HC20DTP and HC30PL Update

motoman_hc20_support/launch/load_hc20dtp.launch

@@ -0,0 +1,3 @@
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find motoman_hc20_support)/urdf/hc20dtp.xacro'" />
+</launch>

motoman_hc20_support/launch/load_hc30pl.launch

@@ -0,0 +1,3 @@
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find motoman_hc20_support)/urdf/hc30pl.xacro'" />
+</launch>

motoman_hc20_support/launch/robot_interface_streaming_hc20dtp.launch

@@ -0,0 +1,21 @@
+<!--
+  Manipulator specific version of 'robot_interface_streaming.launch'.
+
+  Defaults provided for HC20DTP:
+   - 6 joints
+
+  Usage:
+    robot_interface_streaming_hc20dtp.launch robot_ip:=<value> controller:=<yrc1000>
+-->
+<launch>
+  <arg name="robot_ip" />
+
+  <!-- controller: Controller name (yrc1000) -->
+  <arg name="controller"/>
+
+  <rosparam command="load" file="$(find motoman_hc20_support)/config/joint_names_hc20.yaml" />
+
+  <include file="$(find motoman_driver)/launch/robot_interface_streaming_$(arg controller).launch">
+    <arg name="robot_ip" value="$(arg robot_ip)" />
+  </include>
+</launch>

motoman_hc20_support/launch/robot_interface_streaming_hc30pl.launch

@@ -0,0 +1,21 @@
+<!--
+  Manipulator specific version of 'robot_interface_streaming.launch'.
+
+  Defaults provided for HC30PL:
+   - 6 joints
+
+  Usage:
+    robot_interface_streaming_hc30pl.launch robot_ip:=<value> controller:=<yrc1000>
+-->
+<launch>
+  <arg name="robot_ip" />
+
+  <!-- controller: Controller name (yrc1000) -->
+  <arg name="controller"/>
+
+  <rosparam command="load" file="$(find motoman_hc20_support)/config/joint_names_hc20.yaml" />
+
+  <include file="$(find motoman_driver)/launch/robot_interface_streaming_$(arg controller).launch">
+    <arg name="robot_ip" value="$(arg robot_ip)" />
+  </include>
+</launch>

motoman_hc20_support/launch/robot_state_visualize_hc20dtp.launch

@@ -0,0 +1,28 @@
+<!--
+  Manipulator specific version of the state visualizer.
+
+  Defaults provided for HC20DTP:
+   - 6 joints
+
+  Usage:
+    robot_state_visualize_hc20dtp.launch robot_ip:=<value> controller:=<yrc1000>
+-->
+<launch>
+  <arg name="robot_ip" />
+
+  <!-- controller: Controller name (yrc1000) -->
+  <arg name="controller" />
+
+  <rosparam command="load" file="$(find motoman_hc20_support)/config/joint_names_hc20.yaml" />
+
+  <include file="$(find motoman_driver)/launch/robot_state_$(arg controller).launch">
+    <arg name="robot_ip" value="$(arg robot_ip)" />
+  </include>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" 
+    type="robot_state_publisher" />
+
+  <include file="$(find motoman_hc20_support)/launch/load_hc20dtp.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

motoman_hc20_support/launch/robot_state_visualize_hc30pl.launch

@@ -0,0 +1,28 @@
+<!--
+  Manipulator specific version of the state visualizer.
+
+  Defaults provided for HC30PL:
+   - 6 joints
+
+  Usage:
+    robot_state_visualize_hc30pl.launch robot_ip:=<value> controller:=<yrc1000>
+-->
+<launch>
+  <arg name="robot_ip" />
+
+  <!-- controller: Controller name (yrc1000) -->
+  <arg name="controller" />
+
+  <rosparam command="load" file="$(find motoman_hc20_support)/config/joint_names_hc20.yaml" />
+
+  <include file="$(find motoman_driver)/launch/robot_state_$(arg controller).launch">
+    <arg name="robot_ip" value="$(arg robot_ip)" />
+  </include>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" 
+    type="robot_state_publisher" />
+
+  <include file="$(find motoman_hc20_support)/launch/load_hc30pl.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

motoman_hc20_support/launch/test_hc20dtp.launch

@@ -0,0 +1,7 @@
+<launch>
+  <include file="$(find motoman_hc20_support)/launch/load_hc20dtp.launch" />
+  <param name="use_gui" value="true" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

motoman_hc20_support/launch/test_hc30pl.launch

@@ -0,0 +1,7 @@
+<launch>
+  <include file="$(find motoman_hc20_support)/launch/load_hc30pl.launch" />
+  <param name="use_gui" value="true" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

motoman_hc20_support/package.xml

@@ -2,13 +2,13 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>motoman_hc20_support</name>
-  <version>0.1.0</version>
+  <version>1.0.0</version>
   <description>
     <p>ROS-Industrial support for the Motoman HC20 (and variants).</p>
     <p>
       This package contains configuration data, 3D models and launch files
       for Motoman HC20 manipulators. This currently includes the base model
-      which also supports the DT and XP variants.
+      which also supports the DT, XP, DTP and HC30PL variants.
     </p>
     <p>
       <b>Specifications</b>
@@ -17,11 +17,20 @@
       <li>HC20 - Default</li>
       <li>HC20DT - Default</li>
       <li>HC20XP - Default</li>
+	  <li>HC20DTP</li>
+	  <li>HC30PL</li>
    </ul>
     <p>
       Joint limits and maximum joint velocities are based on the information 
-      found in <em>YASKAWA MOTOMAN-HC20DT INSTRUCTIONS (HW1486129)</em>
-      version <em>190085-1CD, rev 1</em>.
+      found in:
+	  <ul>
+	  <li><em>YASKAWA MOTOMAN-HC20DT INSTRUCTIONS (HW1486129)</em>
+      version <em>190085-1CD, rev 1</em>.</li>
+	  <li><em>YASKAWA MOTOMAN-HC20DTP INSTRUCTIONS (HW2480394)</em>
+      version <em>193888-1CD, rev 3</em>.</li>
+	  <li><em>YASKAWA MOTOMAN-HC30PL INSTRUCTIONS (HW2480886)</em>
+      version <em>196230-1CD, rev 2</em>.</li>
+   </ul>
     </p>
     <p>
       All urdfs are based on the default motion and joint velocity limits, 

motoman_hc20_support/test/roslaunch_test_hc20dtp.xml

@@ -0,0 +1,30 @@
+<launch>
+  <arg name="req_arg" value="default"/>
+  <arg name="yrc1000" value="yrc1000"/>
+
+  <group ns="load_hc20dtp">
+    <include file="$(find motoman_hc20_support)/launch/load_hc20dtp.launch"/>
+  </group>
+
+  <group ns="test_hc20dtp">
+    <include file="$(find motoman_hc20_support)/launch/test_hc20dtp.launch"/>
+  </group>
+
+  <group ns="robot_interface_streaming_hc20dtp">
+    <group ns="yrc1000" >
+      <include file="$(find motoman_hc20_support)/launch/robot_interface_streaming_hc20dtp.launch">
+        <arg name="robot_ip"   value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg yrc1000)"/>
+      </include>
+    </group>
+  </group>
+
+  <group ns="robot_state_visualize_hc20dtp">
+    <group ns="yrc1000" >
+      <include file="$(find motoman_hc20_support)/launch/robot_state_visualize_hc20dtp.launch">
+        <arg name="robot_ip"   value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg yrc1000)"/>
+      </include>
+    </group>
+  </group>
+</launch>

motoman_hc20_support/test/roslaunch_test_hc30pl.xml

@@ -0,0 +1,30 @@
+<launch>
+  <arg name="req_arg" value="default"/>
+  <arg name="yrc1000" value="yrc1000"/>
+
+  <group ns="load_hc30pl">
+    <include file="$(find motoman_hc20_support)/launch/load_hc30pl.launch"/>
+  </group>
+
+  <group ns="test_hc30pl">
+    <include file="$(find motoman_hc20_support)/launch/test_hc30pl.launch"/>
+  </group>
+
+  <group ns="robot_interface_streaming_hc30pl">
+    <group ns="yrc1000" >
+      <include file="$(find motoman_hc20_support)/launch/robot_interface_streaming_hc30pl.launch">
+        <arg name="robot_ip"   value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg yrc1000)"/>
+      </include>
+    </group>
+  </group>
+
+  <group ns="robot_state_visualize_hc30pl">
+    <group ns="yrc1000" >
+      <include file="$(find motoman_hc20_support)/launch/robot_state_visualize_hc30pl.launch">
+        <arg name="robot_ip"   value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg yrc1000)"/>
+      </include>
+    </group>
+  </group>
+</launch>

motoman_hc20_support/urdf/hc20_macro.xacro

@@ -7,7 +7,7 @@
     <link name="${prefix}base_link">
       <visual>
         <geometry>
-          <mesh filename="package://motoman_hc20_support/meshes/hc20/visual/base_link.stl"/>
+          <mesh filename="package://motoman_hc20_support/meshes/hc20/visual/base_link.dae"/>
         </geometry>
         <xacro:material_yaskawa_white/>
       </visual>
@@ -20,7 +20,7 @@
     <link name="${prefix}link_1_s">
       <visual>
         <geometry>
-          <mesh filename="package://motoman_hc20_support/meshes/hc20/visual/link_1_s.stl"/>
+          <mesh filename="package://motoman_hc20_support/meshes/hc20/visual/link_1_s.dae"/>
         </geometry>
         <xacro:material_yaskawa_white/>
       </visual>
@@ -33,7 +33,7 @@
     <link name="${prefix}link_2_l">
       <visual>
         <geometry>
-          <mesh filename="package://motoman_hc20_support/meshes/hc20/visual/link_2_l.stl"/>
+          <mesh filename="package://motoman_hc20_support/meshes/hc20/visual/link_2_l.dae"/>
         </geometry>
         <xacro:material_yaskawa_white/>
       </visual>
@@ -46,7 +46,7 @@
     <link name="${prefix}link_3_u">
       <visual>
         <geometry>
-          <mesh filename="package://motoman_hc20_support/meshes/hc20/visual/link_3_u.stl"/>
+          <mesh filename="package://motoman_hc20_support/meshes/hc20/visual/link_3_u.dae"/>
         </geometry>
         <xacro:material_yaskawa_white/>
       </visual>
@@ -59,7 +59,7 @@
     <link name="${prefix}link_4_r">
       <visual>
         <geometry>
-          <mesh filename="package://motoman_hc20_support/meshes/hc20/visual/link_4_r.stl"/>
+          <mesh filename="package://motoman_hc20_support/meshes/hc20/visual/link_4_r.dae"/>
         </geometry>
         <xacro:material_yaskawa_white/>
       </visual>
@@ -72,7 +72,7 @@
     <link name="${prefix}link_5_b">
       <visual>
         <geometry>
-          <mesh filename="package://motoman_hc20_support/meshes/hc20/visual/link_5_b.stl"/>
+          <mesh filename="package://motoman_hc20_support/meshes/hc20/visual/link_5_b.dae"/>
         </geometry>
         <xacro:material_yaskawa_white/>
       </visual>
@@ -85,7 +85,7 @@
     <link name="${prefix}link_6_t">
       <visual>
         <geometry>
-          <mesh filename="package://motoman_hc20_support/meshes/hc20/visual/link_6_t.stl"/>
+          <mesh filename="package://motoman_hc20_support/meshes/hc20/visual/link_6_t.dae"/>
         </geometry>
         <xacro:material_yaskawa_white/>
       </visual>

motoman_hc20_support/urdf/hc20dtp.xacro

@@ -0,0 +1,5 @@
+<?xml version="1.0" ?>
+<robot name="motoman_hc20dtp" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find motoman_hc20_support)/urdf/hc20dtp_macro.xacro" />
+  <xacro:motoman_hc20dtp prefix=""/>
+</robot>