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Merge pull request #1 from macmacal/feature/ros2_control
Minimal ros2_control xacro definitions
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‎README.md

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# robotiq_hande_description
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### For the driver, check the [robotiq_hande_driver](https://github.com/AGH-CEAI/robotiq_hande_driver/) package from AGH UST.
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---
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[![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit)
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@@ -7,6 +9,7 @@ This package contains meshes and URDF description of [Robotiq Hand-E gripper](ht
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- The gripper comes with coupler model (but without flange).
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- This repository comes with CAD models imported from STEP files to FreeCAD format (FCStd).
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- Package has been developed and tested in ROS 2 Humble.
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- The definitions for the `ros2_control` framework are available in the [robotiq_hande_gripper.ros2_control.xacro](./urdf/robotiq_hande_gripper.ros2_control.xacro) file.
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> [!IMPORTANT]

‎urdf/robotiq_hande_gripper.ros2_control.xacro

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="robotiq_hande_ros2_control" params="name prefix tty use_fake_hardware:=false">
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<ros2_control name="${name}" type="system">
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<hardware>
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<xacro:if value="${use_fake_hardware}">
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<plugin>mock_components/GenericSystem</plugin>
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</xacro:if>
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<xacro:unless value="${use_fake_hardware}">
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<plugin>robotiq_hande_driver/RobotiqHandeHardwareInterface</plugin>
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<param name="tty">${tty}</param>
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</xacro:unless>
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</hardware>
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<!-- The right finger joint uses the mimic feature -->
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<joint name="${prefix}robotiq_hande_left_finger_joint">
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<command_interface name="position">
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<param name="min">0</param>
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<param name="max">0.025</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">0.025</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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</ros2_control>
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</xacro:macro>
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</robot>

‎urdf/robotiq_hande_gripper.urdf.xacro

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="robotiq_hande_gripper">
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<xacro:arg name="parent" default="tool0"/>
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<xacro:arg name="tty" default="/dev/ttyXXX"/>
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<xacro:arg name="use_fake_hardware" default="true"/>
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<xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.xacro"/>
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<link name="tool0"/>
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<xacro:robotiq_hande_gripper parent="tool0" prefix=""/>
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<link name="$(arg parent)"/>
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<xacro:robotiq_hande_gripper name="robotiq_hande_gripper" prefix="" parent="$(arg parent)" tty="$(arg tty)" use_fake_hardware="$(arg use_fake_hardware)"/>
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</robot>

‎urdf/robotiq_hande_gripper.xacro

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-->
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<xacro:include filename="$(find robotiq_hande_description)/urdf/materials.xacro"/>
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<xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.ros2_control.xacro"/>
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<xacro:macro name="robotiq_hande_gripper" params="name prefix parent tty use_fake_hardware">
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<!-- ros2_control parameters -->
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<xacro:robotiq_hande_ros2_control name="${name}" prefix="${prefix}" tty="${tty}" use_fake_hardware="${use_fake_hardware}"/>
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<xacro:macro name="robotiq_hande_gripper" params="prefix parent">
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<!-- Robotiq Coupler -->
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<!-- + Height added by the coupler: 13.9mm -->
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<!-- + Reference frame: at the middle (6.95mm) -->
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<!-- + Height added by the coupler (13.9mm) -->
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<!-- + Reference frame at the middle (6.95mm) -->
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<joint name="robotiq_coupler_joint" type="fixed">
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<joint name="${prefix}robotiq_hande_coupler_joint" type="fixed">
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<origin xyz="0 0 0.00695" rpy="0 0 ${-pi/2.0}"/>
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<parent link="${parent}"/>
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<child link="${prefix}robotiq_coupler"/>
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<child link="${prefix}robotiq_hande_coupler"/>
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</joint>
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<link name="${prefix}robotiq_coupler">
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<link name="${prefix}robotiq_hande_coupler">
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<inertial>
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<mass value="0.168"/>
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<inertia ixx="6.17674E-05" ixy="0.0" ixz="0.0" iyy="6.17674E-05" iyz="0.0" izz="1.18125E-04"/>
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<joint name="${prefix}robotiq_hande_base_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0.055"/>
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<parent link="${prefix}robotiq_coupler"/>
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<child link="${prefix}hande_link"/>
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<parent link="${prefix}robotiq_hande_coupler"/>
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<child link="${prefix}robotiq_hande_link"/>
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</joint>
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<link name="${prefix}hande_link">
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<link name="${prefix}robotiq_hande_link">
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<inertial>
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<mass value="0.86387"/>
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<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.0006"/>
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</visual>
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</link>
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<joint name="${prefix}hande_left_finger_joint" type="prismatic">
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<joint name="${prefix}robotiq_hande_left_finger_joint" type="prismatic">
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<origin rpy="0 0 0" xyz="0 -0.025 0.0345"/>
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<parent link="${prefix}hande_link"/>
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<child link="${prefix}hande_left_finger"/>
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<parent link="${prefix}robotiq_hande_link"/>
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<child link="${prefix}robotiq_hande_left_finger"/>
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<axis xyz="0 1 0"/>
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<limit effort="130" lower="0" upper="0.025" velocity="0.15"/>
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</joint>
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<link name="${prefix}hande_left_finger">
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<link name="${prefix}robotiq_hande_left_finger">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.03804"/>
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</visual>
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</link>
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<joint name="${prefix}hande_right_finger_joint" type="prismatic">
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<joint name="${prefix}robotiq_hande_right_finger_joint" type="prismatic">
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<origin rpy="0 0 0" xyz="0 0.025 0.0345"/>
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<parent link="${prefix}hande_link"/>
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<child link="${prefix}hande_right_finger"/>
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<parent link="${prefix}robotiq_hande_link"/>
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<child link="${prefix}robotiq_hande_right_finger"/>
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<axis xyz="0 -1 0"/>
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<limit effort="130" lower="0" upper="0.025" velocity="0.15"/>
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<mimic joint="${prefix}hande_left_finger_joint" multiplier="1" offset="0"/>
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<mimic joint="${prefix}robotiq_hande_left_finger_joint" multiplier="1" offset="0"/>
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</joint>
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<link name="${prefix}hande_right_finger">
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<link name="${prefix}robotiq_hande_right_finger">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.03804"/>
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<joint name="${prefix}robotiq_hande_end_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0.095"/>
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<parent link="${prefix}hande_link"/>
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<child link="${prefix}hande_end"/>
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<parent link="${prefix}robotiq_hande_link"/>
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<child link="${prefix}robotiq_hande_end"/>
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</joint>
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<link name="${prefix}hande_end"/>
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<link name="${prefix}robotiq_hande_end"/>
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</xacro:macro>
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</robot>

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