Merge pull request #5 from AGH-CEAI/humble

Sync release v0.1.0-humble from AGH-CEAI

Author: macmacal

.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) -->

.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)

.github/workflows/pre-commit.yaml

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+---
+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

.gitignore

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+build/

.pre-commit-config.yaml

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+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

CHANGELOG.md

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+# 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

CMakeLists.txt

@@ -9,4 +9,4 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
-ament_package()
+ament_package()

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/).