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padhupradheeppadhupradheep
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Merge pull request #101 from AdarshKaran/humble
neo_simulation2 Humble branch updated with arm support and urdf files updated to modular xacros
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‎README.md

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This simulation package provides a quick and easy way to try out the autonomous mobile robots from Neobotix in ROS-2. It comes with the most commonly used configuration but is open for any kind of modification.
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Please find our documentations in https://neobotix-docs.de/ros/ros2/simulation.html
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Please find our documentations in https://neobotix-docs.de/ros/ros2/simulation_classic.html

‎components/arm/elite_arm.urdf.xacro

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<?xml version="1.0"?>
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<!-- This is the main URDF file for mpo_700-->
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="elite">
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<!-- create arm from macro-->
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<xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
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<xacro:arg name="arm_type" default="ec66"/>
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<xacro:arg name="use_gazebo" default="true"/>
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<!--Elite arm parameters-->
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<xacro:arg name="tf_prefix" default="$(arg arm_type)"/>
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<xacro:arg name="joint_limit_params_file" default="$(find elite_description)/config/$(arg arm_type)/joint_limits.yaml"/>
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<xacro:arg name="joint_origin_params_file" default="$(find elite_description)/config/$(arg arm_type)/joint_origins.yaml"/>
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<xacro:arg name="link_inertials_params_file" default="$(find elite_description)/config/$(arg arm_type)/link_inertials.yaml"/>
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<xacro:arg name="initial_joint_positions_file" default="$(find elite_description)/config/$(arg arm_type)/initial_positions.yaml"/>
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<!-- create arm -->
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<xacro:include filename="$(find elite_description)/urdf/macro/elite_macro.xacro" />
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<xacro:elite_robot
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name="$(arg arm_type)"
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tf_prefix="$(arg tf_prefix)"
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arm_parent="cabinet_link"
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joint_limits_parameters_file="$(arg joint_limit_params_file)"
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joint_origins_parameters_file="$(arg joint_origin_params_file)"
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link_inertials_parameters_file="$(arg link_inertials_params_file)"
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>
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<origin xyz="0.133 0.0 0.416" rpy="0.0 0.0 -1.5708" />
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</xacro:elite_robot>
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<!-- If both Elite Arm and Simulation is used -->
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<xacro:if value="$(arg use_gazebo)">
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<xacro:include filename="$(find elite_description)/urdf/elite_gazebo_ros2_control.urdf.xacro" />
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</xacro:if>
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</robot>
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‎components/arm/ur_arm.urdf.xacro

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<?xml version="1.0"?>
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<!-- This is the main URDF file for mpo_700-->
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="ur">
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<!-- create arm from macro-->
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<xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
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<xacro:arg name="arm_type" default="ur10"/>
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<xacro:arg name="use_gazebo" default="true"/>
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<!-- UR arm parameters -->
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<xacro:arg name="tf_prefix" default="$(arg arm_type)" />
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<xacro:arg name="joint_limit_params" default="$(find ur_description)/config/$(arg arm_type)/joint_limits.yaml"/>
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<xacro:arg name="kinematics_params" default="$(find ur_description)/config/$(arg arm_type)/default_kinematics.yaml"/>
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<xacro:arg name="physical_params" default="$(find ur_description)/config/$(arg arm_type)/physical_parameters.yaml"/>
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<xacro:arg name="visual_params" default="$(find ur_description)/config/$(arg arm_type)/visual_parameters.yaml"/>
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<xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
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<xacro:arg name="safety_limits" default="false"/>
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<xacro:arg name="safety_pos_margin" default="0.15"/>
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<xacro:arg name="safety_k_position" default="20"/>
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<xacro:arg name="sim_gazebo" default="$(arg use_gazebo)" />
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<xacro:arg name="simulation_controllers" default="$(find neo_simulation2)/configs/ur_config/$(arg arm_type)/ur_controllers.yaml"/>
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<xacro:arg name="initial_positions_file" default="$(find neo_simulation2)/configs/ur_config/initial_joint_positions.yaml"/>
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<!-- parse initial positions as a dictionary -->
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<xacro:property
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name="ur_initial_positions"
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value="${xacro.load_yaml('$(arg initial_positions_file)')}"
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/>
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<xacro:ur_robot
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name="$(arg arm_type)"
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tf_prefix="$(arg tf_prefix)"
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parent="cabinet_link"
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joint_limits_parameters_file="$(arg joint_limit_params)"
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kinematics_parameters_file="$(arg kinematics_params)"
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physical_parameters_file="$(arg physical_params)"
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visual_parameters_file="$(arg visual_params)"
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safety_limits="$(arg safety_limits)"
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safety_pos_margin="$(arg safety_pos_margin)"
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safety_k_position="$(arg safety_k_position)"
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sim_gazebo="$(arg sim_gazebo)"
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initial_positions = "${ur_initial_positions}"
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>
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<!-- position robot in the world -->
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<origin xyz="0.133 0.0 0.416" rpy="0.0 0.0 -1.5708" />
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</xacro:ur_robot>
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<!-- If both UR Arm and Simulation is used -->
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<xacro:if value="$(arg use_gazebo)">
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<gazebo reference="cabinet_link">
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</gazebo>
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<gazebo>
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<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
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<parameters>$(arg simulation_controllers)</parameters>
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</plugin>
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</gazebo>
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</xacro:if>
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</robot>
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‎components/common_macro/gazebo_diff_drive_plugin_macro.xacro

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mp_500">
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<!--Gazebo Diff Drive and Joint States Publisher plugin Macro-->
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<xacro:macro name="gazebo_diff_drive_plugin" params="
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update_rate
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joint_prefix
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wheel_separation
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wheel_diameter
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command_topic
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odometry_topic
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odom_frame
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base_frame
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max_wheel_torque
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max_acceleration
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">
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<gazebo>
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<plugin name="diff_drive" filename="libgazebo_ros_diff_drive.so">
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<!-- Replace camelCase elements with camel_case ones -->
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<update_rate>${update_rate}</update_rate>
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<left_joint>${joint_prefix}_left_joint</left_joint>
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<right_joint>${joint_prefix}_right_joint</right_joint>
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<wheel_separation>${wheel_separation}</wheel_separation>
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<wheel_diameter>${wheel_diameter}</wheel_diameter>
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<publish_odom>true</publish_odom>
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<publish_odom_tf>true</publish_odom_tf>
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<publish_wheel_tf>true</publish_wheel_tf>
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<command_topic>${command_topic}</command_topic>
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<odometry_topic>${odometry_topic}</odometry_topic>
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<odometry_frame>${odom_frame}</odometry_frame>
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<robot_base_frame>${base_frame}</robot_base_frame>
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<!-- wheelTorque and wheelAcceleration now have max_ prefix -->
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<max_wheel_torque>${max_wheel_torque}</max_wheel_torque>
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<max_acceleration>${max_acceleration}</max_acceleration>
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</plugin>
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<plugin name="joint_states" filename="libgazebo_ros_joint_state_publisher.so">
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<joint_name>${joint_prefix}_left_joint</joint_name>
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<joint_name>${joint_prefix}_right_joint</joint_name>
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</plugin>
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</gazebo>
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</xacro:macro>
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</robot>

‎components/common_macro/gazebo_lidar_macro.xacro

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mpo">
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<xacro:macro name="gazebo_lidar_sensor" params="
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sensor_name
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link_name
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update_rate
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min_range
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max_range
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horizontal_samples
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min_angle
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max_angle
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noise_mean
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noise_stddev
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topic_name
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visualize='false'
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">
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<gazebo reference="${link_name}">
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<sensor name="${sensor_name}" type="ray">
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<always_on>true</always_on>
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<pose>0 0 0 0 0 0</pose>
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<visualize>${visualize}</visualize>
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<update_rate>${update_rate}</update_rate>
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<ray>
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<scan>
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<horizontal>
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<samples>${horizontal_samples}</samples>
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<resolution>1</resolution>
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<min_angle>${min_angle}</min_angle>
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<max_angle>${max_angle}</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>${min_range}</min>
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<max>${max_range}</max>
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<resolution>0.05</resolution>
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</range>
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<noise>
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<type>gaussian</type>
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<!-- Noise parameters based on published spec for Hokuyo laser
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achieving "+-30mm" accuracy at range < 10m. A mean of 0.0m and
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stddev of 0.01m will put 99.7% of samples within 0.03m of the true
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reading. -->
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<mean>${noise_mean}</mean>
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<stddev>${noise_stddev}</stddev>
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</noise>
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</ray>
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<plugin filename="libgazebo_ros_ray_sensor.so" name="${sensor_name}_plugin">
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<ros>
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<argument>~/out:=${topic_name}</argument>
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</ros>
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<output_type>sensor_msgs/LaserScan</output_type>
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<frame_name>${link_name}</frame_name>
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</plugin>
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</sensor>
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</gazebo>
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</xacro:macro>
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</robot>

‎components/common_macro/gazebo_object_controller_macro.xacro

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mpo">
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<!--Gazebo Object Controller Macro-->
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<xacro:macro name="gazebo_object_controller" params="
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odom_update_rate
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controller_update_rate
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odom_frame
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base_frame
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covariance_yaw
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">
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<gazebo>
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<plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
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<commandTopic>cmd_vel</commandTopic>
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<odometryTopic>odom</odometryTopic>
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<robotNamespace><remapping>/tf:=tf</remapping></robotNamespace>
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<ros> <remapping>/tf:=tf</remapping> </ros>
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<!-- Set odom publish rate -->
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<odometryRate>${odom_update_rate}</odometryRate>
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<!-- Set control loop update rate -->
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<publish_rate>${controller_update_rate}</publish_rate>
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<!-- Set if odom required -->
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<publish_odom>true</publish_odom>
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<publish_odom_tf>true</publish_odom_tf>
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<!-- Frame IDs -->
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<odometryFrame>${odom_frame}</odometryFrame>
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<robotBaseFrame>${base_frame}</robotBaseFrame>
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<!-- Set odom covariance -->
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<covariance_x>0.0001</covariance_x>
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<covariance_y>0.0001</covariance_y>
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<covariance_yaw>${covariance_yaw}</covariance_yaw>
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</plugin>
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</gazebo>
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</xacro:macro>
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</robot>

‎components/common_macro/mpo_cabinet_macro.xacro

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mpo">
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<!--WHEEL MACRO-->
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<xacro:macro name="cabinet" params="
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neo_robot_name
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parent_link
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inertial_rpy
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visual_rpy
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collision_rpy
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*origin
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model_scale
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">
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<joint name="cabinet_joint" type="fixed">
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<xacro:insert_block name="origin"/>
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<joint_properties damping="1" friction="1"/>
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<parent link="${parent_link}"/>
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<child link="cabinet_link"/>
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</joint>
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<link name="cabinet_link">
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<inertial>
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<mass value="10"/>
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<origin rpy="${inertial_rpy}" xyz="0 0 0"/>
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<inertia ixx="0.457072" ixy="0.0" ixz="0.0" iyy="0.23616" iyz="0.0" izz="0.686"/>
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</inertial>
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<visual>
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<origin rpy="${visual_rpy}" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://neo_simulation2/robots/${neo_robot_name}/meshes/cabin.dae" scale="${model_scale}"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="${collision_rpy}" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://neo_simulation2/robots/mpo_700/meshes/cabin.dae" scale="${model_scale}"/>
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</geometry>
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</collision>
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</link>
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</xacro:macro>
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</robot>

‎components/sensors/SICK-MICROSCAN3.dae ‎components/meshes/SICK-MICROSCAN3.dae

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‎components/sensors/SICK-S300.dae ‎components/meshes/SICK-S300.dae

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‎components/sensors/d435.dae ‎components/meshes/d435.dae

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‎configs/ur_config/initial_joint_positions.yaml

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shoulder_pan_joint: 1.5
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shoulder_lift_joint: -2.5
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elbow_joint: 2.0
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wrist_1_joint: 0.0
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wrist_2_joint: -1.5
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wrist_3_joint: 0.0

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