Release/0.6.1 (#2)

Author: munseng-flexiv

.github/workflows/build.yml

@@ -36,8 +36,3 @@ jobs:
             flexiv_test_nodes
           skip-tests: true
           vcs-repo-file-url: https://raw.githubusercontent.com/ros2/ros2/${{ env.ROS_DISTRO }}/ros2.repos
-      - name: Upload artifact
-        uses: actions/upload-artifact@v1
-        with:
-          name: colcon-logs-${{ matrix.os }}
-          path: ros_ws/log

README.md

@@ -5,23 +5,15 @@
 
 For ROS2 users to easily work with [RDK](https://github.com/flexivrobotics/flexiv_rdk), the APIs of RDK are wrapped into ROS packages in `flexiv_ros2`. Key functionalities like real-time joint torque and position control are supported, and the integration with `ros2_control` framework and MoveIt 2 is also implemented.
 
-## License
-
-Flexiv RDK is licensed under the [Apache 2.0 license](https://www.apache.org/licenses/LICENSE-2.0.html).
-
 ## References
 
 [Flexiv RDK main webpage](https://rdk.flexiv.com/) contains important information like RDK user manual and network setup.
 
-## OS and distribution support
-
-Supported OS:
+## Compatibility
 
-- Linux: Ubuntu 20.04
-
-Supported ROS2 distribution:
-
-- [Foxy Fitzroy](https://docs.ros.org/en/foxy/index.html)
+| **Supported OS**          | **Supported ROS2 distribution**                         |
+|---------------------------|---------------------------------------------------------|
+| Ubuntu 20.04              | [Foxy Fitzroy](https://docs.ros.org/en/foxy/index.html) |
 
 ## Getting Started
 
@@ -33,21 +25,21 @@ This project was developed for ROS2 Foxy on Ubuntu 20.04. Other versions of Ubun
 
     ```bash
     sudo apt install -y \
-        python3-colcon-common-extensions \
-        python3-rosdep2
-        libeigen3-dev \
-        ros-foxy-xacro \
-        ros-foxy-tinyxml2-vendor \
-        ros-foxy-ros2-control \
-        ros-foxy-realtime-tools \
-        ros-foxy-control-toolbox \
-        ros-foxy-moveit \
-        ros-foxy-ros2-controllers \
-        ros-foxy-test-msgs \
-        ros-foxy-joint-state-publisher \
-        ros-foxy-joint-state-publisher-gui \
-        ros-foxy-robot-state-publisher \
-        ros-foxy-rviz2
+    python3-colcon-common-extensions \
+    python3-rosdep2 \
+    libeigen3-dev \
+    ros-foxy-xacro \
+    ros-foxy-tinyxml2-vendor \
+    ros-foxy-ros2-control \
+    ros-foxy-realtime-tools \
+    ros-foxy-control-toolbox \
+    ros-foxy-moveit \
+    ros-foxy-ros2-controllers \
+    ros-foxy-test-msgs \
+    ros-foxy-joint-state-publisher \
+    ros-foxy-joint-state-publisher-gui \
+    ros-foxy-robot-state-publisher \
+    ros-foxy-rviz2
     ```
 
 3. Setup workspace:
@@ -88,18 +80,30 @@ source ~/flexiv_ros2_ws/install/setup.bash
 
 **NOTE**: the instruction below is only a quick reference, see the [Flexiv ROS2 Documentation](https://rdk.flexiv.com/manual/ros2_packages.html) for more information.
 
-*(Details about the launch file can be found in [flexiv_bringup](/flexiv_bringup))*
+The prerequisites of using ROS2 with Flexiv Rizon robot are [enable RDK on the robot server](https://rdk.flexiv.com/manual/getting_started.html#enable-rdk-on-robot-server) and [establish connection](https://rdk.flexiv.com/manual/getting_started.html#establish-connection) between the workstation PC and the robot.
+
+The main launch file to start the robot driver is the `rizon.launch.py` - it loads and starts the robot hardware, joint state broadcaster, controllers and opens RViZ. The arguments for the launch file are as follows:
 
-1. Start robot, simulator or fake hardware:
+- `robot_ip` (*required*) - IP address of the robot server (remote).
+- `local_ip` (*required*) - IP address of the workstation PC (local).
+- `rizon_type` (default: *rizon4*) - type of the Flexiv Rizon robot.
+- `use_fake_hardware` (default: *false*) - starts `FakeSystem` instead of real hardware. This is a simple simulation that mimics joint command to their states.
+- `start_rviz` (deafult: *true*) - starts RViz automatically with the launch file.
+- `fake_sensor_commands` (default: *false*) - enables fake command interfaces for sensors used for simulations. Used only if `use_fake_hardware` parameter is true.
+- `robot_controller` (default: *rizon_arm_controller*) - robot controller to start. Available controllers: *forward_position_controller*, *rizon_arm_controller*, *joint_impedance_controller*.
+
+*(Details about other launch files can be found in [`flexiv_bringup`](/flexiv_bringup))*
+
+### Example Commands
+
+1. Start robot, or fake hardware:
 
     - Test with real robot:
 
         ```bash
-        ros2 launch flexiv_bringup rizon.launch.py robot_ip:=<RobotIP> local_ip:=<LocalIP>
+        ros2 launch flexiv_bringup rizon.launch.py robot_ip:=[robot_ip] local_ip:=[local_ip]
         ```
 
-        The launch file loads and starts the robot hardware, controllers and opens RViZ. Stop RViZ from auto-start use `start_rviz:=false` launch file argument.
-
         **NOTE**: Getting the following output in terminal is OK: `Warning: Invalid frame ID "link1" passed to canTransform argument source_frame - frame does not exist`. This happens because `joint_state_broadcaster` node need some time to start.
 
     - Test with fake hardware (`ros2_control` capability):
@@ -108,22 +112,20 @@ source ~/flexiv_ros2_ws/install/setup.bash
         ros2 launch flexiv_bringup rizon.launch.py robot_ip:=dont-care local_ip:=dont-care use_fake_hardware:=true
         ```
 
-        `use_fake_hardware` argument starts `FakeSystem` instead of real hardware. This is a simple simulation that mimics joint command to their states.
-
 2. Publish commands to controllers
 
-   - The default controller in the launch file is `rizon_arm_controller`. To send the goal position to the controller by using the node from `flexiv_test_nodes`, start the following command in a new terminal:
+   - To send the goal position to the controller by using the node from `flexiv_test_nodes`, start the following command in a new terminal:
 
         ```bash
         ros2 launch flexiv_bringup test_joint_trajectory_controller.launch.py
         ```
 
-        You can change the joint position goals in `flexiv_bringup/config/joint_trajectory_position_publisher.yaml`.
+        The joint position goals can be changed in `flexiv_bringup/config/joint_trajectory_position_publisher.yaml`.
 
    - To test another controller, define it using the `robot_controller` launch argument, for example the `joint_impedance_controller`:
 
         ```bash
-        ros2 launch flexiv_bringup rizon.launch.py robot_ip:=<RobotIP> local_ip:=<LocalIP> robot_controller:=joint_impedance_controller
+        ros2 launch flexiv_bringup rizon.launch.py robot_ip:=[robot_ip] local_ip:=[local_ip] robot_controller:=joint_impedance_controller
         ```
 
         **NOTE**: The command starts the robot in the joint torque mode. In this mode, gravity and friction are compensated **only** for the robot **without** any attached objects (e.g. the gripper, camera).
@@ -143,7 +145,7 @@ source ~/flexiv_ros2_ws/install/setup.bash
 You can also run the MoveIt example and use the `MotionPlanning` plugin in RViZ to start planning:
 
 ```bash
-ros2 launch flexiv_bringup rizon_moveit.launch.py robot_ip:=<RobotIP> local_ip:=<LocalIP>
+ros2 launch flexiv_bringup rizon_moveit.launch.py robot_ip:=[robot_ip] local_ip:=[local_ip]
 ```
 
 Test with fake hardware:

flexiv_bringup/launch/rizon.launch.py

@@ -15,6 +15,15 @@ def generate_launch_description():
     # Declare arguments
     declared_arguments = []
 
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "rizon_type",
+            description="Type of the Flexiv Rizon robot.",
+            default_value="rizon4",
+            choices=["rizon4", "rizon4s"],
+        )
+    )
+
     declared_arguments.append(
         DeclareLaunchArgument(
             "robot_ip",
@@ -71,6 +80,7 @@ def generate_launch_description():
     )
 
     # Initialize Arguments
+    rizon_type = LaunchConfiguration("rizon_type")
     robot_ip = LaunchConfiguration("robot_ip")
     local_ip = LaunchConfiguration("local_ip")
     start_rviz = LaunchConfiguration("start_rviz")
@@ -85,7 +95,7 @@ def generate_launch_description():
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
             PathJoinSubstitution(
-                [FindPackageShare("flexiv_description"), "urdf", "rizon4.urdf.xacro"]
+                [FindPackageShare("flexiv_description"), "urdf", "rizon.urdf.xacro"]
             ),
             " ",
             "robot_ip:=",
@@ -94,6 +104,9 @@ def generate_launch_description():
             "local_ip:=",
             local_ip,
             " ",
+            "rizon_type:=",
+            rizon_type,
+            " ",
             "use_fake_hardware:=",
             use_fake_hardware,
             " ",

flexiv_bringup/launch/rizon_moveit.launch.py

@@ -27,6 +27,15 @@ def generate_launch_description():
     # Declare command-line arguments
     declared_arguments = []
 
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "rizon_type",
+            description="Type of the Flexiv Rizon robot.",
+            default_value="rizon4",
+            choices=["rizon4", "rizon4s"],
+        )
+    )
+
     declared_arguments.append(
         DeclareLaunchArgument(
             "robot_ip",
@@ -66,6 +75,7 @@ def generate_launch_description():
         )
     )
 
+    rizon_type = LaunchConfiguration("rizon_type")
     robot_ip = LaunchConfiguration("robot_ip")
     local_ip = LaunchConfiguration("local_ip")
     use_fake_hardware = LaunchConfiguration("use_fake_hardware")
@@ -74,7 +84,7 @@ def generate_launch_description():
 
     # Get URDF via xacro
     flexiv_urdf_xacro = os.path.join(
-        get_package_share_directory("flexiv_description"), "urdf", "rizon4.urdf.xacro"
+        get_package_share_directory("flexiv_description"), "urdf", "rizon.urdf.xacro"
     )
 
     robot_description_content = Command(
@@ -89,6 +99,9 @@ def generate_launch_description():
             "local_ip:=",
             local_ip,
             " ",
+            "rizon_type:=",
+            rizon_type,
+            " ",
             "use_fake_hardware:=",
             use_fake_hardware,
             " ",
@@ -100,7 +113,7 @@ def generate_launch_description():
 
     # MoveIt configuration
     flexiv_srdf_xacro = os.path.join(
-        get_package_share_directory("flexiv_moveit_config"), "srdf", "rizon4.srdf.xacro"
+        get_package_share_directory("flexiv_moveit_config"), "srdf", "rizon.srdf.xacro"
     )
     robot_description_semantic_content = Command(
         [
@@ -109,7 +122,7 @@ def generate_launch_description():
             flexiv_srdf_xacro,
             " ",
             "name:=",
-            "rizon4",
+            "rizon",
         ]
     )
 

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>0.6.0</version>
+  <version>0.6.1</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/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_controllers</name>
-  <version>0.6.0</version>
+  <version>0.6.1</version>
   <description>Flexiv custom ros2 controllers</description>
   <maintainer email="[email protected]">Mun Seng Phoon</maintainer>
   <license>Apache License 2.0</license>

flexiv_description/launch/view_rizon.launch.py

@@ -13,6 +13,7 @@
 
 def generate_launch_description():
     pkg_share = FindPackageShare("flexiv_description")
+    rizon_type = LaunchConfiguration("rizon_type")
     default_rviz_config_path = PathJoinSubstitution(
         [pkg_share, "rviz", "view_rizon.rviz"]
     )
@@ -21,8 +22,11 @@ def generate_launch_description():
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
             PathJoinSubstitution(
-                [FindPackageShare("flexiv_description"), "urdf", "rizon4.urdf.xacro"]
+                [FindPackageShare("flexiv_description"), "urdf", "rizon.urdf.xacro"]
             ),
+            " ",
+            "rizon_type:=",
+            rizon_type,
         ]
     )
 
@@ -60,6 +64,12 @@ def generate_launch_description():
 
     return LaunchDescription(
         [
+            DeclareLaunchArgument(
+                name="rizon_type",
+                default_value="rizon4",
+                description="Type of the Flexiv Rizon robot.",
+                choices=["rizon4", "rizon4s"],
+            ),
             DeclareLaunchArgument(
                 name="gui",
                 default_value="False",

flexiv_description/meshes/rizon4s/collision/link0.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+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