Migrate to UR robots

Signed-off-by: Luca Della Vedova <[email protected]>
osrf · Nov 19, 2024 · 822ea75 · 822ea75
1 parent be0865d
commit 822ea75
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Showing 26 changed files with 253 additions and 523 deletions.
diff --git a/.github/workflows/nexus_integration_tests.yaml b/.github/workflows/nexus_integration_tests.yaml
@@ -28,9 +28,11 @@ jobs:
       with:
         path: ~/.cache/ccache
         key: ccache
-    - name: vcs
-      run: |
-        vcs import . < abb.repos
+    # TODO(luca) Remove build from source of UR robots
+    # This is only temporary until a new Jazzy sync that includes https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/pull/1153/ is made
+    - name: TEMPORARY build UR from source
+      run:
+        git clone -b 2.4.13 https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver
     - name: rosdep
       run: |
         apt update

diff --git a/abb.repos b/abb.repos
diff --git a/nexus_integration_tests/config/abb_irb1300_controllers.yaml b/nexus_integration_tests/config/abb_irb1300_controllers.yaml
diff --git a/nexus_integration_tests/config/abb_irb1300_planner_params.yaml b/nexus_integration_tests/config/abb_irb1300_planner_params.yaml
diff --git a/nexus_integration_tests/config/abb_irb910sc_controllers.yaml b/nexus_integration_tests/config/abb_irb910sc_controllers.yaml
diff --git a/nexus_integration_tests/config/abb_irb910sc_planner_params.yaml b/nexus_integration_tests/config/abb_irb910sc_planner_params.yaml
diff --git a/nexus_integration_tests/config/workcell_1_bts/place_on_conveyor.xml b/nexus_integration_tests/config/workcell_1_bts/place_on_conveyor.xml
@@ -5,23 +5,23 @@
       <dispense_item.DispenseItem name="dispense_item" item="productA" />
 
       <ApplyTransform base_pose="pickup_pose" x="0" y="0" z="-0.02" qx="0" qy="0" qz="0" qw="1" local="true" result="{pickup_top_goal}" />
-      <plan_motion.PlanMotion name="plan_to_pickup_top" robot_name="abb_irb910sc" goal="{pickup_top_goal}" scale_speed="0.5" cartesian="true" result="{pickup_top_traj}" />
+      <plan_motion.PlanMotion name="plan_to_pickup_top" robot_name="ur5e" goal="{pickup_top_goal}" scale_speed="0.5" cartesian="true" result="{pickup_top_traj}" />
       <GetJointConstraints trajectory="{pickup_top_traj}" joint_constraints="{joint_constraints}" />
       <execute_trajectory.ExecuteTrajectory name="execute_pickup_top" trajectory="{pickup_top_traj}" />
 
-      <plan_motion.PlanMotion name="plan_to_pickup" robot_name="abb_irb910sc" goal="pickup_pose" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{pickup_traj}" />
+      <plan_motion.PlanMotion name="plan_to_pickup" robot_name="ur5e" goal="pickup_pose" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{pickup_traj}" />
       <GetJointConstraints trajectory="{pickup_traj}" joint_constraints="{joint_constraints}" />
       <execute_trajectory.ExecuteTrajectory name="execute_pickup" trajectory="{pickup_traj}" />
       <gripper.GripperControl name="pickup_product" gripper="workcell_1_mock_gripper" position="0.0" max_effort="1.0" />
 
-      <plan_motion.PlanMotion name="plan_to_dropoff" robot_name="abb_irb910sc" goal="dropoff_pose" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{dropoff_traj}" />
+      <plan_motion.PlanMotion name="plan_to_dropoff" robot_name="ur5e" goal="dropoff_pose" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{dropoff_traj}" />
       <GetJointConstraints trajectory="{dropoff_traj}" joint_constraints="{joint_constraints}" />
 
       <WaitForSignal name="wait_for_pallet" signal="transporter_done" clear="true"/>
       <execute_trajectory.ExecuteTrajectory name="execute_dropoff" trajectory="{dropoff_traj}" />
       <gripper.GripperControl name="dropoff_product" gripper="workcell_1_mock_gripper" position="1.0" max_effort="0.0" />
 
-      <plan_motion.PlanMotion name="plan_to_home" robot_name="abb_irb910sc" goal="home" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{home_traj}" />
+      <plan_motion.PlanMotion name="plan_to_home" robot_name="ur5e" goal="home" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{home_traj}" />
       <execute_trajectory.ExecuteTrajectory name="execute_home" trajectory="{home_traj}" />
 
 

diff --git a/nexus_integration_tests/config/workcell_2_bts/pick_from_conveyor.xml b/nexus_integration_tests/config/workcell_2_bts/pick_from_conveyor.xml
@@ -9,25 +9,25 @@
       <detection.GetDetectionPose detection="{current_product_detection}" result="{current_product_pose}" />
 
       <ApplyTransform base_pose="{current_product_pose}" x="0" y="0" z="-0.02" qx="0" qy="0" qz="0" qw="1" local="true" result="{pickup_top_goal}" />
-      <plan_motion.PlanMotion name="plan_to_pickup_top" robot_name="abb_irb1300" goal="{pickup_top_goal}" scale_speed="0.5" result="{pickup_top_traj}" />
+      <plan_motion.PlanMotion name="plan_to_pickup_top" robot_name="ur5e" goal="{pickup_top_goal}" scale_speed="0.5" result="{pickup_top_traj}" />
       <GetJointConstraints trajectory="{pickup_top_traj}" joint_constraints="{joint_constraints}" />
       <execute_trajectory.ExecuteTrajectory name="execute_pickup" trajectory="{pickup_top_traj}" />
 
-      <plan_motion.PlanMotion name="plan_to_product" robot_name="abb_irb1300" goal="{current_product_pose}" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{pickup_traj}" />
+      <plan_motion.PlanMotion name="plan_to_product" robot_name="ur5e" goal="{current_product_pose}" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{pickup_traj}" />
       <GetJointConstraints trajectory="{pickup_traj}" joint_constraints="{joint_constraints}" />
       <execute_trajectory.ExecuteTrajectory name="execute_pickup" trajectory="{pickup_traj}" />
       <gripper.GripperControl name="pickup_product" gripper="workcell_2_mock_gripper" position="0.0" max_effort="1.0" />
 
       <ApplyTransform base_pose="dropoff_pose" x="0" y="0" z="-0.02" qx="0" qy="0" qz="0" qw="1" result="{dropoff_top_goal}" />
-      <plan_motion.PlanMotion name="plan_to_dropoff_top" robot_name="abb_irb1300" goal="{dropoff_top_goal}" scale_speed="0.5" result="{dropoff_top_traj}" />
+      <plan_motion.PlanMotion name="plan_to_dropoff_top" robot_name="ur5e" goal="{dropoff_top_goal}" scale_speed="0.5" result="{dropoff_top_traj}" />
       <GetJointConstraints trajectory="{dropoff_top_traj}" joint_constraints="{joint_constraints}" />
       <execute_trajectory.ExecuteTrajectory name="execute_dropoff_top" trajectory="{dropoff_top_traj}" />
 
-      <plan_motion.PlanMotion name="plan_to_dropoff" robot_name="abb_irb1300" goal="dropoff_pose" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{dropoff_traj}" />
+      <plan_motion.PlanMotion name="plan_to_dropoff" robot_name="ur5e" goal="dropoff_pose" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{dropoff_traj}" />
       <GetJointConstraints trajectory="{dropoff_traj}" joint_constraints="{joint_constraints}" />
       <gripper.GripperControl name="pickup_product" gripper="workcell_2_mock_gripper" position="1.0" max_effort="0.0" />
 
-      <plan_motion.PlanMotion name="plan_to_home" robot_name="abb_irb1300" goal="home" scale_speed="0.5" start_constraints="{joint_constraints}" result="{home_traj}" />
+      <plan_motion.PlanMotion name="plan_to_home" robot_name="ur5e" goal="home" scale_speed="0.5" start_constraints="{joint_constraints}" result="{home_traj}" />
       <execute_trajectory.ExecuteTrajectory name="execute_home" trajectory="{home_traj}" />
     </Sequence>
   </BehaviorTree>