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guarantee same hw behavior as before
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@fmessmer
fmessmer committed Jan 13, 2017
1 parent abdaca8 commit 0a5f1d0
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Showing 13 changed files with 79 additions and 82 deletions.
7 changes: 7 additions & 0 deletions cob_bringup/components/cam3d_openni2.launch
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Expand Up @@ -6,6 +6,7 @@
<arg name="data_skip" default="0"/>
<arg name="num_worker_threads" default="4"/>
<arg name="start_manager" default="true"/>
<arg name="throttle" default="false"/>
<arg name="flip" default="true"/>
<arg name="sim" default="false"/>

Expand All @@ -26,4 +27,10 @@
<arg name="nodelet_manager" value="$(arg name)_nodelet_manager"/>
<arg name="start_manager" value="$(arg start_manager)"/>
</include>
<include if="$(arg throttle)" file="$(find cob_cam3d_throttle)/launch/cam3d_throttle.launch" >
<arg name="namespace" value="$(arg name)" />
<arg name="rate" value="1.0" />
<arg name="start_manager" value="$(arg start_manager)"/>
<arg name="nodelet_manager" value="$(arg name)_nodelet_manager"/>
</include>
</launch>
2 changes: 1 addition & 1 deletion cob_bringup/components/cam3d_r200_rgbd.launch
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Expand Up @@ -8,7 +8,7 @@

<include unless="$(arg sim)" file="$(find realsense_camera)/launch/r200_nodelet_rgbd.launch">
<arg name="camera" value="$(arg name)"/>
<arg name="num_worker_threads" default="$(arg num_worker_threads)" />
<arg name="num_worker_threads" value="$(arg num_worker_threads)" />
</include>
<include file="$(find cob_bringup)/tools/hz_monitor.launch">
<arg name="robot" value="$(arg robot)"/>
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44 changes: 22 additions & 22 deletions cob_bringup/drivers/schunk_sdhx.launch
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@@ -1,31 +1,31 @@
<?xml version="1.0"?>
<launch>

<arg name="port" default="/dev/rfcomm0"/>
<arg name="baud" default="57600"/>
<arg name="component_name" default="gripper"/>
<arg name="check" default="true"/>
<remap from="/$(arg component_name)/internal/recover" to="/$(arg component_name)/driver/recover"/>
<remap from="/$(arg component_name)/internal/halt" to="/$(arg component_name)/driver/halt"/>
<arg name="port" default="/dev/rfcomm0"/>
<arg name="baud" default="57600"/>
<arg name="component_name" default="gripper"/>
<arg name="check" default="true"/>
<remap from="/$(arg component_name)/internal/recover" to="/$(arg component_name)/driver/recover"/>
<remap from="/$(arg component_name)/internal/halt" to="/$(arg component_name)/driver/halt"/>

<group ns="/$(arg component_name)">
<group ns="/$(arg component_name)">

<node pkg="rosserial_server" type="serial_node" name="rosserial_server">
<param name="port" value="$(arg port)"/>
<param name="baud" value="$(arg baud)"/>
<rosparam if="$(arg check)">
require:
publishers: [ status ]
subscribers: [ command, set_pin, clear_pin ]
service_servers: [ init_finger, halt, init_pins, update_pins, set_pwm, recover ]
</rosparam>
</node>
<node pkg="rosserial_server" type="serial_node" name="rosserial_server">
<param name="port" value="$(arg port)"/>
<param name="baud" value="$(arg baud)"/>
<rosparam if="$(arg check)">
require:
publishers: [ status ]
subscribers: [ command, set_pin, clear_pin ]
service_servers: [ init_finger, halt, init_pins, update_pins, set_pwm, recover ]
</rosparam>
</node>

<node pkg="rosserial_python" type="message_info_service.py" name="rosserial_message_info"/>
<node pkg="rosserial_python" type="message_info_service.py" name="rosserial_message_info"/>

<node pkg="cob_hand_bridge" type="cob_hand_bridge_node" name="cob_hand_bridge">
<rosparam param="sdhx/joint_names" subst_value="True">[$(arg component_name)_finger_1_joint, $(arg component_name)_finger_2_joint]</rosparam>
</node>
</group>
<node pkg="cob_hand_bridge" type="cob_hand_bridge_node" name="cob_hand_bridge">
<rosparam param="sdhx/joint_names" subst_value="True">[$(arg component_name)_finger_1_joint, $(arg component_name)_finger_2_joint]</rosparam>
</node>
</group>

</launch>
9 changes: 8 additions & 1 deletion cob_bringup/drivers/ur.launch
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@@ -1,19 +1,26 @@
<?xml version="1.0"?>
<launch>

<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
<arg name="component_name" default="arm"/>
<arg name="robot_ip" default="localhost"/>
<arg name="reverse_port" default="50001"/>
<arg name="min_payload"/>
<arg name="max_payload"/>
<arg name="prefix" default="arm_"/>
<arg name="sim" default="false"/>

<!-- universal robot arm -->
<node ns="arm/joint_trajectory_controller" pkg="ur_driver" type="driver.py" name="ur_driver" args="$(arg robot_ip) $(arg reverse_port)" output="screen">
<node unless="$(arg sim)" ns="arm/joint_trajectory_controller" pkg="ur_driver" type="driver.py" name="ur_driver" args="$(arg robot_ip) $(arg reverse_port)" output="screen">
<remap from="/arm/joint_trajectory_controller/joint_states" to="/arm/joint_states"/>
<remap from="/arm/joint_trajectory_controller/robot_description" to="/robot_description"/>
<param name="min_payload" type="double" value="$(arg min_payload)"/>
<param name="max_payload" type="double" value="$(arg max_payload)"/>
<param name="prefix" value="$(arg prefix)"/>
</node>
<include if="$(arg sim)" file="$(find cob_bringup)/controllers/generic_controller.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="$(arg component_name)"/>
</include>

</launch>
9 changes: 2 additions & 7 deletions cob_bringup/robots/cob3-2.xml
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Expand Up @@ -13,12 +13,6 @@
<include file="$(find cob_hardware_config)/common/upload_robot.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<!-- upload semantic description -->
<include file="$(find cob_moveit_config)/launch/upload_config.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="load_semantic_description" value="true"/>
<arg name="load_planning_context" value="false"/>
</include>

<!-- upload default configuration parameters -->
<include file="$(find cob_default_robot_config)/$(arg robot)/upload_param_$(arg robot).launch"/>
Expand Down Expand Up @@ -90,8 +84,9 @@
<arg name="name" value="cam3d"/>
<arg name="device_id" value="#1"/>
<!--arg name="data_skip" value="1"/-->
<arg name="num_worker_threads" value="2"/>
<arg name="num_worker_threads" value="4"/>
<arg name="start_manager" value="false"/>
<arg name="throttle" value="true"/>
<arg name="flip" value="false"/>
<arg name="sim" value="$(arg sim)"/>
</include>
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25 changes: 9 additions & 16 deletions cob_bringup/robots/cob3-6.xml
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Expand Up @@ -12,12 +12,6 @@
<include file="$(find cob_hardware_config)/common/upload_robot.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<!-- upload semantic description -->
<include file="$(find cob_moveit_config)/launch/upload_config.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="load_semantic_description" value="true"/>
<arg name="load_planning_context" value="false"/>
</include>

<!-- upload default configuration parameters -->
<include file="$(find cob_default_robot_config)/$(arg robot)/upload_param_$(arg robot).launch"/>
Expand Down Expand Up @@ -127,6 +121,15 @@
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="right"/>
</include>
<include file="$(find cob_bringup)/drivers/openni.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_cam3d_throttle)/launch/cam3d_throttle.launch" >
<arg name="namespace" value="/cam3d" />
<arg name="rate" value="1.0" />
<arg name="start_manager" value="false"/>
<arg name="nodelet_manager" value="cam3d_nodelet_manager"/>
</include>
</group>

<include file="$(find cob_bringup)/components/canopen_generic.launch">
Expand All @@ -136,16 +139,6 @@
<arg name="cartesian_control" value="false"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="cam3d"/>
<arg name="device_id" value="#1"/>
<!--arg name="data_skip" value="1"/-->
<arg name="num_worker_threads" value="2"/>
<arg name="start_manager" value="false"/>
<arg name="flip" value="false"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/drivers/light.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="light"/>
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25 changes: 9 additions & 16 deletions cob_bringup/robots/cob3-9.xml
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Expand Up @@ -13,12 +13,6 @@
<include file="$(find cob_hardware_config)/common/upload_robot.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<!-- upload semantic description -->
<include file="$(find cob_moveit_config)/launch/upload_config.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="load_semantic_description" value="true"/>
<arg name="load_planning_context" value="false"/>
</include>

<!-- upload default configuration parameters -->
<include file="$(find cob_default_robot_config)/$(arg robot)/upload_param_$(arg robot).launch"/>
Expand Down Expand Up @@ -128,6 +122,15 @@
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="right"/>
</include>
<include file="$(find cob_bringup)/drivers/openni.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_cam3d_throttle)/launch/cam3d_throttle.launch" >
<arg name="namespace" value="/cam3d" />
<arg name="rate" value="1.0" />
<arg name="start_manager" value="false"/>
<arg name="nodelet_manager" value="cam3d_nodelet_manager"/>
</include>
</group>

<include file="$(find cob_bringup)/drivers/relayboard.launch">
Expand All @@ -138,16 +141,6 @@
<arg name="robot" value="$(arg robot)"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="cam3d"/>
<arg name="device_id" value="#1"/>
<!--arg name="data_skip" value="1"/-->
<arg name="num_worker_threads" value="2"/>
<arg name="start_manager" value="false"/>
<arg name="flip" value="false"/>
<arg name="sim" value="$(arg sim)"/>
</include>

<!-- start additional packages -->
<include file="$(find cob_bringup)/drivers/sound.launch">
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10 changes: 5 additions & 5 deletions cob_bringup/robots/cob4-2.xml
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Expand Up @@ -154,7 +154,7 @@
<arg name="name" value="torso_cam3d_right"/>
<arg name="device_id" value="#1"/>
<!--arg name="data_skip" value="1"/-->
<arg name="num_worker_threads" value="2"/>
<arg name="num_worker_threads" value="4"/>
<arg name="start_manager" value="false"/>
<arg name="sim" value="$(arg sim)"/>
</include>
Expand Down Expand Up @@ -193,7 +193,7 @@
<include file="$(find cob_bringup)/components/cam3d_r200_rgbd.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="torso_cam3d_down"/>
<arg name="num_worker_threads" value="2"/>
<arg name="num_worker_threads" value="4"/>
<arg name="start_manager" value="false"/>
<arg name="sim" value="$(arg sim)"/>
</include>
Expand Down Expand Up @@ -221,7 +221,7 @@
<arg name="name" value="torso_cam3d_left"/>
<arg name="device_id" value="#1"/>
<!--arg name="data_skip" value="1"/-->
<arg name="num_worker_threads" value="2"/>
<arg name="num_worker_threads" value="4"/>
<arg name="start_manager" value="false"/>
<arg name="sim" value="$(arg sim)"/>
</include>
Expand All @@ -241,8 +241,8 @@
<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="sensorring_cam3d"/>
<arg name="data_skip" value="3"/>
<arg name="num_worker_threads" value="2"/>
<arg name="data_skip" value="0"/>
<arg name="num_worker_threads" value="4"/>
<arg name="sim" value="$(arg sim)"/>
</include>
</group>
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7 changes: 5 additions & 2 deletions cob_bringup/robots/raw3-1.xml
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Expand Up @@ -27,9 +27,9 @@
<arg name="robot" value="$(arg robot)"/>
<arg name="pc" value="$(arg pc1)"/>
</include>
<include file="$(find cob_bringup)/tools/wifi_monitor.launch">
<!--include file="$(find cob_bringup)/tools/wifi_monitor.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
</include-->
<include file="$(find cob_bringup)/drivers/phidgets.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
Expand Down Expand Up @@ -74,6 +74,9 @@
<include file="$(find cob_bringup)/tools/battery_monitor.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<include file="$(find cob_bringup)/tools/emergency_stop_monitor.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<include file="$(find cob_bringup)/tools/base_collision_observer.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
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3 changes: 0 additions & 3 deletions cob_bringup/robots/raw3-2.xml
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Expand Up @@ -27,9 +27,6 @@
<include file="$(find cob_bringup)/tools/wifi_monitor.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<include file="$(find cob_bringup)/drivers/openni.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
</group>

<include file="$(find cob_bringup)/drivers/sick_s300.launch">
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15 changes: 8 additions & 7 deletions cob_bringup/robots/raw3-6.xml
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Expand Up @@ -31,19 +31,12 @@
<include file="$(find cob_bringup)/drivers/phidgets.launch">
<arg name="robot" value="$(arg robot)"/>
</include>

<include file="$(find cob_bringup)/drivers/powerstate_phidget.launch">
<arg name="robot" value="$(arg robot)"/>
</include>

<include file="$(find cob_bringup)/drivers/emstate_phidget.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<include file="$(find cob_bringup)/drivers/ur.launch">
<arg name="robot_ip" value="$(arg ur_ip)"/>
<arg name="min_payload" value="0.0"/>
<arg name="max_payload" value="20.0"/>
</include>
</group>

<include file="$(find cob_bringup)/drivers/sick_s300.launch">
Expand All @@ -60,6 +53,14 @@
<arg name="robot" value="$(arg robot)"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/drivers/ur.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="arm"/>
<arg name="robot_ip" value="$(arg ur_ip)"/>
<arg name="min_payload" value="0.0"/>
<arg name="max_payload" value="20.0"/>
<arg name="sim" value="$(arg sim)"/>
</include>

<!-- start common nodes used in hardware and simulation -->
<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
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4 changes: 3 additions & 1 deletion cob_hardware_config/cob4-2/urdf/cob4-2.urdf.xacro
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Expand Up @@ -65,6 +65,7 @@
</gazebo>

<!-- not yet active on cob4-2 hardware -->
<!--xacro:head name="head" parent="torso_3_link" dof1="true" dof2="true" dof3="true"-->
<xacro:head name="head" parent="torso_3_link" dof1="false" dof2="false" dof3="false">
<origin xyz="${head_x} ${head_y} ${head_z}" rpy="${head_roll} ${head_pitch} ${head_yaw}" />
</xacro:head>
Expand All @@ -79,7 +80,8 @@
</gazebo-->

<!-- not yet active on cob4-2 hardware -->
<xacro:sensorring name="sensorring" parent="head_3_link">
<!--xacro:sensorring name="sensorring" parent="head_3_link" active="true" -->
<xacro:sensorring name="sensorring" parent="head_3_link" active="false" >
<origin xyz="${sensorring_x} ${sensorring_y} ${sensorring_z}" rpy="${sensorring_roll} ${sensorring_pitch} ${sensorring_yaw}" />
</xacro:sensorring>
<xacro:cob_kinect_v0 name="sensorring_cam3d" ros_topic="sensorring_cam3d" parent="sensorring_link">
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1 change: 0 additions & 1 deletion cob_hardware_config/raw3-6/urdf/raw3-6.urdf.xacro
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Expand Up @@ -34,7 +34,6 @@
<xacro:ur10 name="arm" parent="base_link">
<origin xyz="${arm_x} ${arm_y} ${arm_z}" rpy="${arm_roll} ${arm_pitch} ${arm_yaw}" />
</xacro:ur10>

<gazebo>
<plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
<robotNamespace>arm</robotNamespace>
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