Pick Place in Harmonic

.gitignore

@@ -9,7 +9,3 @@ __pycache__/
 build
 install
 test/__pycache__/
-
-# Logs
-**log**
-

Industrial/robotiq_description/CMakeLists.txt

@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 3.8)
+project(robotiq_description)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+install(DIRECTORY urdf meshes world DESTINATION share/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

Industrial/robotiq_description/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>robotiq_description</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="chenjuotung@gmail.com">justin</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>urdf</depend>
+  <depend>xacro</depend>
+
+  <exec_depend>robot_state_publisher</exec_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

Industrial/robotiq_description/urdf/robotiq_85_gripper.ros2_control.xacro

@@ -0,0 +1,97 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <!-- ros2_control configuration for Robotiq 85 Gripper -->
+  <xacro:macro name="robotiq_85_ros2_control" params="
+    name
+    prefix
+    sim_gz:=false
+    use_fake_hardware:=false">
+
+    <ros2_control name="${name}_gripper" type="system">
+      <hardware>
+        <xacro:if value="${sim_gz}">
+          <plugin>gz_ros2_control/GazeboSimSystem</plugin>
+        </xacro:if>
+        <xacro:if value="${use_fake_hardware}">
+          <plugin>mock_components/GenericSystem</plugin>
+          <param name="fake_sensor_commands">false</param>
+          <param name="state_following_offset">0.0</param>
+        </xacro:if>
+      </hardware>
+
+      <!-- Main actuated joint -->
+      <joint name="${prefix}robotiq_85_left_knuckle_joint">
+        <command_interface name="position">
+          <param name="min">0.0</param>
+          <param name="max">0.80285</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">0.0</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <!-- Mimic joints - need to be included for proper state publishing -->
+      <joint name="${prefix}robotiq_85_right_knuckle_joint">
+        <param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
+        <param name="multiplier">1.0</param>
+        <command_interface name="position">
+          <param name="min">0.0</param>
+          <param name="max">0.80285</param>
+        </command_interface>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${prefix}robotiq_85_left_inner_knuckle_joint">
+        <param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
+        <param name="multiplier">1.0</param>
+        <command_interface name="position">
+          <param name="min">0.0</param>
+          <param name="max">0.80285</param>
+        </command_interface>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+
+      <joint name="${prefix}robotiq_85_right_inner_knuckle_joint">
+        <param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
+        <param name="multiplier">1.0</param>
+        <command_interface name="position">
+          <param name="min">0.0</param>
+          <param name="max">0.80285</param>
+        </command_interface>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+
+      <joint name="${prefix}robotiq_85_left_finger_tip_joint">
+        <param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
+        <param name="multiplier">-1.0</param>
+        <command_interface name="position">
+          <param name="min">-0.80285</param>
+          <param name="max">0.0</param>
+        </command_interface>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+
+      <joint name="${prefix}robotiq_85_right_finger_tip_joint">
+        <param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
+        <param name="multiplier">-1.0</param>
+        <command_interface name="position">
+          <param name="min">-0.80285</param>
+          <param name="max">0.0</param>
+        </command_interface>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+
+    </ros2_control>
+
+  </xacro:macro>
+
+</robot>

Industrial/robotiq_description/urdf/robotiq_85_gripper.transmission.xacro

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:macro name="robotiq_85_gripper_transmission" params="prefix">
+
+    <transmission name="${prefix}robotiq_85_left_knuckle_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}robotiq_85_left_knuckle_joint">
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}robotiq_85_left_knuckle_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      </actuator>
+    </transmission>
+
+  </xacro:macro>
+
+</robot>