Merge branch 'devel' into 'devel'

add ur_description, fix #7

See merge request !13

CMakeLists.txt

@@ -43,6 +43,7 @@ IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
   INSTALL(DIRECTORY icub_description DESTINATION share/${PROJECT_NAME})
   INSTALL(DIRECTORY talos_data DESTINATION share/${PROJECT_NAME})
   INSTALL(DIRECTORY tiago_description DESTINATION share/${PROJECT_NAME})
+  INSTALL(DIRECTORY ur_description DESTINATION share/${PROJECT_NAME})
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 
 SETUP_PROJECT_FINALIZE()

example_robot_data/__init__.py

-from .robots_loader import (loadTalosLegs, getModelPath, loadHyQ, loadSolo, loadICub, loadTalos, loadTalosArm,
-                            loadTiago, loadTiagoNoHand, readParamsFromSrdf)
+from .robots_loader import (getModelPath, loadHyQ, loadICub, loadSolo, loadTalos, loadTalosArm, loadTalosLegs,
+                            loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf)

example_robot_data/__main__.py

@@ -2,7 +2,7 @@ from argparse import ArgumentParser
 
 from . import robots_loader
 
-ROBOTS = ['hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'tiago', 'tiago_no_hand', 'icub']
+ROBOTS = ['hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'tiago', 'tiago_no_hand', 'icub', 'ur5']
 
 parser = ArgumentParser()
 parser.add_argument('robot', nargs='?', default=ROBOTS[0], choices=ROBOTS)
@@ -53,3 +53,8 @@ elif args.robot == 'icub':
     icub = robots_loader.loadICub()
     icub.initViewer(loadModel=True)
     icub.display(icub.q0)
+
+elif args.robot == 'ur5':
+    ur5 = robots_loader.loadUR()
+    ur5.initViewer(loadModel=True)
+    ur5.display(ur5.q0)

example_robot_data/robots_loader.py

@@ -206,3 +206,10 @@ def loadICub(reduced=True):
     # Add the free-flyer joint limits
     addFreeFlyerJointLimits(robot)
     return robot
+
+
+def loadUR(robot=5, limited=False):
+    URDF_FILENAME = 'ur%i%s_robot.urdf' % (robot, '_joint_limited' if limited else '')
+    URDF_SUBPATH = '/ur_description/urdf/' + URDF_FILENAME
+    modelPath = getModelPath(URDF_SUBPATH)
+    return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])

unittest/test_load.py

@@ -2,6 +2,7 @@
 
 import sys
 import unittest
+
 import example_robot_data
 
 
@@ -82,6 +83,12 @@ class TiagoNoHandTest(RobotTestCase):
     RobotTestCase.NV = 12
 
 
+class UR5Test(RobotTestCase):
+    RobotTestCase.ROBOT = example_robot_data.loadUR()
+    RobotTestCase.NQ = 6
+    RobotTestCase.NV = 6
+
+
 if __name__ == '__main__':
     test_classes_to_run = [
         HyQTest, TalosTest, TalosArmTest, TalosArmFloatingTest, TalosLegsTest, ICubTest, SoloTest, Solo12Test,

ur_description/launch/ur10_upload.launch

+<?xml version="1.0"?>
+<launch>
+  <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+
+  <param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />
+  <param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_joint_limited_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />
+</launch>

ur_description/launch/ur3_upload.launch

+<?xml version="1.0"?>
+<launch>
+  <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+
+  <param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />
+  <param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_joint_limited_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />
+</launch>

ur_description/launch/ur5_upload.launch

+<?xml version="1.0"?>
+<launch>
+  <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+
+  <param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />
+  <param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />
+</launch>

ur_description/launch/view_ur10.launch

+<?xml version="1.0"?>
+<launch>
+  <include file="$(find ur_description)/launch/ur10_upload.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="state_publisher" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" />
+</launch>

ur_description/launch/view_ur3.launch

+<?xml version="1.0"?>
+<launch>
+  <include file="$(find ur_description)/launch/ur3_upload.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="state_publisher" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" />
+</launch>

ur_description/launch/view_ur5.launch

+<?xml version="1.0"?>
+<launch>
+  <include file="$(find ur_description)/launch/ur5_upload.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="state_publisher" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" />
+</launch>

ur_description/urdf/ur3.urdf

+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ur3.urdf.xacro                 | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <!--
+  Author: Felix Messmer
+-->
+</robot>
+