Task #193
Updated by Sanghoon Lee 2 months ago
Create a MoveIt Pro Configuration Package for the ur5e + 2F-140 with Xela uSPr2F Model - Create ur5e + 2F-140 + 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-140 robot. ------------- h1. Create ur5e_x2f_140_common package h2. Purpose - Provide shared resources for UR5e + Robotiq 2F-140 + Xela taxel sensors. - Keep attachments/models/objectives reusable across real, sim, and app packages. h2. Scope - Shared description/attachments (xacro), custom meshes, 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. - Customizable Robotiq 2F-140 meshes and transforms (local overrides only). - 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, gripper positions). - Outputs: robot description (URDF/SRDF) with attachments, sensors, and custom meshes. h2. Configuration Points - @description/ur5e_x2f_140_attachments.xacro@ - Attachment transforms and sensor placement - Pass-through for @robotiq_gripper_closed_position@ and @robotiq_finger_joint_initial_value@ - @description/robotiq_2f_140_custom.xacro@ - Mesh overrides and origin/scale corrections h2. Dependencies - @robotiq_description@ (2f-140 base 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) ---------------- h1. Create ur5e_x2f_140_config1 packages h2. Purpose * Provide a MoveIt Pro configuration for UR5e + Robotiq 2F-140 + 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_140.xacro@ ** Attachments macro invocation and arg pass-through h2. Dependencies * @ur5e_x2f_140_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_140_config1 -v@ starts successfully. * @/controller_manager/list_controllers@ responds. ---------------- <pre> ur5e_x2f_140_config1/ ├── CMakeLists.txt ├── config │ ├── config.yaml │ ├── control │ │ └── ur5e_x2f_140.ros2_control.yaml │ └── moveit │ ├── joint_limits.yaml │ └── ur5e_x2f_140.srdf ├── description │ └── ur5e_x2f_140.xacro ├── launch │ └── agent_bridge.launch.xml ├── objectives │ ├── close_gripper.xml │ └── open_gripper.xml ├── package.xml └── README.md </pre> moveit_pro run -c ur5e_x2f_140_config1 -v {{video("ur5e_x2f_140_config1.mp4",800,400)}}