Fix machine vision classic robot spawn pose

Industrial/ros2_SimRealRobotControl_gz/packages/ur5/ros2srrc_ur5_gazebo/config/configurations.yaml

@@ -39,7 +39,7 @@ Configurations:
 
   - ID: "ur5_7"
     Name: "UR5 + Robotiq HandE gripper on top of Robot Stand."
-    urdf: "ur5_robotiq_2f85_with_cams.urdf.xacro"
+    urdf: "ur5_robotiq_2f85_with_cams_classic.urdf.xacro"
     rob: "ur5"
     ee: "robotiq_2f85"
 

Industrial/ros2_SimRealRobotControl_gz/packages/ur5/ros2srrc_ur5_gazebo/urdf/ur5_robotiq_2f85_with_cams_classic.urdf.xacro

@@ -0,0 +1,156 @@
+<?xml version="1.0" ?>
+
+<!-- 
+
+# ===================================== COPYRIGHT ===================================== #
+#                                                                                       #
+#  IFRA (Intelligent Flexible Robotics and Assembly) Group, CRANFIELD UNIVERSITY        #
+#  Created on behalf of the IFRA Group at Cranfield University, United Kingdom          #
+#  E-mail: IFRA@cranfield.ac.uk                                                         #
+#                                                                                       #
+#  Licensed under the Apache-2.0 License.                                               #
+#  You may not use this file except in compliance with the License.                     #
+#  You may obtain a copy of the License at: http://www.apache.org/licenses/LICENSE-2.0  #
+#                                                                                       #
+#  Unless required by applicable law or agreed to in writing, software distributed      #
+#  under the License is distributed on an "as-is" basis, without warranties or          #
+#  conditions of any kind, either express or implied. See the License for the specific  #
+#  language governing permissions and limitations under the License.                    #
+#                                                                                       #
+#  IFRA Group - Cranfield University                                                    #
+#  AUTHORS: Mikel Bueno Viso - Mikel.Bueno-Viso@cranfield.ac.uk                         #
+#           Dr. Seemal Asif  - s.asif@cranfield.ac.uk                                   #
+#           Prof. Phil Webb  - p.f.webb@cranfield.ac.uk                                 #
+#                                                                                       #
+#  Date: April, 2023.                                                                   #
+#                                                                                       #
+# ===================================== COPYRIGHT ===================================== #
+
+# ======= CITE OUR WORK ======= #
+# You can cite our work with the following statement:
+# IFRA-Cranfield (2023) ROS 2 Sim-to-Real Robot Control. URL: https://github.com/IFRA-Cranfield/ros2_SimRealRobotControl.
+
+-->
+
+<robot name="ur5" xmlns:xacro="http://ros.org/wiki/xacro">
+
+
+
+  <!-- PASS ARGUMENTS: -->
+  <xacro:arg name="bringup" default="false"/>
+  <xacro:property name="bringup" value="$(arg bringup)"/>
+  <xacro:arg name="hmi" default="false"/>
+  <xacro:property name="hmi" value="$(arg hmi)"/>
+  <xacro:arg name="robot_ip" default="0.0.0.0"/>
+  <xacro:property name="robot_ip" value="$(arg robot_ip)"/>
+
+  <xacro:arg name="EE" default="false"/>
+  <xacro:property name="EE" value="$(arg EE)"/>
+  <xacro:arg name="EE_name" default="none"/>
+  <xacro:property name="EE_name" value="$(arg EE_name)"/>
+
+  <!-- UR5 Control ARGUMENTS -->
+  <xacro:arg name="script_filename" default="none"/>
+  <xacro:property name="script_filename" value="$(arg script_filename)"/>
+  <xacro:arg name="input_recipe_filename" default="none"/>
+  <xacro:property name="input_recipe_filename" value="$(arg input_recipe_filename)"/>
+  <xacro:arg name="output_recipe_filename" default="none"/>
+  <xacro:property name="output_recipe_filename" value="$(arg output_recipe_filename)"/>
+
+  <!-- Include XACRO-MACRO file of the UR5: -->
+  <xacro:include filename="$(find ros2srrc_robots)/ur5/urdf/ur5_macro_classic.urdf.xacro"/>
+
+  <xacro:include filename="$(find ros2srrc_ur5_gazebo)/urdf/common_properties.xacro"/>	
+
+  <xacro:include filename="$(find ros2srrc_ur5_gazebo)/urdf/cam_on_hand_params.xacro"/>	
+  <xacro:include filename="$(find ros2srrc_ur5_gazebo)/urdf/cam_on_hand.xacro"/>	
+
+  <xacro:include filename="$(find ros2srrc_ur5_gazebo)/urdf/cam_on_base_params.xacro"/>	
+  <xacro:include filename="$(find ros2srrc_ur5_gazebo)/urdf/cam_on_base.xacro"/>	
+
+  <xacro:ur5 
+    bringup="${bringup}"
+    robot_ip="${robot_ip}"
+    EE="${EE}"
+    EE_name="${EE_name}"
+
+    script_filename="${script_filename}"
+    input_recipe_filename="${input_recipe_filename}"
+    output_recipe_filename="${output_recipe_filename}"
+  />
+
+  <!-- Include XACRO-MACRO file of the Robotiq 2f-85: -->
+  <xacro:include filename="$(find ros2srrc_endeffectors)/robotiq_2f85/urdf/robotiq_2f85_macro.urdf.xacro"/>	
+  <xacro:robotiq_2f85 
+    bringup="${bringup}"
+    parent_link="tool0"
+  />
+
+  <!-- Load ROS 2 Gazebo Plugin -->
+  <xacro:unless value="${bringup}">
+
+    <gazebo>
+      <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+        <robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
+
+        <parameters>$(find ur5_gripper_description)/config/ur5_controllers.yaml</parameters>
+
+      </plugin>
+    </gazebo>
+
+  </xacro:unless>
+
+  <!-- World: LINK -->
+  <link name="world"/>
+
+  <!-- Robot Stand: LINK -->
+  <link name='robot_stand'>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="100"/>
+      <inertia ixx="0.01"  ixy="0"  ixz="0" iyy="0.01" iyz="0" izz="0.01" />
+    </inertial>
+    <collision name='collision'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/> 
+      <geometry>
+        <box size = "0.2 0.2 1.0"/>
+      </geometry>
+    </collision>
+    <visual name='chassis_visual'>
+      <origin xyz="0 0 0" rpy=" 0 0 0"/>
+      <geometry>
+        <box size = "0.2 0.2 1.0"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <!-- Robot Stand: FIXED JOINT -->
+  <joint name="world_joint" type="fixed">
+    <parent link= "world" />
+    <child link = "robot_stand" />
+    <origin xyz="0.0 0.0 0.5" rpy="0.0 0.0 0.0" />
+  </joint>
+
+  <!-- Robot Stand: Robot+Stand JOINT -->
+  <joint name="stand_joint" type="fixed">
+    <parent link= "robot_stand" />
+    <child link = "base_link" />
+    <origin xyz="0.0 0.0 0.52" rpy="0.0 0.0 0.0" /> 
+  </joint>
+
+
+
+  <!-- ros2srrc_HMI CAMERA -->
+  <xacro:if value="${hmi}">
+    <xacro:include filename="$(find ros2srrc_hmi)/urdf/hmicamera.urdf.xacro"/>	
+    <xacro:HMI_camera 
+      x="2.5"
+      y="1.50"
+      z="2.0"
+      roll="0.0"
+      pitch="0.35"
+      yaw="-2.6"
+    />
+  </xacro:if>
+
+</robot>

Industrial/ros2_SimRealRobotControl_gz/packages/ur5/ros2srrc_ur5_moveit2_moveit_config/config/kinematics.yaml

@@ -0,0 +1,10 @@
+/**:
+  ros__parameters:
+    ur5_arm:
+      kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+      kinematics_solver_search_resolution: 0.005
+      kinematics_solver_timeout: 0.005
+      kinematics_solver_attempts: 3
+
+    robotiq_2f85:
+      kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin