Merge pull request #500 from isys-vision/add_gp7_opw

Update GP7 support package (OPW params, missing links, collision mesh update)
ros-industrial · Feb 13, 2025 · a1164fc · a1164fc
2 parents 8ff166f + 6202cef
commit a1164fc
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Showing 6 changed files with 51 additions and 21 deletions.
diff --git a/motoman_gp7_support/CMakeLists.txt b/motoman_gp7_support/CMakeLists.txt
@@ -8,7 +8,7 @@ catkin_package()
 
 if (CATKIN_ENABLE_TESTING)
   find_package(roslaunch REQUIRED)
-  roslaunch_add_file_check(test/launch_test.xml)
+  roslaunch_add_file_check(test/launch_test_gp7.xml)
 endif()
 
 install(DIRECTORY config launch meshes urdf

diff --git a/motoman_gp7_support/config/opw_parameters_gp7.yaml b/motoman_gp7_support/config/opw_parameters_gp7.yaml
@@ -0,0 +1,20 @@
+#
+# Parameters for use with IK solvers which support OPW (Ortho-Parallel Wrist)
+# kinematic configurations, as described in the paper "An Analytical Solution
+# of the Inverse Kinematics Problem of Industrial Serial Manipulators with an
+# Ortho-parallel Basis and a Spherical Wrist" by Mathias Brandstötter, Arthur
+# Angerer, and Michael Hofbaur (Proceedings of the Austrian Robotics Workshop
+# 2014, 22-23 May, 2014, Linz, Austria).
+#
+# The moveit_opw_kinematics_plugin package provides such a solver.
+#
+opw_kinematics_geometric_parameters:
+    a1:  0.040
+    a2:  -0.040
+    b:   0.000
+    c1:  0.330
+    c2:  0.445
+    c3:  0.440
+    c4:  0.080
+opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, deg(180.0)]
+opw_kinematics_joint_sign_corrections: [1, 1, -1, -1, -1, -1]
diff --git a/motoman_gp7_support/meshes/collision/gp7_link_2_l.stl b/motoman_gp7_support/meshes/collision/gp7_link_2_l.stl
diff --git a/motoman_gp7_support/package.xml b/motoman_gp7_support/package.xml
@@ -16,10 +16,10 @@
       <li>GP7 - Default</li>
     </ul>
     <p>
-      Joint limits and maximum joint velocities are based on the information 
-      found in the online 
-      https://www.motoman.com/hubfs/Robots/gp7.pdf
-      All urdfs are based on the default motion and joint velocity limits, 
+      Joint limits and maximum joint velocities are based on the information
+      found in <em>YASKAWA MOTOMAN-GP8,-GP7 INSTRUCTIONS (HW1486547)</em> version
+      <em>194559-1CD, rev 4</em>.
+      All urdfs are based on the default motion and joint velocity limits,
       unless noted otherwise.
     </p>
     <p>

diff --git a/motoman_gp7_support/test/launch_test.xml → motoman_gp7_support/test/launch_test_gp7.xml b/motoman_gp7_support/test/launch_test.xml → motoman_gp7_support/test/launch_test_gp7.xml
@@ -28,7 +28,7 @@
 -->
 <launch>
 	<arg name="req_arg" value="default"/>
-  <arg name="yrc1000" value="yrc1000"/>
+  <arg name="controller" value="yrc1000"/>
 
   <group ns="load_gp7">
 	  <include file="$(find motoman_gp7_support)/launch/load_gp7.launch"/>
@@ -39,19 +39,19 @@
   </group>
 
   <group ns="robot_interface_streaming_gp7">
-    <group ns="yrc1000" >
+    <group ns="$(arg controller)" >
 	    <include file="$(find motoman_gp7_support)/launch/robot_interface_streaming_gp7.launch">
 		    <arg name="robot_ip"   value="$(arg req_arg)" />
-        <arg name="controller" value="$(arg yrc1000)"/>
+        <arg name="controller" value="$(arg controller)"/>
 	    </include>
     </group>
   </group>
 
   <group ns="robot_state_visualize_gp7">
-    <group ns="yrc1000" >
+    <group ns="$(arg controller)" >
 	    <include file="$(find motoman_gp7_support)/launch/robot_state_visualize_gp7.launch">
 		    <arg name="robot_ip"   value="$(arg req_arg)" />
-        <arg name="controller" value="$(arg yrc1000)"/>
+        <arg name="controller" value="$(arg controller)"/>
 	    </include>
     </group>
   </group>

diff --git a/motoman_gp7_support/urdf/gp7_macro.xacro b/motoman_gp7_support/urdf/gp7_macro.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-<xacro:macro name="motoman_gp7" params="prefix">
+    <xacro:macro name="motoman_gp7" params="prefix">
     <xacro:include filename="$(find motoman_resources)/urdf/common_materials.xacro"/>
 
     <!-- link list -->
@@ -95,7 +95,6 @@
             </geometry>
         </collision>
     </link>
-    <link name="${prefix}tool0"/>
     <!-- end of link list -->
 
     <!-- joint list -->
@@ -104,49 +103,60 @@
         <child link="${prefix}link_1_s"/>
         <origin xyz="0 0 0.330" rpy="0 0 0" />
         <axis xyz="0 0 1" />
-        <limit lower="-2.9670" upper="2.9670" effort="212.66" velocity="6.5448"/>
+        <limit lower="${radians(-170)}" upper="${radians(170)}" effort="212.66" velocity="${radians(375)}"/>
     </joint>
     <joint name="${prefix}joint_2_l" type="revolute">
         <parent link="${prefix}link_1_s"/>
         <child link="${prefix}link_2_l"/>
         <origin xyz="0.040 0 0" rpy="0 0 0" />
         <axis xyz="0 1 0" />
-        <limit lower="-1.1344" upper="2.5307" effort="205.80" velocity="5.4977"/>
+        <limit lower="${radians(-65)}" upper="${radians(145)}" effort="205.80" velocity="${radians(315)}"/>
     </joint>
     <joint name="${prefix}joint_3_u" type="revolute">
         <parent link="${prefix}link_2_l"/>
         <child link="${prefix}link_3_u"/>
         <origin xyz="0 0 0.445" rpy="0 0 0" />
         <axis xyz="0 -1 0" />
-        <limit lower="-1.2217" upper="3.3161" effort="106.82" velocity="7.1558"/>
+        <limit lower="${radians(-70)}" upper="${radians(190)}" effort="106.82" velocity="${radians(410)}"/>
     </joint>
     <joint name="${prefix}joint_4_r" type="revolute">
         <parent link="${prefix}link_3_u"/>
         <child link="${prefix}link_4_r"/>
         <origin xyz="0.440 0 0.040" rpy="0 0 0" />
         <axis xyz="-1 0 0" />
-        <limit lower="-3.3161" upper="3.3161" effort="55.86" velocity="9.5993"/>
+        <limit lower="${radians(-190)}" upper="${radians(190)}" effort="55.86" velocity="${radians(550)}"/>
     </joint>
     <joint name="${prefix}joint_5_b" type="revolute">
         <parent link="${prefix}link_4_r"/>
         <child link="${prefix}link_5_b"/>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <axis xyz="0 -1 0" />
-        <limit lower="-2.3561" upper="2.3561" effort="32.68" velocity="9.5993"/>
+        <limit lower="${radians(-135)}" upper="${radians(135)}" effort="32.68" velocity="${radians(550)}"/>
     </joint>
     <joint name="${prefix}joint_6_t" type="revolute">
         <parent link="${prefix}link_5_b"/>
         <child link="${prefix}link_6_t"/>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <axis xyz="-1 0 0" />
-        <limit lower="-6.2944" upper="6.2944" effort="22.54" velocity="17.4845"/>
+        <limit lower="${radians(-360)}" upper="${radians(360)}" effort="22.54" velocity="${radians(1000)}"/>
     </joint>
-    <joint name="${prefix}joint_6_t-tool0" type="fixed">
-        <origin xyz="0.080 0 0" rpy="3.1415926 -1.570796 0"/>
+    <!-- end of joint list -->
+
+    <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
+    <link name="${prefix}flange"/>
+    <joint name="${prefix}joint_6_t-flange" type="fixed">
+        <origin xyz="0.080 0 0" rpy="0 0 0"/>
         <parent link="${prefix}link_6_t"/>
+        <child link="${prefix}flange"/>
+    </joint>
+
+    <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
+    <link name="${prefix}tool0"/>
+    <joint name="${prefix}flange-tool0" type="fixed">
+        <origin xyz="0 0 0" rpy="${radians(180)} ${radians(-90)} 0"/>
+        <parent link="${prefix}flange"/>
         <child link="${prefix}tool0"/>
     </joint>
-    <!-- end of joint list -->
 
     <!-- ROS base_link to Robot Manufacturer World Coordinates transform -->
     <link name="${prefix}base" />