diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 515d61e..928f1bb 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -19,7 +19,7 @@ repos: - id: check-yaml - repo: https://github.com/codespell-project/codespell - rev: v2.2.6 + rev: v2.4.1 hooks: - id: codespell args: [-L, hande, -w] diff --git a/CHANGELOG.md b/CHANGELOG.md index b334195..d855edb 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -8,15 +8,16 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0 ## [Unreleased] ### Added -* [PR-1](https://github.com/AGH-CEAI/robotiq_hande_description/pull/1) - Configuration parameters for ModbusRTU +* [PR-1](https://github.com/AGH-CEAI/robotiq_hande_description/pull/1) - Configuration parameters for ModbusRTU. ### Changed +* [PR-3](https://github.com/AGH-CEAI/robotiq_hande_description/pull/3) - Changed the coupler model and simplified URDF files by editing the models. ### Deprecated ### Removed ### Fixed -* [PR-2] (https://github.com/AGH-CEAI/robotiq_hande_description/pull/2) - Removed unnecessary quotation marks from parameter values. +* [PR-2](https://github.com/AGH-CEAI/robotiq_hande_description/pull/2) - Removed unnecessary quotation marks from parameter values. ### Security diff --git a/README.md b/README.md index 03ef67d..0819fad 100644 --- a/README.md +++ b/README.md @@ -4,10 +4,12 @@ [![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit) -This package contains meshes and URDF description of [Robotiq Hand-E gripper](https://robotiq.com/products/hand-e-adaptive-robot-gripper) dedicated for Universal Robots e-series. +This package contains meshes and URDF description of [Robotiq Hand-E gripper](https://robotiq.com/products/hand-e-adaptive-robot-gripper). It was originally developed for integration with Universal Robots e-series (UR5e), however it is be possible to change the coupler model to fit your needs. **PRs are welcome!** + - The gripper comes with coupler model (but without flange). - This repository comes with CAD models imported from STEP files to FreeCAD format (FCStd). + - These CAD models are taken from the official [Robotiq Support page](https://robotiq.com/support). - Package has been developed and tested in ROS 2 Humble. - The definitions for the `ros2_control` framework are available in the [robotiq_hande_gripper.ros2_control.xacro](./urdf/robotiq_hande_gripper.ros2_control.xacro) file. @@ -17,22 +19,40 @@ This package contains meshes and URDF description of [Robotiq Hand-E gripper](ht ![hande_model](docs/hande_rviz.gif) -*(Errata: The minus width range in the animation above is outdated)* ## Usage -In your URDF (Xacro) file include the Hand-E definition. Provide a parent link (for instance `tool0`) as the parameter: +In your URDF (Xacro) file include the Hand-E definition. Provide a unique name and the parent link (for instance `tool0`) as the parameters: ```xml - + ``` -An example usage can be find in the [urdf/hande_preview.urdf.xacro](./urdf/robotiq_hande_gripper.urdf.xacro) file. +For estabilishg a connection with [robotiq_hande_driver](https://github.com/AGH-CEAI/robotiq_hande_driver) there is also need to provide more parameters: +```xml + +``` > [!NOTE] -> The TF frame of the end tip of the gripper is called `${prefix}hande_end`, where `${prefix}` evaluates as the second macro parameter. +> The TF frame of the end tip of the gripper is called `${prefix}hande_end`, where `${prefix}` evaluates as the `prefix` macro parameter. + +### Examples +**An example usage can be find** in the [urdf/hande_preview.urdf.xacro](./urdf/robotiq_hande_gripper.urdf.xacro) file. Furthermore, an integration with whole ROS 2 project example can be find in the [AGH-CEAI/aegis_ros](https://github.com/AGH-CEAI/aegis_ros) repository. ## Preview diff --git a/cad_models/coupler.FCStd b/cad_models/coupler.FCStd deleted file mode 100644 index 1015c74..0000000 Binary files a/cad_models/coupler.FCStd and /dev/null differ diff --git a/cad_models/coupler.FCStd1 b/cad_models/coupler.FCStd1 deleted file mode 100644 index 1485507..0000000 Binary files a/cad_models/coupler.FCStd1 and /dev/null differ diff --git a/cad_models/finger.FCStd b/cad_models/finger.FCStd index bd52b6e..3abc890 100644 Binary files a/cad_models/finger.FCStd and b/cad_models/finger.FCStd differ diff --git a/cad_models/finger_collision.FCStd b/cad_models/finger_collision.FCStd index bdc5941..7aed382 100644 Binary files a/cad_models/finger_collision.FCStd and b/cad_models/finger_collision.FCStd differ diff --git a/cad_models/hande_step.FCStd b/cad_models/hande_step.FCStd index 872da05..06d2eed 100644 Binary files a/cad_models/hande_step.FCStd and b/cad_models/hande_step.FCStd differ diff --git a/cad_models/io_coupler.FCStd b/cad_models/io_coupler.FCStd new file mode 100644 index 0000000..7890e36 Binary files /dev/null and b/cad_models/io_coupler.FCStd differ diff --git a/docs/hande_rviz.gif b/docs/hande_rviz.gif index ce91dc1..110a52a 100644 Binary files a/docs/hande_rviz.gif and b/docs/hande_rviz.gif differ diff --git a/meshes/coupler.dae b/meshes/coupler.dae deleted file mode 100644 index 8f143e0..0000000 --- a/meshes/coupler.dae +++ /dev/null @@ -1,106 +0,0 @@ - - - - 2024-01-17T15:35:14.542047 - 2024-01-17T15:35:14.542049 - - Z_UP - - - - - - - - 0.0 0.0 0.0 1.0 - - - 0.0 0.0 0.0 1.0 - - - 0.04 0.04 0.04 1.0 - - - 1 1 1 1.0 - - - 0.0 - - - 0.0 0.0 0.0 1.0 - - - 0.0 - - - 0.0 0.0 0.0 1.0 - - - 1.0 - - - - - - 0 - - - - - - - - - - -0.003 0.02 -0.004 -0.003 0.02 0.004 -0.002996271 0.01985046 -0.004 -0.002996271 0.01985046 0.004 -0.002985092 0.0197013 -0.004 -0.002985092 0.0197013 0.004 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/rviz/urdf.rviz b/rviz/urdf.rviz index 77f6c27..e6badb6 100644 --- a/rviz/urdf.rviz +++ b/rviz/urdf.rviz @@ -1,12 +1,12 @@ Panels: - Class: rviz_common/Displays - Help Height: 70 + Help Height: 71 Name: Displays Property Tree Widget: Expanded: - /RobotModel1 Splitter Ratio: 0.5 - Tree Height: 350 + Tree Height: 364 - Class: rviz_common/Views Expanded: - /Current View1 @@ -51,26 +51,26 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - hande_end: + robotiq_hande_coupler: Alpha: 1 Show Axes: false Show Trail: false - hande_left_finger: + Value: true + robotiq_hande_end: Alpha: 1 Show Axes: false Show Trail: false - Value: true - hande_link: + robotiq_hande_left_finger: Alpha: 1 Show Axes: false Show Trail: false Value: true - hande_right_finger: + robotiq_hande_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - robotiq_coupler: + robotiq_hande_right_finger: Alpha: 1 Show Axes: false Show Trail: false @@ -92,11 +92,11 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: true - Marker Scale: 1 + Marker Scale: 0.20000000298023224 Name: TF Show Arrows: true Show Axes: true - Show Names: false + Show Names: true Tree: {} Update Interval: 0 @@ -116,7 +116,7 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 0.25885558128356934 + Distance: 0.34827491641044617 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -131,20 +131,20 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.43999946117401123 + Pitch: 0.6252040266990662 Target Frame: Value: Orbit (rviz) - Yaw: 5.107341766357422 + Yaw: 5.672806739807129 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 922 + Height: 948 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000001000000000000015600000340fc0200000002fb000000100044006900730070006c006100790073010000003d000001e1000000c900fffffffb0000000a00560069006500770073010000022400000159000000a400ffffff000002b40000034000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000001000000000000015600000359fc0200000002fb000000100044006900730070006c006100790073010000003e000001f0000000cb00fffffffb0000000a00560069006500770073010000023400000163000000a500ffffff0000036c0000035900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: collapsed: false - Width: 1040 - X: 4505 + Width: 1224 + X: 4454 Y: 905 diff --git a/urdf/cylinder_inertial.xacro b/urdf/cylinder_inertial.xacro new file mode 100644 index 0000000..8d2df88 --- /dev/null +++ b/urdf/cylinder_inertial.xacro @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/urdf/materials.xacro b/urdf/materials.xacro deleted file mode 100644 index c9d24cf..0000000 --- a/urdf/materials.xacro +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/urdf/robotiq_hande_gripper.ros2_control.xacro b/urdf/robotiq_hande_gripper.ros2_control.xacro index 56b1d52..e0ea0af 100644 --- a/urdf/robotiq_hande_gripper.ros2_control.xacro +++ b/urdf/robotiq_hande_gripper.ros2_control.xacro @@ -1,6 +1,6 @@ - + diff --git a/urdf/robotiq_hande_gripper.urdf.xacro b/urdf/robotiq_hande_gripper.urdf.xacro index 4837078..e868390 100644 --- a/urdf/robotiq_hande_gripper.urdf.xacro +++ b/urdf/robotiq_hande_gripper.urdf.xacro @@ -26,6 +26,6 @@ data_bits="$(arg data_bits)" stop_bit="$(arg stop_bit)" slave_id="$(arg slave_id)" - use_fake_hardware="$(use_fake_hardware)" + use_fake_hardware="$(arg use_fake_hardware)" /> diff --git a/urdf/robotiq_hande_gripper.xacro b/urdf/robotiq_hande_gripper.xacro index 2e389cd..45d4bee 100644 --- a/urdf/robotiq_hande_gripper.xacro +++ b/urdf/robotiq_hande_gripper.xacro @@ -1,13 +1,13 @@ - + - + - - - + + + + + + + + + + + - + - - - - + + + + + + - + - - - - - - + - + - - - - + + + + + + + - + - - - - - - - + - + - - + + - - - - - + + + + + + - + - - - - - - - + + + + + - + - - + + - - - - - + + + + + + - + - - - - - - - + + + + + - +