Before running the GUI¶
The following instructions provides an example of how you can incorporate new robots and end effector ROS1 packages into this package. There are currently a few robots and end-effectors included in the package, so if you do not need to add any more of these packages, skip forward to : Starting the Workcell Builder
Downloading Robot and End effector resources¶
Assuming that you have followed the Download Instructions and have successfully installed the workcell builder, remove all folders in the workcell_ws/src/assets/robots , workcell_ws/src/assets/end_effectors , and workcell_ws/src/assets/environment_objects folders.
Your resulting ROS2 workspace should look like this
|--workcell_ws
___|--src
______|-- ....other folders
______|--scenes
______|--assets
_________|--robots
_________|--end_effectors
_________|--environment_objects
Universal Robot
Next we will get the ur_description and ur5_moveit config folders from the ROS-Industrial Universal Robots repository . For this example, we can use the kinetic-devel branch
Clone the repository in the assets/robots folder. For this example we only require the ur_description and ur5_moveit_config folders, thus we remove the other folders for now.
Robotiq End Effector
Next we will get the robotiq_85_description and robotiq_85_moveit_config folders from the Robotiq gripper repository
Clone the repository in the assets/robots folder. For this example we only require the robotiq_85_description and robotiq_85_moveit_config folders, thus we remove the other folders for now.
Your workspace should look like this.
|--workcell_ws
___|--src
______|-- ....other folders
______|--scenes
______|--assets
_________|--robots
____________|--universal_robot
_______________|--ur5_moveit_config
_______________|--ur_description
_________|--end_effectors
____________|--robotiq_85_gripper
_______________|--robotiq_85_description
_______________|--robotiq_85_moveit_config
_________|--environment_objects
Edit CMakelists.txt and package.xml¶
As this example will be run on ROS2 Foxy, we will need to make some changes to the CMakelists and package.xml
Universal Robot
In the /assets/robots/ur_description/CMakeLists.txt, replace the contents with the following:
cmake_minimum_required(VERSION 3.10.2)
project(ur_description)
find_package(ament_cmake REQUIRED)
install(DIRECTORY meshes DESTINATION "share/${PROJECT_NAME}")
install(DIRECTORY urdf DESTINATION "share/${PROJECT_NAME}")
ament_package()
In the /assets/robots/ur_description/package.xml, replace the contents with the following:
<?xml version="1.0"?>
<package format="3">
<name>ur_description</name>
<version>1.2.7</version>
<description>
URDF description for Universal UR5/10 robot arms
</description>
<author>Wim Meeussen</author>
<author>Kelsey Hawkins</author>
<author>Mathias Ludtke</author>
<author>Felix Messmer</author>
<maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn</maintainer>
<maintainer email="miguel.prada@tecnalia.com">Miguel Prada Sarasola</maintainer>
<maintainer email="nhg@ipa.fhg.de">Nadia Hammoudeh Garcia</maintainer>
<license>BSD</license>
<url type="website">http://ros.org/wiki/ur_description</url>
<buildtool_depend>ament_cmake</buildtool_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>rviz</exec_depend>
<exec_depend>urdf</exec_depend>
<exec_depend>xacro</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
In the /assets/robots/ur5_moveit_config/CMakeLists.txt, replace the contents with the following:
cmake_minimum_required(VERSION 3.10.2)
project(ur5_moveit_config)
find_package(ament_cmake REQUIRED)
install(DIRECTORY config DESTINATION "share/${PROJECT_NAME}")
install(DIRECTORY launch DESTINATION "share/${PROJECT_NAME}")
install(DIRECTORY tests DESTINATION "share/${PROJECT_NAME}")
ament_package()
In the /assets/robots/ur5_moveit_config/package.xml, replace the contents with the following:
<?xml version="1.0"?>
<package format="3">
<name>ur5_moveit_config</name>
<version>1.2.7</version>
<description>
An automatically generated package with all the configuration and launch files for using the ur5 with the MoveIt Motion Planning Framework
</description>
<author>Felix Messmer</author>
<maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn</maintainer>
<maintainer email="miguel.prada@tecnalia.com">Miguel Prada Sarasola</maintainer>
<maintainer email="nhg@ipa.fhg.de">Nadia Hammoudeh Garcia</maintainer>
<license>BSD</license>
<url type="website">http://moveit.ros.org/</url>
<url type="bugtracker">https://github.com/ros-planning/moveit_setup_assistant/issues</url>
<url type="repository">https://github.com/ros-planning/moveit_setup_assistant</url>
<buildtool_depend>ament_cmake</buildtool_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>xacro</exec_depend>
<depend>ur_description</depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
Robotiq End Effector
In the /assets/end_effectors/robotiq_85_gripper/robotiq_85_description/CMakeLists.txt, replace the contents with the following:
cmake_minimum_required(VERSION 3.10.2)
project(robotiq_85_description)
find_package(ament_cmake REQUIRED)
install(DIRECTORY meshes DESTINATION "share/${PROJECT_NAME}")
install(DIRECTORY urdf DESTINATION "share/${PROJECT_NAME}")
ament_package()
In the /assets/end_effectors/robotiq_85_gripper/robotiq_85_description/package.xml, replace the contents with the following:
<?xml version="1.0"?>
<package format="3">
<name>robotiq_85_description</name>
<version>0.6.4</version>
<description>Stanley Innovation Robotiq 85 Visual Models</description>
<maintainer email="dev@stanleyinnovation.com">Patrick Hussey</maintainer>
<author>Patrick Hussey</author>
<license>BSD</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
In the /assets/end_effectors/robotiq_85_gripper/robotiq_85_moveit_config/CMakeLists.txt, replace the contents with the following:
cmake_minimum_required(VERSION 3.10.2)
project(robotiq_85_moveit_config)
find_package(ament_cmake REQUIRED)
install(DIRECTORY config DESTINATION "share/${PROJECT_NAME}")
install(DIRECTORY launch DESTINATION "share/${PROJECT_NAME}")
ament_package()
In the /assets/end_effectors/robotiq_85_moveit_config/package.xml, replace the contents with the following:
<package>
<name>robotiq_85_moveit_config</name>
<version>0.2.0</version>
<description>
An automatically generated package with all the configuration and launch files for using the robotiq_85_gripper with the MoveIt Motion Planning Framework
</description>
<author email="assistant@moveit.ros.org">MoveIt Setup Assistant</author>
<maintainer email="assistant@moveit.ros.org">MoveIt Setup Assistant</maintainer>
<license>BSD</license>
<url type="website">http://moveit.ros.org/</url>
<url type="bugtracker">https://github.com/ros-planning/moveit_setup_assistant/issues</url>
<url type="repository">https://github.com/ros-planning/moveit_setup_assistant</url>
<buildtool_depend>ament_cmake</buildtool_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>xacro</exec_depend>
<build_depend>robotiq_85_description</build_depend>
<exec_depend>robotiq_85_description</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
Xacro-ize the SRDFs¶
As this workcell builder aims to create links between the manipulator and end effector, the semantic descriptions need to be accessible as macros.
In the /assets/end_effectors/robotiq_85_gripper/robotiq_85_moveit_config/config folder, make a copy of robotiq_85_gripper.srdf and rename it robotiq_85_gripper.srdf.xacro . in this file, add the xacro tags <xacro:macro name="robotiq_85"> and :code:`
</xacro:macro>` to the start and end of the file, as well as adding the XML NameSpace <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="robotiq_85_gripper">
Your robotiq_85_gripper.srdf.xacro file should be as shown
<?xml version="1.0" ?>
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="robotiq_85_gripper">
<xacro:macro name="robotiq_85_gripper">
...
...
...
<disable_collisions link1="gripper_root_link" link2="robotiq_coupler_link" reason="Adjacent" />
</xacro:macro>
</robot>
In the /assets/end_effectors/robotiq_85_gripper/ur5_moveit_config/config folder, make a copy of ur5.srdf and rename it ur5.srdf.xacro . in this file, add the xacro tags <xacro:macro name="ur5"> and :code:`
</xacro:macro>` to the start and end of the file, as well as adding the XML NameSpace <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="ur5">
Your ur5.srdf.xacro file should be as shown
<?xml version="1.0" ?>
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="ur5">
<xacro:macro name="ur5">
...
...
...
<disable_collisions link1="wrist_2_link" link2="wrist_3_link" reason="Adjacent" />
</xacro:macro>
</robot>
Next step: Starting the Workcell Builder