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Shota Aoki
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ROS 2に対応 (#28)
* samplesディレクトリを削除 * ROS 2でビルドできるようにCMakeLists.txtとpackage.xmlを追加 * Eigen3の依存関係を追加 * ROS 2 CI用のworkflowを追加 * package.xmlを微修正 * ライブラリが使えることの確認ようにサンプルパッケージを追加 * includeパスを修正 * READMEの文言をROS 2向けに変更
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‎.github/workflows/build_test.yaml

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on:
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push:
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branches:
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- main
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paths-ignore:
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- '**.md'
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pull_request:
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branches:
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- main
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paths-ignore:
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- '**.md'
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schedule:
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- cron: "0 2 * * 0" # Weekly on Sundays at 02:00
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- '**.md'
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jobs:
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lint:

‎.github/workflows/industrial_ci.yaml

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name: industrial_ci
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on:
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push:
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paths-ignore:
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- 'docs/**'
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- '**.md'
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pull_request:
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paths-ignore:
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- 'docs/**'
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- '**.md'
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schedule:
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- cron: "0 2 * * 0" # Weekly on Sundays at 02:00
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jobs:
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industrial_ci:
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strategy:
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matrix:
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env:
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- { ROS_DISTRO: foxy, ROS_REPO: ros }
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- { ROS_DISTRO: galactic, ROS_REPO: ros }
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- { ROS_DISTRO: humble, ROS_REPO: ros }
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- { ROS_DISTRO: rolling, ROS_REPO: ros }
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v3
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- uses: "ros-industrial/industrial_ci@master"
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env: ${{ matrix.env }}

‎README.md

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# RTマニピュレータC++ライブラリとサンプル集（rt_manipulators_cpp）
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[![BuildAndTest](https://github.com/rt-net/rt_manipulators_cpp/actions/workflows/build_test.yaml/badge.svg)](https://github.com/rt-net/rt_manipulators_cpp/actions/workflows/build_test.yaml)
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[![industrial_ci](https://github.com/rt-net/rt_manipulators_cpp/actions/workflows/industrial_ci.yaml/badge.svg?branch=ros2)](https://github.com/rt-net/rt_manipulators_cpp/actions/workflows/industrial_ci.yaml)
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本リポジトリは、株式会社アールティが販売している
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[アームロボット**CRANE-X7(クラインエックスセブン)**](https://rt-net.jp/products/crane-x7/)
@@ -11,87 +11,25 @@
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[<img src=https://rt-net.github.io/images/crane-x7/CRANE-X7-500x500.png width=400px />](https://rt-net.jp/products/crane-x7/)
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[<img src=https://rt-net.github.io/images/sciurus17/Sciurus17-500x500.png width=400px />](https://rt-net.jp/products/sciurus17)
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[![gravity_compensation](https://rt-net.github.io/images/crane-x7/x7_s17_gravity_compensation.gif)](./samples/samples03/README.md)
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## 動作環境
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- CMake (>= 3.1.0)
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- g++ (>= 7.5.0)
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- [DYNAMIXEL SDK](https://github.com/ROBOTIS-GIT/DynamixelSDK) (Linux 64bit向けにビルド&インストール)
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- [yaml-cpp (>= 0.5.0)](https://github.com/jbeder/yaml-cpp)
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- Eigen (>= 3.3.4)
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- Linux OS
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- Ubuntu 18.04
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- Ubuntu 20.04
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- ロボット
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- [CRANE-X7](https://rt-net.jp/products/crane-x7/)
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- [Sciurus17](https://rt-net.jp/products/sciurus17/)
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- ROS Foxy
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- ROS Galactic
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- ROS Humble
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- ROS Rolling
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## インストール方法
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### DYNAMIXEL SDKのインストール
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[DYNAMIXEL SDKのe-manual](https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/library_setup/cpp_linux/#cpp-linux)
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を参考に、Linux 64bit環境用にDYNAMIXEL SDKをビルド＆インストールします。
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```sh
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$ sudo apt install build-essential
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$ cd ~
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$ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
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$ cd ~/DynamixelSDK/c++/build/linux64
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$ make
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$ sudo make install
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```
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46-
### その他依存関係のインストール
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48-
次のコマンドを実行します。
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50-
```sh
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$ sudo apt install libyaml-cpp-dev libeigen3-dev cmake
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```
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5423
### RTマニピュレータC++ライブラリのビルド&インストール
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詳細は[rt_manipulators_lib/README.md](./rt_manipulators_lib/README.md)を参照してください。
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```sh
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$ cd ~
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$ git clone https://github.com/rt-net/rt_manipulators_cpp
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$ cd rt_manipulators_cpp/rt_manipulators_lib
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$ ./build_install_library.bash
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$ cd ~/ros2_ws/src # workspaceを~/ros2_wsに作成している場合
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$ git clone -b ros2 https://github.com/rt-net/rt_manipulators_cpp
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$ rosdep install -r -y --from-paths . --ignore-src
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$ cd ..
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$ colcon build --symlink-install
6331
```
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## サンプルプログラムの実行
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67-
詳細は[samples/README.md](./samples/README.md)を参照してください。
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69-
```sh
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$ cd rt_manipulators_cpp/samples/samples01
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$ ./build_samples.bash
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$ cd bin/
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$ ./x7_onoff
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CRANE-X7のトルクをON/OFFするサンプルです.
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CRANE-X7(ポート:/dev/ttyUSB0 ボーレート:3000000)に接続します.
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コンフィグファイル:../config/crane-x7.yamlを読み込みます.
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Config file '../config/crane-x7.yaml' loaded.
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arm
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joint1, id:2, mode:3
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joint2, id:3, mode:3
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joint3, id:4, mode:3
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joint4, id:5, mode:3
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joint5, id:6, mode:3
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joint6, id:7, mode:3
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joint7, id:8, mode:3
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hand
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joint_hand, id:9, mode:3
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サーボグループ:armのトルクをONにします.
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...
91-
```
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[![](https://img.youtube.com/vi/cA_3HU3HfcM/sddefault.jpg)](https://youtu.be/cA_3HU3HfcM)
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## 免責事項
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当該製品および当ソフトウェアの使用中に生じたいかなる損害も株式会社アールティでは一切の責任を負いかねます。

‎rt_manipulators_examples/CMakeLists.txt

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cmake_minimum_required(VERSION 3.5)
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project(rt_manipulators_examples)
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# Default to C++17
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rt_manipulators_cpp REQUIRED)
17+
18+
add_executable(x7_forward_kinematics src/x7_forward_kinematics.cpp)
19+
ament_target_dependencies(x7_forward_kinematics
20+
rclcpp
21+
rt_manipulators_cpp
22+
)
23+
24+
if(BUILD_TESTING)
25+
find_package(ament_lint_auto REQUIRED)
26+
ament_lint_auto_find_test_dependencies()
27+
endif()
28+
29+
install(TARGETS x7_forward_kinematics
30+
DESTINATION lib/${PROJECT_NAME})
31+
32+
install(DIRECTORY
33+
launch
34+
config
35+
DESTINATION share/${PROJECT_NAME}/
36+
)
37+
38+
ament_package()

‎rt_manipulators_examples/README.md

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# RT Manipulators Examples
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## CRANE-X7 Forward Kinematics
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これは
6+
[rt_manipulators_cppのサンプル](https://github.com/rt-net/rt_manipulators_cpp/blob/v1.1.2/samples/samples02/src/x7_forward_kinematics.cpp)
7+
をROS 2用に変換したものです
8+
9+
```sh
10+
$ ros2 launch rt_manipulators_examples example.launch.py example:=x7_forward_kinematics
11+
```

‎samples/samples01/config/crane-x7.yaml renamed to ‎rt_manipulators_examples/config/crane-x7.yaml

File renamed without changes.

‎samples/samples02/config/crane-x7_links.csv renamed to ‎rt_manipulators_examples/config/crane-x7_links.csv

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リンク名称,ID,,,,ワールド座標系ホームポジション位置,,,ワールド座標系リンク間相対距離,,,ワールド座標系ホームポジション姿勢,,,質量[g],ローカル座標系質量位置,,,ローカル座標系慣性テンソル(重心),,,,,,ハードウェア可動範囲,,角度制限設定済可動範囲,,ホームポジション角度,回転軸方向,サーボモータ種類,トルク定数,サーボモータID,サーボモータ可動範囲,,通信速度,Return Delay Time,Operation Mode,Pゲイン,Iゲイン,Dゲイン
2-
,自分リンク,妹リンク,子リンク,親リンク,x[mm],y[mm],z[mm],x[mm],y[mm],z[mm],X[deg],Y[deg],Z[deg],m[g],x[mm],y[mm],z[mm],Ixx[gmm^2],Ixy[gmm^2],Iyy[gmm^2],Ixz[gmm^2],Iyz[gmm^2],Izz[gmm^2],θ1[deg],θ2[deg],θ1[deg],θ2[deg],サーボ指令値[deg],±XYZ,型番,[Nm/A],ID,θ1[-],θ2[-],bps,-,,-,-,-
3-
CRANE-X7_Base,1,-,2,-,0,0,0,0,0,0,0,0,0,388,-6.734,-0.001,17.921,324812.981,1.195,482993.163,-47122.898,19.475,585569.734,-,-,-,-,-,-,-,,-,-,-,-,-,,-,-,-
4-
CRANE-X7_Link1,2,-,3,1,0,0,41,0,0,41,0,0,0,253,0.243,-0.105,46.95,178706.106,-73.234,176299.332,888.676,623.013,89586.08,-160,160,-157,157,180,Z+,XM430-W350,1.783,2,262,3834,3Mbps,0,3,1000,300,200
5-
CRANE-X7_Link2,3,-,4,2,0,0,105,0,0,64,90,0,0,136,0.031,34.172,0.019,168092.477,20.51,96197.568,-400.417,62.417,134475.028,-90,90,-90,90,180,Y-,XM540-W270,2.409,3,1024,3072,3Mbps,0,3,2200,500,500
6-
CRANE-X7_Link3,4,-,5,3,0,0,170,0,0,65,0,0,0,321,-13.722,-0.081,95.202,1819759.341,753.977,1883280.126,-37299.429,4147.003,158644.809,-160,160,-157,157,180,Z+,XM430-W350,1.783,4,262,3834,3Mbps,0,3,3000,800,1000
7-
CRANE-X7_Link4,5,-,6,4,0,0,355,0,0,185,90,0,0,222,-9.388,80.39,0.064,488905.787,-3904.567,114431.658,82.949,2823.368,502575.787,-160,0,-160,0,180,Y-,XM430-W350,1.783,5,228,2048,3Mbps,0,3,1600,400,400
8-
CRANE-X7_Link5,6,-,7,5,0,0,476,0,0,121,0,0,0,207,-0.084,0.462,63.718,290227.705,100.249,257036.585,-476.631,-16861.834,87512.332,-160,160,-157,157,180,Z+,XM430-W350,1.783,6,262,3834,3Mbps,0,3,800,200,200
9-
CRANE-X7_Link6,7,-,8,6,0,0,605,0,0,129,90,0,0,140,6.1,-3.549,0.826,40139.362,-2908.265,61345.454,639.429,-489.787,73485.846,-90,90,-90,90,180,Y-,XM430-W350,1.783,7,1024,3072,3Mbps,0,3,800,100,200
10-
CRANE-X7_Link7,8,-,9,7,0,0,624,0,0,19,0,0,0,121,0.108,-1.034,20.848,32035.813,-94.503,41433.837,261.225,388.481,42899.559,-170,170,-167,167,180,Z+,XM430-W350,1.783,8,148,3948,3Mbps,0,3,800,100,200
11-
CRANE-X7_HandA,9,10,-,8,-12,0,648,-12,0,24,90,0,0,15.8,-2.647,26.904,3.541,10056.667,-197.178,4954.751,-98.854,536.803,6239.775,0,90,-5,90,180,Y-,XM430-W350,1.783,9,1991,3072,3Mbps,0,3,-,-,-
12-
CRANE-X7_HandB,10,-,-,8,12,0,648,12,0,24,90,0,0,13.9,3.008,30.851,2.845,7483.7,361.284,4088.581,63.385,228.226,4372.991,0,90,-5,90,180,Y+,-,,-,-,-,-,-,,-,-,-
1+
リンク名称,ID,,,,ワールド座標系ホームポジション位置,,,ワールド座標系リンク間相対距離,,,ワールド座標系ホームポジション姿勢,,,質量[g],ローカル座標系質量位置,,,ローカル座標系慣性テンソル(重心),,,,,,ハードウェア可動範囲,,角度制限設定済可動範囲,,ホームポジション角度,回転軸方向,サーボモータ種類,トルク定数,サーボモータID,サーボモータ可動範囲,,通信速度,Return Delay Time,Operation Mode,Pゲイン,Iゲイン,Dゲイン
2+
,自分リンク,妹リンク,子リンク,親リンク,x[mm],y[mm],z[mm],x[mm],y[mm],z[mm],X[deg],Y[deg],Z[deg],m[g],x[mm],y[mm],z[mm],Ixx[gmm^2],Ixy[gmm^2],Iyy[gmm^2],Ixz[gmm^2],Iyz[gmm^2],Izz[gmm^2],θ1[deg],θ2[deg],θ1[deg],θ2[deg],サーボ指令値[deg],±XYZ,型番,[Nm/A],ID,θ1[-],θ2[-],bps,-,,-,-,-
3+
CRANE-X7_Base,1,-,2,-,0,0,0,0,0,0,0,0,0,388,-6.734,-0.001,17.921,324812.981,1.195,482993.163,-47122.898,19.475,585569.734,-,-,-,-,-,-,-,,-,-,-,-,-,,-,-,-
4+
CRANE-X7_Link1,2,-,3,1,0,0,41,0,0,41,0,0,0,253,0.243,-0.105,46.95,178706.106,-73.234,176299.332,888.676,623.013,89586.08,-160,160,-157,157,180,Z+,XM430-W350,1.783,2,262,3834,3Mbps,0,3,1000,300,200
5+
CRANE-X7_Link2,3,-,4,2,0,0,105,0,0,64,90,0,0,136,0.031,34.172,0.019,168092.477,20.51,96197.568,-400.417,62.417,134475.028,-90,90,-90,90,180,Y-,XM540-W270,2.409,3,1024,3072,3Mbps,0,3,2200,500,500
6+
CRANE-X7_Link3,4,-,5,3,0,0,170,0,0,65,0,0,0,321,-13.722,-0.081,95.202,1819759.341,753.977,1883280.126,-37299.429,4147.003,158644.809,-160,160,-157,157,180,Z+,XM430-W350,1.783,4,262,3834,3Mbps,0,3,3000,800,1000
7+
CRANE-X7_Link4,5,-,6,4,0,0,355,0,0,185,90,0,0,222,-9.388,80.39,0.064,488905.787,-3904.567,114431.658,82.949,2823.368,502575.787,-160,0,-160,0,180,Y-,XM430-W350,1.783,5,228,2048,3Mbps,0,3,1600,400,400
8+
CRANE-X7_Link5,6,-,7,5,0,0,476,0,0,121,0,0,0,207,-0.084,0.462,63.718,290227.705,100.249,257036.585,-476.631,-16861.834,87512.332,-160,160,-157,157,180,Z+,XM430-W350,1.783,6,262,3834,3Mbps,0,3,800,200,200
9+
CRANE-X7_Link6,7,-,8,6,0,0,605,0,0,129,90,0,0,140,6.1,-3.549,0.826,40139.362,-2908.265,61345.454,639.429,-489.787,73485.846,-90,90,-90,90,180,Y-,XM430-W350,1.783,7,1024,3072,3Mbps,0,3,800,100,200
10+
CRANE-X7_Link7,8,-,9,7,0,0,624,0,0,19,0,0,0,121,0.108,-1.034,20.848,32035.813,-94.503,41433.837,261.225,388.481,42899.559,-170,170,-167,167,180,Z+,XM430-W350,1.783,8,148,3948,3Mbps,0,3,800,100,200
11+
CRANE-X7_HandA,9,10,-,8,-12,0,648,-12,0,24,90,0,0,15.8,-2.647,26.904,3.541,10056.667,-197.178,4954.751,-98.854,536.803,6239.775,0,90,-5,90,180,Y-,XM430-W350,1.783,9,1991,3072,3Mbps,0,3,-,-,-
12+
CRANE-X7_HandB,10,-,-,8,12,0,648,12,0,24,90,0,0,13.9,3.008,30.851,2.845,7483.7,361.284,4088.581,63.385,228.226,4372.991,0,90,-5,90,180,Y+,-,,-,-,-,-,-,,-,-,-
1313
右手系、正面はX方向,,,,,,,,,, ,,,,,,,,,,,,,,,,, c,,,,,,,,,,,,,

‎rt_manipulators_examples/launch/example.launch.py

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1+
# Copyright 2022 RT Corporation
2+
#
3+
# Licensed under the Apache License, Version 2.0 (the "License");
4+
# you may not use this file except in compliance with the License.
5+
# You may obtain a copy of the License at
6+
#
7+
# http://www.apache.org/licenses/LICENSE-2.0
8+
#
9+
# Unless required by applicable law or agreed to in writing, software
10+
# distributed under the License is distributed on an "AS IS" BASIS,
11+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
# See the License for the specific language governing permissions and
13+
# limitations under the License.
14+
15+
import os
16+
17+
from ament_index_python.packages import get_package_share_directory
18+
from launch import LaunchDescription
19+
from launch.actions import DeclareLaunchArgument
20+
from launch.substitutions import LaunchConfiguration
21+
from launch_ros.actions import Node
22+
23+
24+
def generate_launch_description():
25+
declare_example_name = DeclareLaunchArgument(
26+
'example', default_value='x7_forward_kinematics',
27+
description=('Set an example executable name: '
28+
'[x7_forward_kinematics]')
29+
)
30+
31+
config_file_path = os.path.join(
32+
get_package_share_directory('rt_manipulators_examples'),
33+
'config',
34+
'crane-x7.yaml'
35+
)
36+
37+
link_file_path = os.path.join(
38+
get_package_share_directory('rt_manipulators_examples'),
39+
'config',
40+
'crane-x7_links.csv'
41+
)
42+
43+
example_node = Node(name=[LaunchConfiguration('example')],
44+
package='rt_manipulators_examples',
45+
executable=LaunchConfiguration('example'),
46+
output='screen',
47+
parameters=[{
48+
'port_name': '/dev/ttyUSB0',
49+
'baudrate': 3000000,
50+
'config_file_path': config_file_path,
51+
'link_file_path': link_file_path,
52+
}])
53+
54+
ld = LaunchDescription()
55+
ld.add_action(declare_example_name)
56+
ld.add_action(example_node)
57+
58+
return ld

‎rt_manipulators_examples/package.xml

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<?xml version="1.0"?>
2+
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
3+
<package format="3">
4+
<name>rt_manipulators_examples</name>
5+
<version>0.0.0</version>
6+
<description>Examples for RT Manipulators C++ Library</description>
7+
<maintainer email="[email protected]">RT Corporation</maintainer>
8+
<license>Apache License 2.0</license>
9+
10+
<author email="[email protected]">ShotaAk</author>
11+
12+
<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>rclcpp</depend>
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<depend>rt_manipulators_cpp</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

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