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Device visualization (#67)

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* Update README and MQTTClient for installation instructions and code improvements

* feat: 支持local_config启动
add: 增加对crt path的说明，为传入config.py的相对路径
move: web component

* add: registry description

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* feat: node_info_update srv
fix: OTDeck cant create

* close #12
feat: slave node registry

* feat: show machine name
fix: host node registry not uploaded

* feat: add hplc registry

* feat: add hplc registry

* fix: hplc status typo

* fix: devices/

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* fix: device.class possible null

* fix: HPLC additions with online service

* fix: slave mode spin not working

* fix: slave mode spin not working

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* feat: 多ProtocolNode 允许子设备ID相同
feat: 上报发现的ActionClient
feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报

* feat: 支持env设置config

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* Device visualization (#14)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: missing hostname in devices_names
fix: upload_file for model file

* fix: missing paho-mqtt package
bump version to 0.9.0

* fix startup
add ResourceCreateFromOuter.action

* fix type hint

* update actions

* update actions

* host node add_resource_from_outer
fix cmake list

* pass device config to device class

* add: bind_parent_ids to resource create action
fix: message convert string

* fix: host node should not be re_discovered

* feat: resource tracker support dict

* feat: add more necessary params

* feat: fix boolean null in registry action data

* feat: add outer resource

* 编写mesh添加action

* feat: append resource

* add action

* feat: vis 2d for plr

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

* Device visualization (#22)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* 编写mesh添加action

* add action

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: multi channel

* fix: aspirate

* fix: aspirate

* fix: aspirate

* fix: aspirate

* 提交

* fix: jobadd

* fix: jobadd

* fix: msg converter

* tijiao

* add resource creat easy action

* identify debug msg

* mq client id

* 提取lh的joint发布

* unify liquid_handler definition

* 修改物料跟随与物料添加逻辑

修改物料跟随与物料添加逻辑
将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写

* Revert "修改物料跟随与物料添加逻辑"

This reverts commit 498c997ad7.

* Reapply "修改物料跟随与物料添加逻辑"

This reverts commit 3a60d2ae81.

* Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization"

This reverts commit fa727220af, reversing
changes made to 498c997ad7.

* 修改物料放下时的方法，如果选择

修改物料放下时的方法，
如果选择drop_trash，则删除物料显示
如果选择drop，则让其解除连接

* unilab添加moveit启动

1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活
2,添加pymoveit2的节点，使用json可直接启动
3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动

* 修改物体attach时，多次赋值当前时间导致卡顿问题，

* Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，"

This reverts commit 56d45b94f5.

* Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，"

This reverts commit 07d9db20c3.

* 添加缺少物料："plate_well_G12",

* add

* fix tip resource data

* liquid states

* change to debug level

* Revert "change to debug level"

This reverts commit 5d9953c3e5.

* Reapply "change to debug level"

This reverts commit 2487bb6ffc.

* fix tip resource data

* add full device

* add moveit yaml

* 修复moveit
增加post_init阶段，给予ros_node反向

* remove necessary node

* fix moveit action client

* remove necessary imports

* Update moveit_interface.py

* fix handler_key uppercase

* json add liquids

* fix setup

* add

* change to "sources" and "targets" for lh

* bump version

* remove parent's parent link

* change arm's name

* change name

* fix ik error

* 修改moveit_interface，并在mqtt上报时发送一个时间戳

* 添加机械臂和移液站

* 添加

* 添加硬件

* update

* 添加

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>
Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
This commit is contained in:
q434343
2025-08-01 01:06:10 +08:00
committed by GitHub
parent b63e281ab7
commit dcc970a091
163 changed files with 23767 additions and 695 deletions
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323
unilabos/device_mesh/devices/elite_robot/urdf/cs.ros2_control.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="cs_ros2_control" params="
name
use_fake_hardware:=false fake_sensor_commands:=false
sim_gazebo:=false
sim_ignition:=false
headless_mode:=false
initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
use_tool_communication:=false
script_filename
output_recipe_filename
input_recipe_filename
tf_prefix
robot_ip
tool_voltage:=0
tool_parity:=0 tool_baud_rate:=115200 tool_stop_bits:=1 tool_tcp_port:=54321
reverse_port:=50001
script_sender_port:=50002
local_ip:=0.0.0.0
script_command_port:=50004
trajectory_port:=50003
robot_receive_timeout:=0.2
">
<ros2_control name="${name}" type="system">
<hardware>
<xacro:if value="${sim_gazebo}">
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</xacro:if>
<xacro:if value="${sim_ignition}">
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</xacro:if>
<xacro:if value="${use_fake_hardware}">
<plugin>mock_components/GenericSystem</plugin>
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:unless value="${use_fake_hardware or sim_gazebo or sim_ignition}">
<plugin>ELITE_CS_ROBOT_ROS_DRIVER/EliteCSPositionHardwareInterface</plugin>
<param name="robot_ip">${robot_ip}</param>
<param name="script_filename">${script_filename}</param>
<param name="output_recipe_filename">${output_recipe_filename}</param>
<param name="input_recipe_filename">${input_recipe_filename}</param>
<param name="headless_mode">${headless_mode}</param>
<param name="reverse_port">${reverse_port}</param>
<param name="script_sender_port">${script_sender_port}</param>
<param name="local_ip">${local_ip}</param>
<param name="script_command_port">${script_command_port}</param>
<param name="trajectory_port">${trajectory_port}</param>
<param name="tf_prefix">${tf_prefix}</param>
<param name="servoj_gain">2000</param>
<param name="servoj_lookahead_time">0.08</param>
<param name="servoj_time">0.008</param>
<param name="use_tool_communication">${use_tool_communication}</param>
<param name="tool_voltage">${tool_voltage}</param>
<param name="tool_parity">${tool_parity}</param>
<param name="tool_baud_rate">${tool_baud_rate}</param>
<param name="tool_stop_bits">${tool_stop_bits}</param>
<param name="tool_tcp_port">${tool_tcp_port}</param>
<param name="robot_receive_timeout">${robot_receive_timeout}</param>
</xacro:unless>
</hardware>
<joint name="${tf_prefix}shoulder_pan_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<!-- initial position for the FakeSystem and simulation -->
<param name="initial_value">${initial_positions['shoulder_pan_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="${tf_prefix}shoulder_lift_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<!-- initial position for the FakeSystem and simulation -->
<param name="initial_value">${initial_positions['shoulder_lift_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="${tf_prefix}elbow_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<!-- initial position for the FakeSystem and simulation -->
<param name="initial_value">${initial_positions['elbow_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="${tf_prefix}wrist_1_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<!-- initial position for the FakeSystem and simulation -->
<param name="initial_value">${initial_positions['wrist_1_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="${tf_prefix}wrist_2_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<!-- initial position for the FakeSystem and simulation -->
<param name="initial_value">${initial_positions['wrist_2_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="${tf_prefix}wrist_3_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<!-- initial position for the FakeSystem and simulation -->
<param name="initial_value">${initial_positions['wrist_3_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<xacro:unless value="${sim_gazebo or sim_ignition}">
<sensor name="${tf_prefix}tcp_fts_sensor">
<state_interface name="force.x"/>
<state_interface name="force.y"/>
<state_interface name="force.z"/>
<state_interface name="torque.x"/>
<state_interface name="torque.y"/>
<state_interface name="torque.z"/>
</sensor>
<!-- NOTE The following are joints used only for testing with fake hardware and will change in the future -->
<gpio name="${tf_prefix}speed_scaling">
<state_interface name="speed_scaling_factor"/>
<param name="initial_speed_scaling_factor">1</param>
<command_interface name="target_speed_fraction_cmd"/>
<command_interface name="target_speed_fraction_async_success"/>
</gpio>
<gpio name="${tf_prefix}gpio">
<command_interface name="standard_digital_output_cmd_0"/>
<command_interface name="standard_digital_output_cmd_1"/>
<command_interface name="standard_digital_output_cmd_2"/>
<command_interface name="standard_digital_output_cmd_3"/>
<command_interface name="standard_digital_output_cmd_4"/>
<command_interface name="standard_digital_output_cmd_5"/>
<command_interface name="standard_digital_output_cmd_6"/>
<command_interface name="standard_digital_output_cmd_7"/>
<command_interface name="standard_digital_output_cmd_8"/>
<command_interface name="standard_digital_output_cmd_9"/>
<command_interface name="standard_digital_output_cmd_10"/>
<command_interface name="standard_digital_output_cmd_11"/>
<command_interface name="standard_digital_output_cmd_12"/>
<command_interface name="standard_digital_output_cmd_13"/>
<command_interface name="standard_digital_output_cmd_14"/>
<command_interface name="standard_digital_output_cmd_15"/>
<command_interface name="configure_digital_output_cmd_0"/>
<command_interface name="configure_digital_output_cmd_1"/>
<command_interface name="configure_digital_output_cmd_2"/>
<command_interface name="configure_digital_output_cmd_3"/>
<command_interface name="configure_digital_output_cmd_4"/>
<command_interface name="configure_digital_output_cmd_5"/>
<command_interface name="configure_digital_output_cmd_6"/>
<command_interface name="configure_digital_output_cmd_7"/>
<command_interface name="tool_digital_output_cmd_0"/>
<command_interface name="tool_digital_output_cmd_1"/>
<command_interface name="tool_digital_output_cmd_2"/>
<command_interface name="tool_digital_output_cmd_3"/>
<command_interface name="standard_analog_output_type_cmd_0"/>
<command_interface name="standard_analog_output_type_cmd_1"/>
<command_interface name="standard_analog_output_cmd_0"/>
<command_interface name="standard_analog_output_cmd_1"/>
<command_interface name="tool_voltage_cmd"/>
<command_interface name="io_async_success"/>
<state_interface name="standard_digital_output_0"/>
<state_interface name="standard_digital_output_1"/>
<state_interface name="standard_digital_output_2"/>
<state_interface name="standard_digital_output_3"/>
<state_interface name="standard_digital_output_4"/>
<state_interface name="standard_digital_output_5"/>
<state_interface name="standard_digital_output_6"/>
<state_interface name="standard_digital_output_7"/>
<state_interface name="standard_digital_output_8"/>
<state_interface name="standard_digital_output_9"/>
<state_interface name="standard_digital_output_10"/>
<state_interface name="standard_digital_output_11"/>
<state_interface name="standard_digital_output_12"/>
<state_interface name="standard_digital_output_13"/>
<state_interface name="standard_digital_output_14"/>
<state_interface name="standard_digital_output_15"/>
<state_interface name="configure_digital_output_0"/>
<state_interface name="configure_digital_output_1"/>
<state_interface name="configure_digital_output_2"/>
<state_interface name="configure_digital_output_3"/>
<state_interface name="configure_digital_output_4"/>
<state_interface name="configure_digital_output_5"/>
<state_interface name="configure_digital_output_6"/>
<state_interface name="configure_digital_output_7"/>
<state_interface name="tool_digital_output_0"/>
<state_interface name="tool_digital_output_1"/>
<state_interface name="tool_digital_output_2"/>
<state_interface name="tool_digital_output_3"/>
<state_interface name="standard_digital_input_0"/>
<state_interface name="standard_digital_input_1"/>
<state_interface name="standard_digital_input_2"/>
<state_interface name="standard_digital_input_3"/>
<state_interface name="standard_digital_input_4"/>
<state_interface name="standard_digital_input_5"/>
<state_interface name="standard_digital_input_6"/>
<state_interface name="standard_digital_input_7"/>
<state_interface name="standard_digital_input_8"/>
<state_interface name="standard_digital_input_9"/>
<state_interface name="standard_digital_input_10"/>
<state_interface name="standard_digital_input_11"/>
<state_interface name="standard_digital_input_12"/>
<state_interface name="standard_digital_input_13"/>
<state_interface name="standard_digital_input_14"/>
<state_interface name="standard_digital_input_15"/>
<state_interface name="configure_digital_input_0"/>
<state_interface name="configure_digital_input_1"/>
<state_interface name="configure_digital_input_2"/>
<state_interface name="configure_digital_input_3"/>
<state_interface name="configure_digital_input_4"/>
<state_interface name="configure_digital_input_5"/>
<state_interface name="configure_digital_input_6"/>
<state_interface name="configure_digital_input_7"/>
<state_interface name="tool_digital_input_0"/>
<state_interface name="tool_digital_input_1"/>
<state_interface name="tool_digital_input_2"/>
<state_interface name="tool_digital_input_3"/>
<state_interface name="standard_analog_output_type_0"/>
<state_interface name="standard_analog_output_type_1"/>
<state_interface name="standard_analog_output_0"/>
<state_interface name="standard_analog_output_1"/>
<state_interface name="standard_analog_input_type_0"/>
<state_interface name="standard_analog_input_type_1"/>
<state_interface name="standard_analog_input_0"/>
<state_interface name="standard_analog_input_1"/>
<state_interface name="tool_mode"/>
<state_interface name="tool_output_voltage"/>
<state_interface name="tool_output_current"/>
<state_interface name="tool_temperature"/>
<state_interface name="tool_analog_input"/>
<state_interface name="tool_analog_output"/>
<state_interface name="tool_analog_input_type"/>
<state_interface name="tool_analog_output_type"/>
<state_interface name="robot_mode"/>
<state_interface name="robot_status_bit_0"/>
<state_interface name="robot_status_bit_1"/>
<state_interface name="robot_status_bit_2"/>
<state_interface name="robot_status_bit_3"/>
<state_interface name="safety_mode"/>
<state_interface name="safety_status_bit_0"/>
<state_interface name="safety_status_bit_1"/>
<state_interface name="safety_status_bit_2"/>
<state_interface name="safety_status_bit_3"/>
<state_interface name="safety_status_bit_4"/>
<state_interface name="safety_status_bit_5"/>
<state_interface name="safety_status_bit_6"/>
<state_interface name="safety_status_bit_7"/>
<state_interface name="safety_status_bit_8"/>
<state_interface name="safety_status_bit_9"/>
<state_interface name="safety_status_bit_10"/>
<state_interface name="task_running"/>
</gpio>
<gpio name="${tf_prefix}payload">
<command_interface name="mass"/>
<command_interface name="cog.x"/>
<command_interface name="cog.y"/>
<command_interface name="cog.z"/>
<command_interface name="payload_async_success"/>
</gpio>
<gpio name="${tf_prefix}resend_external_script">
<command_interface name="resend_external_script_cmd"/>
<command_interface name="resend_external_script_async_success"/>
</gpio>
<gpio name="${tf_prefix}hand_back_control">
<command_interface name="hand_back_control_cmd"/>
<command_interface name="hand_back_control_async_success"/>
</gpio>
<gpio name="${tf_prefix}zero_ftsensor">
<command_interface name="zero_ftsensor_cmd"/>
<command_interface name="zero_ftsensor_async_success"/>
</gpio>
<gpio name="${tf_prefix}system_interface">
<state_interface name="initialized"/>
</gpio>
</xacro:unless>
</ros2_control>
</xacro:macro>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
<!-- robot name parameter -->
<xacro:arg name="name" default="cs"/>
<!-- import main macro -->
<xacro:include filename="$(find eli_cs_robot_description)/urdf/cs_macro.xacro"/>
<!-- possible 'cs_type' values: cs63, cs66, cs612, cs616, cs620, cs625 -->
<!-- the default value should raise an error in case this was called without defining the type -->
<xacro:arg name="cs_type" default="cs63"/>
<!-- parameters -->
<xacro:arg name="tf_prefix" default="" />
<xacro:arg name="joint_limit_params" default="$(find eli_cs_robot_description)/config/$(arg cs_type)/joint_limits.yaml"/>
<xacro:arg name="kinematics_params" default="$(find eli_cs_robot_description)/config/$(arg cs_type)/default_kinematics.yaml"/>
<xacro:arg name="physical_params" default="$(find eli_cs_robot_description)/config/$(arg cs_type)/physical_parameters.yaml"/>
<xacro:arg name="visual_params" default="$(find eli_cs_robot_description)/config/$(arg cs_type)/visual_parameters.yaml"/>
<xacro:arg name="transmission_hw_interface" default=""/>
<xacro:arg name="safety_limits" default="false"/>
<xacro:arg name="safety_pos_margin" default="0.15"/>
<xacro:arg name="safety_k_position" default="20"/>
<!-- ros2_control related parameters -->
<xacro:arg name="headless_mode" default="false" />
<xacro:arg name="robot_ip" default="0.0.0.0" />
<xacro:arg name="script_filename" default=""/>
<xacro:arg name="output_recipe_filename" default=""/>
<xacro:arg name="input_recipe_filename" default=""/>
<xacro:arg name="local_ip" default="0.0.0.0"/>
<xacro:arg name="script_command_port" default="50004"/>
<xacro:arg name="reverse_port" default="50001"/>
<xacro:arg name="script_sender_port" default="50002"/>
<xacro:arg name="trajectory_port" default="50003"/>
<!-- tool communication related parameters-->
<xacro:arg name="use_tool_communication" default="false" />
<xacro:arg name="tool_voltage" default="0" />
<xacro:arg name="tool_parity" default="0" />
<xacro:arg name="tool_baud_rate" default="115200" />
<xacro:arg name="tool_stop_bits" default="1" />
<xacro:arg name="tool_tcp_port" default="54321" />
<!-- Simulation parameters -->
<xacro:arg name="use_fake_hardware" default="false" />
<xacro:arg name="fake_sensor_commands" default="false" />
<xacro:arg name="sim_gazebo" default="false" />
<xacro:arg name="sim_ignition" default="false" />
<xacro:arg name="simulation_controllers" default="" />
<!-- initial position for simulations (Fake Hardware, Gazebo, Ignition) -->
<xacro:arg name="initial_positions_file" default="$(find eli_cs_robot_description)/config/initial_positions.yaml"/>
<!-- convert to property to use substitution in function -->
<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
<!-- create link fixed to the "world" -->
<link name="world" />
<!-- arm -->
<xacro:cs_robot
name="$(arg name)"
tf_prefix="$(arg tf_prefix)"
parent="world"
joint_limits_parameters_file="$(arg joint_limit_params)"
kinematics_parameters_file="$(arg kinematics_params)"
physical_parameters_file="$(arg physical_params)"
visual_parameters_file="$(arg visual_params)"
transmission_hw_interface="$(arg transmission_hw_interface)"
safety_limits="$(arg safety_limits)"
safety_pos_margin="$(arg safety_pos_margin)"
safety_k_position="$(arg safety_k_position)"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)"
sim_gazebo="$(arg sim_gazebo)"
sim_ignition="$(arg sim_ignition)"
headless_mode="$(arg headless_mode)"
initial_positions="${xacro.load_yaml(initial_positions_file)}"
use_tool_communication="$(arg use_tool_communication)"
tool_voltage="$(arg tool_voltage)"
tool_parity="$(arg tool_parity)"
tool_baud_rate="$(arg tool_baud_rate)"
tool_stop_bits="$(arg tool_stop_bits)"
tool_tcp_port="$(arg tool_tcp_port)"
robot_ip="$(arg robot_ip)"
script_filename="$(arg script_filename)"
output_recipe_filename="$(arg output_recipe_filename)"
input_recipe_filename="$(arg input_recipe_filename)"
local_ip="$(arg local_ip)"
script_command_port="$(arg script_command_port)"
reverse_port="$(arg reverse_port)"
script_sender_port="$(arg script_sender_port)"
trajectory_port="$(arg trajectory_port)"
>
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- position robot in the world -->
</xacro:cs_robot>
<xacro:if value="$(arg sim_gazebo)">
<!-- Gazebo plugins -->
<gazebo reference="world">
</gazebo>
<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<parameters>$(arg simulation_controllers)</parameters>
</plugin>
</gazebo>
</xacro:if>
<xacro:if value="$(arg sim_ignition)">
<!-- Gazebo plugins -->
<gazebo reference="world">
</gazebo>
<gazebo>
<plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
<parameters>$(arg simulation_controllers)</parameters>
<controller_manager_node_name>$(arg tf_prefix)controller_manager</controller_manager_node_name>
</plugin>
</gazebo>
</xacro:if>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
<!--
Base ELITE CS robot series xacro macro.
NOTE this is NOT a URDF. It cannot directly be loaded by consumers
expecting a flattened '.urdf' file. See the top-level '.xacro' for that
(but note that .xacro must still be processed by the xacro command).
This file models the base kinematic chain of a CS robot, which then gets
parameterised by various configuration files to convert it into a CS63,
CS66, CS612, CS616, CS620 or CS625.
NOTE the default kinematic parameters (i.e., link lengths, frame locations,
offsets, etc) do not correspond to any particular robot. They are defaults
only.
For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
parameter MUST point to a .yaml file containing the appropriate values for
the targeted robot.
- Chen Shichao
-->
<xacro:include filename="${mesh_path}/devices/elite_robot/urdf/inc/cs_transmissions.xacro" />
<xacro:include filename="${mesh_path}/devices/elite_robot/urdf/inc/cs_common.xacro" />
<xacro:macro name="cs_robot" params="
name
tf_prefix
parent
*origin
joint_limits_parameters_file
kinematics_parameters_file
physical_parameters_file
visual_parameters_file
generate_ros2_control_tag:=true
transmission_hw_interface:=hardware_interface/PositionJointInterface
safety_limits:=false
safety_pos_margin:=0.15
safety_k_position:=20
use_fake_hardware:=false
fake_sensor_commands:=false
sim_gazebo:=false
sim_ignition:=false
headless_mode:=false
initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
use_tool_communication:=false
tool_voltage:=0
tool_parity:=0
tool_baud_rate:=115200
tool_stop_bits:=1
tool_tcp_port:=54321
robot_ip:=0.0.0.0
script_filename:=to_be_filled_by_cs_robot_driver
output_recipe_filename:=to_be_filled_by_cs_robot_driver
input_recipe_filename:=to_be_filled_by_cs_robot_driver
reverse_port:=50001
script_sender_port:=50002
local_ip:=0.0.0.0
script_command_port:=50004
trajectory_port:=50003
mesh_path"
>
<!-- Load configuration data from the provided .yaml files -->
<xacro:read_model_data
joint_limits_parameters_file="${joint_limits_parameters_file}"
kinematics_parameters_file="${kinematics_parameters_file}"
physical_parameters_file="${physical_parameters_file}"
visual_parameters_file="${visual_parameters_file}"
force_abs_paths="true"
mesh_path="${mesh_path}"
/>
<xacro:if value="${generate_ros2_control_tag}">
<!-- ros2 control include -->
<xacro:include filename="${mesh_path}/devices/elite_robot/urdf/cs.ros2_control.xacro" />
<!-- ros2 control instance -->
<xacro:cs_ros2_control
name="${name}"
use_fake_hardware="${use_fake_hardware}"
initial_positions="${initial_positions}"
fake_sensor_commands="${fake_sensor_commands}"
headless_mode="${headless_mode}"
sim_gazebo="${sim_gazebo}"
sim_ignition="${sim_ignition}"
script_filename="${script_filename}"
output_recipe_filename="${output_recipe_filename}"
input_recipe_filename="${input_recipe_filename}"
tf_prefix="${tf_prefix}"
robot_ip="${robot_ip}"
use_tool_communication="${use_tool_communication}"
tool_voltage="${tool_voltage}"
tool_parity="${tool_parity}"
tool_baud_rate="${tool_baud_rate}"
tool_stop_bits="${tool_stop_bits}"
tool_tcp_port="${tool_tcp_port}"
reverse_port="${reverse_port}"
script_sender_port="${script_sender_port}"
local_ip="${local_ip}"
script_command_port="${script_command_port}"
trajectory_port="${trajectory_port}"
/>
</xacro:if>
<!-- Add URDF transmission elements (for ros_control) -->
<!--<xacro:cs_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
<!-- Placeholder for ros2_control transmission which don't yet exist -->
<!-- links - main serial chain -->
<link name="${tf_prefix}base_link"/>
<link name="${tf_prefix}base_link_inertia">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<xacro:get_mesh name="base" type="visual"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<xacro:get_mesh name="base" type="collision"/>
</geometry>
</collision>
<xacro:build_inertial mass="${base_mass}" cog="${prop_base_cog}" inertia="${prop_base_inertia}"/>
</link>
<link name="${tf_prefix}shoulder_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<xacro:get_mesh name="shoulder" type="visual"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<xacro:get_mesh name="shoulder" type="collision"/>
</geometry>
</collision>
<xacro:build_inertial mass="${shoulder_mass}" cog="${prop_shoulder_cog}" inertia="${prop_shoulder_inertia}"/>
</link>
<link name="${tf_prefix}upperarm_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<xacro:get_mesh name="upperarm" type="visual"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<xacro:get_mesh name="upperarm" type="collision"/>
</geometry>
</collision>
<xacro:build_inertial mass="${upperarm_mass}" cog="${prop_upperarm_cog}" inertia="${prop_upperarm_inertia}"/>
</link>
<link name="${tf_prefix}forearm_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<xacro:get_mesh name="forearm" type="visual"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<xacro:get_mesh name="forearm" type="collision"/>
</geometry>
</collision>
<xacro:build_inertial mass="${forearm_mass}" cog="${prop_forearm_cog}" inertia="${prop_forearm_inertia}"/>
</link>
<link name="${tf_prefix}wrist_1_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<xacro:get_mesh name="wrist_1" type="visual"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<xacro:get_mesh name="wrist_1" type="collision"/>
</geometry>
</collision>
<xacro:build_inertial mass="${wrist_1_mass}" cog="${prop_wrist_1_cog}" inertia="${prop_wrist_1_inertia}"/>
</link>
<link name="${tf_prefix}wrist_2_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<xacro:get_mesh name="wrist_2" type="visual"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<xacro:get_mesh name="wrist_2" type="collision"/>
</geometry>
</collision>
<xacro:build_inertial mass="${wrist_2_mass}" cog="${prop_wrist_2_cog}" inertia="${prop_wrist_2_inertia}"/>
</link>
<link name="${tf_prefix}wrist_3_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<xacro:get_mesh name="wrist_3" type="visual"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<xacro:get_mesh name="wrist_3" type="collision"/>
</geometry>
</collision>
<xacro:build_inertial mass="${wrist_3_mass}" cog="${prop_wrist_3_cog}" inertia="${prop_wrist_3_inertia}"/>
</link>
<!-- base_joint fixes base_link to the environment -->
<joint name="${tf_prefix}base_joint" type="fixed">
<xacro:insert_block name="origin" />
<parent link="${parent}" />
<child link="${tf_prefix}base_link" />
</joint>
<!-- joints - main serial chain -->
<joint name="${tf_prefix}base_link-base_link_inertia" type="fixed">
<parent link="${tf_prefix}base_link" />
<child link="${tf_prefix}base_link_inertia" />
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
<joint name="${tf_prefix}shoulder_pan_joint" type="revolute">
<parent link="${tf_prefix}base_link_inertia" />
<child link="${tf_prefix}shoulder_link" />
<origin xyz="${shoulder_x} ${shoulder_y} ${shoulder_z}" rpy="${shoulder_roll} ${shoulder_pitch} ${shoulder_yaw}" />
<axis xyz="0 0 1" />
<limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}"
effort="${shoulder_pan_effort_limit}" velocity="${shoulder_pan_velocity_limit}"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
<dynamics damping="0" friction="0"/>
</joint>
<joint name="${tf_prefix}shoulder_lift_joint" type="revolute">
<parent link="${tf_prefix}shoulder_link" />
<child link="${tf_prefix}upperarm_link" />
<origin xyz="${upperarm_x} ${upperarm_y} ${upperarm_z}" rpy="${upperarm_roll} ${upperarm_pitch} ${upperarm_yaw}" />
<axis xyz="0 0 1" />
<limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}"
effort="${shoulder_lift_effort_limit}" velocity="${shoulder_lift_velocity_limit}"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
<dynamics damping="0" friction="0"/>
</joint>
<joint name="${tf_prefix}elbow_joint" type="revolute">
<parent link="${tf_prefix}upperarm_link" />
<child link="${tf_prefix}forearm_link" />
<origin xyz="${forearm_x} ${forearm_y} ${forearm_z}" rpy="${forearm_roll} ${forearm_pitch} ${forearm_yaw}" />
<axis xyz="0 0 1" />
<limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}"
effort="${elbow_joint_effort_limit}" velocity="${elbow_joint_velocity_limit}"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
<dynamics damping="0" friction="0"/>
</joint>
<joint name="${tf_prefix}wrist_1_joint" type="revolute">
<parent link="${tf_prefix}forearm_link" />
<child link="${tf_prefix}wrist_1_link" />
<origin xyz="${wrist_1_x} ${wrist_1_y} ${wrist_1_z}" rpy="${wrist_1_roll} ${wrist_1_pitch} ${wrist_1_yaw}" />
<axis xyz="0 0 1" />
<limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}"
effort="${wrist_1_effort_limit}" velocity="${wrist_1_velocity_limit}"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
<dynamics damping="0" friction="0"/>
</joint>
<joint name="${tf_prefix}wrist_2_joint" type="revolute">
<parent link="${tf_prefix}wrist_1_link" />
<child link="${tf_prefix}wrist_2_link" />
<origin xyz="${wrist_2_x} ${wrist_2_y} ${wrist_2_z}" rpy="${wrist_2_roll} ${wrist_2_pitch} ${wrist_2_yaw}" />
<axis xyz="0 0 1" />
<limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}"
effort="${wrist_2_effort_limit}" velocity="${wrist_2_velocity_limit}"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
<dynamics damping="0" friction="0"/>
</joint>
<joint name="${tf_prefix}wrist_3_joint" type="revolute">
<parent link="${tf_prefix}wrist_2_link" />
<child link="${tf_prefix}wrist_3_link" />
<origin xyz="${wrist_3_x} ${wrist_3_y} ${wrist_3_z}" rpy="${wrist_3_roll} ${wrist_3_pitch} ${wrist_3_yaw}" />
<axis xyz="0 0 1" />
<limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}"
effort="${wrist_3_effort_limit}" velocity="${wrist_3_velocity_limit}"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
<dynamics damping="0" friction="0"/>
</joint>
<link name="${tf_prefix}ft_frame"/>
<joint name="${tf_prefix}wrist_3_link-ft_frame" type="fixed">
<parent link="${tf_prefix}wrist_3_link"/>
<child link="${tf_prefix}ft_frame"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<!-- ROS-Industrial 'base' frame - base_link to CS 'Base' Coordinates transform -->
<link name="${tf_prefix}base"/>
<joint name="${tf_prefix}base_link-base_fixed_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="${tf_prefix}base_link"/>
<child link="${tf_prefix}base"/>
</joint>
<!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
<link name="${tf_prefix}flange" />
<joint name="${tf_prefix}wrist_3-flange" type="fixed">
<parent link="${tf_prefix}wrist_3_link" />
<child link="${tf_prefix}flange" />
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
<!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
<link name="${tf_prefix}tool0"/>
<joint name="${tf_prefix}flange-tool0" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="${tf_prefix}flange"/>
<child link="${tf_prefix}tool0"/>
</joint>
</xacro:macro>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
<!--
NOTE the macros defined in this file are NOT part of the public API of this
package. Users CANNOT rely on this file being available, or stored in
this location. Nor can they rely on the existence of the two macros.
The macros store the defined properties in the scope of the caller.
However, users MUST NOT rely on these properties, their contents or their
names.
Author: Chen Shichao
-->
<xacro:macro name="build_inertial" params="mass cog inertia">
<inertial>
<mass value="${mass}" />
<origin
xyz="${cog['x']} ${cog['y']} ${cog['z']}"
rpy="0 0 0" />
<inertia
ixx="${inertia['ixx']}"
ixy="${inertia['ixy']}"
ixz="${inertia['ixz']}"
iyy="${inertia['iyy']}"
iyz="${inertia['iyz']}"
izz="${inertia['izz']}" />
</inertial>
</xacro:macro>
<xacro:macro name="get_visual_params" params="name:=^ type:=^" >
<xacro:property name="visual_params" value="${sec_mesh_files[name][type]}" scope="parent"/>
</xacro:macro>
<!-- Simplification of getting meshes. Available types can be seen in the visual_parameters.yaml (At the time of writing: visual, collision) -->
<xacro:macro name="get_mesh_path" params="name:=^ type:=^" >
<xacro:get_visual_params />
<xacro:if value="${force_abs_paths}">
<xacro:property name="mesh" value="file://${mesh_path}/devices/elite_robot/${visual_params['mesh']['path']}" scope="parent"/>
</xacro:if>
<xacro:unless value="${force_abs_paths}">
<xacro:property name="mesh" value="package://${visual_params['mesh']['package']}/${visual_params['mesh']['path']}" scope="parent"/>
</xacro:unless>
</xacro:macro>
<xacro:macro name="get_mesh" params="name type" >
<xacro:get_mesh_path/>
<mesh filename="${mesh}"/>
</xacro:macro>
<xacro:macro name="read_model_data" params="joint_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file force_abs_paths mesh_path">
<xacro:property name="force_abs_paths" value="${force_abs_paths}" scope="parent"/>
<!-- Read .yaml files from disk, load content into properties -->
<xacro:property name="config_joint_limit_parameters" value="${xacro.load_yaml(joint_limits_parameters_file)}"/>
<xacro:property name="config_kinematics_parameters" value="${xacro.load_yaml(kinematics_parameters_file)}"/>
<xacro:property name="config_physical_parameters" value="${xacro.load_yaml(physical_parameters_file)}"/>
<xacro:property name="config_visual_parameters" value="${xacro.load_yaml(visual_parameters_file)}"/>
<xacro:property name="mesh_path" value="${mesh_path}" scope="parent"/>
<!-- Extract subsections from yaml dictionaries -->
<xacro:property name="sec_limits" value="${config_joint_limit_parameters['joint_limits']}"/>
<xacro:property name="sec_dh_parameters" value="${config_physical_parameters['dh_parameters']}"/>
<xacro:property name="sec_offsets" value="${config_physical_parameters['offsets']}"/>
<xacro:property name="sec_inertia_parameters" value="${config_physical_parameters['inertia_parameters']}" />
<xacro:property name="sec_mesh_files" value="${config_visual_parameters['mesh_files']}" scope="parent"/>
<xacro:property name="sec_kinematics" value="${config_kinematics_parameters['kinematics']}" />
<!-- JOINTS LIMIT PARAMETERS -->
<xacro:property name="shoulder_pan_lower_limit" value="${sec_limits['shoulder_pan_joint']['min_position']}" scope="parent"/>
<xacro:property name="shoulder_pan_upper_limit" value="${sec_limits['shoulder_pan_joint']['max_position']}" scope="parent"/>
<xacro:property name="shoulder_pan_velocity_limit" value="${sec_limits['shoulder_pan_joint']['max_velocity']}" scope="parent"/>
<xacro:property name="shoulder_pan_effort_limit" value="${sec_limits['shoulder_pan_joint']['max_effort']}" scope="parent"/>
<xacro:property name="shoulder_lift_lower_limit" value="${sec_limits['shoulder_lift_joint']['min_position']}" scope="parent"/>
<xacro:property name="shoulder_lift_upper_limit" value="${sec_limits['shoulder_lift_joint']['max_position']}" scope="parent"/>
<xacro:property name="shoulder_lift_velocity_limit" value="${sec_limits['shoulder_lift_joint']['max_velocity']}" scope="parent"/>
<xacro:property name="shoulder_lift_effort_limit" value="${sec_limits['shoulder_lift_joint']['max_effort']}" scope="parent"/>
<xacro:property name="elbow_joint_lower_limit" value="${sec_limits['elbow_joint']['min_position']}" scope="parent"/>
<xacro:property name="elbow_joint_upper_limit" value="${sec_limits['elbow_joint']['max_position']}" scope="parent"/>
<xacro:property name="elbow_joint_velocity_limit" value="${sec_limits['elbow_joint']['max_velocity']}" scope="parent"/>
<xacro:property name="elbow_joint_effort_limit" value="${sec_limits['elbow_joint']['max_effort']}" scope="parent"/>
<xacro:property name="wrist_1_lower_limit" value="${sec_limits['wrist_1_joint']['min_position']}" scope="parent"/>
<xacro:property name="wrist_1_upper_limit" value="${sec_limits['wrist_1_joint']['max_position']}" scope="parent"/>
<xacro:property name="wrist_1_velocity_limit" value="${sec_limits['wrist_1_joint']['max_velocity']}" scope="parent"/>
<xacro:property name="wrist_1_effort_limit" value="${sec_limits['wrist_1_joint']['max_effort']}" scope="parent"/>
<xacro:property name="wrist_2_lower_limit" value="${sec_limits['wrist_2_joint']['min_position']}" scope="parent"/>
<xacro:property name="wrist_2_upper_limit" value="${sec_limits['wrist_2_joint']['max_position']}" scope="parent"/>
<xacro:property name="wrist_2_velocity_limit" value="${sec_limits['wrist_2_joint']['max_velocity']}" scope="parent"/>
<xacro:property name="wrist_2_effort_limit" value="${sec_limits['wrist_2_joint']['max_effort']}" scope="parent"/>
<xacro:property name="wrist_3_lower_limit" value="${sec_limits['wrist_3_joint']['min_position']}" scope="parent"/>
<xacro:property name="wrist_3_upper_limit" value="${sec_limits['wrist_3_joint']['max_position']}" scope="parent"/>
<xacro:property name="wrist_3_velocity_limit" value="${sec_limits['wrist_3_joint']['max_velocity']}" scope="parent"/>
<xacro:property name="wrist_3_effort_limit" value="${sec_limits['wrist_3_joint']['max_effort']}" scope="parent"/>
<!-- DH PARAMETERS -->
<xacro:property name="d1" value="${sec_dh_parameters['d1']}" scope="parent"/>
<xacro:property name="a2" value="${sec_dh_parameters['a2']}" scope="parent"/>
<xacro:property name="a3" value="${sec_dh_parameters['a3']}" scope="parent"/>
<xacro:property name="d4" value="${sec_dh_parameters['d4']}" scope="parent"/>
<xacro:property name="d5" value="${sec_dh_parameters['d5']}" scope="parent"/>
<xacro:property name="d6" value="${sec_dh_parameters['d6']}" scope="parent"/>
<!-- kinematics -->
<xacro:property name="shoulder_x" value="${sec_kinematics['shoulder']['x']}" scope="parent"/>
<xacro:property name="shoulder_y" value="${sec_kinematics['shoulder']['y']}" scope="parent"/>
<xacro:property name="shoulder_z" value="${sec_kinematics['shoulder']['z']}" scope="parent"/>
<xacro:property name="shoulder_roll" value="${sec_kinematics['shoulder']['roll']}" scope="parent"/>
<xacro:property name="shoulder_pitch" value="${sec_kinematics['shoulder']['pitch']}" scope="parent"/>
<xacro:property name="shoulder_yaw" value="${sec_kinematics['shoulder']['yaw']}" scope="parent"/>
<xacro:property name="upperarm_x" value="${sec_kinematics['upperarm']['x']}" scope="parent"/>
<xacro:property name="upperarm_y" value="${sec_kinematics['upperarm']['y']}" scope="parent"/>
<xacro:property name="upperarm_z" value="${sec_kinematics['upperarm']['z']}" scope="parent"/>
<xacro:property name="upperarm_roll" value="${sec_kinematics['upperarm']['roll']}" scope="parent"/>
<xacro:property name="upperarm_pitch" value="${sec_kinematics['upperarm']['pitch']}" scope="parent"/>
<xacro:property name="upperarm_yaw" value="${sec_kinematics['upperarm']['yaw']}" scope="parent"/>
<xacro:property name="forearm_x" value="${sec_kinematics['forearm']['x']}" scope="parent"/>
<xacro:property name="forearm_y" value="${sec_kinematics['forearm']['y']}" scope="parent"/>
<xacro:property name="forearm_z" value="${sec_kinematics['forearm']['z']}" scope="parent"/>
<xacro:property name="forearm_roll" value="${sec_kinematics['forearm']['roll']}" scope="parent"/>
<xacro:property name="forearm_pitch" value="${sec_kinematics['forearm']['pitch']}" scope="parent"/>
<xacro:property name="forearm_yaw" value="${sec_kinematics['forearm']['yaw']}" scope="parent"/>
<xacro:property name="wrist_1_x" value="${sec_kinematics['wrist_1']['x']}" scope="parent"/>
<xacro:property name="wrist_1_y" value="${sec_kinematics['wrist_1']['y']}" scope="parent"/>
<xacro:property name="wrist_1_z" value="${sec_kinematics['wrist_1']['z']}" scope="parent"/>
<xacro:property name="wrist_1_roll" value="${sec_kinematics['wrist_1']['roll']}" scope="parent"/>
<xacro:property name="wrist_1_pitch" value="${sec_kinematics['wrist_1']['pitch']}" scope="parent"/>
<xacro:property name="wrist_1_yaw" value="${sec_kinematics['wrist_1']['yaw']}" scope="parent"/>
<xacro:property name="wrist_2_x" value="${sec_kinematics['wrist_2']['x']}" scope="parent"/>
<xacro:property name="wrist_2_y" value="${sec_kinematics['wrist_2']['y']}" scope="parent"/>
<xacro:property name="wrist_2_z" value="${sec_kinematics['wrist_2']['z']}" scope="parent"/>
<xacro:property name="wrist_2_roll" value="${sec_kinematics['wrist_2']['roll']}" scope="parent"/>
<xacro:property name="wrist_2_pitch" value="${sec_kinematics['wrist_2']['pitch']}" scope="parent"/>
<xacro:property name="wrist_2_yaw" value="${sec_kinematics['wrist_2']['yaw']}" scope="parent"/>
<xacro:property name="wrist_3_x" value="${sec_kinematics['wrist_3']['x']}" scope="parent"/>
<xacro:property name="wrist_3_y" value="${sec_kinematics['wrist_3']['y']}" scope="parent"/>
<xacro:property name="wrist_3_z" value="${sec_kinematics['wrist_3']['z']}" scope="parent"/>
<xacro:property name="wrist_3_roll" value="${sec_kinematics['wrist_3']['roll']}" scope="parent"/>
<xacro:property name="wrist_3_pitch" value="${sec_kinematics['wrist_3']['pitch']}" scope="parent"/>
<xacro:property name="wrist_3_yaw" value="${sec_kinematics['wrist_3']['yaw']}" scope="parent"/>
<!-- INERTIA PARAMETERS -->
<!-- mass -->
<xacro:property name="base_mass" value="${sec_inertia_parameters['base_mass']}" scope="parent"/>
<xacro:property name="shoulder_mass" value="${sec_inertia_parameters['shoulder_mass']}" scope="parent"/>
<xacro:property name="upperarm_mass" value="${sec_inertia_parameters['upperarm_mass']}" scope="parent"/>
<xacro:property name="forearm_mass" value="${sec_inertia_parameters['forearm_mass']}" scope="parent"/>
<xacro:property name="wrist_1_mass" value="${sec_inertia_parameters['wrist_1_mass']}" scope="parent"/>
<xacro:property name="wrist_2_mass" value="${sec_inertia_parameters['wrist_2_mass']}" scope="parent"/>
<xacro:property name="wrist_3_mass" value="${sec_inertia_parameters['wrist_3_mass']}" scope="parent"/>
<!-- center of mass -->
<xacro:property name="prop_base_cog" value="${sec_inertia_parameters['center_of_mass']['base_cog']}" scope="parent"/>
<xacro:property name="prop_shoulder_cog" value="${sec_inertia_parameters['center_of_mass']['shoulder_cog']}" scope="parent"/>
<xacro:property name="prop_upperarm_cog" value="${sec_inertia_parameters['center_of_mass']['upperarm_cog']}" scope="parent"/>
<xacro:property name="prop_forearm_cog" value="${sec_inertia_parameters['center_of_mass']['forearm_cog']}" scope="parent"/>
<xacro:property name="prop_wrist_1_cog" value="${sec_inertia_parameters['center_of_mass']['wrist_1_cog']}" scope="parent"/>
<xacro:property name="prop_wrist_2_cog" value="${sec_inertia_parameters['center_of_mass']['wrist_2_cog']}" scope="parent"/>
<xacro:property name="prop_wrist_3_cog" value="${sec_inertia_parameters['center_of_mass']['wrist_3_cog']}" scope="parent"/>
<!-- inertia -->
<xacro:property name="prop_base_inertia" value="${sec_inertia_parameters['inertia']['base']}" scope="parent"/>
<xacro:property name="prop_shoulder_inertia" value="${sec_inertia_parameters['inertia']['shoulder']}" scope="parent"/>
<xacro:property name="prop_upperarm_inertia" value="${sec_inertia_parameters['inertia']['upperarm']}" scope="parent"/>
<xacro:property name="prop_forearm_inertia" value="${sec_inertia_parameters['inertia']['forearm']}" scope="parent"/>
<xacro:property name="prop_wrist_1_inertia" value="${sec_inertia_parameters['inertia']['wrist_1']}" scope="parent"/>
<xacro:property name="prop_wrist_2_inertia" value="${sec_inertia_parameters['inertia']['wrist_2']}" scope="parent"/>
<xacro:property name="prop_wrist_3_inertia" value="${sec_inertia_parameters['inertia']['wrist_3']}" scope="parent"/>
</xacro:macro>
</robot>

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unilabos/device_mesh/devices/elite_robot/urdf/inc/cs_transmissions.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
<!--
NOTE the macro defined in this file is NOT part of the public API of this
package. Users CANNOT rely on this file being available, or stored in
this location. Nor can they rely on the existence of the macro.
-->
<xacro:macro name="cs_arm_transmission" params="prefix hw_interface">
<transmission name="${prefix}shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}shoulder_pan_joint">
<hardwareInterface>${hw_interface}</hardwareInterface>
</joint>
<actuator name="${prefix}shoulder_pan_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}shoulder_lift_joint">
<hardwareInterface>${hw_interface}</hardwareInterface>
</joint>
<actuator name="${prefix}shoulder_lift_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}elbow_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}elbow_joint">
<hardwareInterface>${hw_interface}</hardwareInterface>
</joint>
<actuator name="${prefix}elbow_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}wrist_1_joint">
<hardwareInterface>${hw_interface}</hardwareInterface>
</joint>
<actuator name="${prefix}wrist_1_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}wrist_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}wrist_2_joint">
<hardwareInterface>${hw_interface}</hardwareInterface>
</joint>
<actuator name="${prefix}wrist_2_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}wrist_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}wrist_3_joint">
<hardwareInterface>${hw_interface}</hardwareInterface>
</joint>
<actuator name="${prefix}wrist_3_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>