diff --git a/README.md b/README.md index 56e65cf..756ea46 100644 --- a/README.md +++ b/README.md @@ -10,6 +10,13 @@ This repository allows controlling the Base, Arm and Gripper of the Omron Mobile For supported features and limitations, see the individual repositories on the features supported by the MoMa. +## Device Configuration + +The robot expects the remote PC to be configured with the following IP address to connect to the robot, + +IP Address : 192.168.1.50 +Subnet Mask : 255.255.255.0 + ## Setup Create a workspace @@ -42,6 +49,7 @@ finally build by cd .. colcon build ``` + **or save time and use devcontainer** ## Usage @@ -60,11 +68,18 @@ source install/setup.bash ros2 launch moma_ros ld250_tm12x.launch.py use_rviz:=true ``` -### Start the system with arm in simulation mode +### Start the system without Nav2 or Moveit to evaluate the Hardware connection + +```bash +source install/setup.bash +ros2 launch moma_ros ld250_tm12x.launch.py use_nav2:=false use_moveit:=false +``` + +### Start the system without Nav2 to control just the Arm and Gripper using RVIZ ```bash source install/setup.bash -ros2 launch moma_ros ld250_tm12x.launch.py tm_use_simulation:=true +ros2 launch moma_ros ld250_tm12x.launch.py use_nav2:=false use_rviz:=true ``` ## Docker diff --git a/moma_description/CMakeLists.txt b/moma_description/CMakeLists.txt index 6b34ebd..a34bd0e 100644 --- a/moma_description/CMakeLists.txt +++ b/moma_description/CMakeLists.txt @@ -9,7 +9,7 @@ endif() find_package(ament_cmake REQUIRED) install( - DIRECTORY meshes urdf xacro + DIRECTORY meshes xacro DESTINATION share/${PROJECT_NAME} ) diff --git a/moma_description/urdf/ld250_tm12x.urdf b/moma_description/urdf/ld250_tm12x.urdf deleted file mode 100644 index 7e4d6d0..0000000 --- a/moma_description/urdf/ld250_tm12x.urdf +++ /dev/null @@ -1,441 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - true - - - true - - - true - - - true - - - true - - - true - - - - / - gazebo_ros_control/DefaultRobotHWSim - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - 1 - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - 1 - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - 1 - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - 1 - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - 1 - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/moma_description/urdf/ld90_tm5-900_chassis.urdf b/moma_description/urdf/ld90_tm5-900_chassis.urdf deleted file mode 100644 index aa0e636..0000000 --- a/moma_description/urdf/ld90_tm5-900_chassis.urdf +++ /dev/null @@ -1,239 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/moma_description/xacro/ld250_tm12x.urdf.xacro b/moma_description/xacro/ld250_tm12x.urdf.xacro index cb4db3d..0709837 100644 --- a/moma_description/xacro/ld250_tm12x.urdf.xacro +++ b/moma_description/xacro/ld250_tm12x.urdf.xacro @@ -28,23 +28,78 @@ - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - - + - + @@ -57,7 +112,7 @@ - + @@ -81,14 +136,15 @@ - + + - + \ No newline at end of file diff --git a/moma_ros/launch/ld250_tm12x.launch.py b/moma_ros/launch/ld250_tm12x.launch.py index 3035e00..4ff3bfb 100644 --- a/moma_ros/launch/ld250_tm12x.launch.py +++ b/moma_ros/launch/ld250_tm12x.launch.py @@ -77,6 +77,9 @@ def generate_launch_description(): PythonLaunchDescriptionSource( os.path.join(moma_ros_share, 'launch', 'ld250_tm12x', 'ld250_tm12x.rviz.launch.py') ), + launch_arguments={ + 'use_moveit': use_moveit, + }.items(), condition=IfCondition(use_rviz) ) diff --git a/moma_ros/launch/ld250_tm12x/ld250_tm12x.moveit.launch.py b/moma_ros/launch/ld250_tm12x/ld250_tm12x.moveit.launch.py index e05afe7..e7fec9a 100644 --- a/moma_ros/launch/ld250_tm12x/ld250_tm12x.moveit.launch.py +++ b/moma_ros/launch/ld250_tm12x/ld250_tm12x.moveit.launch.py @@ -4,7 +4,6 @@ import json import xacro from launch import LaunchDescription -from launch.substitutions import Command from launch_ros.actions import Node from ament_index_python.packages import get_package_share_directory @@ -30,18 +29,14 @@ def load_yaml(package_name, file_path): def generate_launch_description(): # Configure robot_description - robot_description_config = load_file('moma_description', 'urdf/ld250_tm12x.urdf') - robot_description = {'robot_description' : robot_description_config} - - # Configure robot_description - # robot_description_config = xacro.process_file( - # os.path.join( - # get_package_share_directory('moma_description'), - # 'xacro', - # 'ld250_tm12x.urdf.xacro', - # ) - # ) - # robot_description = {'robot_description': robot_description_config.toxml()} + robot_description_config = xacro.process_file( + os.path.join( + get_package_share_directory('moma_description'), + 'xacro', + 'ld250_tm12x.urdf.xacro', + ) + ) + robot_description = {'robot_description': robot_description_config.toxml()} # SRDF Configuration diff --git a/moma_ros/launch/ld250_tm12x/ld250_tm12x.rviz.launch.py b/moma_ros/launch/ld250_tm12x/ld250_tm12x.rviz.launch.py index 3dc5e78..9478406 100644 --- a/moma_ros/launch/ld250_tm12x/ld250_tm12x.rviz.launch.py +++ b/moma_ros/launch/ld250_tm12x/ld250_tm12x.rviz.launch.py @@ -4,10 +4,11 @@ import json import xacro from launch import LaunchDescription -from launch.substitutions import Command +from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition, UnlessCondition from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare -from launch.substitutions import PathJoinSubstitution +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution from ament_index_python.packages import get_package_share_directory def load_file(package_name, file_path): @@ -32,9 +33,13 @@ def load_yaml(package_name, file_path): return None def generate_launch_description(): - # Configure robot_description - # robot_description_config = load_file('moma_description', 'urdf/ld250_tm12x.urdf') - # robot_description = {'robot_description' : robot_description_config} + use_moveit = LaunchConfiguration('use_moveit') + + declare_use_moveit = DeclareLaunchArgument( + 'use_moveit', + default_value='true', + description='Whether to start RViz with the MoveIt configuration' + ) # Configure robot_description robot_description_config = xacro.process_file( @@ -79,6 +84,7 @@ def generate_launch_description(): output='log', emulate_tty=True, arguments=['-d', moveit_rviz_config], + condition=IfCondition(use_moveit), parameters=[ robot_description, robot_description_semantic, @@ -94,11 +100,13 @@ def generate_launch_description(): executable='rviz2', name='rviz2', arguments=['-d', nav2_rviz_cfg], + condition=UnlessCondition(use_moveit), # parameters=[{'use_sim_time': use_sim_time}], output='log' ) return LaunchDescription([ + declare_use_moveit, moveit_rviz_node, nav2_rviz_node ]) \ No newline at end of file