Added cr7ial support #33
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| cmake_minimum_required(VERSION 2.8.3) | ||
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| project(fanuc_cr7ia_support) | ||
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| find_package(catkin REQUIRED) | ||
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| catkin_package() | ||
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| if (CATKIN_ENABLE_TESTING) | ||
| find_package(roslaunch REQUIRED) | ||
| roslaunch_add_file_check(tests/roslaunch_test_cr7ial.xml) | ||
| endif() | ||
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| install(DIRECTORY config launch meshes urdf | ||
| DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) | ||
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| install(FILES readme.md DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) |
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| controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6'] |
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| <?xml version="1.0"?> | ||
| <launch> | ||
| <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_cr7ia_support)/urdf/cr7ial.xacro'" /> | ||
| </launch> |
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| <?xml version="1.0"?> | ||
| <!-- | ||
| Manipulator specific version of 'robot_interface_streaming.launch'. | ||
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| Defaults provided for LR Mate CR-7iA/L: | ||
| - J23_factor = 1 | ||
| - use_bswap = true | ||
| - 6 joints | ||
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| Usage: | ||
| robot_interface_streaming_cr7ial.launch robot_ip:=<value> | ||
| --> | ||
| <launch> | ||
| <arg name="robot_ip" doc="IP of controller" /> | ||
| <arg name="J23_factor" default="1" doc="Compensation factor for joint 2-3 coupling (-1, 0 or 1)" /> | ||
| <arg name="use_bswap" default="true" doc="If true, robot driver will byte-swap all incoming and outgoing data" /> | ||
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| <rosparam command="load" file="$(find fanuc_cr7ia_support)/config/joint_names_cr7ial.yaml" /> | ||
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| <include file="$(find fanuc_driver)/launch/robot_interface_streaming.launch"> | ||
| <arg name="robot_ip" value="$(arg robot_ip)" /> | ||
| <arg name="J23_factor" value="$(arg J23_factor)" /> | ||
| <arg name="use_bswap" value="$(arg use_bswap)" /> | ||
| </include> | ||
| </launch> |
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| <?xml version="1.0"?> | ||
| <!-- | ||
| Manipulator specific version of the state visualizer. | ||
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| Defaults provided for LR Mate CR-7iA/L: | ||
| - J23_factor = 1 | ||
| - use_bswap = true | ||
| - 6 joints | ||
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| Usage: | ||
| robot_state_visualize_cr7ial.launch robot_ip:=<value> | ||
| --> | ||
| <launch> | ||
| <arg name="robot_ip" doc="IP of controller" /> | ||
| <arg name="J23_factor" default="1" doc="Compensation factor for joint 2-3 coupling (-1, 0 or 1)" /> | ||
| <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="$(find fanuc_cr7ia_support)/config/joint_names_cr7ial.yaml" /> | ||
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| <include file="$(find fanuc_driver)/launch/robot_state.launch"> | ||
| <arg name="robot_ip" value="$(arg robot_ip)" /> | ||
| <arg name="J23_factor" value="$(arg J23_factor)" /> | ||
| <arg name="use_bswap" value="$(arg use_bswap)" /> | ||
| </include> | ||
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| <node name="robot_state_publisher" pkg="robot_state_publisher" | ||
| type="robot_state_publisher" /> | ||
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| <include file="$(find fanuc_cr7ia_support)/launch/load_cr7ial.launch" /> | ||
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| <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" /> | ||
| </launch> |
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| <?xml version="1.0"?> | ||
| <launch> | ||
| <include file="$(find fanuc_cr7ia_support)/launch/load_cr7ial.launch" /> | ||
| <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"> | ||
| <param name="use_gui" value="true" /> | ||
| </node> | ||
| <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> |
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| <?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>fanuc_cr7ia_support</name> | ||
| <version>0.1.0</version> | ||
| <description> | ||
| <p> | ||
| ROS-Industrial support for the Fanuc CR-7iA (and variants). | ||
| </p> | ||
| <p> | ||
| This package contains configuration data, 3D models and launch files | ||
| for Fanuc CR-7iA manipulators. This currently includes the /L model | ||
| only. | ||
| </p> | ||
| <p><b>Specifications</b>:</p> | ||
| <ul> | ||
| <li>CR-7iA/L - Normal Range</li> | ||
| </ul> | ||
| <p> | ||
| Joint limits and maximum joint velocities are based on the information in | ||
| the FANUC Robot CR-7iA Mechanical Unit Operator's Manual. | ||
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There was a problem hiding this comment. Could you please be exact about which version of the manual you used? Fanuc documents are versioned, so I'd like this to be as specific as possible. It should be something like |
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| All urdfs are based on the default motion and | ||
| joint velocity limits, unless noted otherwise (ie: no support for high | ||
| speed joints, extended / limited motion ranges or other options). | ||
| </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> | ||
| </description> | ||
| <author email="dniewinski@clearpathrobotics.com">Dave Niewinski</author> | ||
| <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer> | ||
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There was a problem hiding this comment. I've added myself as maintainer, as we do that for all ROS-I packages. Are you actually planning to maintain this? I'd very much welcome that, but it is a committment. There was a problem hiding this comment. I can maintain, but you would likely be better-suited. I'll just contribute |
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| <license>BSD</license> | ||
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| <url type="website">http://wiki.ros.org/fanuc_cr7ia_support</url> | ||
| <url type="bugtracker">https://github.com/ros-industrial/fanuc_experimental/issues</url> | ||
| <url type="repository">https://github.com/ros-industrial/fanuc_experimental</url> | ||
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| <buildtool_depend>catkin</buildtool_depend> | ||
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| <test_depend>roslaunch</test_depend> | ||
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| <exec_depend>fanuc_driver</exec_depend> | ||
| <exec_depend>fanuc_resources</exec_depend> | ||
| <exec_depend>joint_state_publisher</exec_depend> | ||
| <exec_depend>robot_state_publisher</exec_depend> | ||
| <exec_depend>rviz</exec_depend> | ||
| <exec_depend>xacro</exec_depend> | ||
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| <export> | ||
| <architecture_independent /> | ||
| <rosindex> | ||
| <tags> | ||
| <tag>cr7ia</tag> | ||
| <tag>description</tag> | ||
| <tag>experimental</tag> | ||
| <tag>fanuc</tag> | ||
| <tag>industrial</tag> | ||
| <tag>ros-industrial</tag> | ||
| <tag>support_package</tag> | ||
| </tags> | ||
| </rosindex> | ||
| </export> | ||
| </package> | ||
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| # fanuc_cr7ia_support | ||
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| ## Overview | ||
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| This package is part of the [ROS-Industrial][] program. See the main | ||
| [fanuc_experimental][] page on the ROS wiki for more information on usage. | ||
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| [ROS-Industrial]: http://wiki.ros.org/Industrial | ||
| [fanuc_experimental]: http://wiki.ros.org/fanuc_experimental |
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| <?xml version="1.0"?> | ||
| <launch> | ||
| <arg name="ip_str" value="127.0.0.1" /> | ||
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| <group ns="load_cr7ial__"> | ||
| <include file="$(find fanuc_cr7ia_support)/launch/load_cr7ial.launch"/> | ||
| </group> | ||
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| <group ns="test_cr7ial__"> | ||
| <include file="$(find fanuc_cr7ia_support)/launch/test_cr7ial.launch"/> | ||
| </group> | ||
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| <group ns="robot_interface_streaming_cr7ial__"> | ||
| <include file="$(find fanuc_cr7ia_support)/launch/robot_interface_streaming_cr7ial.launch"> | ||
| <arg name="robot_ip" value="$(arg ip_str)" /> | ||
| </include> | ||
| </group> | ||
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| <group ns="robot_state_visualize_cr7ial__"> | ||
| <include file="$(find fanuc_cr7ia_support)/launch/robot_state_visualize_cr7ial.launch"> | ||
| <arg name="robot_ip" value="$(arg ip_str)" /> | ||
| </include> | ||
| </group> | ||
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| <!-- without bswap --> | ||
| <group ns="robot_interface_streaming_cr7ial_f__"> | ||
| <include file="$(find fanuc_cr7ia_support)/launch/robot_interface_streaming_cr7ial.launch"> | ||
| <arg name="robot_ip" value="$(arg ip_str)" /> | ||
| <arg name="use_bswap" value="false" /> | ||
| </include> | ||
| </group> | ||
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| <group ns="robot_state_visualize_cr7ial_f__"> | ||
| <include file="$(find fanuc_cr7ia_support)/launch/robot_state_visualize_cr7ial.launch"> | ||
| <arg name="robot_ip" value="$(arg ip_str)" /> | ||
| <arg name="use_bswap" value="false" /> | ||
| </include> | ||
| </group> | ||
| </launch> |
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| <?xml version="1.0" ?> | ||
| <robot name="fanuc_cr7ial" xmlns:xacro="http://ros.org/wiki/xacro"> | ||
| <xacro:include filename="$(find fanuc_cr7ia_support)/urdf/cr7ial_macro.xacro"/> | ||
| <xacro:fanuc_cr7ial prefix=""/> | ||
| </robot> |
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Just making sure: have you verified this? What did you choose in the initial robot setup?
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Verifying this now. J3 limits on Fanuc change depending on J2, and since it's linked-arm, the J3 value is also tied to J2. Is there any way to have the limits of J3 updated based on the current value of J2? Unless the limits are set small enough that they are always within the actual limits, there will always be cases where you can plan outside of actual limits
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re: limits based on J2-J3: true, but normal range only refers to the range of motion of J1 in this case.
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Limits have been update as of manual. I don't see any reference to max joint speeds in the manual though
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No, Fanuc doesn't do that for their CR range. Where'd you get the joint speed limits that you have in there now?
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Could you get me a copy of all
sy*.vafiles on the controller? Either simulated or real, doesn't matter. A zip file to my email would be very much appreciated.FTP is probably easiest.
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I will get a backup to you shortly