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Commit 91fad9f

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rkojcevrkojcev
authored
Merge branch 'master' into dashing
2 parents 35baa6a + 8ecaef8 commit 91fad9f

20 files changed

+116
-107
lines changed

‎README.md

Lines changed: 6 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -127,7 +127,6 @@ ros-dashing-tf2 \
127127
ros-dashing-tf2-geometry-msgs \
128128
ros-dashing-rclcpp-action \
129129
ros-dashing-cv-bridge \
130-
ros-dashing-control-msgs \
131130
ros-dashing-image-transport \
132131
ros-dashing-gazebo-dev \
133132
ros-dashing-gazebo-msgs \
@@ -136,7 +135,7 @@ ros-dashing-gazebo-ros \
136135
ros-dashing-gazebo-ros-pkgs
137136

138137
sudo apt install -y \
139-
python3-vcstool python3-numpy wget python3-pyqt5
138+
python3-pip python3-vcstool python3-numpy wget python3-pyqt5
140139
```
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142141
### Create a ROS 2.0 workspace
@@ -145,7 +144,7 @@ Create the workspace and download source files:
145144
```sh
146145
mkdir -p ~/ros2_mara_ws/src
147146
cd ~/ros2_mara_ws
148-
wget https://raw.githubusercontent.com/acutronicrobotics/MARA/dashing/mara-ros2.repos
147+
wget https://raw.githubusercontent.com/acutronicrobotics/MARA/master/mara-ros2.repos
149148
vcs import src < mara-ros2.repos
150149
```
151150

@@ -261,8 +260,10 @@ If you have used a different urdf in the Terminal 1, you will need to use `urdf:
261260
roslaunch mara_bringup mara_bringup_moveit_actions.launch urdf:=mara_robot_gripper_140
262261
```
263262

263+
*In case you have launched two robots, you will need to add `multiple_robots:=true`*
264+
264265
#### Terminal 3 (bridge)
265-
Source catkin_mara_ws and ros2_mara_ws:
266+
Source *catkin_mara_ws* and *ros2_mara_ws*:
266267
```sh
267268
source ~/catkin_mara_ws/devel_isolated/setup.bash
268269
source ~/ros2_mara_ws/install/setup.bash
@@ -329,7 +330,7 @@ roslaunch mara_bringup mara_bringup_moveit_actions.launch env:=real urdf:=mara_r
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330331
#### Terminal 3 (bridge)
331332

332-
Source catkin_mara_ws nad ros2_mara_ws, and export RMW_IMPLEMENTATION and ROS_DOMAIN_ID:
333+
Source *catkin_mara_ws* and *ros2_mara_ws*, and export `RMW_IMPLEMENTATION` and `ROS_DOMAIN_ID`:
333334
```sh
334335
source ~/catkin_mara_ws/devel_isolated/setup.bash
335336
source ~/ros2_mara_ws/install/setup.bash

‎hros_cognition_mara_components/config/motors.yaml

Lines changed: 12 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -1,18 +1,18 @@
11
simulated_motors:
2-
- "/hrim_actuation_servomotor_000000000001/trajectory_axis2"
3-
- "/hrim_actuation_servomotor_000000000001/trajectory_axis1"
4-
- "/hrim_actuation_servomotor_000000000002/trajectory_axis1"
5-
- "/hrim_actuation_servomotor_000000000002/trajectory_axis2"
6-
- "/hrim_actuation_servomotor_000000000003/trajectory_axis1"
7-
- "/hrim_actuation_servomotor_000000000003/trajectory_axis2"
2+
- "/hrim_actuator_rotaryservo_000000000001/trajectory_axis2"
3+
- "/hrim_actuator_rotaryservo_000000000001/trajectory_axis1"
4+
- "/hrim_actuator_rotaryservo_000000000002/trajectory_axis1"
5+
- "/hrim_actuator_rotaryservo_000000000002/trajectory_axis2"
6+
- "/hrim_actuator_rotaryservo_000000000003/trajectory_axis1"
7+
- "/hrim_actuator_rotaryservo_000000000003/trajectory_axis2"
88

99
real_motors:
10-
- "/hrim_actuation_servomotor_70B3D521A042/trajectory_axis2"
11-
- "/hrim_actuation_servomotor_70B3D521A042/trajectory_axis1"
12-
- "/hrim_actuation_servomotor_70B3D521A08A/trajectory_axis1"
13-
- "/hrim_actuation_servomotor_70B3D521A08A/trajectory_axis2"
14-
- "/hrim_actuation_servomotor_70B3D521A0A4/trajectory_axis1"
15-
- "/hrim_actuation_servomotor_70B3D521A0A4/trajectory_axis2"
10+
- "/hrim_actuator_rotaryservo_70B3D521A042/trajectory_axis2"
11+
- "/hrim_actuator_rotaryservo_70B3D521A042/trajectory_axis1"
12+
- "/hrim_actuator_rotaryservo_70B3D521A08A/trajectory_axis1"
13+
- "/hrim_actuator_rotaryservo_70B3D521A08A/trajectory_axis2"
14+
- "/hrim_actuator_rotaryservo_70B3D521A0A4/trajectory_axis1"
15+
- "/hrim_actuator_rotaryservo_70B3D521A0A4/trajectory_axis2"
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1717
motors:
1818
- "motor1"

‎hros_cognition_mara_components/config/two_motors.yaml

Lines changed: 24 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -1,30 +1,30 @@
11
simulated_motors:
2-
- "/hrim_actuation_servomotor_000000000001/trajectory_axis2"
3-
- "/hrim_actuation_servomotor_000000000001/trajectory_axis1"
4-
- "/hrim_actuation_servomotor_000000000002/trajectory_axis1"
5-
- "/hrim_actuation_servomotor_000000000002/trajectory_axis2"
6-
- "/hrim_actuation_servomotor_000000000003/trajectory_axis1"
7-
- "/hrim_actuation_servomotor_000000000003/trajectory_axis2"
8-
- "/hrim_actuation_servomotor_000000000005/trajectory_axis2"
9-
- "/hrim_actuation_servomotor_000000000005/trajectory_axis1"
10-
- "/hrim_actuation_servomotor_000000000006/trajectory_axis1"
11-
- "/hrim_actuation_servomotor_000000000006/trajectory_axis2"
12-
- "/hrim_actuation_servomotor_000000000007/trajectory_axis1"
13-
- "/hrim_actuation_servomotor_000000000007/trajectory_axis2"
2+
- "/hrim_actuator_rotaryservo_000000000001/trajectory_axis2"
3+
- "/hrim_actuator_rotaryservo_000000000001/trajectory_axis1"
4+
- "/hrim_actuator_rotaryservo_000000000002/trajectory_axis1"
5+
- "/hrim_actuator_rotaryservo_000000000002/trajectory_axis2"
6+
- "/hrim_actuator_rotaryservo_000000000003/trajectory_axis1"
7+
- "/hrim_actuator_rotaryservo_000000000003/trajectory_axis2"
8+
- "/hrim_actuator_rotaryservo_000000000005/trajectory_axis2"
9+
- "/hrim_actuator_rotaryservo_000000000005/trajectory_axis1"
10+
- "/hrim_actuator_rotaryservo_000000000006/trajectory_axis1"
11+
- "/hrim_actuator_rotaryservo_000000000006/trajectory_axis2"
12+
- "/hrim_actuator_rotaryservo_000000000007/trajectory_axis1"
13+
- "/hrim_actuator_rotaryservo_000000000007/trajectory_axis2"
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1515
real_motors:
16-
- "/hrim_actuation_servomotor_70B3D521A042/trajectory_axis2"
17-
- "/hrim_actuation_servomotor_70B3D521A042/trajectory_axis1"
18-
- "/hrim_actuation_servomotor_70B3D521A08A/trajectory_axis1"
19-
- "/hrim_actuation_servomotor_70B3D521A08A/trajectory_axis2"
20-
- "/hrim_actuation_servomotor_70B3D521A0A4/trajectory_axis1"
21-
- "/hrim_actuation_servomotor_70B3D521A0A4/trajectory_axis2"
22-
- "/hrim_actuation_servomotor_70B3D521A084/trajectory_axis2"
23-
- "/hrim_actuation_servomotor_70B3D521A084/trajectory_axis1"
24-
- "/hrim_actuation_servomotor_70B3D521A0C0/trajectory_axis1"
25-
- "/hrim_actuation_servomotor_70B3D521A0C0/trajectory_axis2"
26-
- "/hrim_actuation_servomotor_70B3D521A092/trajectory_axis1"
27-
- "/hrim_actuation_servomotor_70B3D521A092/trajectory_axis2"
16+
- "/hrim_actuator_rotaryservo_70B3D521A042/trajectory_axis2"
17+
- "/hrim_actuator_rotaryservo_70B3D521A042/trajectory_axis1"
18+
- "/hrim_actuator_rotaryservo_70B3D521A08A/trajectory_axis1"
19+
- "/hrim_actuator_rotaryservo_70B3D521A08A/trajectory_axis2"
20+
- "/hrim_actuator_rotaryservo_70B3D521A0A4/trajectory_axis1"
21+
- "/hrim_actuator_rotaryservo_70B3D521A0A4/trajectory_axis2"
22+
- "/hrim_actuator_rotaryservo_70B3D521A084/trajectory_axis2"
23+
- "/hrim_actuator_rotaryservo_70B3D521A084/trajectory_axis1"
24+
- "/hrim_actuator_rotaryservo_70B3D521A0C0/trajectory_axis1"
25+
- "/hrim_actuator_rotaryservo_70B3D521A0C0/trajectory_axis2"
26+
- "/hrim_actuator_rotaryservo_70B3D521A092/trajectory_axis1"
27+
- "/hrim_actuator_rotaryservo_70B3D521A092/trajectory_axis2"
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motors:
3030
- "motor1"

‎mara-ros2.repos

Lines changed: 1 addition & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@ repositories:
22
mara:
33
type: git
44
url: https://github.com/acutronicrobotics/MARA.git
5-
version: dashing
5+
version: master
66
HRIM:
77
type: git
88
url: https://github.com/erlerobot/HRIM.git
@@ -15,23 +15,7 @@ repositories:
1515
type: git
1616
url: https://github.com/AcutronicRobotics/hans_modular_servomotor.git
1717
version: master
18-
gazebo_ros_pkgs:
19-
type: git
20-
url: https://github.com/ros-simulation/gazebo_ros_pkgs
21-
version: ros2
2218
control_msgs:
2319
type: git
2420
url: https://github.com/erlerobot/control_msgs/
2521
version: crystal
26-
geometry2:
27-
type: git
28-
url: https://github.com/acutronicrobotics/geometry2/
29-
version: ros2
30-
image_common:
31-
type: git
32-
url: https://github.com/ros-perception/image_common
33-
version: ros2
34-
vision_opencv:
35-
type: git
36-
url: https://github.com/ros-perception/vision_opencv
37-
version: ros2

‎mara_description/urdf/mara_gazebo.urdf.xacro

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Original file line numberDiff line numberDiff line change
@@ -18,21 +18,21 @@
1818
<joint_name>${prefix}joint_finger</joint_name>
1919
</plugin>
2020

21-
<plugin name="hrim_actuation_servomotor${MAC1}" filename="libmara_gazebo_joint_plugin.so">
21+
<plugin name="hrim_actuator_rotaryservo${MAC1}" filename="libmara_gazebo_joint_plugin.so">
2222
<ros></ros>
2323
<axis1>${prefix}motor2</axis1>
2424
<axis2>${prefix}motor1</axis2>
2525
<type>series14</type>
2626
</plugin>
2727

28-
<plugin name="hrim_actuation_servomotor${MAC2}" filename="libmara_gazebo_joint_plugin.so">
28+
<plugin name="hrim_actuator_rotaryservo${MAC2}" filename="libmara_gazebo_joint_plugin.so">
2929
<ros></ros>
3030
<axis1>${prefix}motor3</axis1>
3131
<axis2>${prefix}motor4</axis2>
3232
<type>series17</type>
3333
</plugin>
3434

35-
<plugin name="hrim_actuation_servomotor${MAC3}" filename="libmara_gazebo_joint_plugin.so">
35+
<plugin name="hrim_actuator_rotaryservo${MAC3}" filename="libmara_gazebo_joint_plugin.so">
3636
<ros></ros>
3737
<axis1>${prefix}motor5</axis1>
3838
<axis2>${prefix}motor6</axis2>

‎mara_description/urdf/mara_robot.urdf

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Original file line numberDiff line numberDiff line change
@@ -435,19 +435,19 @@
435435
<joint_name>motor6</joint_name>
436436
<joint_name>joint_finger</joint_name>
437437
</plugin>
438-
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000001">
438+
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000001">
439439
<ros/>
440440
<axis1>motor2</axis1>
441441
<axis2>motor1</axis2>
442442
<type>series14</type>
443443
</plugin>
444-
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000002">
444+
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000002">
445445
<ros/>
446446
<axis1>motor3</axis1>
447447
<axis2>motor4</axis2>
448448
<type>series17</type>
449449
</plugin>
450-
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000003">
450+
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000003">
451451
<ros/>
452452
<axis1>motor5</axis1>
453453
<axis2>motor6</axis2>

‎mara_description/urdf/mara_robot_gripper_140.urdf

Lines changed: 6 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -435,19 +435,19 @@
435435
<joint_name>motor6</joint_name>
436436
<joint_name>joint_finger</joint_name>
437437
</plugin>
438-
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000001">
438+
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000001">
439439
<ros/>
440440
<axis1>motor2</axis1>
441441
<axis2>motor1</axis2>
442442
<type>series14</type>
443443
</plugin>
444-
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000002">
444+
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000002">
445445
<ros/>
446446
<axis1>motor3</axis1>
447447
<axis2>motor4</axis2>
448448
<type>series17</type>
449449
</plugin>
450-
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000003">
450+
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000003">
451451
<ros/>
452452
<axis1>motor5</axis1>
453453
<axis2>motor6</axis2>
@@ -778,6 +778,9 @@
778778
<kp>600</kp>
779779
<ki>0.1</ki>
780780
<kd>0.01</kd>
781+
<min_velocity>30</min_velocity>
782+
<max_velocity>250</max_velocity>
783+
<radius>156</radius>
781784
<joint>robotiq_arg2f_base_to_left_inner_knuckle</joint>
782785
<joint>robotiq_arg2f_base_to_left_outer_knuckle</joint>
783786
<joint>robotiq_arg2f_base_to_right_inner_knuckle</joint>

‎mara_description/urdf/mara_robot_gripper_140_no_table.urdf

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Original file line numberDiff line numberDiff line change
@@ -435,19 +435,19 @@
435435
<joint_name>motor6</joint_name>
436436
<joint_name>joint_finger</joint_name>
437437
</plugin>
438-
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000001">
438+
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000001">
439439
<ros/>
440440
<axis1>motor2</axis1>
441441
<axis2>motor1</axis2>
442442
<type>series14</type>
443443
</plugin>
444-
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000002">
444+
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000002">
445445
<ros/>
446446
<axis1>motor3</axis1>
447447
<axis2>motor4</axis2>
448448
<type>series17</type>
449449
</plugin>
450-
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000003">
450+
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000003">
451451
<ros/>
452452
<axis1>motor5</axis1>
453453
<axis2>motor6</axis2>
@@ -778,6 +778,9 @@
778778
<kp>600</kp>
779779
<ki>0.1</ki>
780780
<kd>0.01</kd>
781+
<min_velocity>30</min_velocity>
782+
<max_velocity>250</max_velocity>
783+
<radius>156</radius>
781784
<joint>robotiq_arg2f_base_to_left_inner_knuckle</joint>
782785
<joint>robotiq_arg2f_base_to_left_outer_knuckle</joint>
783786
<joint>robotiq_arg2f_base_to_right_inner_knuckle</joint>

‎mara_description/urdf/mara_robot_gripper_85.urdf

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Original file line numberDiff line numberDiff line change
@@ -435,19 +435,19 @@
435435
<joint_name>motor6</joint_name>
436436
<joint_name>joint_finger</joint_name>
437437
</plugin>
438-
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000001">
438+
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000001">
439439
<ros/>
440440
<axis1>motor2</axis1>
441441
<axis2>motor1</axis2>
442442
<type>series14</type>
443443
</plugin>
444-
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000002">
444+
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000002">
445445
<ros/>
446446
<axis1>motor3</axis1>
447447
<axis2>motor4</axis2>
448448
<type>series17</type>
449449
</plugin>
450-
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000003">
450+
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000003">
451451
<ros/>
452452
<axis1>motor5</axis1>
453453
<axis2>motor6</axis2>
@@ -778,6 +778,9 @@
778778
<kp>10</kp>
779779
<ki>10</ki>
780780
<kd>0.1</kd>
781+
<min_velocity>20</min_velocity>
782+
<max_velocity>150</max_velocity>
783+
<radius>100</radius>
781784
<joint>robotiq_arg2f_base_link_to_left_inner_knuckle</joint>
782785
<joint>robotiq_arg2f_base_link_to_left_outer_knuckle</joint>
783786
<joint>robotiq_arg2f_base_link_to_right_inner_knuckle</joint>

‎mara_description/urdf/mara_robot_gripper_hande.urdf

Lines changed: 5 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -435,19 +435,19 @@
435435
<joint_name>motor6</joint_name>
436436
<joint_name>joint_finger</joint_name>
437437
</plugin>
438-
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000001">
438+
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000001">
439439
<ros/>
440440
<axis1>motor2</axis1>
441441
<axis2>motor1</axis2>
442442
<type>series14</type>
443443
</plugin>
444-
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000002">
444+
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000002">
445445
<ros/>
446446
<axis1>motor3</axis1>
447447
<axis2>motor4</axis2>
448448
<type>series17</type>
449449
</plugin>
450-
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000003">
450+
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo_000000000003">
451451
<ros/>
452452
<axis1>motor5</axis1>
453453
<axis2>motor6</axis2>
@@ -552,6 +552,8 @@
552552
<kp>500</kp>
553553
<ki>3</ki>
554554
<kd>9</kd>
555+
<min_velocity>20</min_velocity>
556+
<max_velocity>150</max_velocity>
555557
<joint>joint_finger</joint>
556558
<joint>robotiq_hande_base_to_right_finger</joint>
557559
</plugin>

‎mara_description/urdf/reinforcement_learning/mara_gazebo_run.urdf.xacro

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -15,19 +15,19 @@
1515
<joint_name>${prefix}motor6</joint_name>
1616
<joint_name>${prefix}joint_finger</joint_name>
1717
</plugin>
18-
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor${MAC1}">
18+
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo${MAC1}">
1919
<ros/>
2020
<axis1>${prefix}motor2</axis1>
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<axis2>${prefix}motor1</axis2>
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<type>series14</type>
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</plugin>
24-
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor${MAC2}">
24+
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo${MAC2}">
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<ros/>
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<axis1>${prefix}motor3</axis1>
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<axis2>${prefix}motor4</axis2>
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<type>series17</type>
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</plugin>
30-
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor${MAC3}">
30+
<plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuator_rotaryservo${MAC3}">
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<ros/>
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<axis1>${prefix}motor5</axis1>
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<axis2>${prefix}motor6</axis2>

‎mara_description/urdf/reinforcement_learning/mara_gazebo_train.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
<robot xmlns:xacro="http://ros.org/wiki/xacro">
33
<xacro:macro name="mara_gazebo_train" params="prefix MAC0">
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<gazebo>
5-
<plugin filename="libmara_gazebo_joint_training_plugin.so" name="hrim_actuation_servomotor${MAC0}">
5+
<plugin filename="libmara_gazebo_joint_training_plugin.so" name="hrim_actuator_rotaryservo${MAC0}">
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<ros/>
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<axis1>${prefix}motor2</axis1>
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<axis2>${prefix}motor1</axis2>

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