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Gripper demo #210

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Gripper demo #210

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dc89f31
iiwa14 with ompl planners and the arm attached to gripper robotiq_2f_…
antonio1matos Apr 16, 2024
a502d4e
Robot iiwa with gripper
antonio1matos Apr 18, 2024
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25 changes: 25 additions & 0 deletions lbr_bringup/config/config.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -112,6 +112,31 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
robotiq_85_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
robotiq_85_left_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
robotiq_85_left_knuckle_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
robotiq_85_right_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
robotiq_85_right_knuckle_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
Expand Down
4 changes: 2 additions & 2 deletions lbr_bringup/doc/lbr_bringup.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ The ``lbr_bringup`` works for the simulation and the real robot. Run:
.. code:: bash

ros2 launch lbr_bringup bringup.launch.py \
model:=iiwa7 # [iiwa7, iiwa14, med7, med14] \
model:=iiwa14 # [iiwa7, iiwa14, med7, med14] \
sim:=true # [true, false] \
rviz:=true # [true, false] \
moveit:=true # [true, false]
Expand Down Expand Up @@ -66,7 +66,7 @@ Standalone launch is great for research. Only the the real robot is supported. I
.. code:: bash

ros2 launch lbr_fri_ros2 app.launch.py \
model:=iiwa7 # [iiwa7, iiwa14, med7, med14] \
model:=iiwa14 # [iiwa7, iiwa14, med7, med14] \
robot_name:=lbr # any robot name

This runs the :lbr_fri_ros2:`AppComponent <lbr_fri_ros2::AppComponent>`, which creates 2 topics, ``/robot_name/command`` for commands and ``/robot_name/state``. See :ref:`LBR Demos FRI ROS 2` for more examples and :ref:`LBR FRI ROS 2` for more documentation.
Expand Down
25 changes: 25 additions & 0 deletions lbr_description/config/config.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -105,6 +105,31 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
robotiq_85_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
robotiq_85_left_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
robotiq_85_left_knuckle_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
robotiq_85_right_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
robotiq_85_right_knuckle_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
storz_straight_exoscope_hsi_link_0:
Alpha: 1
Show Axes: false
Expand Down
20 changes: 19 additions & 1 deletion lbr_description/gazebo/lbr.gazebo.xacro
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Expand Up @@ -41,5 +41,23 @@
<xacro:gazebo_link_reference name="link_6" />
<xacro:gazebo_joint_reference name="A7" />
<xacro:gazebo_link_reference name="link_7" />

<xacro:gazebo_link_reference name="robotiq_85_left_inner_knuckle_link" />
<xacro:gazebo_joint_reference name="robotiq_85_left_inner_knuckle_joint" />
<xacro:gazebo_link_reference name="robotiq_85_left_knuckle_link" />
<xacro:gazebo_joint_reference name="robotiq_85_left_knuckle_joint" />
<xacro:gazebo_link_reference name="robotiq_85_left_finger_link" />
<xacro:gazebo_joint_reference name="robotiq_85_left_finger_joint" />
<xacro:gazebo_link_reference name="robotiq_85_left_finger_tip_link" />
<xacro:gazebo_joint_reference name="robotiq_85_left_finger_tip_joint" />

<xacro:gazebo_link_reference name="robotiq_85_right_inner_knuckle_link" />
<xacro:gazebo_joint_reference name="robotiq_85_right_inner_knuckle_joint" />
<xacro:gazebo_link_reference name="robotiq_85_right_knuckle_link" />
<xacro:gazebo_joint_reference name="robotiq_85_right_knuckle_joint" />
<xacro:gazebo_link_reference name="robotiq_85_right_finger_link" />
<xacro:gazebo_joint_reference name="robotiq_85_right_finger_joint" />
<xacro:gazebo_link_reference name="robotiq_85_right_finger_tip_link" />
<xacro:gazebo_joint_reference name="robotiq_85_right_finger_tip_joint" />
</xacro:macro>
</robot>
</robot>
4 changes: 2 additions & 2 deletions lbr_description/lbr_description/launch_mixin.py
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@ def param_robot_description(
sim: Optional[Union[LaunchConfiguration, bool]] = None,
) -> Dict[str, str]:
if model is None:
model = LaunchConfiguration("model", default="iiwa7")
model = LaunchConfiguration("model", default="iiwa14")
if robot_name is None:
robot_name = LaunchConfiguration("robot_name", default="lbr")
if port_id is None:
Expand Down Expand Up @@ -95,7 +95,7 @@ def param_robot_description(
return robot_description

@staticmethod
def arg_model(default_value: str = "iiwa7") -> DeclareLaunchArgument:
def arg_model(default_value: str = "iiwa14") -> DeclareLaunchArgument:
return DeclareLaunchArgument(
name="model",
default_value=default_value,
Expand Down
6 changes: 5 additions & 1 deletion lbr_description/urdf/iiwa14/iiwa14.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -22,4 +22,8 @@

<!-- iiwa -->
<xacro:iiwa14 robot_name="$(arg robot_name)" port_id="$(arg port_id)" sim="$(arg sim)" />
</robot>

<!-- gripper -->
<xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_85_gripper.urdf.xacro" />

</robot>
6 changes: 3 additions & 3 deletions lbr_moveit_config/iiwa14_moveit_config/.setup_assistant
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Original file line number Diff line number Diff line change
Expand Up @@ -5,9 +5,9 @@ moveit_setup_assistant_config:
srdf:
relative_path: config/iiwa14.srdf
package_settings:
author_name: mhubii
author_email: [email protected]
generated_timestamp: 1690640386
author_name: antonio
author_email: [email protected]
generated_timestamp: 1713436521
control_xacro:
command:
- position
Expand Down
125 changes: 125 additions & 0 deletions lbr_moveit_config/iiwa14_moveit_config/config/iiwa14.srdf
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,26 @@
<group name="arm">
<chain base_link="link_0" tip_link="link_ee"/>
</group>
<group name="hand">
<link name="robotiq_85_base_link"/>
<link name="robotiq_85_left_inner_knuckle_link"/>
<link name="robotiq_85_left_knuckle_link"/>
<link name="robotiq_85_left_finger_link"/>
<link name="robotiq_85_left_finger_tip_link"/>
<link name="robotiq_85_right_inner_knuckle_link"/>
<link name="robotiq_85_right_knuckle_link"/>
<link name="robotiq_85_right_finger_link"/>
<link name="robotiq_85_right_finger_tip_link"/>
<joint name="robotiq_85_base_joint"/>
<joint name="robotiq_85_left_inner_knuckle_joint"/>
<joint name="robotiq_85_left_knuckle_joint"/>
<joint name="robotiq_85_left_finger_joint"/>
<joint name="robotiq_85_left_finger_tip_joint"/>
<joint name="robotiq_85_right_inner_knuckle_joint"/>
<joint name="robotiq_85_right_knuckle_joint"/>
<joint name="robotiq_85_right_finger_joint"/>
<joint name="robotiq_85_right_finger_tip_joint"/>
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="zero" group="arm">
<joint name="A1" value="0"/>
Expand All @@ -31,6 +51,13 @@
<joint name="A6" value="0"/>
<joint name="A7" value="0"/>
</group_state>
<group_state name="gripper_home" group="hand">
<joint name="robotiq_85_left_knuckle_joint" value="0"/>
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="hand" parent_link="link_ee" group="hand" parent_group="arm"/>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="link_0"/>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="link_0" link2="link_1" reason="Adjacent"/>
<disable_collisions link1="link_0" link2="link_2" reason="Never"/>
Expand All @@ -42,19 +69,117 @@
<disable_collisions link1="link_1" link2="link_5" reason="Never"/>
<disable_collisions link1="link_1" link2="link_6" reason="Never"/>
<disable_collisions link1="link_1" link2="link_7" reason="Never"/>
<disable_collisions link1="link_1" link2="robotiq_85_base_link" reason="Never"/>
<disable_collisions link1="link_1" link2="robotiq_85_left_finger_link" reason="Never"/>
<disable_collisions link1="link_1" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
<disable_collisions link1="link_1" link2="robotiq_85_left_knuckle_link" reason="Never"/>
<disable_collisions link1="link_1" link2="robotiq_85_right_finger_link" reason="Never"/>
<disable_collisions link1="link_1" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="link_1" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="link_1" link2="robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="link_2" link2="link_3" reason="Adjacent"/>
<disable_collisions link1="link_2" link2="link_4" reason="Never"/>
<disable_collisions link1="link_2" link2="link_5" reason="Never"/>
<disable_collisions link1="link_2" link2="link_6" reason="Never"/>
<disable_collisions link1="link_2" link2="link_7" reason="Never"/>
<disable_collisions link1="link_2" link2="robotiq_85_base_link" reason="Never"/>
<disable_collisions link1="link_2" link2="robotiq_85_left_finger_link" reason="Never"/>
<disable_collisions link1="link_2" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
<disable_collisions link1="link_2" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="link_2" link2="robotiq_85_left_knuckle_link" reason="Never"/>
<disable_collisions link1="link_2" link2="robotiq_85_right_finger_link" reason="Never"/>
<disable_collisions link1="link_2" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="link_2" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="link_2" link2="robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="link_3" link2="link_4" reason="Adjacent"/>
<disable_collisions link1="link_3" link2="link_5" reason="Never"/>
<disable_collisions link1="link_3" link2="link_6" reason="Never"/>
<disable_collisions link1="link_3" link2="link_7" reason="Never"/>
<disable_collisions link1="link_3" link2="robotiq_85_base_link" reason="Never"/>
<disable_collisions link1="link_3" link2="robotiq_85_left_finger_link" reason="Never"/>
<disable_collisions link1="link_3" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
<disable_collisions link1="link_3" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="link_3" link2="robotiq_85_left_knuckle_link" reason="Never"/>
<disable_collisions link1="link_3" link2="robotiq_85_right_finger_link" reason="Never"/>
<disable_collisions link1="link_3" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="link_3" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="link_3" link2="robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="link_4" link2="link_5" reason="Adjacent"/>
<disable_collisions link1="link_4" link2="link_6" reason="Never"/>
<disable_collisions link1="link_4" link2="link_7" reason="Never"/>
<disable_collisions link1="link_4" link2="robotiq_85_base_link" reason="Never"/>
<disable_collisions link1="link_4" link2="robotiq_85_left_finger_link" reason="Never"/>
<disable_collisions link1="link_4" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
<disable_collisions link1="link_4" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="link_4" link2="robotiq_85_left_knuckle_link" reason="Never"/>
<disable_collisions link1="link_4" link2="robotiq_85_right_finger_link" reason="Never"/>
<disable_collisions link1="link_4" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="link_4" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="link_4" link2="robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="link_5" link2="link_6" reason="Adjacent"/>
<disable_collisions link1="link_5" link2="link_7" reason="Never"/>
<disable_collisions link1="link_5" link2="robotiq_85_base_link" reason="Never"/>
<disable_collisions link1="link_5" link2="robotiq_85_left_finger_link" reason="Never"/>
<disable_collisions link1="link_5" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
<disable_collisions link1="link_5" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="link_5" link2="robotiq_85_left_knuckle_link" reason="Never"/>
<disable_collisions link1="link_5" link2="robotiq_85_right_finger_link" reason="Never"/>
<disable_collisions link1="link_5" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="link_5" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="link_5" link2="robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="link_6" link2="link_7" reason="Adjacent"/>
<disable_collisions link1="link_6" link2="robotiq_85_base_link" reason="Never"/>
<disable_collisions link1="link_6" link2="robotiq_85_left_finger_link" reason="Never"/>
<disable_collisions link1="link_6" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
<disable_collisions link1="link_6" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="link_6" link2="robotiq_85_left_knuckle_link" reason="Never"/>
<disable_collisions link1="link_6" link2="robotiq_85_right_finger_link" reason="Never"/>
<disable_collisions link1="link_6" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="link_6" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="link_6" link2="robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="link_7" link2="robotiq_85_base_link" reason="Adjacent"/>
<disable_collisions link1="link_7" link2="robotiq_85_left_finger_link" reason="Never"/>
<disable_collisions link1="link_7" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
<disable_collisions link1="link_7" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="link_7" link2="robotiq_85_left_knuckle_link" reason="Never"/>
<disable_collisions link1="link_7" link2="robotiq_85_right_finger_link" reason="Never"/>
<disable_collisions link1="link_7" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="link_7" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="link_7" link2="robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_finger_link" reason="Never"/>
<disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
<disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent"/>
<disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_knuckle_link" reason="Adjacent"/>
<disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_finger_link" reason="Never"/>
<disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_inner_knuckle_link" reason="Adjacent"/>
<disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
<disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_finger_tip_link" reason="Adjacent"/>
<disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_knuckle_link" reason="Adjacent"/>
<disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_finger_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_left_inner_knuckle_link" reason="Default"/>
<disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_finger_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_finger_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_finger_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Adjacent"/>
<disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
<disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_85_right_inner_knuckle_link" reason="Default"/>
<disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
</robot>
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