Task #192
Updated by Sanghoon Lee 2 months ago
Create a MoveIt Pro Configuration Package for the ur5e + 2F-85 with Xela uSPr2F Model
- Create ur5e + 2F-85 + Xela uSPr2F integrated Model
- Create MoveIt Pro Config package:
Inherit the picknik_ur_site_config package and use the XELA uSPr2F model created above and the model that integrates the ur5e robot arm and the 2F-85 robot.
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h1. Create ur5e_x2f_common packages
h2. Purpose
- Provide shared resources for UR5e + Robotiq 2F-85 + Xela taxel sensors.
- Keep attachments/models/objectives reusable across real, sim, and app packages.
h2. Scope
- Shared description/attachments (xacro), sensor models (xacro), and common objectives.
- Does not launch controllers or run the robot.
h2. Key Features
- Xacro macros to assemble gripper, camera, and sensors on the UR5e tool.
- Xela uSPr2F taxel models attached to finger tips.
- Common objectives library referenced by config packages.
h2. Inputs/Outputs
- Inputs: xacro args from config packages (prefix, tool_device_name, use_fake_hardware, etc.).
- Outputs: robot description (URDF/SRDF) with attachments and sensors.
h2. Configuration Points
- @description/ur5e_x2f_85_attachments.xacro@
- Attachment transforms and sensor placement
- Pass-through for @robotiq_gripper_closed_position@ and @robotiq_finger_joint_initial_value@
- Taxel count/color/pose parameters
h2. Dependencies
- @robotiq_description@ (2f-85 xacro/meshes)
- @picknik_accessories@ (UR adapters/camera brackets)
- @xela_models@ (taxel/uSPr2F models)
h2. Non-Functional Requirements
- Reusable across multiple config packages.
- Customization must not modify external dependencies.
h2. Test/Verification
- Xacro/URDF generation succeeds.
- Visual check in RViz/MoveIt Pro UI (links/sensors visible).
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h1. Create ur5e_x2f_85_config1 packages
h2. Purpose
- Provide a MoveIt Pro configuration for UR5e + Robotiq 2F-85 + Xela sensors.
- Integrate planning, controllers, and objectives for real or mocked hardware.
h2. Scope
- MoveIt Pro config.yaml, URDF/SRDF, ros2_control config, objectives.
- Does not include MuJoCo simulation environment.
h2. Key Features
- MoveIt Pro startup using @config/config.yaml@.
- ros2_control controllers loaded/activated per config.
- URDF parameters passed for hardware mode, tool device, and gripper initial values.
- Planning group and joint limits configured.
h2. Inputs/Outputs
- Inputs: @config/config.yaml@ (urdf_params, ros2_control).
- Outputs: MoveIt Pro UI with robot/gripper/sensors, controllable planning.
h2. Configuration Points
- @config/config.yaml@
- @use_fake_hardware@, @tool_device_name@
- @robotiq_gripper_closed_position@, @robotiq_finger_joint_initial_value@
- Controllers active/inactive lists
- @description/ur5e_x2f_85.xacro@
- Attachments macro invocation and arg pass-through
h2. Dependencies
- @ur5e_x2f_85_common@
- @picknik_ur_base_config@, @ur_description@
- @robotiq_driver@, @robotiq_controllers@
h2. Non-Functional Requirements
- Safe switch between real and mocked hardware.
- Consistent controller configuration.
h2. Test/Verification
- @moveit_pro build@ succeeds.
- @moveit_pro run -c ur5e_x2f_85_config1 -v@ starts successfully.
- @/controller_manager/list_controllers@ responds.
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<pre>
├── CMakeLists.txt
├── config
│ ├── config.yaml
│ ├── control
│ │ └── ur5e_x2f_85.ros2_control.yaml
│ └── moveit
│ ├── joint_limits.yaml
│ └── ur5e_x2f_85.srdf
├── description
│ └── ur5e_x2f_85.xacro
├── launch
│ └── agent_bridge.launch.xml
├── objectives
├── package.xml
└── README.md
</pre>
moveit_pro run -c ur5e_x2f_85_config1 -v
!{width:600px}clipboard-202601232106-xqtt6.png!
{{video("녹화_2026_01_23_21_08_39_651.mp4",800,400)}}