Feature/Add FT03 wrist sensor support (#47)

Author: munseng-flexiv

flexiv_bringup/launch/rizon.launch.py

@@ -24,6 +24,7 @@ def generate_launch_description():
     start_rviz_param_name = "start_rviz"
     load_gripper_param_name = "load_gripper"
     gripper_name_param_name = "gripper_name"
+    load_mounted_ft_sensor_param_name = "load_mounted_ft_sensor"
     use_fake_hardware_param_name = "use_fake_hardware"
     fake_sensor_commands_param_name = "fake_sensor_commands"
     robot_controller_param_name = "robot_controller"
@@ -71,6 +72,14 @@ def generate_launch_description():
         )
     )
 
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            load_mounted_ft_sensor_param_name,
+            default_value="false",
+            description="Flag to load the mounted force torque sensor. Only available for Rizon4, Rizon4R and Rizon10.",
+        )
+    )
+
     declared_arguments.append(
         DeclareLaunchArgument(
             use_fake_hardware_param_name,
@@ -102,6 +111,7 @@ def generate_launch_description():
     start_rviz = LaunchConfiguration(start_rviz_param_name)
     load_gripper = LaunchConfiguration(load_gripper_param_name)
     gripper_name = LaunchConfiguration(gripper_name_param_name)
+    load_mounted_ft_sensor = LaunchConfiguration(load_mounted_ft_sensor_param_name)
     use_fake_hardware = LaunchConfiguration(use_fake_hardware_param_name)
     fake_sensor_commands = LaunchConfiguration(fake_sensor_commands_param_name)
     robot_controller = LaunchConfiguration(robot_controller_param_name)
@@ -131,6 +141,9 @@ def generate_launch_description():
                 "gripper_name:=",
                 gripper_name,
                 " ",
+                "load_mounted_ft_sensor:=",
+                load_mounted_ft_sensor,
+                " ",
                 "use_fake_hardware:=",
                 use_fake_hardware,
                 " ",

flexiv_bringup/launch/rizon_moveit.launch.py

@@ -50,6 +50,7 @@ def launch_setup(context):
     start_rviz = LaunchConfiguration("start_rviz")
     load_gripper = LaunchConfiguration("load_gripper")
     gripper_name = LaunchConfiguration("gripper_name")
+    load_mounted_ft_sensor = LaunchConfiguration("load_mounted_ft_sensor")
     use_fake_hardware = LaunchConfiguration("use_fake_hardware")
     fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
     warehouse_sqlite_path = LaunchConfiguration("warehouse_sqlite_path")
@@ -80,6 +81,9 @@ def launch_setup(context):
                 "gripper_name:=",
                 gripper_name,
                 " ",
+                "load_mounted_ft_sensor:=",
+                load_mounted_ft_sensor,
+                " ",
                 "use_fake_hardware:=",
                 use_fake_hardware,
                 " ",
@@ -108,6 +112,9 @@ def launch_setup(context):
                 " ",
                 "load_gripper:=",
                 load_gripper,
+                " ",
+                "load_mounted_ft_sensor:=",
+                load_mounted_ft_sensor,
             ]
         ),
         value_type=str,
@@ -421,6 +428,14 @@ def generate_launch_description():
         )
     )
 
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "load_mounted_ft_sensor",
+            default_value="false",
+            description="Flag to load the mounted force torque sensor. Only available for Rizon4, Rizon4R and Rizon10.",
+        )
+    )
+
     declared_arguments.append(
         DeclareLaunchArgument(
             "use_fake_hardware",

flexiv_bringup/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>flexiv_bringup</name>
-  <version>1.6.0</version>
+  <version>1.7.0</version>
   <description>Package with launch files and run-time configurations for Flexiv robots with `ros2_control`</description>
   <maintainer email="[email protected]">Mun Seng Phoon</maintainer>
   <license>Apache License 2.0</license>

flexiv_controllers/flexiv_robot_states_broadcaster/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>flexiv_robot_states_broadcaster</name>
-  <version>1.6.0</version>
+  <version>1.7.0</version>
   <description>The robot states broadcaster publishes the Flexiv robot states.</description>
   <maintainer email="[email protected]">Mun Seng Phoon</maintainer>
   <license>Apache License 2.0</license>

flexiv_controllers/gpio_controller/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>gpio_controller</name>
-  <version>1.6.0</version>
+  <version>1.7.0</version>
   <description>Flexiv custom gpio controller to control the GPIOs of the robot.</description>
   <maintainer email="[email protected]">Mun Seng Phoon</maintainer>
   <license>Apache License 2.0</license>

flexiv_controllers/joint_impedance_controller/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>joint_impedance_controller</name>
-  <version>1.6.0</version>
+  <version>1.7.0</version>
   <description> The joint impedance controller commands a group of joints in effort interface.</description>
   <maintainer email="[email protected]">Mun Seng Phoon</maintainer>
   <license>Apache License 2.0</license>

flexiv_description/launch/view_rizon.launch.py

@@ -18,6 +18,7 @@ def generate_launch_description():
     rizon_type = LaunchConfiguration("rizon_type")
     load_gripper = LaunchConfiguration("load_gripper")
     gripper_name = LaunchConfiguration("gripper_name")
+    load_mounted_ft_sensor = LaunchConfiguration("load_mounted_ft_sensor")
     default_rviz_config_path = PathJoinSubstitution(
         [pkg_share, "rviz", "view_rizon.rviz"]
     )
@@ -41,6 +42,9 @@ def generate_launch_description():
                 " ",
                 "gripper_name:=",
                 gripper_name,
+                " ",
+                "load_mounted_ft_sensor:=",
+                load_mounted_ft_sensor,
             ]
         ),
         value_type=str,
@@ -107,6 +111,11 @@ def generate_launch_description():
                 default_value="Flexiv-GN01",
                 description="Full name of the gripper to be controlled",
             ),
+            DeclareLaunchArgument(
+                name="load_mounted_ft_sensor",
+                default_value="False",
+                description="Flag to load the mounted force torque sensor. Only available for Rizon4, Rizon4R and Rizon10",
+            ),
             DeclareLaunchArgument(
                 name="gui",
                 default_value="False",

flexiv_description/meshes/FT03-D1/collision/distal.stl

@@ -0,0 +1,10 @@
+newmtl robot
+
+Ns 15.686281
+Ka 0.150000 0.150000 0.150000
+Kd 0.487364 0.487364 0.527718
+Ks 0.600013 0.600013 0.600013
+Ke 0.0 0.0 0.0
+Ni 1.000000
+d 1.000000
+illum 2