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framefab_irb6600_support package from choreo repo

choreo choreo_core choreo_descartes_planner choreo_execution_gatekeeper choreo_geometry_conversion_helpers choreo_gui choreo_msgs choreo_output_processor choreo_param_helpers choreo_planning_capability choreo_process_planning choreo_rapidjson framefab_irb6600_support framefab_irb6600_workspace_ikfast_rail_robot_manipulator_plugin framefab_irb6600_workspace_moveit_config asw_end_effector asw_material_feeder choreo_kr150_2_support choreo_kr150_2_workspace_ikfast_rail_robot_manipulator_plugin choreo_kr150_2_workspace_moveit_config choreo_kr5_arc_support choreo_kr5_arc_workspace_ikfast_rail_robot_manipulator_plugin choreo_kr5_arc_workspace_moveit_config framefab_kr6_r900_support kr6_r900_mit_suction_gripper_moveit_config kr6_r900_workspace_ikfast_manipulator_plugin kr6_r900_workspace_moveit_config ucla_linear_axis mit_arch_suction_gripper choreo_simulation_execution choreo_task_sequence_external_planner choreo_task_sequence_planner geometric_tools_engine choreo_task_sequence_processor choreo_visual_tools

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/yijiangh/Choreo.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2019-07-15
Dev Status DEVELOPED
CI status Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Support package for a framefab_mpp system using ABB6640. Includes linking to eef and external linear axis files.

Additional Links

No additional links.

Maintainers

  • Yijiang Huang

Authors

No additional authors.
choreo_robot/abb/framefab_irb6600/framefab_irb6600_support/README.md

To build the documentation

Install rosdoc_lite package by:

` sudo apt-get install ros-lunar-rosdoc-lite `

and run rosdoc_lite . at current path (where this readme file is stored). The generated documentation can be found in \doc\html folder. Start with the index.html.

To rebuild urdf

First run:

rosrun xacro xacro --inorder -o <your urdf>.urdf <your xacro>.xacro

and to launch moveit! setup assistant:

roslaunch moveit_setup_assistant setup_assistant.launch

After generating MoveIt! package with no workspace info, please find planning_context.launch and replace:

  <!-- Load universal robot description format (URDF) -->
  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find <robot>_support)/urdf/<your urdf>.urdf"/>

with

  <param if="$(arg load_robot_description)" name="$(arg robot_description)"
         command="$(find xacro)/xacro --inorder '$(find <robot>_support)/urdf/<your xacro>.xacro'"/>

This will allow us to get rid of the urdf file and update workcell and eef info without recompiling moveit package.

References:

godel ABB_irb2400 setup

industrail_moveit KUKA_kr210 w/ linear axis setup

ROS answer - how to convert xacro file to urdf file?

ROS official doc - xacro

ROS official doc - urdf

ROS tutorial - Using Xacro to Clean Up a URDF File

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
framefab_irb6600_workspace_moveit_config

Launch files

  • launch/irb6600_choreo.launch
      • sim_robot [default: true]
      • debug_rviz [default: false]
      • debug_core [default: false]
      • save_data [default: false]
      • save_location [default: $(env HOME)/.ros/]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged framefab_irb6600_support at Robotics Stack Exchange

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