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Merge pull request #646 from gavanderhoorn/migrate_csda10f
Migrate CSDA10F package from experimental repository (integrate into SDA10F support pkg)
2 parents d107592 + b846a79 commit 846fbbc

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‎motoman_sda10f_support/CMakeLists.txt‎

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if (CATKIN_ENABLE_TESTING)
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find_package(roslaunch REQUIRED)
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roslaunch_add_file_check(test/launch_test.xml)
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roslaunch_add_file_check(test/launch_test_csda10f.xml)
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endif()
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install(DIRECTORY config launch meshes urdf

‎motoman_sda10f_support/config/csda10f_motion_interface.yaml‎

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topic_list:
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- name: csda10f_r1_controller
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ns: csda10f
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group: 0
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joints: ['arm_left_joint_1_s','arm_left_joint_2_l','arm_left_joint_3_e','arm_left_joint_4_u','arm_left_joint_5_r','arm_left_joint_6_b','arm_left_joint_7_t']
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- name: csda10f_r2_controller
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ns: csda10f
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group: 1
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joints: ['arm_right_joint_1_s','arm_right_joint_2_l','arm_right_joint_3_e','arm_right_joint_4_u','arm_right_joint_5_r','arm_right_joint_6_b','arm_right_joint_7_t']
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- name: csda10f_b1_controller
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ns: csda10f
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group: 2
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joints: ['torso_joint_b1']
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- name: csda10f_b2_controller
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ns: csda10f
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group: 3
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joints: ['torso_joint_b2']

‎motoman_sda10f_support/config/joint_names_csda10f.yaml‎

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# The order of this list should match that expected by your robot's socket interface. Typically Base -> Tip.
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controller_joint_names: ['arm_left_joint_1_s','arm_left_joint_2_l','arm_left_joint_3_e'
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,'arm_left_joint_4_u','arm_left_joint_5_r','arm_left_joint_6_b','arm_left_joint_7_t',
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'arm_right_joint_1_s','arm_right_joint_2_l','arm_right_joint_3_e','arm_right_joint_4_u',
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'arm_right_joint_5_r','arm_right_joint_6_b','arm_right_joint_7_t','torso_joint_b1','torso_joint_b2']

‎motoman_sda10f_support/launch/load_csda10f.launch‎

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<?xml version="1.0" ?>
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<launch>
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<param name="robot_description" command="$(find xacro)/xacro '$(find motoman_sda10f_support)/urdf/csda10f.xacro'" />
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</launch>

‎motoman_sda10f_support/launch/robot_interface_streaming_csda10f.launch‎

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<?xml version="1.0" ?>
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<!--
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Manipulator specific version of 'robot_interface_streaming.launch'.
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Defaults provided for csda10f:
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- 15 joints
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Usage:
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robot_interface_streaming_cda10f.launch robot_ip:=<value> controller:=<fs100|dx100>
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-->
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<launch>
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<arg name="robot_ip" doc="IP of controller"/>
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<!-- controller: Controller name (fs100 or dx100) -->
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<arg name="controller"/>
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<rosparam command="load" file="$(find motoman_sda10f_support)/config/csda10f_motion_interface.yaml" />
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<include file="$(find motoman_driver)/launch/robot_multigroup_interface_streaming_$(arg controller).launch">
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<arg name="robot_ip" value="$(arg robot_ip)" />
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</include>
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</launch>

‎motoman_sda10f_support/launch/robot_state_visualize_csda10f.launch‎

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<?xml version="1.0" ?>
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<!--
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Manipulator specific version of the state visualizer.
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Defaults provided for csda10f:
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- 15 joints
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Usage:
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robot_state_visualize_csda10f.launch robot_ip:=<value> controller:=<fs100|dx100>
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-->
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<launch>
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<arg name="robot_ip" doc="IP of controller" />
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<!-- controller: Controller name (fs100 or dx100) -->
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<arg name="controller" default="fs100" doc="Series of the controller (dx100, fs100)"/>
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<!-- Load the custom naming of robot joints (param name = controller_joint_names)-->
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<rosparam command="load" file="$(find motoman_sda10f_support)/config/joint_names_csda10f.yaml" />
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<!-- Load the topic_list parapemeter containing the definition of the motion groups and joints mapping to the real controller ros application-->
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<rosparam command="load" file="$(find motoman_sda10f_support)/config/csda10f_motion_interface.yaml" />
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<!-- Obtain the robot state from the robot controller-->
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<include file="$(find motoman_driver)/launch/robot_state_$(arg controller).launch">
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<arg name="robot_ip" value="$(arg robot_ip)" />
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</include>
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<node name="robot_state_publisher" pkg="robot_state_publisher"
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type="robot_state_publisher" />
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<include file="$(find motoman_sda10f_support)/launch/load_csda10f.launch" />
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
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</launch>

‎motoman_sda10f_support/launch/test_csda10f.launch‎

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<?xml version="1.0" ?>
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<launch>
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<include file="$(find motoman_sda10f_support)/launch/load_csda10f.launch" />
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<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
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</launch>

‎motoman_sda10f_support/meshes/csda10f/collision/link_t.stl‎

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‎motoman_sda10f_support/meshes/csda10f/visual/link_t.stl‎

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‎motoman_sda10f_support/package.xml‎

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<p>ROS-Industrial support for the Motoman SDA10F (and variants).</p>
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<p>
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This package contains configuration data, 3D models and launch files
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for Motoman SDA10F manipulators.
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for Motoman SDA10F manipulators. This currently includes the base
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model and the CSDA10F variant (ie: clean standard).
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</p>
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<p>
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<b>Specifications</b>
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</p>
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<ul>
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<li>SDA10F - Default</li>
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<li>CSDA10F (YR-CSDA010F-A10) - Default</li>
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</ul>
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<p>
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Joint limits and maximum joint velocities are based on the information
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found in the online
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http://www.motoman.com/datasheets/sda10f.pdf
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http://www.motoman.com/datasheets/sda10f.pdf for SDA10F and
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in the <em>MOTOMAN-CSDA10D/CSDA10F INSTRUCTIONS (HW1481698)</em>
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version <em>173323-1CD, rev 0</em> for CSDA10F.
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</p>
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<p>
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All urdfs are based on the default motion and joint velocity limits,
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unless noted otherwise.
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</p>
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robot model and configuration you intend to use them with.
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</p>
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</description>
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<author>Amrith Ganesh</author>
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<author>Daniel Ordonez</author>
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<author>Thiago de Freitas</author>
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<author>Shaun Edwards</author>
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<maintainer email="[email protected]">Eric Marcil</maintainer>

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