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timobktcjue
timobkt
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Add M-20iD/25 with opw config
* M-20iD/25: fix j3 limits, remove unused mesh * M-20iD/25: fix M-20iB mentions * Version 0.6.0: remove --inorder
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‎fanuc_m20id_support/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.0.2)
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project(fanuc_m20id_support)
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find_package(catkin REQUIRED)
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catkin_package()
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if (CATKIN_ENABLE_TESTING)
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find_package(roslaunch REQUIRED)
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roslaunch_add_file_check(tests/roslaunch_test_m20id25.xml)
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endif()
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install(DIRECTORY config launch meshes urdf
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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install(FILES readme.md DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

‎fanuc_m20id_support/config/joint_names_m20id25.yaml‎

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controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']

‎fanuc_m20id_support/config/opw_parameters_m20id25.yaml‎

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#
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# Parameters for use with IK solvers which support OPW (Ortho-Parallel Wrist)
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# kinematic configurations, as described in the paper "An Analytical Solution
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# of the Inverse Kinematics Problem of Industrial Serial Manipulators with an
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# Ortho-parallel Basis and a Spherical Wrist" by Mathias Brandstötter, Arthur
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# Angerer, and Michael Hofbaur (Proceedings of the Austrian Robotics Workshop
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# 2014, 22-23 May, 2014, Linz, Austria).
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#
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# The moveit_opw_kinematics_plugin package provides such a solver.
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#
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opw_kinematics_geometric_parameters:
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a1: 0.075
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a2: -0.215
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b: 0.0
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c1: 0.425
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c2: 0.84
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c3: 0.89
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c4: 0.09
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opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, 0.0]
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opw_kinematics_joint_sign_corrections: [1, 1, -1, -1, -1, -1]

‎fanuc_m20id_support/launch/load_m20id25.launch‎

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<?xml version="1.0"?>
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<launch>
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<param name="robot_description" command="$(find xacro)/xacro '$(find fanuc_m20id_support)/urdf/m20id25.xacro'" />
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</launch>

‎fanuc_m20id_support/launch/robot_interface_streaming_m20id25.launch‎

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<?xml version="1.0"?>
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<!--
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Manipulator specific version of 'robot_interface_streaming.launch'.
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Defaults provided for M-20iD/25:
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- J23_factor = 1
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- use_bswap = true
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- 6 joints
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Usage:
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robot_interface_streaming_m20id25.launch robot_ip:=<value>
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-->
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<launch>
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<arg name="robot_ip" doc="IP of controller" />
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<arg name="J23_factor" default="1" doc="Compensation factor for joint 2-3 coupling (-1, 0 or 1)" />
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<arg name="use_bswap" default="true" doc="If true, robot driver will byte-swap all incoming and outgoing data" />
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<rosparam command="load" file="$(find fanuc_m20id_support)/config/joint_names_m20id25.yaml" />
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<include file="$(find fanuc_driver)/launch/robot_interface_streaming.launch">
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<arg name="robot_ip" value="$(arg robot_ip)" />
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<arg name="J23_factor" value="$(arg J23_factor)" />
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<arg name="use_bswap" value="$(arg use_bswap)" />
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</include>
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</launch>

‎fanuc_m20id_support/launch/robot_state_visualize_m20id25.launch‎

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<?xml version="1.0"?>
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<!--
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Manipulator specific version of the state visualizer.
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Defaults provided for M-20iD/25:
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- J23_factor = 1
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- use_bswap = true
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- 6 joints
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Usage:
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robot_state_visualize_m20id25.launch robot_ip:=<value>
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-->
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<launch>
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<arg name="robot_ip" doc="IP of controller" />
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<arg name="J23_factor" default="1" doc="Compensation factor for joint 2-3 coupling (-1, 0 or 1)" />
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<arg name="use_bswap" default="true" doc="If true, robot driver will byte-swap all incoming and outgoing data" />
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<rosparam command="load" file="$(find fanuc_m20id_support)/config/joint_names_m20id25.yaml" />
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<include file="$(find fanuc_driver)/launch/robot_state.launch">
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<arg name="robot_ip" value="$(arg robot_ip)" />
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<arg name="J23_factor" value="$(arg J23_factor)" />
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<arg name="use_bswap" value="$(arg use_bswap)" />
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</include>
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<node name="robot_state_publisher" pkg="robot_state_publisher"
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type="robot_state_publisher" />
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<include file="$(find fanuc_m20id_support)/launch/load_m20id25.launch" />
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
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</launch>

‎fanuc_m20id_support/launch/test_m20id25.launch‎

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<?xml version="1.0"?>
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<launch>
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<include file="$(find fanuc_m20id_support)/launch/load_m20id25.launch" />
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<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
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</launch>

‎fanuc_m20id_support/meshes/m20id25/collision/base_link.stl‎

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‎fanuc_m20id_support/meshes/m20id25/collision/link_1.stl‎

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‎fanuc_m20id_support/meshes/m20id25/collision/link_2.stl‎

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