Add IRB14000 (Yumi) support package

robot_specific_config/abb_irb14000_support/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.10.2)
+
+project(abb_irb14000_support)
+
+find_package(ament_cmake REQUIRED)
+
+ament_package()
+
+install(DIRECTORY launch meshes rviz urdf
+  DESTINATION share/${PROJECT_NAME})

robot_specific_config/abb_irb14000_support/launch/view_robot.launch.py

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+import os
+import yaml
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import xacro
+
+
+def load_file(package_name, file_path):
+    package_path = get_package_share_directory(package_name)
+    absolute_file_path = os.path.join(package_path, file_path)
+
+    try:
+        with open(absolute_file_path, "r") as file:
+            return file.read()
+    except EnvironmentError:  # parent of IOError, OSError *and* WindowsError where available
+        return None
+
+
+def load_yaml(package_name, file_path):
+    package_path = get_package_share_directory(package_name)
+    absolute_file_path = os.path.join(package_path, file_path)
+
+    try:
+        with open(absolute_file_path, "r") as file:
+            return yaml.safe_load(file)
+    except EnvironmentError:  # parent of IOError, OSError *and* WindowsError where available
+        return None
+
+
+def generate_launch_description():
+
+    robot_description_path = get_package_share_directory("abb_irb14000_support")
+
+    robot_description_config = xacro.process_file(
+        os.path.join(
+            robot_description_path,
+            "urdf",
+            "irb14000.urdf.xacro",
+        )
+    )
+    robot_description = {"robot_description": robot_description_config.toxml()}
+
+    robot_state_publisher_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+
+    joint_state_sliders = Node(
+        package="joint_state_publisher_gui",
+        executable="joint_state_publisher_gui",
+        name="joint_state_publisher_gui",
+    )
+
+    rviz = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        arguments=[
+            "-d",
+            os.path.join(robot_description_path, "rviz", "urdf_description.rviz"),
+        ],
+        output="screen",
+    )
+
+    return LaunchDescription([robot_state_publisher_node, joint_state_sliders, rviz])

robot_specific_config/abb_irb14000_support/package.xml

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+<?xml version="1.0" ?>
+<package format="3">
+  <name>abb_irb14000_support</name>
+  <version>0.0.0</version>
+
+  <description>
+    <p>
+      ROS-Industrial support for the ABB IRB 14000.
+    </p>
+    <p>
+      This package contains configuration data, 3D models and launch files
+      for the ABB IRB 14000 robot.
+    </p>
+    <p>
+      Joint limits and max joint velocities are based on the information in the
+      <em>ABB IRB 14000 Product specification</em>, document ID: <em>3HAC052982-001, Dec 2024</em>.
+      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 other options).
+    </p>
+    <p>
+      Note: Maximum joint effort values do not correspond to real world limits
+      of the robot. The current values were chosen to accommodate simulation,
+      but are fictional values.
+    </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>Gal Gorjup</author>
+  <maintainer email="[email protected]">Gal Gorjup</maintainer>
+
+  <license>Apache2</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>abb_resources</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+      <build_type>ament_cmake</build_type>
+  </export>
+</package>

robot_specific_config/abb_irb14000_support/rviz/urdf_description.rviz

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+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.6000000238418579
+    Tree Height: 844
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 0.2
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /move_base_simple/goal
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 2
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0.4
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.7449995279312134
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.6450008153915405
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1080
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001b6000003dafc020000000afb0000001200530065006c0065006300740069006f006e000000003d000003b90000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000003da000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000012004c0069006e006500500061006e0065006c010000003b000002ff0000000000000000000000010000010f000002fffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002ff000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d00000044fc0100000002fb0000000800540069006d006501000000000000073d0000000000000000fb0000000800540069006d00650100000000000004500000000000000000000005c4000003da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 66
+  Y: 27

robot_specific_config/abb_irb14000_support/urdf/irb14000.urdf.xacro

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+<?xml version="1.0"?>
+<robot name="abb_irb14000" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:arg name="use_fake_hardware" default="true" />
+  <xacro:property name="use_fake_hardware" value="$(arg use_fake_hardware)" />
+  <xacro:arg name="rws_ip" default="None" />
+  <xacro:property name="rws_ip" value="$(arg rws_ip)" />
+  <xacro:arg name="rws_port" default="80" />
+  <xacro:property name="rws_port" value="$(arg rws_port)" />
+
+  <!-- Robot description -->
+  <xacro:include filename="$(find abb_irb14000_support)/urdf/irb14000_macro.xacro" />
+  <xacro:irb14000 prefix="" />
+
+  <!-- Right gripper -->
+  <xacro:smart_gripper
+    parent="robr_tool0"
+    prefix="grpr_"
+  >
+    <origin xyz="0 0 0.007" rpy="0 0 ${radians(180)}" />
+  </xacro:smart_gripper>
+
+  <!-- Left gripper -->
+  <xacro:smart_gripper
+    parent="robl_tool0"
+    prefix="grpl_"
+  >
+    <origin xyz="0 0 0.007" rpy="0 0 ${radians(180)}" />
+  </xacro:smart_gripper>
+
+  <!-- ros2_control -->
+  <xacro:include filename="$(find abb_irb14000_support)/urdf/irb14000_ros2_control.xacro" />
+  <xacro:irb14000_ros2_control
+    name="ABBMultiInterfaceHardware"
+    prefix=""
+    use_fake_hardware="${use_fake_hardware}"
+    rws_ip="${rws_ip}"
+    rws_port="${rws_port}" />
+</robot>