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* Add description with ros2_control tag This uses the ur_description without a ros2_control tag and adds an own one for gazebo classic. * Add tests for generated description * Use ur_description in upstream workspace
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| Original file line number | Diff line number | Diff line change |
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| # Copyright (c) 2023 FZI Forschungszentrum Informatik | ||
| # | ||
| # Redistribution and use in source and binary forms, with or without | ||
| # modification, are permitted provided that the following conditions are met: | ||
| # | ||
| # * Redistributions of source code must retain the above copyright | ||
| # notice, this list of conditions and the following disclaimer. | ||
| # | ||
| # * Redistributions in binary form must reproduce the above copyright | ||
| # notice, this list of conditions and the following disclaimer in the | ||
| # documentation and/or other materials provided with the distribution. | ||
| # | ||
| # * Neither the name of the {copyright_holder} nor the names of its | ||
| # contributors may be used to endorse or promote products derived from | ||
| # this software without specific prior written permission. | ||
| # | ||
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | ||
| # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| # POSSIBILITY OF SUCH DAMAGE. | ||
| # | ||
| # Author: Lukas Sackewitz | ||
|
|
||
| import os | ||
| import shutil | ||
| import subprocess | ||
| import tempfile | ||
| import pytest | ||
|
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| from ament_index_python.packages import get_package_share_directory | ||
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| @pytest.mark.parametrize( | ||
| "ur_type", ["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20"] | ||
| ) | ||
| @pytest.mark.parametrize("prefix", ["", "my_ur_"]) | ||
| def test_ur_urdf_xacro(ur_type, prefix): | ||
| # Initialize Arguments | ||
| safety_limits = "true" | ||
| safety_pos_margin = "0.15" | ||
| safety_k_position = "20" | ||
| # General Arguments | ||
| description_package = "ur_description" | ||
|
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| joint_limit_params = os.path.join( | ||
| get_package_share_directory(description_package), "config", ur_type, "joint_limits.yaml" | ||
| ) | ||
| kinematics_params = os.path.join( | ||
| get_package_share_directory(description_package), | ||
| "config", | ||
| ur_type, | ||
| "default_kinematics.yaml", | ||
| ) | ||
| physical_params = os.path.join( | ||
| get_package_share_directory(description_package), | ||
| "config", | ||
| ur_type, | ||
| "physical_parameters.yaml", | ||
| ) | ||
| visual_params = os.path.join( | ||
| get_package_share_directory(description_package), | ||
| "config", | ||
| ur_type, | ||
| "visual_parameters.yaml", | ||
| ) | ||
|
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| description_file_path = os.path.join( | ||
| get_package_share_directory("ur_simulation_gazebo"), "urdf", "ur_gazebo.urdf.xacro" | ||
| ) | ||
|
|
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| (_, tmp_urdf_output_file) = tempfile.mkstemp(suffix=".urdf") | ||
|
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| # Compose `xacro` and `check_urdf` command | ||
| xacro_command = ( | ||
| f"{shutil.which('xacro')}" | ||
| f" {description_file_path}" | ||
| f" joint_limit_params:={joint_limit_params}" | ||
| f" kinematics_params:={kinematics_params}" | ||
| f" physical_params:={physical_params}" | ||
| f" visual_params:={visual_params}" | ||
| f" safety_limits:={safety_limits}" | ||
| f" safety_pos_margin:={safety_pos_margin}" | ||
| f" safety_k_position:={safety_k_position}" | ||
| f" name:={ur_type}" | ||
| f" prefix:={prefix}" | ||
| f" > {tmp_urdf_output_file}" | ||
| ) | ||
| check_urdf_command = f"{shutil.which('check_urdf')} {tmp_urdf_output_file}" | ||
|
|
||
| # Try to call processes but finally remove the temp file | ||
| try: | ||
| xacro_process = subprocess.run( | ||
| xacro_command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, shell=True | ||
| ) | ||
|
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| assert xacro_process.returncode == 0, " --- XACRO command failed ---" | ||
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| check_urdf_process = subprocess.run( | ||
| check_urdf_command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, shell=True | ||
| ) | ||
|
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||
| assert ( | ||
| check_urdf_process.returncode == 0 | ||
| ), "\n --- URDF check failed! --- \nYour xacro does not unfold into a proper urdf robot description. Please check your xacro file." | ||
|
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| finally: | ||
| os.remove(tmp_urdf_output_file) | ||
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| if __name__ == "__main__": | ||
| test_ur_urdf_xacro() |
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| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <xacro:include filename="$(find ur_description)/urdf/inc/ur_joint_control.xacro" /> | ||
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| <xacro:macro name="ur_ros2_control" params=" | ||
| name | ||
| tf_prefix | ||
| transmission_hw_interface:=hardware_interface/PositionJointInterface | ||
| initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)} | ||
| "> | ||
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| <!-- Add URDF transmission elements (for ros_control) --> | ||
| <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />--> | ||
| <!-- Placeholder for ros2_control transmission which don't yet exist --> | ||
|
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| <ros2_control name="${name}" type="system"> | ||
| <hardware> | ||
| <plugin>gazebo_ros2_control/GazeboSystem</plugin> | ||
| </hardware> | ||
|
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| <xacro:ur_joint_control_description | ||
| tf_prefix="${tf_prefix}" | ||
| initial_positions="${initial_positions}" | ||
| /> | ||
| </ros2_control> | ||
| </xacro:macro> | ||
| </robot> |
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| Original file line number | Diff line number | Diff line change |
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| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)"> | ||
| <!-- robot name parameter --> | ||
| <xacro:arg name="name" default="ur"/> | ||
| <!-- import main macro --> | ||
| <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/> | ||
|
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| <xacro:include filename="$(find ur_simulation_gazebo)/urdf/ur_gazebo.ros2_control.xacro" /> | ||
|
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| <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20 --> | ||
| <!-- the default value should raise an error in case this was called without defining the type --> | ||
| <xacro:arg name="ur_type" default="ur5x"/> | ||
|
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| <!-- parameters --> | ||
| <xacro:arg name="tf_prefix" default="" /> | ||
| <xacro:arg name="joint_limit_params" default="$(find ur_description)/config/$(arg ur_type)/joint_limits.yaml"/> | ||
| <xacro:arg name="kinematics_params" default="$(find ur_description)/config/$(arg ur_type)/default_kinematics.yaml"/> | ||
| <xacro:arg name="physical_params" default="$(find ur_description)/config/$(arg ur_type)/physical_parameters.yaml"/> | ||
| <xacro:arg name="visual_params" default="$(find ur_description)/config/$(arg ur_type)/visual_parameters.yaml"/> | ||
| <xacro:arg name="transmission_hw_interface" default=""/> | ||
| <xacro:arg name="safety_limits" default="false"/> | ||
| <xacro:arg name="safety_pos_margin" default="0.15"/> | ||
| <xacro:arg name="safety_k_position" default="20"/> | ||
|
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| <xacro:arg name="simulation_controllers" default="" /> | ||
|
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| <!-- create link fixed to the "world" --> | ||
| <link name="world" /> | ||
|
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| <!-- arm --> | ||
| <xacro:ur_robot | ||
| name="$(arg name)" | ||
| tf_prefix="$(arg tf_prefix)" | ||
| parent="world" | ||
| joint_limits_parameters_file="$(arg joint_limit_params)" | ||
| kinematics_parameters_file="$(arg kinematics_params)" | ||
| physical_parameters_file="$(arg physical_params)" | ||
| visual_parameters_file="$(arg visual_params)" | ||
| safety_limits="$(arg safety_limits)" | ||
| safety_pos_margin="$(arg safety_pos_margin)" | ||
| safety_k_position="$(arg safety_k_position)" | ||
| force_abs_paths="true" | ||
| > | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> <!-- position robot in the world --> | ||
| </xacro:ur_robot> | ||
|
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| <gazebo reference="world"> | ||
| </gazebo> | ||
| <gazebo> | ||
| <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control"> | ||
| <parameters>$(arg simulation_controllers)</parameters> | ||
| </plugin> | ||
| </gazebo> | ||
|
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| <!-- ros2 control instance --> | ||
| <xacro:ur_ros2_control | ||
| name="$(arg name)" | ||
| tf_prefix="$(arg tf_prefix)" | ||
| transmission_hw_interface="$(arg transmission_hw_interface)" | ||
| /> | ||
| </robot> |