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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ | ||
Changelog for package fanuc_m20id_support | ||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ | ||
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0.5.1 (2021-04-02) | ||
------------------ | ||
* bump min CMake version (`#309 <https://github.com/ros-industrial/fanuc/issues/309>`_). | ||
* correct missing dependency on ``industrial_robot_client`` (RViz cfg) (`#306 <https://github.com/ros-industrial/fanuc/issues/306>`_). | ||
* point to manifest for info on package contents (`#292 <https://github.com/ros-industrial/fanuc/issues/292>`_). | ||
* remove roslaunch version requirements as they're no longer needed (`#278 <https://github.com/ros-industrial/fanuc/issues/278>`_). | ||
* migrate to JSP GUI (was split out of JSP). | ||
* for a complete list of changes see the `commit log for 0.5.1 <https://github.com/ros-industrial/fanuc/compare/0.5.0...0.5.1>`_. | ||
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0.5.0 (2019-09-25) | ||
------------------ | ||
* first release of this package. | ||
* make ``flange`` parent of ``tool0`` (`#271 <https://github.com/ros-industrial/fanuc/issues/271>`_). | ||
* migrate M-20iB support and moveit pkgs from experimental repository (`#253 <https://github.com/ros-industrial/fanuc/pull/253>`_). | ||
* update xacro xmlns uri (`#239 <https://github.com/ros-industrial/fanuc/issues/239>`_). | ||
* add 'support level' indicators (`#232 <https://github.com/ros-industrial/fanuc/issues/232>`_). | ||
* for a complete list of changes see the `commit log for 0.5.0 <https://github.com/ros-industrial/fanuc/compare/0.4.4...0.5.0>`_. |
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cmake_minimum_required(VERSION 3.0.2) | ||
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project(fanuc_m20id_support) | ||
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find_package(catkin REQUIRED) | ||
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catkin_package() | ||
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if (CATKIN_ENABLE_TESTING) | ||
find_package(roslaunch REQUIRED) | ||
roslaunch_add_file_check(tests/roslaunch_test_m20id25.xml) | ||
endif() | ||
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install(DIRECTORY config launch meshes urdf | ||
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) | ||
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install(FILES readme.md DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) |
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controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6'] |
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# | ||
# Parameters for use with IK solvers which support OPW (Ortho-Parallel Wrist) | ||
# kinematic configurations, as described in the paper "An Analytical Solution | ||
# of the Inverse Kinematics Problem of Industrial Serial Manipulators with an | ||
# Ortho-parallel Basis and a Spherical Wrist" by Mathias Brandstötter, Arthur | ||
# Angerer, and Michael Hofbaur (Proceedings of the Austrian Robotics Workshop | ||
# 2014, 22-23 May, 2014, Linz, Austria). | ||
# | ||
# The moveit_opw_kinematics_plugin package provides such a solver. | ||
# | ||
opw_kinematics_geometric_parameters: | ||
a1: 0.075 | ||
a2: -0.215 | ||
b: 0.0 | ||
c1: 0.425 | ||
c2: 0.84 | ||
c3: 0.89 | ||
c4: 0.09 | ||
opw_kinematics_joint_offsets: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] | ||
opw_kinematics_joint_sign_corrections: [1, 1, 1, 1, 1, 1] | ||
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<?xml version="1.0"?> | ||
<launch> | ||
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find fanuc_m20id_support)/urdf/m20id25.xacro'" /> | ||
</launch> |
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fanuc_m20id_support/launch/robot_interface_streaming_m20id25.launch
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<?xml version="1.0"?> | ||
<!-- | ||
Manipulator specific version of 'robot_interface_streaming.launch'. | ||
Defaults provided for M-20iB/25: | ||
- J23_factor = 1 | ||
- use_bswap = true | ||
- 6 joints | ||
Usage: | ||
robot_interface_streaming_m20id25.launch robot_ip:=<value> | ||
--> | ||
<launch> | ||
<arg name="robot_ip" doc="IP of controller" /> | ||
<arg name="J23_factor" default="1" doc="Compensation factor for joint 2-3 coupling (-1, 0 or 1)" /> | ||
<arg name="use_bswap" default="true" doc="If true, robot driver will byte-swap all incoming and outgoing data" /> | ||
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<rosparam command="load" file="$(find fanuc_m20id_support)/config/joint_names_m20id25.yaml" /> | ||
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<include file="$(find fanuc_driver)/launch/robot_interface_streaming.launch"> | ||
<arg name="robot_ip" value="$(arg robot_ip)" /> | ||
<arg name="J23_factor" value="$(arg J23_factor)" /> | ||
<arg name="use_bswap" value="$(arg use_bswap)" /> | ||
</include> | ||
</launch> |
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fanuc_m20id_support/launch/robot_state_visualize_m20id25.launch
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<?xml version="1.0"?> | ||
<!-- | ||
Manipulator specific version of the state visualizer. | ||
Defaults provided for M-20iB/25: | ||
- J23_factor = 1 | ||
- use_bswap = true | ||
- 6 joints | ||
Usage: | ||
robot_state_visualize_m20id25.launch robot_ip:=<value> | ||
--> | ||
<launch> | ||
<arg name="robot_ip" doc="IP of controller" /> | ||
<arg name="J23_factor" default="1" doc="Compensation factor for joint 2-3 coupling (-1, 0 or 1)" /> | ||
<arg name="use_bswap" default="true" doc="If true, robot driver will byte-swap all incoming and outgoing data" /> | ||
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<rosparam command="load" file="$(find fanuc_m20id_support)/config/joint_names_m20id25.yaml" /> | ||
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<include file="$(find fanuc_driver)/launch/robot_state.launch"> | ||
<arg name="robot_ip" value="$(arg robot_ip)" /> | ||
<arg name="J23_factor" value="$(arg J23_factor)" /> | ||
<arg name="use_bswap" value="$(arg use_bswap)" /> | ||
</include> | ||
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<node name="robot_state_publisher" pkg="robot_state_publisher" | ||
type="robot_state_publisher" /> | ||
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<include file="$(find fanuc_m20id_support)/launch/load_m20id25.launch" /> | ||
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" /> | ||
</launch> |
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<?xml version="1.0"?> | ||
<launch> | ||
<include file="$(find fanuc_m20id_support)/launch/load_m20id25.launch" /> | ||
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" /> | ||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> | ||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" /> | ||
</launch> |
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<?xml version="1.0"?> | ||
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
<package format="2"> | ||
<name>fanuc_m20id_support</name> | ||
<version>0.5.1</version> | ||
<description> | ||
<p> | ||
ROS-Industrial support for the Fanuc M-20iD (and variants). | ||
</p> | ||
<p> | ||
This package contains configuration data, 3D models and launch files | ||
for Fanuc M-20iD manipulators. This currently includes the /25 model only. | ||
</p> | ||
<p><b>Specifications</b>:</p> | ||
<ul> | ||
<li>M-20iB/25 - "Cable integrated J3 Arm"</li> | ||
</ul> | ||
<p> | ||
Joint limits and maximum joint velocities are based on the information in | ||
the <em>FANUC Robot M-20iB Mechanical Unit Operator's Manual</em> version | ||
<em>FEC-RO-DS-M20iD25-DE-1</em>. All urdfs are based on the default motion and | ||
joint velocity limits, unless noted otherwise (ie: no support for high | ||
speed joints, extended / limited motion ranges or other options). | ||
</p> | ||
<p> | ||
Before using any of the configuration files and / or meshes included | ||
in this package, be sure to check they are correct for the particular | ||
robot model and configuration you intend to use them with. | ||
</p> | ||
</description> | ||
<author>Timo Birnkraut</author> | ||
<maintainer email="[email protected]">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer> | ||
<license>BSD</license> | ||
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<url type="website">http://wiki.ros.org/fanuc_m20id_support</url> | ||
<url type="bugtracker">https://github.com/ros-industrial/fanuc/issues</url> | ||
<url type="repository">https://github.com/ros-industrial/fanuc</url> | ||
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<buildtool_depend>catkin</buildtool_depend> | ||
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<test_depend>roslaunch</test_depend> | ||
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<exec_depend>fanuc_driver</exec_depend> | ||
<exec_depend>fanuc_resources</exec_depend> | ||
<exec_depend>industrial_robot_client</exec_depend> | ||
<exec_depend>joint_state_publisher_gui</exec_depend> | ||
<exec_depend>robot_state_publisher</exec_depend> | ||
<exec_depend>rviz</exec_depend> | ||
<exec_depend>xacro</exec_depend> | ||
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<export> | ||
<architecture_independent /> | ||
<rosindex> | ||
<tags> | ||
<tag>support_package</tag> | ||
<tag>description</tag> | ||
<tag>fanuc</tag> | ||
<tag>industrial</tag> | ||
<tag>ros-industrial</tag> | ||
<tag>m20id</tag> | ||
</tags> | ||
</rosindex> | ||
<ros_industrial> | ||
<support_level value="community" /> | ||
</ros_industrial> | ||
</export> | ||
</package> |
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# fanuc_m20id_support | ||
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## Overview | ||
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This package is part of the [ROS-Industrial][] program. See the main [fanuc][] | ||
page on the ROS wiki for more information on usage. | ||
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## Contents | ||
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See `package.xml` for information about the contents of this package. | ||
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[ROS-Industrial]: http://wiki.ros.org/Industrial | ||
[fanuc]: http://wiki.ros.org/fanuc |
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<?xml version="1.0"?> | ||
<launch> | ||
<arg name="ip_str" value="127.0.0.1" /> | ||
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<group ns="load_m20id25__"> | ||
<include file="$(find fanuc_m20id_support)/launch/load_m20id25.launch"/> | ||
</group> | ||
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<group ns="test_m20id25__"> | ||
<include file="$(find fanuc_m20id_support)/launch/test_m20id25.launch"/> | ||
</group> | ||
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<group ns="robot_interface_streaming_m20id25__"> | ||
<include file="$(find fanuc_m20id_support)/launch/robot_interface_streaming_m20id25.launch"> | ||
<arg name="robot_ip" value="$(arg ip_str)" /> | ||
</include> | ||
</group> | ||
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<group ns="robot_state_visualize_m20id25__"> | ||
<include file="$(find fanuc_m20id_support)/launch/robot_state_visualize_m20id25.launch"> | ||
<arg name="robot_ip" value="$(arg ip_str)" /> | ||
</include> | ||
</group> | ||
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<!-- without bswap --> | ||
<group ns="robot_interface_streaming_m20id25_f__"> | ||
<include file="$(find fanuc_m20id_support)/launch/robot_interface_streaming_m20id25.launch"> | ||
<arg name="robot_ip" value="$(arg ip_str)" /> | ||
<arg name="use_bswap" value="false" /> | ||
</include> | ||
</group> | ||
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<group ns="robot_state_visualize_m20id25_f__"> | ||
<include file="$(find fanuc_m20id_support)/launch/robot_state_visualize_m20id25.launch"> | ||
<arg name="robot_ip" value="$(arg ip_str)" /> | ||
<arg name="use_bswap" value="false" /> | ||
</include> | ||
</group> | ||
</launch> |
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<?xml version="1.0" ?> | ||
<robot name="fanuc_m20id25" xmlns:xacro="http://wiki.ros.org/xacro"> | ||
<xacro:include filename="$(find fanuc_m20id_support)/urdf/m20id25_macro.xacro"/> | ||
<xacro:fanuc_m20id25 prefix=""/> | ||
</robot> |
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