Merge branch 'dev' of 192.168.1.19:vinman/xarm_ros into dev

ReadMe.md

@@ -95,6 +95,18 @@ For **kinetic** users, please use the [kinetic branch](https://github.com/xArm-D
    * (2023-04-20) Added the launch parameter `robot_sn`, supports loading the inertia parameters of the corresponding joint link, and automatically overrides the `model1300` parameters
    * (2023-04-20) Added launch parameters `attach_to`/`attach_xyz`/`attach_rpy` to support attaching the robot arm model to other models
    * (2023-04-21) Added [services usage documentation](xarm_api/ReadMe.md) in xarm_api
+   * (2023-06-07) Added support for __UFACTORY850__ robotic arm
+   * (2023-06-07) Added [uf_robot_moveit_config](uf_robot_moveit_config/Readme.md), support xArm/Lite6/UFACTORY850 series of robotic arm controls with moveit, which may replace these packages in the future. See instructions for [uf_robot_moveit_config](uf_robot_moveit_config/Readme.md)
+      - xarm5_moveit_config
+      - xarm5_gripper_moveit_config
+      - xarm5_vacuum_moveit_config
+      - xarm6_moveit_config
+      - xarm6_gripper_moveit_config
+      - xarm6_vacuum_moveit_config
+      - xarm7_moveit_config
+      - xarm7_gripper_moveit_config
+      - xarm7_vacuum_moveit_config
+      - lite6_moveit_config
 
 # 3. Preparations before using this package
 
@@ -274,7 +286,7 @@ Please note: xarm_moveit_config related packages will limit all joints within `[
 
 
 ## 5.6 xarm_planner:
-  This implemented simple planner interface is based on move_group from Moveit! and provide ros service for users to do planning & execution based on the requested target, user can find detailed instructions on how to use it inside [***xarm_planner package***](./xarm_planner/).  
+  This implemented simple planner interface is based on move_group from Moveit! and provide ros service for users to do planning & execution based on the requested target, user can find detailed instructions on how to use it inside [*xarm_planner package*](./xarm_planner/ReadMe_old.md).  
 #### To launch the xarm simple motion planner together with the real xArm:  
 ```bash
    $ roslaunch xarm_planner xarm_planner_realHW.launch robot_ip:=<your controller box LAN IP address> robot_dof:=<7|6|5> add_(vacuum_)gripper:=<true|false>

ReadMe_cn.md

@@ -88,6 +88,18 @@
    * (2023-04-20) 新增launch启动参数`robot_sn`支持加载对应的关节连杆的惯性参数，并自动覆盖model1300参数
    * (2023-04-20) 新增launch启动参数 `attach_to`/`attach_xyz`/`attach_rpy`，支持把机械臂模型依附在其它模型之上
    * (2023-04-21) 新增xarm_api里的[services使用说明文档](xarm_api/ReadMe.md)
+   * (2023-06-07) 新增对UFACTORY850机械臂的支持
+   * (2023-06-07) 新增 [uf_robot_moveit_config](uf_robot_moveit_config/Readme_cn.md), 支持xArm/Lite6/UFACTORY850系列机械臂使用moveit控制，后续可能会替代以下这些包，使用说明参见 [uf_robot_moveit_config](uf_robot_moveit_config/Readme_cn.md)
+      - xarm5_moveit_config
+      - xarm5_gripper_moveit_config
+      - xarm5_vacuum_moveit_config
+      - xarm6_moveit_config
+      - xarm6_gripper_moveit_config
+      - xarm6_vacuum_moveit_config
+      - xarm7_moveit_config
+      - xarm7_gripper_moveit_config
+      - xarm7_vacuum_moveit_config
+      - lite6_moveit_config
 
 # 3. 准备工作
 
@@ -266,7 +278,7 @@ $ roslaunch xarm_description xarm7_rviz_display.launch
 - __geometry_mesh_tcp_rpy__: 几何模型相对于末端的偏移, 默认"0 0 0"，仅在geometry_type为mesh时有效  
 
 ## 5.6 xarm_planner:
-这个简单包装实现的规划器接口是基于 Moveit!中的 move_group interface, 可以使用户通过service指定目标位置进行规划和执行。 这部分的详细使用方法请阅读[xarm_planner包](./xarm_planner)的文档。  
+这个简单包装实现的规划器接口是基于 Moveit!中的 move_group interface, 可以使用户通过service指定目标位置进行规划和执行。 这部分的详细使用方法请阅读[xarm_planner包](./xarm_planner/ReadMe_cn_old.md)的文档。  
 #### 启动 xarm simple motion planner 控制 xArm 真实机械臂:  
 ```bash
    $ roslaunch xarm_planner xarm_planner_realHW.launch robot_ip:=<控制盒的局域网IP地址> robot_dof:=<7|6|5>

examples/xarm5_vacuum_gripper_moveit_config/config/xarm5_with_vacuum_gripper.srdf

@@ -3,7 +3,7 @@
 <!-- |    This document was autogenerated by xacro from src/xarm_ros/xarm_description/srdf/xarm.srdf.xacro | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
-<robot name="xarm5">
+<robot name="UF_ROBOT">
   <group name="xarm5">
     <joint name="world_joint"/>
     <joint name="joint1"/>

examples/xarm6_vacuum_gripper_moveit_config/config/xarm6_with_vacuum_gripper.srdf

@@ -3,7 +3,7 @@
 <!-- |    This document was autogenerated by xacro from src/xarm_ros/xarm_description/srdf/xarm.srdf.xacro | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
-<robot name="xarm6">
+<robot name="UF_ROBOT">
   <group name="xarm6">
     <joint name="world_joint"/>
     <joint name="joint1"/>

examples/xarm7_vacuum_gripper_moveit_config/config/xarm7_with_vacuum_gripper.srdf

@@ -3,7 +3,7 @@
 <!-- |    This document was autogenerated by xacro from src/xarm_ros/xarm_description/srdf/xarm.srdf.xacro | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
-<robot name="xarm7">
+<robot name="UF_ROBOT">
   <group name="xarm7">
     <joint name="world_joint"/>
     <joint name="joint1"/>

lite6_moveit_config/config/lite6.srdf

@@ -3,7 +3,7 @@
 <!-- |    This document was autogenerated by xacro from src/xarm_ros/xarm_description/srdf/xarm.srdf.xacro | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
-<robot name="lite6">
+<robot name="UF_ROBOT">
   <group name="lite6">
     <joint name="world_joint"/>
     <joint name="joint1"/>

uf_robot_moveit_config/.setup_assistant

@@ -0,0 +1,11 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: xarm_description
+    relative_path: urdf/xarm_device.urdf.xacro
+    xacro_args: "--inorder robot_type:=uf850 dof:=6"
+  SRDF:
+    relative_path: config/uf850/uf850.srdf
+  CONFIG:
+    author_name: Vinman
+    author_email: [email protected]
+    generated_timestamp: 1685427483

uf_robot_moveit_config/CMakeLists.txt

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(uf_robot_moveit_config)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})