From 8bb0429336f04876d1fb50e58324210789e3c7af Mon Sep 17 00:00:00 2001 From: Emiliano Borghi Date: Tue, 3 Aug 2021 18:10:34 -0300 Subject: [PATCH 1/7] Properly install Python scripts --- rqt_industrial_robot/CMakeLists.txt | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/rqt_industrial_robot/CMakeLists.txt b/rqt_industrial_robot/CMakeLists.txt index d3a746c..4dd870b 100644 --- a/rqt_industrial_robot/CMakeLists.txt +++ b/rqt_industrial_robot/CMakeLists.txt @@ -18,11 +18,11 @@ include_directories( ${catkin_INCLUDE_DIRS} ) -install(PROGRAMS - scripts/rqt_kinematics - scripts/rqt_vacuum_gripper - scripts/rqt_camera - scripts/rqt_mobile_manipulator +catkin_install_python(PROGRAMS + scripts/rqt_kinematics.py + scripts/rqt_vacuum_gripper.py + scripts/rqt_camera.py + scripts/rqt_mobile_manipulator.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) From 25f2cafdae960cbdaa480d775022cfa6da27c309 Mon Sep 17 00:00:00 2001 From: Emiliano Borghi Date: Tue, 3 Aug 2021 18:39:58 -0300 Subject: [PATCH 2/7] Install missing files for irb120_robotiq85_gazebo --- .../irb120_robotiq85_gazebo/CMakeLists.txt | 93 +++++-------------- 1 file changed, 22 insertions(+), 71 deletions(-) diff --git a/industrial_robots/irb120_robotiq85/irb120_robotiq85_gazebo/CMakeLists.txt b/industrial_robots/irb120_robotiq85/irb120_robotiq85_gazebo/CMakeLists.txt index ef1ab42..ca5d56d 100644 --- a/industrial_robots/irb120_robotiq85/irb120_robotiq85_gazebo/CMakeLists.txt +++ b/industrial_robots/irb120_robotiq85/irb120_robotiq85_gazebo/CMakeLists.txt @@ -120,80 +120,31 @@ include_directories( ${catkin_INCLUDE_DIRS} ) -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/irb120_camara_diego.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/irb120_camara_diego_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) - ############# ## Install ## ############# -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# +install(DIRECTORY + config + launch + meshes + models + rviz + urdf + worlds + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_irb120_camara_diego.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +catkin_install_python(PROGRAMS + src/IK_cartesian_path.py + src/IK_destination_pose.py + src/api_pick_and_place.py + src/forward_kinematics.py + src/new_pick_and_place.py + src/pick_and_place.py + src/pick_and_place_rviz.py + src/spawn_model.py + src/test_pick_and_place.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) From 7eb861bd5fe1d1aec3f7a26242f3dab6df8ffd01 Mon Sep 17 00:00:00 2001 From: Emiliano Borghi Date: Tue, 3 Aug 2021 19:04:31 -0300 Subject: [PATCH 3/7] Remove .pyc files --- .gitignore | 1 + .../src/rqt_kinematics/__init__.pyc | Bin 159 -> 0 bytes .../src/rqt_kinematics/interfaces/__init__.pyc | Bin 170 -> 0 bytes .../rqt_kinematics/interfaces/model_manager.pyc | Bin 7868 -> 0 bytes .../rqt_kinematics/interfaces/robot_wrapper.pyc | Bin 13795 -> 0 bytes .../src/rqt_kinematics/kinematics_module.pyc | Bin 21632 -> 0 bytes .../src/rqt_kinematics/resources_rc.pyc | Bin 27809 -> 0 bytes 7 files changed, 1 insertion(+) create mode 100644 .gitignore delete mode 100644 rqt_industrial_robot/src/rqt_kinematics/__init__.pyc delete mode 100644 rqt_industrial_robot/src/rqt_kinematics/interfaces/__init__.pyc delete mode 100644 rqt_industrial_robot/src/rqt_kinematics/interfaces/model_manager.pyc delete mode 100644 rqt_industrial_robot/src/rqt_kinematics/interfaces/robot_wrapper.pyc delete mode 100644 rqt_industrial_robot/src/rqt_kinematics/kinematics_module.pyc delete mode 100644 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xH#<)kxbms{(foKqd$tYNug$msVIXD@8Hff%$Vk9Q03skG1QCD;$$(_Q{{tPSSsnlY From f01f181ba350d68e8d576bf8623d449390cc5234 Mon Sep 17 00:00:00 2001 From: Emiliano Borghi Date: Tue, 3 Aug 2021 19:04:41 -0300 Subject: [PATCH 4/7] Install gazebo assets --- assets/CMakeLists.txt | 163 ++---------------------------------------- assets/package.xml | 4 +- 2 files changed, 8 insertions(+), 159 deletions(-) diff --git a/assets/CMakeLists.txt b/assets/CMakeLists.txt index 1cf7d3f..acf67d5 100644 --- a/assets/CMakeLists.txt +++ b/assets/CMakeLists.txt @@ -12,85 +12,6 @@ find_package(catkin REQUIRED COMPONENTS rospy ) -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs # Or other packages containing msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) ################################### ## catkin specific configuration ## @@ -119,87 +40,13 @@ include_directories( ${catkin_INCLUDE_DIRS} ) -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/industrial_robot.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/industrial_robot_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) ############# ## Install ## ############# -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# catkin_install_python(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_industrial_robot.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +install(DIRECTORY + launch + models + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/assets/package.xml b/assets/package.xml index a7e0f38..13e3b7a 100644 --- a/assets/package.xml +++ b/assets/package.xml @@ -14,10 +14,12 @@ rospy roscpp rospy + gazebo_ros roscpp rospy - + From bae5317d989e8b3d618cf84ed4b83cd69042c664 Mon Sep 17 00:00:00 2001 From: Emiliano Borghi Date: Tue, 3 Aug 2021 19:40:23 -0300 Subject: [PATCH 5/7] Install more files... --- rqt_industrial_robot/CMakeLists.txt | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/rqt_industrial_robot/CMakeLists.txt b/rqt_industrial_robot/CMakeLists.txt index 4dd870b..6c46c08 100644 --- a/rqt_industrial_robot/CMakeLists.txt +++ b/rqt_industrial_robot/CMakeLists.txt @@ -28,13 +28,19 @@ catkin_install_python(PROGRAMS install(DIRECTORY resources + src DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) install(FILES - plugin_kinematics.xml - plugin_vacuum_gripper.xml + all.perspective + kinematics.perspective + mobile_manipulator.perspective plugin_camera.xml + plugin_kinematics.xml plugin_mobile_manipulator.xml + plugin_vacuum_gripper.xml + ur5_vacuum_gripper.perspective + ur5_vacuum_gripper_camera.perspective DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) From 6739ba9de7aff5c4ee7eb9339c494df9e48fabd5 Mon Sep 17 00:00:00 2001 From: Emiliano Borghi Date: Tue, 3 Aug 2021 21:07:57 -0300 Subject: [PATCH 6/7] Install files for ur5_gripper_demo package --- industrial_robots/ur5_gripper_demo/CMakeLists.txt | 8 ++++++++ industrial_robots/ur5_gripper_demo/package.xml | 4 +++- 2 files changed, 11 insertions(+), 1 deletion(-) diff --git a/industrial_robots/ur5_gripper_demo/CMakeLists.txt b/industrial_robots/ur5_gripper_demo/CMakeLists.txt index 6e6a60c..0c98695 100644 --- a/industrial_robots/ur5_gripper_demo/CMakeLists.txt +++ b/industrial_robots/ur5_gripper_demo/CMakeLists.txt @@ -17,3 +17,11 @@ catkin_package(CATKIN_DEPENDS message_runtime) # Specify locations of header files. include_directories(include ${catkin_INCLUDE_DIRS}) + +catkin_install_python(PROGRAMS + scripts/ur5_gripper.py + scripts/ur5_gripper_test.py + scripts/ur5_pick_and_place.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY launch models rviz worlds DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/industrial_robots/ur5_gripper_demo/package.xml b/industrial_robots/ur5_gripper_demo/package.xml index 2654ee2..ed97a8d 100644 --- a/industrial_robots/ur5_gripper_demo/package.xml +++ b/industrial_robots/ur5_gripper_demo/package.xml @@ -57,10 +57,12 @@ actionlib geometry_msgs geometry_msgs + gazebo_ros - + From 007fea87278a9a954b2e40e65d72899b5465168b Mon Sep 17 00:00:00 2001 From: Emiliano Borghi Date: Wed, 4 Aug 2021 18:11:01 -0300 Subject: [PATCH 7/7] Remove universal_robot packages --- industrial_robots/universal_robot/.gitignore | 3 - industrial_robots/universal_robot/.travis.yml | 25 - .../.vscode/c_cpp_properties.json | 19 - .../universal_robot/.vscode/settings.json | 7 - industrial_robots/universal_robot/README.md | 130 --- .../universal_robot/CHANGELOG.rst | 48 - .../universal_robot/CMakeLists.txt | 4 - .../universal_robot/package.xml | 28 - .../universal_robots/CHANGELOG.rst | 8 - .../universal_robots/CMakeLists.txt | 4 - .../universal_robots/package.xml | 38 - .../ur5_moveit_config/.setup_assistant | 8 - .../ur5_moveit_config/CHANGELOG.rst | 73 -- .../ur5_moveit_config/CMakeLists.txt | 14 - .../ur5_moveit_config/config/controllers.yaml | 11 - .../config/fake_controllers.yaml | 12 - .../config/joint_limits.yaml | 34 - .../ur5_moveit_config/config/kinematics.yaml | 8 - .../config/ompl_planning.yaml | 83 -- .../config/sensors_kinect_depthmap.yaml | 11 - .../config/sensors_kinect_pointcloud.yaml | 10 - .../sensors_kinect_pointcloud_robot.yaml | 10 - .../ur5_moveit_config/config/ur5.srdf | 76 -- .../launch/default_warehouse_db.launch | 13 - .../ur5_moveit_config/launch/demo.launch | 46 - .../fake_moveit_controller_manager.launch.xml | 9 - .../launch/move_group.launch | 71 -- .../ur5_moveit_config/launch/moveit.rviz | 290 ----- .../launch/moveit_rviz.launch | 16 - .../launch/ompl_planning_pipeline.launch.xml | 22 - .../launch/planning_context.launch | 28 - .../launch/planning_pipeline.launch.xml | 10 - .../launch/run_benchmark_ompl.launch | 22 - .../launch/sensor_manager.launch.xml | 20 - .../launch/setup_assistant.launch | 15 - .../launch/trajectory_execution.launch.xml | 18 - .../ur5_moveit_controller_manager.launch.xml | 6 - .../ur5_moveit_planning_execution.launch | 14 - .../ur5_moveit_sensor_manager.launch.xml | 3 - .../ur5_moveit_config/launch/warehouse.launch | 15 - .../launch/warehouse_settings.launch.xml | 15 - .../ur5_moveit_config/package.xml | 33 - .../tests/moveit_planning_execution.xml | 18 - .../universal_robot/ur_bringup/CHANGELOG.rst | 58 - .../universal_robot/ur_bringup/CMakeLists.txt | 14 - .../ur_bringup/launch/ur10_bringup.launch | 31 - .../launch/ur10_bringup_joint_limited.launch | 24 - .../ur_bringup/launch/ur3_bringup.launch | 31 - .../launch/ur3_bringup_joint_limited.launch | 24 - .../ur_bringup/launch/ur5_bringup.launch | 31 - .../launch/ur5_bringup_joint_limited.launch | 24 - .../ur_bringup/launch/ur_common.launch | 43 - .../universal_robot/ur_bringup/package.xml | 26 - .../ur_bringup/tests/roslaunch_test.xml | 55 - .../ur_description/CHANGELOG.rst | 123 -- .../ur_description/CMakeLists.txt | 132 --- .../ur_description/cfg/view_robot.rviz | 184 --- .../ur_description/launch/ur5_upload.launch | 8 - .../ur_description/launch/view_ur5.launch | 10 - .../meshes/ur5/collision/base.stl | Bin 28984 -> 0 bytes .../meshes/ur5/collision/forearm.stl | Bin 52584 -> 0 bytes .../meshes/ur5/collision/shoulder.stl | Bin 33784 -> 0 bytes .../meshes/ur5/collision/upperarm.stl | Bin 58884 -> 0 bytes .../meshes/ur5/collision/wrist1.stl | Bin 35184 -> 0 bytes .../meshes/ur5/collision/wrist2.stl | Bin 35184 -> 0 bytes .../meshes/ur5/collision/wrist3.stl | Bin 22384 -> 0 bytes .../ur_description/meshes/ur5/visual/base.dae | 233 ---- .../meshes/ur5/visual/forearm.dae | 382 ------- .../meshes/ur5/visual/shoulder.dae | 304 ----- .../meshes/ur5/visual/upperarm.dae | 465 -------- .../meshes/ur5/visual/wrist1.dae | 304 ----- .../meshes/ur5/visual/wrist2.dae | 304 ----- .../meshes/ur5/visual/wrist3.dae | 233 ---- .../universal_robot/ur_description/model.pdf | Bin 29059 -> 0 bytes .../ur_description/package.xml | 30 - .../ur_description/urdf/8ur5.urdf.xacro | 780 ------------- .../ur_description/urdf/common.gazebo.xacro | 54 - .../urdf/common_properties.urdf.xacro | 57 - .../ur_description/urdf/kinect.urdf.xacro | 7 - .../ur_description/urdf/kinect_gazebo.xacro | 50 - .../urdf/kinect_main.urdf.xacro | 92 -- .../urdf/kinect_properties.urdf.xacro | 14 - .../urdf/kinect_robot.urdf.xacro | 92 -- .../urdf/kinect_robot_properties.urdf.xacro | 14 - .../ur_description/urdf/ur.gazebo.xacro | 30 - .../ur_description/urdf/ur.transmission.xacro | 68 -- .../ur_description/urdf/ur5.urdf.xacro | 776 ------------- .../urdf/ur5_joint_limited_robot.urdf.xacro | 32 - .../ur_description/urdf/ur5_robot.urdf.xacro | 26 - .../universal_robot/ur_driver/CHANGELOG.rst | 85 -- .../universal_robot/ur_driver/CMakeLists.txt | 40 - .../ur_driver/cfg/URDriver.cfg | 10 - .../universal_robot/ur_driver/package.xml | 29 - .../universal_robot/ur_driver/prog | 228 ---- .../universal_robot/ur_driver/prog_reset | 3 - .../universal_robot/ur_driver/setup.py | 13 - .../ur_driver/src/ur_driver/__init__.py | 0 .../ur_driver/src/ur_driver/deserialize.py | 372 ------ .../ur_driver/src/ur_driver/deserializeRT.py | 418 ------- .../ur_driver/src/ur_driver/driver.py | 1018 ----------------- .../ur_driver/src/ur_driver/io_interface.py | 79 -- .../ur_driver/src/ur_driver/testRT_comm.py | 98 -- .../ur_driver/src/ur_driver/test_comm.py | 120 -- .../universal_robot/ur_driver/test_io.py | 31 - .../universal_robot/ur_driver/test_move.py | 106 -- .../universal_robot/ur_gazebo/CHANGELOG.rst | 62 - 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100644 index eef29c1..0000000 --- a/industrial_robots/universal_robot/.gitignore +++ /dev/null @@ -1,3 +0,0 @@ -*~ -*.pyc - diff --git a/industrial_robots/universal_robot/.travis.yml b/industrial_robots/universal_robot/.travis.yml deleted file mode 100644 index 13da306..0000000 --- a/industrial_robots/universal_robot/.travis.yml +++ /dev/null @@ -1,25 +0,0 @@ -language: generic -services: - - docker - -notifications: - email: - on_success: always - on_failure: always -env: - matrix: - - ROS_DISTRO="kinetic" ROS_REPO=ros - - ROS_DISTRO="kinetic" ROS_REPO=ros-shadow-fixed - - ROS_DISTRO="kinetic" PRERELEASE=true - - ROS_DISTRO="melodic" ROS_REPO=ros - - ROS_DISTRO="melodic" ROS_REPO=ros-shadow-fixed - - ROS_DISTRO="melodic" PRERELEASE=true -matrix: - allow_failures: - - env: ROS_DISTRO="melodic" ROS_REPO=ros - - env: ROS_DISTRO="melodic" ROS_REPO=ros-shadow-fixed - - env: ROS_DISTRO="melodic" PRERELEASE=true -install: - - git clone --quiet --depth=1 https://github.com/ros-industrial/industrial_ci.git .ci_config -script: - - source .ci_config/travis.sh diff --git a/industrial_robots/universal_robot/.vscode/c_cpp_properties.json b/industrial_robots/universal_robot/.vscode/c_cpp_properties.json deleted file mode 100644 index b05bd97..0000000 --- a/industrial_robots/universal_robot/.vscode/c_cpp_properties.json +++ /dev/null @@ -1,19 +0,0 @@ -{ - "configurations": [ - { - "browse": { - "databaseFilename": "", - "limitSymbolsToIncludedHeaders": true - }, - "includePath": [ - "/home/jderobot/industrial_robot/devel/include/**", - "/opt/ros/melodic/include/**", - "/opt/jderobot/include/**", - "/home/jderobot/industrial_robot/src/IndustrialRobotics/robotiq_85_gripper/robotiq_85_simulation/roboticsgroup_gazebo_plugins/include/**", - "/home/jderobot/industrial_robot/src/universal_robot/ur_kinematics/include/**", - "/usr/include/**" - ], - "name": "ROS" - } - ] -} \ No newline at end of file diff --git a/industrial_robots/universal_robot/.vscode/settings.json b/industrial_robots/universal_robot/.vscode/settings.json deleted file mode 100644 index ddb0a35..0000000 --- a/industrial_robots/universal_robot/.vscode/settings.json +++ /dev/null @@ -1,7 +0,0 @@ -{ - "python.autoComplete.extraPaths": [ - "/home/jderobot/industrial_robot/devel/lib/python2.7/dist-packages", - "/opt/ros/melodic/lib/python2.7/dist-packages", - "/opt/jderobot/lib/python2.7" - ] -} \ No newline at end of file diff --git a/industrial_robots/universal_robot/README.md b/industrial_robots/universal_robot/README.md deleted file mode 100644 index 9a97357..0000000 --- a/industrial_robots/universal_robot/README.md +++ /dev/null @@ -1,130 +0,0 @@ -# Universal Robot - -[![Build Status](http://build.ros.org/job/Kdev__universal_robot__ubuntu_xenial_amd64/badge/icon)](http://build.ros.org/job/Kdev__universal_robot__ubuntu_xenial_amd64) -[![license - apache 2.0](https://img.shields.io/:license-Apache%202.0-yellowgreen.svg)](https://opensource.org/licenses/Apache-2.0) -[![License](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause) - -[![support level: community](https://img.shields.io/badge/support%20level-community-lightgray.png)](http://rosindustrial.org/news/2016/10/7/better-supporting-a-growing-ros-industrial-software-platform) - -[ROS-Industrial](http://wiki.ros.org/Industrial) Universal Robot meta-package. See the [ROS wiki](http://wiki.ros.org/universal_robot) page for compatibility information and other more information. - - -__Installation__ - -There are two different ways to install the packages in this repository. The following sections detail installing the packages using the binary distribution and building them from source in a Catkin workspace. - - -___Using apt (Ubuntu, Debian)___ - -On supported Linux distributions (Ubuntu, up to 16.04 (Xenial), `i386` and `amd64`) and ROS versions: - -``` -sudo apt-get install ros-$ROS_DISTRO-universal-robot -``` - -replace `$ROS_DISTRO` with `hydro`, `indigo` or `kinetic`, depending on which ROS version you have installed. - - -___Building from Source___ - -There are releases available for ROS Hydro, Indigo and Kinetic. However, for the latest features and developments you might want to build the packages from source. - -**NOTE**: please prefer using the binary release (see previous section) over building from source where possible. Source installs will not be automatically updated by new package releases and require more work to setup. - -The following instructions assume that a [Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace) has been created at `$HOME/catkin_ws` and that the source space is at `$HOME/catkin_ws/src`. Update paths appropriately if they are different on the build machine. - -In all other cases the packages will have to be build from sources in a Catkin workspace: - -``` -cd $HOME/catkin_ws/src - -# retrieve the sources (replace '$ROS_DISTRO' with the ROS version you are using) -git clone -b $ROS_DISTRO-devel https://github.com/ros-industrial/universal_robot.git - -cd $HOME/catkin_ws - -# checking dependencies (again: replace '$ROS_DISTRO' with the ROS version you are using) -rosdep update -rosdep install --rosdistro $ROS_DISTRO --ignore-src --from-paths src - -# building -catkin_make - -# activate this workspace -source $HOME/catkin_ws/devel/setup.bash -``` - - -__Usage__ - -___With real Hardware___ -There are launch files available to bringup a real robot - either UR5 or UR10. -In the following the commands for the UR5 are given. For the UR10, simply replace the prefix accordingly. - -Don't forget to source the correct setup shell files and use a new terminal for each command! - -To bring up the real robot, run: - -```roslaunch ur_bringup ur5_bringup.launch robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT]``` - - -CAUTION: -Remember that you should always have your hands on the big red button in case there is something in the way or anything unexpected happens. - - -___MoveIt! with real Hardware___ -Additionally, you can use MoveIt! to control the robot. -There exist MoveIt! configuration packages for both robots. - -For setting up the MoveIt! nodes to allow motion planning run: - -```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch``` - -For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run: - -```roslaunch ur5_moveit_config moveit_rviz.launch config:=true``` - - -NOTE: -As MoveIt! seems to have difficulties with finding plans for the UR with full joint limits [-2pi, 2pi], there is a joint_limited version using joint limits restricted to [-pi,pi]. In order to use this joint limited version, simply use the launch file arguments 'limited', i.e.: - -```roslaunch ur_bringup ur5_bringup.launch limited:=true robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT]``` - -```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true``` - -```roslaunch ur5_moveit_config moveit_rviz.launch config:=true``` - - -___Usage with Gazebo Simulation___ -There are launch files available to bringup a simulated robot - either UR5 or UR10. -In the following the commands for the UR5 are given. For the UR10, simply replace the prefix accordingly. - -Don't forget to source the correct setup shell files and use a new terminal for each command! - -To bring up the simulated robot in Gazebo, run: - -```roslaunch ur_gazebo ur5.launch``` - - -___MoveIt! with a simulated robot___ -Again, you can use MoveIt! to control the simulated robot. - -For setting up the MoveIt! nodes to allow motion planning run: - -```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true``` - -For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run: - -```roslaunch ur5_moveit_config moveit_rviz.launch config:=true``` - - -NOTE: -As MoveIt! seems to have difficulties with finding plans for the UR with full joint limits [-2pi, 2pi], there is a joint_limited version using joint limits restricted to [-pi,pi]. In order to use this joint limited version, simply use the launch file arguments 'limited', i.e.: - -```roslaunch ur_gazebo ur5.launch limited:=true``` - -```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true``` - -```roslaunch ur5_moveit_config moveit_rviz.launch config:=true``` - - diff --git a/industrial_robots/universal_robot/universal_robot/CHANGELOG.rst b/industrial_robots/universal_robot/universal_robot/CHANGELOG.rst deleted file mode 100644 index dde0d99..0000000 --- a/industrial_robots/universal_robot/universal_robot/CHANGELOG.rst +++ /dev/null @@ -1,48 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package universal_robot -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* Update maintainer listing: add Miguel (`#410 `_) -* Add new metapackage, first step to rename the repo (`#409 `_) -* UR-E Series (`#380 `_) -* Update maintainer and author information. -* Contributors: Dave Niewinski, Nadia Hammoudeh García, gavanderhoorn - -1.2.1 (2018-01-06) ------------------- - -1.2.0 (2017-08-04) ------------------- - -1.1.9 (2017-01-02) ------------------- -* No changes. - -1.1.8 (2016-12-30) ------------------- -* all: update maintainers. -* Contributors: gavanderhoorn - -1.1.7 (2016-12-29) ------------------- -* No changes. - -1.1.6 (2016-04-01) ------------------- -* add moveit_config for ur3 -* Contributors: ipa-fxm - -1.0.2 (2014-03-31) ------------------- -* Merge branch 'hydro-devel' of github.com:ros-industrial/universal_robot into hydro -* added missing dependency -* Contributors: Florian Weisshardt, ipa-fxm - -1.0.1 (2014-03-31) ------------------- - -* Added all packages in dependency list of metapackage. -* Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages. -* Contributors: IPR-SR2, Kelsey diff --git a/industrial_robots/universal_robot/universal_robot/CMakeLists.txt b/industrial_robots/universal_robot/universal_robot/CMakeLists.txt deleted file mode 100644 index 5502524..0000000 --- a/industrial_robots/universal_robot/universal_robot/CMakeLists.txt +++ /dev/null @@ -1,4 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(universal_robot) -find_package(catkin REQUIRED) -catkin_metapackage() diff --git a/industrial_robots/universal_robot/universal_robot/package.xml b/industrial_robots/universal_robot/universal_robot/package.xml deleted file mode 100644 index fb67a0f..0000000 --- a/industrial_robots/universal_robot/universal_robot/package.xml +++ /dev/null @@ -1,28 +0,0 @@ - - universal_robot - 1.2.5 - - Drivers, description, and utilities for Universal Robot Arms. - - - G.A. vd. Hoorn - Miguel Prada Sarasola - Nadia Hammoudeh Garcia - - BSD - - http://ros.org/wiki/universal_robot - - Shaun Edwards - Stuart Glaser - Kelsey Hawkins - Wim Meeussen - Felix Messmer - - catkin - universal_robots - - - - - diff --git a/industrial_robots/universal_robot/universal_robots/CHANGELOG.rst b/industrial_robots/universal_robot/universal_robots/CHANGELOG.rst deleted file mode 100644 index af2580e..0000000 --- a/industrial_robots/universal_robot/universal_robots/CHANGELOG.rst +++ /dev/null @@ -1,8 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package universal_robots -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* First release (of this package) -* Contributors: gavanderhoorn, Nadia Hammoudeh García diff --git a/industrial_robots/universal_robot/universal_robots/CMakeLists.txt b/industrial_robots/universal_robot/universal_robots/CMakeLists.txt deleted file mode 100644 index 5a8bb8f..0000000 --- a/industrial_robots/universal_robot/universal_robots/CMakeLists.txt +++ /dev/null @@ -1,4 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(universal_robots) -find_package(catkin REQUIRED) -catkin_metapackage() diff --git a/industrial_robots/universal_robot/universal_robots/package.xml b/industrial_robots/universal_robot/universal_robots/package.xml deleted file mode 100644 index 5b1dfb5..0000000 --- a/industrial_robots/universal_robot/universal_robots/package.xml +++ /dev/null @@ -1,38 +0,0 @@ - - - - universal_robots - 1.2.5 - ROS-Industrial support for Universal Robots manipulators (metapackage). - Felix Messmer - Kelsey Hawkins - Shaun Edwards - Stuart Glaser - Wim Meeussen - G.A. vd. Hoorn (TU Delft Robotics Institute) - Miguel Prada Sarasola - Nadia Hammoudeh Garcia - BSD - - http://wiki.ros.org/universal_robots - https://github.com/ros-industrial/universal_robot/issues - https://github.com/ros-industrial/universal_robot - - catkin - - ur5_moveit_config - ur_bringup - ur_description - ur_driver - ur_gazebo - ur_kinematics - ur_msgs - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur5_moveit_config/.setup_assistant b/industrial_robots/universal_robot/ur5_moveit_config/.setup_assistant deleted file mode 100644 index fccc0b6..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/.setup_assistant +++ /dev/null @@ -1,8 +0,0 @@ -moveit_setup_assistant_config: - URDF: - package: ur_description - relative_path: urdf/ur5_robot.urdf.xacro - SRDF: - relative_path: config/ur5.srdf - CONFIG: - generated_timestamp: 1413877529 \ No newline at end of file diff --git a/industrial_robots/universal_robot/ur5_moveit_config/CHANGELOG.rst b/industrial_robots/universal_robot/ur5_moveit_config/CHANGELOG.rst deleted file mode 100644 index 7040a0e..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/CHANGELOG.rst +++ /dev/null @@ -1,73 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur5_moveit_config -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* Update maintainer listing: add Miguel (`#410 `_) -* MoveGroupExecuteService is Deprecated by MoveIt! (`#391 `_) -* Update maintainer and author information. -* Add roslaunch tests (`#362 `_) -* Contributors: gavanderhoorn, Nadia Hammoudeh García, 薯片半价 - -1.2.1 (2018-01-06) ------------------- -* Reduce longest valid segment fraction to accomodate non-limited version of the UR5 (`#266 `_) -* Contributors: Scott Paulin - -1.2.0 (2017-08-04) ------------------- -* Fix Deprecated warning in MoveIt: parameter moved into namespace 'trajectory_execution' -* Contributors: Dave Coleman - -1.1.9 (2017-01-02) ------------------- -* use '--inorder' for jade+ xacro as well. -* make RViz load MoveIt display by default. -* Contributors: gavanderhoorn - -1.1.8 (2016-12-30) ------------------- -* all: update maintainers. -* Contributors: gavanderhoorn - -1.1.7 (2016-12-29) ------------------- -* Don't depend on moveit_plugins metapackage -* Fix xacro warnings in Jade -* Contributors: Dave Coleman, Jon Binney - -1.1.6 (2016-04-01) ------------------- -* add missing dependency for moveit_simple_controller_manager -* Merge branch 'indigo-devel' of github.com:ros-industrial/universal_robot into ur3_moveit_config -* apply latest setup assistant changes to ur5 and ur10 -* Adding comment explaining the choice of default planning algorithm -* Use RRTConnect by default for UR5 - Fixes bug `#193 `_ about slow planning on Indigo - LBKPIECE1 (the previous default) looks to be the wrong planning algorithm for the robot - See https://groups.google.com/forum/#!topic/moveit-users/M71T-GaUNgg -* crop ik solutions wrt joint_limits -* set planning time to 0 -* reduce planning attempts in moveit rviz plugin -* Contributors: Marco Esposito, ipa-fxm - -1.0.2 (2014-03-31) ------------------- - -1.0.1 (2014-03-31) ------------------- -* Merge branch 'hydro-devel' of github.com:ros-industrial/universal_robot into hydro -* changes due to file renaming -* update moveit_configs: include ee_link and handle limited robot -* new moveit_configs for ur5 and ur10 -* remove old ur5_moveit_config -* Contributors: Florian Weisshardt, ipa-fxm - -* ur5_moveit_cfg: add missing run_depend ind_rob_simulator. Fix `#38 `_. -* update moveit_configs to use moveit_simple_controller_manager -* Added config files missed on last commit -* Added launch/configuration files for using real robot. Updated joint limits to velocity limits of the driver (all of which can be configured to make the robot move faster) -* Removed ur5_joint_limited_moveit_config. ur5_moveit_config now has limited joint ranges to plus/minus 180 degrees. -* Added ur5 moveit library. The Kinematics used by the ur5 move it library is unreliable and should be replaced with the ur_kinematics -* Contributors: Jeremy Zoss, Shaun Edwards, gavanderhoorn diff --git a/industrial_robots/universal_robot/ur5_moveit_config/CMakeLists.txt b/industrial_robots/universal_robot/ur5_moveit_config/CMakeLists.txt deleted file mode 100644 index 6b07c70..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/CMakeLists.txt +++ /dev/null @@ -1,14 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(ur5_moveit_config) - -find_package(catkin REQUIRED) - -catkin_package() - -if (CATKIN_ENABLE_TESTING) - find_package(roslaunch REQUIRED) - roslaunch_add_file_check(tests/moveit_planning_execution.xml) -endif() - -install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) -install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/industrial_robots/universal_robot/ur5_moveit_config/config/controllers.yaml b/industrial_robots/universal_robot/ur5_moveit_config/config/controllers.yaml deleted file mode 100644 index bf2252c..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/config/controllers.yaml +++ /dev/null @@ -1,11 +0,0 @@ -controller_list: - - name: "" - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint diff --git a/industrial_robots/universal_robot/ur5_moveit_config/config/fake_controllers.yaml b/industrial_robots/universal_robot/ur5_moveit_config/config/fake_controllers.yaml deleted file mode 100644 index 5e24f94..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/config/fake_controllers.yaml +++ /dev/null @@ -1,12 +0,0 @@ -controller_list: - - name: fake_manipulator_controller - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - - name: fake_endeffector_controller - joints: - [] \ No newline at end of file diff --git a/industrial_robots/universal_robot/ur5_moveit_config/config/joint_limits.yaml b/industrial_robots/universal_robot/ur5_moveit_config/config/joint_limits.yaml deleted file mode 100644 index 60797d5..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/config/joint_limits.yaml +++ /dev/null @@ -1,34 +0,0 @@ -# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed -# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] -# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] -joint_limits: - shoulder_pan_joint: - has_velocity_limits: true - max_velocity: 3.15 - has_acceleration_limits: true - max_acceleration: 3.15 - shoulder_lift_joint: - has_velocity_limits: true - max_velocity: 3.15 - has_acceleration_limits: true - max_acceleration: 3.15 - elbow_joint: - has_velocity_limits: true - max_velocity: 3.15 - has_acceleration_limits: true - max_acceleration: 3.15 - wrist_1_joint: - has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: true - max_acceleration: 3.2 - wrist_2_joint: - has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: true - max_acceleration: 3.2 - wrist_3_joint: - has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: true - max_acceleration: 3.2 \ No newline at end of file diff --git a/industrial_robots/universal_robot/ur5_moveit_config/config/kinematics.yaml b/industrial_robots/universal_robot/ur5_moveit_config/config/kinematics.yaml deleted file mode 100644 index 434fe31..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/config/kinematics.yaml +++ /dev/null @@ -1,8 +0,0 @@ -ur5_manipulator: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.01 -# ur5_manipulator: -# kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin -# kinematics_solver_timeout: 0.01 -# solve_type: Distance diff --git a/industrial_robots/universal_robot/ur5_moveit_config/config/ompl_planning.yaml b/industrial_robots/universal_robot/ur5_moveit_config/config/ompl_planning.yaml deleted file mode 100644 index 40e9c8b..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/config/ompl_planning.yaml +++ /dev/null @@ -1,83 +0,0 @@ -planner_configs: - SBLkConfigDefault: - type: geometric::SBL - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ESTkConfigDefault: - type: geometric::EST - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - LBKPIECEkConfigDefault: - type: geometric::LBKPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - BKPIECEkConfigDefault: - type: geometric::BKPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 - failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - KPIECEkConfigDefault: - type: geometric::KPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] - failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - RRTkConfigDefault: - type: geometric::RRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - RRTConnectkConfigDefault: - type: geometric::RRTConnect - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - RRTstarkConfigDefault: - type: geometric::RRTstar - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 - TRRTkConfigDefault: - type: geometric::TRRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - max_states_failed: 10 # when to start increasing temp. default: 10 - temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 - min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 - init_temperature: 10e-6 # initial temperature. default: 10e-6 - frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() - frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 - k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() - PRMkConfigDefault: - type: geometric::PRM - max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 - PRMstarkConfigDefault: - type: geometric::PRMstar -ur5_manipulator: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE - # projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint) - longest_valid_segment_fraction: 0.01 -endeffector: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault diff --git a/industrial_robots/universal_robot/ur5_moveit_config/config/sensors_kinect_depthmap.yaml b/industrial_robots/universal_robot/ur5_moveit_config/config/sensors_kinect_depthmap.yaml deleted file mode 100644 index 4bd4235..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/config/sensors_kinect_depthmap.yaml +++ /dev/null @@ -1,11 +0,0 @@ -sensors: - - sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater - image_topic: /kinect_camera_robot/depth/image_raw - queue_size: 5 - near_clipping_plane_distance: 0.3 - far_clipping_plane_distance: 5.0 - shadow_threshold: 0.2 - padding_scale: 4.0 - padding_offset: 0.03 - max_update_rate: 1.0 - filtered_cloud_topic: filtered_cloud \ No newline at end of file diff --git a/industrial_robots/universal_robot/ur5_moveit_config/config/sensors_kinect_pointcloud.yaml b/industrial_robots/universal_robot/ur5_moveit_config/config/sensors_kinect_pointcloud.yaml deleted file mode 100644 index 9efcaf7..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/config/sensors_kinect_pointcloud.yaml +++ /dev/null @@ -1,10 +0,0 @@ -# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it -sensors: - - filtered_cloud_topic: filtered_cloud - max_range: 5.0 - max_update_rate: 5.0 - padding_offset: 0.1 - padding_scale: 1.0 - point_cloud_topic: /kinect_camera_fixed/depth/points - point_subsample: 1 - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater \ No newline at end of file diff --git a/industrial_robots/universal_robot/ur5_moveit_config/config/sensors_kinect_pointcloud_robot.yaml b/industrial_robots/universal_robot/ur5_moveit_config/config/sensors_kinect_pointcloud_robot.yaml deleted file mode 100644 index 70e8fd3..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/config/sensors_kinect_pointcloud_robot.yaml +++ /dev/null @@ -1,10 +0,0 @@ -# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it -sensors: - - filtered_cloud_topic: filtered_cloud_robot - max_range: 3.0 - max_update_rate: 2.0 - padding_offset: 0.1 - padding_scale: 1.0 - point_cloud_topic: /kinect_camera_robot/depth/points - point_subsample: 1 - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater \ No newline at end of file diff --git a/industrial_robots/universal_robot/ur5_moveit_config/config/ur5.srdf b/industrial_robots/universal_robot/ur5_moveit_config/config/ur5.srdf deleted file mode 100644 index 8d277ac..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/config/ur5.srdf +++ /dev/null @@ -1,76 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur5_moveit_config/launch/default_warehouse_db.launch b/industrial_robots/universal_robot/ur5_moveit_config/launch/default_warehouse_db.launch deleted file mode 100644 index 0399e72..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/launch/default_warehouse_db.launch +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur5_moveit_config/launch/demo.launch b/industrial_robots/universal_robot/ur5_moveit_config/launch/demo.launch deleted file mode 100644 index c4befef..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/launch/demo.launch +++ /dev/null @@ -1,46 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - [/move_group/fake_controller_joint_states] - - - - - - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur5_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/industrial_robots/universal_robot/ur5_moveit_config/launch/fake_moveit_controller_manager.launch.xml deleted file mode 100644 index 0487516..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/launch/fake_moveit_controller_manager.launch.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur5_moveit_config/launch/move_group.launch b/industrial_robots/universal_robot/ur5_moveit_config/launch/move_group.launch deleted file mode 100644 index 5e13ea3..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/launch/move_group.launch +++ /dev/null @@ -1,71 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur5_moveit_config/launch/moveit.rviz b/industrial_robots/universal_robot/ur5_moveit_config/launch/moveit.rviz deleted file mode 100644 index ac2e6ff..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/launch/moveit.rviz +++ /dev/null @@ -1,290 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 75 - Name: Displays - Property Tree Widget: - Expanded: - - /MotionPlanning1 - Splitter Ratio: 0.5 - Tree Height: 299 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Class: moveit_rviz_plugin/MotionPlanning - Enabled: true - Move Group Namespace: "" - MoveIt_Goal_Tolerance: 0 - MoveIt_Planning_Attempts: 10 - MoveIt_Planning_Time: 5 - MoveIt_Use_Constraint_Aware_IK: true - MoveIt_Warehouse_Host: 127.0.0.1 - MoveIt_Warehouse_Port: 33829 - MoveIt_Workspace: - Center: - X: 0 - Y: 0 - Z: 0 - Size: - X: 2 - Y: 2 - Z: 2 - Name: MotionPlanning - Planned Path: - Color Enabled: false - Interrupt Display: false - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - ee_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - forearm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - shoulder_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tool0: - Alpha: 1 - Show Axes: false - Show Trail: false - upper_arm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false - wrist_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wrist_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wrist_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Loop Animation: false - Robot Alpha: 0.5 - Robot Color: 150; 50; 150 - Show Robot Collision: false - Show Robot Visual: true - Show Trail: false - State Display Time: 0.05 s - Trajectory Topic: /move_group/display_planned_path - Planning Metrics: - Payload: 1 - Show Joint Torques: false - Show Manipulability: false - Show Manipulability Index: false - Show Weight Limit: false - TextHeight: 0.08 - Planning Request: - Colliding Link Color: 255; 0; 0 - Goal State Alpha: 1 - Goal State Color: 250; 128; 0 - Interactive Marker Size: 0.15 - Joint Violation Color: 255; 0; 255 - Planning Group: ur5_manipulator - Query Goal State: true - Query Start State: false - Show Workspace: false - Start State Alpha: 1 - Start State Color: 0; 255; 0 - Planning Scene Topic: move_group/monitored_planning_scene - Robot Description: robot_description - Scene Geometry: - Scene Alpha: 0.9 - Scene Color: 50; 230; 50 - Scene Display Time: 0.2 - Show Scene Geometry: true - Voxel Coloring: Z-Axis - Voxel Rendering: Occupied Voxels - Scene Robot: - Attached Body Color: 150; 50; 150 - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - ee_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - forearm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - shoulder_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tool0: - Alpha: 1 - Show Axes: false - Show Trail: false - upper_arm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false - wrist_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wrist_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wrist_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Robot Alpha: 1 - Show Robot Collision: false - Show Robot Visual: true - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: world - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 2.82854 - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.044143 - Y: -0.0136969 - Z: 0.0199439 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.465398 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.9954 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 997 - Hide Left Dock: false - Hide Right Dock: true - Motion Planning: - collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000027e0000038afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001b9000000d900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000001fc000001cb000001c000ffffff000000010000010f000002affc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002af000000af00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000022a00fffffffb0000000800540069006d006501000000000000045000000000000000000000040c0000038a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1680 - X: -10 - Y: 21 diff --git a/industrial_robots/universal_robot/ur5_moveit_config/launch/moveit_rviz.launch b/industrial_robots/universal_robot/ur5_moveit_config/launch/moveit_rviz.launch deleted file mode 100644 index c8216c7..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/launch/moveit_rviz.launch +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur5_moveit_config/launch/ompl_planning_pipeline.launch.xml b/industrial_robots/universal_robot/ur5_moveit_config/launch/ompl_planning_pipeline.launch.xml deleted file mode 100644 index 43eb59b..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/launch/ompl_planning_pipeline.launch.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur5_moveit_config/launch/planning_context.launch b/industrial_robots/universal_robot/ur5_moveit_config/launch/planning_context.launch deleted file mode 100644 index 593bf54..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/launch/planning_context.launch +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur5_moveit_config/launch/planning_pipeline.launch.xml b/industrial_robots/universal_robot/ur5_moveit_config/launch/planning_pipeline.launch.xml deleted file mode 100644 index 3d1cb92..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/launch/planning_pipeline.launch.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur5_moveit_config/launch/run_benchmark_ompl.launch b/industrial_robots/universal_robot/ur5_moveit_config/launch/run_benchmark_ompl.launch deleted file mode 100644 index 827ad98..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/launch/run_benchmark_ompl.launch +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur5_moveit_config/launch/sensor_manager.launch.xml b/industrial_robots/universal_robot/ur5_moveit_config/launch/sensor_manager.launch.xml deleted file mode 100644 index 9d751b0..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/launch/sensor_manager.launch.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur5_moveit_config/launch/setup_assistant.launch b/industrial_robots/universal_robot/ur5_moveit_config/launch/setup_assistant.launch deleted file mode 100644 index 4ca5f96..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/launch/setup_assistant.launch +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur5_moveit_config/launch/trajectory_execution.launch.xml b/industrial_robots/universal_robot/ur5_moveit_config/launch/trajectory_execution.launch.xml deleted file mode 100644 index 472bc6e..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/launch/trajectory_execution.launch.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur5_moveit_config/launch/ur5_moveit_controller_manager.launch.xml b/industrial_robots/universal_robot/ur5_moveit_config/launch/ur5_moveit_controller_manager.launch.xml deleted file mode 100644 index db01518..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/launch/ur5_moveit_controller_manager.launch.xml +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - diff --git a/industrial_robots/universal_robot/ur5_moveit_config/launch/ur5_moveit_planning_execution.launch b/industrial_robots/universal_robot/ur5_moveit_config/launch/ur5_moveit_planning_execution.launch deleted file mode 100644 index d2d6977..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/launch/ur5_moveit_planning_execution.launch +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur5_moveit_config/launch/ur5_moveit_sensor_manager.launch.xml b/industrial_robots/universal_robot/ur5_moveit_config/launch/ur5_moveit_sensor_manager.launch.xml deleted file mode 100644 index 5d02698..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/launch/ur5_moveit_sensor_manager.launch.xml +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/industrial_robots/universal_robot/ur5_moveit_config/launch/warehouse.launch b/industrial_robots/universal_robot/ur5_moveit_config/launch/warehouse.launch deleted file mode 100644 index 579786c..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/launch/warehouse.launch +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur5_moveit_config/launch/warehouse_settings.launch.xml b/industrial_robots/universal_robot/ur5_moveit_config/launch/warehouse_settings.launch.xml deleted file mode 100644 index d11aaeb..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/launch/warehouse_settings.launch.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur5_moveit_config/package.xml b/industrial_robots/universal_robot/ur5_moveit_config/package.xml deleted file mode 100644 index cd65074..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/package.xml +++ /dev/null @@ -1,33 +0,0 @@ - - - - ur5_moveit_config - 1.2.5 - - An automatically generated package with all the configuration and launch files for using the ur5 with the MoveIt Motion Planning Framework - - Felix Messmer - G.A. vd. Hoorn - Miguel Prada Sarasola - Nadia Hammoudeh Garcia - - BSD - - http://moveit.ros.org/ - https://github.com/ros-planning/moveit_setup_assistant/issues - https://github.com/ros-planning/moveit_setup_assistant - - moveit_ros_move_group - moveit_planners_ompl - moveit_ros_visualization - moveit_fake_controller_manager - moveit_simple_controller_manager - joint_state_publisher - robot_state_publisher - xacro - ur_description - - roslaunch - catkin - - diff --git a/industrial_robots/universal_robot/ur5_moveit_config/tests/moveit_planning_execution.xml b/industrial_robots/universal_robot/ur5_moveit_config/tests/moveit_planning_execution.xml deleted file mode 100644 index d566fa9..0000000 --- a/industrial_robots/universal_robot/ur5_moveit_config/tests/moveit_planning_execution.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_bringup/CHANGELOG.rst b/industrial_robots/universal_robot/ur_bringup/CHANGELOG.rst deleted file mode 100644 index a7cf703..0000000 --- a/industrial_robots/universal_robot/ur_bringup/CHANGELOG.rst +++ /dev/null @@ -1,58 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur_bringup -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* Update maintainer listing: add Miguel (`#410 `_) -* update maintainer and author information. -* Add roslaunch tests (`#362 `_) -* Using the 'doc' attribute on 'arg' elements. -* Contributors: gavanderhoorn, Harsh Deshpande, Nadia Hammoudeh García - -1.2.1 (2018-01-06) ------------------- -* Merge pull request `#322 `_ from gavanderhoorn/use_robot_state_publisher - driver: don't use deprecated robot_state binary. -* driver: don't use deprecated robot_state binary. -* Contributors: Felix Messmer, gavanderhoorn - -1.2.0 (2017-08-04) ------------------- - -1.1.9 (2017-01-02) ------------------- -* No changes. - -1.1.8 (2016-12-30) ------------------- -* all: update maintainers. -* Contributors: gavanderhoorn - -1.1.7 (2016-12-29) ------------------- -* Add prefix parameter in common launch -* Contributors: Yannick Jonetzko - -1.1.6 (2016-04-01) ------------------- -* provide launch files for ur3 -* Contributors: ipa-fxm - -1.0.2 (2014-03-31) ------------------- - -1.0.1 (2014-03-31) ------------------- -* adapt launch files in order to be able to use normal/limited xacro -* Contributors: ipa-fxm - -* Added definitions for adding tergets in install folder. Issue `#10 `_. -* Added definitions for adding tergets in install folder. Issue `#10 `_. -* Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages. -* Updated urdf files use collision/visual models. -* Added launch directory to bringup package. Left the old launch files to be backwards compatable for now. Updated driver with SwRI internal changes. Changed driver to accept ip address to match ROS-Industrial standard. IP addresses for industrial robots are typically fixed. Hostnames are not typically used (this is what the driver expected) -* Removed extra stl files and fixed indentions -* Renamed packages and new groovy version -* Added ur10 and renamed packages -* Contributors: IPR-SR2, Kelsey, Shaun Edwards, ipa-nhg, robot diff --git a/industrial_robots/universal_robot/ur_bringup/CMakeLists.txt b/industrial_robots/universal_robot/ur_bringup/CMakeLists.txt deleted file mode 100644 index 084a7d9..0000000 --- a/industrial_robots/universal_robot/ur_bringup/CMakeLists.txt +++ /dev/null @@ -1,14 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) - -project(ur_bringup) - -find_package(catkin REQUIRED) - -catkin_package() - -if (CATKIN_ENABLE_TESTING) - find_package(roslaunch REQUIRED) - roslaunch_add_file_check(tests/roslaunch_test.xml) -endif() - -install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/industrial_robots/universal_robot/ur_bringup/launch/ur10_bringup.launch b/industrial_robots/universal_robot/ur_bringup/launch/ur10_bringup.launch deleted file mode 100644 index 4cb9358..0000000 --- a/industrial_robots/universal_robot/ur_bringup/launch/ur10_bringup.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_bringup/launch/ur10_bringup_joint_limited.launch b/industrial_robots/universal_robot/ur_bringup/launch/ur10_bringup_joint_limited.launch deleted file mode 100644 index eb0b21d..0000000 --- a/industrial_robots/universal_robot/ur_bringup/launch/ur10_bringup_joint_limited.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_bringup/launch/ur3_bringup.launch b/industrial_robots/universal_robot/ur_bringup/launch/ur3_bringup.launch deleted file mode 100644 index 1ff49cb..0000000 --- a/industrial_robots/universal_robot/ur_bringup/launch/ur3_bringup.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_bringup/launch/ur3_bringup_joint_limited.launch b/industrial_robots/universal_robot/ur_bringup/launch/ur3_bringup_joint_limited.launch deleted file mode 100644 index 3194e5b..0000000 --- a/industrial_robots/universal_robot/ur_bringup/launch/ur3_bringup_joint_limited.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_bringup/launch/ur5_bringup.launch b/industrial_robots/universal_robot/ur_bringup/launch/ur5_bringup.launch deleted file mode 100644 index 5f9e0f0..0000000 --- a/industrial_robots/universal_robot/ur_bringup/launch/ur5_bringup.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_bringup/launch/ur5_bringup_joint_limited.launch b/industrial_robots/universal_robot/ur_bringup/launch/ur5_bringup_joint_limited.launch deleted file mode 100644 index ac39fcd..0000000 --- a/industrial_robots/universal_robot/ur_bringup/launch/ur5_bringup_joint_limited.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_bringup/launch/ur_common.launch b/industrial_robots/universal_robot/ur_bringup/launch/ur_common.launch deleted file mode 100644 index 6035a3a..0000000 --- a/industrial_robots/universal_robot/ur_bringup/launch/ur_common.launch +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_bringup/package.xml b/industrial_robots/universal_robot/ur_bringup/package.xml deleted file mode 100644 index 137cf3b..0000000 --- a/industrial_robots/universal_robot/ur_bringup/package.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - ur_bringup - 1.2.5 - The ur_bringup package - - Wim Meeussen - Shaun Edwards - Felix Messmer - G.A. vd. Hoorn - Miguel Prada Sarasola - Nadia Hammoudeh Garcia - - BSD - http://ros.org/wiki/ur_bringup - - catkin - roslaunch - tf2_ros - ur_description - ur_driver - robot_state_publisher - - - - diff --git a/industrial_robots/universal_robot/ur_bringup/tests/roslaunch_test.xml b/industrial_robots/universal_robot/ur_bringup/tests/roslaunch_test.xml deleted file mode 100644 index 3c80e05..0000000 --- a/industrial_robots/universal_robot/ur_bringup/tests/roslaunch_test.xml +++ /dev/null @@ -1,55 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_description/CHANGELOG.rst b/industrial_robots/universal_robot/ur_description/CHANGELOG.rst deleted file mode 100644 index 4f06065..0000000 --- a/industrial_robots/universal_robot/ur_description/CHANGELOG.rst +++ /dev/null @@ -1,123 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur_description -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* Add transmission_hw_interface to UR xacro and expose everywhere (`#392 `_) -* Update maintainer listing: add Miguel (`#410 `_) -* Updated xacro namespace. -* Update maintainer and author information. -* Updated mesh ambience so the model isn't so dark in Gazebo -* Fix overlapping variable names between robot definition files (`#356 `_) -* Improve meshes shading (`#233 `_) -* Added run_depend for xacro -* Using the 'doc' attribute on 'arg' elements. -* Enable self collision in gazebo -* Contributors: Dave Niewinski, Felix von Drigalski, Harsh Deshpande, Joe, Marcel Schnirring, Miguel Prada, MonteroJJ, ipa-fxm - -1.2.1 (2018-01-06) ------------------- -* Merge pull request `#329 `_ from tecnalia-medical-robotics/joint_limits - Homogenize xacro macro arguments. -* Merge pull request `#332 `_ from davetcoleman/kinetic_hw_iface_warning - Remove UR3 ROS Control Hardware Interface warning -* Remove UR3 ROS Control Hardware Interface warning -* Extend changes to '_robot.urdf.xacro' variants as well. -* Homogenize xacro macro arguments. - Joint limits for the limited version could be set using arguments for the UR10 - but not for the UR3 and UR5. Same lower and upper limit arguments are added to - the UR3 and UR5 xacro macros. -* Fix elbow joint limits (`#268 `_) -* Remove warning 'redefining global property: pi' (Jade+) (`#315 `_) -* Contributors: Beatriz Leon, Dave Coleman, Felix Messmer, Miguel Prada - -1.2.0 (2017-08-04) ------------------- - -1.1.9 (2017-01-02) ------------------- -* reintroduce 'pi', unbrake dependent xacros. -* use '--inorder' to trigger use of jade+ xacro on Indigo. -* Contributors: gavanderhoorn - -1.1.8 (2016-12-30) ------------------- -* all: update maintainers. -* Contributors: gavanderhoorn - -1.1.7 (2016-12-29) ------------------- -* Fix xacro warnings in Jade (`#251 `_) -* added default values to xacro macro -* tested joint limits modification -* Contributors: Dave Coleman, G.A. vd. Hoorn, philip 14.04 - -1.1.6 (2016-04-01) ------------------- -* unify mesh names -* add color to avoid default color 'red' for collision meshes -* use correct DH parameter + colored meshes -* introducing urdf for ur3 - first draft -* unify common xacro files -* remove obsolete urdf files -* description: add '_joint' suffix to newly introduced joint tags. - This is more in-line with naming of existing joint tags. -* description: add ROS-I base and tool0 frames. Fix `#49 `_ and `#95 `_. - Note that 'base' is essentially 'base_link' but rotated by 180 - degrees over the Z-axis. This is necessary as the visual and - collision geometries appear to also have their origins rotated - 180 degrees wrt the real robot. - 'tool0' is similar to 'ee_link', but with its orientation such - that it coincides with an all-zeros TCP setting on the UR - controller. Users are expected to attach their own TCP frames - to this frame, instead of updating it (see also [1]). - [1] http://wiki.ros.org/Industrial/Tutorials/WorkingWithRosIndustrialRobotSupportPackages#Standardised_links\_.2BAC8_frames -* description: minor whitespace cleanup of UR5 & 10 xacros. -* regenerate urdf files -* use PositionJointInterface as hardwareInterface in transmissions - affects simulation only -* Contributors: gavanderhoorn, ipa-fxm - -1.0.2 (2014-03-31) ------------------- - -1.0.1 (2014-03-31) ------------------- -* changes due to file renaming -* generate urdfs from latest xacros -* file renaming -* adapt launch files in order to be able to use normal/limited xacro -* fixed typo in limits -* add joint_limited urdf.xacros for both robots -* (re-)add ee_link for both robots -* updates for latest gazebo under hydro -* remove ee_link - as in ur10 -* use same xacro params as ur10 -* use new transmission interfaces -* update xml namespaces for hydro -* remove obsolete urdf file -* remove obsolete urdf file -* Contributors: ipa-fxm - -* Update ur10.urdf.xacro - Corrected UR10's urdf to faithfully represent joint effort thresholds, velocity limits, and dynamics parameters. -* Update ur5.urdf.xacro - Corrected effort thresholds and friction values for UR5 urdf. -* added corrected mesh file -* Added definitions for adding tergets in install folder. Issue `#10 `_. -* Corrected warning on xacro-files in hydro. -* Added definitions for adding tergets in install folder. Issue `#10 `_. -* Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages. -* fixed name of ur5 transmissions -* patched gazebo.urdf.xacro to be compatible with gazebo 1.5 -* fixed copy&paste error (?) -* prefix versions of gazebo and transmission macros -* Added joint limited urdf and associated moveit package. The joint limited package is friendlier to the default KLD IK solution -* Added ur5 moveit library. The Kinematics used by the ur5 move it library is unreliable and should be replaced with the ur_kinematics -* Updated urdf files use collision/visual models. -* Reorganized meshes to include both collision and visual messhes (like other ROS-I robots). Modified urdf xacro to include new models. Removed extra robot pedestal link from urdf (urdfs should only include the robot itself). -* minor changes on ur5 xacro files -* Removed extra stl files and fixed indentions -* Renamed packages and new groovy version -* Added ur10 and renamed packages -* Contributors: Denis Štogl, IPR-SR2, Kelsey, Mathias Lüdtke, Shaun Edwards, ipa-nhg, jrgnicho, kphawkins, robot diff --git a/industrial_robots/universal_robot/ur_description/CMakeLists.txt b/industrial_robots/universal_robot/ur_description/CMakeLists.txt deleted file mode 100644 index c6e9dc7..0000000 --- a/industrial_robots/universal_robot/ur_description/CMakeLists.txt +++ /dev/null @@ -1,132 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(ur_description) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -####################################### -## Declare ROS messages and services ## -####################################### - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs # Or other packages containing msgs -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES ur_description -# CATKIN_DEPENDS urdf -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -# include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}) - -## Declare a cpp library -# add_library(ur_description -# src/${PROJECT_NAME}/ur_description.cpp -# ) - -## Declare a cpp executable -# add_executable(ur_description_node src/ur_description_node.cpp) - -## Add cmake target dependencies of the executable/library -## as an example, message headers may need to be generated before nodes -# add_dependencies(ur_description_node ur_description_generate_messages_cpp) - -## Specify libraries to link a library or executable target against -# target_link_libraries(ur_description_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) -install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) -install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS ur_description ur_description_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_ur_description.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/industrial_robots/universal_robot/ur_description/cfg/view_robot.rviz b/industrial_robots/universal_robot/ur_description/cfg/view_robot.rviz deleted file mode 100644 index eca0bdc..0000000 --- a/industrial_robots/universal_robot/ur_description/cfg/view_robot.rviz +++ /dev/null @@ -1,184 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /RobotModel1 - - /TF1 - Splitter Ratio: 0.5 - Tree Height: 787 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - /base_link: - Value: true - /link_1: - Value: true - /link_2: - Value: true - /link_3: - Value: true - /link_4: - Value: true - /link_5: - Value: true - /link_6: - Value: true - /tool0: - Value: true - All Enabled: true - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - /base_link: - /link_1: - /link_2: - /link_3: - /link_4: - /link_5: - /link_6: - /tool0: - {} - Update Interval: 0 - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: /base_link - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 10 - Focal Point: - X: 0 - Y: 0 - Z: 0 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.115398 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.930399 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1000 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 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- Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1280 - X: 60 - Y: 60 diff --git a/industrial_robots/universal_robot/ur_description/launch/ur5_upload.launch b/industrial_robots/universal_robot/ur_description/launch/ur5_upload.launch deleted file mode 100644 index d71b2bb..0000000 --- a/industrial_robots/universal_robot/ur_description/launch/ur5_upload.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_description/launch/view_ur5.launch b/industrial_robots/universal_robot/ur_description/launch/view_ur5.launch deleted file mode 100644 index cae16db..0000000 --- a/industrial_robots/universal_robot/ur_description/launch/view_ur5.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_description/meshes/ur5/collision/base.stl b/industrial_robots/universal_robot/ur_description/meshes/ur5/collision/base.stl 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0.9153307 -0.4027032 7.43636e-6 0.9153016 -0.4027693 -2.46471e-5 0.9153516 -0.4026556 -2.13701e-6 0.9153169 -0.4027344 -3.08338e-6 0.9153146 -0.4027396 0 0.915312 -0.4027455 8.44067e-6 0.9152875 -0.4028014 -4.43057e-6 0.9153294 -0.4027062 -2.37641e-6 0.9153262 -0.4027133 -3.00184e-6 0.9153234 -0.4027197 -4.39311e-6 0.9152974 -0.4027787 -2.73739e-5 0.9152714 -0.4028377 -1.66073e-5 0.9153051 -0.4027613 5.54069e-5 0.9153617 -0.4026327 -8.67935e-5 0.9152346 -0.4029216 8.92912e-5 0.9153932 -0.4025611 -7.06007e-5 0.9152535 -0.4028787 -1.75282e-4 0.9152258 -0.4029412 2.56261e-5 0.91535 -0.4026591 -1.91248e-5 0.9152768 -0.4028255 2.25226e-4 0.9155316 -0.4022462 -2.67079e-6 0.9153139 -0.4027413 -4.6221e-7 0.9153079 -0.402755 -4.59984e-6 0.9153175 -0.4027332 1.44206e-5 0.9153409 -0.4026799 -2.37556e-5 0.9152836 -0.4028101 -3.23754e-6 0.9153105 -0.402749 - - - - - - - - - - - - - - -

0 0 1 1 2 2 3 3 4 4 5 5 5507 6 5386 7 8 8 8 8 5386 7 9 9 10 10 11 11 12 12 5386 7 5388 13 9 9 9 9 5388 13 12 12 9 9 12 12 14 14 14 14 12 12 11 11 3 3 5 5 15 15 16 16 17 17 18 18 18 18 17 17 19 19 18 18 5882 20 6014 21 16 16 18 18 22 22 22 22 18 18 6014 21 22 22 6014 21 6015 23 24 24 5827 25 18 18 18 18 5827 25 5828 26 18 18 5828 26 5882 20 27 27 28 28 29 29 29 29 30 30 27 27 27 27 30 30 31 31 27 27 31 31 24 24 24 24 31 31 32 32 24 24 32 32 5827 25 28 28 27 27 33 33 33 33 27 27 34 34 33 33 34 34 35 35 36 36 37 37 34 34 34 34 37 37 38 38 34 34 38 38 35 35 39 39 40 40 36 36 36 36 40 40 41 41 41 41 42 42 36 36 36 36 42 42 43 43 36 36 43 43 37 37 44 44 45 45 39 39 39 39 45 45 46 46 39 39 46 46 47 47 47 47 48 48 39 39 39 39 48 48 49 49 39 39 49 49 40 40 50 50 51 51 44 44 44 44 51 51 52 52 44 44 52 52 45 45 53 53 54 54 6179 55 53 53 56 56 54 54 54 54 56 56 57 57 54 54 57 57 6179 55 58 58 59 59 6179 55 6179 55 59 59 60 60 60 60 61 61 6179 55 6179 55 61 61 5822 62 55 63 62 63 5978 63 63 64 64 65 65 66 65 66 64 65 66 67 66 67 67 68 65 66 65 66 67 68 68 69 65 66 68 69 69 70 69 70 68 69 70 71 69 70 70 71 71 72 63 64 65 66 72 73 72 73 65 66 73 74 72 73 73 74 74 75 1 1 75 76 2 2 2 2 75 76 76 77 2 2 76 77 73 74 73 74 76 77 77 78 73 74 77 78 74 75 0 0 2 2 78 79 78 79 2 2 79 80 78 79 79 80 80 81 80 81 79 80 81 82 81 82 79 80 82 83 81 82 82 83 83 84 5388 13 6120 85 12 12 12 12 6120 85 7071 86 12 12 7071 86 82 83 82 83 7071 86 86 87 82 83 86 87 83 84 4 4 10 10 5 5 5 5 10 10 12 12 5 5 12 12 87 88 87 88 12 12 82 83 87 88 82 83 88 89 88 89 82 83 79 80 88 89 79 80 89 90 89 90 79 80 2 2 89 90 2 2 90 91 90 91 2 2 73 74 90 91 73 74 91 92 91 92 73 74 65 66 91 92 65 66 6179 55 6179 55 65 66 69 70 6179 55 69 70 58 58 58 58 69 70 71 72 19 19 15 15 18 18 18 18 15 15 5 5 18 18 5 5 24 24 24 24 5 5 87 88 24 24 87 88 27 27 27 27 87 88 88 89 27 27 88 89 34 34 34 34 88 89 89 90 34 34 89 90 36 36 36 36 89 90 90 91 36 36 90 91 39 39 39 39 90 91 91 92 39 39 91 92 44 44 44 44 91 92 6179 55 44 44 6179 55 50 50 50 50 6179 55 57 57 92 93 93 94 94 95 95 96 96 97 97 98 98 99 99 100 100 101 100 101 99 100 101 102 100 101 101 102 102 103 103 104 101 102 104 105 104 105 101 102 105 106 103 104 106 107 101 102 101 102 106 107 107 108 101 102 107 108 102 103 108 109 109 110 110 111 110 111 109 110 111 112 111 112 112 113 110 111 110 111 112 113 113 114 110 111 113 114 114 115 115 116 116 117 117 118 117 118 116 117 118 119 117 118 118 119 110 111 110 111 118 119 119 120 110 111 119 120 108 109 120 121 115 116 121 122 121 122 115 116 117 118 121 122 117 118 122 123 122 123 117 118 97 98 96 97 123 124 97 98 97 98 123 124 124 125 97 98 124 125 122 123 125 126 126 127 127 128 127 128 126 127 128 129 127 128 128 129 129 130 129 130 130 131 127 128 127 128 130 131 131 132 127 128 131 132 95 96 132 133 133 134 134 135 133 134 132 133 135 136 135 136 132 133 136 137 135 136 136 137 137 138 138 139 139 140 140 141 140 141 139 140 141 142 140 141 141 142 136 137 136 137 141 142 142 143 136 137 142 143 137 138 143 144 144 145 145 146 145 146 144 145 146 147 145 146 146 147 140 141 140 141 146 147 147 148 140 141 147 148 138 139 143 144 145 146 148 149 148 149 145 146 149 150 148 149 149 150 150 151 150 151 149 150 151 152 150 151 151 152 152 153 153 154 154 155 155 156 155 156 154 155 156 157 155 156 156 157 151 152 151 152 156 157 157 158 151 152 157 158 152 153 153 154 155 156 158 159 158 159 155 156 159 160 158 159 159 160 160 161 93 94 161 162 94 95 94 95 161 162 162 163 94 95 162 163 163 164 163 164 162 163 164 165 163 164 164 165 159 160 159 160 164 165 165 166 159 160 165 166 160 161 166 167 167 168 94 95 94 95 167 168 168 169 94 95 168 169 92 93 92 93 168 169 169 170 92 93 169 170 170 171 6023 172 172 173 173 174 173 174 172 173 6924 175 6405 176 176 177 177 178 177 178 176 177 178 179 177 178 178 179 179 180 6925 181 181 182 182 183 182 183 6933 184 6925 181 180 185 183 185 174 185 6925 181 6924 175 184 186 184 186 6924 175 172 173 184 186 172 173 185 187 186 188 187 189 188 190 188 190 187 189 189 191 188 190 189 191 190 192 190 192 189 191 191 193 190 192 191 193 172 173 172 173 191 193 192 194 172 173 192 194 185 187 186 188 188 190 193 195 193 195 188 190 194 196 193 195 194 196 195 197 196 198 197 199 194 196 194 196 197 199 198 200 194 196 198 200 195 197 199 201 200 202 196 198 196 198 200 202 201 203 196 198 201 203 197 199 202 204 203 205 199 201 199 201 203 205 204 206 199 201 204 206 200 202 205 207 206 208 202 204 202 204 206 208 207 209 202 204 207 209 203 205 98 99 208 210 99 100 99 100 208 210 209 211 99 100 209 211 205 207 205 207 209 211 210 212 205 207 210 212 206 208 179 180 166 167 177 178 177 178 166 167 94 95 177 178 94 95 211 213 211 213 94 95 163 164 211 213 163 164 212 214 212 214 163 164 159 160 212 214 159 160 213 215 213 215 159 160 155 156 213 215 155 156 214 216 214 216 155 156 151 152 214 216 151 152 215 217 215 217 151 152 149 150 215 217 149 150 216 218 216 218 149 150 145 146 216 218 145 146 217 219 217 219 145 146 140 141 217 219 140 141 218 220 218 220 140 141 136 137 218 220 136 137 219 221 219 221 136 137 132 133 95 96 97 98 127 128 127 128 97 98 117 118 127 128 117 118 220 222 220 222 117 118 110 111 220 222 110 111 101 102 101 102 110 111 114 115 101 102 114 115 105 106 6023 172 6405 176 172 173 172 173 6405 176 177 178 172 173 177 178 190 192 190 192 177 178 211 213 190 192 211 213 188 190 188 190 211 213 212 214 188 190 212 214 194 196 194 196 212 214 213 215 194 196 213 215 196 198 196 198 213 215 214 216 196 198 214 216 199 201 199 201 214 216 215 217 199 201 215 217 202 204 202 204 215 217 216 218 202 204 216 218 205 207 205 207 216 218 217 219 205 207 217 219 99 100 99 100 217 219 218 220 99 100 218 220 101 102 101 102 218 220 219 221 101 102 219 221 220 222 220 222 219 221 132 133 220 222 132 133 127 128 127 128 132 133 134 135 127 128 134 135 125 126 221 223 222 224 223 225 224 226 225 227 226 228 227 229 228 230 229 231 230 232 231 233 232 234 232 234 231 233 233 235 234 236 235 237 236 238 236 238 235 237 237 239 236 238 237 239 238 240 238 240 237 239 232 234 238 240 232 234 239 241 239 241 232 234 233 235 240 242 241 243 242 244 242 244 241 243 243 245 242 244 243 245 244 246 245 247 246 248 247 249 247 249 246 248 228 230 228 230 246 248 229 231 229 231 246 248 248 250 229 231 248 250 249 251 227 229 229 231 250 252 250 252 229 231 251 253 250 252 251 253 252 254 252 254 251 253 253 255 253 255 251 253 254 256 253 255 254 256 255 257 255 257 254 256 256 258 256 258 254 256 257 259 256 258 257 259 258 260 259 261 260 262 261 263 261 263 260 262 262 264 261 263 262 264 257 259 257 259 262 264 263 265 257 259 263 265 258 260 259 261 261 263 264 266 264 266 261 263 265 267 264 266 265 267 266 268 266 268 265 267 267 269 267 269 265 267 268 270 267 269 268 270 269 271 270 272 271 273 272 274 272 274 271 273 273 275 272 274 273 275 274 276 274 276 273 275 275 277 274 276 275 277 268 270 268 270 275 277 276 278 268 270 276 278 269 271 277 279 278 280 279 281 279 281 278 280 280 282 279 281 280 282 272 274 272 274 280 282 281 283 272 274 281 283 270 272 277 279 279 281 282 284 282 284 279 281 283 285 282 284 283 285 284 286 285 287 286 288 283 285 286 288 287 289 283 285 283 285 287 289 288 290 283 285 288 290 284 286 289 291 290 292 291 293 291 293 290 292 292 294 291 293 292 294 293 295 293 295 294 296 291 293 291 293 294 296 295 297 291 293 295 297 283 285 283 285 295 297 296 298 283 285 296 298 285 287 297 299 298 300 299 301 300 302 301 303 297 299 297 299 301 303 302 304 303 305 298 300 304 306 304 306 298 300 297 299 304 306 297 299 305 307 305 307 297 299 302 304 222 224 306 308 223 225 223 225 306 308 307 309 223 225 307 309 308 310 309 311 310 312 311 313 309 311 311 313 223 225 223 225 311 313 312 314 223 225 312 314 221 223 313 315 314 316 309 311 309 311 314 316 315 317 309 311 315 317 310 312 316 318 317 319 313 315 313 315 317 319 318 320 313 315 318 320 314 316 319 321 320 322 316 318 316 318 320 322 321 323 316 318 321 323 317 319 322 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469 354 469 354 470 479 470 480 470 354 471 480 471 481 471 466 472 482 472 350 472 350 473 482 473 483 473 350 474 483 474 404 474 484 475 485 475 383 475 383 476 485 476 486 476 383 477 486 477 411 477 481 478 487 478 354 478 354 479 487 479 488 479 354 480 488 480 489 480 489 352 490 352 354 352 354 481 490 481 491 481 354 482 491 482 415 482 455 352 492 352 456 352 456 483 492 483 493 483 456 484 493 484 494 484 459 485 495 485 360 485 360 486 495 486 496 486 360 487 496 487 497 487 497 488 498 488 360 488 360 489 498 489 499 489 360 490 499 490 366 490 469 491 500 491 383 491 383 492 500 492 501 492 383 493 501 493 484 493 475 494 502 494 383 494 383 495 502 495 503 495 383 496 503 496 504 496 504 352 505 352 383 352 383 497 505 497 506 497 383 498 506 498 507 498 507 352 508 352 383 352 383 352 508 352 509 352 383 352 509 352 510 352 494 499 511 499 456 499 456 500 511 500 512 500 456 501 512 501 513 501 514 352 515 352 516 352 516 502 515 502 509 502 510 503 509 503 517 503 517 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587 267 269 269 271 586 588 290 292 289 291 453 589 587 590 588 591 589 592 590 593 591 594 592 595 593 596 594 597 595 598 596 599 597 600 598 601 7071 86 599 602 600 603 15 15 601 604 602 605 6309 606 604 607 22 22 15 15 19 19 601 604 601 604 19 19 17 17 601 604 17 17 604 607 604 607 17 17 16 16 604 607 16 16 22 22 10 10 4 4 602 605 602 605 4 4 3 3 602 605 3 3 15 15 10 10 602 605 11 11 11 11 602 605 605 608 11 11 605 608 14 14 14 14 605 608 606 609 14 14 606 609 9 9 6034 610 5507 6 606 609 606 609 5507 6 8 8 606 609 8 8 9 9 85 611 84 612 6117 613 6117 613 84 612 13 614 6117 613 13 614 5387 615 608 616 83 84 86 87 1 1 0 0 609 617 609 617 0 0 78 79 78 79 80 81 608 616 608 616 80 81 81 82 608 616 81 82 83 84 77 78 76 77 610 618 610 618 76 77 609 617 609 617 76 77 75 76 609 617 75 76 1 1 70 619 68 619 611 619 611 620 68 620 67 620 611 621 67 68 612 622 612 622 67 68 66 67 612 622 66 67 64 65 64 65 63 64 612 622 612 622 63 64 72 73 612 622 72 73 610 618 610 618 72 73 74 75 610 618 74 75 77 78 5977 63 5821 63 613 623 5823 624 5822 62 61 61 5823 624 61 61 614 625 614 625 61 61 60 60 60 60 59 59 614 625 614 625 59 59 58 58 614 625 58 58 71 72 46 46 45 45 615 626 615 626 45 45 52 52 615 626 52 52 51 51 51 51 50 50 615 626 615 626 50 50 57 57 615 626 57 57 5823 624 5823 624 57 57 56 56 5823 624 56 56 53 53 40 40 616 627 617 628 47 47 5506 629 48 48 48 48 618 630 616 627 48 48 616 627 49 49 49 49 616 627 40 40 43 43 42 42 617 628 617 628 42 42 41 41 617 628 41 41 40 40 33 33 35 35 546 532 546 532 35 35 38 38 546 532 38 38 617 628 617 628 38 38 37 37 617 628 37 37 43 43 30 30 29 29 545 531 545 531 29 29 546 532 546 532 29 29 28 28 546 532 28 28 33 33 5827 25 32 32 545 531 545 531 32 32 31 31 545 531 31 31 30 30 6016 631 21 632 6276 633 6276 633 21 632 20 634 620 635 621 636 622 637 622 637 621 636 623 638 624 639 625 640 626 641 624 639 626 641 622 637 622 637 626 641 627 642 622 637 627 642 620 635 625 640 624 639 628 643 628 643 624 639 629 644 628 643 629 644 630 645 630 645 629 644 631 646 631 646 629 644 632 647 631 646 632 647 633 648 634 649 635 650 632 647 632 647 635 650 636 651 632 647 636 651 633 648 637 652 638 653 634 649 634 649 638 653 639 654 634 649 639 654 635 650 596 599 640 655 597 600 597 600 640 655 641 656 597 600 641 656 637 652 637 652 641 656 642 657 637 652 642 657 638 653 643 658 644 659 598 601 598 601 644 659 645 660 598 601 645 660 596 599 646 661 647 662 643 658 643 658 647 662 648 663 643 658 648 663 644 659 646 661 643 658 649 664 649 664 643 658 650 665 649 664 650 665 651 666 651 666 650 665 652 667 651 666 652 667 653 668 653 668 652 667 654 669 654 669 652 667 655 670 654 669 655 670 656 671 657 672 658 673 659 674 659 674 658 673 660 675 659 674 660 675 655 670 655 670 660 675 661 676 655 670 661 676 656 671 662 677 663 678 657 672 657 672 663 678 664 679 657 672 664 679 658 673 662 677 657 672 665 680 665 680 657 672 666 681 665 680 666 681 667 682 667 682 666 681 668 683 667 682 668 683 669 684 669 684 668 683 670 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1703 0 1696 0 1704 0 1704 1 1696 1 1697 1 1704 2 1697 2 1713 2 1757 3 1758 3 1763 3 1737 4 1783 4 1696 4 1696 5 1783 5 1793 5 1696 3 1793 3 1754 3 1713 6 1714 6 1704 6 1704 7 1714 7 1775 7 1704 8 1775 8 1747 8 1703 9 1753 9 1696 9 1696 10 1753 10 1766 10 1696 11 1766 11 1854 11 1747 12 18 12 1704 12 1704 13 18 13 19 13 1704 14 19 14 20 14 1758 3 1782 3 1763 3 1763 15 1782 15 1890 15 1763 16 1890 16 1855 16 1854 17 24 17 1696 17 1696 18 24 18 25 18 1696 19 25 19 1737 19 1754 20 26 20 1696 20 1696 21 26 21 1845 21 1696 22 1845 22 1788 22 1757 3 1763 3 1776 3 1776 3 1763 3 1771 3 1776 23 1771 23 31 23 20 24 1764 24 1704 24 1704 25 1764 25 1763 25 1704 3 1763 3 1792 3 1792 3 1763 3 1855 3 1801 26 2021 26 31 26 31 27 2021 27 1780 27 31 28 1780 28 1776 28 1788 3 37 3 1696 3 1696 29 37 29 38 29 1696 3 38 3 39 3 39 3 40 3 1696 3 1696 3 40 3 41 3 1696 3 41 3 42 3 42 3 43 3 1696 3 1696 30 43 30 2042 30 1696 31 2042 31 1831 31 2061 32 1699 33 44 33 44 33 1699 33 1976 34 44 33 1976 34 45 34 45 34 1976 34 1969 35 45 34 1969 35 1 35 1 35 1969 35 1970 36 1 35 1970 36 3 36 3 36 1970 36 2033 37 3 36 2033 37 4 37 4 37 2033 37 2036 38 4 37 2036 38 12 38 12 38 2036 38 2039 39 12 38 2039 39 13 40 13 40 2039 39 2044 41 13 40 2044 41 14 41 14 41 2044 41 2045 42 14 41 2045 42 1748 42 1748 42 2045 42 2060 43 1748 42 2060 43 1874 43 1874 43 2060 43 2055 44 1874 43 2055 44 1875 44 1875 44 2055 44 2052 45 1875 44 2052 45 32 45 32 45 2052 45 1935 46 32 45 1935 46 7 46 7 46 1935 46 1936 47 7 46 1936 47 30 47 30 47 1936 47 1944 48 30 47 1944 48 1800 48 1800 48 1944 48 1956 49 1800 48 1956 49 34 49 34 49 1956 49 1920 50 34 49 1920 50 35 50 35 50 1920 50 1921 51 35 50 1921 51 36 52 36 52 1921 51 1910 53 36 52 1910 53 29 53 29 53 1910 53 1911 54 29 53 1911 54 5 54 5 54 1911 54 182 55 5 54 182 55 6 55 6 55 182 55 1904 56 6 55 1904 56 21 56 21 56 1904 56 1909 57 21 56 1909 57 22 57 22 57 1909 57 1916 58 22 57 1916 58 23 58 23 58 1916 58 1917 59 23 58 1917 59 33 59 33 59 1917 59 1958 60 33 59 1958 60 2 60 2 60 1958 60 1951 61 2 60 1951 61 0 61 0 61 1951 61 1933 62 0 61 1933 62 15 62 15 62 1933 62 1885 63 15 62 1885 63 16 63 16 63 1885 63 1886 64 16 63 1886 64 17 64 17 64 1886 64 1888 65 17 64 1888 65 1828 65 1828 65 1888 65 1867 66 1828 65 1867 66 1738 66 1738 66 1867 66 1868 67 1738 66 1868 67 8 67 8 67 1868 67 1860 68 8 67 1860 68 9 68 9 68 1860 68 1853 69 9 68 1853 69 10 69 10 69 1853 69 1849 70 10 69 1849 70 11 70 11 70 1849 70 1850 71 11 70 1850 71 1755 71 1755 71 1850 71 199 72 1755 71 199 72 27 72 27 72 199 72 200 73 27 72 200 73 28 73 28 73 200 73 1978 74 28 73 1978 74 1789 74 1789 74 1978 74 2000 75 1789 74 2000 75 2026 75 2026 75 2000 75 1995 76 2026 75 1995 76 2027 76 2027 76 1995 76 1991 77 2027 76 1991 77 2029 77 2029 77 1991 77 205 78 2029 77 205 78 2051 78 2051 78 205 78 206 79 2051 78 206 79 2059 79 2059 79 206 79 1700 32 2059 79 1700 32 2061 32 2061 32 1700 32 1699 33 1721 80 1769 80 48 80 1822 81 50 81 51 81 1984 80 1983 80 48 80 54 82 55 82 1822 82 1822 80 55 80 56 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1791 110 79 110 84 80 1834 80 85 80 85 111 1834 111 1835 111 85 112 1835 112 1838 112 1971 113 1728 113 1977 113 1977 114 1728 114 1698 114 1977 115 1698 115 201 115 201 3 1698 3 1692 3 201 3 1692 3 202 3 202 116 1692 116 1693 116 202 3 1693 3 203 3 203 3 1693 3 1705 3 203 3 1705 3 204 3 204 3 1705 3 1706 3 204 3 1706 3 1992 3 1992 3 1706 3 1719 3 1992 3 1719 3 2024 3 2024 117 1719 117 1720 117 2024 118 1720 118 207 118 207 3 1720 3 970 3 207 119 970 119 162 119 162 120 970 120 1784 120 162 3 1784 3 163 3 163 121 1784 121 1781 121 163 122 1781 122 164 122 164 3 1781 3 1777 3 164 123 1777 123 165 123 165 3 1777 3 1739 3 165 3 1739 3 166 3 166 3 1739 3 1740 3 166 3 1740 3 167 3 167 124 1740 124 1742 124 167 3 1742 3 168 3 168 3 1742 3 1743 3 168 3 1743 3 169 3 169 125 1743 125 978 125 169 126 978 126 170 126 170 3 978 3 979 3 170 3 979 3 171 3 171 3 979 3 980 3 171 3 980 3 172 3 172 3 980 3 981 3 172 127 981 127 173 127 173 3 981 3 982 3 173 3 982 3 174 3 174 3 982 3 983 3 174 128 983 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63 59 63 59 62 58 2243 2313 2243 2313 62 58 2248 2318 2243 2313 2248 2318 2233 2303 2233 2303 2248 2318 2236 2306 2233 2303 2236 2306 1502 1551 1502 1551 2236 2306 2238 2308 1502 1551 2238 2308 1500 1549 1500 1549 2238 2308 1504 1553 2256 2326 2257 2327 2258 2328 2241 2311 2259 2329 2260 2330 2260 2330 2259 2329 2258 2328 2260 2330 2258 2328 2261 2331 2261 2331 2258 2328 2257 2327 2261 2331 2257 2327 74 76 77 80 76 78 1494 1543 1494 1543 76 78 2256 2326 1494 1543 2256 2326 2262 2332 2262 2332 2256 2326 2258 2328 2262 2332 2258 2328 1903 1963 1903 1963 2258 2328 2259 2329 76 78 75 77 2256 2326 2256 2326 75 77 53 46 2256 2326 53 46 2257 2327 2257 2327 53 46 52 45 2257 2327 52 45 74 76 83 87 82 86 2263 2333 2263 2333 82 86 79 82 623 666 1899 1959 1900 1960 1900 1960 1899 1959 2264 2334 1900 1960 2264 2334 2232 2302 2232 2302 2264 2334 2263 2333 2232 2302 2263 2333 1495 1544 1495 1544 2263 2333 79 82 1495 1544 79 82 80 84 87 92 86 91 2265 2335 2265 2335 86 91 85 90 635 678 1898 1958 625 668 625 668 1898 1958 2266 2336 625 668 2266 2336 1554 1603 1554 1603 2266 2336 2267 2337 1554 1603 2267 2337 2268 2338 2268 2338 2267 2337 2265 2335 2268 2338 2265 2335 2269 2339 2269 2339 2265 2335 85 90 2269 2339 85 90 84 89 631 674 1554 1603 1899 1959 1899 1959 1554 1603 2268 2338 1899 1959 2268 2338 2264 2334 2264 2334 2268 2338 2269 2339 2264 2334 2269 2339 2263 2333 2263 2333 2269 2339 84 89 2263 2333 84 89 83 87 81 85 78 81 1495 1544 1495 1544 78 81 1494 1543 1495 1544 1494 1543 2231 2301 2231 2301 1494 1543 2262 2332 2231 2301 2262 2332 1553 1602 1553 1602 2262 2332 1903 1963 1553 1602 1903 1963 606 649 606 649 1903 1963 607 650 74 76 73 75 2261 2331 2261 2331 73 75 72 74 2261 2331 72 74 2270 2340 2270 2340 72 74 69 68 2270 2340 69 68 70 70 2241 2311 2260 2330 2242 2312 2242 2312 2260 2330 2261 2331 2242 2312 2261 2331 2254 2324 2254 2324 2261 2331 2270 2340 2254 2324 2270 2340 2253 2323 2253 2323 2270 2340 70 70 2253 2323 70 70 71 71 2271 2341 1491 1540 2272 2342 1492 1541 1485 1534 2273 2343 2271 2341 1489 1538 2274 2344 2274 2344 1489 1538 1488 1537 2274 2344 1488 1537 2275 2345 1480 1529 2276 2346 2277 2347 2277 2347 2276 2346 2278 2348 2277 2347 2278 2348 2279 2349 2279 2349 2278 2348 2280 2350 2279 2349 2280 2350 1897 1957 641 684 640 683 1555 1604 1555 1604 640 683 2275 2345 1555 1604 2275 2345 2281 2351 2281 2351 2275 2345 1488 1537 2281 2351 1488 1537 2282 2352 2282 2352 1488 1537 1490 1539 2282 2352 1490 1539 2283 2353 2284 2354 2285 2355 2286 2356 2286 2356 2285 2355 2287 2357 2271 2341 2272 2342 1489 1538 1489 1538 2272 2342 2288 2358 1489 1538 2288 2358 1490 1539 1490 1539 2288 2358 2289 2359 1490 1539 2289 2359 2283 2353 88 94 1483 1532 89 95 89 95 1483 1532 1482 1531 89 95 1482 1531 90 97 90 97 1482 1531 91 98 1480 1529 92 99 2276 2346 2276 2346 92 99 93 101 2276 2346 93 101 94 102 94 102 91 98 2276 2346 2276 2346 91 98 1482 1531 2276 2346 1482 1531 2278 2348 2278 2348 1482 1531 1484 1533 2278 2348 1484 1533 2280 2350 2290 2360 104 116 51 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5606 405 5606 405 401 404 403 406 5606 405 403 406 404 407 404 407 403 406 405 408 404 407 405 408 406 409 406 409 405 408 407 410 406 409 407 410 5572 411 5572 411 407 410 409 412 5572 411 409 412 410 413 410 413 409 412 411 414 410 413 411 414 412 415 412 415 411 414 413 416 412 415 413 416 414 417 414 417 413 416 415 418 414 417 415 418 5099 419 5099 419 415 418 417 420 5099 419 417 420 5240 421 5240 421 417 420 419 422 5240 421 419 422 420 423 420 423 419 422 421 424 420 423 421 424 5272 425 421 424 423 426 5272 425 5272 425 423 426 424 427 5272 425 424 427 425 428 425 428 424 427 426 429 425 428 426 429 427 430 428 431 429 432 430 433 430 433 429 432 431 434 430 433 431 434 432 435 432 435 431 434 433 436 432 435 433 436 434 437 434 437 433 436 4880 438 434 437 4880 438 427 430 427 430 4880 438 436 439 427 430 436 439 425 428 428 431 437 440 429 432 429 441 437 441 438 441 429 432 438 442 4891 443 4891 443 438 442 440 444 274 274 5550 276 441 445 440 444 438 442 6190 446 6190 446 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641 629 640 631 642 5642 641 631 642 5460 633 5460 633 631 642 632 643 5460 633 632 643 623 634 5590 639 5702 644 626 637 626 637 5702 644 5703 645 626 637 5703 645 635 646 635 646 5703 645 5682 647 635 646 5682 647 637 648 637 648 5682 647 638 649 638 649 5682 647 5683 650 638 649 5683 650 640 651 640 651 5683 650 641 652 640 651 641 652 642 653 642 654 641 654 643 654 643 655 641 652 5766 656 643 655 5766 656 645 657 645 657 5766 656 5583 658 645 657 5583 658 647 659 647 659 5583 658 648 660 648 660 5583 658 5536 661 648 660 5536 661 650 662 650 662 5536 661 5539 663 650 662 5539 663 652 664 652 665 5539 665 653 665 653 666 5539 663 5453 667 653 666 5453 667 5454 668 5443 669 657 670 5416 671 5416 671 657 670 659 672 5416 671 659 672 5417 673 5417 673 659 672 661 674 5417 673 661 674 5454 668 5454 668 661 674 662 675 5454 668 662 675 653 666 6067 270 269 269 6237 676 6237 676 269 269 664 677 6237 676 664 677 6296 678 6296 678 664 677 666 679 6296 678 666 679 5443 669 5443 669 666 679 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0 0 1 1 2 2 2 2 1 1 3 3 2 2 3 3 4 4 4 4 3 3 5 5 4 4 5 5 6 6 2 2 7 7 0 0 0 0 7 7 8 8 0 0 8 8 9 9 9 9 8 8 10 10 8 8 11 11 10 10 10 10 11 11 12 12 10 10 12 12 13 13 13 13 12 12 14 14 13 13 14 14 15 15 16 16 17 17 18 18 18 18 17 17 6 6 18 18 6 6 5 5 19 19 20 20 21 21 21 21 20 20 22 22 21 21 22 22 23 23 24 24 25 25 26 26 27 27 28 28 29 29 29 29 28 28 30 30 29 29 30 30 26 26 26 26 30 30 31 31 26 26 31 31 24 24 32 32 33 33 34 34 25 25 24 24 34 34 34 34 24 24 35 35 34 34 35 35 32 32 20 20 19 19 36 36 33 33 32 32 36 36 36 36 32 32 37 37 36 36 37 37 20 20 18 18 5 5 38 38 38 38 5 5 3 3 3 3 1 1 38 38 38 38 1 1 0 0 38 38 0 0 9 9 9 9 10 10 38 38 38 38 10 10 13 13 38 38 13 13 39 39 39 39 13 13 15 15 38 38 40 40 18 18 18 41 40 41 41 41 18 18 41 42 16 16 16 16 41 42 42 43 16 16 42 43 43 44 44 45 45 45 46 45 47 46 48 46 49 46 50 47 51 47 49 47 52 48 53 48 46 48 49 49 54 49 55 49 56 50 57 50 58 50 46 51 49 51 59 51 53 52 60 52 46 52 46 53 60 53 61 53 46 54 61 54 62 54 62 55 63 55 46 55 46 56 63 56 64 56 46 57 64 57 65 57 66 58 46 58 67 58 67 59 46 59 68 59 66 60 69 60 46 60 46 61 69 61 70 61 46 62 70 62 44 62 71 63 72 63 46 63 46 64 73 64 49 64 49 65 73 65 74 65 49 66 74 66 75 66 75 67 76 67 49 67 49 68 76 68 77 68 49 69 77 69 54 69 78 70 79 70 49 70 49 71 79 71 80 71 49 72 80 72 47 72 81 73 82 73 49 73 49 74 82 74 83 74 59 75 84 75 46 75 46 76 84 76 85 76 46 77 85 77 86 77 86 78 87 78 46 78 46 79 87 79 88 79 46 80 88 80 52 80 65 81 89 81 46 81 46 82 89 82 90 82 46 83 90 83 91 83 92 84 93 84 46 84 46 85 94 85 95 85 55 86 96 86 49 86 49 87 96 87 97 87 49 88 97 88 98 88 99 89 100 89 49 89 49 90 100 90 101 90 49 91 101 91 102 91 48 92 103 92 49 92 49 93 103 93 104 93 49 94 104 94 105 94 106 95 107 95 49 95 49 96 107 96 108 96 49 97 108 97 109 97 109 98 110 98 49 98 49 99 110 99 111 99 49 100 111 100 81 100 83 101 112 101 49 101 49 102 112 102 113 102 49 103 113 103 114 103 114 104 115 104 49 104 49 105 115 105 116 105 49 106 116 106 50 106 51 107 117 107 49 107 49 108 117 108 118 108 49 109 118 109 119 109 119 110 120 110 49 110 49 111 120 111 121 111 49 112 121 112 58 112 122 113 58 113 123 113 123 114 124 114 122 114 122 115 124 115 125 115 122 116 125 116 126 116 126 117 127 117 122 117 122 118 127 118 128 118 122 119 128 119 129 119 122 120 130 120 58 120 58 121 130 121 131 121 58 122 131 122 132 122 57 123 133 123 58 123 58 124 133 124 134 124 58 125 134 125 49 125 91 126 135 126 46 126 46 127 135 127 136 127 46 128 136 128 68 128 93 129 137 129 46 129 46 130 137 130 138 130 46 131 138 131 71 131 72 132 139 132 46 132 46 133 139 133 140 133 46 134 140 134 94 134 98 135 141 135 49 135 49 136 141 136 142 136 49 137 142 137 143 137 102 138 144 138 49 138 49 139 144 139 145 139 49 140 145 140 78 140 105 141 146 141 49 141 49 142 146 142 147 142 49 143 147 143 106 143 148 144 149 144 150 144 150 145 151 145 148 145 148 146 151 146 152 146 148 147 152 147 153 147 154 148 155 148 46 148 46 149 155 149 156 149 46 150 156 150 92 150 95 151 157 151 46 151 46 152 157 152 158 152 46 153 158 153 159 153 159 154 160 154 46 154 46 155 160 155 161 155 46 156 161 156 162 156 163 157 164 157 165 157 49 158 166 158 167 158 168 159 169 159 49 159 49 160 169 160 170 160 49 161 170 161 171 161 171 162 172 162 49 162 49 163 172 163 173 163 49 164 173 164 174 164 129 165 175 165 122 165 122 166 175 166 176 166 122 167 176 167 177 167 177 168 178 168 122 168 122 169 178 169 179 169 122 170 179 170 180 170 181 171 182 171 183 171 148 172 184 172 185 172 45 173 186 173 46 173 46 174 186 174 187 174 46 175 187 175 188 175 162 176 189 176 46 176 46 177 189 177 190 177 46 178 190 178 191 178 192 179 193 179 194 179 195 180 196 180 197 180 198 181 199 181 165 181 165 182 199 182 200 182 165 183 200 183 201 183 143 184 202 184 49 184 49 185 202 185 203 185 49 186 203 186 166 186 167 187 204 187 49 187 49 188 204 188 205 188 49 189 205 189 168 189 174 190 206 190 49 190 49 191 206 191 207 191 49 192 207 192 99 192 153 193 208 193 148 193 148 194 208 194 209 194 148 195 209 195 184 195 180 196 210 196 122 196 122 197 210 197 148 197 122 198 148 198 211 198 211 199 148 199 185 199 132 200 212 200 58 200 58 201 212 201 213 201 58 202 213 202 214 202 214 203 215 203 58 203 58 204 215 204 216 204 58 205 216 205 217 205 188 206 218 206 46 206 46 207 218 207 219 207 46 208 219 208 154 208 220 209 221 209 165 209 165 210 221 210 222 210 165 211 222 211 223 211 164 212 224 212 165 212 165 213 224 213 225 213 165 214 225 214 198 214 191 215 226 215 46 215 46 216 226 216 165 216 46 217 165 217 227 217 227 218 165 218 201 218 228 219 229 219 230 219 230 220 229 220 231 220 217 221 232 221 58 221 58 222 232 222 233 222 58 223 233 223 56 223 220 224 165 224 194 224 194 225 165 225 234 225 194 226 234 226 192 226 193 227 235 227 194 227 194 228 235 228 236 228 194 229 236 229 237 229 238 230 239 230 196 230 196 231 239 231 240 231 196 232 240 232 197 232 223 233 241 233 165 233 165 234 241 234 242 234 165 235 242 235 163 235 243 236 244 236 183 236 183 237 244 237 245 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443 447 5118 276 5118 276 443 447 444 448 5118 276 444 448 441 445 4949 449 4955 450 447 451 447 451 4955 450 4980 452 447 451 4980 452 275 275 275 275 4980 452 449 453 275 275 449 453 5118 276 447 451 450 454 4949 449 4949 449 450 454 451 455 4949 449 451 455 4939 456 451 455 453 457 4939 456 4939 456 453 457 454 458 4939 456 454 458 4874 459 4874 459 454 458 456 460 4874 459 456 460 4800 461 4800 461 456 460 4801 462 459 463 460 464 461 465 461 465 460 464 4801 462 461 465 4801 462 462 466 462 466 4801 462 456 460 459 463 463 467 460 464 460 464 463 467 464 468 460 464 464 468 5261 469 5261 469 464 468 5262 470 5262 470 464 468 5250 471 5250 471 464 468 468 472 5250 471 468 472 5239 473 5239 473 468 472 470 474 5239 473 470 474 5240 475 5240 475 470 474 472 476 5240 475 472 476 473 477 472 476 474 478 473 477 473 477 474 478 475 479 473 477 475 479 476 480 476 480 475 479 477 481 476 480 477 481 478 482 478 482 477 481 479 483 478 482 479 483 4814 484 4814 484 479 483 481 485 4814 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567 559 566 560 567 4795 568 560 567 562 569 4795 568 4795 568 562 569 563 570 4795 568 563 570 4859 571 4859 571 563 570 565 572 4859 571 565 572 566 573 566 573 565 572 567 574 566 573 567 574 5173 575 37 37 5482 576 20 20 20 20 5482 576 5483 577 20 20 5483 577 22 22 22 22 5483 577 571 578 22 22 571 578 23 23 23 23 571 578 5465 579 23 23 5465 579 264 263 264 263 5465 579 5466 580 264 263 5466 580 574 581 574 581 5466 580 5173 575 574 581 5173 575 575 582 575 582 5173 575 567 574 37 583 32 583 5482 583 5482 576 32 32 35 35 5482 576 35 35 5461 584 5461 584 35 35 24 24 5461 584 24 24 31 31 31 31 30 30 5461 584 5461 584 30 30 28 28 5461 584 28 28 27 27 577 585 578 586 5484 587 27 27 580 588 5461 584 5461 589 580 589 581 589 5461 584 581 590 5464 591 5464 591 581 590 583 592 5464 591 583 592 5481 593 5481 593 583 592 585 594 5481 593 585 594 5484 587 5484 587 585 594 586 595 5484 587 586 595 577 585 587 596 588 597 589 598 589 598 588 597 590 599 589 598 590 599 591 600 591 600 590 599 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1981 41 45 41 45 41 1981 41 1974 42 45 41 1974 42 1 42 1 42 1974 42 1975 43 1 42 1975 43 3 43 3 43 1975 43 2038 44 3 43 2038 44 4 44 4 44 2038 44 2041 45 4 44 2041 45 12 45 12 45 2041 45 2044 46 12 45 2044 46 13 46 13 46 2044 46 2049 47 13 46 2049 47 14 47 14 47 2049 47 2050 48 14 47 2050 48 1749 48 1749 48 2050 48 2065 49 1749 48 2065 49 1879 49 1879 49 2065 49 2060 50 1879 49 2060 50 1880 50 1880 50 2060 50 2057 51 1880 50 2057 51 32 51 32 51 2057 51 1940 52 32 51 1940 52 7 52 7 52 1940 52 1941 53 7 52 1941 53 30 53 30 53 1941 53 1949 54 30 53 1949 54 1801 54 1801 54 1949 54 1961 55 1801 54 1961 55 34 55 34 55 1961 55 1925 56 34 55 1925 56 35 56 35 56 1925 56 1926 57 35 56 1926 57 36 57 36 57 1926 57 1915 58 36 57 1915 58 29 58 29 58 1915 58 1916 59 29 58 1916 59 5 59 5 59 1916 59 182 60 5 59 182 60 6 60 6 60 182 60 1909 61 6 60 1909 61 21 61 21 61 1909 61 1914 62 21 61 1914 62 22 62 22 62 1914 62 1921 63 22 62 1921 63 23 63 23 63 1921 63 1922 64 23 63 1922 64 33 64 33 64 1922 64 1963 65 33 64 1963 65 2 65 2 65 1963 65 1956 66 2 65 1956 66 0 66 0 66 1956 66 1938 67 0 66 1938 67 15 67 15 67 1938 67 1890 68 15 67 1890 68 16 68 16 68 1890 68 1891 69 16 68 1891 69 17 69 17 69 1891 69 1893 70 17 69 1893 70 1831 70 1831 70 1893 70 1872 71 1831 70 1872 71 1739 71 1739 71 1872 71 1873 72 1739 71 1873 72 8 72 8 72 1873 72 1865 73 8 72 1865 73 9 73 9 73 1865 73 1857 74 9 73 1857 74 10 74 10 74 1857 74 1852 75 10 74 1852 75 11 75 11 75 1852 75 1853 76 11 75 1853 76 1756 76 1756 76 1853 76 199 77 1756 76 199 77 27 77 27 77 199 77 200 78 27 77 200 78 28 78 28 78 200 78 1983 79 28 78 1983 79 1790 79 1790 79 1983 79 2005 80 1790 79 2005 80 2031 80 2031 80 2005 80 2000 81 2031 80 2000 81 2032 81 2032 81 2000 81 1996 82 2032 81 1996 82 2034 82 2034 82 1996 82 205 83 2034 82 205 83 2056 83 2056 83 205 83 206 84 2056 83 206 84 2064 84 2064 84 206 84 1700 39 2064 84 1700 39 2066 39 2066 39 1700 39 1699 40 1721 85 1770 85 48 85 1825 86 50 86 51 86 1989 87 1988 87 48 87 54 88 55 88 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0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 8 8 7 7 9 9 10 10 11 11 12 12 7 7 13 13 9 9 9 9 13 13 12 12 9 9 12 12 14 14 14 14 12 12 11 11 3 3 5 5 15 15 16 16 17 17 18 18 18 18 17 17 19 19 18 18 5572 20 5645 21 16 16 18 18 22 22 22 22 18 18 5645 21 22 22 5645 21 5646 23 24 24 5545 25 18 18 18 18 5545 25 5546 26 18 18 5546 26 5572 20 27 27 28 28 29 29 29 29 30 30 27 27 27 27 30 30 31 31 27 27 31 31 24 24 24 24 31 31 32 32 24 24 32 32 5545 25 28 28 27 27 33 33 33 33 27 27 34 34 33 33 34 34 35 35 36 36 37 37 34 34 34 34 37 37 38 38 34 34 38 38 35 35 39 39 40 40 36 36 36 36 40 40 41 41 41 41 42 42 36 36 36 36 42 42 43 43 36 36 43 43 37 37 44 44 45 45 39 39 39 39 45 45 46 46 39 39 46 46 47 47 47 47 48 48 39 39 39 39 48 48 49 49 39 39 49 49 40 40 50 50 51 51 44 44 44 44 51 51 52 52 44 44 52 52 45 45 53 53 54 54 5723 55 53 53 56 56 54 54 54 54 56 56 57 57 54 54 57 57 5723 55 58 58 59 59 5723 55 5723 55 59 59 60 60 60 60 61 61 5723 55 5723 55 61 61 5543 62 55 63 62 64 5625 64 63 65 64 66 65 67 65 67 64 66 66 68 66 68 67 69 65 67 65 67 67 69 68 70 65 67 68 70 69 71 69 71 68 70 70 72 69 71 70 72 71 73 63 65 65 67 72 74 72 74 65 67 73 75 72 74 73 75 74 76 1 1 75 77 2 2 2 2 75 77 76 78 2 2 76 78 73 75 73 75 76 78 77 79 73 75 77 79 74 76 0 0 2 2 78 80 78 80 2 2 79 81 78 80 79 81 80 82 80 82 79 81 81 83 81 83 79 81 82 84 81 83 82 84 83 85 13 13 84 86 12 12 12 12 84 86 85 87 12 12 85 87 82 84 82 84 85 87 86 88 82 84 86 88 83 85 4 4 10 10 5 5 5 5 10 10 12 12 5 5 12 12 87 89 87 89 12 12 82 84 87 89 82 84 88 90 88 90 82 84 79 81 88 90 79 81 89 91 89 91 79 81 2 2 89 91 2 2 90 92 90 92 2 2 73 75 90 92 73 75 91 93 91 93 73 75 65 67 91 93 65 67 5723 55 5723 55 65 67 69 71 5723 55 69 71 58 58 58 58 69 71 71 73 19 19 15 15 18 18 18 18 15 15 5 5 18 18 5 5 24 24 24 24 5 5 87 89 24 24 87 89 27 27 27 27 87 89 88 90 27 27 88 90 34 34 34 34 88 90 89 91 34 34 89 91 36 36 36 36 89 91 90 92 36 36 90 92 39 39 39 39 90 92 91 93 39 39 91 93 44 44 44 44 91 93 5723 55 44 44 5723 55 50 50 50 50 5723 55 57 57 92 94 93 95 94 96 95 97 96 98 97 99 98 100 99 101 100 102 100 102 99 101 101 103 100 102 101 103 102 104 103 105 101 103 104 106 104 106 101 103 105 107 103 105 106 108 101 103 101 103 106 108 107 109 101 103 107 109 102 104 108 110 109 111 110 112 110 112 109 111 111 113 111 113 112 114 110 112 110 112 112 114 113 115 110 112 113 115 114 116 115 117 116 118 117 119 117 119 116 118 118 120 117 119 118 120 110 112 110 112 118 120 119 121 110 112 119 121 108 110 120 122 115 117 121 123 121 123 115 117 117 119 121 123 117 119 122 124 122 124 117 119 97 99 96 98 123 125 97 99 97 99 123 125 124 126 97 99 124 126 122 124 125 127 126 128 127 129 127 129 126 128 128 130 127 129 128 130 129 131 129 131 130 132 127 129 127 129 130 132 131 133 127 129 131 133 95 97 132 134 133 135 134 136 133 135 132 134 135 137 135 137 132 134 136 138 135 137 136 138 137 139 138 140 139 141 140 142 140 142 139 141 141 143 140 142 141 143 136 138 136 138 141 143 142 144 136 138 142 144 137 139 143 145 144 146 145 147 145 147 144 146 146 148 145 147 146 148 140 142 140 142 146 148 147 149 140 142 147 149 138 140 143 145 145 147 148 150 148 150 145 147 149 151 148 150 149 151 150 152 150 152 149 151 151 153 150 152 151 153 152 154 153 155 154 156 155 157 155 157 154 156 156 158 155 157 156 158 151 153 151 153 156 158 157 159 151 153 157 159 152 154 153 155 155 157 158 160 158 160 155 157 159 161 158 160 159 161 160 162 93 95 161 163 94 96 94 96 161 163 162 164 94 96 162 164 163 165 163 165 162 164 164 166 163 165 164 166 159 161 159 161 164 166 165 167 159 161 165 167 160 162 166 168 167 169 94 96 94 96 167 169 168 170 94 96 168 170 92 94 92 94 168 170 169 171 92 94 169 171 170 172 5653 173 172 174 173 175 173 175 172 174 174 176 5809 177 176 178 177 179 177 179 176 178 178 180 177 179 178 180 179 181 180 182 181 183 182 184 182 184 183 185 180 182 180 182 183 185 174 176 180 182 174 176 184 186 184 186 174 176 172 174 184 186 172 174 185 187 186 188 187 188 188 189 188 189 187 188 189 190 188 189 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140 142 136 138 218 219 136 138 219 220 219 220 136 138 132 134 95 97 97 99 127 129 127 129 97 99 117 119 127 129 117 119 220 221 220 221 117 119 110 112 220 221 110 112 101 103 101 103 110 112 114 116 101 103 114 116 105 107 5653 173 5809 177 172 174 172 174 5809 177 177 179 172 174 177 179 190 191 190 191 177 179 211 212 190 191 211 212 188 189 188 189 211 212 212 213 188 189 212 213 194 195 194 195 212 213 213 214 194 195 213 214 196 197 196 197 213 214 214 215 196 197 214 215 199 200 199 200 214 215 215 216 199 200 215 216 202 203 202 203 215 216 216 217 202 203 216 217 205 206 205 206 216 217 217 218 205 206 217 218 99 101 99 101 217 218 218 219 99 101 218 219 101 103 101 103 218 219 219 220 101 103 219 220 220 221 220 221 219 220 132 134 220 221 132 134 127 129 127 129 132 134 134 136 127 129 134 136 125 127 221 222 222 223 223 224 224 225 225 226 226 227 227 228 228 229 229 230 230 231 231 232 232 233 232 233 231 232 233 234 234 235 235 236 236 237 236 237 235 236 237 238 236 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154 1007 154 1973 154 1973 3 1007 3 1727 3

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0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 8 8 7 7 9 9 10 10 11 11 12 12 7 7 13 13 9 9 9 9 13 13 12 12 9 9 12 12 14 14 14 14 12 12 11 11 3 3 5 5 15 15 16 16 17 17 18 18 18 18 17 17 19 19 18 18 5571 20 5644 21 16 16 18 18 22 22 22 22 18 18 5644 21 22 22 5644 21 5645 23 24 24 5544 25 18 18 18 18 5544 25 5545 26 18 18 5545 26 5571 20 27 27 28 28 29 29 29 29 30 30 27 27 27 27 30 30 31 31 27 27 31 31 24 24 24 24 31 31 32 32 24 24 32 32 5544 25 28 28 27 27 33 33 33 33 27 27 34 34 33 33 34 34 35 35 36 36 37 37 34 34 34 34 37 37 38 38 34 34 38 38 35 35 39 39 40 40 36 36 36 36 40 40 41 41 41 41 42 42 36 36 36 36 42 42 43 43 36 36 43 43 37 37 44 44 45 45 39 39 39 39 45 45 46 46 39 39 46 46 47 47 47 47 48 48 39 39 39 39 48 48 49 49 39 39 49 49 40 40 50 50 51 51 44 44 44 44 51 51 52 52 44 44 52 52 45 45 53 53 54 54 5722 55 53 53 56 56 54 54 54 54 56 56 57 57 54 54 57 57 5722 55 58 58 59 59 5722 55 5722 55 59 59 60 60 60 60 61 61 5722 55 5722 55 61 61 5542 62 55 63 62 64 5624 64 63 65 64 66 65 67 65 67 64 66 66 68 66 68 67 69 65 67 65 67 67 69 68 70 65 67 68 70 69 71 69 71 68 70 70 72 69 71 70 72 71 73 63 65 65 67 72 74 72 74 65 67 73 75 72 74 73 75 74 76 1 1 75 77 2 2 2 2 75 77 76 78 2 2 76 78 73 75 73 75 76 78 77 79 73 75 77 79 74 76 0 0 2 2 78 80 78 80 2 2 79 81 78 80 79 81 80 82 80 82 79 81 81 83 81 83 79 81 82 84 81 83 82 84 83 85 13 13 84 86 12 12 12 12 84 86 85 87 12 12 85 87 82 84 82 84 85 87 86 88 82 84 86 88 83 85 4 4 10 10 5 5 5 5 10 10 12 12 5 5 12 12 87 89 87 89 12 12 82 84 87 89 82 84 88 90 88 90 82 84 79 81 88 90 79 81 89 91 89 91 79 81 2 2 89 91 2 2 90 92 90 92 2 2 73 75 90 92 73 75 91 93 91 93 73 75 65 67 91 93 65 67 5722 55 5722 55 65 67 69 71 5722 55 69 71 58 58 58 58 69 71 71 73 19 19 15 15 18 18 18 18 15 15 5 5 18 18 5 5 24 24 24 24 5 5 87 89 24 24 87 89 27 27 27 27 87 89 88 90 27 27 88 90 34 34 34 34 88 90 89 91 34 34 89 91 36 36 36 36 89 91 90 92 36 36 90 92 39 39 39 39 90 92 91 93 39 39 91 93 44 44 44 44 91 93 5722 55 44 44 5722 55 50 50 50 50 5722 55 57 57 92 94 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Hoorn - Miguel Prada Sarasola - Nadia Hammoudeh Garcia - - BSD - - http://ros.org/wiki/ur_description - - catkin - joint_state_publisher - robot_state_publisher - rviz - urdf - xacro - - - - diff --git a/industrial_robots/universal_robot/ur_description/urdf/8ur5.urdf.xacro b/industrial_robots/universal_robot/ur_description/urdf/8ur5.urdf.xacro deleted file mode 100644 index fdd3392..0000000 --- a/industrial_robots/universal_robot/ur_description/urdf/8ur5.urdf.xacro +++ /dev/null @@ -1,780 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10 - 10 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - /ur5/vacuum_gripper - vacuum_gripper - grasping - 50 - 0.05 - 0.01 - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - /ur5/vacuum_gripper1 - vacuum_gripper1 - grasping1 - 50 - 0.05 - 0.01 - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - /ur5/vacuum_gripper2 - vacuum_gripper2 - grasping2 - 50 - 0.05 - 0.01 - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - /ur5/vacuum_gripper3 - vacuum_gripper3 - grasping2 - 50 - 0.05 - 0.01 - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - /ur5/vacuum_gripper4 - vacuum_gripper4 - grasping4 - 50 - 0.05 - 0.01 - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - /ur5/vacuum_gripper5 - vacuum_gripper5 - grasping5 - 50 - 0.05 - 0.01 - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - /ur5/vacuum_gripper6 - vacuum_gripper6 - grasping6 - 50 - 0.05 - 0.01 - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - /ur5/vacuum_gripper7 - vacuum_gripper7 - grasping7 - 50 - 0.05 - 0.01 - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - /ur5/vacuum_gripper8 - vacuum_gripper8 - grasping8 - 50 - 0.05 - 0.01 - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_description/urdf/common.gazebo.xacro b/industrial_robots/universal_robot/ur_description/urdf/common.gazebo.xacro deleted file mode 100644 index 46633c5..0000000 --- a/industrial_robots/universal_robot/ur_description/urdf/common.gazebo.xacro +++ /dev/null @@ -1,54 +0,0 @@ - - - - - - - - - - - - - - true - - - true - - - true - - - true - - - true - - - true - - - true - - - true - - - true - - - diff --git a/industrial_robots/universal_robot/ur_description/urdf/common_properties.urdf.xacro b/industrial_robots/universal_robot/ur_description/urdf/common_properties.urdf.xacro deleted file mode 100755 index 21dfee0..0000000 --- a/industrial_robots/universal_robot/ur_description/urdf/common_properties.urdf.xacro +++ /dev/null @@ -1,57 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_description/urdf/kinect.urdf.xacro b/industrial_robots/universal_robot/ur_description/urdf/kinect.urdf.xacro deleted file mode 100644 index b6db855..0000000 --- a/industrial_robots/universal_robot/ur_description/urdf/kinect.urdf.xacro +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/industrial_robots/universal_robot/ur_description/urdf/kinect_gazebo.xacro b/industrial_robots/universal_robot/ur_description/urdf/kinect_gazebo.xacro deleted file mode 100644 index 6aa552e..0000000 --- a/industrial_robots/universal_robot/ur_description/urdf/kinect_gazebo.xacro +++ /dev/null @@ -1,50 +0,0 @@ - - - - - - - - true - 20.0 - - ${60.0*M_PI/180.0} - - B8G8R8 - 640 - 480 - - - 0.05 - 8.0 - - - - 0.1 - true - 10 - ${camera_name} - rgb/image_raw - rgb/camera_info - depth/image_raw - depth/camera_info - depth/points - ${frame_name} - 0.3 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - - - - - - diff --git a/industrial_robots/universal_robot/ur_description/urdf/kinect_main.urdf.xacro b/industrial_robots/universal_robot/ur_description/urdf/kinect_main.urdf.xacro deleted file mode 100644 index 6c288a1..0000000 --- a/industrial_robots/universal_robot/ur_description/urdf/kinect_main.urdf.xacro +++ /dev/null @@ -1,92 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_description/urdf/kinect_properties.urdf.xacro b/industrial_robots/universal_robot/ur_description/urdf/kinect_properties.urdf.xacro deleted file mode 100644 index dc1913e..0000000 --- a/industrial_robots/universal_robot/ur_description/urdf/kinect_properties.urdf.xacro +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_description/urdf/kinect_robot.urdf.xacro b/industrial_robots/universal_robot/ur_description/urdf/kinect_robot.urdf.xacro deleted file mode 100644 index 85f194c..0000000 --- a/industrial_robots/universal_robot/ur_description/urdf/kinect_robot.urdf.xacro +++ /dev/null @@ -1,92 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_description/urdf/kinect_robot_properties.urdf.xacro b/industrial_robots/universal_robot/ur_description/urdf/kinect_robot_properties.urdf.xacro deleted file mode 100644 index edd9a9c..0000000 --- a/industrial_robots/universal_robot/ur_description/urdf/kinect_robot_properties.urdf.xacro +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_description/urdf/ur.gazebo.xacro b/industrial_robots/universal_robot/ur_description/urdf/ur.gazebo.xacro deleted file mode 100644 index 1029a8b..0000000 --- a/industrial_robots/universal_robot/ur_description/urdf/ur.gazebo.xacro +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - - true - - - true - - - true - - - true - - - true - - - true - - - true - - - - - diff --git a/industrial_robots/universal_robot/ur_description/urdf/ur.transmission.xacro b/industrial_robots/universal_robot/ur_description/urdf/ur.transmission.xacro deleted file mode 100644 index b85cc6e..0000000 --- a/industrial_robots/universal_robot/ur_description/urdf/ur.transmission.xacro +++ /dev/null @@ -1,68 +0,0 @@ - - - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - - diff --git a/industrial_robots/universal_robot/ur_description/urdf/ur5.urdf.xacro b/industrial_robots/universal_robot/ur_description/urdf/ur5.urdf.xacro deleted file mode 100644 index b028277..0000000 --- a/industrial_robots/universal_robot/ur_description/urdf/ur5.urdf.xacro +++ /dev/null @@ -1,776 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10 - 10 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - /ur5/vacuum_gripper - vacuum_gripper - grasping - 300 - 0.1 - 0.01 - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - /ur5/vacuum_gripper1 - vacuum_gripper1 - grasping1 - 300 - 0.1 - 0.01 - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - /ur5/vacuum_gripper2 - vacuum_gripper2 - grasping2 - 300 - 0.1 - 0.01 - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - /ur5/vacuum_gripper3 - vacuum_gripper3 - grasping2 - 300 - 0.1 - 0.01 - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - /ur5/vacuum_gripper4 - vacuum_gripper4 - grasping4 - 300 - 0.1 - 0.01 - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - /ur5/vacuum_gripper5 - vacuum_gripper5 - grasping5 - 300 - 0.1 - 0.01 - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - /ur5/vacuum_gripper6 - vacuum_gripper6 - grasping6 - 300 - 0.1 - 0.01 - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - /ur5/vacuum_gripper7 - vacuum_gripper7 - grasping7 - 300 - 0.1 - 0.01 - - - - - - 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - /ur5/vacuum_gripper8 - vacuum_gripper8 - grasping8 - 300 - 0.1 - 0.01 - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro b/industrial_robots/universal_robot/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro deleted file mode 100644 index 59c1182..0000000 --- a/industrial_robots/universal_robot/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_description/urdf/ur5_robot.urdf.xacro b/industrial_robots/universal_robot/ur_description/urdf/ur5_robot.urdf.xacro deleted file mode 100644 index 1c81fb5..0000000 --- a/industrial_robots/universal_robot/ur_description/urdf/ur5_robot.urdf.xacro +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_driver/CHANGELOG.rst b/industrial_robots/universal_robot/ur_driver/CHANGELOG.rst deleted file mode 100644 index 5412146..0000000 --- a/industrial_robots/universal_robot/ur_driver/CHANGELOG.rst +++ /dev/null @@ -1,85 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur_driver -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* Update maintainer listing: add Miguel (`#410 `_) -* update maintainer and author information. -* Contributors: gavanderhoorn - -1.2.1 (2018-01-06) ------------------- - -1.2.0 (2017-08-04) ------------------- - -1.1.9 (2017-01-02) ------------------- -* No changes. - -1.1.8 (2016-12-30) ------------------- -* all: update maintainers. -* Contributors: gavanderhoorn - -1.1.7 (2016-12-29) ------------------- -* No changes. - -1.1.6 (2016-04-01) ------------------- -* Moved SetIO FUN constants from driver.py to relevant srv file for easier interaction from other files -* Merge pull request `#170 `_ from ipa-fxm/prevent_programming - [Indigo] enable reconfigure and set_param side by side -* Merge pull request `#189 `_ from abubeck/157_for_indigo - port of PR `#157 `_ to indigo -* catkin_lint -* enable reconfigure and set_param side by side -* port of PR `#157 `_ to indigo -* driver: Factor out __send_message method. -* porting PR `#165 `_ to indigo -* dynamic reconfigure server for prevent_programming -* RobotStateRT V15 added to indigo_devw -* Changed variable params_mult to unique name in each socket_read instance. -* Fixed unpacking of MasterboardData_V30. -* Contributors: Alexander Bubeck, Dan Solomon, Maarten de Vries, Thomas Timm Andersen, Wouter van Oijen, abubeck, ipa-fxm, jeppewalther - -1.0.2 (2014-03-31) ------------------- - -1.0.1 (2014-03-31) ------------------- - -* Merge pull request `#25 `_ from ros-industrial/groovy-devel - Merging latest changed from groovy to hydro devel branch -* completed adding the workarounds from the original driver script -* ported modifications made to original driver script -* ur_driver: run_depend on trajectory_msgs. -* ur_driver: run_depend on beautifulsoup. Fix `#29 `_. -* Added keywords to arguments for new message instance of JointTrajectoryPoint(). - Arguments were previously "in order" but the keyword arguments are recommended as they are more resilient to msg changes. -* Add 1 sec throttle to unknown pkt warning. -* Fix formatting and sort list of unknown ptypes. -* Ignore unknown pkt types, instead of erroring out. - This change modifies the behaviour of the driver in case an - unknown packet type is encountered. Previously, the deserialisation - routine would raise an exception, which would cause the driver - to print an error and exit. - In the current implementation the unknown packet type(s) are - stored, their payload ignored, and the driver reports the fact that - unknown type(s) was/were received (with a request to report the - warning, ideally to the package maintainer). - This is not a solution for `#16 `_, although that issue prompted this - change. -* Added definitions for adding tergets in install folder. Issue `#10 `_. -* Merge branch 'groovy-devel' into groovy-dev -* Added definitions for adding tergets in install folder. Issue `#10 `_. -* Merge remote-tracking branch 'origin/master' into hydro-dev -* Fixed reference from ur5_driver to ur_driver in test_move.py -* patch for ur_driver/deserialize.py -* Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages. -* Added launch directory to bringup package. Left the old launch files to be backwards compatable for now. Updated driver with SwRI internal changes. Changed driver to accept ip address to match ROS-Industrial standard. IP addresses for industrial robots are typically fixed. Hostnames are not typically used (this is what the driver expected) -* Renamed packages and new groovy version -* Added ur10 and renamed packages -* Contributors: Christina Gomez, Damien Smeets, IPR-SR2, Kelsey, ROS-Industrial, Shaun Edwards, gavanderhoorn, ipa-nhg, robot, ros-industrial diff --git a/industrial_robots/universal_robot/ur_driver/CMakeLists.txt b/industrial_robots/universal_robot/ur_driver/CMakeLists.txt deleted file mode 100644 index b41109c..0000000 --- a/industrial_robots/universal_robot/ur_driver/CMakeLists.txt +++ /dev/null @@ -1,40 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(ur_driver) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS dynamic_reconfigure) - -catkin_python_setup() - - -generate_dynamic_reconfigure_options( - cfg/URDriver.cfg -) - -################################### -## catkin specific configuration ## -################################### -catkin_package( - CATKIN_DEPENDS dynamic_reconfigure -) - -############# -## Install ## -############# -install(PROGRAMS test_move.py test_io.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -install(PROGRAMS src/ur_driver/driver.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -install(FILES prog prog_reset - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -############# -## Testing ## -############# diff --git a/industrial_robots/universal_robot/ur_driver/cfg/URDriver.cfg b/industrial_robots/universal_robot/ur_driver/cfg/URDriver.cfg deleted file mode 100755 index 404d58a..0000000 --- a/industrial_robots/universal_robot/ur_driver/cfg/URDriver.cfg +++ /dev/null @@ -1,10 +0,0 @@ -#!/usr/bin/env python -PACKAGE = "ur_driver" - -from dynamic_reconfigure.parameter_generator_catkin import * - -gen = ParameterGenerator() - -gen.add("prevent_programming", bool_t, 0, "Prevent driver from continuously uploading 'prog'", False) - -exit(gen.generate(PACKAGE, "ur_driver", "URDriver")) diff --git a/industrial_robots/universal_robot/ur_driver/package.xml b/industrial_robots/universal_robot/ur_driver/package.xml deleted file mode 100644 index dc41849..0000000 --- a/industrial_robots/universal_robot/ur_driver/package.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - ur_driver - 1.2.5 - - Driver for the UR5/10 arm based on the Polyscope control scheme. - - - Stuart Glaser - Shaun Edwards - Felix Messmer - G.A. vd. Hoorn - Miguel Prada Sarasola - Nadia Hammoudeh Garcia - - BSD - http://ros.org/wiki/ur_driver - - catkin - dynamic_reconfigure - - rospy - actionlib - control_msgs - sensor_msgs - trajectory_msgs - ur_msgs - python-lxml - diff --git a/industrial_robots/universal_robot/ur_driver/prog b/industrial_robots/universal_robot/ur_driver/prog deleted file mode 100644 index 79bdc9c..0000000 --- a/industrial_robots/universal_robot/ur_driver/prog +++ /dev/null @@ -1,228 +0,0 @@ -def driverProg(): - HOSTNAME = "%(driver_hostname)s" - PORT = %(driver_reverseport)d - MSG_OUT = 1 - MSG_QUIT = 2 - MSG_JOINT_STATES = 3 - MSG_MOVEJ = 4 - MSG_WAYPOINT_FINISHED = 5 - MSG_STOPJ = 6 - MSG_SERVOJ = 7 - MSG_SET_PAYLOAD = 8 - MSG_WRENCH = 9 - MSG_SET_DIGITAL_OUT = 10 - MSG_GET_IO = 11 - MSG_SET_FLAG = 12 - MSG_SET_TOOL_VOLTAGE = 13 - MSG_SET_ANALOG_OUT = 14 - MULT_wrench = 10000.0 - MULT_payload = 1000.0 - MULT_jointstate = 10000.0 - MULT_time = 1000000.0 - MULT_blend = 1000.0 - MULT_analog = 1000000.0 - pi = 3.14159265359 - - def send_out(msg): - enter_critical - socket_send_int(MSG_OUT) - socket_send_string(msg) - socket_send_string("~") - exit_critical - end - - def send_waypoint_finished(waypoint_id): - enter_critical - socket_send_int(MSG_WAYPOINT_FINISHED) - socket_send_int(waypoint_id) - exit_critical - end - - - SERVO_IDLE = 0 - SERVO_RUNNING = 1 - cmd_servo_state = SERVO_IDLE - cmd_servo_id = 0 # 0 = idle, -1 = stop - cmd_servo_q = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - cmd_servo_dt = 0.0 - def set_servo_setpoint(id, q, dt): - enter_critical - cmd_servo_state = SERVO_RUNNING - cmd_servo_id = id - cmd_servo_q = q - cmd_servo_dt = dt - exit_critical - end - thread servoThread(): - state = SERVO_IDLE - while True: - # Latches the new command - enter_critical - q = cmd_servo_q - dt = cmd_servo_dt - id = cmd_servo_id - do_brake = False - if (state == SERVO_RUNNING) and (cmd_servo_state == SERVO_IDLE): - # No command pending - do_brake = True - end - state = cmd_servo_state - cmd_servo_state = SERVO_IDLE - exit_critical - - #do_brake = False - - # Executes the command - if do_brake: - #stopj(1.0) # TODO - send_out("Braking") - sync() - elif state == SERVO_RUNNING: - servoj(q, 0, 0, dt) - #send_out("Servoed") - else: - #send_out("Idle") - sync() - end - end - end - - socket_open(HOSTNAME, PORT) - send_out("hello") - - thread_servo = run servoThread() - - # Servoes in a circle - #movej([1.5,-0.4,-1.57,0,0,0], 3, 0.75, 1.0) - #t = 0 - #while True: - # q = [1.5,0,-1.57,0,0,0] - # q[0] = q[0] + 0.2 * sin(0.25 * t*(2*pi)) - # q[1] = q[1] - 0.2 + 0.2 * cos(0.25 * t*(2*pi)) - # #servoj(q, 3, 1, 0.08) - # #send_out("servoed") - # set_servo_setpoint(t, q, 0.08) - # t = t + 0.08 - # sleep(0.08) - #end - - while True: - #send_out("Listening") - ll = socket_read_binary_integer(1) - - if ll[0] == 0: - #send_out("Received nothing") - elif ll[0] > 1: - send_out("Received too many things") - else: - mtype = ll[1] - if mtype == MSG_QUIT: - send_out("Received QUIT") - break - elif mtype == MSG_MOVEJ: - send_out("Received movej") - params_movej = socket_read_binary_integer(1+6+4) - if params_movej[0] == 0: - send_out("Received no parameters for movej message") - end - - # Unpacks the parameters - waypoint_id = params_movej[1] - q = [params_movej[2] / MULT_jointstate, - params_movej[3] / MULT_jointstate, - params_movej[4] / MULT_jointstate, - params_movej[5] / MULT_jointstate, - params_movej[6] / MULT_jointstate, - params_movej[7] / MULT_jointstate] - a = params_movej[8] / MULT_jointstate - v = params_movej[9] / MULT_jointstate - t = params_movej[10] / MULT_time - r = params_movej[11] / MULT_blend - - # Sends the command - send_out("movej started") - movej(q, a, v, t, r) - send_waypoint_finished(waypoint_id) - send_out("movej finished") - elif mtype == MSG_SERVOJ: - # Reads the parameters - params_servoj = socket_read_binary_integer(1+6+1) - if params_servoj[0] == 0: - send_out("Received no parameters for movej message") - end - - # Unpacks the parameters - waypoint_id = params_servoj[1] - q = [params_servoj[2] / MULT_jointstate, - params_servoj[3] / MULT_jointstate, - params_servoj[4] / MULT_jointstate, - params_servoj[5] / MULT_jointstate, - params_servoj[6] / MULT_jointstate, - params_servoj[7] / MULT_jointstate] - t = params_servoj[8] / MULT_time - - # Servos - #servoj(q, 3, 0.1, t) - #send_waypoint_finished(waypoint_id) - set_servo_setpoint(waypoint_id, q, t) - elif mtype == MSG_SET_PAYLOAD: - params = socket_read_binary_integer(1) - if params[0] == 0: - send_out("Received no parameters for setPayload message") - end - - payload = params[1] / MULT_payload - #send_out(payload) - send_out("Received new payload") - set_payload(payload) - elif mtype == MSG_STOPJ: - send_out("Received stopj") - stopj(1.0) - elif mtype == MSG_SET_DIGITAL_OUT: - #send_out("Received Digital Out Signal") - # Reads the parameters - params_sdo = socket_read_binary_integer(2) - if params_sdo[0] == 0: - send_out("Received no parameters for set_digital_out message") - end - if params_sdo[2] > 0: - set_digital_out(params_sdo[1], True) - elif params_sdo[2] == 0: - set_digital_out(params_sdo[1], False) - end - elif mtype == MSG_SET_FLAG: - #send_out("Received Set Flag Signal") - # Reads the parameters - params_sf = socket_read_binary_integer(2) - if params_sf[0] == 0: - send_out("Received no parameters for set_flag message") - end - if params_sf[2] != 0: - set_flag(params_sf[1], True) - elif params_sf[2] == 0: - set_flag(params_sf[1], False) - end - elif mtype == MSG_SET_ANALOG_OUT: - #send_out("Received Analog Out Signal") - # Reads the parameters - params_sao = socket_read_binary_integer(2) - if params_sao[0] == 0: - send_out("Received no parameters for set_analog_out message") - end - set_analog_out(params_sao[1], (params_sao[2] / MULT_analog)) - elif mtype == MSG_SET_TOOL_VOLTAGE: - #send_out("Received Tool Voltage Signal") - # Reads the parameters (also reads second dummy '0' integer) - params_stv = socket_read_binary_integer(2) - if params_stv[0] == 0: - send_out("Received no parameters for set_tool_voltage message") - end - set_tool_voltage(params_stv[1]) - else: - send_out("Received unknown message type") - end - end - end - - socket_send_int(MSG_QUIT) -end diff --git a/industrial_robots/universal_robot/ur_driver/prog_reset b/industrial_robots/universal_robot/ur_driver/prog_reset deleted file mode 100644 index ce2c7a7..0000000 --- a/industrial_robots/universal_robot/ur_driver/prog_reset +++ /dev/null @@ -1,3 +0,0 @@ -def resetProg(): - sleep(0.0) -end diff --git a/industrial_robots/universal_robot/ur_driver/setup.py b/industrial_robots/universal_robot/ur_driver/setup.py deleted file mode 100644 index 581100e..0000000 --- a/industrial_robots/universal_robot/ur_driver/setup.py +++ /dev/null @@ -1,13 +0,0 @@ -#!/usr/bin/env python - -from distutils.core import setup -from catkin_pkg.python_setup import generate_distutils_setup - -d = generate_distutils_setup( - ## don't do this unless you want a globally visible script - # scripts=['bin/myscript'], - packages=['ur_driver'], - package_dir={'': 'src'} -) - -setup(**d) diff --git a/industrial_robots/universal_robot/ur_driver/src/ur_driver/__init__.py b/industrial_robots/universal_robot/ur_driver/src/ur_driver/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/industrial_robots/universal_robot/ur_driver/src/ur_driver/deserialize.py b/industrial_robots/universal_robot/ur_driver/src/ur_driver/deserialize.py deleted file mode 100755 index 4a88aa7..0000000 --- a/industrial_robots/universal_robot/ur_driver/src/ur_driver/deserialize.py +++ /dev/null @@ -1,372 +0,0 @@ -import struct - -class PackageType(object): - ROBOT_MODE_DATA = 0 - JOINT_DATA = 1 - TOOL_DATA = 2 - MASTERBOARD_DATA = 3 - CARTESIAN_INFO = 4 - KINEMATICS_INFO = 5 - CONFIGURATION_DATA = 6 - FORCE_MODE_DATA = 7 - ADDITIONAL_INFO = 8 - CALIBRATION_DATA = 9 - -class RobotMode(object): - RUNNING = 0 - FREEDRIVE = 1 - READY = 2 - INITIALIZING = 3 - SECURITY_STOPPED = 4 - EMERGENCY_STOPPED = 5 - FATAL_ERROR = 6 - NO_POWER = 7 - NOT_CONNECTED = 8 - SHUTDOWN = 9 - SAFEGUARD_STOP = 10 - -class JointMode(object): - PART_D_CALIBRATION = 237 - BACKDRIVE = 238 - POWER_OFF = 239 - EMERGENCY_STOPPED = 240 - CALVAL_INITIALIZATION = 241 - ERROR = 242 - FREEDRIVE = 243 - SIMULATED = 244 - NOT_RESPONDING = 245 - MOTOR_INITIALISATION = 246 - ADC_CALIBRATION = 247 - DEAD_COMMUTATION = 248 - BOOTLOADER = 249 - CALIBRATION = 250 - STOPPED = 251 - FAULT = 252 - RUNNING = 253 - INITIALIZATION = 254 - IDLE = 255 - -class ToolMode(object): - BOOTLOADER = 249 - RUNNING = 253 - IDLE = 255 - -class MasterSafetyState(object): - UNDEFINED = 0 - BOOTLOADER = 1 - FAULT = 2 - BOOTING = 3 - INITIALIZING = 4 - ROBOT_EMERGENCY_STOP = 5 - EXTERNAL_EMERGENCY_STOP = 6 - SAFEGUARD_STOP = 7 - OK = 8 - -class MasterOnOffState(object): - OFF = 0 - TURNING_ON = 1 - ON = 2 - TURNING_OFF = 3 - -#this class handles different protocol versions -class RobotModeData(object): - @staticmethod - def unpack(buf): - rmd = RobotModeData() - (plen, ptype) = struct.unpack_from("!IB", buf) - if plen == 29: - return RobotModeData_V18.unpack(buf) - elif plen == 38: - return RobotModeData_V30.unpack(buf) - else: - print "RobotModeData has wrong length: " + str(plen) - return rmd - -#this parses RobotModeData for versions <= v1.8 (i.e. 1.6, 1.7, 1.8) -class RobotModeData_V18(object): - __slots__ = ['timestamp', 'robot_connected', 'real_robot_enabled', - 'power_on_robot', 'emergency_stopped', - 'security_stopped', 'program_running', 'program_paused', - 'robot_mode', 'speed_fraction'] - @staticmethod - def unpack(buf): - rmd = RobotModeData_V18() - (_, _, - rmd.timestamp, rmd.robot_connected, rmd.real_robot_enabled, - rmd.power_on_robot, rmd.emergency_stopped, rmd.security_stopped, - rmd.program_running, rmd.program_paused, rmd.robot_mode, - rmd.speed_fraction) = struct.unpack_from("!IBQ???????Bd", buf) - return rmd - -#this parses RobotModeData for versions >=3.0 (i.e. 3.0) -class RobotModeData_V30(object): - __slots__ = ['timestamp', 'robot_connected', 'real_robot_enabled', - 'power_on_robot', 'emergency_stopped', - 'security_stopped', 'program_running', 'program_paused', - 'robot_mode', 'control_mode', 'target_speed_fraction', - 'speed_scaling'] - @staticmethod - def unpack(buf): - rmd = RobotModeData_V30() - (_, _, - rmd.timestamp, rmd.robot_connected, rmd.real_robot_enabled, - rmd.power_on_robot, rmd.emergency_stopped, rmd.security_stopped, - rmd.program_running, rmd.program_paused, rmd.robot_mode, rmd.control_mode, - rmd.target_speed_fraction, rmd.speed_scaling) = struct.unpack_from("!IBQ???????BBdd", buf) - return rmd - -#this parses JointData for all versions (i.e. 1.6, 1.7, 1.8, 3.0) -class JointData(object): - __slots__ = ['q_actual', 'q_target', 'qd_actual', - 'I_actual', 'V_actual', 'T_motor', 'T_micro', 'joint_mode'] - @staticmethod - def unpack(buf): - all_joints = [] - offset = 5 - for i in range(6): - jd = JointData() - (jd.q_actual, jd.q_target, jd.qd_actual, jd.I_actual, jd.V_actual, - jd.T_motor, jd.T_micro, - jd.joint_mode) = struct.unpack_from("!dddffffB", buf, offset) - offset += 41 - all_joints.append(jd) - return all_joints - -#this parses JointData for all versions (i.e. 1.6, 1.7, 1.8, 3.0) -class ToolData(object): - __slots__ = ['analog_input_range2', 'analog_input_range3', - 'analog_input2', 'analog_input3', - 'tool_voltage_48V', 'tool_output_voltage', 'tool_current', - 'tool_temperature', 'tool_mode'] - @staticmethod - def unpack(buf): - td = ToolData() - (_, _, - td.analog_input_range2, td.analog_input_range3, - td.analog_input2, td.analog_input3, - td.tool_voltage_48V, td.tool_output_voltage, td.tool_current, - td.tool_temperature, td.tool_mode) = struct.unpack_from("!IBbbddfBffB", buf) - return td - -#this class handles different protocol versions -class MasterboardData(object): - @staticmethod - def unpack(buf): - md = MasterboardData() - (plen, ptype) = struct.unpack_from("!IB", buf) - if (plen == 64) or (plen == 76): # Euromap67 interface = 12 bytes - return MasterboardData_V18.unpack(buf) - elif (plen == 72) or (plen == 92): # Euromap67 interface = 20 bytes - return MasterboardData_V30.unpack(buf) - else: - print "MasterboardData has wrong length: " + str(plen) - print "Euromap67Interface is ignored" - return md - -#this parses MasterboardData for versions <= v1.8 (i.e. 1.6, 1.7, 1.8) -class MasterboardData_V18(object): - __slots__ = ['digital_input_bits', 'digital_output_bits', - 'analog_input_range0', 'analog_input_range1', - 'analog_input0', 'analog_input1', - 'analog_output_domain0', 'analog_output_domain1', - 'analog_output0', 'analog_output1', - 'masterboard_temperature', - 'robot_voltage_48V', 'robot_current', - 'master_io_current', 'master_safety_state', - 'master_onoff_state']#subsequent slots related to 'euromap' ignored - @staticmethod - def unpack(buf): - md = MasterboardData_V18() - (_, _, - md.digital_input_bits, md.digital_output_bits, - md.analog_input_range0, md.analog_input_range1, - md.analog_input0, md.analog_input1, - md.analog_output_domain0, md.analog_output_domain1, - md.analog_output0, md.analog_output1, - md.masterboard_temperature, - md.robot_voltage_48V, md.robot_current, - md.master_io_current, md.master_safety_state, - md.master_onoff_state) = struct.unpack_from("!IBhhbbddbbddffffBB", buf) - return md - -#this parses MasterboardData for versions >=3.0 (i.e. 3.0) -class MasterboardData_V30(object): - __slots__ = ['digital_input_bits', 'digital_output_bits', - 'analog_input_range0', 'analog_input_range1', - 'analog_input0', 'analog_input1', - 'analog_output_domain0', 'analog_output_domain1', - 'analog_output0', 'analog_output1', - 'masterboard_temperature', - 'robot_voltage_48V', 'robot_current', - 'master_io_current', 'safety_mode', - 'in_reduced_mode']#subsequent slots related to 'euromap' ignored - @staticmethod - def unpack(buf): - md = MasterboardData_V30() - (_, _, - md.digital_input_bits, md.digital_output_bits, - md.analog_input_range0, md.analog_input_range1, - md.analog_input0, md.analog_input1, - md.analog_output_domain0, md.analog_output_domain1, - md.analog_output0, md.analog_output1, - md.masterboard_temperature, - md.robot_voltage_48V, md.robot_current, - md.master_io_current, md.safety_mode, - md.in_reduced_mode) = struct.unpack_from("!IBiibbddbbddffffBB", buf) - return md - -#this parses JointData for all versions (i.e. 1.6, 1.7, 1.8, 3.0) -class CartesianInfo(object): - __slots__ = ['x', 'y', 'z', 'rx', 'ry', 'rz'] - @staticmethod - def unpack(buf): - ci = CartesianInfo() - (_, _, - ci.x, ci.y, ci.z, ci.rx, ci.ry, ci.rz) = struct.unpack_from("!IB6d", buf) - return ci - -#this parses KinematicsInfo for versions (i.e. 1.8, 3.0) -#KinematicsInfo is not available in 1.6 and 1.7 -class KinematicsInfo(object): - @staticmethod - def unpack(buf): - return KinematicsInfo() - -#helper class for ConfigurationData -class JointLimitData(object): - __slots__ = ['min_limit', 'max_limit', 'max_speed', 'max_acceleration'] - -#this parses ConfigurationData for versions (i.e. 1.8, 3.0) -#ConfigurationData is not available in 1.6 and 1.7 -class ConfigurationData(object): - __slots__ = ['joint_limit_data', - 'v_joint_default', 'a_joint_default', - 'v_tool_default', 'a_tool_default', 'eq_radius', - 'dh_a', 'dh_d', 'dh_alpha', 'dh_theta', - 'masterboard_version', 'controller_box_type', - 'robot_type', 'robot_subtype']#in v1.8 there is an additional slot 'motor_type' for each joint, which currently is ignored! - @staticmethod - def unpack(buf): - cd = ConfigurationData() - cd.joint_limit_data = [] - for i in range(6): - jld = JointLimitData() - (jld.min_limit, jld.max_limit) = struct.unpack_from("!dd", buf, 5+16*i) - (jld.max_speed, jld.max_acceleration) = struct.unpack_from("!dd", buf, 5+16*6+16*i) - cd.joint_limit_data.append(jld) - (cd.v_joint_default, cd.a_joint_default, cd.v_tool_default, cd.a_tool_default, - cd.eq_radius) = struct.unpack_from("!ddddd", buf, 5+32*6) - (cd.masterboard_version, cd.controller_box_type, cd.robot_type, - cd.robot_subtype) = struct.unpack_from("!iiii", buf, 5+32*6+5*8+6*32) - return cd - -#this parses KinematicsInfo for versions (i.e. 1.8, 3.0) -#KinematicsInfo is not available in 1.6 and 1.7 -class ForceModeData(object): - __slots__ = ['x', 'y', 'z', 'rx', 'ry', 'rz', 'robot_dexterity'] - @staticmethod - def unpack(buf): - fmd = ForceModeData() - (_, _, fmd.x, fmd.y, fmd.z, fmd.rx, fmd.ry, fmd.rz, - fmd.robot_dexterity) = struct.unpack_from("!IBddddddd", buf) - return fmd - -#this class handles different protocol versions -class AdditionalInfo(object): - @staticmethod - def unpack(buf): - ai = AdditionalInfo() - (plen, ptype) = struct.unpack_from("!IB", buf) - if plen == 10: - return AdditionalInfoOld.unpack(buf) - elif plen == 7: - return AdditionalInfoNew.unpack(buf) - else: - print "AdditionalInfo has wrong length: " + str(plen) - return ai - -class AdditionalInfoOld(object): - __slots__ = ['ctrl_bits', 'teach_button'] - @staticmethod - def unpack(buf): - ai = AdditionalInfoOld() - (_,_,ai.ctrl_bits, ai.teach_button) = struct.unpack_from("!IBIB", buf) - return ai - -class AdditionalInfoNew(object): - __slots__ = ['teach_button_enabled','teach_button_pressed'] - @staticmethod - def unpack(buf): - ai = AdditionalInfoNew() - (_,_,ai.teach_button_enabled, ai.teach_button_pressed) = struct.unpack_from("!IBBB", buf) - return ai - - -class RobotState(object): - __slots__ = ['robot_mode_data', 'joint_data', 'tool_data', - 'masterboard_data', 'cartesian_info', - 'kinematics_info', 'configuration_data', - 'force_mode_data', 'additional_info', - 'unknown_ptypes'] - - def __init__(self): - self.unknown_ptypes = [] - - @staticmethod - def unpack(buf): - length, mtype = struct.unpack_from("!IB", buf) - if length != len(buf): - raise Exception("Could not unpack packet: length field is incorrect") - if mtype != 16: - if mtype == 20: - print "Likely a syntax error:" - print buf[:2048] - raise Exception("Fatal error when unpacking RobotState packet") - - rs = RobotState() - offset = 5 - while offset < len(buf): - length, ptype = struct.unpack_from("!IB", buf, offset) - assert offset + length <= len(buf) - package_buf = buffer(buf, offset, length) - offset += length - - if ptype == PackageType.ROBOT_MODE_DATA: - rs.robot_mode_data = RobotModeData.unpack(package_buf) - elif ptype == PackageType.JOINT_DATA: - rs.joint_data = JointData.unpack(package_buf) - elif ptype == PackageType.TOOL_DATA: - rs.tool_data = ToolData.unpack(package_buf) - elif ptype == PackageType.MASTERBOARD_DATA: - rs.masterboard_data = MasterboardData.unpack(package_buf) - elif ptype == PackageType.CARTESIAN_INFO: - rs.cartesian_info = CartesianInfo.unpack(package_buf) - elif ptype == PackageType.KINEMATICS_INFO: - rs.kinematics_info = KinematicsInfo.unpack(package_buf) - elif ptype == PackageType.CONFIGURATION_DATA: - rs.configuration_data = ConfigurationData.unpack(package_buf) - elif ptype == PackageType.FORCE_MODE_DATA: - rs.force_mode_data = ForceModeData.unpack(package_buf) - elif ptype == PackageType.ADDITIONAL_INFO: - rs.additional_info = AdditionalInfo.unpack(package_buf) - elif ptype == PackageType.CALIBRATION_DATA: - pass # internal data, should be skipped - else: - rs.unknown_ptypes.append(ptype) - return rs - -def pstate(o, indent=''): - for s in o.__slots__: - child = getattr(o, s, None) - if child is None: - print "%s%s: None" % (indent, s) - elif hasattr(child, '__slots__'): - print "%s%s:" % (indent, s) - pstate(child, indent + ' ') - elif hasattr(child, '__iter__'): - print "%s%s:" % (indent, s) - for i, c in enumerate(child): - print "%s [%i]:" % (indent, i) - pstate(c, indent + ' ') - else: - print "%s%s: %s" % (indent, s, child) diff --git a/industrial_robots/universal_robot/ur_driver/src/ur_driver/deserializeRT.py b/industrial_robots/universal_robot/ur_driver/src/ur_driver/deserializeRT.py deleted file mode 100644 index ff6750c..0000000 --- a/industrial_robots/universal_robot/ur_driver/src/ur_driver/deserializeRT.py +++ /dev/null @@ -1,418 +0,0 @@ -import struct -import copy - -#this class handles different protocol versions -class RobotStateRT(object): - @staticmethod - def unpack(buf): - rs = RobotStateRT() - (plen, ptype) = struct.unpack_from("!IB", buf) - if plen == 756: - return RobotStateRT_V15.unpack(buf) - elif plen == 812: - return RobotStateRT_V18.unpack(buf) - elif plen == 1044: - return RobotStateRT_V30.unpack(buf) - else: - print "RobotStateRT has wrong length: " + str(plen) - return rs - -#this parses RobotStateRT for versions = v1.5 -#http://wiki03.lynero.net/Technical/RealTimeClientInterface?foswiki_redirect_cache=9b4574b30760f720c6f79c5f1f2203dd -class RobotStateRT_V15(object): - __slots__ = ['time', - 'q_target', 'qd_target', 'qdd_target', 'i_target', 'm_target', - 'q_actual', 'qd_actual', 'i_actual', 'tool_acc_values', - 'unused', - 'tcp_force', 'tool_vector', 'tcp_speed', - 'digital_input_bits', 'motor_temperatures', 'controller_timer', - 'test_value'] - - @staticmethod - def unpack(buf): - offset = 0 - message_size = struct.unpack_from("!i", buf, offset)[0] - offset+=4 - if message_size != len(buf): - print("MessageSize: ", message_size, "; BufferSize: ", len(buf)) - raise Exception("Could not unpack RobotStateRT packet: length field is incorrect") - - rs = RobotStateRT_V15() - #time: 1x double (1x 8byte) - rs.time = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #q_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.q_target = copy.deepcopy(all_values) - - #qd_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qd_target = copy.deepcopy(all_values) - - #qdd_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qdd_target = copy.deepcopy(all_values) - - #i_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.i_target = copy.deepcopy(all_values) - - #m_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.m_target = copy.deepcopy(all_values) - - #q_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.q_actual = copy.deepcopy(all_values) - - #qd_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qd_actual = copy.deepcopy(all_values) - - #i_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.i_actual = copy.deepcopy(all_values) - - ### - - #tool_acc_values: 3x double (3x 8byte) - all_values = list(struct.unpack_from("!ddd",buf, offset)) - offset+=3*8 - rs.tool_acc_values = copy.deepcopy(all_values) - - #unused: 15x double (15x 8byte) - offset+=120 - rs.unused = [] - - #tcp_force: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tcp_force = copy.deepcopy(all_values) - - #tool_vector: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tool_vector = copy.deepcopy(all_values) - - #tcp_speed: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tcp_speed = copy.deepcopy(all_values) - - #digital_input_bits: 1x double (1x 8byte) ? - rs.digital_input_bits = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #motor_temperatures: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.motor_temperatures = copy.deepcopy(all_values) - - #controller_timer: 1x double (1x 8byte) - rs.controller_timer = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #test_value: 1x double (1x 8byte) - rs.test_value = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - return rs - - -#this parses RobotStateRT for versions <= v1.8 (i.e. 1.6, 1.7, 1.8) -class RobotStateRT_V18(object): - __slots__ = ['time', - 'q_target', 'qd_target', 'qdd_target', 'i_target', 'm_target', - 'q_actual', 'qd_actual', 'i_actual', 'tool_acc_values', - 'unused', - 'tcp_force', 'tool_vector', 'tcp_speed', - 'digital_input_bits', 'motor_temperatures', 'controller_timer', - 'test_value', - 'robot_mode', 'joint_modes'] - - @staticmethod - def unpack(buf): - offset = 0 - message_size = struct.unpack_from("!i", buf, offset)[0] - offset+=4 - if message_size != len(buf): - print("MessageSize: ", message_size, "; BufferSize: ", len(buf)) - raise Exception("Could not unpack RobotStateRT packet: length field is incorrect") - - rs = RobotStateRT_V18() - #time: 1x double (1x 8byte) - rs.time = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #q_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.q_target = copy.deepcopy(all_values) - - #qd_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qd_target = copy.deepcopy(all_values) - - #qdd_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qdd_target = copy.deepcopy(all_values) - - #i_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.i_target = copy.deepcopy(all_values) - - #m_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.m_target = copy.deepcopy(all_values) - - #q_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.q_actual = copy.deepcopy(all_values) - - #qd_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qd_actual = copy.deepcopy(all_values) - - #i_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.i_actual = copy.deepcopy(all_values) - - #tool_acc_values: 3x double (3x 8byte) - all_values = list(struct.unpack_from("!ddd",buf, offset)) - offset+=3*8 - rs.tool_acc_values = copy.deepcopy(all_values) - - #unused: 15x double (15x 8byte) - offset+=120 - rs.unused = [] - - #tcp_force: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tcp_force = copy.deepcopy(all_values) - - #tool_vector: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tool_vector = copy.deepcopy(all_values) - - #tcp_speed: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tcp_speed = copy.deepcopy(all_values) - - #digital_input_bits: 1x double (1x 8byte) ? - rs.digital_input_bits = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #motor_temperatures: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.motor_temperatures = copy.deepcopy(all_values) - - #controller_timer: 1x double (1x 8byte) - rs.controller_timer = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #test_value: 1x double (1x 8byte) - rs.test_value = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #robot_mode: 1x double (1x 8byte) - rs.robot_mode = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #joint_mode: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.joint_modes = copy.deepcopy(all_values) - - return rs - -#this parses RobotStateRT for versions >=3.0 (i.e. 3.0) -class RobotStateRT_V30(object): - __slots__ = ['time', - 'q_target', 'qd_target', 'qdd_target', 'i_target', 'm_target', - 'q_actual', 'qd_actual', 'i_actual', 'i_control', - 'tool_vector_actual', 'tcp_speed_actual', 'tcp_force', - 'tool_vector_target', 'tcp_speed_target', - 'digital_input_bits', 'motor_temperatures', 'controller_timer', - 'test_value', - 'robot_mode', 'joint_modes', 'safety_mode', - #6xd: unused - 'tool_acc_values', - #6xd: unused - 'speed_scaling', 'linear_momentum_norm', - #2xd: unused - 'v_main', 'v_robot', 'i_robot', 'v_actual'] - - @staticmethod - def unpack(buf): - offset = 0 - message_size = struct.unpack_from("!i", buf, offset)[0] - offset+=4 - if message_size != len(buf): - print("MessageSize: ", message_size, "; BufferSize: ", len(buf)) - raise Exception("Could not unpack RobotStateRT packet: length field is incorrect") - - rs = RobotStateRT_V30() - #time: 1x double (1x 8byte) - rs.time = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #q_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.q_target = copy.deepcopy(all_values) - - #qd_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qd_target = copy.deepcopy(all_values) - - #qdd_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qdd_target = copy.deepcopy(all_values) - - #i_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.i_target = copy.deepcopy(all_values) - - #m_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.m_target = copy.deepcopy(all_values) - - #q_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.q_actual = copy.deepcopy(all_values) - - #qd_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qd_actual = copy.deepcopy(all_values) - - #i_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.i_actual = copy.deepcopy(all_values) - - #i_control: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.i_control = copy.deepcopy(all_values) - - #tool_vector_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tool_vector_actual = copy.deepcopy(all_values) - - #tcp_speed_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tcp_speed_actual = copy.deepcopy(all_values) - - #tcp_force: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tcp_force = copy.deepcopy(all_values) - - #tool_vector_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tool_vector_target = copy.deepcopy(all_values) - - #tcp_speed_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tcp_speed_target = copy.deepcopy(all_values) - - #digital_input_bits: 1x double (1x 8byte) ? - rs.digital_input_bits = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #motor_temperatures: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.motor_temperatures = copy.deepcopy(all_values) - - #controller_timer: 1x double (1x 8byte) - rs.controller_timer = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #test_value: 1x double (1x 8byte) - rs.test_value = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #robot_mode: 1x double (1x 8byte) - rs.robot_mode = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #joint_modes: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.joint_modes = copy.deepcopy(all_values) - - #safety_mode: 1x double (1x 8byte) - rs.safety_mode = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #unused: 6x double (6x 8byte) - offset+=48 - - #tool_acc_values: 3x double (3x 8byte) - all_values = list(struct.unpack_from("!ddd",buf, offset)) - offset+=3*8 - rs.tool_acc_values = copy.deepcopy(all_values) - - #unused: 6x double (6x 8byte) - offset+=48 - - #speed_scaling: 1x double (1x 8byte) - rs.speed_scaling = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #linear_momentum_norm: 1x double (1x 8byte) - rs.linear_momentum_norm = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #unused: 2x double (2x 8byte) - offset+=16 - - #v_main: 1x double (1x 8byte) - rs.v_main = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #v_robot: 1x double (1x 8byte) - rs.v_robot = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #i_robot: 1x double (1x 8byte) - rs.i_robot = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #v_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.v_actual = copy.deepcopy(all_values) - - return rs diff --git a/industrial_robots/universal_robot/ur_driver/src/ur_driver/driver.py b/industrial_robots/universal_robot/ur_driver/src/ur_driver/driver.py deleted file mode 100755 index 20e25f3..0000000 --- a/industrial_robots/universal_robot/ur_driver/src/ur_driver/driver.py +++ /dev/null @@ -1,1018 +0,0 @@ -#!/usr/bin/env python -import roslib; roslib.load_manifest('ur_driver') -import time, sys, threading, math -import copy -import datetime -import socket, select -import struct -import traceback, code -import optparse -import SocketServer - -import rospy -import actionlib -from sensor_msgs.msg import JointState -from control_msgs.msg import FollowJointTrajectoryAction -from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint -from geometry_msgs.msg import WrenchStamped - -from dynamic_reconfigure.server import Server -from ur_driver.cfg import URDriverConfig - -from ur_driver.deserialize import RobotState, RobotMode -from ur_driver.deserializeRT import RobotStateRT - -from ur_msgs.srv import SetPayload, SetIO -from ur_msgs.msg import * - -# renaming classes -DigitalIn = Digital -DigitalOut = Digital -Flag = Digital - -prevent_programming = False - -# Joint offsets, pulled from calibration information stored in the URDF -# -# { "joint_name" : offset } -# -# q_actual = q_from_driver + offset -joint_offsets = {} - -PORT=30002 # 10 Hz, RobotState -RT_PORT=30003 #125 Hz, RobotStateRT -DEFAULT_REVERSE_PORT = 50001 #125 Hz, custom data (from prog) - -MSG_OUT = 1 -MSG_QUIT = 2 -MSG_JOINT_STATES = 3 -MSG_MOVEJ = 4 -MSG_WAYPOINT_FINISHED = 5 -MSG_STOPJ = 6 -MSG_SERVOJ = 7 -MSG_SET_PAYLOAD = 8 -MSG_WRENCH = 9 -MSG_SET_DIGITAL_OUT = 10 -MSG_GET_IO = 11 -MSG_SET_FLAG = 12 -MSG_SET_TOOL_VOLTAGE = 13 -MSG_SET_ANALOG_OUT = 14 -MULT_payload = 1000.0 -MULT_wrench = 10000.0 -MULT_jointstate = 10000.0 -MULT_time = 1000000.0 -MULT_blend = 1000.0 -MULT_analog = 1000000.0 -MULT_analog_robotstate = 0.1 - -#Max Velocity accepted by ur_driver -MAX_VELOCITY = 10.0 -#Using a very high value in order to not limit execution of trajectories being sent from MoveIt! - -#Bounds for SetPayload service -MIN_PAYLOAD = 0.0 -MAX_PAYLOAD = 1.0 -#Using a very conservative value as it should be set throught the parameter server - - -IO_SLEEP_TIME = 0.05 - -JOINT_NAMES = ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', - 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'] - -Q1 = [2.2,0,-1.57,0,0,0] -Q2 = [1.5,0,-1.57,0,0,0] -Q3 = [1.5,-0.2,-1.57,0,0,0] - - -connected_robot = None -connected_robot_lock = threading.Lock() -connected_robot_cond = threading.Condition(connected_robot_lock) -last_joint_states = None -last_joint_states_lock = threading.Lock() -pub_joint_states = rospy.Publisher('joint_states', JointState, queue_size=1) -pub_wrench = rospy.Publisher('wrench', WrenchStamped, queue_size=1) -pub_io_states = rospy.Publisher('io_states', IOStates, queue_size=1) -#dump_state = open('dump_state', 'wb') - -class EOF(Exception): pass - -def dumpstacks(): - id2name = dict([(th.ident, th.name) for th in threading.enumerate()]) - code = [] - for threadId, stack in sys._current_frames().items(): - code.append("\n# Thread: %s(%d)" % (id2name.get(threadId,""), threadId)) - for filename, lineno, name, line in traceback.extract_stack(stack): - code.append('File: "%s", line %d, in %s' % (filename, lineno, name)) - if line: - code.append(" %s" % (line.strip())) - print "\n".join(code) - -def log(s): - print "[%s] %s" % (datetime.datetime.now().strftime('%Y-%m-%d %H:%M:%S.%f'), s) - - -RESET_PROGRAM = '''def resetProg(): - sleep(0.0) -end -''' -#RESET_PROGRAM = '' - -class URConnection(object): - TIMEOUT = 1.0 - - DISCONNECTED = 0 - CONNECTED = 1 - READY_TO_PROGRAM = 2 - EXECUTING = 3 - - def __init__(self, hostname, port, program): - self.__thread = None - self.__sock = None - self.robot_state = self.DISCONNECTED - self.hostname = hostname - self.port = port - self.program = program - self.last_state = None - - def connect(self): - if self.__sock: - self.disconnect() - self.__buf = "" - self.robot_state = self.CONNECTED - self.__sock = socket.create_connection((self.hostname, self.port)) - self.__keep_running = True - self.__thread = threading.Thread(name="URConnection", target=self.__run) - self.__thread.daemon = True - self.__thread.start() - - def send_program(self): - global prevent_programming - if prevent_programming: - rospy.loginfo("Programming is currently prevented") - return - assert self.robot_state in [self.READY_TO_PROGRAM, self.EXECUTING] - rospy.loginfo("Programming the robot at %s" % self.hostname) - self.__sock.sendall(self.program) - self.robot_state = self.EXECUTING - - def send_reset_program(self): - self.__sock.sendall(RESET_PROGRAM) - self.robot_state = self.READY_TO_PROGRAM - - def disconnect(self): - if self.__thread: - self.__keep_running = False - self.__thread.join() - self.__thread = None - if self.__sock: - self.__sock.close() - self.__sock = None - self.last_state = None - self.robot_state = self.DISCONNECTED - - def ready_to_program(self): - return self.robot_state in [self.READY_TO_PROGRAM, self.EXECUTING] - - def __trigger_disconnected(self): - log("Robot disconnected") - self.robot_state = self.DISCONNECTED - def __trigger_ready_to_program(self): - rospy.loginfo("Robot ready to program") - def __trigger_halted(self): - log("Halted") - - def __on_packet(self, buf): - state = RobotState.unpack(buf) - self.last_state = state - #import deserialize; deserialize.pstate(self.last_state) - - #log("Packet. Mode=%s" % state.robot_mode_data.robot_mode) - - if not state.robot_mode_data.real_robot_enabled: - rospy.logfatal("Real robot is no longer enabled. Driver is fuxored") - time.sleep(2) - sys.exit(1) - - ### - # IO-Support is EXPERIMENTAL - # - # Notes: - # - Where are the flags coming from? Do we need flags? No, as 'prog' does not use them and other scripts are not running! - # - analog_input2 and analog_input3 are within ToolData - # - What to do with the different analog_input/output_range/domain? - # - Shall we have appropriate ur_msgs definitions in order to reflect MasterboardData, ToolData,...? - ### - - # Use information from the robot state packet to publish IOStates - msg = IOStates() - #gets digital in states - for i in range(0, 10): - msg.digital_in_states.append(DigitalIn(i, (state.masterboard_data.digital_input_bits & (1<>i)) - #gets digital out states - for i in range(0, 10): - msg.digital_out_states.append(DigitalOut(i, (state.masterboard_data.digital_output_bits & (1<>i)) - #gets analog_in[0] state - inp = state.masterboard_data.analog_input0 / MULT_analog_robotstate - msg.analog_in_states.append(Analog(0, inp)) - #gets analog_in[1] state - inp = state.masterboard_data.analog_input1 / MULT_analog_robotstate - msg.analog_in_states.append(Analog(1, inp)) - #gets analog_out[0] state - inp = state.masterboard_data.analog_output0 / MULT_analog_robotstate - msg.analog_out_states.append(Analog(0, inp)) - #gets analog_out[1] state - inp = state.masterboard_data.analog_output1 / MULT_analog_robotstate - msg.analog_out_states.append(Analog(1, inp)) - #print "Publish IO-Data from robot state data" - pub_io_states.publish(msg) - - - # Updates the state machine that determines whether we can program the robot. - can_execute = (state.robot_mode_data.robot_mode in [RobotMode.READY, RobotMode.RUNNING]) - if self.robot_state == self.CONNECTED: - if can_execute: - self.__trigger_ready_to_program() - self.robot_state = self.READY_TO_PROGRAM - elif self.robot_state == self.READY_TO_PROGRAM: - if not can_execute: - self.robot_state = self.CONNECTED - elif self.robot_state == self.EXECUTING: - if not can_execute: - self.__trigger_halted() - self.robot_state = self.CONNECTED - - # Report on any unknown packet types that were received - if len(state.unknown_ptypes) > 0: - state.unknown_ptypes.sort() - s_unknown_ptypes = [str(ptype) for ptype in state.unknown_ptypes] - self.throttle_warn_unknown(1.0, "Ignoring unknown pkt type(s): %s. " - "Please report." % ", ".join(s_unknown_ptypes)) - - def throttle_warn_unknown(self, period, msg): - self.__dict__.setdefault('_last_hit', 0.0) - # this only works for a single caller - if (self._last_hit + period) <= rospy.get_time(): - self._last_hit = rospy.get_time() - rospy.logwarn(msg) - - def __run(self): - while self.__keep_running: - r, _, _ = select.select([self.__sock], [], [], self.TIMEOUT) - if r: - more = self.__sock.recv(4096) - if more: - self.__buf = self.__buf + more - - #unpack_from requires a buffer of at least 48 bytes - while len(self.__buf) >= 48: - # Attempts to extract a packet - packet_length, ptype = struct.unpack_from("!IB", self.__buf) - #print("PacketLength: ", packet_length, "; BufferSize: ", len(self.__buf)) - if len(self.__buf) >= packet_length: - packet, self.__buf = self.__buf[:packet_length], self.__buf[packet_length:] - self.__on_packet(packet) - else: - break - - else: - self.__trigger_disconnected() - self.__keep_running = False - - else: - self.__trigger_disconnected() - self.__keep_running = False - - -class URConnectionRT(object): - TIMEOUT = 1.0 - - DISCONNECTED = 0 - CONNECTED = 1 - - def __init__(self, hostname, port): - self.__thread = None - self.__sock = None - self.robot_state = self.DISCONNECTED - self.hostname = hostname - self.port = port - self.last_stateRT = None - - def connect(self): - if self.__sock: - self.disconnect() - self.__buf = "" - self.robot_state = self.CONNECTED - self.__sock = socket.create_connection((self.hostname, self.port)) - self.__keep_running = True - self.__thread = threading.Thread(name="URConnectionRT", target=self.__run) - self.__thread.daemon = True - self.__thread.start() - - def disconnect(self): - if self.__thread: - self.__keep_running = False - self.__thread.join() - self.__thread = None - if self.__sock: - self.__sock.close() - self.__sock = None - self.last_state = None - self.robot_state = self.DISCONNECTED - - def __trigger_disconnected(self): - log("Robot disconnected") - self.robot_state = self.DISCONNECTED - - def __on_packet(self, buf): - global last_joint_states, last_joint_states_lock - now = rospy.get_rostime() - stateRT = RobotStateRT.unpack(buf) - self.last_stateRT = stateRT - - msg = JointState() - msg.header.stamp = now - msg.header.frame_id = "From real-time state data" - msg.name = joint_names - msg.position = [0.0] * 6 - for i, q in enumerate(stateRT.q_actual): - msg.position[i] = q + joint_offsets.get(joint_names[i], 0.0) - msg.velocity = stateRT.qd_actual - msg.effort = [0]*6 - pub_joint_states.publish(msg) - with last_joint_states_lock: - last_joint_states = msg - - wrench_msg = WrenchStamped() - wrench_msg.header.stamp = now - wrench_msg.wrench.force.x = stateRT.tcp_force[0] - wrench_msg.wrench.force.y = stateRT.tcp_force[1] - wrench_msg.wrench.force.z = stateRT.tcp_force[2] - wrench_msg.wrench.torque.x = stateRT.tcp_force[3] - wrench_msg.wrench.torque.y = stateRT.tcp_force[4] - wrench_msg.wrench.torque.z = stateRT.tcp_force[5] - pub_wrench.publish(wrench_msg) - - - def __run(self): - while self.__keep_running: - r, _, _ = select.select([self.__sock], [], [], self.TIMEOUT) - if r: - more = self.__sock.recv(4096) - if more: - self.__buf = self.__buf + more - - #unpack_from requires a buffer of at least 48 bytes - while len(self.__buf) >= 48: - # Attempts to extract a packet - packet_length = struct.unpack_from("!i", self.__buf)[0] - #print("PacketLength: ", packet_length, "; BufferSize: ", len(self.__buf)) - if len(self.__buf) >= packet_length: - packet, self.__buf = self.__buf[:packet_length], self.__buf[packet_length:] - self.__on_packet(packet) - else: - break - else: - self.__trigger_disconnected() - self.__keep_running = False - - else: - self.__trigger_disconnected() - self.__keep_running = False - - -def setConnectedRobot(r): - global connected_robot, connected_robot_lock - with connected_robot_lock: - connected_robot = r - connected_robot_cond.notify() - -def getConnectedRobot(wait=False, timeout=-1): - started = time.time() - with connected_robot_lock: - if wait: - while not connected_robot: - if timeout >= 0 and time.time() > started + timeout: - break - connected_robot_cond.wait(0.2) - return connected_robot - -# Receives messages from the robot over the socket -class CommanderTCPHandler(SocketServer.BaseRequestHandler): - - def recv_more(self): - global last_joint_states, last_joint_states_lock - while True: - r, _, _ = select.select([self.request], [], [], 0.2) - if r: - more = self.request.recv(4096) - if not more: - raise EOF("EOF on recv") - return more - else: - now = rospy.get_rostime() - if last_joint_states and \ - last_joint_states.header.stamp < now - rospy.Duration(1.0): - rospy.logerr("Stopped hearing from robot (last heard %.3f sec ago). Disconnected" % \ - (now - last_joint_states.header.stamp).to_sec()) - raise EOF() - - def handle(self): - self.__socket_lock = threading.Lock() - setConnectedRobot(self) - print "Handling a request" - try: - buf = self.recv_more() - if not buf: return - - while True: - #print "Buf:", [ord(b) for b in buf] - - # Unpacks the message type - mtype = struct.unpack_from("!i", buf, 0)[0] - buf = buf[4:] - #print "Message type:", mtype - - if mtype == MSG_OUT: - # Unpacks string message, terminated by tilde - i = buf.find("~") - while i < 0: - buf = buf + self.recv_more() - i = buf.find("~") - if len(buf) > 2000: - raise Exception("Probably forgot to terminate a string: %s..." % buf[:150]) - s, buf = buf[:i], buf[i+1:] - log("Out: %s" % s) - - elif mtype == MSG_QUIT: - print "Quitting" - raise EOF("Received quit") - elif mtype == MSG_WAYPOINT_FINISHED: - while len(buf) < 4: - buf = buf + self.recv_more() - waypoint_id = struct.unpack_from("!i", buf, 0)[0] - buf = buf[4:] - print "Waypoint finished (not handled)" - else: - raise Exception("Unknown message type: %i" % mtype) - - if not buf: - buf = buf + self.recv_more() - except EOF, ex: - print "Connection closed (command):", ex - setConnectedRobot(None) - - def __send_message(self, data): - """ - Send a message to the robot. - - The message is given as a list of integers that will be packed - as 4 bytes each in network byte order (big endian). - - A lock is acquired before sending the message to prevent race conditions. - - :param data: list of int, the data to send - """ - buf = struct.pack("!%ii" % len(data), *data) - with self.__socket_lock: - self.request.send(buf) - - def send_quit(self): - self.__send_message([MSG_QUIT]) - - def send_servoj(self, waypoint_id, q_actual, t): - assert(len(q_actual) == 6) - q_robot = [0.0] * 6 - for i, q in enumerate(q_actual): - q_robot[i] = q - joint_offsets.get(joint_names[i], 0.0) - params = [MSG_SERVOJ, waypoint_id] + \ - [MULT_jointstate * qq for qq in q_robot] + \ - [MULT_time * t] - self.__send_message(params) - - #Experimental set_payload implementation - def send_payload(self,payload): - self.__send_message([MSG_SET_PAYLOAD, payload * MULT_payload]) - - #Experimental set_digital_output implementation - def set_digital_out(self, pinnum, value): - self.__send_message([MSG_SET_DIGITAL_OUT, pinnum, value]) - time.sleep(IO_SLEEP_TIME) - - def set_analog_out(self, pinnum, value): - self.__send_message([MSG_SET_ANALOG_OUT, pinnum, value * MULT_analog]) - time.sleep(IO_SLEEP_TIME) - - def set_tool_voltage(self, value): - self.__send_message([MSG_SET_TOOL_VOLTAGE, value, 0]) - time.sleep(IO_SLEEP_TIME) - - def set_flag(self, pin, val): - self.__send_message([MSG_SET_FLAG, pin, val]) - #set_flag will fail if called too closely together--added delay - time.sleep(IO_SLEEP_TIME) - - def send_stopj(self): - self.__send_message([MSG_STOPJ]) - - def set_waypoint_finished_cb(self, cb): - self.waypoint_finished_cb = cb - - # Returns the last JointState message sent out - def get_joint_states(self): - global last_joint_states, last_joint_states_lock - return last_joint_states - - -class TCPServer(SocketServer.TCPServer): - allow_reuse_address = True # Allows the program to restart gracefully on crash - timeout = 5 - - -# Waits until all threads have completed. Allows KeyboardInterrupt to occur -def joinAll(threads): - while any(t.isAlive() for t in threads): - for t in threads: - t.join(0.2) - -# Returns the duration between moving from point (index-1) to point -# index in the given JointTrajectory -def get_segment_duration(traj, index): - if index == 0: - return traj.points[0].time_from_start.to_sec() - return (traj.points[index].time_from_start - traj.points[index-1].time_from_start).to_sec() - -# Reorders the JointTrajectory traj according to the order in -# joint_names. Destructive. -def reorder_traj_joints(traj, joint_names): - order = [traj.joint_names.index(j) for j in joint_names] - - new_points = [] - for p in traj.points: - new_points.append(JointTrajectoryPoint( - positions = [p.positions[i] for i in order], - velocities = [p.velocities[i] for i in order] if p.velocities else [], - accelerations = [p.accelerations[i] for i in order] if p.accelerations else [], - time_from_start = p.time_from_start)) - traj.joint_names = joint_names - traj.points = new_points - -def interp_cubic(p0, p1, t_abs): - T = (p1.time_from_start - p0.time_from_start).to_sec() - t = t_abs - p0.time_from_start.to_sec() - q = [0] * 6 - qdot = [0] * 6 - qddot = [0] * 6 - for i in range(len(p0.positions)): - a = p0.positions[i] - b = p0.velocities[i] - c = (-3*p0.positions[i] + 3*p1.positions[i] - 2*T*p0.velocities[i] - T*p1.velocities[i]) / T**2 - d = (2*p0.positions[i] - 2*p1.positions[i] + T*p0.velocities[i] + T*p1.velocities[i]) / T**3 - - q[i] = a + b*t + c*t**2 + d*t**3 - qdot[i] = b + 2*c*t + 3*d*t**2 - qddot[i] = 2*c + 6*d*t - return JointTrajectoryPoint(positions=q, velocities=qdot, accelerations=qddot, time_from_start=rospy.Duration(t_abs)) - -# Returns (q, qdot, qddot) for sampling the JointTrajectory at time t. -# The time t is the time since the trajectory was started. -def sample_traj(traj, t): - # First point - if t <= 0.0: - return copy.deepcopy(traj.points[0]) - # Last point - if t >= traj.points[-1].time_from_start.to_sec(): - return copy.deepcopy(traj.points[-1]) - - # Finds the (middle) segment containing t - i = 0 - while traj.points[i+1].time_from_start.to_sec() < t: - i += 1 - return interp_cubic(traj.points[i], traj.points[i+1], t) - -def traj_is_finite(traj): - for pt in traj.points: - for p in pt.positions: - if math.isinf(p) or math.isnan(p): - return False - for v in pt.velocities: - if math.isinf(v) or math.isnan(v): - return False - return True - -def has_limited_velocities(traj): - for p in traj.points: - for v in p.velocities: - if math.fabs(v) > max_velocity: - return False - return True - -def has_velocities(traj): - for p in traj.points: - if len(p.velocities) != len(p.positions): - return False - return True - -def within_tolerance(a_vec, b_vec, tol_vec): - for a, b, tol in zip(a_vec, b_vec, tol_vec): - if abs(a - b) > tol: - return False - return True - -class URServiceProvider(object): - def __init__(self, robot): - self.robot = robot - rospy.Service('ur_driver/setPayload', SetPayload, self.setPayload) - - def set_robot(self, robot): - self.robot = robot - - def setPayload(self, req): - if req.payload < min_payload or req.payload > max_payload: - print 'ERROR: Payload ' + str(req.payload) + ' out of bounds (' + str(min_payload) + ', ' + str(max_payload) + ')' - return False - - if self.robot: - self.robot.send_payload(req.payload) - else: - return False - return True - -class URTrajectoryFollower(object): - RATE = 0.02 - def __init__(self, robot, goal_time_tolerance=None): - self.goal_time_tolerance = goal_time_tolerance or rospy.Duration(0.0) - self.joint_goal_tolerances = [0.05, 0.05, 0.05, 0.05, 0.05, 0.05] - self.following_lock = threading.Lock() - self.T0 = time.time() - self.robot = robot - self.server = actionlib.ActionServer("follow_joint_trajectory", - FollowJointTrajectoryAction, - self.on_goal, self.on_cancel, auto_start=False) - - self.goal_handle = None - self.traj = None - self.traj_t0 = 0.0 - self.first_waypoint_id = 10 - self.tracking_i = 0 - self.pending_i = 0 - self.last_point_sent = True - - self.update_timer = rospy.Timer(rospy.Duration(self.RATE), self._update) - - def set_robot(self, robot): - # Cancels any goals in progress - if self.goal_handle: - self.goal_handle.set_canceled() - self.goal_handle = None - self.traj = None - self.robot = robot - if self.robot: - self.init_traj_from_robot() - - # Sets the trajectory to remain stationary at the current position - # of the robot. - def init_traj_from_robot(self): - if not self.robot: raise Exception("No robot connected") - # Busy wait (avoids another mutex) - state = self.robot.get_joint_states() - while not state: - time.sleep(0.1) - state = self.robot.get_joint_states() - self.traj_t0 = time.time() - self.traj = JointTrajectory() - self.traj.joint_names = joint_names - self.traj.points = [JointTrajectoryPoint( - positions = state.position, - velocities = [0] * 6, - accelerations = [0] * 6, - time_from_start = rospy.Duration(0.0))] - - def start(self): - self.init_traj_from_robot() - self.server.start() - print "The action server for this driver has been started" - - def on_goal(self, goal_handle): - log("on_goal") - - # Checks that the robot is connected - if not self.robot: - rospy.logerr("Received a goal, but the robot is not connected") - goal_handle.set_rejected() - return - - # Checks if the joints are just incorrect - if set(goal_handle.get_goal().trajectory.joint_names) != set(joint_names): - rospy.logerr("Received a goal with incorrect joint names: (%s)" % \ - ', '.join(goal_handle.get_goal().trajectory.joint_names)) - goal_handle.set_rejected() - return - - if not traj_is_finite(goal_handle.get_goal().trajectory): - rospy.logerr("Received a goal with infinites or NaNs") - goal_handle.set_rejected(text="Received a goal with infinites or NaNs") - return - - # Checks that the trajectory has velocities - if not has_velocities(goal_handle.get_goal().trajectory): - rospy.logerr("Received a goal without velocities") - goal_handle.set_rejected(text="Received a goal without velocities") - return - - # Checks that the velocities are withing the specified limits - if not has_limited_velocities(goal_handle.get_goal().trajectory): - message = "Received a goal with velocities that are higher than %f" % max_velocity - rospy.logerr(message) - goal_handle.set_rejected(text=message) - return - - # Orders the joints of the trajectory according to joint_names - reorder_traj_joints(goal_handle.get_goal().trajectory, joint_names) - - with self.following_lock: - if self.goal_handle: - # Cancels the existing goal - self.goal_handle.set_canceled() - self.first_waypoint_id += len(self.goal_handle.get_goal().trajectory.points) - self.goal_handle = None - - # Inserts the current setpoint at the head of the trajectory - now = time.time() - point0 = sample_traj(self.traj, now - self.traj_t0) - point0.time_from_start = rospy.Duration(0.0) - goal_handle.get_goal().trajectory.points.insert(0, point0) - self.traj_t0 = now - - # Replaces the goal - self.goal_handle = goal_handle - self.traj = goal_handle.get_goal().trajectory - self.goal_handle.set_accepted() - - def on_cancel(self, goal_handle): - log("on_cancel") - if goal_handle == self.goal_handle: - with self.following_lock: - # Uses the next little bit of trajectory to slow to a stop - STOP_DURATION = 0.5 - now = time.time() - point0 = sample_traj(self.traj, now - self.traj_t0) - point0.time_from_start = rospy.Duration(0.0) - point1 = sample_traj(self.traj, now - self.traj_t0 + STOP_DURATION) - point1.velocities = [0] * 6 - point1.accelerations = [0] * 6 - point1.time_from_start = rospy.Duration(STOP_DURATION) - self.traj_t0 = now - self.traj = JointTrajectory() - self.traj.joint_names = joint_names - self.traj.points = [point0, point1] - - self.goal_handle.set_canceled() - self.goal_handle = None - else: - goal_handle.set_canceled() - - last_now = time.time() - def _update(self, event): - if self.robot and self.traj: - now = time.time() - if (now - self.traj_t0) <= self.traj.points[-1].time_from_start.to_sec(): - self.last_point_sent = False #sending intermediate points - setpoint = sample_traj(self.traj, now - self.traj_t0) - try: - self.robot.send_servoj(999, setpoint.positions, 4 * self.RATE) - except socket.error: - pass - - elif not self.last_point_sent: - # All intermediate points sent, sending last point to make sure we - # reach the goal. - # This should solve an issue where the robot does not reach the final - # position and errors out due to not reaching the goal point. - last_point = self.traj.points[-1] - state = self.robot.get_joint_states() - position_in_tol = within_tolerance(state.position, last_point.positions, self.joint_goal_tolerances) - # Performing this check to try and catch our error condition. We will always - # send the last point just in case. - if not position_in_tol: - rospy.logwarn("Trajectory time exceeded and current robot state not at goal, last point required") - rospy.logwarn("Current trajectory time: %s, last point time: %s" % \ - (now - self.traj_t0, self.traj.points[-1].time_from_start.to_sec())) - rospy.logwarn("Desired: %s\nactual: %s\nvelocity: %s" % \ - (last_point.positions, state.position, state.velocity)) - setpoint = sample_traj(self.traj, self.traj.points[-1].time_from_start.to_sec()) - - try: - self.robot.send_servoj(999, setpoint.positions, 4 * self.RATE) - self.last_point_sent = True - except socket.error: - pass - - else: # Off the end - if self.goal_handle: - last_point = self.traj.points[-1] - state = self.robot.get_joint_states() - position_in_tol = within_tolerance(state.position, last_point.positions, [0.1]*6) - velocity_in_tol = within_tolerance(state.velocity, last_point.velocities, [0.05]*6) - if position_in_tol and velocity_in_tol: - # The arm reached the goal (and isn't moving). Succeeding - self.goal_handle.set_succeeded() - self.goal_handle = None - #elif now - (self.traj_t0 + last_point.time_from_start.to_sec()) > self.goal_time_tolerance.to_sec(): - # # Took too long to reach the goal. Aborting - # rospy.logwarn("Took too long to reach the goal.\nDesired: %s\nactual: %s\nvelocity: %s" % \ - # (last_point.positions, state.position, state.velocity)) - # self.goal_handle.set_aborted(text="Took too long to reach the goal") - # self.goal_handle = None - - -# joint_names: list of joints -# -# returns: { "joint_name" : joint_offset } -def load_joint_offsets(joint_names): - from lxml import etree - robot_description = rospy.get_param("robot_description") - doc = etree.fromstring(robot_description) - - # select only 'calibration_offset' elements whose parent is a joint - # element with a specific value for the name attribute - expr = "/robot/joint[@name=$name]/calibration_offset" - result = {} - for joint in joint_names: - joint_elt = doc.xpath(expr, name=joint) - if len(joint_elt) == 1: - calibration_offset = float(joint_elt[0].get("value")) - result[joint] = calibration_offset - rospy.loginfo("Found calibration offset for joint \"%s\": %.4f" % (joint, calibration_offset)) - elif len(joint_elt) > 1: - rospy.logerr("Too many joints matched on \"%s\". Please report to package maintainer(s)." % joint) - else: - rospy.logwarn("No calibration offset for joint \"%s\"" % joint) - return result - -def get_my_ip(robot_ip, port): - s = socket.create_connection((robot_ip, port)) - tmp = s.getsockname()[0] - s.close() - return tmp - -def handle_set_io(req): - r = getConnectedRobot(wait=False) - if r: - if req.fun == req.FUN_SET_DIGITAL_OUT: - r.set_digital_out(req.pin, req.state) - return True - elif req.fun == req.FUN_SET_FLAG: - r.set_flag(req.pin, req.state) - return True - elif req.fun == req.FUN_SET_ANALOG_OUT: - r.set_analog_out(req.pin, req.state) - return True - elif req.fun == req.FUN_SET_TOOL_VOLTAGE: - r.set_tool_voltage(req.pin) - return True - else: - raise ROSServiceException("Robot not connected") - -def set_io_server(): - s= rospy.Service('set_io', SetIO, handle_set_io) - -def reconfigure_callback(config, level): - global prevent_programming - prevent_programming = config.prevent_programming - ## What about updating the value on the parameter server? - return config - -def main(): - rospy.init_node('ur_driver', disable_signals=True) - if rospy.get_param("use_sim_time", False): - rospy.logwarn("use_sim_time is set!!!") - - global prevent_programming - reconfigure_srv = Server(URDriverConfig, reconfigure_callback) - - prefix = rospy.get_param("~prefix", "") - print "Setting prefix to %s" % prefix - global joint_names - joint_names = [prefix + name for name in JOINT_NAMES] - - # Parses command line arguments - parser = optparse.OptionParser(usage="usage: %prog robot_hostname [reverse_port]") - (options, args) = parser.parse_args(rospy.myargv()[1:]) - if len(args) < 1: - parser.error("You must specify the robot hostname") - elif len(args) == 1: - robot_hostname = args[0] - reverse_port = DEFAULT_REVERSE_PORT - elif len(args) == 2: - robot_hostname = args[0] - reverse_port = int(args[1]) - if not (0 <= reverse_port <= 65535): - parser.error("You entered an invalid port number") - else: - parser.error("Wrong number of parameters") - - # Reads the calibrated joint offsets from the URDF - global joint_offsets - joint_offsets = load_joint_offsets(joint_names) - if len(joint_offsets) > 0: - rospy.loginfo("Loaded calibration offsets from urdf: %s" % joint_offsets) - else: - rospy.loginfo("No calibration offsets loaded from urdf") - - # Reads the maximum velocity - # The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits - global max_velocity - max_velocity = rospy.get_param("~max_velocity", MAX_VELOCITY) # [rad/s] - rospy.loginfo("Max velocity accepted by ur_driver: %s [rad/s]" % max_velocity) - - # Reads the minimum payload - global min_payload - min_payload = rospy.get_param("~min_payload", MIN_PAYLOAD) - # Reads the maximum payload - global max_payload - max_payload = rospy.get_param("~max_payload", MAX_PAYLOAD) - rospy.loginfo("Bounds for Payload: [%s, %s]" % (min_payload, max_payload)) - - - # Sets up the server for the robot to connect to - server = TCPServer(("", reverse_port), CommanderTCPHandler) - thread_commander = threading.Thread(name="CommanderHandler", target=server.serve_forever) - thread_commander.daemon = True - thread_commander.start() - - with open(roslib.packages.get_pkg_dir('ur_driver') + '/prog') as fin: - program = fin.read() % {"driver_hostname": get_my_ip(robot_hostname, PORT), "driver_reverseport": reverse_port} - connection = URConnection(robot_hostname, PORT, program) - connection.connect() - connection.send_reset_program() - - connectionRT = URConnectionRT(robot_hostname, RT_PORT) - connectionRT.connect() - - set_io_server() - - service_provider = None - action_server = None - try: - while not rospy.is_shutdown(): - # Checks for disconnect - if getConnectedRobot(wait=False): - time.sleep(0.2) - try: - prevent_programming = rospy.get_param("~prevent_programming") - update = {'prevent_programming': prevent_programming} - reconfigure_srv.update_configuration(update) - except KeyError, ex: - print "Parameter 'prevent_programming' not set. Value: " + str(prevent_programming) - pass - if prevent_programming: - print "Programming now prevented" - connection.send_reset_program() - else: - print "Disconnected. Reconnecting" - if action_server: - action_server.set_robot(None) - - rospy.loginfo("Programming the robot") - while True: - # Sends the program to the robot - while not connection.ready_to_program(): - print "Waiting to program" - time.sleep(1.0) - try: - prevent_programming = rospy.get_param("~prevent_programming") - update = {'prevent_programming': prevent_programming} - reconfigure_srv.update_configuration(update) - except KeyError, ex: - print "Parameter 'prevent_programming' not set. Value: " + str(prevent_programming) - pass - connection.send_program() - - r = getConnectedRobot(wait=True, timeout=1.0) - if r: - break - rospy.loginfo("Robot connected") - - #provider for service calls - if service_provider: - service_provider.set_robot(r) - else: - service_provider = URServiceProvider(r) - - if action_server: - action_server.set_robot(r) - else: - action_server = URTrajectoryFollower(r, rospy.Duration(1.0)) - action_server.start() - - except KeyboardInterrupt: - try: - r = getConnectedRobot(wait=False) - rospy.signal_shutdown("KeyboardInterrupt") - if r: r.send_quit() - except: - pass - raise - -if __name__ == '__main__': main() diff --git a/industrial_robots/universal_robot/ur_driver/src/ur_driver/io_interface.py b/industrial_robots/universal_robot/ur_driver/src/ur_driver/io_interface.py deleted file mode 100644 index e78c0b4..0000000 --- a/industrial_robots/universal_robot/ur_driver/src/ur_driver/io_interface.py +++ /dev/null @@ -1,79 +0,0 @@ -#!/usr/bin/env python - -import sys -import rospy -from ur_msgs.srv import * -from ur_msgs.msg import * - -FUN_SET_DIGITAL_OUT = 1 -FUN_SET_FLAG = 2 -FUN_SET_ANALOG_OUT = 3 -FUN_SET_TOOL_VOLTAGE = 4 - -#Flag_States = [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0] -Digital_Out_States = [0,0,0,0,0,0,0,0,0,0] #8(controller)+2(tool) -Digital_In_States = [0,0,0,0,0,0,0,0,0,0] #8(controller)+2(tool) -Analog_Out_States = [0,0] #2(controller) -Analog_In_States = [0,0] #2(controller)+0(tool) - -ANALOG_TOLERANCE_VALUE = 0.01 - -def set_io_val(fun, pin, val): - try: - set_io(fun, pin, val) - except rospy.ServiceException, e: - print "Service call failed: %s"%e - -def set_tool_voltage(volts): - try: - set_io(FUN_SET_TOOL_VOLTAGE, volts, 0) - except rospy.ServiceException, e: - print "Service call failed: %s"%e - -def set_digital_out(pin, val): - try: - set_io(FUN_SET_DIGITAL_OUT, pin, val) - except rospy.ServiceException, e: - print "Service call failed: %s"%e - -def set_analog_out(pin, val): - try: - set_io(FUN_SET_ANALOG_OUT, pin, val) - except rospy.ServiceException, e: - print "Service call failed: %s"%e - -def set_flag(pin, val): - rospy.logerr("SETTING FLAGS IS NOT SUPPORTED!") - #try: - #set_io(FUN_SET_FLAG, pin, val) - #except rospy.ServiceException, e: - #print "Service call failed: %s"%e - -def callback(data): - rospy.logerr("Flag_States are currently not supported") - #for i in range(0,32): - #del Flag_States[i] - #Flag_States.insert(i, data.flag_states[i].state) - for i in range(0,10): - del Digital_Out_States[i] - Digital_Out_States.insert(i, data.digital_out_states[i].state) - for i in range(0,10): - del Digital_In_States[i] - Digital_In_States.insert(i, data.digital_in_states[i].state) - for i in range(0,2): - del Analog_Out_States[i] - Analog_Out_States.insert(i, data.analog_out_states[i].state) - rospy.logerr("ToolInput analog_in[2] and analog_in[3] currently not supported") - for i in range(0,2): - del Analog_In_States[i] - Analog_In_States.insert(i, data.analog_in_states[i].state) - -def get_states(): - rospy.init_node('UR_State_Getter') - rospy.Subscriber("io_states", IOStates, callback) - -def set_states(): - rospy.wait_for_service('set_io') - global set_io - set_io = rospy.ServiceProxy('set_io', SetIO) - diff --git a/industrial_robots/universal_robot/ur_driver/src/ur_driver/testRT_comm.py b/industrial_robots/universal_robot/ur_driver/src/ur_driver/testRT_comm.py deleted file mode 100755 index 11daffa..0000000 --- a/industrial_robots/universal_robot/ur_driver/src/ur_driver/testRT_comm.py +++ /dev/null @@ -1,98 +0,0 @@ -#!/usr/bin/env python -import roslib; roslib.load_manifest('ur_driver') -import time, sys, threading, math -import copy -import datetime -import socket, select -import struct -import traceback, code -import SocketServer - -import rospy - -from sensor_msgs.msg import JointState -from ur_driver.deserializeRT import RobotStateRT -from ur_msgs.msg import * - - -joint_names = ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', - 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'] -joint_offsets = {} - - -def __on_packet(buf): - stateRT = RobotStateRT.unpack(buf) - - msg = RobotStateRTMsg() - msg.time = stateRT.time - msg.q_target = stateRT.q_target - msg.qd_target = stateRT.qd_target - msg.qdd_target = stateRT.qdd_target - msg.i_target = stateRT.i_target - msg.m_target = stateRT.m_target - msg.q_actual = stateRT.q_actual - msg.qd_actual = stateRT.qd_actual - msg.i_actual = stateRT.i_actual - msg.tool_acc_values = stateRT.tool_acc_values - msg.tcp_force = stateRT.tcp_force - msg.tool_vector = stateRT.tool_vector - msg.tcp_speed = stateRT.tcp_speed - msg.digital_input_bits = stateRT.digital_input_bits - msg.motor_temperatures = stateRT.motor_temperatures - msg.controller_timer = stateRT.controller_timer - msg.test_value = stateRT.test_value - msg.robot_mode = stateRT.robot_mode - msg.joint_modes = stateRT.joint_modes - pub_robot_stateRT.publish(msg) - - - msg = JointState() - msg.header.stamp = rospy.get_rostime() - msg.header.frame_id = "From real-time state data" - msg.name = joint_names - msg.position = [0.0] * 6 - for i, q in enumerate(stateRT.q_actual): - msg.position[i] = q + joint_offsets.get(joint_names[i], 0.0) - msg.velocity = stateRT.qd_actual - msg.effort = [0]*6 - pub_joint_statesRT.publish(msg) - - - - -def main(): - rospy.init_node('testRT_comm', disable_signals=True) - - global pub_joint_statesRT - pub_joint_statesRT = rospy.Publisher('joint_statesRT', JointState, queue_size=1) - global pub_robot_stateRT - pub_robot_stateRT = rospy.Publisher('robot_stateRT', RobotStateRTMsg, queue_size=1) - - - - robot_hostname = '192.168.0.42' - rt_port = 30003 - - rt_socket = socket.create_connection((robot_hostname, rt_port)) - buf = "" - - while not rospy.is_shutdown(): - more = rt_socket.recv(4096) - if more: - buf = buf + more - - # Attempts to extract a packet - packet_length = struct.unpack_from("!i", buf)[0] - print("PacketLength: ", packet_length, "; BufferSize: ", len(buf)) - if len(buf) >= packet_length: - packet, buf = buf[:packet_length], buf[packet_length:] - __on_packet(packet) - else: - print("There is no more...") - - rt_socket.close() - - - - -if __name__ == '__main__': main() diff --git a/industrial_robots/universal_robot/ur_driver/src/ur_driver/test_comm.py b/industrial_robots/universal_robot/ur_driver/src/ur_driver/test_comm.py deleted file mode 100755 index 1670db8..0000000 --- a/industrial_robots/universal_robot/ur_driver/src/ur_driver/test_comm.py +++ /dev/null @@ -1,120 +0,0 @@ -#!/usr/bin/env python -import roslib; roslib.load_manifest('ur_driver') -import time, sys, threading, math -import copy -import datetime -import socket, select -import struct -import traceback, code -import SocketServer - -import rospy - -from sensor_msgs.msg import JointState -from ur_driver.deserialize import RobotState -from ur_msgs.msg import * - -# renaming classes -DigitalIn = Digital -DigitalOut = Digital -Flag = Digital - -MULT_analog = 1000000.0 -MULT_analog_robotstate = 0.1 - -joint_names = ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', - 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'] -joint_offsets = {} - - -def __on_packet(buf): - state = RobotState.unpack(buf) - - mb_msg = MasterboardDataMsg() - mb_msg.digital_input_bits = state.masterboard_data.digital_input_bits - mb_msg.digital_output_bits = state.masterboard_data.digital_output_bits - mb_msg.analog_input_range0 = state.masterboard_data.analog_input_range0 - mb_msg.analog_input_range1 = state.masterboard_data.analog_input_range1 - mb_msg.analog_input0 = state.masterboard_data.analog_input0 - mb_msg.analog_input1 = state.masterboard_data.analog_input1 - mb_msg.analog_output_domain0 = state.masterboard_data.analog_output_domain0 - mb_msg.analog_output_domain1 = state.masterboard_data.analog_output_domain1 - mb_msg.analog_output0 = state.masterboard_data.analog_output0 - mb_msg.analog_output1 = state.masterboard_data.analog_output1 - mb_msg.masterboard_temperature = state.masterboard_data.masterboard_temperature - mb_msg.robot_voltage_48V = state.masterboard_data.robot_voltage_48V - mb_msg.robot_current = state.masterboard_data.robot_current - mb_msg.master_io_current = state.masterboard_data.master_io_current - mb_msg.master_safety_state = state.masterboard_data.master_safety_state - mb_msg.master_onoff_state = state.masterboard_data.master_onoff_state - pub_masterboard_state.publish(mb_msg) - - - # Use information from the robot state packet to publish IOStates - msg = IOStates() - #gets digital in states - for i in range(0, 10): - msg.digital_in_states.append(DigitalIn(i, (state.masterboard_data.digital_input_bits & (1<>i)) - #gets digital out states - for i in range(0, 10): - msg.digital_out_states.append(DigitalOut(i, (state.masterboard_data.digital_output_bits & (1<>i)) - #gets analog_in[0] state - inp = state.masterboard_data.analog_input0 / MULT_analog_robotstate - msg.analog_in_states.append(Analog(0, inp)) - #gets analog_in[1] state - inp = state.masterboard_data.analog_input1 / MULT_analog_robotstate - msg.analog_in_states.append(Analog(1, inp)) - #gets analog_out[0] state - inp = state.masterboard_data.analog_output0 / MULT_analog_robotstate - msg.analog_out_states.append(Analog(0, inp)) - #gets analog_out[1] state - inp = state.masterboard_data.analog_output1 / MULT_analog_robotstate - msg.analog_out_states.append(Analog(1, inp)) - #print "Publish IO-Data from robot state data" - pub_io_states.publish(msg) - - # Notes: - # - Where are the flags coming from? Do we need flags? No, as 'prog' does not use them and other scripts are not running! - # - analog_input2 and analog_input3 are within ToolData - # - What to do with the different analog_input/output_range/domain? - # - Shall we have appropriate ur_msgs definitions in order to reflect MasterboardData, ToolData,...? - - - - - -def main(): - rospy.init_node('test_comm', disable_signals=True) - - global pub_masterboard_state - pub_masterboard_state = rospy.Publisher('masterboard_state', MasterboardDataMsg, queue_size=1) - global pub_io_states - pub_io_states = rospy.Publisher('io_states', IOStates, queue_size=1) - - - robot_hostname = '192.168.0.42' - port = 30002 - - test_socket = socket.create_connection((robot_hostname, port)) - buf = "" - - while not rospy.is_shutdown(): - more = test_socket.recv(4096) - if more: - buf = buf + more - - # Attempts to extract a packet - packet_length = struct.unpack_from("!i", buf)[0] - print("PacketLength: ", packet_length, "; BufferSize: ", len(buf)) - if len(buf) >= packet_length: - packet, buf = buf[:packet_length], buf[packet_length:] - __on_packet(packet) - else: - print("There is no more...") - - test_socket.close() - - - - -if __name__ == '__main__': main() diff --git a/industrial_robots/universal_robot/ur_driver/test_io.py b/industrial_robots/universal_robot/ur_driver/test_io.py deleted file mode 100755 index 7b3c2a8..0000000 --- a/industrial_robots/universal_robot/ur_driver/test_io.py +++ /dev/null @@ -1,31 +0,0 @@ -#!/usr/bin/env python -import time -from ur_driver.io_interface import * - -if __name__ == "__main__": - print "testing io-interface" - get_states() - print "listener has been activated" - set_states() - print "service-server has been started" - while(True): - set_tool_voltage(12) - set_digital_out(0, True) - set_analog_out(0, 0.75) - #print "Flags are currently not supported" - ##set_flag(0, True) - ##print(Flag_States[0]) - print(Analog_Out_States[0]) - print(Digital_Out_States[0]) - time.sleep(1) - set_tool_voltage(24) - set_digital_out(0, False) - set_analog_out(0, 0.25) - #print "Flags are currently not supported" - ##set_flag(0, False) - ##print(Flag_States[0]) - print(Analog_Out_States[0]) - print(Digital_Out_States[0]) - time.sleep(1) - - diff --git a/industrial_robots/universal_robot/ur_driver/test_move.py b/industrial_robots/universal_robot/ur_driver/test_move.py deleted file mode 100755 index 54b9115..0000000 --- a/industrial_robots/universal_robot/ur_driver/test_move.py +++ /dev/null @@ -1,106 +0,0 @@ -#!/usr/bin/env python -import time -import roslib; roslib.load_manifest('ur_driver') -import rospy -import actionlib -from control_msgs.msg import * -from trajectory_msgs.msg import * - -JOINT_NAMES = ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', - 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'] -Q1 = [2.2,0,-1.57,0,0,0] -Q2 = [1.5,0,-1.57,0,0,0] -Q3 = [1.5,-0.2,-1.57,0,0,0] - -client = None - -def move1(): - g = FollowJointTrajectoryGoal() - g.trajectory = JointTrajectory() - g.trajectory.joint_names = JOINT_NAMES - g.trajectory.points = [ - JointTrajectoryPoint(positions=Q1, velocities=[0]*6, time_from_start=rospy.Duration(2.0)), - JointTrajectoryPoint(positions=Q2, velocities=[0]*6, time_from_start=rospy.Duration(3.0)), - JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(4.0))] - client.send_goal(g) - try: - client.wait_for_result() - except KeyboardInterrupt: - client.cancel_goal() - raise - -def move_disordered(): - order = [4, 2, 3, 1, 5, 0] - g = FollowJointTrajectoryGoal() - g.trajectory = JointTrajectory() - g.trajectory.joint_names = [JOINT_NAMES[i] for i in order] - q1 = [Q1[i] for i in order] - q2 = [Q2[i] for i in order] - q3 = [Q3[i] for i in order] - g.trajectory.points = [ - JointTrajectoryPoint(positions=q1, velocities=[0]*6, time_from_start=rospy.Duration(2.0)), - JointTrajectoryPoint(positions=q2, velocities=[0]*6, time_from_start=rospy.Duration(3.0)), - JointTrajectoryPoint(positions=q3, velocities=[0]*6, time_from_start=rospy.Duration(4.0))] - client.send_goal(g) - client.wait_for_result() - -def move_repeated(): - g = FollowJointTrajectoryGoal() - g.trajectory = JointTrajectory() - g.trajectory.joint_names = JOINT_NAMES - - d = 2.0 - g.trajectory.points = [] - for i in range(10): - g.trajectory.points.append( - JointTrajectoryPoint(positions=Q1, velocities=[0]*6, time_from_start=rospy.Duration(d))) - d += 1 - g.trajectory.points.append( - JointTrajectoryPoint(positions=Q2, velocities=[0]*6, time_from_start=rospy.Duration(d))) - d += 1 - g.trajectory.points.append( - JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(d))) - d += 2 - client.send_goal(g) - try: - client.wait_for_result() - except KeyboardInterrupt: - client.cancel_goal() - raise - -def move_interrupt(): - g = FollowJointTrajectoryGoal() - g.trajectory = JointTrajectory() - g.trajectory.joint_names = JOINT_NAMES - g.trajectory.points = [ - JointTrajectoryPoint(positions=Q1, velocities=[0]*6, time_from_start=rospy.Duration(2.0)), - JointTrajectoryPoint(positions=Q2, velocities=[0]*6, time_from_start=rospy.Duration(3.0)), - JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(4.0))] - - client.send_goal(g) - time.sleep(2.0) - print "Interrupting" - client.send_goal(g) - try: - client.wait_for_result() - except KeyboardInterrupt: - client.cancel_goal() - raise - -def main(): - global client - try: - rospy.init_node("test_move", anonymous=True, disable_signals=True) - client = actionlib.SimpleActionClient('follow_joint_trajectory', FollowJointTrajectoryAction) - print "Waiting for server..." - client.wait_for_server() - print "Connected to server" - #move1() - move_repeated() - #move_disordered() - #move_interrupt() - except KeyboardInterrupt: - rospy.signal_shutdown("KeyboardInterrupt") - raise - -if __name__ == '__main__': main() diff --git a/industrial_robots/universal_robot/ur_gazebo/CHANGELOG.rst b/industrial_robots/universal_robot/ur_gazebo/CHANGELOG.rst deleted file mode 100644 index 224ad46..0000000 --- a/industrial_robots/universal_robot/ur_gazebo/CHANGELOG.rst +++ /dev/null @@ -1,62 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur_gazebo -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* Update maintainer listing: add Miguel (`#410 `_) -* UR-E Series (`#380 `_) -* Update maintainer and author information. -* Add roslaunch tests (`#362 `_) -* Using the 'doc' attribute on 'arg' elements. -* Contributors: Dave Niewinski, gavanderhoorn, Harsh Deshpande, Nadia Hammoudeh García - -1.2.1 (2018-01-06) ------------------- - -1.2.0 (2017-08-04) ------------------- -* Remove dependency on ros_controllers metapackage. - As per http://www.ros.org/reps/rep-0127.html, packages are not allowed to - depend on metapackages. -* Contributors: Miguel Prada - -1.1.9 (2017-01-02) ------------------- -* No changes. - -1.1.8 (2016-12-30) ------------------- -* ur_gazebo: escape underscore in changelog (`#279 `_). -* all: update maintainers. -* Contributors: gavanderhoorn - -1.1.7 (2016-12-29) ------------------- -* ur_gazebo: add controller_manager as run dependency. -* Contributors: Hans-Joachim Krauch - -1.1.6 (2016-04-01) ------------------- -* provide launch files for ur3 -* use controller_manager spawn -* allow to start gazebo without gui -* adjust controllers to new hardwareInterface - affects simulation only -* Contributors: ipa-fxm - -1.0.2 (2014-03-31) ------------------- - -1.0.1 (2014-03-31) ------------------- -* adapt launch files in order to be able to use normal/limited xacro -* updates for latest gazebo under hydro -* Contributors: ipa-fxm - -* Added definitions for adding tergets in install folder. Issue `#10 `_. -* Added definitions for adding tergets in install folder. Issue `#10 `_. -* Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages. -* removed ``arm_`` prefix from joint names in gazebo controller config -* Renamed packages and new groovy version -* Added ur10 and renamed packages -* Contributors: IPR-SR2, Kelsey, Mathias Lüdtke, ipa-nhg, robot diff --git a/industrial_robots/universal_robot/ur_gazebo/CMakeLists.txt b/industrial_robots/universal_robot/ur_gazebo/CMakeLists.txt deleted file mode 100644 index 19effd7..0000000 --- a/industrial_robots/universal_robot/ur_gazebo/CMakeLists.txt +++ /dev/null @@ -1,14 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) - -project(ur_gazebo) - -find_package(catkin REQUIRED) - -catkin_package() - -if (CATKIN_ENABLE_TESTING) - find_package(roslaunch REQUIRED) - roslaunch_add_file_check(tests/roslaunch_test.xml) -endif() - -install(DIRECTORY launch controller DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/industrial_robots/universal_robot/ur_gazebo/controller/arm_controller_ur5.yaml b/industrial_robots/universal_robot/ur_gazebo/controller/arm_controller_ur5.yaml deleted file mode 100644 index fb7b3d4..0000000 --- a/industrial_robots/universal_robot/ur_gazebo/controller/arm_controller_ur5.yaml +++ /dev/null @@ -1,31 +0,0 @@ -arm_controller: - type: position_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 -joint_group_position_controller: - type: position_controllers/JointGroupPositionController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - diff --git a/industrial_robots/universal_robot/ur_gazebo/controller/joint_state_controller.yaml b/industrial_robots/universal_robot/ur_gazebo/controller/joint_state_controller.yaml deleted file mode 100644 index 0cd5bb7..0000000 --- a/industrial_robots/universal_robot/ur_gazebo/controller/joint_state_controller.yaml +++ /dev/null @@ -1,3 +0,0 @@ -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 50 diff --git a/industrial_robots/universal_robot/ur_gazebo/launch/controller_utils.launch b/industrial_robots/universal_robot/ur_gazebo/launch/controller_utils.launch deleted file mode 100644 index f4cd9ba..0000000 --- a/industrial_robots/universal_robot/ur_gazebo/launch/controller_utils.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_gazebo/launch/ur5.launch b/industrial_robots/universal_robot/ur_gazebo/launch/ur5.launch deleted file mode 100644 index 2dc3291..0000000 --- a/industrial_robots/universal_robot/ur_gazebo/launch/ur5.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_gazebo/launch/ur5_joint_limited.launch b/industrial_robots/universal_robot/ur_gazebo/launch/ur5_joint_limited.launch deleted file mode 100644 index 3abf24e..0000000 --- a/industrial_robots/universal_robot/ur_gazebo/launch/ur5_joint_limited.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_gazebo/package.xml b/industrial_robots/universal_robot/ur_gazebo/package.xml deleted file mode 100644 index 506cef0..0000000 --- a/industrial_robots/universal_robot/ur_gazebo/package.xml +++ /dev/null @@ -1,36 +0,0 @@ - - - ur_gazebo - 1.2.5 - - Gazebo wrapper for the Universal UR5/10 robot arms. - - - - Alexander Bubeck - Shaun Edwards - Felix Messmer - G.A. vd. Hoorn - Miguel Prada Sarasola - Nadia Hammoudeh Garcia - - BSD - - http://ros.org/wiki/ur_gazebo - - catkin - roslaunch - controller_manager - effort_controllers - gazebo_ros - gazebo_ros_control - joint_state_controller - joint_trajectory_controller - position_controllers - robot_state_publisher - rostopic - ur_description - - - - diff --git a/industrial_robots/universal_robot/ur_gazebo/tests/roslaunch_test.xml b/industrial_robots/universal_robot/ur_gazebo/tests/roslaunch_test.xml deleted file mode 100644 index 815829d..0000000 --- a/industrial_robots/universal_robot/ur_gazebo/tests/roslaunch_test.xml +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/industrial_robots/universal_robot/ur_kinematics/CHANGELOG.rst b/industrial_robots/universal_robot/ur_kinematics/CHANGELOG.rst deleted file mode 100644 index e923c13..0000000 --- a/industrial_robots/universal_robot/ur_kinematics/CHANGELOG.rst +++ /dev/null @@ -1,62 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur_kinematics -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* Update maintainer listing: add Miguel (`#410 `_) -* Removed non-existent moveit KDL libraries from ur_kinematics includes -* Update maintainer and author information. -* Missed python module definition and setup.py script (`#364 `_) -* Use the new proposed API to query params from correct namespaces (`#334 `_) -* Setting default ik_weights to 1.0 (`#346 `_) -* ur_moveit_plugin: fix compile error with GCC6 -* Contributors: Alexander Rössler, gavanderhoorn, Henning Kayser, Mike Lautman, Nadia Hammoudeh García, jwhendy - -1.2.1 (2018-01-06) ------------------- -* Merge pull request `#303 `_ from marcoesposito1988/pr-urdf-pointer-type - Updated urdf::ModelInterface pointer type for ROS Lunar -* Updated urdf::ModelInterface pointer type for ROS Lunar -* Contributors: G.A. vd. Hoorn, Marco Esposito - -1.2.0 (2017-08-04) ------------------- -* Fixup for MoveIt! Kinetic -* Contributors: Dave Coleman - -1.1.9 (2017-01-02) ------------------- -* No changes. - -1.1.8 (2016-12-30) ------------------- -* all: update maintainers. -* Contributors: gavanderhoorn - -1.1.7 (2016-12-29) ------------------- -* Depend on new moveit_kinematics package (`#274 `_). -* Contributors: Isaac I.Y. Saito - -1.1.6 (2016-04-01) ------------------- -* apply ur-kin-constants fix for ur3 -* Merge remote-tracking branch 'origin-rosi/indigo-devel' into ur-kin-constants -* ur_kinematics: Move #defines to constants in source file. -* ur_kinematics for ur3 -* crop ik solutions wrt joint_limits -* Contributors: Maarten de Vries, ipa-fxm - -1.0.2 (2014-03-31) ------------------- - -1.0.1 (2014-03-31) ------------------- - -* Added definitions for adding tergets in install folder. Issue `#10 `_. -* Added definitions for adding tergets in install folder. Issue `#10 `_. -* Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages. -* added IKfast compatibility functions -* Ported ur_kinematics package from Georgia Tech library. Added ability to create ur5 & ur10 kinematics libraries. Python libaries not untested. Kinematics still needs to be wrapped within Kinematics plugin interface -* Contributors: IPR-SR2, Kelsey, Mathias Lüdtke, Shaun Edwards diff --git a/industrial_robots/universal_robot/ur_kinematics/CMakeLists.txt b/industrial_robots/universal_robot/ur_kinematics/CMakeLists.txt deleted file mode 100644 index 5d0eede..0000000 --- a/industrial_robots/universal_robot/ur_kinematics/CMakeLists.txt +++ /dev/null @@ -1,79 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(ur_kinematics) - -add_compile_options(-std=c++11) - -find_package(catkin REQUIRED COMPONENTS roscpp geometry_msgs moveit_core moveit_kinematics - moveit_ros_planning pluginlib tf_conversions) - -find_package(Boost REQUIRED COMPONENTS system) - -catkin_python_setup() - -catkin_package( - INCLUDE_DIRS include - LIBRARIES ur3_kin ur5_kin ur10_kin ur3_moveit_plugin ur5_moveit_plugin ur10_moveit_plugin - CATKIN_DEPENDS roscpp geometry_msgs moveit_core moveit_kinematics moveit_ros_planning - pluginlib tf_conversions - DEPENDS Boost -) - - -########### -## Build ## -########### - -include_directories(SYSTEM ${Boost_INCLUDE_DIR}) -include_directories(include ${catkin_INCLUDE_DIRS}) - -add_library(ur3_kin src/ur_kin.cpp) -set_target_properties(ur3_kin PROPERTIES COMPILE_DEFINITIONS "UR3_PARAMS") - -add_library(ur5_kin src/ur_kin.cpp) -set_target_properties(ur5_kin PROPERTIES COMPILE_DEFINITIONS "UR5_PARAMS") - -add_library(ur10_kin src/ur_kin.cpp) -set_target_properties(ur10_kin PROPERTIES COMPILE_DEFINITIONS "UR10_PARAMS") - - -add_library(ur3_moveit_plugin src/ur_moveit_plugin.cpp) -set_target_properties(ur3_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR3_PARAMS") -target_link_libraries(ur3_moveit_plugin - ${catkin_LIBRARIES} - ${Boost_LIBRARIES} - ur3_kin) - -add_library(ur5_moveit_plugin src/ur_moveit_plugin.cpp) -set_target_properties(ur5_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR5_PARAMS") -target_link_libraries(ur5_moveit_plugin - ${catkin_LIBRARIES} - ${Boost_LIBRARIES} - ur5_kin) - -add_library(ur10_moveit_plugin src/ur_moveit_plugin.cpp) -set_target_properties(ur10_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR10_PARAMS") -target_link_libraries(ur10_moveit_plugin - ${catkin_LIBRARIES} - ${Boost_LIBRARIES} - ur10_kin) - - -############# -## Install ## -############# - -install(TARGETS ur3_kin ur5_kin ur10_kin ur3_moveit_plugin ur5_moveit_plugin ur10_moveit_plugin - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -# install header files -install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -) - -# install moveit plugin description file -install(FILES ur_moveit_plugins.xml - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) diff --git a/industrial_robots/universal_robot/ur_kinematics/include/ur_kinematics/ikfast.h b/industrial_robots/universal_robot/ur_kinematics/include/ur_kinematics/ikfast.h deleted file mode 100644 index 9a2a2f1..0000000 --- a/industrial_robots/universal_robot/ur_kinematics/include/ur_kinematics/ikfast.h +++ /dev/null @@ -1,328 +0,0 @@ -// -*- coding: utf-8 -*- -// Copyright (C) 2012 Rosen Diankov -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -/** \brief Header file for all ikfast c++ files/shared objects. - - The ikfast inverse kinematics compiler is part of OpenRAVE. - - The file is divided into two sections: - - Common - the abstract classes section that all ikfast share regardless of their settings - - Library Specific - the library-specific definitions, which depends on the precision/settings that the library was compiled with - - The defines are as follows, they are also used for the ikfast C++ class: - - - IKFAST_HEADER_COMMON - common classes - - IKFAST_HAS_LIBRARY - if defined, will include library-specific functions. by default this is off - - IKFAST_CLIBRARY - Define this linking statically or dynamically to get correct visibility. - - IKFAST_NO_MAIN - Remove the ``main`` function, usually used with IKFAST_CLIBRARY - - IKFAST_ASSERT - Define in order to get a custom assert called when NaNs, divides by zero, and other invalid conditions are detected. - - IKFAST_REAL - Use to force a custom real number type for IkReal. - - IKFAST_NAMESPACE - Enclose all functions and classes in this namespace, the ``main`` function is excluded. - - */ -#include -#include -#include - -#ifndef IKFAST_HEADER_COMMON -#define IKFAST_HEADER_COMMON - -/// should be the same as ikfast.__version__ -#define IKFAST_VERSION 61 - -namespace ikfast { - -/// \brief holds the solution for a single dof -template -class IkSingleDOFSolutionBase -{ -public: - IkSingleDOFSolutionBase() : fmul(0), foffset(0), freeind(-1), maxsolutions(1) { - indices[0] = indices[1] = indices[2] = indices[3] = indices[4] = -1; - } - T fmul, foffset; ///< joint value is fmul*sol[freeind]+foffset - signed char freeind; ///< if >= 0, mimics another joint - unsigned char jointtype; ///< joint type, 0x01 is revolute, 0x11 is slider - unsigned char maxsolutions; ///< max possible indices, 0 if controlled by free index or a free joint itself - unsigned char indices[5]; ///< unique index of the solution used to keep track on what part it came from. sometimes a solution can be repeated for different indices. store at least another repeated root -}; - -/// \brief The discrete solutions are returned in this structure. -/// -/// Sometimes the joint axes of the robot can align allowing an infinite number of solutions. -/// Stores all these solutions in the form of free variables that the user has to set when querying the solution. Its prototype is: -template -class IkSolutionBase -{ -public: - virtual ~IkSolutionBase() { - } - /// \brief gets a concrete solution - /// - /// \param[out] solution the result - /// \param[in] freevalues values for the free parameters \se GetFree - virtual void GetSolution(T* solution, const T* freevalues) const = 0; - - /// \brief std::vector version of \ref GetSolution - virtual void GetSolution(std::vector& solution, const std::vector& freevalues) const { - solution.resize(GetDOF()); - GetSolution(&solution.at(0), freevalues.size() > 0 ? &freevalues.at(0) : NULL); - } - - /// \brief Gets the indices of the configuration space that have to be preset before a full solution can be returned - /// - /// \return vector of indices indicating the free parameters - virtual const std::vector& GetFree() const = 0; - - /// \brief the dof of the solution - virtual const int GetDOF() const = 0; -}; - -/// \brief manages all the solutions -template -class IkSolutionListBase -{ -public: - virtual ~IkSolutionListBase() { - } - - /// \brief add one solution and return its index for later retrieval - /// - /// \param vinfos Solution data for each degree of freedom of the manipulator - /// \param vfree If the solution represents an infinite space, holds free parameters of the solution that users can freely set. - virtual size_t AddSolution(const std::vector >& vinfos, const std::vector& vfree) = 0; - - /// \brief returns the solution pointer - virtual const IkSolutionBase& GetSolution(size_t index) const = 0; - - /// \brief returns the number of solutions stored - virtual size_t GetNumSolutions() const = 0; - - /// \brief clears all current solutions, note that any memory addresses returned from \ref GetSolution will be invalidated. - virtual void Clear() = 0; -}; - -/// \brief holds function pointers for all the exported functions of ikfast -template -class IkFastFunctions -{ -public: - IkFastFunctions() : _ComputeIk(NULL), _ComputeFk(NULL), _GetNumFreeParameters(NULL), _GetFreeParameters(NULL), _GetNumJoints(NULL), _GetIkRealSize(NULL), _GetIkFastVersion(NULL), _GetIkType(NULL), _GetKinematicsHash(NULL) { - } - virtual ~IkFastFunctions() { - } - typedef bool (*ComputeIkFn)(const T*, const T*, const T*, IkSolutionListBase&); - ComputeIkFn _ComputeIk; - typedef void (*ComputeFkFn)(const T*, T*, T*); - ComputeFkFn _ComputeFk; - typedef int (*GetNumFreeParametersFn)(); - GetNumFreeParametersFn _GetNumFreeParameters; - typedef int* (*GetFreeParametersFn)(); - GetFreeParametersFn _GetFreeParameters; - typedef int (*GetNumJointsFn)(); - GetNumJointsFn _GetNumJoints; - typedef int (*GetIkRealSizeFn)(); - GetIkRealSizeFn _GetIkRealSize; - typedef const char* (*GetIkFastVersionFn)(); - GetIkFastVersionFn _GetIkFastVersion; - typedef int (*GetIkTypeFn)(); - GetIkTypeFn _GetIkType; - typedef const char* (*GetKinematicsHashFn)(); - GetKinematicsHashFn _GetKinematicsHash; -}; - -// Implementations of the abstract classes, user doesn't need to use them - -/// \brief Default implementation of \ref IkSolutionBase -template -class IkSolution : public IkSolutionBase -{ -public: - IkSolution(const std::vector >& vinfos, const std::vector& vfree) { - _vbasesol = vinfos; - _vfree = vfree; - } - - virtual void GetSolution(T* solution, const T* freevalues) const { - for(std::size_t i = 0; i < _vbasesol.size(); ++i) { - if( _vbasesol[i].freeind < 0 ) - solution[i] = _vbasesol[i].foffset; - else { - solution[i] = freevalues[_vbasesol[i].freeind]*_vbasesol[i].fmul + _vbasesol[i].foffset; - if( solution[i] > T(3.14159265358979) ) { - solution[i] -= T(6.28318530717959); - } - else if( solution[i] < T(-3.14159265358979) ) { - solution[i] += T(6.28318530717959); - } - } - } - } - - virtual void GetSolution(std::vector& solution, const std::vector& freevalues) const { - solution.resize(GetDOF()); - GetSolution(&solution.at(0), freevalues.size() > 0 ? &freevalues.at(0) : NULL); - } - - virtual const std::vector& GetFree() const { - return _vfree; - } - virtual const int GetDOF() const { - return static_cast(_vbasesol.size()); - } - - virtual void Validate() const { - for(size_t i = 0; i < _vbasesol.size(); ++i) { - if( _vbasesol[i].maxsolutions == (unsigned char)-1) { - throw std::runtime_error("max solutions for joint not initialized"); - } - if( _vbasesol[i].maxsolutions > 0 ) { - if( _vbasesol[i].indices[0] >= _vbasesol[i].maxsolutions ) { - throw std::runtime_error("index >= max solutions for joint"); - } - if( _vbasesol[i].indices[1] != (unsigned char)-1 && _vbasesol[i].indices[1] >= _vbasesol[i].maxsolutions ) { - throw std::runtime_error("2nd index >= max solutions for joint"); - } - } - } - } - - virtual void GetSolutionIndices(std::vector& v) const { - v.resize(0); - v.push_back(0); - for(int i = (int)_vbasesol.size()-1; i >= 0; --i) { - if( _vbasesol[i].maxsolutions != (unsigned char)-1 && _vbasesol[i].maxsolutions > 1 ) { - for(size_t j = 0; j < v.size(); ++j) { - v[j] *= _vbasesol[i].maxsolutions; - } - size_t orgsize=v.size(); - if( _vbasesol[i].indices[1] != (unsigned char)-1 ) { - for(size_t j = 0; j < orgsize; ++j) { - v.push_back(v[j]+_vbasesol[i].indices[1]); - } - } - if( _vbasesol[i].indices[0] != (unsigned char)-1 ) { - for(size_t j = 0; j < orgsize; ++j) { - v[j] += _vbasesol[i].indices[0]; - } - } - } - } - } - - std::vector< IkSingleDOFSolutionBase > _vbasesol; ///< solution and their offsets if joints are mimiced - std::vector _vfree; -}; - -/// \brief Default implementation of \ref IkSolutionListBase -template -class IkSolutionList : public IkSolutionListBase -{ -public: - virtual size_t AddSolution(const std::vector >& vinfos, const std::vector& vfree) - { - size_t index = _listsolutions.size(); - _listsolutions.push_back(IkSolution(vinfos,vfree)); - return index; - } - - virtual const IkSolutionBase& GetSolution(size_t index) const - { - if( index >= _listsolutions.size() ) { - throw std::runtime_error("GetSolution index is invalid"); - } - typename std::list< IkSolution >::const_iterator it = _listsolutions.begin(); - std::advance(it,index); - return *it; - } - - virtual size_t GetNumSolutions() const { - return _listsolutions.size(); - } - - virtual void Clear() { - _listsolutions.clear(); - } - -protected: - std::list< IkSolution > _listsolutions; -}; - -} - -#endif // OPENRAVE_IKFAST_HEADER - -// The following code is dependent on the C++ library linking with. -#ifdef IKFAST_HAS_LIBRARY - -// defined when creating a shared object/dll -#ifdef IKFAST_CLIBRARY -#ifdef _MSC_VER -#define IKFAST_API extern "C" __declspec(dllexport) -#else -#define IKFAST_API extern "C" -#endif -#else -#define IKFAST_API -#endif - -#ifdef IKFAST_NAMESPACE -namespace IKFAST_NAMESPACE { -#endif - -#ifdef IKFAST_REAL -typedef IKFAST_REAL IkReal; -#else -typedef double IkReal; -#endif - -/** \brief Computes all IK solutions given a end effector coordinates and the free joints. - - - ``eetrans`` - 3 translation values. For iktype **TranslationXYOrientation3D**, the z-axis is the orientation. - - ``eerot`` - - For **Transform6D** it is 9 values for the 3x3 rotation matrix. - - For **Direction3D**, **Ray4D**, and **TranslationDirection5D**, the first 3 values represent the target direction. - - For **TranslationXAxisAngle4D**, **TranslationYAxisAngle4D**, and **TranslationZAxisAngle4D** the first value represents the angle. - - For **TranslationLocalGlobal6D**, the diagonal elements ([0],[4],[8]) are the local translation inside the end effector coordinate system. - */ -IKFAST_API bool ComputeIk(const IkReal* eetrans, const IkReal* eerot, const IkReal* pfree, ikfast::IkSolutionListBase& solutions); - -/// \brief Computes the end effector coordinates given the joint values. This function is used to double check ik. -IKFAST_API void ComputeFk(const IkReal* joints, IkReal* eetrans, IkReal* eerot); - -/// \brief returns the number of free parameters users has to set apriori -IKFAST_API int GetNumFreeParameters(); - -/// \brief the indices of the free parameters indexed by the chain joints -IKFAST_API int* GetFreeParameters(); - -/// \brief the total number of indices of the chain -IKFAST_API int GetNumJoints(); - -/// \brief the size in bytes of the configured number type -IKFAST_API int GetIkRealSize(); - -/// \brief the ikfast version used to generate this file -IKFAST_API const char* GetIkFastVersion(); - -/// \brief the ik type ID -IKFAST_API int GetIkType(); - -/// \brief a hash of all the chain values used for double checking that the correct IK is used. -IKFAST_API const char* GetKinematicsHash(); - -#ifdef IKFAST_NAMESPACE -} -#endif - -#endif // IKFAST_HAS_LIBRARY diff --git a/industrial_robots/universal_robot/ur_kinematics/include/ur_kinematics/ur_kin.h b/industrial_robots/universal_robot/ur_kinematics/include/ur_kinematics/ur_kin.h deleted file mode 100644 index fd28291..0000000 --- a/industrial_robots/universal_robot/ur_kinematics/include/ur_kinematics/ur_kin.h +++ /dev/null @@ -1,76 +0,0 @@ -/********************************************************************* - * - * Provides forward and inverse kinematics for Univeral robot designs - * Author: Kelsey Hawkins (kphawkins@gatech.edu) - * - * Software License Agreement (BSD License) - * - * Copyright (c) 2013, Georgia Institute of Technology - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the Georgia Institute of Technology nor the names of - * its contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *********************************************************************/ -#ifndef UR_KIN_H -#define UR_KIN_H - -// These kinematics find the tranfrom from the base link to the end effector. -// Though the raw D-H parameters specify a transform from the 0th link to the 6th link, -// offset transforms are specified in this formulation. -// To work with the raw D-H kinematics, use the inverses of the transforms below. - -// Transform from base link to 0th link -// -1, 0, 0, 0 -// 0, -1, 0, 0 -// 0, 0, 1, 0 -// 0, 0, 0, 1 - -// Transform from 6th link to end effector -// 0, -1, 0, 0 -// 0, 0, -1, 0 -// 1, 0, 0, 0 -// 0, 0, 0, 1 - -namespace ur_kinematics { - // @param q The 6 joint values - // @param T The 4x4 end effector pose in row-major ordering - void forward(const double* q, double* T); - - // @param q The 6 joint values - // @param Ti The 4x4 link i pose in row-major ordering. If NULL, nothing is stored. - void forward_all(const double* q, double* T1, double* T2, double* T3, - double* T4, double* T5, double* T6); - - // @param T The 4x4 end effector pose in row-major ordering - // @param q_sols An 8x6 array of doubles returned, all angles should be in [0,2*PI) - // @param q6_des An optional parameter which designates what the q6 value should take - // in case of an infinite solution on that joint. - // @return Number of solutions found (maximum of 8) - int inverse(const double* T, double* q_sols, double q6_des=0.0); -}; - -#endif //UR_KIN_H diff --git a/industrial_robots/universal_robot/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h b/industrial_robots/universal_robot/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h deleted file mode 100644 index 1d36f4f..0000000 --- a/industrial_robots/universal_robot/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h +++ /dev/null @@ -1,281 +0,0 @@ -/********************************************************************* -* Software License Agreement (BSD License) -* -* Copyright (c) 2014, Georgia Tech -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above -* copyright notice, this list of conditions and the following -* disclaimer in the documentation and/or other materials provided -* with the distribution. -* * Neither the name of Georgia Tech nor the names of its -* contributors may be used to endorse or promote products derived -* from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -*********************************************************************/ - -/* Author: Kelsey Hawkins */ - -/* Based on orignal source from Willow Garage. License copied below */ - -/********************************************************************* -* Software License Agreement (BSD License) -* -* Copyright (c) 2012, Willow Garage, Inc. -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above -* copyright notice, this list of conditions and the following -* disclaimer in the documentation and/or other materials provided -* with the distribution. -* * Neither the name of Willow Garage nor the names of its -* contributors may be used to endorse or promote products derived -* from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -*********************************************************************/ - -/* Author: Sachin Chitta, David Lu!!, Ugo Cupcic */ - -#ifndef UR_KINEMATICS_PLUGIN_ -#define UR_KINEMATICS_PLUGIN_ - -// ROS -#include -#include - -// System -#include - -// ROS msgs -#include -#include -#include -#include -#include - -// KDL -#include -#include -#include -#include -#include - -// MoveIt! -#include -#include -#include - -namespace ur_kinematics -{ -/** -* @brief Specific implementation of kinematics using KDL. This version can be used with any robot. -*/ - class URKinematicsPlugin : public kinematics::KinematicsBase - { - public: - - /** -* @brief Default constructor -*/ - URKinematicsPlugin(); - - virtual bool getPositionIK(const geometry_msgs::Pose &ik_pose, - const std::vector &ik_seed_state, - std::vector &solution, - moveit_msgs::MoveItErrorCodes &error_code, - const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const; - - virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose, - const std::vector &ik_seed_state, - double timeout, - std::vector &solution, - moveit_msgs::MoveItErrorCodes &error_code, - const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const; - - virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose, - const std::vector &ik_seed_state, - double timeout, - const std::vector &consistency_limits, - std::vector &solution, - moveit_msgs::MoveItErrorCodes &error_code, - const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const; - - virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose, - const std::vector &ik_seed_state, - double timeout, - std::vector &solution, - const IKCallbackFn &solution_callback, - moveit_msgs::MoveItErrorCodes &error_code, - const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const; - - virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose, - const std::vector &ik_seed_state, - double timeout, - const std::vector &consistency_limits, - std::vector &solution, - const IKCallbackFn &solution_callback, - moveit_msgs::MoveItErrorCodes &error_code, - const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const; - - virtual bool getPositionFK(const std::vector &link_names, - const std::vector &joint_angles, - std::vector &poses) const; - - virtual bool initialize(const std::string &robot_description, - const std::string &group_name, - const std::string &base_name, - const std::string &tip_name, - double search_discretization); - - /** -* @brief Return all the joint names in the order they are used internally -*/ - const std::vector& getJointNames() const; - - /** -* @brief Return all the link names in the order they are represented internally -*/ - const std::vector& getLinkNames() const; - - protected: - - /** -* @brief Given a desired pose of the end-effector, search for the joint angles required to reach it. -* This particular method is intended for "searching" for a solutions by stepping through the redundancy -* (or other numerical routines). -* @param ik_pose the desired pose of the link -* @param ik_seed_state an initial guess solution for the inverse kinematics -* @param timeout The amount of time (in seconds) available to the solver -* @param solution the solution vector -* @param solution_callback A callback solution for the IK solution -* @param error_code an error code that encodes the reason for failure or success -* @param check_consistency Set to true if consistency check needs to be performed -* @param redundancy The index of the redundant joint -* @param consistency_limit The returned solutuion will contain a value for the redundant joint in the range [seed_state(redundancy_limit)-consistency_limit,seed_state(redundancy_limit)+consistency_limit] -* @return True if a valid solution was found, false otherwise -*/ - bool searchPositionIK(const geometry_msgs::Pose &ik_pose, - const std::vector &ik_seed_state, - double timeout, - std::vector &solution, - const IKCallbackFn &solution_callback, - moveit_msgs::MoveItErrorCodes &error_code, - const std::vector &consistency_limits, - const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const; - - virtual bool setRedundantJoints(const std::vector &redundant_joint_indices); - - private: - - bool timedOut(const ros::WallTime &start_time, double duration) const; - - - /** @brief Check whether the solution lies within the consistency limit of the seed state -* @param seed_state Seed state -* @param redundancy Index of the redundant joint within the chain -* @param consistency_limit The returned state for redundant joint should be in the range [seed_state(redundancy_limit)-consistency_limit,seed_state(redundancy_limit)+consistency_limit] -* @param solution solution configuration -* @return true if check succeeds -*/ - bool checkConsistency(const KDL::JntArray& seed_state, - const std::vector &consistency_limit, - const KDL::JntArray& solution) const; - - int getJointIndex(const std::string &name) const; - - int getKDLSegmentIndex(const std::string &name) const; - - void getRandomConfiguration(KDL::JntArray &jnt_array, bool lock_redundancy) const; - - /** @brief Get a random configuration within joint limits close to the seed state -* @param seed_state Seed state -* @param redundancy Index of the redundant joint within the chain -* @param consistency_limit The returned state will contain a value for the redundant joint in the range [seed_state(redundancy_limit)-consistency_limit,seed_state(redundancy_limit)+consistency_limit] -* @param jnt_array Returned random configuration -*/ - void getRandomConfiguration(const KDL::JntArray& seed_state, - const std::vector &consistency_limits, - KDL::JntArray &jnt_array, - bool lock_redundancy) const; - - bool isRedundantJoint(unsigned int index) const; - - bool active_; /** Internal variable that indicates whether solvers are configured and ready */ - - moveit_msgs::KinematicSolverInfo ik_chain_info_; /** Stores information for the inverse kinematics solver */ - - moveit_msgs::KinematicSolverInfo fk_chain_info_; /** Store information for the forward kinematics solver */ - - KDL::Chain kdl_chain_; - - unsigned int dimension_; /** Dimension of the group */ - - KDL::JntArray joint_min_, joint_max_; /** Joint limits */ - - mutable random_numbers::RandomNumberGenerator random_number_generator_; - - robot_model::RobotModelPtr robot_model_; - - robot_state::RobotStatePtr state_, state_2_; - - int num_possible_redundant_joints_; - std::vector redundant_joints_map_index_; - - // Storage required for when the set of redundant joints is reset - bool position_ik_; //whether this solver is only being used for position ik - robot_model::JointModelGroup* joint_model_group_; - double max_solver_iterations_; - double epsilon_; - std::vector mimic_joints_; - - std::vector ik_weights_; - std::vector ur_joint_names_; - std::vector ur_link_names_; - int ur_joint_inds_start_; - std::string arm_prefix_; - - // kinematic chains representing the chain from the group base link to the - // UR base link, and the UR tip link to the group tip link - KDL::Chain kdl_base_chain_; - KDL::Chain kdl_tip_chain_; - - }; -} - -#endif diff --git a/industrial_robots/universal_robot/ur_kinematics/package.xml b/industrial_robots/universal_robot/ur_kinematics/package.xml deleted file mode 100644 index 8e9b1fd..0000000 --- a/industrial_robots/universal_robot/ur_kinematics/package.xml +++ /dev/null @@ -1,35 +0,0 @@ - - - ur_kinematics - 1.2.5 - - Provides forward and inverse kinematics for Universal Robots designs. - See http://hdl.handle.net/1853/50782 for details. - - - Kelsey Hawkins - G.A. vd. Hoorn - Miguel Prada Sarasola - Nadia Hammoudeh Garcia - BSD - http://wiki.ros.org/ur_kinematics - https://github.com/ros-industrial/universal_robot/issues - https://github.com/ros-industrial/universal_robot - - catkin - - moveit_core - moveit_kinematics - moveit_ros_planning - roscpp - geometry_msgs - pluginlib - tf_conversions - boost - - rospy - - - - - diff --git a/industrial_robots/universal_robot/ur_kinematics/setup.py b/industrial_robots/universal_robot/ur_kinematics/setup.py deleted file mode 100644 index 3fc78fa..0000000 --- a/industrial_robots/universal_robot/ur_kinematics/setup.py +++ /dev/null @@ -1,13 +0,0 @@ -#!/usr/bin/env python - -from distutils.core import setup -from catkin_pkg.python_setup import generate_distutils_setup - -d = generate_distutils_setup( - ## don't do this unless you want a globally visible script - # scripts=['bin/myscript'], - packages=['ur_kinematics'], - package_dir={'': 'src'} -) - -setup(**d) diff --git a/industrial_robots/universal_robot/ur_kinematics/src/ur_kin.cpp b/industrial_robots/universal_robot/ur_kinematics/src/ur_kin.cpp deleted file mode 100644 index 8e4e17a..0000000 --- a/industrial_robots/universal_robot/ur_kinematics/src/ur_kin.cpp +++ /dev/null @@ -1,447 +0,0 @@ -#include - -#include -#include - - -namespace ur_kinematics { - - namespace { - const double ZERO_THRESH = 0.00000001; - int SIGN(double x) { - return (x > 0) - (x < 0); - } - const double PI = M_PI; - - //#define UR10_PARAMS - #ifdef UR10_PARAMS - const double d1 = 0.1273; - const double a2 = -0.612; - const double a3 = -0.5723; - const double d4 = 0.163941; - const double d5 = 0.1157; - const double d6 = 0.0922; - #endif - - //#define UR5_PARAMS - #ifdef UR5_PARAMS - const double d1 = 0.089159; - const double a2 = -0.42500; - const double a3 = -0.39225; - const double d4 = 0.10915; - const double d5 = 0.09465; - const double d6 = 0.0823; - #endif - - //#define UR3_PARAMS - #ifdef UR3_PARAMS - const double d1 = 0.1519; - const double a2 = -0.24365; - const double a3 = -0.21325; - const double d4 = 0.11235; - const double d5 = 0.08535; - const double d6 = 0.0819; - #endif - } - - void forward(const double* q, double* T) { - double s1 = sin(*q), c1 = cos(*q); q++; - double q23 = *q, q234 = *q, s2 = sin(*q), c2 = cos(*q); q++; - double s3 = sin(*q), c3 = cos(*q); q23 += *q; q234 += *q; q++; - double s4 = sin(*q), c4 = cos(*q); q234 += *q; q++; - double s5 = sin(*q), c5 = cos(*q); q++; - double s6 = sin(*q), c6 = cos(*q); - double s23 = sin(q23), c23 = cos(q23); - double s234 = sin(q234), c234 = cos(q234); - *T = c234*c1*s5 - c5*s1; T++; - *T = c6*(s1*s5 + c234*c1*c5) - s234*c1*s6; T++; - *T = -s6*(s1*s5 + c234*c1*c5) - s234*c1*c6; T++; - *T = d6*c234*c1*s5 - a3*c23*c1 - a2*c1*c2 - d6*c5*s1 - d5*s234*c1 - d4*s1; T++; - *T = c1*c5 + c234*s1*s5; T++; - *T = -c6*(c1*s5 - c234*c5*s1) - s234*s1*s6; T++; - *T = s6*(c1*s5 - c234*c5*s1) - s234*c6*s1; T++; - *T = d6*(c1*c5 + c234*s1*s5) + d4*c1 - a3*c23*s1 - a2*c2*s1 - d5*s234*s1; T++; - *T = -s234*s5; T++; - *T = -c234*s6 - s234*c5*c6; T++; - *T = s234*c5*s6 - c234*c6; T++; - *T = d1 + a3*s23 + a2*s2 - d5*(c23*c4 - s23*s4) - d6*s5*(c23*s4 + s23*c4); T++; - *T = 0.0; T++; *T = 0.0; T++; *T = 0.0; T++; *T = 1.0; - } - - void forward_all(const double* q, double* T1, double* T2, double* T3, - double* T4, double* T5, double* T6) { - double s1 = sin(*q), c1 = cos(*q); q++; // q1 - double q23 = *q, q234 = *q, s2 = sin(*q), c2 = cos(*q); q++; // q2 - double s3 = sin(*q), c3 = cos(*q); q23 += *q; q234 += *q; q++; // q3 - q234 += *q; q++; // q4 - double s5 = sin(*q), c5 = cos(*q); q++; // q5 - double s6 = sin(*q), c6 = cos(*q); // q6 - double s23 = sin(q23), c23 = cos(q23); - double s234 = sin(q234), c234 = cos(q234); - - if(T1 != NULL) { - *T1 = c1; T1++; - *T1 = 0; T1++; - *T1 = s1; T1++; - *T1 = 0; T1++; - *T1 = s1; T1++; - *T1 = 0; T1++; - *T1 = -c1; T1++; - *T1 = 0; T1++; - *T1 = 0; T1++; - *T1 = 1; T1++; - *T1 = 0; T1++; - *T1 =d1; T1++; - *T1 = 0; T1++; - *T1 = 0; T1++; - *T1 = 0; T1++; - *T1 = 1; T1++; - } - - if(T2 != NULL) { - *T2 = c1*c2; T2++; - *T2 = -c1*s2; T2++; - *T2 = s1; T2++; - *T2 =a2*c1*c2; T2++; - *T2 = c2*s1; T2++; - *T2 = -s1*s2; T2++; - *T2 = -c1; T2++; - *T2 =a2*c2*s1; T2++; - *T2 = s2; T2++; - *T2 = c2; T2++; - *T2 = 0; T2++; - *T2 = d1 + a2*s2; T2++; - *T2 = 0; T2++; - *T2 = 0; T2++; - *T2 = 0; T2++; - *T2 = 1; T2++; - } - - if(T3 != NULL) { - *T3 = c23*c1; T3++; - *T3 = -s23*c1; T3++; - *T3 = s1; T3++; - *T3 =c1*(a3*c23 + a2*c2); T3++; - *T3 = c23*s1; T3++; - *T3 = -s23*s1; T3++; - *T3 = -c1; T3++; - *T3 =s1*(a3*c23 + a2*c2); T3++; - *T3 = s23; T3++; - *T3 = c23; T3++; - *T3 = 0; T3++; - *T3 = d1 + a3*s23 + a2*s2; T3++; - *T3 = 0; T3++; - *T3 = 0; T3++; - *T3 = 0; T3++; - *T3 = 1; T3++; - } - - if(T4 != NULL) { - *T4 = c234*c1; T4++; - *T4 = s1; T4++; - *T4 = s234*c1; T4++; - *T4 =c1*(a3*c23 + a2*c2) + d4*s1; T4++; - *T4 = c234*s1; T4++; - *T4 = -c1; T4++; - *T4 = s234*s1; T4++; - *T4 =s1*(a3*c23 + a2*c2) - d4*c1; T4++; - *T4 = s234; T4++; - *T4 = 0; T4++; - *T4 = -c234; T4++; - *T4 = d1 + a3*s23 + a2*s2; T4++; - *T4 = 0; T4++; - *T4 = 0; T4++; - *T4 = 0; T4++; - *T4 = 1; T4++; - } - - if(T5 != NULL) { - *T5 = s1*s5 + c234*c1*c5; T5++; - *T5 = -s234*c1; T5++; - *T5 = c5*s1 - c234*c1*s5; T5++; - *T5 =c1*(a3*c23 + a2*c2) + d4*s1 + d5*s234*c1; T5++; - *T5 = c234*c5*s1 - c1*s5; T5++; - *T5 = -s234*s1; T5++; - *T5 = - c1*c5 - c234*s1*s5; T5++; - *T5 =s1*(a3*c23 + a2*c2) - d4*c1 + d5*s234*s1; T5++; - *T5 = s234*c5; T5++; - *T5 = c234; T5++; - *T5 = -s234*s5; T5++; - *T5 = d1 + a3*s23 + a2*s2 - d5*c234; T5++; - *T5 = 0; T5++; - *T5 = 0; T5++; - *T5 = 0; T5++; - *T5 = 1; T5++; - } - - if(T6 != NULL) { - *T6 = c6*(s1*s5 + c234*c1*c5) - s234*c1*s6; T6++; - *T6 = - s6*(s1*s5 + c234*c1*c5) - s234*c1*c6; T6++; - *T6 = c5*s1 - c234*c1*s5; T6++; - *T6 =d6*(c5*s1 - c234*c1*s5) + c1*(a3*c23 + a2*c2) + d4*s1 + d5*s234*c1; T6++; - *T6 = - c6*(c1*s5 - c234*c5*s1) - s234*s1*s6; T6++; - *T6 = s6*(c1*s5 - c234*c5*s1) - s234*c6*s1; T6++; - *T6 = - c1*c5 - c234*s1*s5; T6++; - *T6 =s1*(a3*c23 + a2*c2) - d4*c1 - d6*(c1*c5 + c234*s1*s5) + d5*s234*s1; T6++; - *T6 = c234*s6 + s234*c5*c6; T6++; - *T6 = c234*c6 - s234*c5*s6; T6++; - *T6 = -s234*s5; T6++; - *T6 = d1 + a3*s23 + a2*s2 - d5*c234 - d6*s234*s5; T6++; - *T6 = 0; T6++; - *T6 = 0; T6++; - *T6 = 0; T6++; - *T6 = 1; T6++; - } - } - - int inverse(const double* T, double* q_sols, double q6_des) { - int num_sols = 0; - double T02 = -*T; T++; double T00 = *T; T++; double T01 = *T; T++; double T03 = -*T; T++; - double T12 = -*T; T++; double T10 = *T; T++; double T11 = *T; T++; double T13 = -*T; T++; - double T22 = *T; T++; double T20 = -*T; T++; double T21 = -*T; T++; double T23 = *T; - - ////////////////////////////// shoulder rotate joint (q1) ////////////////////////////// - double q1[2]; - { - double A = d6*T12 - T13; - double B = d6*T02 - T03; - double R = A*A + B*B; - if(fabs(A) < ZERO_THRESH) { - double div; - if(fabs(fabs(d4) - fabs(B)) < ZERO_THRESH) - div = -SIGN(d4)*SIGN(B); - else - div = -d4/B; - double arcsin = asin(div); - if(fabs(arcsin) < ZERO_THRESH) - arcsin = 0.0; - if(arcsin < 0.0) - q1[0] = arcsin + 2.0*PI; - else - q1[0] = arcsin; - q1[1] = PI - arcsin; - } - else if(fabs(B) < ZERO_THRESH) { - double div; - if(fabs(fabs(d4) - fabs(A)) < ZERO_THRESH) - div = SIGN(d4)*SIGN(A); - else - div = d4/A; - double arccos = acos(div); - q1[0] = arccos; - q1[1] = 2.0*PI - arccos; - } - else if(d4*d4 > R) { - return num_sols; - } - else { - double arccos = acos(d4 / sqrt(R)) ; - double arctan = atan2(-B, A); - double pos = arccos + arctan; - double neg = -arccos + arctan; - if(fabs(pos) < ZERO_THRESH) - pos = 0.0; - if(fabs(neg) < ZERO_THRESH) - neg = 0.0; - if(pos >= 0.0) - q1[0] = pos; - else - q1[0] = 2.0*PI + pos; - if(neg >= 0.0) - q1[1] = neg; - else - q1[1] = 2.0*PI + neg; - } - } - //////////////////////////////////////////////////////////////////////////////// - - ////////////////////////////// wrist 2 joint (q5) ////////////////////////////// - double q5[2][2]; - { - for(int i=0;i<2;i++) { - double numer = (T03*sin(q1[i]) - T13*cos(q1[i])-d4); - double div; - if(fabs(fabs(numer) - fabs(d6)) < ZERO_THRESH) - div = SIGN(numer) * SIGN(d6); - else - div = numer / d6; - double arccos = acos(div); - q5[i][0] = arccos; - q5[i][1] = 2.0*PI - arccos; - } - } - //////////////////////////////////////////////////////////////////////////////// - - { - for(int i=0;i<2;i++) { - for(int j=0;j<2;j++) { - double c1 = cos(q1[i]), s1 = sin(q1[i]); - double c5 = cos(q5[i][j]), s5 = sin(q5[i][j]); - double q6; - ////////////////////////////// wrist 3 joint (q6) ////////////////////////////// - if(fabs(s5) < ZERO_THRESH) - q6 = q6_des; - else { - q6 = atan2(SIGN(s5)*-(T01*s1 - T11*c1), - SIGN(s5)*(T00*s1 - T10*c1)); - if(fabs(q6) < ZERO_THRESH) - q6 = 0.0; - if(q6 < 0.0) - q6 += 2.0*PI; - } - //////////////////////////////////////////////////////////////////////////////// - - double q2[2], q3[2], q4[2]; - ///////////////////////////// RRR joints (q2,q3,q4) //////////////////////////// - double c6 = cos(q6), s6 = sin(q6); - double x04x = -s5*(T02*c1 + T12*s1) - c5*(s6*(T01*c1 + T11*s1) - c6*(T00*c1 + T10*s1)); - double x04y = c5*(T20*c6 - T21*s6) - T22*s5; - double p13x = d5*(s6*(T00*c1 + T10*s1) + c6*(T01*c1 + T11*s1)) - d6*(T02*c1 + T12*s1) + - T03*c1 + T13*s1; - double p13y = T23 - d1 - d6*T22 + d5*(T21*c6 + T20*s6); - - double c3 = (p13x*p13x + p13y*p13y - a2*a2 - a3*a3) / (2.0*a2*a3); - if(fabs(fabs(c3) - 1.0) < ZERO_THRESH) - c3 = SIGN(c3); - else if(fabs(c3) > 1.0) { - // TODO NO SOLUTION - continue; - } - double arccos = acos(c3); - q3[0] = arccos; - q3[1] = 2.0*PI - arccos; - double denom = a2*a2 + a3*a3 + 2*a2*a3*c3; - double s3 = sin(arccos); - double A = (a2 + a3*c3), B = a3*s3; - q2[0] = atan2((A*p13y - B*p13x) / denom, (A*p13x + B*p13y) / denom); - q2[1] = atan2((A*p13y + B*p13x) / denom, (A*p13x - B*p13y) / denom); - double c23_0 = cos(q2[0]+q3[0]); - double s23_0 = sin(q2[0]+q3[0]); - double c23_1 = cos(q2[1]+q3[1]); - double s23_1 = sin(q2[1]+q3[1]); - q4[0] = atan2(c23_0*x04y - s23_0*x04x, x04x*c23_0 + x04y*s23_0); - q4[1] = atan2(c23_1*x04y - s23_1*x04x, x04x*c23_1 + x04y*s23_1); - //////////////////////////////////////////////////////////////////////////////// - for(int k=0;k<2;k++) { - if(fabs(q2[k]) < ZERO_THRESH) - q2[k] = 0.0; - else if(q2[k] < 0.0) q2[k] += 2.0*PI; - if(fabs(q4[k]) < ZERO_THRESH) - q4[k] = 0.0; - else if(q4[k] < 0.0) q4[k] += 2.0*PI; - q_sols[num_sols*6+0] = q1[i]; q_sols[num_sols*6+1] = q2[k]; - q_sols[num_sols*6+2] = q3[k]; q_sols[num_sols*6+3] = q4[k]; - q_sols[num_sols*6+4] = q5[i][j]; q_sols[num_sols*6+5] = q6; - num_sols++; - } - - } - } - } - return num_sols; - } -}; - - -#define IKFAST_HAS_LIBRARY -#include -using namespace ikfast; - -// check if the included ikfast version matches what this file was compiled with -#define IKFAST_COMPILE_ASSERT(x) extern int __dummy[(int)x] -IKFAST_COMPILE_ASSERT(IKFAST_VERSION==61); - -#ifdef IKFAST_NAMESPACE -namespace IKFAST_NAMESPACE { -#endif - -void to_mat44(double * mat4_4, const IkReal* eetrans, const IkReal* eerot) -{ - for(int i=0; i< 3;++i){ - mat4_4[i*4+0] = eerot[i*3+0]; - mat4_4[i*4+1] = eerot[i*3+1]; - mat4_4[i*4+2] = eerot[i*3+2]; - mat4_4[i*4+3] = eetrans[i]; - } - mat4_4[3*4+0] = 0; - mat4_4[3*4+1] = 0; - mat4_4[3*4+2] = 0; - mat4_4[3*4+3] = 1; -} - -void from_mat44(const double * mat4_4, IkReal* eetrans, IkReal* eerot) -{ - for(int i=0; i< 3;++i){ - eerot[i*3+0] = mat4_4[i*4+0]; - eerot[i*3+1] = mat4_4[i*4+1]; - eerot[i*3+2] = mat4_4[i*4+2]; - eetrans[i] = mat4_4[i*4+3]; - } -} - - -IKFAST_API bool ComputeIk(const IkReal* eetrans, const IkReal* eerot, const IkReal* pfree, IkSolutionListBase& solutions) { - if(!pfree) return false; - - int n = GetNumJoints(); - double q_sols[8*6]; - double T[16]; - - to_mat44(T, eetrans, eerot); - - int num_sols = ur_kinematics::inverse(T, q_sols,pfree[0]); - - std::vector vfree(0); - - for (int i=0; i < num_sols; ++i){ - std::vector > vinfos(n); - for (int j=0; j < n; ++j) vinfos[j].foffset = q_sols[i*n+j]; - solutions.AddSolution(vinfos,vfree); - } - return num_sols > 0; -} - -IKFAST_API void ComputeFk(const IkReal* j, IkReal* eetrans, IkReal* eerot) -{ - double T[16]; - ur_kinematics::forward(j,T); - from_mat44(T,eetrans,eerot); -} - -IKFAST_API int GetNumFreeParameters() { return 1; } -IKFAST_API int* GetFreeParameters() { static int freeparams[] = {5}; return freeparams; } -IKFAST_API int GetNumJoints() { return 6; } - -IKFAST_API int GetIkRealSize() { return sizeof(IkReal); } - -#ifdef IKFAST_NAMESPACE -} // end namespace -#endif - -#ifndef IKFAST_NO_MAIN - -using namespace std; -using namespace ur_kinematics; - -int main(int argc, char* argv[]) -{ - double q[6] = {0.0, 0.0, 1.0, 0.0, 1.0, 0.0}; - double* T = new double[16]; - forward(q, T); - for(int i=0;i<4;i++) { - for(int j=i*4;j<(i+1)*4;j++) - printf("%1.3f ", T[j]); - printf("\n"); - } - double q_sols[8*6]; - int num_sols; - num_sols = inverse(T, q_sols); - for(int i=0;i -#include - -#include - -namespace p = boost::python; -namespace np = boost::numpy; - -np::ndarray forward_wrapper(np::ndarray const & q_arr) { - if(q_arr.get_dtype() != np::dtype::get_builtin()) { - PyErr_SetString(PyExc_TypeError, "Incorrect array data type"); - p::throw_error_already_set(); - } - if(q_arr.get_nd() != 1) { - PyErr_SetString(PyExc_TypeError, "Incorrect number of dimensions"); - p::throw_error_already_set(); - } - if(q_arr.shape(0) != 6) { - PyErr_SetString(PyExc_TypeError, "Incorrect shape (should be 6)"); - p::throw_error_already_set(); - } - Py_intptr_t shape[2] = { 4, 4 }; - np::ndarray result = np::zeros(2,shape,np::dtype::get_builtin()); - ur_kinematics::forward(reinterpret_cast(q_arr.get_data()), - reinterpret_cast(result.get_data())); - return result; -} - -np::ndarray inverse_wrapper(np::ndarray const & array, PyObject * q6_des_py) { - if(array.get_dtype() != np::dtype::get_builtin()) { - PyErr_SetString(PyExc_TypeError, "Incorrect array data type"); - p::throw_error_already_set(); - } - if(array.get_nd() != 2) { - PyErr_SetString(PyExc_TypeError, "Incorrect number of dimensions"); - p::throw_error_already_set(); - } - if(array.shape(0) != 4 || array.shape(1) != 4) { - PyErr_SetString(PyExc_TypeError, "Incorrect shape (should be 4x4)"); - p::throw_error_already_set(); - } - double* T = reinterpret_cast(array.get_data()); - double* q_sols = (double*) malloc(8*6*sizeof(double)); - double q6_des = PyFloat_AsDouble(q6_des_py); - int num_sols = ur_kinematics::inverse(T, q_sols, q6_des); - q_sols = (double*) realloc(q_sols, num_sols*6*sizeof(double)); - return np::from_data(q_sols, np::dtype::get_builtin() , p::make_tuple(num_sols, 6), p::make_tuple(6*sizeof(double), sizeof(double)), p::object()); -} - -BOOST_PYTHON_MODULE(ur_kin_py) { - np::initialize(); // have to put this in any module that uses Boost.NumPy - p::def("forward", forward_wrapper); - p::def("inverse", inverse_wrapper); -} diff --git a/industrial_robots/universal_robot/ur_kinematics/src/ur_kinematics/__init__.py b/industrial_robots/universal_robot/ur_kinematics/src/ur_kinematics/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/industrial_robots/universal_robot/ur_kinematics/src/ur_kinematics/test_analytical_ik.py b/industrial_robots/universal_robot/ur_kinematics/src/ur_kinematics/test_analytical_ik.py deleted file mode 100644 index c11860b..0000000 --- a/industrial_robots/universal_robot/ur_kinematics/src/ur_kinematics/test_analytical_ik.py +++ /dev/null @@ -1,66 +0,0 @@ -import numpy as np -import sys -import roslib -roslib.load_manifest("ur_kinematics") -from ur_kin_py import forward, inverse - -def best_sol(sols, q_guess, weights): - valid_sols = [] - for sol in sols: - test_sol = np.ones(6)*9999. - for i in range(6): - for add_ang in [-2.*np.pi, 0, 2.*np.pi]: - test_ang = sol[i] + add_ang - if (abs(test_ang) <= 2.*np.pi and - abs(test_ang - q_guess[i]) < abs(test_sol[i] - q_guess[i])): - test_sol[i] = test_ang - if np.all(test_sol != 9999.): - valid_sols.append(test_sol) - if len(valid_sols) == 0: - return None - best_sol_ind = np.argmin(np.sum((weights*(valid_sols - np.array(q_guess)))**2,1)) - return valid_sols[best_sol_ind] - -def test_q(q): - x = forward(q) - sols = inverse(np.array(x), float(q[5])) - - qsol = best_sol(sols, q, [1.]*6) - if qsol is None: - qsol = [999.]*6 - diff = np.sum(np.abs(np.array(qsol) - q)) - if diff > 0.001: - print np.array(sols) - print 'Best q:', qsol - print 'Actual:', np.array(q) - print 'Diff: ', q - qsol - print 'Difdiv:', (q - qsol)/np.pi - print i1-3, i2-3, i3-3, i4-3, i5-3, i6-3 - if raw_input() == 'q': - sys.exit() - -def main(): - np.set_printoptions(precision=3) - print "Testing multiples of pi/2..." - for i1 in range(0,5): - for i2 in range(0,5): - print i1, i2 - for i3 in range(0,5): - for i4 in range(0,5): - for i5 in range(0,5): - for i6 in range(0,5): - q = np.array([i1*np.pi/2., i2*np.pi/2., i3*np.pi/2., - i4*np.pi/2., i5*np.pi/2., i6*np.pi/2.]) - test_q(q) - print "Testing random configurations..." - for i in range(10000): - q = (np.random.rand(6)-.5)*4*np.pi - test_q(q) - print "Done!" - -if __name__ == "__main__": - if False: - import cProfile - cProfile.run('main()', 'ik_prof') - else: - main() diff --git a/industrial_robots/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp b/industrial_robots/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp deleted file mode 100644 index a565d19..0000000 --- a/industrial_robots/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp +++ /dev/null @@ -1,829 +0,0 @@ -/********************************************************************* -* Software License Agreement (BSD License) -* -* Copyright (c) 2014, Georgia Tech -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above -* copyright notice, this list of conditions and the following -* disclaimer in the documentation and/or other materials provided -* with the distribution. -* * Neither the name of Georgia Tech nor the names of its -* contributors may be used to endorse or promote products derived -* from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -*********************************************************************/ - -/* Author: Kelsey Hawkins */ - -/* Based on orignal source from Willow Garage. License copied below */ - -/********************************************************************* -* Software License Agreement (BSD License) -* -* Copyright (c) 2012, Willow Garage, Inc. -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above -* copyright notice, this list of conditions and the following -* disclaimer in the documentation and/or other materials provided -* with the distribution. -* * Neither the name of Willow Garage nor the names of its -* contributors may be used to endorse or promote products derived -* from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -*********************************************************************/ - -/* Author: Sachin Chitta, David Lu!!, Ugo Cupcic */ - -#include - -//#include -#include -#include - -// URDF, SRDF -#include -#include - -#include - -// UR kin -#include -#include - -//register KDLKinematics as a KinematicsBase implementation -CLASS_LOADER_REGISTER_CLASS(ur_kinematics::URKinematicsPlugin, kinematics::KinematicsBase) - -namespace ur_kinematics -{ - - URKinematicsPlugin::URKinematicsPlugin():active_(false) {} - -void URKinematicsPlugin::getRandomConfiguration(KDL::JntArray &jnt_array, bool lock_redundancy) const -{ - std::vector jnt_array_vector(dimension_, 0.0); - state_->setToRandomPositions(joint_model_group_); - state_->copyJointGroupPositions(joint_model_group_, &jnt_array_vector[0]); - for (std::size_t i = 0; i < dimension_; ++i) - { - if (lock_redundancy) - if (isRedundantJoint(i)) - continue; - jnt_array(i) = jnt_array_vector[i]; - } -} - -bool URKinematicsPlugin::isRedundantJoint(unsigned int index) const -{ - for (std::size_t j=0; j < redundant_joint_indices_.size(); ++j) - if (redundant_joint_indices_[j] == index) - return true; - return false; -} - -void URKinematicsPlugin::getRandomConfiguration(const KDL::JntArray &seed_state, - const std::vector &consistency_limits, - KDL::JntArray &jnt_array, - bool lock_redundancy) const -{ - std::vector values(dimension_, 0.0); - std::vector near(dimension_, 0.0); - for (std::size_t i = 0 ; i < dimension_; ++i) - near[i] = seed_state(i); - - // Need to resize the consistency limits to remove mimic joints - std::vector consistency_limits_mimic; - for(std::size_t i = 0; i < dimension_; ++i) - { - if(!mimic_joints_[i].active) - continue; - consistency_limits_mimic.push_back(consistency_limits[i]); - } - - joint_model_group_->getVariableRandomPositionsNearBy(state_->getRandomNumberGenerator(), values, near, consistency_limits_mimic); - - for (std::size_t i = 0; i < dimension_; ++i) - { - bool skip = false; - if (lock_redundancy) - for (std::size_t j = 0; j < redundant_joint_indices_.size(); ++j) - if (redundant_joint_indices_[j] == i) - { - skip = true; - break; - } - if (skip) - continue; - jnt_array(i) = values[i]; - } -} - -bool URKinematicsPlugin::checkConsistency(const KDL::JntArray& seed_state, - const std::vector &consistency_limits, - const KDL::JntArray& solution) const -{ - for (std::size_t i = 0; i < dimension_; ++i) - if (fabs(seed_state(i) - solution(i)) > consistency_limits[i]) - return false; - return true; -} - -bool URKinematicsPlugin::initialize(const std::string &robot_description, - const std::string& group_name, - const std::string& base_frame, - const std::string& tip_frame, - double search_discretization) -{ - setValues(robot_description, group_name, base_frame, tip_frame, search_discretization); - - rdf_loader::RDFLoader rdf_loader(robot_description_); - const srdf::ModelSharedPtr &srdf = rdf_loader.getSRDF(); - const urdf::ModelInterfaceSharedPtr &urdf_model = rdf_loader.getURDF(); - - if (!urdf_model || !srdf) - { - ROS_ERROR_NAMED("kdl","URDF and SRDF must be loaded for KDL kinematics solver to work."); - return false; - } - - robot_model_.reset(new robot_model::RobotModel(urdf_model, srdf)); - - robot_model::JointModelGroup* joint_model_group = robot_model_->getJointModelGroup(group_name); - if (!joint_model_group) - return false; - - if(!joint_model_group->isChain()) - { - ROS_ERROR_NAMED("kdl","Group '%s' is not a chain", group_name.c_str()); - return false; - } - if(!joint_model_group->isSingleDOFJoints()) - { - ROS_ERROR_NAMED("kdl","Group '%s' includes joints that have more than 1 DOF", group_name.c_str()); - return false; - } - - KDL::Tree kdl_tree; - - if (!kdl_parser::treeFromUrdfModel(*urdf_model, kdl_tree)) - { - ROS_ERROR_NAMED("kdl","Could not initialize tree object"); - return false; - } - if (!kdl_tree.getChain(base_frame_, getTipFrame(), kdl_chain_)) - { - ROS_ERROR_NAMED("kdl","Could not initialize chain object"); - return false; - } - - dimension_ = joint_model_group->getActiveJointModels().size() + joint_model_group->getMimicJointModels().size(); - for (std::size_t i=0; i < joint_model_group->getJointModels().size(); ++i) - { - if(joint_model_group->getJointModels()[i]->getType() == moveit::core::JointModel::REVOLUTE || joint_model_group->getJointModels()[i]->getType() == moveit::core::JointModel::PRISMATIC) - { - ik_chain_info_.joint_names.push_back(joint_model_group->getJointModelNames()[i]); - const std::vector &jvec = joint_model_group->getJointModels()[i]->getVariableBoundsMsg(); - ik_chain_info_.limits.insert(ik_chain_info_.limits.end(), jvec.begin(), jvec.end()); - } - } - - fk_chain_info_.joint_names = ik_chain_info_.joint_names; - fk_chain_info_.limits = ik_chain_info_.limits; - - if(!joint_model_group->hasLinkModel(getTipFrame())) - { - ROS_ERROR_NAMED("kdl","Could not find tip name in joint group '%s'", group_name.c_str()); - return false; - } - ik_chain_info_.link_names.push_back(getTipFrame()); - fk_chain_info_.link_names = joint_model_group->getLinkModelNames(); - - joint_min_.resize(ik_chain_info_.limits.size()); - joint_max_.resize(ik_chain_info_.limits.size()); - - for(unsigned int i=0; i < ik_chain_info_.limits.size(); i++) - { - joint_min_(i) = ik_chain_info_.limits[i].min_position; - joint_max_(i) = ik_chain_info_.limits[i].max_position; - } - - // Get Solver Parameters - int max_solver_iterations; - double epsilon; - bool position_ik; - - lookupParam("max_solver_iterations", max_solver_iterations, 500); - lookupParam("epsilon", epsilon, 1e-5); - lookupParam(group_name+"/position_only_ik", position_ik, false); - - if(position_ik) - ROS_INFO_NAMED("kdl","Using position only ik"); - - num_possible_redundant_joints_ = kdl_chain_.getNrOfJoints() - joint_model_group->getMimicJointModels().size() - (position_ik? 3:6); - - // Check for mimic joints - bool has_mimic_joints = joint_model_group->getMimicJointModels().size() > 0; - std::vector redundant_joints_map_index; - - std::vector mimic_joints; - unsigned int joint_counter = 0; - for (std::size_t i = 0; i < kdl_chain_.getNrOfSegments(); ++i) - { - const robot_model::JointModel *jm = robot_model_->getJointModel(kdl_chain_.segments[i].getJoint().getName()); - - //first check whether it belongs to the set of active joints in the group - if (jm->getMimic() == NULL && jm->getVariableCount() > 0) - { - kdl_kinematics_plugin::JointMimic mimic_joint; - mimic_joint.reset(joint_counter); - mimic_joint.joint_name = kdl_chain_.segments[i].getJoint().getName(); - mimic_joint.active = true; - mimic_joints.push_back(mimic_joint); - ++joint_counter; - continue; - } - if (joint_model_group->hasJointModel(jm->getName())) - { - if (jm->getMimic() && joint_model_group->hasJointModel(jm->getMimic()->getName())) - { - kdl_kinematics_plugin::JointMimic mimic_joint; - mimic_joint.reset(joint_counter); - mimic_joint.joint_name = kdl_chain_.segments[i].getJoint().getName(); - mimic_joint.offset = jm->getMimicOffset(); - mimic_joint.multiplier = jm->getMimicFactor(); - mimic_joints.push_back(mimic_joint); - continue; - } - } - } - for (std::size_t i = 0; i < mimic_joints.size(); ++i) - { - if(!mimic_joints[i].active) - { - const robot_model::JointModel* joint_model = joint_model_group->getJointModel(mimic_joints[i].joint_name)->getMimic(); - for(std::size_t j=0; j < mimic_joints.size(); ++j) - { - if(mimic_joints[j].joint_name == joint_model->getName()) - { - mimic_joints[i].map_index = mimic_joints[j].map_index; - } - } - } - } - mimic_joints_ = mimic_joints; - - // Setup the joint state groups that we need - state_.reset(new robot_state::RobotState(robot_model_)); - state_2_.reset(new robot_state::RobotState(robot_model_)); - - // Store things for when the set of redundant joints may change - position_ik_ = position_ik; - joint_model_group_ = joint_model_group; - max_solver_iterations_ = max_solver_iterations; - epsilon_ = epsilon; - - lookupParam("arm_prefix", arm_prefix_, std::string("")); - - ur_joint_names_.push_back(arm_prefix_ + "shoulder_pan_joint"); - ur_joint_names_.push_back(arm_prefix_ + "shoulder_lift_joint"); - ur_joint_names_.push_back(arm_prefix_ + "elbow_joint"); - ur_joint_names_.push_back(arm_prefix_ + "wrist_1_joint"); - ur_joint_names_.push_back(arm_prefix_ + "wrist_2_joint"); - ur_joint_names_.push_back(arm_prefix_ + "wrist_3_joint"); - - ur_link_names_.push_back(arm_prefix_ + "base_link"); // 0 - ur_link_names_.push_back(arm_prefix_ + "ur_base_link"); // 1 - ur_link_names_.push_back(arm_prefix_ + "shoulder_link"); // 2 - ur_link_names_.push_back(arm_prefix_ + "upper_arm_link"); // 3 - ur_link_names_.push_back(arm_prefix_ + "forearm_link"); // 4 - ur_link_names_.push_back(arm_prefix_ + "wrist_1_link"); // 5 - ur_link_names_.push_back(arm_prefix_ + "wrist_2_link"); // 6 - ur_link_names_.push_back(arm_prefix_ + "wrist_3_link"); // 7 - ur_link_names_.push_back(arm_prefix_ + "ee_link"); // 8 - - ur_joint_inds_start_ = getJointIndex(ur_joint_names_[0]); - - // check to make sure the serial chain is properly defined in the model - int cur_ur_joint_ind, last_ur_joint_ind = ur_joint_inds_start_; - for(int i=1; i<6; i++) { - cur_ur_joint_ind = getJointIndex(ur_joint_names_[i]); - if(cur_ur_joint_ind < 0) { - ROS_ERROR_NAMED("kdl", - "Kin chain provided in model doesn't contain standard UR joint '%s'.", - ur_joint_names_[i].c_str()); - return false; - } - if(cur_ur_joint_ind != last_ur_joint_ind + 1) { - ROS_ERROR_NAMED("kdl", - "Kin chain provided in model doesn't have proper serial joint order: '%s'.", - ur_joint_names_[i].c_str()); - return false; - } - last_ur_joint_ind = cur_ur_joint_ind; - } - // if successful, the kinematic chain includes a serial chain of the UR joints - - kdl_tree.getChain(getBaseFrame(), ur_link_names_.front(), kdl_base_chain_); - kdl_tree.getChain(ur_link_names_.back(), getTipFrame(), kdl_tip_chain_); - - // weights for redundant solution selection - ik_weights_.resize(6); - if(!lookupParam("ik_weights", ik_weights_, ik_weights_)) { - ik_weights_[0] = 1.0; - ik_weights_[1] = 1.0; - ik_weights_[2] = 1.0; - ik_weights_[3] = 1.0; - ik_weights_[4] = 1.0; - ik_weights_[5] = 1.0; - } - - active_ = true; - ROS_DEBUG_NAMED("kdl","KDL solver initialized"); - return true; -} - -bool URKinematicsPlugin::setRedundantJoints(const std::vector &redundant_joints) -{ - if(num_possible_redundant_joints_ < 0) - { - ROS_ERROR_NAMED("kdl","This group cannot have redundant joints"); - return false; - } - if(redundant_joints.size() > num_possible_redundant_joints_) - { - ROS_ERROR_NAMED("kdl","This group can only have %d redundant joints", num_possible_redundant_joints_); - return false; - } - std::vector redundant_joints_map_index; - unsigned int counter = 0; - for(std::size_t i=0; i < dimension_; ++i) - { - bool is_redundant_joint = false; - for(std::size_t j=0; j < redundant_joints.size(); ++j) - { - if(i == redundant_joints[j]) - { - is_redundant_joint = true; -counter++; - break; - } - } - if(!is_redundant_joint) - { - // check for mimic - if(mimic_joints_[i].active) - { -redundant_joints_map_index.push_back(counter); -counter++; - } - } - } - for(std::size_t i=0; i < redundant_joints_map_index.size(); ++i) - ROS_DEBUG_NAMED("kdl","Redundant joint map index: %d %d", (int) i, (int) redundant_joints_map_index[i]); - - redundant_joints_map_index_ = redundant_joints_map_index; - redundant_joint_indices_ = redundant_joints; - return true; -} - -int URKinematicsPlugin::getJointIndex(const std::string &name) const -{ - for (unsigned int i=0; i < ik_chain_info_.joint_names.size(); i++) { - if (ik_chain_info_.joint_names[i] == name) - return i; - } - return -1; -} - -int URKinematicsPlugin::getKDLSegmentIndex(const std::string &name) const -{ - int i=0; - while (i < (int)kdl_chain_.getNrOfSegments()) { - if (kdl_chain_.getSegment(i).getName() == name) { - return i+1; - } - i++; - } - return -1; -} - -bool URKinematicsPlugin::timedOut(const ros::WallTime &start_time, double duration) const -{ - return ((ros::WallTime::now()-start_time).toSec() >= duration); -} - -bool URKinematicsPlugin::getPositionIK(const geometry_msgs::Pose &ik_pose, - const std::vector &ik_seed_state, - std::vector &solution, - moveit_msgs::MoveItErrorCodes &error_code, - const kinematics::KinematicsQueryOptions &options) const -{ - const IKCallbackFn solution_callback = 0; - std::vector consistency_limits; - - return searchPositionIK(ik_pose, - ik_seed_state, - default_timeout_, - solution, - solution_callback, - error_code, - consistency_limits, - options); -} - -bool URKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose, - const std::vector &ik_seed_state, - double timeout, - std::vector &solution, - moveit_msgs::MoveItErrorCodes &error_code, - const kinematics::KinematicsQueryOptions &options) const -{ - const IKCallbackFn solution_callback = 0; - std::vector consistency_limits; - - return searchPositionIK(ik_pose, - ik_seed_state, - timeout, - solution, - solution_callback, - error_code, - consistency_limits, - options); -} - -bool URKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose, - const std::vector &ik_seed_state, - double timeout, - const std::vector &consistency_limits, - std::vector &solution, - moveit_msgs::MoveItErrorCodes &error_code, - const kinematics::KinematicsQueryOptions &options) const -{ - const IKCallbackFn solution_callback = 0; - return searchPositionIK(ik_pose, - ik_seed_state, - timeout, - solution, - solution_callback, - error_code, - consistency_limits, - options); -} - -bool URKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose, - const std::vector &ik_seed_state, - double timeout, - std::vector &solution, - const IKCallbackFn &solution_callback, - moveit_msgs::MoveItErrorCodes &error_code, - const kinematics::KinematicsQueryOptions &options) const -{ - std::vector consistency_limits; - return searchPositionIK(ik_pose, - ik_seed_state, - timeout, - solution, - solution_callback, - error_code, - consistency_limits, - options); -} - -bool URKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose, - const std::vector &ik_seed_state, - double timeout, - const std::vector &consistency_limits, - std::vector &solution, - const IKCallbackFn &solution_callback, - moveit_msgs::MoveItErrorCodes &error_code, - const kinematics::KinematicsQueryOptions &options) const -{ - return searchPositionIK(ik_pose, - ik_seed_state, - timeout, - solution, - solution_callback, - error_code, - consistency_limits, - options); -} - -typedef std::pair idx_double; -bool comparator(const idx_double& l, const idx_double& r) -{ return l.second < r.second; } - -bool URKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose, - const std::vector &ik_seed_state, - double timeout, - std::vector &solution, - const IKCallbackFn &solution_callback, - moveit_msgs::MoveItErrorCodes &error_code, - const std::vector &consistency_limits, - const kinematics::KinematicsQueryOptions &options) const -{ - ros::WallTime n1 = ros::WallTime::now(); - if(!active_) { - ROS_ERROR_NAMED("kdl","kinematics not active"); - error_code.val = error_code.NO_IK_SOLUTION; - return false; - } - - if(ik_seed_state.size() != dimension_) { - ROS_ERROR_STREAM_NAMED("kdl","Seed state must have size " << dimension_ << " instead of size " << ik_seed_state.size()); - error_code.val = error_code.NO_IK_SOLUTION; - return false; - } - - if(!consistency_limits.empty() && consistency_limits.size() != dimension_) { - ROS_ERROR_STREAM_NAMED("kdl","Consistency limits be empty or must have size " << dimension_ << " instead of size " << consistency_limits.size()); - error_code.val = error_code.NO_IK_SOLUTION; - return false; - } - - KDL::JntArray jnt_seed_state(dimension_); - for(int i=0; i > q_ik_valid_sols; - for(uint16_t i=0; i valid_solution; - valid_solution.assign(6,0.0); - - for(uint16_t j=0; j<6; j++) - { - if((q_ik_sols[i][j] <= ik_chain_info_.limits[j].max_position) && (q_ik_sols[i][j] >= ik_chain_info_.limits[j].min_position)) - { - valid_solution[j] = q_ik_sols[i][j]; - valid = true; - continue; - } - else if ((q_ik_sols[i][j] > ik_chain_info_.limits[j].max_position) && (q_ik_sols[i][j]-2*M_PI > ik_chain_info_.limits[j].min_position)) - { - valid_solution[j] = q_ik_sols[i][j]-2*M_PI; - valid = true; - continue; - } - else if ((q_ik_sols[i][j] < ik_chain_info_.limits[j].min_position) && (q_ik_sols[i][j]+2*M_PI < ik_chain_info_.limits[j].max_position)) - { - valid_solution[j] = q_ik_sols[i][j]+2*M_PI; - valid = true; - continue; - } - else - { - valid = false; - break; - } - } - - if(valid) - { - q_ik_valid_sols.push_back(valid_solution); - } - } - - - // use weighted absolute deviations to determine the solution closest the seed state - std::vector weighted_diffs; - for(uint16_t i=0; i consistency_limits[ur_joint_inds_start_+j]) { - cur_weighted_diff = std::numeric_limits::infinity(); - break; - } - cur_weighted_diff += ik_weights_[j] * abs_diff; - } - weighted_diffs.push_back(idx_double(i, cur_weighted_diff)); - } - - std::sort(weighted_diffs.begin(), weighted_diffs.end(), comparator); - -#if 0 - printf("start\n"); - printf(" q %1.2f, %1.2f, %1.2f, %1.2f, %1.2f, %1.2f\n", ik_seed_state[1], ik_seed_state[2], ik_seed_state[3], ik_seed_state[4], ik_seed_state[5], ik_seed_state[6]); - for(uint16_t i=0; i::infinity()) { - // rest are infinity, no more feasible solutions - break; - } - - // copy the best solution to the output - int cur_idx = weighted_diffs[i].first; - solution = q_ik_valid_sols[cur_idx]; - - // see if this solution passes the callback function test - if(!solution_callback.empty()) - solution_callback(ik_pose, solution, error_code); - else - error_code.val = error_code.SUCCESS; - - if(error_code.val == error_code.SUCCESS) { -#if 0 - std::vector fk_link_names; - fk_link_names.push_back(ur_link_names_.back()); - std::vector fk_poses; - getPositionFK(fk_link_names, solution, fk_poses); - KDL::Frame kdl_fk_pose; - tf::poseMsgToKDL(fk_poses[0], kdl_fk_pose); - printf("FK(solution) - pose \n"); - for(int i=0; i<4; i++) { - for(int j=0; j<4; j++) - printf("%1.6f ", kdl_fk_pose(i, j)-kdl_ik_pose(i, j)); - printf("\n"); - } -#endif - return true; - } - } - // none of the solutions were both consistent and passed the solution callback - - if(options.lock_redundant_joints) { - ROS_DEBUG_NAMED("kdl","Will not pertubate redundant joints to find solution"); - break; - } - - if(dimension_ == 6) { - ROS_DEBUG_NAMED("kdl","No other joints to pertubate, cannot find solution"); - break; - } - - // randomly pertubate other joints and try again - if(!consistency_limits.empty()) { - getRandomConfiguration(jnt_seed_state, consistency_limits, jnt_pos_test, false); - } else { - getRandomConfiguration(jnt_pos_test, false); - } - } - - ROS_DEBUG_NAMED("kdl","An IK that satisifes the constraints and is collision free could not be found"); - error_code.val = error_code.NO_IK_SOLUTION; - return false; -} - -bool URKinematicsPlugin::getPositionFK(const std::vector &link_names, - const std::vector &joint_angles, - std::vector &poses) const -{ - ros::WallTime n1 = ros::WallTime::now(); - if(!active_) - { - ROS_ERROR_NAMED("kdl","kinematics not active"); - return false; - } - poses.resize(link_names.size()); - if(joint_angles.size() != dimension_) - { - ROS_ERROR_NAMED("kdl","Joint angles vector must have size: %d",dimension_); - return false; - } - - KDL::Frame p_out; - geometry_msgs::PoseStamped pose; - tf::Stamped tf_pose; - - KDL::JntArray jnt_pos_in(dimension_); - for(unsigned int i=0; i < dimension_; i++) - { - jnt_pos_in(i) = joint_angles[i]; - } - - KDL::ChainFkSolverPos_recursive fk_solver(kdl_chain_); - - bool valid = true; - for(unsigned int i=0; i < poses.size(); i++) - { - ROS_DEBUG_NAMED("kdl","End effector index: %d",getKDLSegmentIndex(link_names[i])); - if(fk_solver.JntToCart(jnt_pos_in,p_out,getKDLSegmentIndex(link_names[i])) >=0) - { - tf::poseKDLToMsg(p_out,poses[i]); - } - else - { - ROS_ERROR_NAMED("kdl","Could not compute FK for %s",link_names[i].c_str()); - valid = false; - } - } - return valid; -} - -const std::vector& URKinematicsPlugin::getJointNames() const -{ - return ik_chain_info_.joint_names; -} - -const std::vector& URKinematicsPlugin::getLinkNames() const -{ - return ik_chain_info_.link_names; -} - -} // namespace diff --git a/industrial_robots/universal_robot/ur_kinematics/ur_moveit_plugins.xml b/industrial_robots/universal_robot/ur_kinematics/ur_moveit_plugins.xml deleted file mode 100644 index f77bd7c..0000000 --- a/industrial_robots/universal_robot/ur_kinematics/ur_moveit_plugins.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - - Analytic kinematics for the Universal Robots UR3. - Developed by Kelsey Hawkins from Georgia Tech. - See http://hdl.handle.net/1853/50782 for details. - - - - - - - - Analytic kinematics for the Universal Robots UR5. - Developed by Kelsey Hawkins from Georgia Tech. - See http://hdl.handle.net/1853/50782 for details. - - - - - - - - Analytic kinematics for the Universal Robots UR10. - Developed by Kelsey Hawkins from Georgia Tech. - See http://hdl.handle.net/1853/50782 for details. - - - diff --git a/industrial_robots/universal_robot/ur_msgs/CHANGELOG.rst b/industrial_robots/universal_robot/ur_msgs/CHANGELOG.rst deleted file mode 100644 index 02ddba3..0000000 --- a/industrial_robots/universal_robot/ur_msgs/CHANGELOG.rst +++ /dev/null @@ -1,38 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur_msgs -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* Correct width and type of 'digital\_*_bits'. (`#416 `_) -* Clarify use of fields in SetIO svc. (`#415 `_) -* Update maintainer listing: add Miguel (`#410 `_) -* Add RobotModeDataMsg (`#395 `_) -* Update maintainer and author information. -* Contributors: Felix von Drigalski, gavanderhoorn - -1.2.1 (2018-01-06) ------------------- - -1.2.0 (2017-08-04) ------------------- - -1.1.9 (2017-01-02) ------------------- -* No changes. - -1.1.8 (2016-12-30) ------------------- -* all: update maintainers. -* Contributors: gavanderhoorn - -1.1.7 (2016-12-29) ------------------- -* Add message definition for ToolData. -* Contributors: Nikolas Engelhard - -1.1.6 (2016-04-01) ------------------- -* Moved SetIO FUN constants from driver.py to relevant srv file for easier interaction from other files -* catkin_lint -* Contributors: Thomas Timm Andersen, ipa-fxm diff --git a/industrial_robots/universal_robot/ur_msgs/CMakeLists.txt b/industrial_robots/universal_robot/ur_msgs/CMakeLists.txt deleted file mode 100644 index 84f715b..0000000 --- a/industrial_robots/universal_robot/ur_msgs/CMakeLists.txt +++ /dev/null @@ -1,57 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(ur_msgs) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS message_generation std_msgs) - - -## Generate messages in the 'msg' folder -add_message_files( - FILES - Analog.msg - Digital.msg - IOStates.msg - RobotStateRTMsg.msg - MasterboardDataMsg.msg - RobotModeDataMsg.msg - ToolDataMsg.msg -) - -## Generate services in the 'srv' folder -add_service_files( - FILES - SetPayload.srv - SetSpeedSliderFraction.srv - SetIO.srv -) - - -## Generate added messages and services with any dependencies listed here -generate_messages( - DEPENDENCIES - std_msgs -) - -################################### -## catkin specific configuration ## -################################### -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES ur_msgs - CATKIN_DEPENDS message_runtime std_msgs -# DEPENDS system_lib -) - -########### -## Build ## -########### - -############# -## Install ## -############# - -############# -## Testing ## -############# diff --git a/industrial_robots/universal_robot/ur_msgs/msg/Analog.msg b/industrial_robots/universal_robot/ur_msgs/msg/Analog.msg deleted file mode 100644 index 2a33752..0000000 --- a/industrial_robots/universal_robot/ur_msgs/msg/Analog.msg +++ /dev/null @@ -1,6 +0,0 @@ -uint8 VOLTAGE=0 -uint8 CURRENT=1 - -uint8 pin -uint8 domain # can be VOLTAGE or CURRENT -float32 state diff --git a/industrial_robots/universal_robot/ur_msgs/msg/Digital.msg b/industrial_robots/universal_robot/ur_msgs/msg/Digital.msg deleted file mode 100644 index 6183945..0000000 --- a/industrial_robots/universal_robot/ur_msgs/msg/Digital.msg +++ /dev/null @@ -1,2 +0,0 @@ -uint8 pin -bool state diff --git a/industrial_robots/universal_robot/ur_msgs/msg/IOStates.msg b/industrial_robots/universal_robot/ur_msgs/msg/IOStates.msg deleted file mode 100644 index e719573..0000000 --- a/industrial_robots/universal_robot/ur_msgs/msg/IOStates.msg +++ /dev/null @@ -1,5 +0,0 @@ -Digital[] digital_in_states -Digital[] digital_out_states -Digital[] flag_states -Analog[] analog_in_states -Analog[] analog_out_states diff --git a/industrial_robots/universal_robot/ur_msgs/msg/MasterboardDataMsg.msg b/industrial_robots/universal_robot/ur_msgs/msg/MasterboardDataMsg.msg deleted file mode 100644 index 18b6bbe..0000000 --- a/industrial_robots/universal_robot/ur_msgs/msg/MasterboardDataMsg.msg +++ /dev/null @@ -1,27 +0,0 @@ -# This data structure contains the MasterboardData structure -# used by the Universal Robots controller -# -# MasterboardData is part of the data structure being send on the -# secondary client communications interface -# -# This data structure is send at 10 Hz on TCP port 30002 -# -# Documentation can be found on the Universal Robots Support site, article -# number 16496. - -uint32 digital_input_bits -uint32 digital_output_bits -int8 analog_input_range0 -int8 analog_input_range1 -float64 analog_input0 -float64 analog_input1 -int8 analog_output_domain0 -int8 analog_output_domain1 -float64 analog_output0 -float64 analog_output1 -float32 masterboard_temperature -float32 robot_voltage_48V -float32 robot_current -float32 master_io_current -uint8 master_safety_state -uint8 master_onoff_state diff --git a/industrial_robots/universal_robot/ur_msgs/msg/RobotModeDataMsg.msg b/industrial_robots/universal_robot/ur_msgs/msg/RobotModeDataMsg.msg deleted file mode 100644 index 5c443f7..0000000 --- a/industrial_robots/universal_robot/ur_msgs/msg/RobotModeDataMsg.msg +++ /dev/null @@ -1,15 +0,0 @@ -# This data structure contains the RobotModeData structure -# used by the Universal Robots controller -# -# This data structure is send at 10 Hz on TCP port 30002 -# -# Note: this message does not carry all fields from the RobotModeData structure as broadcast by the robot controller, but a subset. - -uint64 timestamp -bool is_robot_connected -bool is_real_robot_enabled -bool is_power_on_robot -bool is_emergency_stopped -bool is_protective_stopped -bool is_program_running -bool is_program_paused diff --git a/industrial_robots/universal_robot/ur_msgs/msg/RobotStateRTMsg.msg b/industrial_robots/universal_robot/ur_msgs/msg/RobotStateRTMsg.msg deleted file mode 100644 index 2741463..0000000 --- a/industrial_robots/universal_robot/ur_msgs/msg/RobotStateRTMsg.msg +++ /dev/null @@ -1,27 +0,0 @@ -# Data structure for the realtime communications interface (aka Matlab interface) -# used by the Universal Robots controller -# -# This data structure is send at 125 Hz on TCP port 30003 -# -# Dokumentation can be found on the Universal Robots Support Wiki -# (http://wiki03.lynero.net/Technical/RealTimeClientInterface?rev=9) - -float64 time -float64[] q_target -float64[] qd_target -float64[] qdd_target -float64[] i_target -float64[] m_target -float64[] q_actual -float64[] qd_actual -float64[] i_actual -float64[] tool_acc_values -float64[] tcp_force -float64[] tool_vector -float64[] tcp_speed -float64 digital_input_bits -float64[] motor_temperatures -float64 controller_timer -float64 test_value -float64 robot_mode -float64[] joint_modes diff --git a/industrial_robots/universal_robot/ur_msgs/msg/ToolDataMsg.msg b/industrial_robots/universal_robot/ur_msgs/msg/ToolDataMsg.msg deleted file mode 100644 index 83d782a..0000000 --- a/industrial_robots/universal_robot/ur_msgs/msg/ToolDataMsg.msg +++ /dev/null @@ -1,20 +0,0 @@ -# This data structure contains the ToolData structure -# used by the Universal Robots controller - -int8 ANALOG_INPUT_RANGE_CURRENT = 0 -int8 ANALOG_INPUT_RANGE_VOLTAGE = 1 - -int8 analog_input_range2 # one of ANALOG_INPUT_RANGE_* -int8 analog_input_range3 # one of ANALOG_INPUT_RANGE_* -float64 analog_input2 -float64 analog_input3 -float32 tool_voltage_48v -uint8 tool_output_voltage -float32 tool_current -float32 tool_temperature - -uint8 TOOL_BOOTLOADER_MODE = 249 -uint8 TOOL_RUNNING_MODE = 253 -uint8 TOOL_IDLE_MODE = 255 - -uint8 tool_mode # one of TOOL_* diff --git a/industrial_robots/universal_robot/ur_msgs/package.xml b/industrial_robots/universal_robot/ur_msgs/package.xml deleted file mode 100644 index 3b2b3c3..0000000 --- a/industrial_robots/universal_robot/ur_msgs/package.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - ur_msgs - 1.2.5 - The ur_msgs package - - Andrew Glusiec - Felix Messmer - G.A. vd. Hoorn - Miguel Prada Sarasola - Nadia Hammoudeh Garcia - - BSD - - catkin - message_generation - std_msgs - message_runtime - - - - diff --git a/industrial_robots/universal_robot/ur_msgs/srv/SetIO.srv b/industrial_robots/universal_robot/ur_msgs/srv/SetIO.srv deleted file mode 100644 index 0bea454..0000000 --- a/industrial_robots/universal_robot/ur_msgs/srv/SetIO.srv +++ /dev/null @@ -1,42 +0,0 @@ -# Service allows setting digital (DIO) and analog (AIO) IO, as well as flags -# and configuring tool voltage. -# -# This service has three request fields (see below). -# -# When setting DIO or AIO pins to new values: -# -# fun The function to perform -# pin Numeric ID of the pin to set -# state Desired pin state (signal level for analog or STATE_(ON|OFF) for DIO and flags) -# -# When configuring tool voltage: -# -# fun Set to FUN_SET_TOOL_VOLTAGE -# pin Ignored -# state Desired tool voltage (use STATE_TOOL_VOLTAGE constants) - -# constants - -# valid function values -# -# Note: 'fun' is short for 'function' (ie: the function the service should perform). -int8 FUN_SET_DIGITAL_OUT = 1 -int8 FUN_SET_FLAG = 2 -int8 FUN_SET_ANALOG_OUT = 3 -int8 FUN_SET_TOOL_VOLTAGE = 4 - -# valid values for 'state' when setting digital IO or flags -int8 STATE_OFF = 0 -int8 STATE_ON = 1 - -# valid 'state' values when setting tool voltage -int8 STATE_TOOL_VOLTAGE_0V = 0 -int8 STATE_TOOL_VOLTAGE_12V = 12 -int8 STATE_TOOL_VOLTAGE_24V = 24 - -# request fields -int8 fun -int8 pin -float32 state ---- -bool success diff --git a/industrial_robots/universal_robot/ur_msgs/srv/SetPayload.srv b/industrial_robots/universal_robot/ur_msgs/srv/SetPayload.srv deleted file mode 100644 index d68eb5c..0000000 --- a/industrial_robots/universal_robot/ur_msgs/srv/SetPayload.srv +++ /dev/null @@ -1,3 +0,0 @@ -float32 payload ------------------------ -bool success diff --git a/industrial_robots/universal_robot/ur_msgs/srv/SetSpeedSliderFraction.srv b/industrial_robots/universal_robot/ur_msgs/srv/SetSpeedSliderFraction.srv deleted file mode 100644 index 263a375..0000000 --- a/industrial_robots/universal_robot/ur_msgs/srv/SetSpeedSliderFraction.srv +++ /dev/null @@ -1,8 +0,0 @@ -# Set the speed slider on the teach pendant to the specified value. -# -# Values for 'speed_slider_fraction' must be from [0; 1.0]; values outside this -# valid range will result in an error being returned to the caller. - -float64 speed_slider_fraction ---- -bool success