Merge pull request #493 from isys-vision/add_gp8_opw

Update GP8 support package (OPW params, missing links, collision mesh update)

motoman_gp8_support/CMakeLists.txt

@@ -8,7 +8,7 @@ catkin_package()
 
 if (CATKIN_ENABLE_TESTING)
   find_package(roslaunch REQUIRED)
-  roslaunch_add_file_check(test/launch_test.xml)
+  roslaunch_add_file_check(test/launch_test_gp8.xml)
 endif()
 
 install(DIRECTORY config launch meshes urdf

motoman_gp8_support/config/opw_parameters_gp8.yaml

@@ -0,0 +1,20 @@
+#
+# Parameters for use with IK solvers which support OPW (Ortho-Parallel Wrist)
+# kinematic configurations, as described in the paper "An Analytical Solution
+# of the Inverse Kinematics Problem of Industrial Serial Manipulators with an
+# Ortho-parallel Basis and a Spherical Wrist" by Mathias Brandstötter, Arthur
+# Angerer, and Michael Hofbaur (Proceedings of the Austrian Robotics Workshop
+# 2014, 22-23 May, 2014, Linz, Austria).
+#
+# The moveit_opw_kinematics_plugin package provides such a solver.
+#
+opw_kinematics_geometric_parameters:
+    a1:  0.040
+    a2:  -0.040
+    b:   0.000
+    c1:  0.330
+    c2:  0.345
+    c3:  0.340
+    c4:  0.080
+opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, deg(180.0)]
+opw_kinematics_joint_sign_corrections: [1, 1, -1, -1, -1, -1]

motoman_gp8_support/package.xml

@@ -16,10 +16,10 @@
       <li>GP8 - Default</li>
     </ul>
     <p>
-      Joint limits and maximum joint velocities are based on the information 
-      found in the online 
-      https://www.motoman.com/hubfs/Robots/gp8.pdf
-      All urdfs are based on the default motion and joint velocity limits, 
+      Joint limits and maximum joint velocities are based on the information
+      found in <em>YASKAWA MOTOMAN-GP8,-GP7 INSTRUCTIONS (HW1486547)</em> version
+      <em>194559-1CD, rev 4</em>.
+      All urdfs are based on the default motion and joint velocity limits,
       unless noted otherwise.
     </p>
     <p>

motoman_gp8_support/test/launch_test_gp8.xml

@@ -0,0 +1,51 @@
+<!--
+  launch_test_gp8.xml - ROSlaunch tests
+  Usage Instructions:
+  1. Add the following to your CMakeLists.txt:
+    find_package(roslaunch)
+    roslaunch_add_file_check(test/launch_test_gp8.xml)
+  2. Create a test directory under your package
+  3. Add the "launch_text_gp8.xml" file and fill out the test below.  Use the
+     following conventions:
+    a. Encapsulate each launch file test in it's own namespace.  By
+       convention the namespace should have the same name as the launch
+       file (minus ".launch" extension)
+    b. Create tests for each possible combination of parameters.  Utilize
+       sub-namespaces under the main namespace.
+  Notes:
+  1. XML extension is used in order to avoid beinging included
+  in roslaunch auto-complete.
+  2. Group tags with namespaces are used to avoid node name collisions when
+  testing multpile launch files
+-->
+<launch>
+  <arg name="req_arg" value="default" />
+  <arg name="controller" value="yrc1000" />
+
+  <group ns="load_gp8">
+      <include file="$(find motoman_gp8_support)/launch/load_gp8.launch" />
+  </group>
+
+  <group ns="test_gp8">
+      <include file="$(find motoman_gp8_support)/launch/test_gp8.launch" />
+  </group>
+
+  <group ns="robot_interface_streaming_gp8">
+    <group ns="$(arg controller)">
+      <include file="$(find motoman_gp8_support)/launch/robot_interface_streaming_gp8.launch">
+        <arg name="robot_ip" value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg controller)" />
+      </include>
+    </group>
+  </group>
+
+  <group ns="robot_state_visualize_gp8">
+    <group ns="$(arg controller)">
+      <include file="$(find motoman_gp8_support)/launch/robot_state_visualize_gp8.launch">
+        <arg name="robot_ip" value="$(arg req_arg)" />
+        <arg name="controller" value="$(arg controller)" />
+      </include>
+    </group>
+  </group>
+
+</launch>