diff --git a/motoman_mh_support/CMakeLists.txt b/motoman_mh_support/CMakeLists.txt index 5213a4c..074efdd 100644 --- a/motoman_mh_support/CMakeLists.txt +++ b/motoman_mh_support/CMakeLists.txt @@ -8,6 +8,7 @@ catkin_package() if (CATKIN_ENABLE_TESTING) find_package(roslaunch REQUIRED) + roslaunch_add_file_check(test/roslaunch_test_mh80.xml) roslaunch_add_file_check(test/roslaunch_test_mh180_120.xml) endif() diff --git a/motoman_mh_support/config/joint_names_mh80.yaml b/motoman_mh_support/config/joint_names_mh80.yaml new file mode 100644 index 0000000..c23d10d --- /dev/null +++ b/motoman_mh_support/config/joint_names_mh80.yaml @@ -0,0 +1 @@ +controller_joint_names: ['joint_1_s', 'joint_2_l', 'joint_3_u', 'joint_4_r', 'joint_5_b', 'joint_6_t'] diff --git a/motoman_mh_support/launch/load_mh80.launch b/motoman_mh_support/launch/load_mh80.launch new file mode 100644 index 0000000..e5ed511 --- /dev/null +++ b/motoman_mh_support/launch/load_mh80.launch @@ -0,0 +1,4 @@ + + + + diff --git a/motoman_mh_support/launch/robot_interface_streaming_mh80.launch b/motoman_mh_support/launch/robot_interface_streaming_mh80.launch new file mode 100644 index 0000000..da7b39a --- /dev/null +++ b/motoman_mh_support/launch/robot_interface_streaming_mh80.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + diff --git a/motoman_mh_support/launch/robot_state_visualize_mh80.launch b/motoman_mh_support/launch/robot_state_visualize_mh80.launch new file mode 100644 index 0000000..eada32c --- /dev/null +++ b/motoman_mh_support/launch/robot_state_visualize_mh80.launch @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + diff --git a/motoman_mh_support/launch/test_mh80.launch b/motoman_mh_support/launch/test_mh80.launch new file mode 100644 index 0000000..8f5f945 --- /dev/null +++ b/motoman_mh_support/launch/test_mh80.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/motoman_mh_support/meshes/mh80/collision/base_link.stl b/motoman_mh_support/meshes/mh80/collision/base_link.stl new file mode 100644 index 0000000..fae6465 Binary files /dev/null and b/motoman_mh_support/meshes/mh80/collision/base_link.stl differ diff --git a/motoman_mh_support/meshes/mh80/collision/link_b.stl b/motoman_mh_support/meshes/mh80/collision/link_b.stl new file mode 100644 index 0000000..2bdd97e Binary files /dev/null and b/motoman_mh_support/meshes/mh80/collision/link_b.stl differ diff --git a/motoman_mh_support/meshes/mh80/collision/link_l.stl b/motoman_mh_support/meshes/mh80/collision/link_l.stl new file mode 100644 index 0000000..55940c2 Binary files /dev/null and b/motoman_mh_support/meshes/mh80/collision/link_l.stl differ diff --git a/motoman_mh_support/meshes/mh80/collision/link_r.stl b/motoman_mh_support/meshes/mh80/collision/link_r.stl new file mode 100644 index 0000000..a52bab3 Binary files /dev/null and b/motoman_mh_support/meshes/mh80/collision/link_r.stl differ diff --git a/motoman_mh_support/meshes/mh80/collision/link_s.stl b/motoman_mh_support/meshes/mh80/collision/link_s.stl new file mode 100644 index 0000000..e27a6db Binary files /dev/null and b/motoman_mh_support/meshes/mh80/collision/link_s.stl differ diff --git a/motoman_mh_support/meshes/mh80/collision/link_t.stl b/motoman_mh_support/meshes/mh80/collision/link_t.stl new file mode 100644 index 0000000..f411200 Binary files /dev/null and b/motoman_mh_support/meshes/mh80/collision/link_t.stl differ diff --git a/motoman_mh_support/meshes/mh80/collision/link_u.stl b/motoman_mh_support/meshes/mh80/collision/link_u.stl new file mode 100644 index 0000000..a6fa3d9 Binary files /dev/null and b/motoman_mh_support/meshes/mh80/collision/link_u.stl differ diff --git a/motoman_mh_support/meshes/mh80/visual/base_link.stl b/motoman_mh_support/meshes/mh80/visual/base_link.stl new file mode 100644 index 0000000..8ca6dbb Binary files /dev/null and b/motoman_mh_support/meshes/mh80/visual/base_link.stl differ diff --git a/motoman_mh_support/meshes/mh80/visual/link_b.stl b/motoman_mh_support/meshes/mh80/visual/link_b.stl new file mode 100644 index 0000000..82435f4 Binary files /dev/null and b/motoman_mh_support/meshes/mh80/visual/link_b.stl differ diff --git a/motoman_mh_support/meshes/mh80/visual/link_l.stl b/motoman_mh_support/meshes/mh80/visual/link_l.stl new file mode 100644 index 0000000..d6a13ff Binary files /dev/null and b/motoman_mh_support/meshes/mh80/visual/link_l.stl differ diff --git a/motoman_mh_support/meshes/mh80/visual/link_r.stl b/motoman_mh_support/meshes/mh80/visual/link_r.stl new file mode 100644 index 0000000..5ac360b Binary files /dev/null and b/motoman_mh_support/meshes/mh80/visual/link_r.stl differ diff --git a/motoman_mh_support/meshes/mh80/visual/link_s.stl b/motoman_mh_support/meshes/mh80/visual/link_s.stl new file mode 100644 index 0000000..10eb571 Binary files /dev/null and b/motoman_mh_support/meshes/mh80/visual/link_s.stl differ diff --git a/motoman_mh_support/meshes/mh80/visual/link_t.stl b/motoman_mh_support/meshes/mh80/visual/link_t.stl new file mode 100644 index 0000000..15ce4bf Binary files /dev/null and b/motoman_mh_support/meshes/mh80/visual/link_t.stl differ diff --git a/motoman_mh_support/meshes/mh80/visual/link_u.stl b/motoman_mh_support/meshes/mh80/visual/link_u.stl new file mode 100644 index 0000000..c7bce3e Binary files /dev/null and b/motoman_mh_support/meshes/mh80/visual/link_u.stl differ diff --git a/motoman_mh_support/package.xml b/motoman_mh_support/package.xml index 605b07e..220fdbb 100644 --- a/motoman_mh_support/package.xml +++ b/motoman_mh_support/package.xml @@ -9,12 +9,14 @@

This package contains configuration data, 3D models and launch files for Motoman MH series manipulators. This currently includes the MH180-120 - only. + and MH80 models.

Joint limits and max joint velocities are based on the information in the - Motoman MH180-120 product specification document. + Motoman MH180-120 product specification document and + + Motoman MH80 product specification document. All URDFs / XACROs 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 @@ -25,6 +27,10 @@ in this package, be sure to check they are correct for the particular robot model and configuration you intend to use them with.

+

Contributors:

+

+ This support package has received contributions from: Ademola Oridate (UT Austin) (MH80). +

Michael Ripperger Michael Ripperger @@ -39,6 +45,7 @@ joint_state_publisher motoman_driver + motoman_resources robot_state_publisher rviz xacro diff --git a/motoman_mh_support/test/roslaunch_test_mh80.xml b/motoman_mh_support/test/roslaunch_test_mh80.xml new file mode 100644 index 0000000..d6738bd --- /dev/null +++ b/motoman_mh_support/test/roslaunch_test_mh80.xml @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/motoman_mh_support/urdf/mh180_120.xacro b/motoman_mh_support/urdf/mh180_120.xacro index 8d2ab96..89ae211 100644 --- a/motoman_mh_support/urdf/mh180_120.xacro +++ b/motoman_mh_support/urdf/mh180_120.xacro @@ -1,5 +1,5 @@ - + diff --git a/motoman_mh_support/urdf/mh80.xacro b/motoman_mh_support/urdf/mh80.xacro new file mode 100644 index 0000000..c4ef10b --- /dev/null +++ b/motoman_mh_support/urdf/mh80.xacro @@ -0,0 +1,5 @@ + + + + + diff --git a/motoman_mh_support/urdf/mh80_macro.xacro b/motoman_mh_support/urdf/mh80_macro.xacro new file mode 100644 index 0000000..8aa045c --- /dev/null +++ b/motoman_mh_support/urdf/mh80_macro.xacro @@ -0,0 +1,183 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +