Commit ba1c0899 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Initial commit for tiago.

parents
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package tiago_description
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
2.0.14 (2019-04-03)
-------------------
2.0.13 (2019-03-28)
-------------------
2.0.12 (2019-03-26)
-------------------
2.0.11 (2019-03-26)
-------------------
* Fix wrong include, could be duplicated
* Contributors: Victor Lopez
2.0.10 (2019-03-26)
-------------------
* Merge branch 'move-end-effector-xacro' into 'erbium-devel'
Move end_effector xacro code for reusing
See merge request robots/tiago_robot!75
* Fix xacro warnings
* Parametrize arm origin
* Move end_effector xacro code for reusing
* Contributors: Victor Lopez
2.0.9 (2019-03-22)
------------------
* Merge branch 'fix_xacro_warning2' into 'erbium-devel'
Fix xacro warning2
See merge request robots/tiago_robot!45
* fix xacro deprecation warning
* Contributors: Jeremie Deray, Procópio Stein
2.0.8 (2019-03-15)
------------------
2.0.7 (2019-03-14)
------------------
2.0.6 (2019-03-12)
------------------
* Add padding and extend blacklist
* Contributors: Victor Lopez
2.0.5 (2019-02-26)
------------------
* Merge branch 'multi_simulation' into 'erbium-devel'
Fix multitiago simulation
See merge request robots/tiago_robot!69
* Fix multitiago simulation
* Contributors: Victor Lopez, davidfernandez
2.0.4 (2019-02-08)
------------------
* Merge branch 'camera_calib' into 'erbium-devel'
added extrinsic camera calibration file modifications
See merge request robots/tiago_robot!68
* added extrinsic camera calibration file changes
* Contributors: Jordi Pages, Sai Kishor Kothakota
2.0.3 (2019-02-05)
------------------
* Remove usages of pass_all_args, not supported in kinetic yet
* Contributors: Victor Lopez
2.0.2 (2018-12-21)
------------------
2.0.1 (2018-12-20)
------------------
2.0.0 (2018-12-19)
------------------
* Merge branch 'specifics-refactor' into 'erbium-devel'
Generate automatically play_motion and approach_planner configs
See merge request robots/tiago_robot!65
* Add default params to upload.launch
* Fix arguments for upload
* Add head and migrate controller launch
* Parametrize urdf
* remove deprecated launch file
* 1.0.23
* changelog
* Contributors: Procópio Stein, Victor Lopez
1.0.23 (2018-12-05)
-------------------
1.0.22 (2018-12-04)
-------------------
1.0.21 (2018-11-29)
-------------------
1.0.20 (2018-11-19)
-------------------
* Merge branch 'add-grasping-motions' into 'erbium-devel'
Add motions for pal grasping pipeline
See merge request robots/tiago_robot!62
* Add new motions for grasping
* Add collision parameters for tiago
* Contributors: Victor Lopez
1.0.19 (2018-10-23)
-------------------
1.0.18 (2018-09-19)
-------------------
1.0.17 (2018-09-17)
-------------------
1.0.16 (2018-08-06)
-------------------
* Merge branch 'multiple-link-collisions' into 'erbium-devel'
Split torso collision into multiple elements for better convex hulls
See merge request robots/tiago_robot!56
* Split torso collision into multiple elements for better convex hulls
* Contributors: Hilario Tome, Victor Lopez
1.0.15 (2018-08-06)
-------------------
* Merge branch 'add-collision-parameters' into 'erbium-devel'
Add collision_parameters.yaml
See merge request robots/tiago_robot!57
* Add collision_parameters.yaml
* Contributors: Hilario Tome, Victor Lopez
1.0.14 (2018-08-01)
-------------------
1.0.13 (2018-08-01)
-------------------
1.0.12 (2018-07-30)
-------------------
* Merge branch 'fix-simulation-warnings' into 'erbium-devel'
Fix simulation warnings
See merge request robots/tiago_robot!54
* remove gazebo property overwrite
* fix typo in comment
* call xacro rather than xacro.py
* Contributors: Jordi Pages, Victor Lopez
1.0.11 (2018-07-13)
-------------------
1.0.10 (2018-07-10)
-------------------
1.0.9 (2018-05-24)
------------------
1.0.8 (2018-05-02)
------------------
* Merge branch 'deprecate_upload_tiago' into 'erbium-devel'
deprecate upload_tiago & fix xacro warning --inorder
See merge request robots/tiago_robot!42
* deprecate upload_tiago & fix xacro warning --inorder
* Contributors: Hilario Tome, Jeremie Deray
1.0.7 (2018-05-02)
------------------
* Merge branch 'mr-origin-43' into 'erbium-devel'
normalize xmlns across xacro files
See merge request robots/tiago_robot!48
* normalize xmlns across xacro files
* Merge branch 'remove-chessboard' into 'erbium-devel'
Remove chessboard, it's a separate entity now
See merge request robots/tiago_robot!47
* Remove chessboard, it's a separate entity now
* Merge branch 'fix_xacro_warning' into 'erbium-devel'
fix xacro warning
See merge request robots/tiago_robot!44
* fix xacro warning
deprecated: xacro tags should be prepended with 'xacro' xml namespace.
Use the following script to fix incorrect usage:
find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'
* Contributors: Hilario Tome, Jeremie Deray, Victor Lopez
1.0.6 (2018-04-10)
------------------
1.0.5 (2018-03-29)
------------------
1.0.4 (2018-03-26)
------------------
* Merge branch 'recover-chessboard-tiago' into 'erbium-devel'
Recover chessboard tiago
See merge request robots/tiago_robot!38
* Increase camera FoV, more similar to real robot
* Improve chessboard position wrt real robot
* Add missing tiago_steel_chessboard files
* Revert "remove unused files"
This reverts commit e50aca81d55736b99e108bb90d681862be39c028.
* Contributors: Jordi Pages, Victor Lopez
1.0.3 (2018-03-16)
------------------
1.0.2 (2018-03-06)
------------------
* Merge branch 'add-kinematic-launch' into 'dubnium-devel'
add launch for kinematic testing
See merge request robots/tiago_robot!35
(cherry picked from commit 252410614569a03cf74ec494039981c8d660a834)
89ebce04 add launch for kinematic testing
* Contributors: Victor Lopez
1.0.1 (2018-02-22)
------------------
1.0.0 (2018-02-21)
------------------
* added joint state interface transmission
* Fix gravity compensation issues
* added more configuration files for local joint control
* Contributors: Adria Roig, Hilario Tome
0.0.46 (2018-02-20)
-------------------
0.0.45 (2018-02-08)
-------------------
* add pal_wsg_gripper_description dependency
* Contributors: Jordi Pages
0.0.44 (2018-02-06)
-------------------
* add fingertip force sensors
* remove blank line
* Contributors: Jordi Pages
0.0.43 (2018-01-24)
-------------------
* add files for schunk-gripper based TIAGo
* remove unused files
* Contributors: Jordi Pages
0.0.42 (2017-12-01)
-------------------
* increase eps in arm and head joints' ranges
To prevent reaching mechanical limits after eye-hand calibration, which changes the offsets of these joints
* Contributors: Jordi Pages
0.0.41 (2017-10-31)
-------------------
* Merge remote-tracking branch 'origin/automatic_calibration' into dubnium-devel
* deleted the calibration.urdf.xacro from this package and moved to another external package accessible from the customer
* Modify the offset to allow the automatic calibration
* Contributors: AleDF, Hilario Tomé
0.0.40 (2017-10-27)
-------------------
* added support for absolute encoders
* update urdf arm model for CoM position fix
* Add simple tests for URDF files
* Contributors: Hilario Tomé, Luca, davidfernandez
0.0.39 (2017-07-12)
-------------------
0.0.38 (2017-05-16)
-------------------
* Add configurations for Tiago Iron
* Contributors: davidfernandez
0.0.37 (2017-05-05)
-------------------
0.0.36 (2017-04-24)
-------------------
* Allow multiple Tiagos on Gazebo
Refs #15402
* Contributors: David Fernandez
0.0.35 (2016-12-21)
-------------------
0.0.34 (2016-11-06)
-------------------
* move torso 0 position 1 cm upwards
* Contributors: Jordi Pages
0.0.33 (2016-11-04)
-------------------
0.0.32 (2016-10-26)
-------------------
0.0.31 (2016-10-14)
-------------------
* Added gazebo plugin to simulate the world frame in gazebo
* 0.0.30
* Update changelog
* fixes #14569: proper RGB point clouds
* add myself as maintainer
* add myself as maintainer
* refs #13892: fix reference frame
* 0.0.29
* Update changelog
* 0.0.28
* Update changelog
* 0.0.27
* Update changelog
* 0.0.26
* Update changelog
* 0.0.25
* Update changelog
* Making the simulation be more close to the real robot xtion
* 0.0.24
* changelog
* 0.0.23
* Update changelog
* Add imu to gazebo simulation
* 0.0.22
* Update changelog
* Add provideFeedback to tiago wrist
* 0.0.21
* Update changelog
* 0.0.20
* Update changelog
* 0.0.19
* Update changelog
* 0.0.18
* changelog
* 0.0.17
* changelog
* 0.0.16
* Update changelog
* 0.0.15
* Update changelog
* 0.0.14
* Update changelog
* 0.0.13
* Update changelog
* Merge branch 'dubnium-devel' of gitlab:robots/tiago_robot into dubnium-devel
* Corrected the pose of the gripper
* Contributors: Adria Roig, Jeremie Deray, Jordi Pages, Sam Pfeiffer, Victor Lopez
0.0.30 (2016-10-13)
-------------------
* fixes #14569: proper RGB point clouds
* add myself as maintainer
* add myself as maintainer
* refs #13892: fix reference frame
* Contributors: Jordi Pages
0.0.29 (2016-07-28)
-------------------
0.0.28 (2016-07-28)
-------------------
0.0.27 (2016-07-19)
-------------------
0.0.26 (2016-07-08)
-------------------
0.0.25 (2016-06-28)
-------------------
* Making the simulation be more close to the real robot xtion
* Contributors: Sam Pfeiffer
0.0.24 (2016-06-15)
-------------------
0.0.23 (2016-06-15)
-------------------
* Add imu to gazebo simulation
* Contributors: Sam Pfeiffer
0.0.22 (2016-06-15)
-------------------
* Add provideFeedback to tiago wrist
* Contributors: Victor Lopez
0.0.21 (2016-06-15)
-------------------
0.0.20 (2016-06-14)
-------------------
0.0.19 (2016-06-14)
-------------------
0.0.18 (2016-06-14)
-------------------
0.0.17 (2016-06-13)
-------------------
0.0.16 (2016-06-13)
-------------------
0.0.15 (2016-06-13)
-------------------
0.0.14 (2016-06-10)
-------------------
0.0.13 (2016-06-10)
-------------------
* Merge branch 'dubnium-devel' of gitlab:robots/tiago_robot into dubnium-devel
* Corrected the pose of the gripper
* Contributors: Sam Pfeiffer
0.0.12 (2016-06-07)
-------------------
* Merged changes of wrist range + ft sensor
* Add hardware port of force torque
* Add force torque sensor
* Contributors: Sam Pfeiffer
0.0.11 (2016-06-03)
-------------------
* missing deps pal_gripper
* tiago has sonars
* Remove old gripper references
* Changed previous gripper to newer one
* fixes #13516
* Contributors: Bence Magyar, Hilario Tome, Jeremie Deray, Jordi Pages, Sam Pfeiffer, Victor Lopez, jordi.pages@pal-robotics.com
0.0.10 (2016-04-26)
-------------------
0.0.9 (2016-04-25)
------------------
* Updated joint limits as per errors found by Louis
* Contributors: Sam Pfeiffer
0.0.8 (2016-04-19)
------------------
* fixed rgb_optical_frame name affecting simulation
* fix chessboard pose
* remove collision in calibration chessboard
* Contributors: jordi.pages@pal-robotics.com
0.0.7 (2016-04-11)
------------------
* Update urdf
* Add new meshes
* Delete old meshes
* Contributors: Sam Pfeiffer
0.0.6 (2016-03-31)
------------------
* Fixed wheel sleeping in gazebo, and added head transmission (This can break the real robot if a blacklist is not implemented in pal_ros_control
* Contributors: Hilario Tome
0.0.5 (2016-03-21)
------------------
* Add effort transmision
* using base_sensors instead of base
* remove hey5 hand from URDF
* Added safety controller to torso lift joint
* Update inertial params
* 7 cm / sec torso speed
* Gripper parts color
* Updated gripper base mesh
* Update head, todo: dae coloring for the head_2
* Update license
* Update joint limit
* Remove module-only arm
* Arm 1 collision added
* Update collision & meshes
* Remove old head mesh
* Update torso meshes & collision
* Update limits
* Add cover for module hole
* Review of joint limits
* Update arm
* Update torso
* Update gripper finger
* No need for have_base_rgdb anymore
* New arm distances, more to come
* Update head distance from torso_lift_link
* Remove temporary cabling boxes
* change torso limits and update motions
* Update gripper length to approx real one
* Update head
* add cover on top of mobile base
Define collision and visual elements needed for the motion planning of TIAGo proof-of-concept
* restrict lifter joint to go lower than 5 cm
Take into account new mobile base covers that are 5 cm high
* DarkGrey for all arm parts in gazebo
* Updated limits
* Add cable channel to the front of the column
* Increase speed of torso
* Contributors: Bence Magyar, Hilario Tome, Jordi Pages, Sam Pfeiffer, jordi.pages@pal-robotics.com
0.0.4 (2015-05-20)
------------------
* Add safety box around the hand
* Fix wrist direction
* Add yellow
* Add more collision geometries representing boxes and cable carriers on first tiago
* Update joint limit to real
* Update elbow joint limits
* Update head joint limits
* Adding tiago_shadow, tiago with shadow lite hand (! no dependency on shadow packages on purpose!)
* Add arm with only modules, no wrist
* Contributors: Bence Magyar
0.0.3 (2015-04-15)
------------------
0.0.2 (2015-04-15)
------------------
* Remove gazebo dependency
* Increase speed of torso joint
* Add tiago iron urdf
* Refactor gripper to ${name}
* Added grasping frame
* rotate chessboard and use degrees in its RPY
* Stop fingers shaking and add grasping hack
* add missing components for titanium+chessboard
* rename frame
* Tweak inertial params
* better placement of chessboard
* Add URDF with chessboard attached to hand
For eye-hand calibration in simulation
* Changes to fix finger shaking. Much better than before.
* Use steel and titanium tiago, launch files parametrized
* Change gripper joint names and add pids
* Change finger names and add controller + first gains
* Add tiago_steel and tiago_gripper sketch
* Parametrize on robot type (tiago_X)
* Activate hand
* Make DarkGrey darker
* Change occureces of ant to pmb2
* Update xtion with inertias and adding _link to parent inside
* Add nice visual to head2
* Update torso with reviewed inertial params
* Contributors: Bence Magyar, Jordi Pages
0.0.1 (2015-01-20)
------------------
* Fix orientation of head joint
* Comment actuator specification in transmission so that pal_ros_control won't take control of them.
* Comment joint mode related parts
* Add transmission to torso
* Add _use_gui:=True
* Remove config from install rule
* Don't append _link to parent value
* Update joint limits of head, 45degs up, 90degs down
* Remove unused sensors and fix link to mesh in xtion
* Update inertias, Center of Mass' and related pids
Hand commented until it works on gazebo
* Add tiago hardware to description
* add arg
* Update distances
* Fix arm location
* Add head based on v2 drawing
* Add joint limits and rotate wrist according to v3
* arm v2, extensions of the same length
* Fix optical frame alignment
* Add preliminary head
* Update joint limits
* Fix torso
* Add visual & collision before wrist
* Fix visuals on arm
* Add hey5 hand to tiago
* Remove duplicated ant stuff and pull mobile base from ant_description
* Add arm and adjust torso
* Updated torso
* Initial commit
* Contributors: Bence Magyar, Hilario Tome
cmake_minimum_required(VERSION 2.8.3)
project(tiago_description)
find_package(catkin REQUIRED)
catkin_package()
foreach(dir gazebo Media meshes robots urdf config)
install(DIRECTORY ${dir}/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach(dir)
#############
## Testing ##
#############
if(CATKIN_ENABLE_TESTING)
find_package(rostest REQUIRED)
foreach(arm true false)
# Separated to speed up tests, otherwise it's over 13min
foreach(end_effector false pal-gripper pal-hey5 schunk-wsg)
foreach(ft_sensor false schunk-ft)
add_rostest(test/test_tiago.test ARGS arm:=${arm}
end_effector:=${end_effector} ft_sensor:=${ft_sensor})
endforeach(ft_sensor)
endforeach(end_effector)
foreach(laser_model false hokuyo sick-551 sick-561 sick-571)
add_rostest(test/test_tiago.test ARGS arm:=${arm}
laser_model:=${laser_model})
endforeach(laser_model)
foreach(camera_model false orbbec-astra orbbec-astra-pro asus-xtion)
add_rostest(test/test_tiago.test ARGS arm:=${arm}
camera_model:=${camera_model})
endforeach(camera_model)
endforeach(arm)
endif()
material aruco-582_8cm
{
technique
{
pass
{
//depth_write alpha_rejection
//scene_blend alpha_blend
texture_unit
{
texture aruco-582_8cm.png
}
}
}
}
material aruco-26_8cm
{
technique
{
pass
{
//depth_write alpha_rejection
//scene_blend alpha_blend
texture_unit
{
texture aruco-26_8cm.png
}
}
}
}
material pal_logo_1_7cm
{
technique
{
pass
{
//depth_write alpha_rejection
//scene_blend alpha_blend
texture_unit
{
texture pal_logo_1_7cm.jpg
}