Merge pull request #25 from RobotnikAutomation/melodic-devel

Melodic devel into master

README.md

@@ -1,60 +1,41 @@
-summit_xl_common
-================
-Common packages of the Summit XL: URDF description of the Summit XL, Summi XL Steel and Summit XL HL, platform messages and other files for simulation.
-
-<a href="url"><img src="https://www.roscomponents.com/273-big_default/summit-xl.jpg" align="left" height="275" width="275" ></a>
-
-<a href="url"><img src="https://www.roscomponents.com/811-thickbox_default/summit-xl-steel.jpg" align="left" height="275" width="275" ></a>
-<br />
-<br />
-<br />
-
-<a href="url"><img src="https://www.robotnik.es/web/wp-content/uploads/2014/04/summit_xl_hl_sim.png" align="left" height="150" width="275" ></a>
-
-
-<br />
-<br />
-<br />
-<br />
-<br />
-<br />
-<br />
+# summit_xl_common
 
+Common packages of the Summit XL: URDF description of the Summit XL, Summi XL Steel and Summit XL HL, platform messages and other files for simulation.
 
+<p align="center">
+  <img src="doc/summit_xl.jpeg" height="275" />
+  <img src="doc/summit_xl_steel.jpeg" height="275" />
+  <img src="doc/summit_xl_gazebo.png" height="275" />
+  <img src="doc/summit_xl_steel_gazebo.png" height="275" />
+</p>
 
-<h1>Packages</h1>
+## Packages
 
-<h2>summit_xl_control</h2>
+### summit_xl_control
 
-<p>This package contains the launch and configuration files to spawn the joint controllers with the ROS controller_manager. It allows to launch the joint controllers for the Summit XL (4 axes skid steering + 2 axes ptz), Summit XL OMNI (4 axes skid steering, 4 axes swerve drive), Summit X-WAM (4 axes skid steering, 4 axes swerve drive, 1 linear axis for scissor mechanism).
+This package contains the launch and configuration files to spawn the joint controllers with the ROS controller_manager. It allows to launch the joint controllers for the:
+- Summit XL (4 axes skid steering + 2 axes ptz)
+- Summit XL OMNI (4 axes skid steering, 4 axes swerve drive)
+- Summit X-WAM (4 axes skid steering, 4 axes swerve drive, 1 linear axis for scissor mechanism).
 
 The Summit XL simulation stack follows the gazebo_ros controller manager scheme described in
-http://gazebosim.org/tutorials</p>
+[http://gazebosim.org/tutorials](http://gazebosim.org/tutorials)
 
-<h2>summit_xl_description</h2>
+### summit_xl_description
 
 The urdf, meshes, and other elements needed in the description are contained here. The standard camera configurations have been included (w/wo sphere_camera, w/wo axis_camera, etc.). This package includes the description of the Summit XL, Summit XL STEEL (and HL versions) mobile platforms.
 The package includes also some launch files to publish the robot state and to test the urdf files in rviz.
 
-<h2>summit_xl_localization</h2>
+### summit_xl_localization
 
 This package contains launch files to use the EKF of the robot_localization package with the Summit XL robots. It contains a node to subscribe to gps data and publish it as odometry to be used as an additional source for odometry.
 
-<h2>summit_xl_navigation</h2>
+### summit_xl_navigation
 
 This package contains all the configuration files needed to execute the AMCL and SLAM navigation algorithms in simulation.
 
-<h2>summit_xl_perception</h2>
-
-This package contains all the configuration files needed to execute the nodes related with perception purposes.
-
-<h2>summit_xl_robot_local_control</h2>
-
-This package contains all the configuration files needed to execute the RobotLocalControl libraries. 
-
-
-<h2>summit_xl_pad</h2>
+### summit_xl_pad
 
-This package contains the node that subscribes to /joy messages and publishes command messages for the robot platform including speed level control. The joystick output is feed to a mux (http://wiki.ros.org/twist_mux) so that the final command to the robot can be set by different components (move_base, etc.)
+This package contains the node that subscribes to /joy messages and publishes command messages for the robot platform including speed level control. The joystick output is feed to a mux [http://wiki.ros.org/twist_mux](http://wiki.ros.org/twist_mux) so that the final command to the robot can be set by different components (move_base, etc.)
 
 The node allows to load different types of joysticks (PS4, PS3, Logitech, Thrustmaster). New models can be easily added by creating new .yaml files. If modbus_io node is available, the digital outputs (ligths, axes, etc.) can also be controlled with the pad. If ptz camera is available, the pan-tilt-zoom can also be commanded with the pad. 

moveit/summit_xl_j2n6s200_moveit_config/.setup_assistant

@@ -0,0 +1,11 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: summit_xl_description
+    relative_path: robots/versions/summit_xl_gen_j2n6s200.urdf.xacro
+    xacro_args: prefix:=robot_
+  SRDF:
+    relative_path: config/summit_xl.srdf
+  CONFIG:
+    author_name: José Gómez Gadea
+    author_email: [email protected]
+    generated_timestamp: 1628108762

moveit/summit_xl_j2s7s300_moveit_config/CMakeLists.txt → moveit/summit_xl_j2n6s200_moveit_config/CMakeLists.txt

@@ -1,5 +1,5 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(summit_xl_j2s7s300_moveit_config)
+cmake_minimum_required(VERSION 3.1.3)
+project(summit_xl_j2n6s200_moveit_config)
 
 find_package(catkin REQUIRED)
 

moveit/summit_xl_j2n6s200_moveit_config/config/cartesian_limits.yaml

@@ -0,0 +1,5 @@
+cartesian_limits:
+  max_trans_vel: 1
+  max_trans_acc: 2.25
+  max_trans_dec: -5
+  max_rot_vel: 1.57

moveit/summit_xl_j2n6s200_moveit_config/config/fake_controllers.yaml

@@ -0,0 +1,20 @@
+controller_list:
+  - name: fake_j2n6s200_controller
+    type: $(arg execution_type)
+    joints:
+      - robot_j2n6s200_joint_1
+      - robot_j2n6s200_joint_2
+      - robot_j2n6s200_joint_3
+      - robot_j2n6s200_joint_4
+      - robot_j2n6s200_joint_5
+      - robot_j2n6s200_joint_6
+  - name: fake_j2n6s200_gripper_controller
+    type: $(arg execution_type)
+    joints:
+      - robot_j2n6s200_joint_finger_1
+      - robot_j2n6s200_joint_finger_tip_1
+      - robot_j2n6s200_joint_finger_2
+      - robot_j2n6s200_joint_finger_tip_2
+initial:  # Define initial robot poses.
+  - group: j2n6s200
+    pose: home

moveit/summit_xl_j2s6s300_moveit_config/config/joint_limits.yaml → moveit/summit_xl_j2n6s200_moveit_config/config/joint_limits.yaml

@@ -2,62 +2,52 @@
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
 joint_limits:
-  robot_j2s6s300_joint_1:
+  robot_j2n6s200_joint_1:
     has_velocity_limits: true
     max_velocity: 0.628318530718
     has_acceleration_limits: false
     max_acceleration: 0
-  robot_j2s6s300_joint_2:
+  robot_j2n6s200_joint_2:
     has_velocity_limits: true
     max_velocity: 0.628318530718
     has_acceleration_limits: false
     max_acceleration: 0
-  robot_j2s6s300_joint_3:
+  robot_j2n6s200_joint_3:
     has_velocity_limits: true
     max_velocity: 0.628318530718
     has_acceleration_limits: false
     max_acceleration: 0
-  robot_j2s6s300_joint_4:
+  robot_j2n6s200_joint_4:
     has_velocity_limits: true
     max_velocity: 0.837758040957
     has_acceleration_limits: false
     max_acceleration: 0
-  robot_j2s6s300_joint_5:
+  robot_j2n6s200_joint_5:
     has_velocity_limits: true
     max_velocity: 0.837758040957
     has_acceleration_limits: false
     max_acceleration: 0
-  robot_j2s6s300_joint_6:
+  robot_j2n6s200_joint_6:
     has_velocity_limits: true
     max_velocity: 0.837758040957
     has_acceleration_limits: false
     max_acceleration: 0
-  robot_j2s6s300_joint_finger_1:
+  robot_j2n6s200_joint_finger_1:
     has_velocity_limits: true
     max_velocity: 1
     has_acceleration_limits: false
     max_acceleration: 0
-  robot_j2s6s300_joint_finger_2:
+  robot_j2n6s200_joint_finger_2:
     has_velocity_limits: true
     max_velocity: 1
     has_acceleration_limits: false
     max_acceleration: 0
-  robot_j2s6s300_joint_finger_3:
+  robot_j2n6s200_joint_finger_tip_1:
     has_velocity_limits: true
     max_velocity: 1
     has_acceleration_limits: false
     max_acceleration: 0
-  robot_j2s6s300_joint_finger_tip_1:
-    has_velocity_limits: true
-    max_velocity: 1
-    has_acceleration_limits: false
-    max_acceleration: 0
-  robot_j2s6s300_joint_finger_tip_2:
-    has_velocity_limits: true
-    max_velocity: 1
-    has_acceleration_limits: false
-    max_acceleration: 0
-  robot_j2s6s300_joint_finger_tip_3:
+  robot_j2n6s200_joint_finger_tip_2:
     has_velocity_limits: true
     max_velocity: 1
     has_acceleration_limits: false

moveit/summit_xl_j2s6s300_moveit_config/config/kinematics.yaml → moveit/summit_xl_j2n6s200_moveit_config/config/kinematics.yaml

@@ -1,5 +1,4 @@
-j2s6s300_arm:
+j2n6s200:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
+  kinematics_solver_timeout: 0.005

moveit/summit_xl_j2s7s300_moveit_config/config/ompl_planning.yaml → moveit/summit_xl_j2n6s200_moveit_config/config/ompl_planning.yaml

@@ -120,7 +120,7 @@ planner_configs:
     sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
     dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
     max_failures: 5000  # maximum consecutive failure limit. default: 5000
-j2s7s300_arm:
+j2n6s200:
   default_planner_config: RRTstar
   planner_configs:
     - SBL
@@ -146,8 +146,7 @@ j2s7s300_arm:
     - LazyPRMstar
     - SPARS
     - SPARStwo
-j2s7s300_gripper:
-  default_planner_config: RRTstar
+j2n6s200_gripper:
   planner_configs:
     - SBL
     - EST
@@ -171,4 +170,4 @@ j2s7s300_gripper:
     - LazyPRM
     - LazyPRMstar
     - SPARS
-    - SPARStwo
+    - SPARStwo

moveit/summit_xl_j2n6s200_moveit_config/config/ros_controllers.yaml

@@ -0,0 +1,39 @@
+# Simulation settings for using moveit_sim_controllers
+moveit_sim_hw_interface:
+  joint_model_group: j2n6s200
+  joint_model_group_pose: home
+# Settings for ros_control_boilerplate control loop
+generic_hw_control_loop:
+  loop_hz: 300
+  cycle_time_error_threshold: 0.01
+# Settings for ros_control hardware interface
+hardware_interface:
+  joints:
+    - robot_j2n6s200_joint_1
+    - robot_j2n6s200_joint_2
+    - robot_j2n6s200_joint_3
+    - robot_j2n6s200_joint_4
+    - robot_j2n6s200_joint_5
+    - robot_j2n6s200_joint_6
+    - robot_j2n6s200_joint_finger_1
+    - robot_j2n6s200_joint_finger_tip_1
+    - robot_j2n6s200_joint_finger_2
+    - robot_j2n6s200_joint_finger_tip_2
+  sim_control_mode: 1  # 0: position, 1: velocity
+# Publish all joint states
+# Creates the /joint_states topic necessary in ROS
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
+controller_list:
+  - name: j2n6s200_arm_controller
+    action_ns: follow_joint_trajectory
+    default: True
+    type: FollowJointTrajectory
+    joints:
+      - robot_j2n6s200_joint_1
+      - robot_j2n6s200_joint_2
+      - robot_j2n6s200_joint_3
+      - robot_j2n6s200_joint_4
+      - robot_j2n6s200_joint_5
+      - robot_j2n6s200_joint_6