Kuka sim support package added depends on #12. #15

Robotgir · 2023-02-28T23:36:35Z

contains launch file for gazebo classic and gazebo simulators, base models independent of ros2_control support

…ka_lbr_iiwa_support'

destogl

Except sim_support package we also need ros2_control_support package. So when we are using robot on the HW we don't need to install the simulators. This is dependency management thing.

Also, I have added some small comment to optimize files.

destogl · 2023-03-01T15:44:06Z

kuka_kr150_support/urdf/kr150r3100_2_macro.xacro

+  <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
+  <xacro:include filename="$(find kuka_resources)/urdf/common_properties.xacro"/>


Those two files are also not needed here. They should be in the simulation xacro files

These were already here in some of the other base files, here only common_properties.xacro should have been added extra for getting gazebo to work, I can add it to simulation .xacro files this part as i added it for gazebo specific purpose. But the traces of the default_inertial tags will be there any way in the base files. If someone wants to use these base files alone without gazebo or ros2_control support, then they will get error as common_properties.xacro is not included in the base_macro that is using them instead in the simulation xacro.

I am not sure if every other simulator out there needs inertial tags. some of the base files had inertial tags defined, i just added default_inertial wherever it was needed. I created this PR #13 ,assuming default_inertial are needed in the base files.

i thin it should be included in the base_macro.xacro files instead of simulation .xacro files what do you think? @destogl

kuka_kr6_support/urdf/kr6r700sixx_macro.xacro

destogl · 2023-03-01T15:54:36Z

kuka_kr210_support/urdf/kr210l150_macro.xacro

@@ -12,7 +12,7 @@
      <visual>
        <origin xyz="0 0 0" rpy="${-radians(90)} 0 0"/>
        <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/base_link.dae"/>
+          <mesh filename="file://$(find kuka_kr210_support)/meshes/kr210l150/visual/base_link.dae"/>


Why is here no default_intertial used?

because it already had inertial tags defined

destogl · 2023-03-01T15:56:12Z

kuka_lbr_iiwa_support/urdf/lbr_iiwa_14_r820_macro.xacro

@@ -3,114 +3,122 @@
  <xacro:macro name="kuka_lbr_iiwa_14_r820" params="prefix">
    <!-- link list -->
    <link name="${prefix}base_link">
+      <xacro:default_inertial/>


We should include file for default intertials here where we are also using it. Otherwise we have always add this in the file that is including this.

kuka_ros2_control_sim_support/launch/test_common_gazebo_classic_ros2_control.launch.py

destogl · 2023-03-01T16:10:33Z

kuka_ros2_control_sim_support/launch/test_common_gazebo_sim_ros2_control.launch.py

+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+def generate_launch_description():


apply the same comments as for gazebo classic file

destogl · 2023-03-01T16:21:25Z

kuka_ros2_control_sim_support/package.xml

+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>roslaunch</test_depend>


This should not be dependency anymore in ROS2

kuka_ros2_control_sim_support/package.xml

kuka_ros2_control_sim_support/urdf/common_sim_kuka.xacro

destogl · 2023-03-01T16:24:45Z

kuka_ros2_control_sim_support/urdf/common_sim_macro.ros2_control.xacro

@@ -1,14 +1,31 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">

-  <xacro:macro name="kuka_common_ros2_control_macro" params="name prefix use_mock_hardware:=^|false">
+  <xacro:macro name="kuka_common_sim_ros2_control_macro" params="


I would put this into *_ros2_control_* package and sim package can use that one.

i put both files separately as we dont want traces of the gazebo in the ros2_control only support package. they have their default values set in launch files, but still, for someone looking at ros2_control support package seeing gazebo related flags might be distracting, i thought @destogl

Robotgir · 2023-03-02T09:05:13Z

Except sim_support package we also need ros2_control_support package. So when we are using robot on the HW we don't need to install the simulators. This is dependency management thing.

Also, I have added some small comment to optimize files.

@destogl Below is the PR for ros2_control part alone
#12

Co-authored-by: Dr. Denis <[email protected]>

…c_ros2_control.launch.py Co-authored-by: Dr. Denis <[email protected]>

…upport

destogl · 2023-03-06T09:26:49Z

kuka_kr10_support/urdf/kr10r900_2_macro.xacro

@@ -183,4 +191,4 @@
      <origin xyz="0 0 0" rpy="0 ${radians(90)} 0"/>
    </joint>
  </xacro:macro>
-</robot>
+</robot>


Suggested change

</robot>

</robot>

destogl · 2023-03-06T09:27:05Z

kuka_kr5_support/urdf/kr5_arc_macro.xacro

@@ -284,4 +284,4 @@
    </joint>

  </xacro:macro>
-</robot>
+</robot>


Suggested change

</robot>

</robot>

kuka_ros2_control_sim_support/package.xml

kuka_ros2_control_sim_support/launch/test_common_gazebo_sim_ros2_control.launch.py

kuka_ros2_control_sim_support/launch/test_common_gazebo_classic_ros2_control.launch.py

kuka_ros2_control_sim_support/package.xml

kuka_ros2_control_support/CMakeLists.txt

kuka_ros2_control_support/package.xml

destogl · 2023-03-06T09:50:47Z

Please also add manual into README.md on how this repository can be used, dependencies installed and robot, mock hardware and simulation can be started.

Co-authored-by: Dr. Denis <[email protected]>

…s2_control.launch.py Co-authored-by: Dr. Denis <[email protected]>

Co-authored-by: Dr. Denis <[email protected]>

kuka_ros2_control_support/package.xml

Co-authored-by: Dr. Denis <[email protected]>

kuka_ros2_control_sim_support/package.xml

kuka_ros2_control_sim_support/launch/test_common_gazebo_classic_ros2_control.launch.py

…c_ros2_control.launch.py Co-authored-by: muritane <[email protected]>

destogl · 2023-03-27T20:16:15Z

@muritane you had script to test this PR. Can we upload this for now?

GiridharBukka added 15 commits February 27, 2023 11:20

created new package 'kuka_ros2_control_support'

277ea14

single ros2_control launch file for all of the kuka robots except 'ku…

8929bd8

…ka_lbr_iiwa_support'

moved common_macro.ros2_control.xacro to kuka_ros2_control_support

c410d13

added new support package for simulators with ros2_control

36e81ab

modifed to match other packages

713821e

added common_macro_ros2_control_sim

2ccab4e

launch file for th classic

a542305

adding inertial and modifying mesh files access path

9240957

added common_sim_macro.ros2_control

52fa071

functional ros2_control support for kuka base models

244f700

making base kuka files independent of ros2_control

b7f842d

making base kuka files independent of ros2_control-2

7de0074

functional kuka simulators with ros2_control support

5684a3e

removed ros2_control only support package

048e4a9

added launch file for gazebo_sim

0db4e54

destogl reviewed Mar 1, 2023

View reviewed changes

Robotgir and others added 7 commits March 2, 2023 10:07

Update kuka_ros2_control_sim_support/package.xml

cb34580

Co-authored-by: Dr. Denis <[email protected]>

removed unused xacro and added one useful

cb3221a

removed mock_hardware flag

6d1d7fc

removed arguments not necessary

ca335cf

Update kuka_ros2_control_sim_support/launch/test_common_gazebo_classi…

c52e3a8

…c_ros2_control.launch.py Co-authored-by: Dr. Denis <[email protected]>

removed dependency not needed in ros2

c783bfd

ran pre-commit except *_rsi_*

1ee52b8

Robotgir mentioned this pull request Mar 4, 2023

Support for simulators Gazebo Classic and Gazebo Sim #11

Closed

GiridharBukka added 5 commits March 4, 2023 17:54

correction

fa2a2b0

included kuka_lbr to run from common launch file

8968468

ran-precommit

ee75a3f

added kuka_ros2_control_support along side kuka_ros2_control_sim_support

c2fd770

making kuka_ros2_control_sim_support dependent on kuka_ros2_control_s…

190bbc8

…upport

Robotgir changed the title ~~Kuka ros2 control sim support package added~~ Kuka ros2 control and sim support package both added Mar 6, 2023

Robotgir mentioned this pull request Mar 6, 2023

Ros2 control support package added #12

Open

destogl reviewed Mar 6, 2023

View reviewed changes

destogl and others added 5 commits March 6, 2023 10:51

Merge branch 'rolling' into kuka_ros2_control_sim_support-package-added

bb77480

Update kuka_ros2_control_sim_support/package.xml

b40d467

Co-authored-by: Dr. Denis <[email protected]>

Update kuka_ros2_control_sim_support/launch/test_common_gazebo_sim_ro…

618e624

…s2_control.launch.py Co-authored-by: Dr. Denis <[email protected]>

Update kuka_ros2_control_support/package.xml

5ce9d88

Co-authored-by: Dr. Denis <[email protected]>

Apply suggestions from code review

f9bf687

Co-authored-by: Dr. Denis <[email protected]>

Robotgir commented Mar 6, 2023

View reviewed changes

kuka_ros2_control_support/package.xml Outdated Show resolved Hide resolved

Robotgir and others added 7 commits March 6, 2023 11:06

Apply suggestions from code review

d06e0fe

Co-authored-by: Dr. Denis <[email protected]>

renaming

637ba35

correction

210fcbb

added dependency

9fad87a

added dependency

965c872

modified readme

d85df1d

update and upgrade

4c76df5

Robotgir commented Mar 9, 2023

View reviewed changes

kuka_ros2_control_sim_support/package.xml Outdated Show resolved Hide resolved

Update kuka_ros2_control_sim_support/package.xml

f9e5c1d

Robotgir changed the title ~~Kuka ros2 control and sim support package both added~~ Kuka ros2 control and sim support package added Mar 11, 2023

Robotgir changed the title ~~Kuka ros2 control and sim support package added~~ Kuka ros2 control and sim support package added depends on #12 Mar 11, 2023

Robotgir changed the title ~~Kuka ros2 control and sim support package added depends on #12~~ Kuka ros2 control and sim support package added depends on #12. Mar 11, 2023

Robotgir changed the title ~~Kuka ros2 control and sim support package added depends on #12.~~ Kuka sim support package added depends on #12. Mar 17, 2023

clarity

85def94

muritane reviewed Mar 27, 2023

View reviewed changes

kuka_ros2_control_sim_support/launch/test_common_gazebo_classic_ros2_control.launch.py Outdated Show resolved Hide resolved

muritane reviewed Mar 27, 2023

View reviewed changes

kuka_ros2_control_sim_support/launch/test_common_gazebo_classic_ros2_control.launch.py Outdated Show resolved Hide resolved

destogl and others added 2 commits March 27, 2023 22:15

Update kuka_ros2_control_sim_support/launch/test_common_gazebo_classi…

2c23a3c

…c_ros2_control.launch.py Co-authored-by: muritane <[email protected]>

Update kuka_ros2_control_sim_support/launch/test_common_gazebo_classi…

6ae4c95

…c_ros2_control.launch.py Co-authored-by: muritane <[email protected]>

added test for kuka_ros2_control_sim_support

42b8a50

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Kuka sim support package added depends on #12. #15

Kuka sim support package added depends on #12. #15

Robotgir commented Feb 28, 2023

destogl left a comment

destogl Mar 1, 2023

Robotgir Mar 2, 2023 •

edited

Loading

destogl Mar 1, 2023

Robotgir Mar 2, 2023

destogl Mar 1, 2023

destogl Mar 1, 2023

destogl Mar 1, 2023

destogl Mar 1, 2023

Robotgir Mar 2, 2023 •

edited

Loading

Robotgir commented Mar 2, 2023 •

edited

Loading

destogl Mar 6, 2023

destogl Mar 6, 2023

destogl commented Mar 6, 2023

destogl commented Mar 27, 2023

		<xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
		<xacro:include filename="$(find kuka_resources)/urdf/common_properties.xacro"/>


		<buildtool_depend>ament_cmake</buildtool_depend>

		<test_depend>roslaunch</test_depend>

Kuka sim support package added depends on #12. #15

Are you sure you want to change the base?

Kuka sim support package added depends on #12. #15

Conversation

Robotgir commented Feb 28, 2023

destogl left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Robotgir Mar 2, 2023 • edited Loading

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Robotgir Mar 2, 2023 • edited Loading

Choose a reason for hiding this comment

Robotgir commented Mar 2, 2023 • edited Loading

Choose a reason for hiding this comment

Choose a reason for hiding this comment

destogl commented Mar 6, 2023

destogl commented Mar 27, 2023

Robotgir Mar 2, 2023 •

edited

Loading

Robotgir Mar 2, 2023 •

edited

Loading

Robotgir commented Mar 2, 2023 •

edited

Loading