Merge branch 'kinetic-devel' into feature/experimental_rebase

.github/workflows/ci_bionic.yml

@@ -24,10 +24,10 @@ jobs:
 
     steps:
       - name: Fetch repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
 
       - name: ccache cache
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         with:
           path: ${{ env.CCACHE_DIR }}
           # we always want the ccache cache to be persisted, as we cannot easily

.github/workflows/ci_focal.yml

@@ -24,10 +24,10 @@ jobs:
 
     steps:
       - name: Fetch repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
 
       - name: ccache cache
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         with:
           path: ${{ env.CCACHE_DIR }}
           # we always want the ccache cache to be persisted, as we cannot easily

.github/workflows/ci_xenial.yml

@@ -24,10 +24,10 @@ jobs:
 
     steps:
       - name: Fetch repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
 
       - name: ccache cache
-        uses: actions/cache@v2
+        uses: actions/cache@v3
         with:
           path: ${{ env.CCACHE_DIR }}
           # we always want the ccache cache to be persisted, as we cannot easily

.gitignore

@@ -59,3 +59,7 @@ motoman_driver/MotoPlus/_buildLog/MotoROSYRC1000u.log
 /motoman_gp8_support/out/build/x64-Debug (default)
 /motoman_gp88_support/out/build/x64-Debug (default)
 /motoman_gp7_support/out/build/x64-Debug (default)
+*.vsidx
+motoman_driver/MotoPlus/.vs/MpRosAllControllers/FileContentIndex/read.lock
+*.db-shm
+*.db-wal

README.md

@@ -14,6 +14,11 @@
 
 The [motoman_experimental][] repository contains additional packages.
 
+## ROS 2
+
+This repository hosts the **ROS 1** version of MotoROS.
+If you are looking for ROS 2 support, please visit [Yaskawa-Global/motoros2](https://github.com/yaskawa-global/motoros2).
+
 
 ## Contents
 

motoman_ar2010_support/CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.0.2)
+
+project(motoman_ar2010_support)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(test/launch_test_ar2010.xml)
+endif()
+
+install(DIRECTORY config launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

motoman_ar2010_support/config/joint_names_ar2010.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['joint_1_s', 'joint_2_l', 'joint_3_u', 'joint_4_r', 'joint_5_b', 'joint_6_t']

motoman_ar2010_support/launch/load_ar2010.launch

@@ -0,0 +1,4 @@
+<?xml version="1.0" ?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find motoman_ar2010_support)/urdf/ar2010.xacro'" />
+</launch>

motoman_ar2010_support/launch/robot_interface_streaming_ar2010.launch

@@ -0,0 +1,22 @@
+<?xml version="1.0" ?>
+<!--
+  Manipulator specific version of 'robot_interface_streaming.launch'.
+
+  Defaults provided for ar2010:
+   - 7 joints
+
+  Usage:
+    robot_interface_streaming_ar2010.launch robot_ip:=<value> controller:=<yrc1000>
+-->
+<launch>
+	<arg name="robot_ip" />
+
+  <!-- controller: Controller name (yrc1000) -->
+  <arg name="controller"/>
+
+	<rosparam command="load" file="$(find motoman_ar2010_support)/config/joint_names_ar2010.yaml" />
+
+	<include file="$(find motoman_driver)/launch/robot_interface_streaming_$(arg controller).launch">
+		<arg name="robot_ip"   value="$(arg robot_ip)" />
+	</include>
+</launch>

motoman_ar2010_support/launch/robot_state_visualize_ar2010.launch

@@ -0,0 +1,28 @@
+<?xml version="1.0" ?>
+<!--
+  Manipulator specific version of the state visualizer.
+
+  Defaults provided for ar2010:
+   - 7 joints
+
+  Usage:
+    robot_state_visualize_ar2010.launch robot_ip:=<value> controller:=<yrc1000>
+-->
+<launch>
+  <arg name="robot_ip" />
+
+  <!-- controller: Controller name (yrc1000) -->
+  <arg name="controller" />
+
+  <rosparam command="load" file="$(find motoman_ar2010_support)/config/joint_names_ar2010.yaml" />
+
+  <include file="$(find motoman_driver)/launch/robot_state_$(arg controller).launch">
+    <arg name="robot_ip"   value="$(arg robot_ip)" />
+  </include>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+  <include file="$(find motoman_ar2010_support)/launch/load_ar2010.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

motoman_ar2010_support/launch/test_ar2010.launch

@@ -0,0 +1,8 @@
+<?xml version="1.0" ?>
+<launch>
+  <include file="$(find motoman_ar2010_support)/launch/load_ar2010.launch" />
+
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

motoman_ar2010_support/package.xml

@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>motoman_ar2010_support</name>
+  <version>0.1.0</version>
+  <description>
+    <p>ROS-Industrial support for the Motoman AR2010 (and variants).</p>
+    <p>
+      This package contains configuration data, 3D models and launch files
+      for Motoman AR2010 manipulators.
+    </p>
+    <p>
+      <b>Specifications</b>
+    </p>
+    <ul>
+      <li>AR2010 - Default</li>
+    </ul>
+    <p>
+      Joint limits and maximum joint velocities are based on the information 
+      found in <em>YASKAWA MOTOMAN AR2010 INSTRUCTIONS (HW1484892)</em> version
+      <em>182442-1CD, rev 0</em>.
+      All urdfs are based on the default motion and joint velocity limits, 
+      unless noted otherwise.
+    </p>
+    <p>
+      Before using any of the configuration files and / or meshes included
+      in this package, be sure to check they are correct for the particular
+      robot model and configuration you intend to use them with.
+    </p>
+    <p>
+      NOTE: the base model xacro macro has all joints oriented such that they
+      rotate around the Z+ axis. As a consequence, link frames in this model
+      do not follow REP-103 wrt frame orientation.
+    </p>
+  </description>
+  <author>Alec Tiefenthal</author>
+  <maintainer email="alec@path-robotics.com">Alec Tiefenthal</maintainer>
+  <maintainer email="eric.marcil@motoman.com">Eric Marcil</maintainer>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/motoman_ar2010_support</url>
+  <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
+  <url type="repository">https://github.com/ros-industrial/motoman</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <test_depend>roslaunch</test_depend>
+
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>motoman_driver</exec_depend>
+  <exec_depend>motoman_resources</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+    <architecture_independent/>
+  </export>
+</package>

motoman_ar2010_support/test/launch_test_ar2010.xml

@@ -0,0 +1,31 @@
+<launch>
+	<arg name="req_arg" value="default"/>
+  <arg name="yrc1000" value="yrc1000"/>
+
+  <group ns="load_ar2010">
+	  <include file="$(find motoman_ar2010_support)/launch/load_ar2010.launch"/>
+  </group>
+
+  <group ns="test_ar2010">
+	  <include file="$(find motoman_ar2010_support)/launch/test_ar2010.launch"/>
+  </group>
+
+  <group ns="robot_interface_streaming_ar2010">
+    <group ns="yrc1000" >
+	    <include file="$(find motoman_ar2010_support)/launch/robot_interface_streaming_ar2010.launch">
+		    <arg name="robot_ip"   value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg yrc1000)"/>
+	    </include>
+    </group>
+  </group>
+
+  <group ns="robot_state_visualize_ar2010">
+    <group ns="yrc1000" >
+	    <include file="$(find motoman_ar2010_support)/launch/robot_state_visualize_ar2010.launch">
+		    <arg name="robot_ip"   value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg yrc1000)"/>
+	    </include>
+    </group>
+  </group>
+
+</launch>

motoman_ar2010_support/urdf/ar2010.xacro

@@ -0,0 +1,5 @@
+<?xml version="1.0" ?>
+<robot name="motoman_ar2010" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find motoman_ar2010_support)/urdf/ar2010_macro.xacro" />
+  <xacro:motoman_ar2010 prefix=""/>
+</robot>