custom workspace example (#12)

This adds an example how you would setup your own robot cell using the ur_description and ur_robot_driver packages.

---------

Co-authored-by: Felix Exner <[email protected]>

.github/workflows/pre-commit.yml

@@ -3,17 +3,16 @@ name: pre-commit
 on:
   pull_request:
 jobs:
-  pre-commits:
+  pre-commit:
     name: pre-commit
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v2
-      - uses: actions/setup-python@v2
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
         with:
-          python-version: 3.9.7
-      - name: "Install dependencies"
-        run: |
-          python -m pip install catkin_lint
-      - uses: pre-commit/[email protected]
+          python-version: "3.10"
+      - uses: actions/cache@v4
         with:
-          extra_args: --all-files --hook-stage manual
+          path: ~/.cache/pre-commit
+          key: pre-commit-3|${{ hashFiles('.pre-commit-config.yaml') }}
+      - uses: pre-commit/[email protected]

.github/workflows/sphinx.yml

@@ -6,7 +6,17 @@ jobs:
   docs:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v1
-      - uses: ammaraskar/sphinx-action@master
+      - name: Checkout
+        uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
         with:
-          docs-folder: "./ur_documentation/docs"
+          python-version: '3.10'
+          cache: 'pip'
+      - name: Install Python dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install --upgrade --requirement ur_documentation/requirements.txt
+        shell: bash
+      - name: Build documentation using sphinx
+        run: |
+          TZ=UTC sphinx-build ur_documentation/docs/source _build

.pre-commit-config.yaml

@@ -1,7 +1,7 @@
 ---
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v2.3.0
+    rev: v4.6.0
     hooks:
       - id: check-added-large-files
       - id: check-docstring-first
@@ -12,34 +12,14 @@ repos:
       - id: mixed-line-ending
       - id: trailing-whitespace
   - repo: https://github.com/psf/black
-    rev: 21.12b0
+    rev: 24.4.0
     hooks:
       - id: black
         args: ["--line-length=100"]
-  # Cmake hooks
-  - repo: local
-    hooks:
-      - id: ament_lint_cmake
-        name: ament_lint_cmake
-        description: Check format of CMakeLists.txt files.
-        stages: [commit]
-        entry: ament_lint_cmake
-        language: system
-        files: CMakeLists.txt$
-
-  # Copyright
-  - repo: local
-    hooks:
-      - id: ament_copyright
-        name: ament_copyright
-        description: Check if copyright notice is available in all files.
-        stages: [commit]
-        entry: ament_copyright
-        language: system
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.0.0
+    rev: v2.2.6
     hooks:
       - id: codespell
         args: ['--write-changes']

my_robot_cell/my_robot_cell_control/CMakeLists.txt

@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 3.8)
+project(my_robot_cell_control)
+
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY launch config urdf
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

my_robot_cell/my_robot_cell_control/config/my_robot_calibration.yaml

@@ -0,0 +1,44 @@
+kinematics:
+  shoulder:
+    x: 0
+    y: 0
+    z: 0.23630000000000001
+    roll: -0
+    pitch: 0
+    yaw: -0
+  upper_arm:
+    x: 0
+    y: 0
+    z: 0
+    roll: 1.570796327
+    pitch: 0
+    yaw: -0
+  forearm:
+    x: -0.86199999999999999
+    y: 0
+    z: 0
+    roll: -0
+    pitch: 0
+    yaw: -0
+  wrist_1:
+    x: -0.72870000000000001
+    y: 0
+    z: 0.20100000000000001
+    roll: -0
+    pitch: 0
+    yaw: -0
+  wrist_2:
+    x: 0
+    y: -0.1593
+    z: -3.2672976162492252e-11
+    roll: 1.570796327
+    pitch: 0
+    yaw: -0
+  wrist_3:
+    x: 0
+    y: 0.15429999999999999
+    z: -3.1647459019915597e-11
+    roll: 1.5707963265897931
+    pitch: 3.1415926535897931
+    yaw: 3.1415926535897931
+  hash: calib_4890363623803256388

my_robot_cell/my_robot_cell_control/config/ros2_controllers.yaml

@@ -0,0 +1,94 @@
+controller_manager:
+  ros__parameters:
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    io_and_status_controller:
+      type: ur_controllers/GPIOController
+
+    speed_scaling_state_broadcaster:
+      type: ur_controllers/SpeedScalingStateBroadcaster
+
+    force_torque_sensor_broadcaster:
+      type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
+
+    scaled_joint_trajectory_controller:
+      type: ur_controllers/ScaledJointTrajectoryController
+
+    forward_velocity_controller:
+      type: velocity_controllers/JointGroupVelocityController
+
+    forward_position_controller:
+      type: position_controllers/JointGroupPositionController
+
+
+speed_scaling_state_broadcaster:
+  ros__parameters:
+    state_publish_rate: 100.0
+    tf_prefix: "ur20_"
+
+io_and_status_controller:
+  ros__parameters:
+    tf_prefix: "ur20_"
+
+force_torque_sensor_broadcaster:
+  ros__parameters:
+    sensor_name: ur20_tcp_fts_sensor
+    state_interface_names:
+      - force.x
+      - force.y
+      - force.z
+      - torque.x
+      - torque.y
+      - torque.z
+    frame_id: ur20_tool0
+    topic_name: ft_data
+
+scaled_joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - ur20_shoulder_pan_joint
+      - ur20_shoulder_lift_joint
+      - ur20_elbow_joint
+      - ur20_wrist_1_joint
+      - ur20_wrist_2_joint
+      - ur20_wrist_3_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    constraints:
+      stopped_velocity_tolerance: 0.2
+      goal_time: 0.0
+      ur20_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
+      ur20_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
+      ur20_elbow_joint: { trajectory: 0.2, goal: 0.1 }
+      ur20_wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
+      ur20_wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
+      ur20_wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
+    speed_scaling_interface_name: ur20_speed_scaling/speed_scaling_factor
+
+forward_velocity_controller:
+  ros__parameters:
+    joints:
+      - ur20_shoulder_pan_joint
+      - ur20_shoulder_lift_joint
+      - ur20_elbow_joint
+      - ur20_wrist_1_joint
+      - ur20_wrist_2_joint
+      - ur20_wrist_3_joint
+    interface_name: velocity
+
+forward_position_controller:
+  ros__parameters:
+    joints:
+      - ur20_shoulder_pan_joint
+      - ur20_shoulder_lift_joint
+      - ur20_elbow_joint
+      - ur20_wrist_1_joint
+      - ur20_wrist_2_joint
+      - ur20_wrist_3_joint

my_robot_cell/my_robot_cell_control/config/update_rate.yaml

@@ -0,0 +1,3 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 500  # Hz