├── .travis.yml ├── README.md ├── dependencies.rosinstall ├── robotiq_description ├── CMakeLists.txt ├── config │ └── robotiq_85.rviz ├── launch │ └── display_robotiq85.launch ├── meshes │ ├── collision │ │ ├── robotiq_85_base_link.stl │ │ ├── robotiq_85_finger_link.stl │ │ ├── robotiq_85_finger_tip_link.stl │ │ ├── robotiq_85_inner_knuckle_link.stl │ │ └── robotiq_85_knuckle_link.stl │ ├── robotiq_85_coupler.stl │ └── visual │ │ ├── robotiq_85_base_link.dae │ │ ├── robotiq_85_finger_link.dae │ │ ├── robotiq_85_finger_tip_link.dae │ │ ├── robotiq_85_inner_knuckle_link.dae │ │ └── robotiq_85_knuckle_link.dae ├── package.xml └── urdf │ ├── robotiq_85_gripper.transmission.xacro │ ├── robotiq_85_gripper.urdf.xacro │ ├── robotiq_85_gripper.xacro │ └── robotiq_85_gripper_sim_base.urdf.xacro └── robotiq_gazebo ├── CMakeLists.txt ├── include └── robotiq_gazebo │ ├── disable_link_plugin.h │ └── mimic_joint_plugin.h ├── package.xml └── src ├── disable_link_plugin.cpp └── mimic_joint_plugin.cpp /.travis.yml: -------------------------------------------------------------------------------- 1 | # Generic .travis.yml file for running continuous integration on Travis-CI for 2 | # any ROS package. 3 | # 4 | # Available here: 5 | # - http://felixduvallet.github.io/ros-travis-integration 6 | # - https://github.com/felixduvallet/ros-travis-integration 7 | # 8 | # This installs ROS on a clean Travis-CI virtual machine, creates a ROS 9 | # workspace, resolves all listed dependencies, and sets environment variables 10 | # (setup.bash). Then, it compiles the entire ROS workspace (ensuring there are 11 | # no compilation errors), and runs all the tests. If any of the compilation/test 12 | # phases fail, the build is marked as a failure. 13 | # 14 | # We handle two types of package dependencies specified in the package manifest: 15 | # - system dependencies that can be installed using `rosdep`, including other 16 | # ROS packages and system libraries. These dependencies must be known to 17 | # `rosdistro` and get installed using apt-get. 18 | # - package dependencies that must be checked out from source. These are handled by 19 | # `wstool`, and should be listed in a file named dependencies.rosinstall. 20 | # 21 | # There are two variables you may want to change: 22 | # - ROS_DISTRO (default is indigo). Note that packages must be available for 23 | # ubuntu 14.04 trusty. 24 | # - ROSINSTALL_FILE (default is dependencies.rosinstall inside the repo 25 | # root). This should list all necessary repositories in wstool format (see 26 | # the ros wiki). If the file does not exists then nothing happens. 27 | # 28 | # See the README.md for more information. 29 | # 30 | # Author: Felix Duvallet 31 | 32 | # NOTE: The build lifecycle on Travis.ci is something like this: 33 | # before_install 34 | # install 35 | # before_script 36 | # script 37 | # after_success or after_failure 38 | # after_script 39 | # OPTIONAL before_deploy 40 | # OPTIONAL deploy 41 | # OPTIONAL after_deploy 42 | 43 | ################################################################################ 44 | 45 | # Use ubuntu trusty (14.04) with sudo privileges. 46 | dist: trusty 47 | sudo: required 48 | language: 49 | - generic 50 | cache: 51 | - apt 52 | 53 | # Configuration variables. All variables are global now, but this can be used to 54 | # trigger a build matrix for different ROS distributions if desired. 55 | env: 56 | global: 57 | - ROS_DISTRO=indigo 58 | - ROS_CI_DESKTOP="`lsb_release -cs`" # e.g. [precise|trusty|...] 59 | - CI_SOURCE_PATH=$(pwd) 60 | - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall 61 | - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options 62 | - ROS_PARALLEL_JOBS='-j8 -l6' 63 | # Set the python path manually to include /usr/-/python2.7/dist-packages 64 | # as this is where apt-get installs python packages. 65 | - PYTHONPATH=$PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages 66 | 67 | ################################################################################ 68 | 69 | # Install system dependencies, namely a very barebones ROS setup. 70 | before_install: 71 | - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" 72 | - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 73 | - sudo apt-get update -qq 74 | - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin 75 | - source /opt/ros/$ROS_DISTRO/setup.bash 76 | # Prepare rosdep to install dependencies. 77 | - sudo rosdep init 78 | - rosdep update 79 | 80 | # Create a catkin workspace with the package under integration. 81 | install: 82 | - mkdir -p ~/catkin_ws/src 83 | - cd ~/catkin_ws/src 84 | - catkin_init_workspace 85 | # Create the devel/setup.bash (run catkin_make with an empty workspace) and 86 | # source it to set the path variables. 87 | - cd ~/catkin_ws 88 | - catkin_make 89 | - source devel/setup.bash 90 | # Add the package under integration to the workspace using a symlink. 91 | - cd ~/catkin_ws/src 92 | - ln -s $CI_SOURCE_PATH . 93 | 94 | # Install all dependencies, using wstool first and rosdep second. 95 | # wstool looks for a ROSINSTALL_FILE defined in the environment variables. 96 | before_script: 97 | # source dependencies: install using wstool. 98 | - cd ~/catkin_ws/src 99 | - wstool init 100 | - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi 101 | - wstool up 102 | # package depdencies: install using rosdep. 103 | - cd ~/catkin_ws 104 | - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO 105 | 106 | # Compile and test (mark the build as failed if any step fails). If the 107 | # CATKIN_OPTIONS file exists, use it as an argument to catkin_make, for example 108 | # to blacklist certain packages. 109 | # 110 | # NOTE on testing: `catkin_make run_tests` will show the output of the tests 111 | # (gtest, nosetest, etc..) but always returns 0 (success) even if a test 112 | # fails. Running `catkin_test_results` aggregates all the results and returns 113 | # non-zero when a test fails (which notifies Travis the build failed). 114 | script: 115 | - source /opt/ros/$ROS_DISTRO/setup.bash 116 | - cd ~/catkin_ws 117 | - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS ) 118 | # Run the tests, ensuring the path is set correctly. 119 | - source devel/setup.bash 120 | - catkin_make run_tests && catkin_test_results 121 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # robotiq 2 | 3 | [![Build Status](https://travis-ci.org/utecrobotics/robotiq.svg?branch=master)](https://travis-ci.org/utecrobotics/robotiq) 4 | 5 | Visualization and simulation (in Gazebo) of a Robotiq gripper 6 | -------------------------------------------------------------------------------- /dependencies.rosinstall: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/filesmuggler/robotiq/70fd72e982674c4231bd6aed414db63bf3ccb55b/dependencies.rosinstall -------------------------------------------------------------------------------- /robotiq_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(robotiq_description) 3 | 4 | find_package( 5 | catkin REQUIRED COMPONENTS 6 | ) 7 | 8 | catkin_package() 9 | -------------------------------------------------------------------------------- /robotiq_description/config/robotiq_85.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Global Options1 8 | - /Status1 9 | - /TF1/Frames1 10 | - /TF1/Tree1 11 | - /RobotModel1 12 | Splitter Ratio: 0.594444 13 | Tree Height: 435 14 | - Class: rviz/Selection 15 | Name: Selection 16 | - Class: rviz/Tool Properties 17 | Expanded: 18 | - /2D Pose Estimate1 19 | - /2D Nav Goal1 20 | - /Publish Point1 21 | Name: Tool Properties 22 | Splitter Ratio: 0.588679 23 | - Class: rviz/Views 24 | Expanded: 25 | - /Current View1 26 | Name: Views 27 | Splitter Ratio: 0.5 28 | - Class: rviz/Time 29 | Experimental: false 30 | Name: Time 31 | SyncMode: 0 32 | SyncSource: "" 33 | Visualization Manager: 34 | Class: "" 35 | Displays: 36 | - Alpha: 0.5 37 | Cell Size: 1 38 | Class: rviz/Grid 39 | Color: 160; 160; 164 40 | Enabled: true 41 | Line Style: 42 | Line Width: 0.03 43 | Value: Lines 44 | Name: Grid 45 | Normal Cell Count: 0 46 | Offset: 47 | X: 0 48 | Y: 0 49 | Z: 0 50 | Plane: XY 51 | Plane Cell Count: 10 52 | Reference Frame: 53 | Value: true 54 | - Class: rviz/TF 55 | Enabled: true 56 | Frame Timeout: 15 57 | Frames: 58 | All Enabled: false 59 | gripper_root_link: 60 | Value: true 61 | robotiq_85_base_link: 62 | Value: true 63 | robotiq_85_left_finger_link: 64 | Value: true 65 | robotiq_85_left_finger_tip_link: 66 | Value: true 67 | robotiq_85_left_inner_knuckle_link: 68 | Value: true 69 | robotiq_85_left_knuckle_link: 70 | Value: true 71 | robotiq_85_right_finger_link: 72 | Value: true 73 | robotiq_85_right_finger_tip_link: 74 | Value: true 75 | robotiq_85_right_inner_knuckle_link: 76 | Value: true 77 | robotiq_85_right_knuckle_link: 78 | Value: true 79 | world: 80 | Value: true 81 | Marker Scale: 0.1 82 | Name: TF 83 | Show Arrows: false 84 | Show Axes: true 85 | Show Names: false 86 | Tree: 87 | world: 88 | gripper_root_link: 89 | robotiq_85_base_link: 90 | robotiq_85_left_inner_knuckle_link: 91 | robotiq_85_left_finger_tip_link: 92 | {} 93 | robotiq_85_left_knuckle_link: 94 | robotiq_85_left_finger_link: 95 | {} 96 | robotiq_85_right_inner_knuckle_link: 97 | robotiq_85_right_finger_tip_link: 98 | {} 99 | robotiq_85_right_knuckle_link: 100 | robotiq_85_right_finger_link: 101 | {} 102 | Update Interval: 0 103 | Value: true 104 | - Alpha: 1 105 | Class: rviz/RobotModel 106 | Collision Enabled: false 107 | Enabled: true 108 | Links: 109 | All Links Enabled: true 110 | Expand Joint Details: false 111 | Expand Link Details: false 112 | Expand Tree: false 113 | Link Tree Style: Links in Alphabetic Order 114 | gripper_root_link: 115 | Alpha: 1 116 | Show Axes: false 117 | Show Trail: false 118 | Value: true 119 | robotiq_85_base_link: 120 | Alpha: 1 121 | Show Axes: false 122 | Show Trail: false 123 | Value: true 124 | robotiq_85_left_finger_link: 125 | Alpha: 1 126 | Show Axes: false 127 | Show Trail: false 128 | Value: true 129 | robotiq_85_left_finger_tip_link: 130 | Alpha: 1 131 | Show Axes: false 132 | Show Trail: false 133 | Value: true 134 | robotiq_85_left_inner_knuckle_link: 135 | Alpha: 1 136 | Show Axes: false 137 | Show Trail: false 138 | Value: true 139 | robotiq_85_left_knuckle_link: 140 | Alpha: 1 141 | Show Axes: false 142 | Show Trail: false 143 | Value: true 144 | robotiq_85_right_finger_link: 145 | Alpha: 1 146 | Show Axes: false 147 | Show Trail: false 148 | Value: true 149 | robotiq_85_right_finger_tip_link: 150 | Alpha: 1 151 | Show Axes: false 152 | Show Trail: false 153 | Value: true 154 | robotiq_85_right_inner_knuckle_link: 155 | Alpha: 1 156 | Show Axes: false 157 | Show Trail: false 158 | Value: true 159 | robotiq_85_right_knuckle_link: 160 | Alpha: 1 161 | Show Axes: false 162 | Show Trail: false 163 | Value: true 164 | world: 165 | Alpha: 1 166 | Show Axes: false 167 | Show Trail: false 168 | Name: RobotModel 169 | Robot Description: robot_description 170 | TF Prefix: "" 171 | Update Interval: 0 172 | Value: true 173 | Visual Enabled: true 174 | Enabled: true 175 | Global Options: 176 | Background Color: 48; 48; 48 177 | Fixed Frame: gripper_root_link 178 | Frame Rate: 30 179 | Name: root 180 | Tools: 181 | - Class: rviz/Interact 182 | Hide Inactive Objects: true 183 | - Class: rviz/MoveCamera 184 | - Class: rviz/Select 185 | - Class: rviz/FocusCamera 186 | - Class: rviz/Measure 187 | - Class: rviz/SetInitialPose 188 | Topic: /initialpose 189 | - Class: rviz/SetGoal 190 | Topic: /move_base_simple/goal 191 | - Class: rviz/PublishPoint 192 | Single click: true 193 | Topic: /clicked_point 194 | Value: true 195 | Views: 196 | Current: 197 | Class: rviz/Orbit 198 | Distance: 0.563961 199 | Enable Stereo Rendering: 200 | Stereo Eye Separation: 0.06 201 | Stereo Focal Distance: 1 202 | Swap Stereo Eyes: false 203 | Value: false 204 | Focal Point: 205 | X: 0.0773497 206 | Y: 0.0473022 207 | Z: 0.73566 208 | Name: Current View 209 | Near Clip Distance: 0.01 210 | Pitch: 1.4898 211 | Target Frame: 212 | Value: Orbit (rviz) 213 | Yaw: 4.68997 214 | Saved: ~ 215 | Window Geometry: 216 | Displays: 217 | collapsed: false 218 | Height: 716 219 | Hide Left Dock: false 220 | Hide Right Dock: true 221 | QMainWindow State: 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210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1 219 | 220 | 221 | 222 | -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 223 | 224 | 225 | 226 | 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 227 | 228 | 229 | 230 | 231 | 232 | 233 | 234 | 235 | 236 | 237 | 238 | 239 | 240 | 241 | -------------------------------------------------------------------------------- /robotiq_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | robotiq_description 6 | 7 | 0.1.0 8 | 9 | The robotiq_description package. It has been adapted from: 10 | https://github.com/StanleyInnovation/robotiq_85_gripper 11 | 12 | 13 | oramos 14 | BSD 15 | oramos 16 | 17 | rospy 18 | catkin 19 | robot_state_publisher 20 | urdf 21 | xacro 22 | 23 | 24 | -------------------------------------------------------------------------------- /robotiq_description/urdf/robotiq_85_gripper.transmission.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | transmission_interface/SimpleTransmission 8 | 9 | PositionJointInterface 10 | 11 | 12 | 13 | 1 14 | PositionJointInterface 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | ${prefix}robotiq_85_left_knuckle_joint 23 | ${prefix}robotiq_85_right_knuckle_joint 24 | 25 | 26 | ${prefix}robotiq_85_left_knuckle_joint 27 | ${prefix}robotiq_85_left_inner_knuckle_joint 28 | 29 | 30 | ${prefix}robotiq_85_left_knuckle_joint 31 | ${prefix}robotiq_85_right_inner_knuckle_joint 32 | 33 | 34 | ${prefix}robotiq_85_left_knuckle_joint 35 | ${prefix}robotiq_85_left_finger_tip_joint 36 | -1.0 37 | 0.0 38 | 39 | 40 | ${prefix}robotiq_85_left_knuckle_joint 41 | ${prefix}robotiq_85_right_finger_tip_joint 42 | -1.0 43 | 0.0 44 | 45 | 46 | 47 | 48 | 49 | 50 | -------------------------------------------------------------------------------- /robotiq_description/urdf/robotiq_85_gripper.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 219 | 220 | 221 | 222 | 223 | 224 | 225 | 226 | 227 | 228 | 229 | 230 | 231 | 232 | 233 | 234 | 237 | 238 | 239 | 240 | 241 | 242 | 243 | 244 | 245 | 246 | 247 | 248 | 249 | 250 | 251 | 252 | 253 | 254 | 257 | 258 | 259 | 260 | 261 | 262 | 1000000.0 263 | 1.0 264 | 1.0 265 | 1.0 266 | 0.001 267 | 268 | 269 | 1000000.0 270 | 1.0 271 | 1.0 272 | 1.0 273 | 0.001 274 | 275 | 276 | 277 | 278 | 279 | 280 | -------------------------------------------------------------------------------- /robotiq_description/urdf/robotiq_85_gripper.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | / 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | -------------------------------------------------------------------------------- /robotiq_description/urdf/robotiq_85_gripper_sim_base.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /robotiq_gazebo/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | CMAKE_MINIMUM_REQUIRED(VERSION 2.8.3) 2 | PROJECT(robotiq_gazebo) 3 | 4 | FIND_PACKAGE(catkin REQUIRED COMPONENTS 5 | roscpp 6 | gazebo_ros 7 | control_toolbox 8 | xmlrpcpp 9 | ) 10 | 11 | FIND_PACKAGE(gazebo REQUIRED) 12 | FIND_PACKAGE(Boost REQUIRED COMPONENTS thread) 13 | SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}") 14 | 15 | CATKIN_PACKAGE( 16 | DEPENDS 17 | roscpp 18 | gazebo_ros 19 | control_toolbox 20 | xmlrpcpp 21 | ) 22 | 23 | LINK_DIRECTORIES( 24 | ${GAZEBO_LIBRARY_DIRS} 25 | ) 26 | INCLUDE_DIRECTORIES( 27 | ${Boost_INCLUDE_DIR} 28 | ${catkin_INCLUDE_DIRS} 29 | ${GAZEBO_INCLUDE_DIRS} 30 | include 31 | ) 32 | 33 | ADD_LIBRARY(gazebo_mimic_joint_plugin src/mimic_joint_plugin.cpp) 34 | TARGET_LINK_LIBRARIES(gazebo_mimic_joint_plugin 35 | ${catkin_LIBRARIES} 36 | ${GAZEBO_LIBRARIES}) 37 | 38 | ADD_LIBRARY(gazebo_disable_link_plugin src/disable_link_plugin.cpp) 39 | TARGET_LINK_LIBRARIES(gazebo_disable_link_plugin 40 | ${catkin_LIBRARIES} 41 | ${GAZEBO_LIBRARIES}) 42 | -------------------------------------------------------------------------------- /robotiq_gazebo/include/robotiq_gazebo/disable_link_plugin.h: -------------------------------------------------------------------------------- 1 | /********************************************************************* 2 | * Software License Agreement (BSD License) 3 | * Copyright (c) 2014, Konstantinos Chatzilygeroudis 4 | * Copyright (c) 2016, CRI Lab at Nanyang Technological University 5 | * All rights reserved. 6 | * 7 | * Redistribution and use in source and binary forms, with or without 8 | * modification, are permitted provided that the following conditions 9 | * are met: 10 | * 11 | * * Redistributions of source code must retain the above copyright 12 | * notice, this list of conditions and the following disclaimer. 13 | * * Redistributions in binary form must reproduce the above 14 | * copyright notice, this list of conditions and the following 15 | * disclaimer in the documentation and/or other materials provided 16 | * with the distribution. 17 | * * Neither the name of the Univ of CO, Boulder nor the names of its 18 | * contributors may be used to endorse or promote products derived 19 | * from this software without specific prior written permission. 20 | * 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 32 | * POSSIBILITY OF SUCH DAMAGE. 33 | *********************************************************************/ 34 | 35 | #ifndef GAZEBO_PLUGINS_DISABLE_LINK_PLUGIN 36 | #define GAZEBO_PLUGINS_DISABLE_LINK_PLUGIN 37 | 38 | // ROS includes 39 | #include 40 | 41 | // Boost includes 42 | #include 43 | 44 | // Gazebo includes 45 | #include 46 | #include 47 | #include 48 | #include 49 | 50 | namespace gazebo 51 | { 52 | class DisableLinkPlugin : public ModelPlugin 53 | { 54 | public: 55 | DisableLinkPlugin(); 56 | ~DisableLinkPlugin(); 57 | 58 | void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf); 59 | void UpdateChild(); 60 | 61 | private: 62 | // Parameters 63 | std::string link_name_; 64 | 65 | bool kill_sim; 66 | 67 | // Pointers to the joints 68 | physics::LinkPtr link_; 69 | 70 | // Pointer to the model 71 | physics::ModelPtr model_; 72 | 73 | // Pointer to the world 74 | physics::WorldPtr world_; 75 | 76 | }; 77 | } 78 | 79 | #endif 80 | -------------------------------------------------------------------------------- /robotiq_gazebo/include/robotiq_gazebo/mimic_joint_plugin.h: -------------------------------------------------------------------------------- 1 | /********************************************************************* 2 | * Software License Agreement (BSD License) 3 | * Copyright (c) 2014, Konstantinos Chatzilygeroudis 4 | * Copyright (c) 2016, CRI Lab at Nanyang Technological University 5 | * All rights reserved. 6 | * 7 | * Redistribution and use in source and binary forms, with or without 8 | * modification, are permitted provided that the following conditions 9 | * are met: 10 | * 11 | * * Redistributions of source code must retain the above copyright 12 | * notice, this list of conditions and the following disclaimer. 13 | * * Redistributions in binary form must reproduce the above 14 | * copyright notice, this list of conditions and the following 15 | * disclaimer in the documentation and/or other materials provided 16 | * with the distribution. 17 | * * Neither the name of the Univ of CO, Boulder nor the names of its 18 | * contributors may be used to endorse or promote products derived 19 | * from this software without specific prior written permission. 20 | * 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 32 | * POSSIBILITY OF SUCH DAMAGE. 33 | *********************************************************************/ 34 | 35 | #ifndef GAZEBO_PLUGINS_MIMIC_JOINT_PLUGIN 36 | #define GAZEBO_PLUGINS_MIMIC_JOINT_PLUGIN 37 | 38 | // ROS includes 39 | #include 40 | 41 | // ros_control 42 | #include 43 | 44 | // Boost includes 45 | #include 46 | 47 | // Gazebo includes 48 | #include 49 | #include 50 | #include 51 | #include 52 | 53 | namespace gazebo 54 | { 55 | class MimicJointPlugin : public ModelPlugin 56 | { 57 | public: 58 | MimicJointPlugin(); 59 | ~MimicJointPlugin(); 60 | 61 | void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf); 62 | void UpdateChild(); 63 | 64 | private: 65 | // Parameters 66 | std::string joint_name_, mimic_joint_name_, robot_namespace_; 67 | double multiplier_, offset_, sensitiveness_, max_effort_; 68 | bool has_pid_; 69 | 70 | bool kill_sim; 71 | 72 | // PID controller if needed 73 | control_toolbox::Pid pid_; 74 | 75 | // Pointers to the joints 76 | physics::JointPtr joint_, mimic_joint_; 77 | 78 | // Pointer to the model 79 | physics::ModelPtr model_; 80 | 81 | // Pointer to the world 82 | physics::WorldPtr world_; 83 | 84 | // Pointer to the update event connection 85 | event::ConnectionPtr updateConnection; 86 | 87 | }; 88 | } 89 | 90 | #endif 91 | -------------------------------------------------------------------------------- /robotiq_gazebo/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | robotiq_gazebo 4 | 0.1.0 5 | 6 | Gazebo wrapper for the Robotiq 85 gripper 7 | 8 | 9 | oramos 10 | oramos 11 | BSD 12 | 13 | catkin 14 | 15 | gazebo_ros 16 | roscpp 17 | control_toolbox 18 | xmlrpcpp 19 | 20 | gazebo_ros 21 | roscpp 22 | control_toolbox 23 | xmlrpcpp 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /robotiq_gazebo/src/disable_link_plugin.cpp: -------------------------------------------------------------------------------- 1 | /********************************************************************* 2 | * Software License Agreement (BSD License) 3 | * Copyright (c) 2014, Konstantinos Chatzilygeroudis 4 | * Copyright (c) 2016, CRI Lab at Nanyang Technological University 5 | * All rights reserved. 6 | * 7 | * Redistribution and use in source and binary forms, with or without 8 | * modification, are permitted provided that the following conditions 9 | * are met: 10 | * 11 | * * Redistributions of source code must retain the above copyright 12 | * notice, this list of conditions and the following disclaimer. 13 | * * Redistributions in binary form must reproduce the above 14 | * copyright notice, this list of conditions and the following 15 | * disclaimer in the documentation and/or other materials provided 16 | * with the distribution. 17 | * * Neither the name of the Univ of CO, Boulder nor the names of its 18 | * contributors may be used to endorse or promote products derived 19 | * from this software without specific prior written permission. 20 | * 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 32 | * POSSIBILITY OF SUCH DAMAGE. 33 | *********************************************************************/ 34 | 35 | #include 36 | 37 | namespace gazebo 38 | { 39 | 40 | DisableLinkPlugin::DisableLinkPlugin() 41 | { 42 | kill_sim = false; 43 | link_.reset(); 44 | } 45 | 46 | DisableLinkPlugin::~DisableLinkPlugin() 47 | { 48 | kill_sim = true; 49 | } 50 | 51 | void DisableLinkPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf ) 52 | { 53 | model_ = _parent; 54 | world_ = model_->GetWorld(); 55 | 56 | // Check for link element 57 | if (!_sdf->HasElement("link")) 58 | { 59 | ROS_ERROR("No link element present. DisableLinkPlugin could not be loaded."); 60 | return; 61 | } 62 | 63 | link_name_ = _sdf->GetElement("link")->Get(); 64 | 65 | // Get pointers to joints 66 | link_ = model_->GetLink(link_name_); 67 | if(link_) 68 | link_->SetEnabled(false); 69 | else 70 | ROS_WARN("Link %s not found!", link_name_.c_str()); 71 | } 72 | 73 | GZ_REGISTER_MODEL_PLUGIN(DisableLinkPlugin); 74 | 75 | } 76 | -------------------------------------------------------------------------------- /robotiq_gazebo/src/mimic_joint_plugin.cpp: -------------------------------------------------------------------------------- 1 | /********************************************************************* 2 | * Software License Agreement (BSD License) 3 | * Copyright (c) 2014, Konstantinos Chatzilygeroudis 4 | * Copyright (c) 2016, CRI Lab at Nanyang Technological University 5 | * All rights reserved. 6 | * 7 | * Redistribution and use in source and binary forms, with or without 8 | * modification, are permitted provided that the following conditions 9 | * are met: 10 | * 11 | * * Redistributions of source code must retain the above copyright 12 | * notice, this list of conditions and the following disclaimer. 13 | * * Redistributions in binary form must reproduce the above 14 | * copyright notice, this list of conditions and the following 15 | * disclaimer in the documentation and/or other materials provided 16 | * with the distribution. 17 | * * Neither the name of the Univ of CO, Boulder nor the names of its 18 | * contributors may be used to endorse or promote products derived 19 | * from this software without specific prior written permission. 20 | * 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 32 | * POSSIBILITY OF SUCH DAMAGE. 33 | *********************************************************************/ 34 | 35 | #include 36 | 37 | namespace gazebo 38 | { 39 | 40 | MimicJointPlugin::MimicJointPlugin() 41 | { 42 | kill_sim = false; 43 | 44 | joint_.reset(); 45 | mimic_joint_.reset(); 46 | } 47 | 48 | MimicJointPlugin::~MimicJointPlugin() 49 | { 50 | //event::Events::DisconnectWorldUpdateBegin(this->updateConnection); 51 | this->updateConnection.reset(); 52 | kill_sim = true; 53 | } 54 | 55 | void MimicJointPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf ) 56 | { 57 | ros::NodeHandle model_nh; 58 | model_ = _parent; 59 | world_ = model_->GetWorld(); 60 | 61 | // Error message if the model couldn't be found 62 | if (!model_) 63 | { 64 | ROS_ERROR("Parent model is NULL! MimicJointPlugin could not be loaded."); 65 | return; 66 | } 67 | 68 | // Check that ROS has been initialized 69 | if(!ros::isInitialized()) 70 | { 71 | ROS_ERROR("A ROS node for Gazebo has not been initialized, unable to load plugin."); 72 | return; 73 | } 74 | 75 | // Check for robot namespace 76 | robot_namespace_ = "/"; 77 | if(_sdf->HasElement("robotNamespace")) 78 | { 79 | robot_namespace_ = _sdf->GetElement("robotNamespace")->Get(); 80 | } 81 | 82 | // Check for joint element 83 | if(!_sdf->HasElement("joint")) 84 | { 85 | ROS_ERROR("No joint element present. MimicJointPlugin could not be loaded."); 86 | return; 87 | } 88 | 89 | joint_name_ = _sdf->GetElement("joint")->Get(); 90 | 91 | // Check for mimicJoint element 92 | if(!_sdf->HasElement("mimicJoint")) 93 | { 94 | ROS_ERROR("No mimicJoint element present. MimicJointPlugin could not be loaded."); 95 | return; 96 | } 97 | 98 | mimic_joint_name_ = _sdf->GetElement("mimicJoint")->Get(); 99 | 100 | has_pid_ = false; 101 | // Check if PID controller wanted 102 | if(_sdf->HasElement("hasPID")) 103 | { 104 | has_pid_ = true; 105 | 106 | const ros::NodeHandle nh(model_nh, std::string(robot_namespace_+"/gazebo_ros_control/pid_gains/")+mimic_joint_name_); 107 | double p, i,d ; 108 | // TODO: include i_clamp e.t.c. 109 | nh.param("p", p, 0.0); 110 | nh.param("i", i, 0.0); 111 | nh.param("d", d, 0.0); 112 | 113 | pid_ = control_toolbox::Pid(p,i,d); 114 | } 115 | 116 | // Check for multiplier element 117 | multiplier_ = 1.0; 118 | if(_sdf->HasElement("multiplier")) 119 | multiplier_ = _sdf->GetElement("multiplier")->Get(); 120 | 121 | // Check for offset element 122 | offset_ = 0.0; 123 | if (_sdf->HasElement("offset")) 124 | offset_ = _sdf->GetElement("offset")->Get(); 125 | 126 | // Check for sensitiveness element 127 | sensitiveness_ = 0.0; 128 | if (_sdf->HasElement("sensitiveness")) 129 | sensitiveness_ = _sdf->GetElement("sensitiveness")->Get(); 130 | 131 | // Check for max effort 132 | max_effort_ = 1.0; 133 | if (_sdf->HasElement("maxEffort")) 134 | { 135 | max_effort_ = _sdf->GetElement("maxEffort")->Get(); 136 | } 137 | 138 | // Get pointers to joints 139 | joint_ = model_->GetJoint(joint_name_); 140 | if(!joint_) 141 | { 142 | ROS_ERROR("No joint named %s. MimicJointPlugin could not be loaded.", joint_name_.c_str()); 143 | return; 144 | } 145 | mimic_joint_ = model_->GetJoint(mimic_joint_name_); 146 | if(!mimic_joint_) 147 | { 148 | ROS_ERROR("No (mimic) joint named %s. MimicJointPlugin could not be loaded.", mimic_joint_name_.c_str()); 149 | return; 150 | } 151 | 152 | // Set max effort 153 | if(!has_pid_) 154 | { 155 | #if GAZEBO_MAJOR_VERSION > 2 156 | mimic_joint_->SetParam("fmax", 0, max_effort_); 157 | #else 158 | mimic_joint_->SetMaxForce(0, max_effort_); 159 | #endif 160 | } 161 | 162 | // Listen to the update event. This event is broadcast every 163 | // simulation iteration. 164 | this->updateConnection = event::Events::ConnectWorldUpdateBegin( 165 | boost::bind(&MimicJointPlugin::UpdateChild, this)); 166 | } 167 | 168 | void MimicJointPlugin::UpdateChild() 169 | { 170 | static ros::Duration period(world_->Physics()->GetMaxStepSize()); 171 | 172 | // Set mimic joint's angle based on joint's angle 173 | double angle = joint_->Position(0)*multiplier_+offset_; 174 | 175 | if(abs(angle-mimic_joint_->Position(0))>=sensitiveness_) 176 | { 177 | if(has_pid_) 178 | { 179 | double a = mimic_joint_->Position(0); 180 | if(a!=a) 181 | a = angle; 182 | double error = angle-a; 183 | double effort = ignition::math::clamp(pid_.computeCommand(error, period), -max_effort_, max_effort_); 184 | } 185 | else 186 | { 187 | #if GAZEBO_MAJOR_VERSION >= 4 188 | mimic_joint_->SetPosition(0, angle); 189 | #else 190 | mimic_joint_->SetAngle(0, angle); 191 | #endif 192 | } 193 | } 194 | } 195 | 196 | GZ_REGISTER_MODEL_PLUGIN(MimicJointPlugin); 197 | 198 | } 199 | --------------------------------------------------------------------------------