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Merge pull request #2 from macmacal/feature/repo_utils
Pre-commit & Github templates
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‎.github/issue_template.md‎

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---
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name: "Issue template"
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about: "Minimal information about an issue"
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title: ""
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ref: "devel"
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---
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## Description
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<!--- ## Screenshots (if appropriate): -->
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## References
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<!--- Create a list of references, (in a bullet style) -->

‎.github/pull_request_template.md‎

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<!--- Provide a general summary of your changes in the Title above -->
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## Description
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## Motivation and context
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<!--- Why is this change required? What problem does it solve? -->
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<!--- If it fixes an open issue, please link to the issue here. -->
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<!--- ## Screenshots (if appropriate): -->
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## How has this been tested?
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<!--- Please describe in detail how you tested your changes. -->
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<!--- Include details of your testing environment, and the tests you ran to -->
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<!--- see how your change affects other areas of the code, etc. -->
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## Checklist
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<!--- Go over all the following points, and put an `x` in all the boxes that apply. -->
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<!--- If you're unsure about any of these, don't hesitate to ask. We're here to help! -->
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- [ ] All TODOs in the code have been resolved or linked to a proper issue.
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- [ ] Code has been (auto)formatted.
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- [ ] Documentation (e.g., README, CHANGELOG, Wiki) has been updated.
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- [ ] All automated checks have passed.
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---
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Clickup task: [hash](link)

‎.github/workflows/pre-commit.yaml‎

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---
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name: Pre-Commit
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on:
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push:
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jobs:
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pre-commit:
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uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
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with:
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ros_distro: humble

‎.pre-commit-config.yaml‎

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repos:
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- repo: https://github.com/pre-commit/pre-commit-hooks
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rev: v5.0.0
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hooks:
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- id: check-added-large-files
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- id: check-case-conflict
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- id: check-json
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- id: check-merge-conflict
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- id: check-symlinks
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- id: check-toml
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- id: check-xml
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- id: debug-statements
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- id: destroyed-symlinks
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- id: detect-private-key
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- id: end-of-file-fixer
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- id: mixed-line-ending
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- id: pretty-format-json
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- id: trailing-whitespace
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- id: check-yaml
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- repo: https://github.com/codespell-project/codespell
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rev: v2.2.6
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hooks:
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- id: codespell
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args: [-L, hande, -w]
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- repo: https://github.com/tier4/pre-commit-hooks-ros
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rev: v0.10.0
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hooks:
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- id: prettier-xacro
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- id: prettier-package-xml
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- id: ros-include-guard
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- id: sort-package-xml

‎CMakeLists.txt‎

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DESTINATION share/${PROJECT_NAME}
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)
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ament_package()
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ament_package()

‎README.md‎

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# robotiq_hande_description
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[![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit)
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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.
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- The gripper comes with coupler model (but without flange).
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- This repository comes with CAD models imported from STEP files to FreeCAD format (FCStd).
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- Package has been developed and tested in ROS 2 Humble.
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> [!IMPORTANT]
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> The fingers' joints can be set from **0 to 25 mm** (which correspondes to the maximal grasp with from **0 to 50 mm**).
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> [!IMPORTANT]
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> The fingers' joints can be set from **0 to 25 mm** (which corresponds to the maximal grasp with from **0 to 50 mm**).
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![hande_model](docs/hande_rviz.gif)
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An example usage can be find in the [urdf/hande_preview.urdf.xacro](./urdf/robotiq_hande_gripper.urdf.xacro) file.
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> [!NOTE]
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> The TF frame of the end tip of the gripper is called `${prefix}hande_end`, where `${prefix}` evaluates as the second macro paramater.
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> The TF frame of the end tip of the gripper is called `${prefix}hande_end`, where `${prefix}` evaluates as the second macro parameter.
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## Preview
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```
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## Credits
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- The orignal files of the gripper model were taken from the [Robotiq website](https://robotiq.com/products/hand-e-adaptive-robot-gripper).
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- The original files of the gripper model were taken from the [Robotiq website](https://robotiq.com/products/hand-e-adaptive-robot-gripper).
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- The URDF files are based on work of @cambel [repository](https://github.com/cambel/robotiq.git).
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- Preview in Rviz is based on [ROS 2 URDF Tutorial](https://github.com/ros/urdf_tutorial/tree/ros2/).
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- Preview in Rviz is based on [ROS 2 URDF Tutorial](https://github.com/ros/urdf_tutorial/tree/ros2/).

‎launch/display.launch.py‎

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'jsp_gui': run_joint_state_publisher_gui}.items()
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))
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return ld
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return ld

‎urdf/materials.xacro‎

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<?xml version="1.0" ?>
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<?xml version="1.0"?>
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<robot name="xacro_properties" xmlns:xacro="http://ros.org/wiki/xacro">
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<material name="Grey">
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<color rgba="0.5 0.5 0.5 1.0"/>
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</material>
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<material name="DarkGrey">
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<color rgba="0.04 0.04 0.04 1.0"/>
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</material>
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</robot>
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</robot>

‎urdf/robotiq_hande_gripper.urdf.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro"
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name="robotiq_hande_gripper" >
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="robotiq_hande_gripper">
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<xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.xacro"/>
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<xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.xacro" />
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<link name="tool0" />
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<xacro:robotiq_hande_gripper parent="tool0" prefix="" />
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<link name="tool0"/>
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<xacro:robotiq_hande_gripper parent="tool0" prefix=""/>
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</robot>

‎urdf/robotiq_hande_gripper.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<!--
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Based on the URDF file by Cristian C Beltran-Hernandez
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-->
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-->
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<xacro:include filename="$(find robotiq_hande_description)/urdf/materials.xacro" />
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<xacro:include filename="$(find robotiq_hande_description)/urdf/materials.xacro"/>
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<xacro:macro name="robotiq_hande_gripper" params="prefix parent">
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<!-- Robotiq Coupler -->
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<!-- + Height added by the coupler: 13.9mm -->
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<!-- + Reference frame: at the middle (6.95mm) -->
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<joint name="robotiq_coupler_joint" type="fixed">
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<origin xyz="0 0 0.00695" rpy="0 0 ${-pi/2.0}" />
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<origin xyz="0 0 0.00695" rpy="0 0 ${-pi/2.0}"/>
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<parent link="${parent}"/>
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<child link="${prefix}robotiq_coupler"/>
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<link name="${prefix}robotiq_coupler">
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<inertial>
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<mass value="0.168" />
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<inertia
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ixx="6.17674E-05" ixy="0.0" ixz="0.0"
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iyy="6.17674E-05" iyz="0.0"
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izz="1.18125E-04"
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/>
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<mass value="0.168"/>
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<inertia ixx="6.17674E-05" ixy="0.0" ixz="0.0" iyy="6.17674E-05" iyz="0.0" izz="1.18125E-04"/>
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<collision>
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<visual>
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<geometry>
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<mesh filename="package://robotiq_hande_description/meshes/coupler.dae" />
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<mesh filename="package://robotiq_hande_description/meshes/coupler.dae"/>
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</geometry>
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<material name="DarkGrey" />
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<material name="DarkGrey"/>
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</visual>
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</link>
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<joint name="${prefix}robotiq_hande_base_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0.055"/>
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<parent link="${prefix}robotiq_coupler"/>
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<link name="${prefix}hande_link">
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<inertial>
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<mass value="0.86387"/>
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<inertia
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ixx="0.001" ixy="0.0" ixz="0.0"
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iyy="0.001" iyz="0.0"
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izz="0.0006"
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/>
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<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.0006"/>
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<collision>
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</visual>
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</link>
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<joint name="${prefix}hande_left_finger_joint" type="prismatic">
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<origin rpy="0 0 0" xyz="0 -0.025 0.0345"/>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.03804"/>
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<inertia
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iyy="1E-9" iyz="0.0"
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izz="1E-9"
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/>
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<inertia ixx="1E-9" ixy="0.0" ixz="0.0" iyy="1E-9" iyz="0.0" izz="1E-9"/>
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<collision>
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</visual>
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</link>
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<joint name="${prefix}hande_right_finger_joint" type="prismatic">
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<origin rpy="0 0 0" xyz="0 0.025 0.0345"/>
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<parent link="${prefix}hande_link"/>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.03804"/>
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<inertia
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ixx="1E-9" ixy="0.0" ixz="0.0"
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iyy="1E-9" iyz="0.0"
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izz="1E-9"
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/>
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<inertia ixx="1E-9" ixy="0.0" ixz="0.0" iyy="1E-9" iyz="0.0" izz="1E-9"/>
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<collision>
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<geometry>
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<mesh filename="package://robotiq_hande_description/meshes/finger.dae" scale="1.0 1.0 1.0"/>
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<material name="Grey" />
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<material name="Grey"/>
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</visual>
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</link>
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<joint name="${prefix}robotiq_hande_end_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0.095"/>
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<parent link="${prefix}hande_link"/>
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<child link="${prefix}hande_end"/>
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<link name="${prefix}hande_end" />
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<link name="${prefix}hande_end"/>
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</xacro:macro>
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</robot>

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