AGH-CEAI · macmacal · Mar 17, 2025 · Jan 17, 2024 · Jan 18, 2024 · Jan 18, 2024
diff --git a/.github/issue_template.md b/.github/issue_template.md
@@ -0,0 +1,16 @@
+---
+
+name: "Issue template"
+about: "Minimal information about an issue"
+title: ""
+ref: "devel"
+
+---
+
+## Description
+
+
+<!--- ## Screenshots (if appropriate): -->
+
+## References
+<!--- Create a list of references, (in a bullet style) -->
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
@@ -0,0 +1,27 @@
+<!--- Provide a general summary of your changes in the Title above -->
+## Description
+
+
+## Motivation and context
+<!--- Why is this change required? What problem does it solve? -->
+<!--- If it fixes an open issue, please link to the issue here. -->
+
+
+<!--- ## Screenshots (if appropriate): -->
+
+## How has this been tested?
+<!--- Please describe in detail how you tested your changes. -->
+<!--- Include details of your testing environment, and the tests you ran to -->
+<!--- see how your change affects other areas of the code, etc. -->
+
+
+## Checklist
+<!--- Go over all the following points, and put an `x` in all the boxes that apply. -->
+<!--- If you're unsure about any of these, don't hesitate to ask. We're here to help! -->
+- [ ] All TODOs in the code have been resolved or linked to a proper issue.
+- [ ] Code has been (auto)formatted.
+- [ ] Documentation (e.g., README, CHANGELOG, Wiki) has been updated.
+- [ ] All automated checks have passed.
+
+---
+Clickup task: [hash](link)
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
@@ -0,0 +1,11 @@
+---
+name: Pre-Commit
+
+on:
+  push:
+
+jobs:
+  pre-commit:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: humble
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1 @@
+build/
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -0,0 +1,33 @@
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-case-conflict
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-toml
+      - id: check-xml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: pretty-format-json
+      - id: trailing-whitespace
+      - id: check-yaml
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.4.1
+    hooks:
+      - id: codespell
+        args: [-L, hande, -w]
+
+  - repo: https://github.com/tier4/pre-commit-hooks-ros
+    rev: v0.10.0
+    hooks:
+      - id: prettier-xacro
+      - id: prettier-package-xml
+      - id: ros-include-guard
+      - id: sort-package-xml
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -0,0 +1,25 @@
+# Changelog
+
+All notable changes to the `robotiq_hande_driver` package will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## [0.1.0] - 2025-03-13
+
+### Added
+
+* [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) & [PR-4](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.
+
+### Security
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -9,4 +9,4 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
-ament_package()
+ament_package()
diff --git a/README.md b/README.md
@@ -1,24 +1,59 @@
 # robotiq_hande_description
+### For the driver, check the [robotiq_hande_driver](https://github.com/AGH-CEAI/robotiq_hande_driver/) package from AGH UST.
+---
+
+[![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). 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!**
 
-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.
 
 - 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.
+
+
+> [!IMPORTANT]
+> The fingers' joints can be set from **0 to 25 mm** (which corresponds to the maximal grasp with from **0 to 50 mm**).
 
 ![hande_model](docs/hande_rviz.gif)
 
+
 ## 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
-<xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.urdf.xacro" />
+<xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.xacro" />
 <!-- ... -->
-<xacro:robotiq_hande_gripper parent="PARENT_LINK" prefix="" />
+<xacro:robotiq_hande_gripper name="robotiq_hande_gripper" parent="PARENT_LINK" prefix="" />
 ```
 
-An example usage can be find in the [urdf/robotiq_hande_gripper.xacro](./urdf/robotiq_hande_gripper.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
+<xacro:robotiq_hande_gripper
+    name="robotiq_hande_gripper"
+    prefix=""
+    parent="tool0"
+    grip_pos_min="0.0"
+    grip_pos_max="0.025"
+    tty="/tmp/ttyUR"
+    baudrate="115200"
+    parity="N"
+    data_bits="8"
+    stop_bit="1"
+    slave_id="9"
+    use_fake_hardware="false"
+  />
+```
+
+> [!NOTE]
+> 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
 
@@ -33,6 +68,6 @@ ros2 launch robotiq_hande_description display.launch.py
 ```
 
 ## Credits
-- The orignal files of the gripper model were taken from the [Robotiq website](https://robotiq.com/products/hand-e-adaptive-robot-gripper).
+- The original files of the gripper model were taken from the [Robotiq website](https://robotiq.com/products/hand-e-adaptive-robot-gripper).
 - The URDF files are based on work of @cambel [repository](https://github.com/cambel/robotiq.git).
-- Preview in Rviz is based on [ROS 2 URDF Tutorial](https://github.com/ros/urdf_tutorial/tree/ros2/).
+- Preview in Rviz is based on [ROS 2 URDF Tutorial](https://github.com/ros/urdf_tutorial/tree/ros2/).
diff --git a/cad_models/coupler.FCStd b/cad_models/coupler.FCStd
diff --git a/cad_models/coupler.FCStd1 b/cad_models/coupler.FCStd1
diff --git a/cad_models/finger.FCStd b/cad_models/finger.FCStd
diff --git a/cad_models/finger_collision.FCStd b/cad_models/finger_collision.FCStd
diff --git a/cad_models/hande_step.FCStd b/cad_models/hande_step.FCStd
diff --git a/cad_models/io_coupler.FCStd b/cad_models/io_coupler.FCStd
diff --git a/docs/hande_rviz.gif b/docs/hande_rviz.gif
diff --git a/launch/display.launch.py b/launch/display.launch.py
@@ -8,7 +8,7 @@ def generate_launch_description():
     ld = LaunchDescription()
 
     pkg_path = FindPackageShare('robotiq_hande_description')
-    model_path = PathJoinSubstitution(['urdf', 'robotiq_hande_gripper.xacro'])
+    model_path = PathJoinSubstitution(['urdf', 'robotiq_hande_gripper.urdf.xacro'])
     rviz_config_path = PathJoinSubstitution([pkg_path, 'rviz', 'urdf.rviz'])
     run_joint_state_publisher_gui = 'true'
 
@@ -21,4 +21,4 @@ def generate_launch_description():
             'jsp_gui': run_joint_state_publisher_gui}.items()
     ))
 
-    return ld
+    return ld
diff --git a/meshes/coupler.dae b/meshes/coupler.dae
diff --git a/meshes/coupler.stl b/meshes/coupler.stl
diff --git a/meshes/finger.dae b/meshes/finger.dae
diff --git a/meshes/finger_collision.dae b/meshes/finger_collision.dae
@@ -1,13 +1,13 @@
 <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
   <asset>
-    <contributor/>
-    <created>2024-01-17T12:16:39.919868</created>
-    <modified>2024-01-17T12:16:39.919870</modified>
-    <unit name="meter" meter="1.0"/>
+    <contributor />
+    <created>2025-03-12T18:46:43.198333</created>
+    <modified>2025-03-12T18:46:43.198337</modified>
+    <unit name="meter" meter="1.0" />
     <up_axis>Z_UP</up_axis>
   </asset>
   <library_effects>
-    <effect id="effect_Mesh" name="effect_Mesh">
+    <effect id="effect_Mesh001" name="effect_Mesh001">
       <profile_COMMON>
         <technique sid="common">
           <phong>
@@ -47,7 +47,7 @@
         </extra>
       </profile_COMMON>
     </effect>
-    <effect id="effect_Mesh001" name="effect_Mesh001">
+    <effect id="effect_Mesh" name="effect_Mesh">
       <profile_COMMON>
         <technique sid="common">
           <phong>
@@ -89,77 +89,77 @@
     </effect>
   </library_effects>
   <library_geometries>
-    <geometry id="geometry0" name="Mesh">
+    <geometry id="geometry0" name="Mesh001">
       <mesh>
         <source id="cubeverts-array0">
-          <float_array count="24" id="cubeverts-array0-array">-0.0107 -0.029 0.0185 -0.0107 -0.036 0.0185 -0.0107 -0.029 0.03905 -0.0107 -0.036 0.03905 0.0105 -0.036 0.0185 0.0105 -0.029 0.0185 0.0105 -0.029 0.03905 0.0105 -0.036 0.03905</float_array>
+          <float_array count="24" id="cubeverts-array0-array">0.0065 0.0105 0.02655 -1.421085e-17 0.0105 0.02655 0.0065 0.0105 0.04755 -1.776357e-17 0.0105 0.04755 -1.776357e-17 -0.0106 0.02655 0.0065 -0.0106 0.02655 0.0065 -0.0106 0.04755 -2.131628e-17 -0.0106 0.04755</float_array>
           <technique_common>
             <accessor count="8" source="#cubeverts-array0-array" stride="3">
-              <param type="float" name="X"/>
-              <param type="float" name="Y"/>
-              <param type="float" name="Z"/>
+              <param type="float" name="X" />
+              <param type="float" name="Y" />
+              <param type="float" name="Z" />
             </accessor>
           </technique_common>
         </source>
         <source id="cubenormals-array0">
-          <float_array count="36" id="cubenormals-array0-array">-1 0 0 -1 -0 0 1 0 0 1 0 0 -0 -0 -1 0 0 -1 0 -0 1 0 0 1 -0 1 0 0 1 0 -0 -1 0 0 -1 -0</float_array>
+          <float_array count="36" id="cubenormals-array0-array">0 1 -0 0 1 0 0 -1 0 0 -1 0 -0 -0 -1 0 0 -1 0 -0 1 0 0 1 1 0 0 1 0 0 -1 1.683751e-16 -1.691769e-16 -1 1.683751e-16 -1.691769e-16</float_array>
           <technique_common>
             <accessor count="12" source="#cubenormals-array0-array" stride="3">
-              <param type="float" name="X"/>
-              <param type="float" name="Y"/>
-              <param type="float" name="Z"/>
+              <param type="float" name="X" />
+              <param type="float" name="Y" />
+              <param type="float" name="Z" />
             </accessor>
           </technique_common>
         </source>
         <vertices id="cubeverts-array0-vertices">
-          <input semantic="POSITION" source="#cubeverts-array0"/>
+          <input semantic="POSITION" source="#cubeverts-array0" />
         </vertices>
-        <triangles count="12" material="ref_Mesh">
-          <input offset="0" semantic="VERTEX" source="#cubeverts-array0-vertices"/>
-          <input offset="1" semantic="NORMAL" source="#cubenormals-array0"/>
-          <p>0 0 1 0 2 0 2 1 1 1 3 1 4 2 5 2 6 2 4 3 6 3 7 3 5 4 4 4 0 4 0 5 4 5 1 5 7 6 6 6 2 6 7 7 2 7 3 7 2 8 6 8 0 8 0 9 6 9 5 9 7 10 3 10 1 10 7 11 1 11 4 11</p>
+        <triangles count="12" material="ref_Mesh001">
+          <input offset="0" semantic="VERTEX" source="#cubeverts-array0-vertices" />
+          <input offset="1" semantic="NORMAL" source="#cubenormals-array0" />
+          <p>0 0 1 0 2 0 2 1 1 1 3 1 4 2 5 2 6 2 4 3 6 3 7 3 0 4 5 4 1 4 5 5 4 5 1 5 6 6 2 6 3 6 7 7 6 7 3 7 2 8 6 8 0 8 0 9 6 9 5 9 7 10 3 10 1 10 7 11 1 11 4 11</p>
         </triangles>
       </mesh>
     </geometry>
-    <geometry id="geometry1" name="Mesh001">
+    <geometry id="geometry1" name="Mesh">
       <mesh>
         <source id="cubeverts-array1">
-          <float_array count="24" id="cubeverts-array1-array">0.0105 -0.0315 0.03905 0.0105 -0.025 0.03905 0.0105 -0.0315 0.06005 0.0105 -0.025 0.06005 -0.0106 -0.025 0.03905 -0.0106 -0.0315 0.03905 -0.0106 -0.0315 0.06005 -0.0106 -0.025 0.06005</float_array>
+          <float_array count="24" id="cubeverts-array1-array">0.004 -0.0107 0.006 0.011 -0.0107 0.006 0.004 -0.0107 0.02655 0.011 -0.0107 0.02655 0.011 0.0105 0.006 0.004 0.0105 0.006 0.004 0.0105 0.02655 0.011 0.0105 0.02655</float_array>
           <technique_common>
             <accessor count="8" source="#cubeverts-array1-array" stride="3">
-              <param type="float" name="X"/>
-              <param type="float" name="Y"/>
-              <param type="float" name="Z"/>
+              <param type="float" name="X" />
+              <param type="float" name="Y" />
+              <param type="float" name="Z" />
             </accessor>
           </technique_common>
         </source>
         <source id="cubenormals-array1">
-          <float_array count="36" id="cubenormals-array1-array">1 0 0 1 -0 0 -1 0 0 -1 0 0 0 0 -1 0 0 -1 0 0 1 -0 0 1 -0 -1 -0 0 -1 0 -0 1 0 0 1 0</float_array>
+          <float_array count="36" id="cubenormals-array1-array">0 -1 0 0 -1 0 0 1 0 0 1 -0 0 0 -1 0 0 -1 0 0 1 0 0 1 -1 0 0 -1 0 0 1 0 0 1 0 0</float_array>
           <technique_common>
             <accessor count="12" source="#cubenormals-array1-array" stride="3">
-              <param type="float" name="X"/>
-              <param type="float" name="Y"/>
-              <param type="float" name="Z"/>
+              <param type="float" name="X" />
+              <param type="float" name="Y" />
+              <param type="float" name="Z" />
             </accessor>
           </technique_common>
         </source>
         <vertices id="cubeverts-array1-vertices">
-          <input semantic="POSITION" source="#cubeverts-array1"/>
+          <input semantic="POSITION" source="#cubeverts-array1" />
         </vertices>
-        <triangles count="12" material="ref_Mesh001">
-          <input offset="0" semantic="VERTEX" source="#cubeverts-array1-vertices"/>
-          <input offset="1" semantic="NORMAL" source="#cubenormals-array1"/>
-          <p>0 0 1 0 2 0 2 1 1 1 3 1 4 2 5 2 6 2 4 3 6 3 7 3 0 4 5 4 1 4 5 5 4 5 1 5 6 6 2 6 3 6 7 7 6 7 3 7 2 8 6 8 0 8 0 9 6 9 5 9 7 10 3 10 1 10 7 11 1 11 4 11</p>
+        <triangles count="12" material="ref_Mesh">
+          <input offset="0" semantic="VERTEX" source="#cubeverts-array1-vertices" />
+          <input offset="1" semantic="NORMAL" source="#cubenormals-array1" />
+          <p>0 0 1 0 2 0 2 1 1 1 3 1 4 2 5 2 6 2 4 3 6 3 7 3 5 4 4 4 0 4 0 5 4 5 1 5 7 6 6 6 2 6 7 7 2 7 3 7 2 8 6 8 0 8 0 9 6 9 5 9 7 10 3 10 1 10 7 11 1 11 4 11</p>
         </triangles>
       </mesh>
     </geometry>
   </library_geometries>
   <library_materials>
-    <material id="mat_Mesh" name="Mesh">
-      <instance_effect url="#effect_Mesh"/>
-    </material>
     <material id="mat_Mesh001" name="Mesh001">
-      <instance_effect url="#effect_Mesh001"/>
+      <instance_effect url="#effect_Mesh001" />
+    </material>
+    <material id="mat_Mesh" name="Mesh">
+      <instance_effect url="#effect_Mesh" />
     </material>
   </library_materials>
   <library_visual_scenes>
@@ -168,7 +168,7 @@
         <instance_geometry url="#geometry0">
           <bind_material>
             <technique_common>
-              <instance_material symbol="ref_Mesh" target="#mat_Mesh"/>
+              <instance_material symbol="ref_Mesh001" target="#mat_Mesh001" />
             </technique_common>
           </bind_material>
         </instance_geometry>
@@ -177,14 +177,14 @@
         <instance_geometry url="#geometry1">
           <bind_material>
             <technique_common>
-              <instance_material symbol="ref_Mesh001" target="#mat_Mesh001"/>
+              <instance_material symbol="ref_Mesh" target="#mat_Mesh" />
             </technique_common>
           </bind_material>
         </instance_geometry>
       </node>
     </visual_scene>
   </library_visual_scenes>
   <scene>
-    <instance_visual_scene url="#myscene"/>
+    <instance_visual_scene url="#myscene" />
   </scene>
 </COLLADA>