Push to release 2.1 (#65)

.gitignore

@@ -1 +1,2 @@
-kortex_driver/build
+kortex_driver/build
+kortex_driver/protos

CMakeLists.txt

@@ -0,0 +1 @@
+/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake

kortex_api/scripts/download_kortex_api.bash

@@ -29,14 +29,15 @@ fi
 
 # Download the API from Google Drive
 echo "Downloading the Kortex API from the Web..."
-wget -q -O kortex_api.zip https://artifactory.kinovaapps.com/artifactory/generic-local-public/kortex/API/2.0.0/kortex_api_2.0.0.zip
+jfrog rt dl --flat  generic-local-stable/API/2.1.0/kortex_api_2.1.0-3.zip ./
 RESULT=$?
 if [ "${RESULT}" -ne 0 ]; then
     echo "ERROR while fetching the kortex api. code = ${RESULT}"
     exit $?
 fi
 
 # Unzip it
+mv kortex_api_2.1.0-3.zip kortex_api.zip
 unzip -d kortex_api kortex_api.zip > /dev/null
 RESULT=$?
 if [ "${RESULT}" -ne 0 ]; then

kortex_control/arms/gen3_lite/6dof/config/joint_position_controllers.yaml

@@ -0,0 +1,75 @@
+# Publish all joint states -----------------------------------
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50  
+
+gen3_lite_joint_trajectory_controller:
+    type: effort_controllers/JointTrajectoryController
+    joints:
+        - joint_1
+        - joint_2
+        - joint_3
+        - joint_4
+        - joint_5
+        - joint_6
+    constraints:
+        goal_time: 1.0
+        stopped_velocity_tolerance: 0.5
+    stop_trajectory_duration: 1.0
+    state_publish_rate:  25
+    action_monitor_rate: 25
+    gains:
+        joint_1: {p: 3000.0, i: 0.0, d: 2.0, i_clamp_min: -100.0, i_clamp_max: 100.0}
+        joint_2: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -5.0, i_clamp_max: 5.0}
+        joint_3: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        joint_4: {p: 750.0, i: 0.0, d: 0.2, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        joint_5: {p: 5000.0, i: 0.0, d: 1.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        joint_6: {p: 100.0, i: 0.0, d: 0.0, i_clamp_min: -0.1, i_clamp_max: 0.1}
+
+joint_1_position_controller:
+    joint: joint_1
+    pid:
+        p: 3000.0
+        i: 0.0
+        d: 2.0
+    type: effort_controllers/JointPositionController
+
+joint_2_position_controller:
+    joint: joint_2
+    pid:
+        p: 50000.0
+        i: 0.0
+        d: 0.0
+    type: effort_controllers/JointPositionController
+
+joint_3_position_controller:
+    joint: joint_3
+    pid:
+        p: 50000.0
+        i: 0.0
+        d: 0.0
+    type: effort_controllers/JointPositionController
+
+joint_4_position_controller:
+    joint: joint_4
+    pid:
+        p: 750.0
+        i: 0.0
+        d: 0.2
+    type: effort_controllers/JointPositionController
+
+joint_5_position_controller:
+    joint: joint_5
+    pid:
+        p: 5000.0
+        i: 0.0
+        d: 1.0
+    type: effort_controllers/JointPositionController
+
+joint_6_position_controller:
+    joint: joint_6
+    pid:
+        p: 100.0
+        i: 0.0
+        d: 0.0
+    type: effort_controllers/JointPositionController

kortex_control/grippers/gen3_lite_2f/config/gripper_action_controller_parameters.yaml

@@ -0,0 +1,11 @@
+gen3_lite_2f_gripper_controller:
+    type: position_controllers/GripperActionController
+    joint: right_finger_bottom_joint
+    action_monitor_rate: 100
+
+gazebo_ros_control:
+  pid_gains:
+        right_finger_bottom_joint: {p: 0.1, i: 0.0, d: 0.0} 
+        right_finger_tip_joint: {p: 1.0, i: 0.0, d: 0.0} 
+        left_finger_bottom_joint: {p: 10.0, i: 0.0, d: 0.0} 
+        left_finger_tip_joint: {p: 1.0, i: 0.0, d: 0.0}

kortex_control/readme.md

@@ -21,4 +21,4 @@ The `joint_position_controllers.yaml` file for the chosen arm is loaded to the P
 
 ## ROS Control support for the real arm
 
-ROS Control support for the Kinova Gen3 Ultra lightweight robot is not currently available and will be part of a future release.  
+ROS Control support for the Kinova Gen3 and Gen3 lite robots is not currently available and will be part of a future release.  

kortex_description/arms/gen3/7dof/config/gazebo_initial_joint_positions.yaml

@@ -0,0 +1,7 @@
+initial_joint_positions: "-J joint_1 1.57
+                        -J joint_2 -0.35
+                        -J joint_3 3.14
+                        -J joint_4 -2.00
+                        -J joint_5 0
+                        -J joint_6 -1.00
+                        -J joint_7 1.57"

kortex_description/arms/gen3/urdf/gen3_macro.xacro → kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro

@@ -5,7 +5,7 @@
   <!-- Propagate last link name information because it is the gripper's parent link -->
   <xacro:property name="last_arm_link" value="end_effector_link"/>
 
-  <xacro:macro name="load_arm" params="parent:='' *origin">
+  <xacro:macro name="load_arm" params="parent:='' dof vision *origin">
       <link name="base_link">
         <inertial>
           <origin xyz="-0.000648 -0.000166 0.084487" rpy="0 0 0" />
@@ -15,7 +15,7 @@
         <visual>
           <origin xyz="0 0 0" rpy="0 0 0" />
           <geometry>
-            <mesh filename="package://kortex_description/arms/gen3/meshes/base_link.STL" />
+            <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/base_link.STL" />
           </geometry>
           <material name="">
             <color rgba="0.75294 0.75294 0.75294 1" />
@@ -24,7 +24,7 @@
         <collision>
           <origin xyz="0 0 0" rpy="0 0 0" />
           <geometry>
-            <mesh filename="package://kortex_description/arms/gen3/meshes/base_link.STL" />
+            <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/base_link.STL" />
           </geometry>
         </collision>
     </link>
@@ -37,7 +37,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/meshes/shoulder_link.STL" />
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/shoulder_link.STL" />
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1" />
@@ -46,7 +46,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/meshes/shoulder_link.STL" />
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/shoulder_link.STL" />
         </geometry>
       </collision>
     </link>
@@ -73,7 +73,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/meshes/half_arm_1_link.STL" />
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/half_arm_1_link.STL" />
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1" />
@@ -82,7 +82,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/meshes/half_arm_1_link.STL" />
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/half_arm_1_link.STL" />
         </geometry>
       </collision>
     </link>
@@ -107,7 +107,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/meshes/half_arm_2_link.STL" />
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/half_arm_2_link.STL" />
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1" />
@@ -116,7 +116,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/meshes/half_arm_2_link.STL" />
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/half_arm_2_link.STL" />
         </geometry>
       </collision>
     </link>
@@ -143,7 +143,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/meshes/forearm_link.STL" />
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/forearm_link.STL" />
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1" />
@@ -152,7 +152,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/meshes/forearm_link.STL" />
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/forearm_link.STL" />
         </geometry>
       </collision>
     </link>
@@ -177,7 +177,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/meshes/spherical_wrist_1_link.STL" />
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/spherical_wrist_1_link.STL" />
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1" />
@@ -186,7 +186,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/meshes/spherical_wrist_1_link.STL" />
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/spherical_wrist_1_link.STL" />
         </geometry>
       </collision>
     </link>
@@ -213,7 +213,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/meshes/spherical_wrist_2_link.STL" />
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/spherical_wrist_2_link.STL" />
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1" />
@@ -222,7 +222,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/meshes/spherical_wrist_2_link.STL" />
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/spherical_wrist_2_link.STL" />
         </geometry>
       </collision>
     </link>
@@ -247,7 +247,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/meshes/bracelet_link.STL" />
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/bracelet_link.STL" />
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1" />
@@ -256,7 +256,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kortex_description/arms/gen3/meshes/bracelet_link.STL" />
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/bracelet_link.STL" />
         </geometry>
       </collision>
     </link>

kortex_description/arms/gen3_lite/6dof/config/joint_limits.yaml

@@ -0,0 +1,7 @@
+joint_names:
+  - joint_1
+  - joint_2
+  - joint_3
+  - joint_4
+  - joint_5
+  - joint_6