WIP: Add support for R-2000iB 165f

fanuc_r2000ib_support/CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.1.0)
+
+project(fanuc_r2000ib_support)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(tests/roslaunch_test_r2000ib165f.xml)
+endif()
+
+install(DIRECTORY config launch meshes urdf
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

fanuc_r2000ib_support/config/joint_names_r2000ib165f.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']

fanuc_r2000ib_support/launch/load_r2000ib165f.launch

@@ -0,0 +1,3 @@
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find fanuc_r2000ib_support)/urdf/r2000ib165f.xacro'" />
+</launch>

fanuc_r2000ib_support/launch/robot_interface_streaming_r2000ib165f.launch

@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<!--
+  Manipulator specific version of 'robot_interface_streaming.launch'.
+
+  Defaults provided for R-2000iB/165F:
+   - J23_factor = 1
+   - use_bswap = true
+   - 6 joints
+
+  Usage:
+    robot_interface_streaming_r2000ib165f.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" />
+
+  <rosparam command="load" file="$(find fanuc_r2000ib_support)/config/joint_names_r2000ib165f.yaml" />
+
+  <include file="$(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>

fanuc_r2000ib_support/launch/robot_state_visualize_r2000ib165f.launch

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<!--
+  Manipulator specific version of the state visualizer.
+
+  Defaults provided for R-2000iB/165F:
+   - J23_factor = 1
+   - use_bswap = true
+   - 6 joints
+
+  Usage:
+    robot_state_visualize_r2000ic165f.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" />
+
+  <rosparam command="load" file="$(find fanuc_r2000ic_support)/config/joint_names_r2000ic165f.yaml" />
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" 
+    type="robot_state_publisher" />
+
+  <include file="$(find fanuc_r2000ib_support)/launch/load_r2000ib165f.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

fanuc_r2000ib_support/launch/test_r2000ib165f.launch

@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+<launch>
+  <include file="$(find fanuc_r2000ib_support)/launch/load_r2000ib165f.launch" />
+  <param name="use_gui" value="true" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <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>

fanuc_r2000ib_support/package.xml

@@ -0,0 +1,68 @@
+<?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_r2000ib_support</name>
+  <version>0.0.1</version>
+  <description>
+    <p>
+      ROS-Industrial support for the Fanuc R-2000iB (and variants).
+    </p>
+    <p>
+      This package contains configuration data, 3D models and launch files
+      for Fanuc R-2000iB manipulators. This includes the /165F variant only.
+    </p>
+    <p><b>Specifications</b>:</p>
+    <ul>
+      <li>R-2000iB/165F - "Conventional dress-out"</li>
+    </ul>
+    <p>
+      Joint limits and maximum joint velocities are based on the information available
+      online at https://www.robots.com/robots/fanuc-r-2000ib-165f
+      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="[email protected]">Simon Schmeisser (isys vision)</author>
+  <maintainer email="[email protected]">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>Apache2</license>
+
+  <url type="website">http://wiki.ros.org/fanuc_r2000ib_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>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <test_depend>roslaunch</test_depend>
+
+
+  <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>
+
+  <export>    
+    <architecture_independent />
+    <rosindex>
+      <tags>
+        <tag>support_package</tag>
+        <tag>description</tag>
+        <tag>fanuc</tag>
+        <tag>industrial</tag>
+        <tag>ros-industrial</tag>
+        <tag>r2000ib</tag>
+        <tag>experimental</tag>
+      </tags>
+    </rosindex>
+    <ros_industrial>
+      <support_level value="community" />
+    </ros_industrial>
+  </export>
+</package>

fanuc_r2000ib_support/tests/roslaunch_test_r2000ib165f.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<launch>
+
+  <group ns="load_r2000ib165f__">
+    <include file="$(find fanuc_r2000ib_support)/launch/load_r2000ib165f.launch"/>
+  </group>
+
+  <group ns="test_r2000ib165f__">
+    <include file="$(find fanuc_r2000ib_support)/launch/test_r2000ib165f.launch"/>
+  </group>
+
+</launch>

fanuc_r2000ib_support/urdf/r2000ib165f.xacro

@@ -0,0 +1,6 @@
+<?xml version="1.0" ?>
+
+<robot name="fanuc_r2000ib" xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find fanuc_r2000ib_support)/urdf/r2000ib165f_macro.xacro"/>
+  <xacro:fanuc_r2000ib165f prefix=""/>
+</robot>

fanuc_r2000ib_support/urdf/r2000ib165f_macro.xacro

@@ -0,0 +1,183 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find fanuc_resources)/urdf/common_materials.xacro"/>
+
+  <xacro:macro name="fanuc_r2000ib165f" params="prefix">
+    <!-- links -->
+    <link name="${prefix}base_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/visual/base_link.stl"/>
+        </geometry>
+        <xacro:material_fanuc_yellow />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/collision/base_link.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/visual/link_1.stl"/>
+        </geometry>
+        <xacro:material_fanuc_yellow />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>	  
+          <mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/collision/link_1.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_2">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/visual/link_2.stl"/>
+        </geometry>
+        <xacro:material_fanuc_white />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/collision/link_2.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_3">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/visual/link_3.stl"/>
+        </geometry>
+        <xacro:material_fanuc_yellow />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/collision/link_3.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_4">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/visual/link_4.stl"/>
+        </geometry>
+        <xacro:material_fanuc_yellow />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/collision/link_4.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_5">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/visual/link_5.stl"/>
+        </geometry>
+        <xacro:material_fanuc_yellow />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/collision/link_5.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_6">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/visual/link_6.stl"/>
+        </geometry>
+        <xacro:material_fanuc_yellow />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://fanuc_r2000ib_support/meshes/r2000ib165f/collision/link_6.stl"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <!-- joints: main serial chain -->
+    <joint name="${prefix}joint_1" type="revolute">
+      <origin xyz="0 0 0.67" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}link_1"/>
+      <axis xyz="0 0 1"/>
+      <limit lower="${radians(-180)}" upper="${radians(180)}" effort="0" velocity="${radians(110)}" />
+    </joint>
+    <joint name="${prefix}joint_2" type="revolute">
+      <origin xyz="0.312 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_1"/>
+      <child link="${prefix}link_2"/>
+      <axis xyz="0 1 0"/>
+      <limit lower="${radians(-60)}" upper="${radians(75)}" effort="0" velocity="${radians(110)}" />
+    </joint>
+    <joint name="${prefix}joint_3" type="revolute">
+      <origin xyz="0 0 1.075" rpy="0 0 0"/>
+      <parent link="${prefix}link_2"/>
+      <child link="${prefix}link_3"/>
+      <axis xyz="0 -1 0"/>
+      <limit lower="${radians(-132)}" upper="${radians(230)}" effort="0" velocity="${radians(110)}" />
+    </joint>
+    <joint name="${prefix}joint_4" type="revolute">
+      <origin xyz="0 0 0.225" rpy="0 0 0"/>
+      <parent link="${prefix}link_3"/>
+      <child link="${prefix}link_4"/>
+      <axis xyz="-1 0 0"/>
+      <limit lower="${radians(-360)}" upper="${radians(360)}" effort="0" velocity="${radians(150)}" />
+    </joint>
+    <joint name="${prefix}joint_5" type="revolute">
+      <origin xyz="1.280 0 0.0" rpy="0 0 0"/>
+      <parent link="${prefix}link_4"/>
+      <child link="${prefix}link_5"/>
+      <axis xyz="0 -1 0"/>
+      <limit lower="${radians(-125)}" upper="${radians(125)}" effort="0" velocity="${radians(125)}" />
+    </joint>
+    <joint name="${prefix}joint_6" type="revolute">
+      <origin xyz="0.215 0 0.0" rpy="0 0 0"/>
+      <parent link="${prefix}link_5"/>
+      <child link="${prefix}link_6"/>
+      <axis xyz="-1 0 0"/>
+      <limit lower="${radians(-360)}" upper="${radians(360)}" effort="0" velocity="${radians(220)}" />
+    </joint>
+
+    <!-- ROS-Industrial 'base' frame: base_link to Fanuc World Coordinates transform -->
+    <link name="${prefix}base" />
+    <joint name="${prefix}base_link-base" type="fixed">
+      <origin xyz="0 0 0.670" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}base"/>
+    </joint>
+
+    <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
+    <link name="${prefix}flange" />
+    <joint name="${prefix}joint_6-flange" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${prefix}link_6" />
+      <child link="${prefix}flange" />
+    </joint>
+
+    <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
+    <link name="${prefix}tool0" />
+    <joint name="${prefix}link_6-tool0" type="fixed">
+      <origin xyz="0 0 0" rpy="${pi} ${-pi/2.0} 0" />
+      <parent link="${prefix}link_6" />
+      <child link="${prefix}tool0" />
+    </joint>
+
+
+  </xacro:macro>
+</robot>