 31 | - right_wrist_3_joint 32 | - name: fake_left_ee_controller 33 | joints: 34 | [] 35 | - name: fake_right_ee_controller 36 | joints: 37 | [] -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | left_manipulator: 2 | kinematics_solver: ur_kinematics/UR5KinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 5 | kinematics_solver_attempts: 3 6 | right_manipulator: 7 | kinematics_solver: ur_kinematics/UR5KinematicsPlugin 8 | kinematics_solver_search_resolution: 0.005 9 | kinematics_solver_timeout: 0.005 10 | kinematics_solver_attempts: 3 -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/launch/dual_arm_robot_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/launch/dual_arm_robot_moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/launch/dual_arm_robot_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/launch/ompl_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/launch/planning_context.launch: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/launch/trajectory_execution.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /dual_arm_manipulation/dual_arm_robot_moveit_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | dual_arm_robot_moveit_config 4 | 0.3.0 5 | 6 | An automatically generated package with all the configuration and launch files for using the dual_arm_robot with the MoveIt! Motion Planning Framework 7 | 8 | Chunting Jiao 9 | Chunting Jiao 10 | 11 | BSD 12 | 13 | http://moveit.ros.org/ 14 | https://github.com/ros-planning/moveit/issues 15 | https://github.com/ros-planning/moveit 16 | 17 | catkin 18 | 19 | moveit_ros_move_group 20 | moveit_fake_controller_manager 21 | moveit_kinematics 22 | moveit_planners_ompl 23 | moveit_ros_visualization 24 | joint_state_publisher 25 | robot_state_publisher 26 | xacro 27 | dual_arm_robot_description 28 | dual_arm_robot_description 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /dual_arm_manipulation/joint_trajectory_admittance_controller/README.md: -------------------------------------------------------------------------------- 1 | ## Joint Trajectory Controller ## 2 | 3 | Controller for executing joint-space trajectories on a group of joints. 4 | 5 | Detailed user documentation can be found in the controller's [ROS wiki page](http://wiki.ros.org/joint_trajectory_admittance_controller). 6 | 7 | 8 | -------------------------------------------------------------------------------- /dual_arm_manipulation/joint_trajectory_admittance_controller/images/new_trajectory.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Chunting/dual_arm_manipulation/c8da294dcd35d5aa8c53c7fee252b1e6720489ba/dual_arm_manipulation/joint_trajectory_admittance_controller/images/new_trajectory.png -------------------------------------------------------------------------------- /dual_arm_manipulation/joint_trajectory_admittance_controller/images/trajectory_replacement_future.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Chunting/dual_arm_manipulation/c8da294dcd35d5aa8c53c7fee252b1e6720489ba/dual_arm_manipulation/joint_trajectory_admittance_controller/images/trajectory_replacement_future.png -------------------------------------------------------------------------------- /dual_arm_manipulation/joint_trajectory_admittance_controller/images/trajectory_replacement_now.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Chunting/dual_arm_manipulation/c8da294dcd35d5aa8c53c7fee252b1e6720489ba/dual_arm_manipulation/joint_trajectory_admittance_controller/images/trajectory_replacement_now.png -------------------------------------------------------------------------------- /dual_arm_manipulation/joint_trajectory_admittance_controller/images/trajectory_replacement_past.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Chunting/dual_arm_manipulation/c8da294dcd35d5aa8c53c7fee252b1e6720489ba/dual_arm_manipulation/joint_trajectory_admittance_controller/images/trajectory_replacement_past.png -------------------------------------------------------------------------------- /dual_arm_manipulation/joint_trajectory_admittance_controller/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b joint_trajectory_admittance_controller 6 | 7 | 10 | 11 | --> 12 | 13 | 14 | */ 15 | -------------------------------------------------------------------------------- /dual_arm_manipulation/joint_trajectory_admittance_controller/rosdoc.yaml: -------------------------------------------------------------------------------- 1 | - builder: doxygen 2 | name: C++ API 3 | output_dir: c++ 4 | file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox' 5 | exclude_patterns: 'test' -------------------------------------------------------------------------------- /dual_arm_manipulation/joint_trajectory_admittance_controller/test/joint_trajectory_controller.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 10 | 11 | 12 | 13 | 14 | 15 | 18 | 19 | 20 | 24 | 25 | 29 | 30 | 31 | 35 | 36 | -------------------------------------------------------------------------------- /dual_arm_manipulation/joint_trajectory_admittance_controller/test/rrbot_controllers.yaml: -------------------------------------------------------------------------------- 1 | rrbot_controller: 2 | type: "position_controllers/JointTrajectoryController" 3 | joints: 4 | - joint1 5 | - joint2 6 | 7 | constraints: 8 | goal_time: 0.5 9 | joint1: 10 | goal: 0.01 11 | trajectory: 0.05 12 | joint2: 13 | goal: 0.01 14 | trajectory: 0.05 15 | -------------------------------------------------------------------------------- /dual_arm_manipulation/joint_trajectory_admittance_controller/test/tolerances.test: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /dual_arm_manipulation/joint_trajectory_admittance_controller/test/tolerances.yaml: -------------------------------------------------------------------------------- 1 | constraints: 2 | goal_time: 1.0 # Defaults to zero 3 | stopped_velocity_tolerance: 0.02 # Defaults to 0.01 4 | foo_joint: 5 | trajectory: 0.05 # Not enforced if unspecified 6 | goal: 0.03 # Not enforced if unspecified 7 | bar_joint: 8 | goal: 0.01 9 | 10 | baz_joint: # Not part of joints we're looking for 11 | trajectory: 1.0 12 | goal: 2.0 13 | 14 | 15 | -------------------------------------------------------------------------------- /dual_arm_manipulation/my_cart_controller_pkg/config/ur10_controller_setup.yaml: -------------------------------------------------------------------------------- 1 | my_controller: 2 | type: my_cart_controller_pkg/MyCartControllerPlugin 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_lift_joint 6 | - elbow_joint 7 | - wrist_1_joint 8 | - wrist_2_joint 9 | - wrist_3_joint 10 | constraints: 11 | goal_time: 0.6 12 | stopped_velocity_tolerance: 0.05 13 | shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} 14 | shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} 15 | elbow_joint: {trajectory: 0.1, goal: 0.1} 16 | wrist_1_joint: {trajectory: 0.1, goal: 0.1} 17 | wrist_2_joint: {trajectory: 0.1, goal: 0.1} 18 | wrist_3_joint: {trajectory: 0.1, goal: 0.1} 19 | stop_trajectory_duration: 0.5 20 | state_publish_rate: 125 21 | action_monitor_rate: 10 22 | gains: 23 | #!!These values are useable, but maybe not optimal 24 | shoulder_pan_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1} 25 | shoulder_lift_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1} 26 | elbow_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1} 27 | wrist_1_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1} 28 | wrist_2_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1} 29 | wrist_3_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1} 30 | -------------------------------------------------------------------------------- /dual_arm_manipulation/my_cart_controller_pkg/controller_plugins.xml: -------------------------------------------------------------------------------- 1 | 2 | 5 | 6 | -------------------------------------------------------------------------------- /dual_arm_manipulation/my_cart_controller_pkg/include/my_controller_pkg/my_controller_file.h: -------------------------------------------------------------------------------- 1 | namespace my_controller_ns{ 2 | 3 | class MyControllerClass 4 | { 5 | private: 6 | pr2_mechanism_model::JointState* joint_state_; 7 | double init_pos_; 8 | 9 | public: 10 | virtual bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n); 11 | virtual void starting(); 12 | virtual void update(); 13 | virtual void stopping(); 14 | }; 15 | } 16 | -------------------------------------------------------------------------------- /dual_arm_manipulation/my_controller_pkg/config/ur10_controller_setup.yaml: -------------------------------------------------------------------------------- 1 | my_controller: 2 | type: my_controller_pkg/MyControllerPlugin 3 | joint: shoulder_pan_joint 4 | -------------------------------------------------------------------------------- /dual_arm_manipulation/my_controller_pkg/controller_plugins.xml: -------------------------------------------------------------------------------- 1 | 2 | 5 | 6 | -------------------------------------------------------------------------------- /dual_arm_manipulation/my_controller_pkg/include/my_controller_pkg/my_controller_file.h: -------------------------------------------------------------------------------- 1 | namespace my_controller_ns{ 2 | 3 | class MyControllerClass 4 | { 5 | private: 6 | pr2_mechanism_model::JointState* joint_state_; 7 | double init_pos_; 8 | 9 | public: 10 | virtual bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n); 11 | virtual void starting(); 12 | virtual void update(); 13 | virtual void stopping(); 14 | }; 15 | } 16 | -------------------------------------------------------------------------------- /robotiq/robotiq/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(robotiq) 3 | find_package(catkin REQUIRED) 4 | catkin_metapackage() 5 | -------------------------------------------------------------------------------- /robotiq/robotiq/package.xml: -------------------------------------------------------------------------------- 1 | 2 | robotiq 3 | 1.0.0 4 | ROS drivers for Robotiq Adaptive Grippers and Robotiq Force Torque Sensor 5 | Shaun Edwards 6 | BSD 7 | http://ros.org/wiki/motoman 8 | 9 | catkin 10 | robotiq_s_model_visualization 11 | robotiq_modbus_tcp 12 | robotiq_s_model_control 13 | robotiq_c_model_control 14 | robotiq_force_torque_sensor 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /robotiq/robotiq_action_server/launch/robotiq_c_model_action_server.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /robotiq/robotiq_action_server/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | robotiq_action_server 4 | 0.1.0 5 | 6 | 7 |

8 | This package defines protocol-agnostic action-server interfaces using the 9 | control_msgs::GripperCommand ROS interface for Robotiq grippers. Depending 10 | on your use case, you may need more fine grained control, but this is 11 | a good place to start. 12 |

13 | 14 | 15 | Jonathan Meyer 16 | Jonathan Meyer 17 | 18 | BSD 19 | 20 | 21 | catkin 22 | actionlib 23 | actionlib_msgs 24 | control_msgs 25 | robotiq_c_model_control 26 | roscpp 27 | 28 | actionlib 29 | actionlib_msgs 30 | control_msgs 31 | robotiq_c_model_control 32 | roscpp 33 | 34 | 35 | -------------------------------------------------------------------------------- /robotiq/robotiq_action_server/src/robotiq_action_server_client_test.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | 6 | int main (int argc, char **argv) 7 | { 8 | ros::init(argc, argv, "test_robotiq_action_server"); 9 | 10 | ros::NodeHandle pnh("~"); 11 | 12 | std::string gripper_name; 13 | pnh.param("gripper_name", gripper_name, "gripper"); 14 | 15 | // create the action client 16 | // true causes the client to spin its own thread 17 | actionlib::SimpleActionClient ac(gripper_name, true); 18 | 19 | ROS_INFO("Waiting for action server to start."); 20 | // wait for the action server to start 21 | ac.waitForServer(); //will wait for infinite time 22 | 23 | ROS_INFO("Action server started, sending goal."); 24 | // send a goal to the action 25 | control_msgs::GripperCommandGoal goal; 26 | goal.command.position = -0.01; 27 | goal.command.max_effort = 100.0; 28 | ac.sendGoal(goal); 29 | 30 | //wait for the action to return 31 | bool finished_before_timeout = ac.waitForResult(ros::Duration(30.0)); 32 | 33 | if (finished_before_timeout) 34 | { 35 | actionlib::SimpleClientGoalState state = ac.getState(); 36 | ROS_INFO("Action finished: %s",state.toString().c_str()); 37 | } 38 | else 39 | ROS_INFO("Action did not finish before the time out."); 40 | 41 | //exit 42 | return 0; 43 | } -------------------------------------------------------------------------------- /robotiq/robotiq_c2_model_visualization/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(robotiq_c2_model_visualization) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 9 | install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 10 | -------------------------------------------------------------------------------- /robotiq/robotiq_c2_model_visualization/launch/test_robotiq_c2_model.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /robotiq/robotiq_c2_model_visualization/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | robotiq_c2_model_visualization 4 | 1.0.0 5 | 6 |

7 | Package containing visual components (urdfs, meshes, etc.) for use in simulating 8 | the 2F-85 or C2 model gripper developed by Robotiq. This package was adapted 9 | from https://github.com/jhu-lcsr-forks/robotiq. 10 |

11 | 12 | 13 | Jonathan Meyer 14 | Kel Guerin 15 | 16 | BSD 17 | 18 | http://ros.org/wiki/robotiq 19 | 20 | catkin 21 | xacro 22 | 23 | 24 | -------------------------------------------------------------------------------- /robotiq/robotiq_c2_model_visualization/urdf/robotiq_c2_model.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /robotiq/robotiq_c_model_control/launch/c_model_ethercat.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /robotiq/robotiq_c_model_control/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b robotiq_c_model_control 6 | 7 | 10 | 11 | --> 12 | 13 | 14 | */ 15 | -------------------------------------------------------------------------------- /robotiq/robotiq_c_model_control/msg/CModel_robot_input.msg: -------------------------------------------------------------------------------- 1 | uint8 gACT 2 | uint8 gGTO 3 | uint8 gSTA 4 | uint8 gOBJ 5 | uint8 gFLT 6 | uint8 gPR 7 | uint8 gPO 8 | uint8 gCU 9 | -------------------------------------------------------------------------------- /robotiq/robotiq_c_model_control/msg/CModel_robot_output.msg: -------------------------------------------------------------------------------- 1 | uint8 rACT 2 | uint8 rGTO 3 | uint8 rATR 4 | uint8 rPR 5 | uint8 rSP 6 | uint8 rFR 7 | 8 | -------------------------------------------------------------------------------- /robotiq/robotiq_c_model_control/package.xml: -------------------------------------------------------------------------------- 1 | 2 | robotiq_c_model_control 3 | 1.0.0 4 | Package to control a C-Model Gripper from Robotiq inc. 5 | Shaun Edwards 6 | BSD 7 | http://ros.org/wiki/robotiq 8 | Nicolas Lauzier (Robotiq inc.) 9 | 10 | catkin 11 | rospy 12 | roscpp 13 | robotiq_ethercat 14 | message_generation 15 | rospy 16 | message_runtime 17 | roscpp 18 | robotiq_ethercat 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /robotiq/robotiq_c_model_control/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | # fetch values from package.xml 7 | setup_args = generate_distutils_setup( 8 | packages=['robotiq_c_model_control'], 9 | package_dir={'': 'src'}, 10 | requires=['rospy'] 11 | ) 12 | 13 | setup(**setup_args) 14 | -------------------------------------------------------------------------------- /robotiq/robotiq_c_model_control/src/robotiq_c_model_control/__init__.py: -------------------------------------------------------------------------------- 1 | #autogenerated by ROS python message generators -------------------------------------------------------------------------------- /robotiq/robotiq_ethercat/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(robotiq_ethercat) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | soem 6 | roscpp 7 | ) 8 | 9 | catkin_package( 10 | INCLUDE_DIRS include 11 | LIBRARIES robotiq_ethercat 12 | CATKIN_DEPENDS soem roscpp 13 | ) 14 | 15 | include_directories(include 16 | ${catkin_INCLUDE_DIRS} 17 | ## The following work around allows SOEM headers to include other SOEM headers. 18 | ## SOEM headers assume all headers are installed in a flat directory structure 19 | ## See https://github.com/smits/soem/issues/4 for more information. 20 | ${soem_INCLUDE_DIRS}/soem 21 | ) 22 | 23 | add_library(robotiq_ethercat 24 | include/robotiq_ethercat/ethercat_manager.h 25 | src/ethercat_manager.cpp 26 | ) 27 | 28 | install(TARGETS robotiq_ethercat 29 | ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 30 | LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 31 | RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 32 | ) 33 | 34 | install(DIRECTORY include/${PROJECT_NAME}/ 35 | DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 36 | FILES_MATCHING PATTERN "*.h" 37 | ) 38 | -------------------------------------------------------------------------------- /robotiq/robotiq_ethercat/README.md: -------------------------------------------------------------------------------- 1 | ## Robotiq Ethercat 2 | This package provides an interface for interfacing with an ethercat network. With the current architecture, a single process is associated with a single network and that process must be aware of all slaves it will communicate with. 3 | 4 | ### Maintainer 5 | - Jonathan Meyer (jonathan.meyer@swri.org) 6 | 7 | ## Common Issues 8 | Please note: 9 | - VMs probably won't work. 10 | - You need a dedicated ethernet card for the EtherCAT network. I haven't had luck using eth0. 11 | - If you're running Ubuntu, you'll probably need to run ```sudo setcap cap_net_raw+ep``` on the ```c_model_ethercat_node``` executable before it will work. Otherwise you'll get a "Could not initialize SOEM" error. This executable can be found under the same package name in your /devel/ directory. 12 | -------------------------------------------------------------------------------- /robotiq/robotiq_ethercat/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | robotiq_ethercat 4 | 0.1.0 5 | 6 |

7 | ROS-Industrial support stack for facilitating communication with EtherCAT networks. 8 |

9 | 10 | 11 | Jonathan Meyer 12 | Jonathan Meyer 13 | 14 | BSD 15 | 16 | catkin 17 | soem 18 | roscpp 19 | soem 20 | roscpp 21 | 22 | 23 | -------------------------------------------------------------------------------- /robotiq/robotiq_force_torque_sensor/.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "python.autoComplete.extraPaths": [ 3 | "/home/chunting/catkin_ws/devel/lib/python2.7/dist-packages", 4 | "/opt/ros/indigo/lib/python2.7/dist-packages" 5 | ] 6 | } -------------------------------------------------------------------------------- /robotiq/robotiq_force_torque_sensor/meshes/collision/robotiq_fts150.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Chunting/dual_arm_manipulation/c8da294dcd35d5aa8c53c7fee252b1e6720489ba/robotiq/robotiq_force_torque_sensor/meshes/collision/robotiq_fts150.stl -------------------------------------------------------------------------------- /robotiq/robotiq_force_torque_sensor/meshes/visual/robotiq_fts150.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Chunting/dual_arm_manipulation/c8da294dcd35d5aa8c53c7fee252b1e6720489ba/robotiq/robotiq_force_torque_sensor/meshes/visual/robotiq_fts150.stl -------------------------------------------------------------------------------- /robotiq/robotiq_force_torque_sensor/msg/ft_sensor.msg: -------------------------------------------------------------------------------- 1 | float32 Fx 2 | float32 Fy 3 | float32 Fz 4 | float32 Mx 5 | float32 My 6 | float32 Mz 7 | -------------------------------------------------------------------------------- /robotiq/robotiq_force_torque_sensor/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | robotiq_force_torque_sensor 4 | 1.0.0 5 | Package for reading data from a Robotiq Force Torque Sensor 6 | Nicolas Lauzier 7 | Jonathan Savoie 8 | http://ros.org/wiki/robotiq 9 | 10 | BSD 11 | 12 | 13 | catkin 14 | roscpp 15 | std_msgs 16 | message_generation 17 | roscpp 18 | std_msgs 19 | message_runtime 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /robotiq/robotiq_force_torque_sensor/srv/sensor_accessor.srv: -------------------------------------------------------------------------------- 1 | string command 2 | --- 3 | string res 4 | -------------------------------------------------------------------------------- /robotiq/robotiq_joint_state_publisher/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(robotiq_joint_state_publisher) 3 | 4 | ## Find catkin macros and libraries 5 | find_package(catkin REQUIRED 6 | roscpp 7 | roslib 8 | sensor_msgs 9 | robotiq_s_model_control 10 | ) 11 | 12 | ################################### 13 | ## catkin specific configuration ## 14 | ################################### 15 | ## The catkin_package macro generates cmake config files for your package 16 | ## INCLUDE_DIRS: uncomment this if you package contains header files 17 | ## LIBRARIES: libraries you create in this project that dependent projects also need 18 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 19 | ## DEPENDS: system dependencies of this project that dependent projects also need 20 | catkin_package( 21 | CATKIN_DEPENDS roscpp roslib sensor_msgs robotiq_s_model_control 22 | ) 23 | 24 | ########### 25 | ## Build ## 26 | ########### 27 | 28 | ## Specify additional locations of header files 29 | include_directories( 30 | ${catkin_INCLUDE_DIRS} 31 | ) 32 | 33 | ## Declare a cpp executable 34 | add_executable(s_model_joint_states src/s_model_joint_states.cpp) 35 | 36 | ## Add cmake target dependencies of the executable/library 37 | add_dependencies(s_model_joint_states robotiq_s_model_control_generate_messages_cpp) 38 | 39 | ## Specify libraries to link a library or executable target against 40 | target_link_libraries(s_model_joint_states 41 | ${catkin_LIBRARIES} 42 | ) 43 | 44 | -------------------------------------------------------------------------------- /robotiq/robotiq_joint_state_publisher/README.md: -------------------------------------------------------------------------------- 1 | # robotiq_joint_state_publisher 2 | 3 | ### For Robotiq S-model 4 | 5 | Subscribes to Robotiq state messages on "SModelRobotInput" topic, converts the data to joint values, and publishes sensor_msgs/JointState messages on "joint_states" topic for Robotiq S-model. 6 | 7 | #### Instructions 8 | Run: 9 | 10 | `rosrun robotiq_joint_state_publisher s_model_joint_states` 11 | 12 | or 13 | 14 | `rosrun robotiq_joint_state_publisher s_model_joint_states _prefix:=` 15 | 16 | -------------------------------------------------------------------------------- /robotiq/robotiq_joint_state_publisher/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | robotiq_joint_state_publisher 4 | 0.0.0 5 | Publishes joint states of Robotiq gripper 6 | Karl Kruusamäe 7 | 3-clause BSD 8 | Jack Thompson 9 | 10 | catkin 11 | 12 | roscpp 13 | roslib 14 | message_generation 15 | sensor_msgs 16 | robotiq_s_model_control 17 | 18 | roscpp 19 | roslib 20 | message_runtime 21 | sensor_msgs 22 | robotiq_s_model_control 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /robotiq/robotiq_modbus_rtu/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html 2 | cmake_minimum_required(VERSION 2.8.3) 3 | project(robotiq_modbus_rtu) 4 | find_package(catkin REQUIRED COMPONENTS rospy) 5 | 6 | #set the default path for built executables to the "bin" directory 7 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 8 | #set the default path for built libraries to the "lib" directory 9 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 10 | 11 | catkin_python_setup() 12 | 13 | ################################### 14 | ## catkin specific configuration ## 15 | ################################### 16 | ## The catkin_package macro generates cmake config files for your package 17 | ## Declare things to be passed to dependent projects 18 | ## LIBRARIES: libraries you create in this project that dependent projects also need 19 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 20 | ## DEPENDS: system dependencies of this project that dependent projects also need 21 | catkin_package( 22 | CATKIN_DEPENDS rospy 23 | ) 24 | -------------------------------------------------------------------------------- /robotiq/robotiq_modbus_rtu/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b robotiq_comm 6 | 7 | 10 | 11 | --> 12 | 13 | 14 | */ 15 | -------------------------------------------------------------------------------- /robotiq/robotiq_modbus_rtu/package.xml: -------------------------------------------------------------------------------- 1 | 2 | robotiq_modbus_rtu 3 | 1.0.0 4 | A stack to communicate with Robotiq grippers using the Modbus RTU protocol 5 | Shaun Edwards 6 | Kelsey Hawkins 7 | BSD 8 | http://wiki.ros.org/robotiq 9 | Nicolas Lauzier (Robotiq inc.) 10 | Kelsey Hawkins 11 | 12 | catkin 13 | 14 | python-pymodbus 15 | rospy 16 | 17 | python-pymodbus 18 | rospy 19 | 20 | -------------------------------------------------------------------------------- /robotiq/robotiq_modbus_rtu/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | # fetch values from package.xml 7 | setup_args = generate_distutils_setup( 8 | packages=['robotiq_modbus_rtu'], 9 | package_dir={'': 'src'}, 10 | ) 11 | 12 | setup(**setup_args) 13 | -------------------------------------------------------------------------------- /robotiq/robotiq_modbus_rtu/src/robotiq_modbus_rtu/__init__.py: -------------------------------------------------------------------------------- 1 | #autogenerated by ROS python message generators -------------------------------------------------------------------------------- /robotiq/robotiq_modbus_tcp/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html 2 | cmake_minimum_required(VERSION 2.8.3) 3 | project(robotiq_modbus_tcp) 4 | find_package(catkin REQUIRED COMPONENTS rospy) 5 | 6 | #set the default path for built executables to the "bin" directory 7 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 8 | #set the default path for built libraries to the "lib" directory 9 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 10 | 11 | catkin_python_setup() 12 | 13 | ################################### 14 | ## catkin specific configuration ## 15 | ################################### 16 | ## The catkin_package macro generates cmake config files for your package 17 | ## Declare things to be passed to dependent projects 18 | ## LIBRARIES: libraries you create in this project that dependent projects also need 19 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 20 | ## DEPENDS: system dependencies of this project that dependent projects also need 21 | catkin_package( 22 | CATKIN_DEPENDS rospy 23 | ) 24 | -------------------------------------------------------------------------------- /robotiq/robotiq_modbus_tcp/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b robotiq_comm 6 | 7 | 10 | 11 | --> 12 | 13 | 14 | */ 15 | -------------------------------------------------------------------------------- /robotiq/robotiq_modbus_tcp/package.xml: -------------------------------------------------------------------------------- 1 | 2 | robotiq_modbus_tcp 3 | 1.0.0 4 | A stack to communicate with Robotiq grippers using the Modbus TCP protocol 5 | Shaun Edwards 6 | BSD 7 | http://wiki.ros.org/robotiq 8 | Nicolas Lauzier (Robotiq inc.) 9 | 10 | catkin 11 | 12 | python-pymodbus 13 | rospy 14 | 15 | python-pymodbus 16 | rospy 17 | 18 | -------------------------------------------------------------------------------- /robotiq/robotiq_modbus_tcp/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | # fetch values from package.xml 7 | setup_args = generate_distutils_setup( 8 | packages=['robotiq_modbus_tcp'], 9 | package_dir={'': 'src'}, 10 | ) 11 | 12 | setup(**setup_args) 13 | -------------------------------------------------------------------------------- /robotiq/robotiq_modbus_tcp/src/robotiq_modbus_tcp/__init__.py: -------------------------------------------------------------------------------- 1 | #autogenerated by ROS python message generators -------------------------------------------------------------------------------- /robotiq/robotiq_s_model_articulated_gazebo/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(robotiq_s_model_articulated_gazebo) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package( 7 | ) 8 | 9 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 10 | -------------------------------------------------------------------------------- /robotiq/robotiq_s_model_articulated_gazebo/launch/robotiq_gripper_empty_world.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /robotiq/robotiq_s_model_articulated_gazebo/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | robotiq_s_model_articulated_gazebo 4 | 1.0.0 5 | Launch files for spawning the Robotiq s-model articulated gripper 6 | 7 | Devon Ash 8 | Devon Ash 9 | 10 | BSD 11 | 12 | catkin 13 | 14 | gazebo_ros 15 | robotiq_s_model_visualization 16 | 17 | 18 | -------------------------------------------------------------------------------- /robotiq/robotiq_s_model_articulated_gazebo_plugins/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(robotiq_s_model_articulated_gazebo_plugins) 3 | 4 | find_package(catkin REQUIRED COMPONENTS std_msgs gazebo_plugins actionlib tf image_transport control_msgs trajectory_msgs geometry_msgs sensor_msgs roscpp gazebo_ros robotiq_s_model_articulated_msgs) 5 | 6 | find_package(gazebo REQUIRED) 7 | 8 | include_directories( 9 | include 10 | ${catkin_INCLUDE_DIRS} 11 | ${GAZEBO_INCLUDE_DIRS} 12 | ) 13 | 14 | link_directories( 15 | ${GAZEBO_LIBRARY_DIRS} 16 | ) 17 | 18 | catkin_package( 19 | DEPENDS gazebo_plugins gazebo_ros robotiq_s_model_articulated_msgs roscpp 20 | ) 21 | 22 | add_library(RobotiqHandPlugin src/RobotiqHandPlugin.cpp) 23 | set_target_properties(RobotiqHandPlugin PROPERTIES LINK_FLAGS "${ld_flags}") 24 | set_target_properties(RobotiqHandPlugin PROPERTIES COMPILE_FLAGS "${cxx_flags}") 25 | target_link_libraries(RobotiqHandPlugin ${catkin_LIBRARIES}) 26 | add_dependencies(RobotiqHandPlugin robotiq_s_model_articulated_msgs_gencpp) 27 | 28 | install(TARGETS RobotiqHandPlugin DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}/${PROJECT_NAME}/plugins/) 29 | 30 | -------------------------------------------------------------------------------- /robotiq/robotiq_s_model_articulated_msgs/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(robotiq_s_model_articulated_msgs) 3 | 4 | find_package(catkin REQUIRED COMPONENTS std_msgs message_generation ) 5 | 6 | add_message_files( 7 | FILES 8 | SModelRobotInput.msg 9 | SModelRobotOutput.msg 10 | ) 11 | 12 | generate_messages( 13 | DEPENDENCIES 14 | std_msgs 15 | ) 16 | 17 | catkin_package( 18 | DEPENDS std_msgs 19 | ) 20 | 21 | 22 | -------------------------------------------------------------------------------- /robotiq/robotiq_s_model_articulated_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | robotiq_s_model_articulated_msgs 4 | 1.0.0 5 | Messages for the robotiq_s_model_articulated model. 6 | 7 | Devon Ash 8 | Apache 2.0 9 | Devon Ash 10 | 11 | catkin 12 | std_msgs 13 | message_generation 14 | 15 | message_runtime 16 | std_msgs 17 | 18 | 19 | -------------------------------------------------------------------------------- /robotiq/robotiq_s_model_control/launch/s_model_ethercat.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /robotiq/robotiq_s_model_control/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b robotiq_s_model_control 6 | 7 | 10 | 11 | --> 12 | 13 | 14 | */ 15 | -------------------------------------------------------------------------------- /robotiq/robotiq_s_model_control/msg/SModel_robot_input.msg: -------------------------------------------------------------------------------- 1 | uint8 gACT 2 | uint8 gMOD 3 | uint8 gGTO 4 | uint8 gIMC 5 | uint8 gSTA 6 | uint8 gDTA 7 | uint8 gDTB 8 | uint8 gDTC 9 | uint8 gDTS 10 | uint8 gFLT 11 | uint8 gPRA 12 | uint8 gPOA 13 | uint8 gCUA 14 | uint8 gPRB 15 | uint8 gPOB 16 | uint8 gCUB 17 | uint8 gPRC 18 | uint8 gPOC 19 | uint8 gCUC 20 | uint8 gPRS 21 | uint8 gPOS 22 | uint8 gCUS 23 | -------------------------------------------------------------------------------- /robotiq/robotiq_s_model_control/msg/SModel_robot_output.msg: -------------------------------------------------------------------------------- 1 | uint8 rACT 2 | uint8 rMOD 3 | uint8 rGTO 4 | uint8 rATR 5 | uint8 rGLV 6 | uint8 rICF 7 | uint8 rICS 8 | uint8 rPRA 9 | uint8 rSPA 10 | uint8 rFRA 11 | uint8 rPRB 12 | uint8 rSPB 13 | uint8 rFRB 14 | uint8 rPRC 15 | uint8 rSPC 16 | uint8 rFRC 17 | uint8 rPRS 18 | uint8 rSPS 19 | uint8 rFRS 20 | -------------------------------------------------------------------------------- /robotiq/robotiq_s_model_control/package.xml: -------------------------------------------------------------------------------- 1 | 2 | robotiq_s_model_control 3 | 1.0.0 4 | Package to control a S-Model Gripper from Robotiq inc. 5 | Shaun Edwards 6 | BSD 7 | http://ros.org/wiki/robotiq 8 | Nicolas Lauzier (Robotiq inc.) 9 | 10 | catkin 11 | message_generation 12 | rospy 13 | roscpp 14 | robotiq_ethercat 15 | rospy 16 | message_runtime 17 | roscpp 18 | robotiq_ethercat 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /robotiq/robotiq_s_model_control/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | # fetch values from package.xml 7 | setup_args = generate_distutils_setup( 8 | packages=['robotiq_s_model_control'], 9 | package_dir={'': 'src'}, 10 | requires=['rospy'] 11 | ) 12 | 13 | setup(**setup_args) 14 | -------------------------------------------------------------------------------- /robotiq/robotiq_s_model_control/src/robotiq_s_model_control/__init__.py: -------------------------------------------------------------------------------- 1 | #autogenerated by ROS python message generators -------------------------------------------------------------------------------- /robotiq/robotiq_s_model_visualization/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html 2 | cmake_minimum_required(VERSION 2.8.3) 3 | project(robotiq_s_model_visualization) 4 | find_package(catkin REQUIRED urdf) 5 | catkin_package() 6 | install(DIRECTORY cfg DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 7 | install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 8 | -------------------------------------------------------------------------------- /robotiq/robotiq_s_model_visualization/cfg/s-model_articulated.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 7 | 8 | 9 | 10 | 11 | 12 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /robotiq/robotiq_s_model_visualization/cfg/s-model_mesh.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /robotiq/robotiq_s_model_visualization/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b robotiq is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /robotiq/robotiq_s_model_visualization/meshes/s-model/collision/GRIPPER_CLOSED.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Chunting/dual_arm_manipulation/c8da294dcd35d5aa8c53c7fee252b1e6720489ba/robotiq/robotiq_s_model_visualization/meshes/s-model/collision/GRIPPER_CLOSED.stl -------------------------------------------------------------------------------- /robotiq/robotiq_s_model_visualization/meshes/s-model/collision/GRIPPER_OPEN.stl: -------------------------------------------------------------------------------- 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"files.associations": { 7 | "*.tcc": "cpp" 8 | } 9 | } -------------------------------------------------------------------------------- /universal_robot/universal_robot/.gitignore: -------------------------------------------------------------------------------- 1 | *~ 2 | *.pyc 3 | 4 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/.travis.yml: -------------------------------------------------------------------------------- 1 | sudo: required 2 | dist: trusty 3 | language: generic 4 | compiler: 5 | - gcc 6 | notifications: 7 | email: 8 | on_success: always 9 | on_failure: always 10 | # recipients: 11 | # - jane@doe 12 | env: 13 | matrix: 14 | - USE_DEB=true ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu 15 | - USE_DEB=true ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu 16 | - USE_DEB=true ROS_DISTRO="indigo" PRERELEASE=true 17 | - USE_DEB=true ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu 18 | - USE_DEB=true ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu 19 | - USE_DEB=true ROS_DISTRO="kinetic" PRERELEASE=true 20 | matrix: 21 | allow_failures: 22 | - env: USE_DEB=true ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu 23 | - env: USE_DEB=true ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu 24 | - env: USE_DEB=true ROS_DISTRO="kinetic" PRERELEASE=true 25 | install: 26 | - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config 27 | script: 28 | - source .ci_config/travis.sh 29 | # - source ./travis.sh # Enable this when you have a package-local script 30 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/universal_robot/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package universal_robot 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.1.11 (2018-01-06) 6 | ------------------- 7 | 8 | 1.1.10 (2017-08-04) 9 | ------------------- 10 | 11 | 1.1.9 (2017-01-02) 12 | ------------------ 13 | * No changes. 14 | 15 | 1.1.8 (2016-12-30) 16 | ------------------ 17 | * all: update maintainers. 18 | * Contributors: gavanderhoorn 19 | 20 | 1.1.7 (2016-12-29) 21 | ------------------ 22 | * No changes. 23 | 24 | 1.1.6 (2016-04-01) 25 | ------------------ 26 | * add moveit_config for ur3 27 | * Contributors: ipa-fxm 28 | 29 | 1.0.2 (2014-03-31) 30 | ------------------ 31 | * Merge branch 'hydro-devel' of github.com:ros-industrial/universal_robot into hydro 32 | * added missing dependency 33 | * Contributors: Florian Weisshardt, ipa-fxm 34 | 35 | 1.0.1 (2014-03-31) 36 | ------------------ 37 | 38 | * Added all packages in dependency list of metapackage. 39 | * Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages. 40 | * Contributors: IPR-SR2, Kelsey 41 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/universal_robot/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(universal_robot) 3 | find_package(catkin REQUIRED) 4 | catkin_metapackage() 5 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/universal_robot/package.xml: -------------------------------------------------------------------------------- 1 | 2 | universal_robot 3 | 1.1.11 4 | 5 | Drivers, description, and utilities for Universal Robot Arms. 6 | 7 | 8 | Felix Messmer 9 | G.A. vd. Hoorn 10 | 11 | BSD 12 | 13 | http://ros.org/wiki/universal_robot 14 | 15 | Shaun Edwards 16 | Stuart Glaser 17 | Kelsey Hawkins 18 | Wim Meeussen 19 | Felix Messmer 20 | 21 | catkin 22 | ur3_moveit_config 23 | ur5_moveit_config 24 | ur10_moveit_config 25 | ur_bringup 26 | ur_description 27 | ur_driver 28 | ur_gazebo 29 | ur_kinematics 30 | ur_msgs 31 | 32 | 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/.setup_assistant: -------------------------------------------------------------------------------- 1 | moveit_setup_assistant_config: 2 | URDF: 3 | package: ur_description 4 | relative_path: urdf/ur10_robot.urdf.xacro 5 | SRDF: 6 | relative_path: config/ur10.srdf 7 | CONFIG: 8 | generated_timestamp: 1413893323 -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ur10_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 9 | install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 10 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/config/controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: "" 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | joints: 6 | - shoulder_pan_joint 7 | - shoulder_lift_joint 8 | - elbow_joint 9 | - wrist_1_joint 10 | - wrist_2_joint 11 | - wrist_3_joint 12 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_controller 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_lift_joint 6 | - elbow_joint 7 | - wrist_1_joint 8 | - wrist_2_joint 9 | - wrist_3_joint 10 | - name: fake_endeffector_controller 11 | joints: 12 | [] -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/config/joint_limits.yaml: -------------------------------------------------------------------------------- 1 | # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed 2 | # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] 3 | # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] 4 | joint_limits: 5 | shoulder_pan_joint: 6 | has_velocity_limits: true 7 | max_velocity: 2.16 8 | has_acceleration_limits: true 9 | max_acceleration: 2.16 10 | shoulder_lift_joint: 11 | has_velocity_limits: true 12 | max_velocity: 2.16 13 | has_acceleration_limits: true 14 | max_acceleration: 2.16 15 | elbow_joint: 16 | has_velocity_limits: true 17 | max_velocity: 3.15 18 | has_acceleration_limits: true 19 | max_acceleration: 3.15 20 | wrist_1_joint: 21 | has_velocity_limits: true 22 | max_velocity: 3.2 23 | has_acceleration_limits: true 24 | max_acceleration: 3.2 25 | wrist_2_joint: 26 | has_velocity_limits: true 27 | max_velocity: 3.2 28 | has_acceleration_limits: true 29 | max_acceleration: 3.2 30 | wrist_3_joint: 31 | has_velocity_limits: true 32 | max_velocity: 3.2 33 | has_acceleration_limits: true 34 | max_acceleration: 3.2 -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | #manipulator: 2 | # kinematics_solver: ur_kinematics/UR10KinematicsPlugin 3 | # kinematics_solver_search_resolution: 0.005 4 | # kinematics_solver_timeout: 0.005 5 | # kinematics_solver_attempts: 3 6 | manipulator: 7 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 8 | kinematics_solver_search_resolution: 0.005 9 | kinematics_solver_timeout: 0.005 10 | kinematics_solver_attempts: 3 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/ompl_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/trajectory_execution.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/ur10_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/ur10_moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/ur10_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur10_moveit_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ur10_moveit_config 4 | 1.1.11 5 | 6 | An automatically generated package with all the configuration and launch files for using the ur10 with the MoveIt Motion Planning Framework 7 | 8 | Felix Messmer 9 | Felix Messmer 10 | G.A. vd. Hoorn 11 | 12 | BSD 13 | 14 | http://moveit.ros.org/ 15 | https://github.com/ros-planning/moveit_setup_assistant/issues 16 | https://github.com/ros-planning/moveit_setup_assistant 17 | 18 | moveit_ros_move_group 19 | moveit_planners_ompl 20 | moveit_ros_visualization 21 | moveit_fake_controller_manager 22 | moveit_simple_controller_manager 23 | joint_state_publisher 24 | robot_state_publisher 25 | xacro 26 | ur_description 27 | ur_description 28 | 29 | 30 | catkin 31 | 32 | 33 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/.setup_assistant: -------------------------------------------------------------------------------- 1 | moveit_setup_assistant_config: 2 | URDF: 3 | package: ur_description 4 | relative_path: urdf/ur3_robot.urdf.xacro 5 | SRDF: 6 | relative_path: config/ur3.srdf 7 | CONFIG: 8 | generated_timestamp: 1438427891 -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package ur3_moveit_config 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.1.11 (2018-01-06) 6 | ------------------- 7 | * Merge pull request `#321 `_ from gavanderhoorn/bp_266_indigo-devel 8 | Backport `#266 `_ to Indigo. 9 | * Reduce longest valid segment fraction to accomodate non-limited version of the UR5 (`#266 `_) 10 | * Contributors: G.A. vd. Hoorn, Scott Paulin 11 | 12 | 1.1.10 (2017-08-04) 13 | ------------------- 14 | * Fix Deprecated warning in MoveIt: parameter moved into namespace 'trajectory_execution' 15 | * Contributors: Dave Coleman 16 | 17 | 1.1.9 (2017-01-02) 18 | ------------------ 19 | * use '--inorder' for jade+ xacro as well. 20 | * make RViz load MoveIt display by default. 21 | * Contributors: gavanderhoorn 22 | 23 | 1.1.8 (2016-12-30) 24 | ------------------ 25 | * all: update maintainers. 26 | * Contributors: gavanderhoorn 27 | 28 | 1.1.7 (2016-12-29) 29 | ------------------ 30 | * Don't depend on moveit_plugins metapackage 31 | * Fix xacro warnings in Jade 32 | * Contributors: Dave Coleman, Jon Binney 33 | 34 | 1.1.6 (2016-04-01) 35 | ------------------ 36 | * add missing dependency for moveit_simple_controller_manager 37 | * apply default RRTConnect to ur3 38 | * add moveit_config for ur3 39 | * Contributors: ipa-fxm 40 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ur3_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 9 | install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 10 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/config/controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: "" 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | joints: 6 | - shoulder_pan_joint 7 | - shoulder_lift_joint 8 | - elbow_joint 9 | - wrist_1_joint 10 | - wrist_2_joint 11 | - wrist_3_joint 12 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_controller 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_lift_joint 6 | - elbow_joint 7 | - wrist_1_joint 8 | - wrist_2_joint 9 | - wrist_3_joint 10 | - name: fake_endeffector_controller 11 | joints: 12 | [] -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/config/joint_limits.yaml: -------------------------------------------------------------------------------- 1 | # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed 2 | # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] 3 | # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] 4 | joint_limits: 5 | shoulder_pan_joint: 6 | has_velocity_limits: true 7 | max_velocity: 3.15 8 | has_acceleration_limits: true 9 | max_acceleration: 3.15 10 | shoulder_lift_joint: 11 | has_velocity_limits: true 12 | max_velocity: 3.15 13 | has_acceleration_limits: true 14 | max_acceleration: 3.15 15 | elbow_joint: 16 | has_velocity_limits: true 17 | max_velocity: 3.15 18 | has_acceleration_limits: true 19 | max_acceleration: 3.15 20 | wrist_1_joint: 21 | has_velocity_limits: true 22 | max_velocity: 3.2 23 | has_acceleration_limits: true 24 | max_acceleration: 3.2 25 | wrist_2_joint: 26 | has_velocity_limits: true 27 | max_velocity: 3.2 28 | has_acceleration_limits: true 29 | max_acceleration: 3.2 30 | wrist_3_joint: 31 | has_velocity_limits: true 32 | max_velocity: 3.2 33 | has_acceleration_limits: true 34 | max_acceleration: 3.2 -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | #manipulator: 2 | # kinematics_solver: ur_kinematics/UR3KinematicsPlugin 3 | # kinematics_solver_search_resolution: 0.005 4 | # kinematics_solver_timeout: 0.005 5 | # kinematics_solver_attempts: 3 6 | manipulator: 7 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 8 | kinematics_solver_search_resolution: 0.005 9 | kinematics_solver_timeout: 0.005 10 | kinematics_solver_attempts: 3 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/ompl_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/trajectory_execution.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/ur3_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/ur3_moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/ur3_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur3_moveit_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ur3_moveit_config 4 | 1.1.11 5 | 6 | An automatically generated package with all the configuration and launch files for using the ur3 with the MoveIt Motion Planning Framework 7 | 8 | Felix Messmer 9 | Felix Messmer 10 | G.A. vd. Hoorn 11 | 12 | BSD 13 | 14 | http://moveit.ros.org/ 15 | https://github.com/ros-planning/moveit_setup_assistant/issues 16 | https://github.com/ros-planning/moveit_setup_assistant 17 | 18 | moveit_ros_move_group 19 | moveit_planners_ompl 20 | moveit_ros_visualization 21 | moveit_fake_controller_manager 22 | moveit_simple_controller_manager 23 | joint_state_publisher 24 | robot_state_publisher 25 | xacro 26 | ur_description 27 | ur_description 28 | 29 | 30 | catkin 31 | 32 | 33 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/.setup_assistant: -------------------------------------------------------------------------------- 1 | moveit_setup_assistant_config: 2 | URDF: 3 | package: ur_description 4 | relative_path: urdf/ur5_robot.urdf.xacro 5 | SRDF: 6 | relative_path: config/ur5.srdf 7 | CONFIG: 8 | generated_timestamp: 1413877529 -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ur5_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 9 | install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 10 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/config/controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: "" 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | joints: 6 | - shoulder_pan_joint 7 | - shoulder_lift_joint 8 | - elbow_joint 9 | - wrist_1_joint 10 | - wrist_2_joint 11 | - wrist_3_joint 12 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_controller 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_lift_joint 6 | - elbow_joint 7 | - wrist_1_joint 8 | - wrist_2_joint 9 | - wrist_3_joint 10 | - name: fake_endeffector_controller 11 | joints: 12 | [] -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/config/joint_limits.yaml: -------------------------------------------------------------------------------- 1 | # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed 2 | # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] 3 | # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] 4 | joint_limits: 5 | shoulder_pan_joint: 6 | has_velocity_limits: true 7 | max_velocity: 3.15 8 | has_acceleration_limits: true 9 | max_acceleration: 3.15 10 | shoulder_lift_joint: 11 | has_velocity_limits: true 12 | max_velocity: 3.15 13 | has_acceleration_limits: true 14 | max_acceleration: 3.15 15 | elbow_joint: 16 | has_velocity_limits: true 17 | max_velocity: 3.15 18 | has_acceleration_limits: true 19 | max_acceleration: 3.15 20 | wrist_1_joint: 21 | has_velocity_limits: true 22 | max_velocity: 3.2 23 | has_acceleration_limits: true 24 | max_acceleration: 3.2 25 | wrist_2_joint: 26 | has_velocity_limits: true 27 | max_velocity: 3.2 28 | has_acceleration_limits: true 29 | max_acceleration: 3.2 30 | wrist_3_joint: 31 | has_velocity_limits: true 32 | max_velocity: 3.2 33 | has_acceleration_limits: true 34 | max_acceleration: 3.2 -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | #manipulator: 2 | # kinematics_solver: ur_kinematics/UR5KinematicsPlugin 3 | # kinematics_solver_search_resolution: 0.005 4 | # kinematics_solver_timeout: 0.005 5 | # kinematics_solver_attempts: 3 6 | manipulator: 7 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 8 | kinematics_solver_search_resolution: 0.005 9 | kinematics_solver_timeout: 0.005 10 | kinematics_solver_attempts: 3 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/ompl_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/trajectory_execution.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/ur5_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/ur5_moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/ur5_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur5_moveit_config/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ur5_moveit_config 4 | 1.1.11 5 | 6 | An automatically generated package with all the configuration and launch files for using the ur5 with the MoveIt Motion Planning Framework 7 | 8 | Felix Messmer 9 | Felix Messmer 10 | G.A. vd. Hoorn 11 | 12 | BSD 13 | 14 | http://moveit.ros.org/ 15 | https://github.com/ros-planning/moveit_setup_assistant/issues 16 | https://github.com/ros-planning/moveit_setup_assistant 17 | 18 | moveit_ros_move_group 19 | moveit_planners_ompl 20 | moveit_ros_visualization 21 | moveit_fake_controller_manager 22 | moveit_simple_controller_manager 23 | joint_state_publisher 24 | robot_state_publisher 25 | xacro 26 | ur_description 27 | ur_description 28 | 29 | 30 | catkin 31 | 32 | 33 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_bringup/launch/ur10_bringup.launch: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_bringup/launch/ur10_bringup_joint_limited.launch: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_bringup/launch/ur3_bringup.launch: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_bringup/launch/ur3_bringup_joint_limited.launch: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_bringup/launch/ur5_bringup.launch: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_bringup/launch/ur5_bringup_joint_limited.launch: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_bringup/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ur_bringup 4 | 1.1.11 5 | The ur_bringup package 6 | 7 | Wim Meeussen 8 | Shaun Edwards 9 | Felix Messmer 10 | Felix Messmer 11 | G.A. vd. Hoorn 12 | 13 | BSD 14 | http://ros.org/wiki/ur_bringup 15 | 16 | catkin 17 | tf2_ros 18 | ur_description 19 | ur_driver 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_description/launch/test.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_description/launch/ur10_upload.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_description/launch/ur3_upload.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 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-------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ur_description 4 | 1.1.11 5 | 6 | URDF description for Universal UR5/10 robot arms 7 | 8 | 9 | Wim Meeussen 10 | Kelsey Hawkins 11 | Mathias Ludtke 12 | Felix Messmer 13 | Felix Messmer 14 | G.A. vd. Hoorn 15 | 16 | BSD 17 | 18 | http://ros.org/wiki/ur_description 19 | 20 | catkin 21 | urdf 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_description/urdf/common.gazebo.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_description/urdf/ur.gazebo.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_description/urdf/ur10_joint_limited_robot.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_description/urdf/ur10_robot.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_description/urdf/ur3_joint_limited_robot.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_description/urdf/ur3_robot.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_description/urdf/ur5_robot.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_driver/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ur_driver) 3 | 4 | ## Find catkin macros and libraries 5 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 6 | ## is used, also find other catkin packages 7 | find_package(catkin REQUIRED COMPONENTS dynamic_reconfigure) 8 | 9 | catkin_python_setup() 10 | 11 | 12 | generate_dynamic_reconfigure_options( 13 | cfg/URDriver.cfg 14 | ) 15 | 16 | ################################### 17 | ## catkin specific configuration ## 18 | ################################### 19 | catkin_package( 20 | CATKIN_DEPENDS dynamic_reconfigure 21 | ) 22 | 23 | ############# 24 | ## Install ## 25 | ############# 26 | install(PROGRAMS test_move.py test_io.py 27 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 28 | ) 29 | 30 | install(PROGRAMS src/ur_driver/driver.py 31 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 32 | ) 33 | 34 | install(FILES prog prog_reset 35 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 36 | ) 37 | 38 | ############# 39 | ## Testing ## 40 | ############# 41 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_driver/cfg/URDriver.cfg: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | PACKAGE = "ur_driver" 3 | 4 | from dynamic_reconfigure.parameter_generator_catkin import * 5 | 6 | gen = ParameterGenerator() 7 | 8 | gen.add("prevent_programming", bool_t, 0, "Prevent driver from continuously uploading 'prog'", False) 9 | 10 | exit(gen.generate(PACKAGE, "ur_driver", "URDriver")) 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_driver/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ur_driver 4 | 1.1.11 5 | 6 | Driver for the UR5/10 arm based on the Polyscope control scheme. 7 | 8 | 9 | Stuart Glaser 10 | Shaun Edwards 11 | Felix Messmer 12 | Felix Messmer 13 | G.A. vd. Hoorn 14 | 15 | BSD 16 | http://ros.org/wiki/ur_driver 17 | 18 | catkin 19 | dynamic_reconfigure 20 | 21 | rospy 22 | actionlib 23 | control_msgs 24 | sensor_msgs 25 | trajectory_msgs 26 | ur_msgs 27 | python-lxml 28 | dynamic_reconfigure 29 | 30 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_driver/prog_reset: -------------------------------------------------------------------------------- 1 | def resetProg(): 2 | sleep(0.0) 3 | end 4 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_driver/setup.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | d = generate_distutils_setup( 7 | ## don't do this unless you want a globally visible script 8 | # scripts=['bin/myscript'], 9 | packages=['ur_driver'], 10 | package_dir={'': 'src'} 11 | ) 12 | 13 | setup(**d) 14 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_driver/src/ur_driver/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Chunting/dual_arm_manipulation/c8da294dcd35d5aa8c53c7fee252b1e6720489ba/universal_robot/universal_robot/ur_driver/src/ur_driver/__init__.py -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_driver/test_io.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | import time 3 | from ur_driver.io_interface import * 4 | 5 | if __name__ == "__main__": 6 | print "testing io-interface" 7 | get_states() 8 | print "listener has been activated" 9 | set_states() 10 | print "service-server has been started" 11 | while(True): 12 | set_tool_voltage(12) 13 | set_digital_out(0, True) 14 | set_analog_out(0, 0.75) 15 | #print "Flags are currently not supported" 16 | ##set_flag(0, True) 17 | ##print(Flag_States[0]) 18 | print(Analog_Out_States[0]) 19 | print(Digital_Out_States[0]) 20 | time.sleep(1) 21 | set_tool_voltage(24) 22 | set_digital_out(0, False) 23 | set_analog_out(0, 0.25) 24 | #print "Flags are currently not supported" 25 | ##set_flag(0, False) 26 | ##print(Flag_States[0]) 27 | print(Analog_Out_States[0]) 28 | print(Digital_Out_States[0]) 29 | time.sleep(1) 30 | 31 | 32 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/controller/arm_controller_ur10.yaml: -------------------------------------------------------------------------------- 1 | arm_controller: 2 | type: position_controllers/JointTrajectoryController 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_lift_joint 6 | - elbow_joint 7 | - wrist_1_joint 8 | - wrist_2_joint 9 | - wrist_3_joint 10 | constraints: 11 | goal_time: 0.6 12 | stopped_velocity_tolerance: 0.05 13 | shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} 14 | shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} 15 | elbow_joint: {trajectory: 0.1, goal: 0.1} 16 | wrist_1_joint: {trajectory: 0.1, goal: 0.1} 17 | wrist_2_joint: {trajectory: 0.1, goal: 0.1} 18 | wrist_3_joint: {trajectory: 0.1, goal: 0.1} 19 | stop_trajectory_duration: 0.5 20 | state_publish_rate: 25 21 | action_monitor_rate: 10 22 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/controller/arm_controller_ur3.yaml: -------------------------------------------------------------------------------- 1 | arm_controller: 2 | type: position_controllers/JointTrajectoryController 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_lift_joint 6 | - elbow_joint 7 | - wrist_1_joint 8 | - wrist_2_joint 9 | - wrist_3_joint 10 | constraints: 11 | goal_time: 0.6 12 | stopped_velocity_tolerance: 0.05 13 | shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} 14 | shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} 15 | elbow_joint: {trajectory: 0.1, goal: 0.1} 16 | wrist_1_joint: {trajectory: 0.1, goal: 0.1} 17 | wrist_2_joint: {trajectory: 0.1, goal: 0.1} 18 | wrist_3_joint: {trajectory: 0.1, goal: 0.1} 19 | stop_trajectory_duration: 0.5 20 | state_publish_rate: 25 21 | action_monitor_rate: 10 22 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/controller/arm_controller_ur5.yaml: -------------------------------------------------------------------------------- 1 | arm_controller: 2 | type: position_controllers/JointTrajectoryController 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_lift_joint 6 | - elbow_joint 7 | - wrist_1_joint 8 | - wrist_2_joint 9 | - wrist_3_joint 10 | constraints: 11 | goal_time: 0.6 12 | stopped_velocity_tolerance: 0.05 13 | shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} 14 | shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} 15 | elbow_joint: {trajectory: 0.1, goal: 0.1} 16 | wrist_1_joint: {trajectory: 0.1, goal: 0.1} 17 | wrist_2_joint: {trajectory: 0.1, goal: 0.1} 18 | wrist_3_joint: {trajectory: 0.1, goal: 0.1} 19 | stop_trajectory_duration: 0.5 20 | state_publish_rate: 25 21 | action_monitor_rate: 10 22 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/controller/joint_state_controller.yaml: -------------------------------------------------------------------------------- 1 | joint_state_controller: 2 | type: joint_state_controller/JointStateController 3 | publish_rate: 50 4 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/launch/controller_utils.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/launch/ur10.launch: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/launch/ur10_joint_limited.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/launch/ur3.launch: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/launch/ur3_joint_limited.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/launch/ur5.launch: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/launch/ur5_joint_limited.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_gazebo/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ur_gazebo 4 | 1.1.11 5 | 6 | Gazebo wrapper for the Universal UR5/10 robot arms. 7 | 8 | 9 | 10 | Alexander Bubeck 11 | Shaun Edwards 12 | Felix Messmer 13 | Felix Messmer 14 | G.A. vd. Hoorn 15 | 16 | BSD 17 | 18 | http://ros.org/wiki/ur_gazebo 19 | 20 | catkin 21 | ur_description 22 | gazebo_ros 23 | gazebo_ros_control 24 | joint_state_controller 25 | joint_trajectory_controller 26 | effort_controllers 27 | robot_state_publisher 28 | controller_manager 29 | 30 | 31 | 32 | 33 | 34 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_kinematics/ur_moveit_plugins.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Analytic kinematics for the Universal Robots UR3. 5 | Developed by Kelsey Hawkins from Georgia Tech. 6 | See http://hdl.handle.net/1853/50782 for details. 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | Analytic kinematics for the Universal Robots UR5. 15 | Developed by Kelsey Hawkins from Georgia Tech. 16 | See http://hdl.handle.net/1853/50782 for details. 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | Analytic kinematics for the Universal Robots UR10. 25 | Developed by Kelsey Hawkins from Georgia Tech. 26 | See http://hdl.handle.net/1853/50782 for details. 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_msgs/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package ur_msgs 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 1.1.11 (2018-01-06) 6 | ------------------- 7 | 8 | 1.1.10 (2017-08-04) 9 | ------------------- 10 | 11 | 1.1.9 (2017-01-02) 12 | ------------------ 13 | * No changes. 14 | 15 | 1.1.8 (2016-12-30) 16 | ------------------ 17 | * all: update maintainers. 18 | * Contributors: gavanderhoorn 19 | 20 | 1.1.7 (2016-12-29) 21 | ------------------ 22 | * Add message definition for ToolData. 23 | * Contributors: Nikolas Engelhard 24 | 25 | 1.1.6 (2016-04-01) 26 | ------------------ 27 | * Moved SetIO FUN constants from driver.py to relevant srv file for easier interaction from other files 28 | * catkin_lint 29 | * Contributors: Thomas Timm Andersen, ipa-fxm 30 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_msgs/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ur_msgs) 3 | 4 | ## Find catkin macros and libraries 5 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 6 | ## is used, also find other catkin packages 7 | find_package(catkin REQUIRED COMPONENTS message_generation std_msgs) 8 | 9 | 10 | ## Generate messages in the 'msg' folder 11 | add_message_files( 12 | FILES 13 | Analog.msg 14 | Digital.msg 15 | IOStates.msg 16 | RobotStateRTMsg.msg 17 | MasterboardDataMsg.msg 18 | ToolDataMsg.msg 19 | ) 20 | 21 | ## Generate services in the 'srv' folder 22 | add_service_files( 23 | FILES 24 | SetPayload.srv 25 | SetIO.srv 26 | ) 27 | 28 | 29 | ## Generate added messages and services with any dependencies listed here 30 | generate_messages( 31 | DEPENDENCIES 32 | std_msgs 33 | ) 34 | 35 | ################################### 36 | ## catkin specific configuration ## 37 | ################################### 38 | catkin_package( 39 | # INCLUDE_DIRS include 40 | # LIBRARIES ur_msgs 41 | CATKIN_DEPENDS message_runtime std_msgs 42 | # DEPENDS system_lib 43 | ) 44 | 45 | ########### 46 | ## Build ## 47 | ########### 48 | 49 | ############# 50 | ## Install ## 51 | ############# 52 | 53 | ############# 54 | ## Testing ## 55 | ############# 56 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_msgs/msg/Analog.msg: -------------------------------------------------------------------------------- 1 | uint8 pin 2 | float32 state 3 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_msgs/msg/Digital.msg: -------------------------------------------------------------------------------- 1 | uint8 pin 2 | bool state 3 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_msgs/msg/IOStates.msg: -------------------------------------------------------------------------------- 1 | Digital[] digital_in_states 2 | Digital[] digital_out_states 3 | Digital[] flag_states 4 | Analog[] analog_in_states 5 | Analog[] analog_out_states 6 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_msgs/msg/MasterboardDataMsg.msg: -------------------------------------------------------------------------------- 1 | # This data structure contains the MasterboardData structure 2 | # used by the Universal Robots controller 3 | # 4 | # MasterboardData is part of the data structure being send on the 5 | # secondary client communications interface 6 | # 7 | # This data structure is send at 10 Hz on TCP port 30002 8 | # 9 | # Dokumentation can be found on the Universal Robots Support Wiki 10 | # (http://wiki03.lynero.net/Technical/DataStreamFromURController?rev=8) 11 | 12 | int16 digital_input_bits 13 | int16 digital_output_bits 14 | int8 analog_input_range0 15 | int8 analog_input_range1 16 | float64 analog_input0 17 | float64 analog_input1 18 | int8 analog_output_domain0 19 | int8 analog_output_domain1 20 | float64 analog_output0 21 | float64 analog_output1 22 | float32 masterboard_temperature 23 | float32 robot_voltage_48V 24 | float32 robot_current 25 | float32 master_io_current 26 | uint8 master_safety_state 27 | uint8 master_onoff_state 28 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_msgs/msg/RobotStateRTMsg.msg: -------------------------------------------------------------------------------- 1 | # Data structure for the realtime communications interface (aka Matlab interface) 2 | # used by the Universal Robots controller 3 | # 4 | # This data structure is send at 125 Hz on TCP port 30003 5 | # 6 | # Dokumentation can be found on the Universal Robots Support Wiki 7 | # (http://wiki03.lynero.net/Technical/RealTimeClientInterface?rev=9) 8 | 9 | float64 time 10 | float64[] q_target 11 | float64[] qd_target 12 | float64[] qdd_target 13 | float64[] i_target 14 | float64[] m_target 15 | float64[] q_actual 16 | float64[] qd_actual 17 | float64[] i_actual 18 | float64[] tool_acc_values 19 | float64[] tcp_force 20 | float64[] tool_vector 21 | float64[] tcp_speed 22 | float64 digital_input_bits 23 | float64[] motor_temperatures 24 | float64 controller_timer 25 | float64 test_value 26 | float64 robot_mode 27 | float64[] joint_modes 28 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_msgs/msg/ToolDataMsg.msg: -------------------------------------------------------------------------------- 1 | # This data structure contains the ToolData structure 2 | # used by the Universal Robots controller 3 | 4 | int8 ANALOG_INPUT_RANGE_CURRENT = 0 5 | int8 ANALOG_INPUT_RANGE_VOLTAGE = 1 6 | 7 | int8 analog_input_range2 # one of ANALOG_INPUT_RANGE_* 8 | int8 analog_input_range3 # one of ANALOG_INPUT_RANGE_* 9 | float64 analog_input2 10 | float64 analog_input3 11 | float32 tool_voltage_48v 12 | uint8 tool_output_voltage 13 | float32 tool_current 14 | float32 tool_temperature 15 | 16 | uint8 TOOL_BOOTLOADER_MODE = 249 17 | uint8 TOOL_RUNNING_MODE = 253 18 | uint8 TOOL_IDLE_MODE = 255 19 | 20 | uint8 tool_mode # one of TOOL_* 21 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ur_msgs 4 | 1.1.11 5 | The ur_msgs package 6 | 7 | Andrew Glusiec 8 | Felix Messmer 9 | Felix Messmer 10 | G.A. vd. Hoorn 11 | 12 | BSD 13 | 14 | catkin 15 | message_generation 16 | std_msgs 17 | message_runtime 18 | std_msgs 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_msgs/srv/SetIO.srv: -------------------------------------------------------------------------------- 1 | int8 FUN_SET_DIGITAL_OUT = 1 2 | int8 FUN_SET_FLAG = 2 3 | int8 FUN_SET_ANALOG_OUT = 3 4 | int8 FUN_SET_TOOL_VOLTAGE = 4 5 | int8 fun 6 | int8 pin 7 | float32 state 8 | --- 9 | bool success 10 | -------------------------------------------------------------------------------- /universal_robot/universal_robot/ur_msgs/srv/SetPayload.srv: -------------------------------------------------------------------------------- 1 | float32 payload 2 | ----------------------- 3 | bool success 4 | -------------------------------------------------------------------------------- /ur_modern_driver/.gitignore: -------------------------------------------------------------------------------- 1 | CMakeCache.txt 2 | CMakeFiles 3 | Makefile 4 | cmake_install.cmake 5 | install_manifest.txt 6 | *~ 7 | -------------------------------------------------------------------------------- /ur_modern_driver/.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "python.autoComplete.extraPaths": [ 3 | "/home/chunting/catkin_ws/devel/lib/python2.7/dist-packages", 4 | "/opt/ros/indigo/lib/python2.7/dist-packages" 5 | ] 6 | } -------------------------------------------------------------------------------- /ur_modern_driver/include/ur_modern_driver/do_output.h: -------------------------------------------------------------------------------- 1 | /* 2 | * do_output.h 3 | * 4 | * Copyright 2015 Thomas Timm Andersen 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | */ 18 | 19 | #ifndef UR_DO_OUTPUT_H_ 20 | #define UR_DO_OUTPUT_H_ 21 | 22 | #ifdef ROS_BUILD 23 | #include 24 | #endif 25 | #include 26 | 27 | void print_debug(std::string inp); 28 | void print_info(std::string inp); 29 | void print_warning(std::string inp); 30 | void print_error(std::string inp); 31 | void print_fatal(std::string inp); 32 | 33 | 34 | #endif /* UR_DO_OUTPUT_H_ */ 35 | -------------------------------------------------------------------------------- /ur_modern_driver/launch/ur10_bringup.launch: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /ur_modern_driver/launch/ur10_bringup_compatible.launch: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /ur_modern_driver/launch/ur10_bringup_joint_limited.launch: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /ur_modern_driver/launch/ur3_bringup.launch: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /ur_modern_driver/launch/ur3_bringup_joint_limited.launch: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /ur_modern_driver/launch/ur5_bringup.launch: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /ur_modern_driver/launch/ur5_bringup_compatible.launch: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /ur_modern_driver/launch/ur5_bringup_joint_limited.launch: -------------------------------------------------------------------------------- 1 | 2 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | --------------------------------------------------------------------------------