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ehanniganehannigan
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added roamlab_robot and teleop launch files for ur5 roamhand and indenter
added collision detection and added compute_qd to manipulator, also separated classes into separate python files keyboard operation works. Made teleop into a package deleted a lot of specific nasa hand pieces collision detection is working' .75 of the way to finishing code reorg marker control runs, but arm continues to move after mouse is released, need to fix this bug refactoring is essentially done, just debugging problem where marker_control.py causes arm to move in opposite direction. Also, collision detection in keyboard control is not working fixed frame issue with Long on Thursday. Today I am still debugging why the qd computation is not correct. If I try using marker control to spin just one joint, all of the joints end up moving. I don't know if this is a problem with the inverse solving, but I should be able to move one link at a time this way. teleop and cartesian control work cleaned up comments and config file. Still works
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‎roamlab_robot/roamlab_bringup/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(roamlab_bringup)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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std_msgs
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geometry_msgs
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rosserial_arduino
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serial
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moveit_ros_planning_interface
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tf
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tf_conversions
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tf2_ros
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tf2_geometry_msgs
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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#add_message_files(
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# FILES
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# CartesianCommand.msg
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# )
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#generate_messages(
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# DEPENDENCIES
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# std_msgs
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# sensor_msgs
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# geometry_msgs
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#)
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#catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES cartesian_control
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# CATKIN_DEPENDS
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# interactive_markers
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# rospy
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# sensor_msgs
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# tf
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# urdfdom_py
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# geometry_msgs
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# DEPENDS system_lib
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#)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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# include_directories(include)
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include_directories(
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${catkin_INCLUDE_DIRS}
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)
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## Declare a cpp library
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# add_library(cartesian_control
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# src/${PROJECT_NAME}/cartesian_control.cpp
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# )
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## Declare a cpp executable
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# add_executable(cartesian_control_node src/cartesian_control_node.cpp)
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## Add cmake target dependencies of the executable/library
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## as an example, message headers may need to be generated before nodes
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# add_dependencies(cartesian_control_node cartesian_control_generate_messages_cpp)
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## Specify libraries to link a library or executable target against
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# target_link_libraries(cartesian_control_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS cartesian_control cartesian_control_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_cartesian_control.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

‎roamlab_robot/roamlab_bringup/launch/ur5_indenter_bringup.launch

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<?xml version="1.0"?>
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<!--
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Universal robot ur5 launch. Loads ur5 robot description (see ur_common.launch
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for more info)
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Usage:
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ur5_bringup.launch robot_ip:=<value>
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-->
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<launch>
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<!-- robot_ip: IP-address of the robot's socket-messaging server -->
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<arg name="robot_ip"/>
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<arg name="indenter" default="true"/>
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<arg name="min_payload" default="0.0"/>
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<arg name="max_payload" default="5.0"/>
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<arg name="prefix" default="" />
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<arg name="use_lowbandwidth_trajectory_follower" default="false"/>
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<arg name="time_interval" default="0.008"/>
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<arg name="servoj_time" default="0.008" />
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<arg name="servoj_time_waiting" default="0.001" />
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<arg name="max_waiting_time" default="2.0" />
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<arg name="servoj_gain" default="100." />
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<arg name="servoj_lookahead_time" default="1." />
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<arg name="max_joint_difference" default="0.001" />
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<arg name="base_frame" default="$(arg prefix)base" />
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<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
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<arg name="shutdown_on_disconnect" default="true" />
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<!-- robot model -->
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<include file="$(find roamlab_description)/launch/ur5_indenter_upload.launch">
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</include>
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<!-- ur common -->
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<include file="$(find ur_modern_driver)/launch/ur_common.launch">
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<arg name="robot_ip" value="$(arg robot_ip)"/>
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<arg name="min_payload" value="$(arg min_payload)"/>
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<arg name="max_payload" value="$(arg max_payload)"/>
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<arg name="prefix" value="$(arg prefix)" />
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<arg name="use_lowbandwidth_trajectory_follower" value="$(arg use_lowbandwidth_trajectory_follower)"/>
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<arg name="time_interval" value="$(arg time_interval)"/>
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<arg name="servoj_time" value="$(arg servoj_time)" />
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<arg name="servoj_time_waiting" default="$(arg servoj_time_waiting)" />
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<arg name="max_waiting_time" value="$(arg max_waiting_time)" />
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<arg name="servoj_gain" value="$(arg servoj_gain)" />
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<arg name="servoj_lookahead_time" value="$(arg servoj_lookahead_time)" />
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<arg name="max_joint_difference" value="$(arg max_joint_difference)" />
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<arg name="base_frame" value="$(arg base_frame)" />
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<arg name="tool_frame" value="$(arg tool_frame)" />
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<arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
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</include>
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</launch>

‎roamlab_robot/roamlab_bringup/launch/ur5_roamhand_bringup.launch

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<?xml version="1.0"?>
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<!--
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Universal robot ur5 launch. Loads ur5 robot description (see ur_common.launch
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for more info)
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Usage:
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ur5_bringup.launch robot_ip:=<value>
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-->
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<launch>
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<!-- robot_ip: IP-address of the robot's socket-messaging server -->
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<arg name="robot_ip"/>
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<arg name="roamhand" default="true"/>
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<arg name="min_payload" default="0.0"/>
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<arg name="max_payload" default="5.0"/>
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<arg name="prefix" default="" />
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<arg name="use_lowbandwidth_trajectory_follower" default="false"/>
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<arg name="time_interval" default="0.008"/>
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<arg name="servoj_time" default="0.008" />
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<arg name="servoj_time_waiting" default="0.001" />
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<arg name="max_waiting_time" default="2.0" />
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<arg name="servoj_gain" default="100." />
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<arg name="servoj_lookahead_time" default="1." />
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<arg name="max_joint_difference" default="0.001" />
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<arg name="base_frame" default="$(arg prefix)base" />
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<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
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<arg name="shutdown_on_disconnect" default="true" />
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<!-- robot model -->
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<include file="$(find roamlab_description)/launch/ur5_roamhand_upload.launch">
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</include>
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<!-- ur common -->
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<include file="$(find ur_modern_driver)/launch/ur_common.launch">
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<arg name="robot_ip" value="$(arg robot_ip)"/>
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<arg name="min_payload" value="$(arg min_payload)"/>
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<arg name="max_payload" value="$(arg max_payload)"/>
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<arg name="prefix" value="$(arg prefix)" />
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<arg name="use_lowbandwidth_trajectory_follower" value="$(arg use_lowbandwidth_trajectory_follower)"/>
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<arg name="time_interval" value="$(arg time_interval)"/>
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<arg name="servoj_time" value="$(arg servoj_time)" />
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<arg name="servoj_time_waiting" default="$(arg servoj_time_waiting)" />
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<arg name="max_waiting_time" value="$(arg max_waiting_time)" />
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<arg name="servoj_gain" value="$(arg servoj_gain)" />
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<arg name="servoj_lookahead_time" value="$(arg servoj_lookahead_time)" />
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<arg name="max_joint_difference" value="$(arg max_joint_difference)" />
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<arg name="base_frame" value="$(arg base_frame)" />
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<arg name="tool_frame" value="$(arg tool_frame)" />
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<arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
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</include>
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</launch>

‎roamlab_robot/roamlab_bringup/package.xml

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<?xml version="1.0"?>
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<package format="2">
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<name>roamlab_bringup</name>
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<version>0.0.0</version>
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<description>The roamlab_bringup package</description>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->
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<!-- Example: -->
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<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
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<maintainer email="[email protected]">pedro</maintainer>
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<!-- One license tag required, multiple allowed, one license per tag -->
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<!-- Commonly used license strings: -->
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<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
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<license>TODO</license>
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<!-- Url tags are optional, but multiple are allowed, one per tag -->
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<!-- Optional attribute type can be: website, bugtracker, or repository -->
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<!-- Example: -->
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<!-- <url type="website">http://wiki.ros.org/ur5_indentation</url> -->
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<!-- Author tags are optional, multiple are allowed, one per tag -->
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<!-- Authors do not have to be maintainers, but could be -->
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<!-- Example: -->
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<!-- <author email="[email protected]">Jane Doe</author> -->
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<!-- The *depend tags are used to specify dependencies -->
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<!-- Dependencies can be catkin packages or system dependencies -->
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<!-- Examples: -->
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<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
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<!-- <depend>roscpp</depend> -->
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<!-- Note that this is equivalent to the following: -->
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<!-- <build_depend>roscpp</build_depend> -->
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<!-- <exec_depend>roscpp</exec_depend> -->
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<!-- Use build_depend for packages you need at compile time: -->
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<!-- <build_depend>message_generation</build_depend> -->
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<!-- Use build_export_depend for packages you need in order to build against this package: -->
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<!-- <build_export_depend>message_generation</build_export_depend> -->
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<!-- Use buildtool_depend for build tool packages: -->
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<!-- <buildtool_depend>catkin</buildtool_depend> -->
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<!-- Use exec_depend for packages you need at runtime: -->
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<!-- <exec_depend>message_runtime</exec_depend> -->
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<!-- Use test_depend for packages you need only for testing: -->
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<!-- <test_depend>gtest</test_depend> -->
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<!-- Use doc_depend for packages you need only for building documentation: -->
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<!-- <doc_depend>doxygen</doc_depend> -->
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>rospy</build_depend>
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<build_depend>std_msgs</build_depend>
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<build_depend>serial</build_depend>
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<build_depend>rosserial_arduino</build_depend>
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<build_depend>tf_conversions</build_depend>
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<build_depend>tf2_geometry_msgs</build_depend>
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<!-- <build_depend>cmake_modules</build_depend>
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<build_depend>tf_conversion</build_depend> -->
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<build_export_depend>roscpp</build_export_depend>
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<build_export_depend>rospy</build_export_depend>
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<build_export_depend>std_msgs</build_export_depend>
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<exec_depend>roscpp</exec_depend>
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<exec_depend>rospy</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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<exec_depend>serial</exec_depend>
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<exec_depend>rosserial_arduino</exec_depend>
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<exec_depend>tf_conversions</exec_depend>
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<exec_depend>tf2_geometry_msgs</exec_depend>
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<!-- <exec_depend>cmake_modules</exec_depend>
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<exec_depend>tf_conversion</exec_depend> -->
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>

‎roamlab_robot/roamlab_description/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(roamlab_description)
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find_package(catkin REQUIRED)
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catkin_package()
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if (CATKIN_ENABLE_TESTING)
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find_package(roslaunch REQUIRED)
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endif()
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install(DIRECTORY launch controller DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

‎roamlab_robot/roamlab_description/launch/ur5_indenter_upload.launch

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<?xml version="1.0"?>
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<launch>
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<arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
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<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find roamlab_description)/urdf/ur5_indenter_robot.urdf.xacro'" />
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</launch>

‎roamlab_robot/roamlab_description/launch/ur5_roamhand_upload.launch

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<?xml version="1.0"?>
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<launch>
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<arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
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<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find roamlab_description)/urdf/ur5_roamhand_robot.urdf.xacro'" />
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</launch>

‎roamlab_robot/roamlab_description/meshes/indenter/collision/actuation_cylinder.stl

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‎roamlab_robot/roamlab_description/meshes/indenter/collision/actuation_cylinder2.stl

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‎roamlab_robot/roamlab_description/meshes/indenter/collision/actuator.stl

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‎roamlab_robot/roamlab_description/meshes/indenter/collision/load_cell_collision_box.stl

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‎roamlab_robot/roamlab_description/meshes/indenter/collision/table_support_and_distal.stl

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‎roamlab_robot/roamlab_description/meshes/indenter/collision/tips/2pod_10mm_tip.stl

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‎roamlab_robot/roamlab_description/meshes/indenter/visual/actuation_cylinder.dae

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‎roamlab_robot/roamlab_description/meshes/indenter/visual/actuation_cylinder2.dae

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‎roamlab_robot/roamlab_description/meshes/indenter/visual/actuator.dae

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