Add support for MH80

motoman_mh_support/CMakeLists.txt

@@ -9,6 +9,7 @@ catkin_package()
 if (CATKIN_ENABLE_TESTING)
   find_package(roslaunch REQUIRED)
   roslaunch_add_file_check(test/roslaunch_test_mh180_120.xml)
+  roslaunch_add_file_check(test/roslaunch_test_mh80.xml)
 endif()
 
 install(DIRECTORY config launch meshes urdf

motoman_mh_support/config/joint_names_mh80.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['joint_s', 'joint_l', 'joint_u', 'joint_r', 'joint_b', 'joint_t']

motoman_mh_support/launch/load_mh80.launch

@@ -0,0 +1,4 @@
+<?xml version="1.0" ?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find motoman_mh_support)/urdf/mh80.xacro'" />
+</launch>

motoman_mh_support/launch/robot_interface_streaming_mh80.launch

@@ -0,0 +1,22 @@
+<?xml version="1.0" ?>
+<!--
+  Manipulator specific version of 'robot_interface_streaming.launch'.
+
+  Defaults provided for MH80:
+   - 6 joints
+
+  Usage:
+    robot_interface_streaming_mh80.launch robot_ip:=<value> controller:=<dx200>
+-->
+<launch>
+  <arg name="robot_ip" />
+
+  <!-- controller: Controller name (dx200) -->
+  <arg name="controller" />
+
+  <rosparam command="load" file="$(find motoman_mh_support)/config/joint_names_mh80.yaml" />
+
+  <include file="$(find motoman_driver)/launch/robot_interface_streaming_$(arg controller).launch">
+    <arg name="robot_ip" value="$(arg robot_ip)" />
+  </include>
+</launch>

motoman_mh_support/launch/robot_state_visualize_mh80.launch

@@ -0,0 +1,27 @@
+<?xml version="1.0" ?>
+<!--
+  Manipulator specific version of the state visualizer.
+
+  Defaults provided for MH80:
+   - 6 joints
+
+  Usage:
+    robot_state_visualize_mh80.launch robot_ip:=<value> controller:=<dx200>
+-->
+<launch>
+  <arg name="robot_ip" />
+  <arg name="controller" />     <!-- controller: Controller name (dx200) -->
+
+  <rosparam command="load" file="$(find motoman_mh_support)/config/joint_names_mh80.yaml" />
+
+  <include file="$(find motoman_driver)/launch/robot_state_$(arg controller).launch">
+    <arg name="robot_ip" value="$(arg robot_ip)" />
+  </include>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" 
+    type="robot_state_publisher" />
+
+  <include file="$(find motoman_mh_support)/launch/load_mh80.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

motoman_mh_support/launch/test_mh80.launch

@@ -0,0 +1,9 @@
+<?xml version="1.0" ?>
+<launch>
+  <include file="$(find motoman_mh_support)/launch/load_mh80.launch" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="true" />
+  </node>
+  <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>

motoman_mh_support/package.xml

@@ -9,12 +9,14 @@
     <p>
       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.
     </p>
     <p>
       Joint limits and max joint velocities are based on the information in the
       <a href="https://cdn2.hubspot.net/hubfs/366775/Blog_Robots/MH180-120.pdf?t=1494345552355">
-      Motoman MH180-120 product specification document</a>.
+      Motoman MH180-120 product specification document</a>. and
+      <a href="https://cdn2.hubspot.net/hubfs/366775/Robots/MH80II.pdf">
+      Motoman MH80 product specification document</a>.
       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.
     </p>
+    <p><b>Contributors</b>:</p>
+    <p>
+      This support package has received contributions from: Ademola Oridate (UT Austin) (MH80).
+    </p>
   </description>
   <author email="michael.ripperger@swri.org">Michael Ripperger</author>
   <maintainer email="michael.ripperger@swri.org">Michael Ripperger</maintainer>

motoman_mh_support/test/roslaunch_test_mh80.xml

@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="ip_str" value="127.0.0.1" />
+  <arg name="ctrlr" value="dx200" />
+
+  <group ns="load_mh80__">
+    <include file="$(find motoman_mh_support)/launch/load_mh80.launch"/>
+  </group>
+
+  <group ns="test_mh80__">
+    <include file="$(find motoman_mh_support)/launch/test_mh80.launch"/>
+  </group>
+
+  <group ns="robot_interface_streaming_mh80__">
+    <include file="$(find motoman_mh_support)/launch/robot_interface_streaming_mh80.launch">
+      <arg name="robot_ip" value="$(arg ip_str)" />
+      <arg name="controller" value="$(arg ctrlr)" />
+    </include>
+  </group>
+
+  <group ns="robot_state_visualize_mh80__">
+    <include file="$(find motoman_mh_support)/launch/robot_state_visualize_mh80.launch">
+      <arg name="robot_ip" value="$(arg ip_str)" />
+      <arg name="controller" value="$(arg ctrlr)" />
+    </include>
+  </group>
+</launch>

motoman_mh_support/urdf/mh80.xacro

@@ -0,0 +1,5 @@
+<?xml version="1.0" ?>
+<robot name="motoman_mh80" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find motoman_mh_support)/urdf/mh80_macro.xacro"/>
+  <xacro:motoman_mh80 prefix=""/>
+</robot>

motoman_mh_support/urdf/mh80_macro.xacro

@@ -0,0 +1,182 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+<xacro:macro name="motoman_mh80" params="prefix">
+  <!-- link list -->
+  <link name="${prefix}base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://motoman_mh_support/meshes/mh80/visual/base_link.stl"/>
+      </geometry>
+      <material name="blue">
+        <color rgba="0 0 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://motoman_mh_support/meshes/mh80/collision/base_link.stl"/>
+      </geometry>
+      <material name="collision_material">
+        <color rgba="1 0 0 1"/>
+      </material>
+    </collision>
+  </link>
+  <link name="${prefix}link_s">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://motoman_mh_support/meshes/mh80/visual/link_s.stl"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://motoman_mh_support/meshes/mh80/collision/link_s.stl"/>
+      </geometry>
+      <material name="collision_material"/>
+    </collision>
+  </link>
+  <link name="${prefix}link_l">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://motoman_mh_support/meshes/mh80/visual/link_l.stl"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://motoman_mh_support/meshes/mh80/collision/link_l.stl"/>
+      </geometry>
+      <material name="collision_material"/>
+    </collision>
+  </link>
+  <link name="${prefix}link_u">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://motoman_mh_support/meshes/mh80/visual/link_u.stl"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://motoman_mh_support/meshes/mh80/collision/link_u.stl"/>
+      </geometry>
+      <material name="collision_material"/>
+    </collision>
+  </link>
+  <link name="${prefix}link_r">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://motoman_mh_support/meshes/mh80/visual/link_r.stl"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://motoman_mh_support/meshes/mh80/collision/link_r.stl"/>
+      </geometry>
+      <material name="collision_material"/>
+    </collision>
+  </link>
+  <link name="${prefix}link_b">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://motoman_mh_support/meshes/mh80/visual/link_b.stl"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://motoman_mh_support/meshes/mh80/collision/link_b.stl"/>
+      </geometry>
+      <material name="collision_material"/>
+    </collision>
+  </link>
+  <link name="${prefix}link_t">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://motoman_mh_support/meshes/mh80/visual/link_t.stl"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://motoman_mh_support/meshes/mh80/collision/link_t.stl"/>
+      </geometry>
+      <material name="collision_material"/>
+    </collision>
+  </link>
+  <link name="${prefix}tool0"/>
+  <!-- end of link list -->
+
+  <!-- joint list -->
+  <joint name="${prefix}joint_s" type="revolute">
+    <origin xyz="0 0 0.540" rpy="0 0 0"/>
+    <parent link="${prefix}base_link"/>
+    <child link="${prefix}link_s"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.14159" upper="3.14159" effort="100" velocity="2.967" />
+  </joint>
+  <joint name="${prefix}joint_l" type="revolute">
+    <origin xyz="0.145 0 0" rpy="0 0 0"/>
+    <parent link="${prefix}link_s"/>
+    <child link="${prefix}link_l"/>
+    <axis xyz="0 1 0" />
+    <limit lower="-1.5707" upper="2.3561" effort="100" velocity="2.443" />
+  </joint>
+  <joint name="${prefix}joint_u" type="revolute">
+    <origin xyz="0 0 0.870" rpy="0 0 0"/>
+    <parent link="${prefix}link_l"/>
+    <child link="${prefix}link_u"/>
+    <axis xyz="0 -1 0"/>
+    <limit lower="-2.9670" upper="4.3807" effort="100" velocity="2.792" />
+  </joint>
+  <joint name="${prefix}joint_r" type="revolute">
+    <origin xyz="0 0 0.210" rpy="0 0 0"/>
+    <parent link="${prefix}link_u"/>
+    <child link="${prefix}link_r"/>
+    <axis xyz="-1 0 0"/>
+    <limit lower="-6.2831" upper="6.2831" effort="100" velocity="4.014" />
+  </joint>
+  <joint name="${prefix}joint_b" type="revolute">
+    <origin xyz="1.025 0 0" rpy="0 0 0"/>
+    <parent link="${prefix}link_r"/>
+    <child link="${prefix}link_b"/>
+    <axis xyz="0 -1 0" />
+    <limit lower="-2.1816" upper="2.1816" effort="100" velocity="4.014" />
+  </joint>
+  <joint name="${prefix}joint_t" type="revolute">
+    <origin xyz="0.175 0 0" rpy="0 0 0"/>
+    <parent link="${prefix}link_b"/>
+    <child link="${prefix}link_t"/>
+    <axis xyz="-1 0 0" />
+    <limit lower="-6.2831" upper="6.2831" effort="100" velocity="6.108" />
+  </joint>
+  <joint name="${prefix}joint_t-tool0" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="${prefix}link_t"/>
+    <child link="${prefix}tool0"/> 
+  </joint>
+  <!-- end of joint list -->
+
+  <!-- ROS base_link to Robot Manufacturer World Coordinates transform -->
+  <link name="${prefix}base" />
+  <joint name="${prefix}base_link-base" type="fixed">
+    <origin xyz="0 0 0.540" rpy="0 0 0"/>
+    <parent link="${prefix}base_link"/>
+    <child link="${prefix}base"/>
+  </joint>
+</xacro:macro>
+</robot>