diff --git a/motoman_ar2010_support/CMakeLists.txt b/motoman_ar2010_support/CMakeLists.txt new file mode 100644 index 00000000..ce20e86f --- /dev/null +++ b/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}) diff --git a/motoman_ar2010_support/config/joint_names_ar2010.yaml b/motoman_ar2010_support/config/joint_names_ar2010.yaml new file mode 100644 index 00000000..c23d10d4 --- /dev/null +++ b/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'] diff --git a/motoman_ar2010_support/launch/load_ar2010.launch b/motoman_ar2010_support/launch/load_ar2010.launch new file mode 100644 index 00000000..dcff65c0 --- /dev/null +++ b/motoman_ar2010_support/launch/load_ar2010.launch @@ -0,0 +1,4 @@ + + + + diff --git a/motoman_ar2010_support/launch/robot_interface_streaming_ar2010.launch b/motoman_ar2010_support/launch/robot_interface_streaming_ar2010.launch new file mode 100644 index 00000000..d9aa6344 --- /dev/null +++ b/motoman_ar2010_support/launch/robot_interface_streaming_ar2010.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + diff --git a/motoman_ar2010_support/launch/robot_state_visualize_ar2010.launch b/motoman_ar2010_support/launch/robot_state_visualize_ar2010.launch new file mode 100644 index 00000000..01b8ed3d --- /dev/null +++ b/motoman_ar2010_support/launch/robot_state_visualize_ar2010.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_ar2010_support/launch/test_ar2010.launch b/motoman_ar2010_support/launch/test_ar2010.launch new file mode 100644 index 00000000..b3713683 --- /dev/null +++ b/motoman_ar2010_support/launch/test_ar2010.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/motoman_ar2010_support/meshes/collision/base_link.stl b/motoman_ar2010_support/meshes/collision/base_link.stl new file mode 100644 index 00000000..8968cd0f Binary files /dev/null and b/motoman_ar2010_support/meshes/collision/base_link.stl differ diff --git a/motoman_ar2010_support/meshes/collision/link_1_s.stl b/motoman_ar2010_support/meshes/collision/link_1_s.stl new file mode 100644 index 00000000..8b06213e Binary files /dev/null and b/motoman_ar2010_support/meshes/collision/link_1_s.stl differ diff --git a/motoman_ar2010_support/meshes/collision/link_2_l.stl b/motoman_ar2010_support/meshes/collision/link_2_l.stl new file mode 100644 index 00000000..11a6a392 Binary files /dev/null and b/motoman_ar2010_support/meshes/collision/link_2_l.stl differ diff --git a/motoman_ar2010_support/meshes/collision/link_3_u.stl b/motoman_ar2010_support/meshes/collision/link_3_u.stl new file mode 100644 index 00000000..9360d256 Binary files /dev/null and b/motoman_ar2010_support/meshes/collision/link_3_u.stl differ diff --git a/motoman_ar2010_support/meshes/collision/link_4_r.stl b/motoman_ar2010_support/meshes/collision/link_4_r.stl new file mode 100644 index 00000000..df6bbce7 Binary files /dev/null and b/motoman_ar2010_support/meshes/collision/link_4_r.stl differ diff --git a/motoman_ar2010_support/meshes/collision/link_5_b.stl b/motoman_ar2010_support/meshes/collision/link_5_b.stl new file mode 100644 index 00000000..ce0deac5 Binary files /dev/null and b/motoman_ar2010_support/meshes/collision/link_5_b.stl differ diff --git a/motoman_ar2010_support/meshes/collision/link_6_t.stl b/motoman_ar2010_support/meshes/collision/link_6_t.stl new file mode 100644 index 00000000..3d3b3e03 Binary files /dev/null and b/motoman_ar2010_support/meshes/collision/link_6_t.stl differ diff --git a/motoman_ar2010_support/meshes/visual/base_link.stl b/motoman_ar2010_support/meshes/visual/base_link.stl new file mode 100644 index 00000000..e1562af6 Binary files /dev/null and b/motoman_ar2010_support/meshes/visual/base_link.stl differ diff --git a/motoman_ar2010_support/meshes/visual/link_1_s.stl b/motoman_ar2010_support/meshes/visual/link_1_s.stl new file mode 100644 index 00000000..9c6e0ae6 Binary files /dev/null and b/motoman_ar2010_support/meshes/visual/link_1_s.stl differ diff --git a/motoman_ar2010_support/meshes/visual/link_2_l.stl b/motoman_ar2010_support/meshes/visual/link_2_l.stl new file mode 100644 index 00000000..9b38cdf8 Binary files /dev/null and b/motoman_ar2010_support/meshes/visual/link_2_l.stl differ diff --git a/motoman_ar2010_support/meshes/visual/link_3_u.stl b/motoman_ar2010_support/meshes/visual/link_3_u.stl new file mode 100644 index 00000000..26df44e4 Binary files /dev/null and b/motoman_ar2010_support/meshes/visual/link_3_u.stl differ diff --git a/motoman_ar2010_support/meshes/visual/link_4_r.stl b/motoman_ar2010_support/meshes/visual/link_4_r.stl new file mode 100644 index 00000000..0e13e9f5 Binary files /dev/null and b/motoman_ar2010_support/meshes/visual/link_4_r.stl differ diff --git a/motoman_ar2010_support/meshes/visual/link_5_b.stl b/motoman_ar2010_support/meshes/visual/link_5_b.stl new file mode 100644 index 00000000..63aab321 Binary files /dev/null and b/motoman_ar2010_support/meshes/visual/link_5_b.stl differ diff --git a/motoman_ar2010_support/meshes/visual/link_6_t.stl b/motoman_ar2010_support/meshes/visual/link_6_t.stl new file mode 100644 index 00000000..dfa39c8d Binary files /dev/null and b/motoman_ar2010_support/meshes/visual/link_6_t.stl differ diff --git a/motoman_ar2010_support/package.xml b/motoman_ar2010_support/package.xml new file mode 100644 index 00000000..164c9e2c --- /dev/null +++ b/motoman_ar2010_support/package.xml @@ -0,0 +1,61 @@ + + + + motoman_ar2010_support + 0.1.0 + +

ROS-Industrial support for the Motoman AR2010 (and variants).

+

+ This package contains configuration data, 3D models and launch files + for Motoman AR2010 manipulators. +

+

+ Specifications +

+ +

+ Joint limits and maximum joint velocities are based on the information + found in YASKAWA MOTOMAN AR2010 INSTRUCTIONS (HW1484892) version + 182442-1CD, rev 0. + All urdfs are based on the default motion and joint velocity limits, + unless noted otherwise. +

+

+ 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. +

+

+ 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. +

+ + Alec Tiefenthal + Alec Tiefenthal + Eric Marcil + G.A. vd. Hoorn (TU Delft Robotics Institute) + BSD + + http://wiki.ros.org/motoman_ar2010_support + https://github.com/ros-industrial/motoman/issues + https://github.com/ros-industrial/motoman + + catkin + + roslaunch + + joint_state_publisher + motoman_driver + motoman_resources + robot_state_publisher + joint_state_publisher_gui + rviz + xacro + + + + + diff --git a/motoman_ar2010_support/test/launch_test_ar2010.xml b/motoman_ar2010_support/test/launch_test_ar2010.xml new file mode 100644 index 00000000..eb67da0e --- /dev/null +++ b/motoman_ar2010_support/test/launch_test_ar2010.xml @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_ar2010_support/urdf/ar2010.xacro b/motoman_ar2010_support/urdf/ar2010.xacro new file mode 100644 index 00000000..d9827a98 --- /dev/null +++ b/motoman_ar2010_support/urdf/ar2010.xacro @@ -0,0 +1,5 @@ + + + + + diff --git a/motoman_ar2010_support/urdf/ar2010_macro.xacro b/motoman_ar2010_support/urdf/ar2010_macro.xacro new file mode 100644 index 00000000..a041295b --- /dev/null +++ b/motoman_ar2010_support/urdf/ar2010_macro.xacro @@ -0,0 +1,171 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +