Merge pull request #518 from gavanderhoorn/gazebo_updates

Main improvements: - follow ROS-I naming and package layout conventions - clean up xacros (naming, whitespace, etc) - treat (the virtual robot in) Gazebo as much as possible as just another UR variant (so we get to reuse workflow, settings and `.launch` files as much as possible) - improve comments in `.xacro` files - clean up "public API" of `ur_gazebo` (ie: `.launch` and `_macro.xacro` files )
ros-industrial · Jul 1, 2020 · 8e5cc30 · 8e5cc30
2 parents 92cf300 + 467042b
commit 8e5cc30
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diff --git a/ur_gazebo/CMakeLists.txt b/ur_gazebo/CMakeLists.txt
@@ -8,7 +8,14 @@ catkin_package()
 
 if (CATKIN_ENABLE_TESTING)
   find_package(roslaunch REQUIRED)
-  roslaunch_add_file_check(tests/roslaunch_test.xml)
+  roslaunch_add_file_check(tests/roslaunch_test_ur3.xml)
+  roslaunch_add_file_check(tests/roslaunch_test_ur3e.xml)
+  roslaunch_add_file_check(tests/roslaunch_test_ur5.xml)
+  roslaunch_add_file_check(tests/roslaunch_test_ur5e.xml)
+  roslaunch_add_file_check(tests/roslaunch_test_ur10.xml)
+  roslaunch_add_file_check(tests/roslaunch_test_ur10e.xml)
+  roslaunch_add_file_check(tests/roslaunch_test_ur16e.xml)
 endif()
 
-install(DIRECTORY launch controller urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY config launch urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/ur_gazebo/config/ur10_controllers.yaml b/ur_gazebo/config/ur10_controllers.yaml
@@ -0,0 +1,29 @@
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: &loop_hz 125
+
+pos_joint_traj_controller:
+  type: position_controllers/JointTrajectoryController
+  joints: &robot_joints
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
+  constraints:
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+  stop_trajectory_duration: 0.5
+  state_publish_rate: *loop_hz
+  action_monitor_rate: 10
+
+joint_group_pos_controller:
+  type: position_controllers/JointGroupPositionController
+  joints: *robot_joints
diff --git a/ur_gazebo/config/ur10e_controllers.yaml b/ur_gazebo/config/ur10e_controllers.yaml
@@ -0,0 +1,29 @@
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: &loop_hz 500
+
+pos_joint_traj_controller:
+  type: position_controllers/JointTrajectoryController
+  joints: &robot_joints
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
+  constraints:
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+  stop_trajectory_duration: 0.5
+  state_publish_rate: *loop_hz
+  action_monitor_rate: 10
+
+joint_group_pos_controller:
+  type: position_controllers/JointGroupPositionController
+  joints: *robot_joints
diff --git a/ur_gazebo/config/ur16e_controllers.yaml b/ur_gazebo/config/ur16e_controllers.yaml
@@ -0,0 +1,29 @@
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: &loop_hz 500
+
+pos_joint_traj_controller:
+  type: position_controllers/JointTrajectoryController
+  joints: &robot_joints
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
+  constraints:
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+  stop_trajectory_duration: 0.5
+  state_publish_rate: *loop_hz
+  action_monitor_rate: 10
+
+joint_group_pos_controller:
+  type: position_controllers/JointGroupPositionController
+  joints: *robot_joints
diff --git a/ur_gazebo/config/ur3_controllers.yaml b/ur_gazebo/config/ur3_controllers.yaml
@@ -0,0 +1,29 @@
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: &loop_hz 125
+
+pos_joint_traj_controller:
+  type: position_controllers/JointTrajectoryController
+  joints: &robot_joints
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
+  constraints:
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+  stop_trajectory_duration: 0.5
+  state_publish_rate: *loop_hz
+  action_monitor_rate: 10
+
+joint_group_pos_controller:
+  type: position_controllers/JointGroupPositionController
+  joints: *robot_joints
diff --git a/ur_gazebo/config/ur3e_controllers.yaml b/ur_gazebo/config/ur3e_controllers.yaml
@@ -0,0 +1,29 @@
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: &loop_hz 500
+
+pos_joint_traj_controller:
+  type: position_controllers/JointTrajectoryController
+  joints: &robot_joints
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
+  constraints:
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+  stop_trajectory_duration: 0.5
+  state_publish_rate: *loop_hz
+  action_monitor_rate: 10
+
+joint_group_pos_controller:
+  type: position_controllers/JointGroupPositionController
+  joints: *robot_joints
diff --git a/ur_gazebo/config/ur5_controllers.yaml b/ur_gazebo/config/ur5_controllers.yaml
@@ -0,0 +1,29 @@
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: &loop_hz 125
+
+pos_joint_traj_controller:
+  type: position_controllers/JointTrajectoryController
+  joints: &robot_joints
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
+  constraints:
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+  stop_trajectory_duration: 0.5
+  state_publish_rate: *loop_hz
+  action_monitor_rate: 10
+
+joint_group_pos_controller:
+  type: position_controllers/JointGroupPositionController
+  joints: *robot_joints
diff --git a/ur_gazebo/config/ur5e_controllers.yaml b/ur_gazebo/config/ur5e_controllers.yaml
@@ -0,0 +1,29 @@
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: &loop_hz 500
+
+pos_joint_traj_controller:
+  type: position_controllers/JointTrajectoryController
+  joints: &robot_joints
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
+  constraints:
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+    elbow_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+  stop_trajectory_duration: 0.5
+  state_publish_rate: *loop_hz
+  action_monitor_rate: 10
+
+joint_group_pos_controller:
+  type: position_controllers/JointGroupPositionController
+  joints: *robot_joints
diff --git a/ur_gazebo/controller/arm_controller_ur10.yaml b/ur_gazebo/controller/arm_controller_ur10.yaml
diff --git a/ur_gazebo/controller/arm_controller_ur16.yaml b/ur_gazebo/controller/arm_controller_ur16.yaml
diff --git a/ur_gazebo/controller/arm_controller_ur3.yaml b/ur_gazebo/controller/arm_controller_ur3.yaml
diff --git a/ur_gazebo/controller/arm_controller_ur5.yaml b/ur_gazebo/controller/arm_controller_ur5.yaml
diff --git a/ur_gazebo/controller/joint_state_controller.yaml b/ur_gazebo/controller/joint_state_controller.yaml
diff --git a/ur_gazebo/launch/controller_utils.launch b/ur_gazebo/launch/controller_utils.launch