Cleanup bimanual_description

README.md

@@ -1,7 +1,6 @@
 # ROS2 packages for OpenArm robots
 
 - openarm_description: urdf with gripper actuator
-- openarm_grip_description: legacy urdf, to be removed shortly
 - openarm_moveit_config: motion planning with [moveit2](https://github.com/moveit/moveit2)
 
 https://github.com/user-attachments/assets/a0f962e5-6150-49ce-b18e-9914bcb322ef

openarm_bimanual_description/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(openarm_two_arms)
+project(openarm_bimanual_description)
 
 find_package(ament_cmake REQUIRED)
 

openarm_bimanual_description/launch/description.launch.py

@@ -0,0 +1,47 @@
+from pathlib import Path
+
+import launch
+from launch.substitutions import Command
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument
+
+import launch_ros
+from launch_ros.parameter_descriptions import ParameterValue
+
+
+def generate_launch_description():
+    pkg_share = Path(
+        launch_ros.substitutions.FindPackageShare(package="openarm_bimanual_description").find(
+            "openarm_bimanual_description"
+        )
+    )
+    default_model_path = pkg_share / "urdf/openarm_bimanual_wrapper.urdf.xacro"
+
+    use_sim_time = LaunchConfiguration("use_sim_time")
+    use_sim_time_launch_arg = DeclareLaunchArgument("use_sim_time", default_value="true")
+
+    robot_state_publisher_node = launch_ros.actions.Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        parameters=[
+            {
+                # ParameterValue is required to avoid being interpreted as YAML.
+                "robot_description": ParameterValue(
+                    Command(["xacro ", LaunchConfiguration("model")]), value_type=str
+                ),
+                "use_sim_time": use_sim_time,
+            },
+        ],
+    )
+
+    return launch.LaunchDescription(
+        [
+            launch.actions.DeclareLaunchArgument(
+                name="model",
+                default_value=str(default_model_path),
+                description="Absolute path to the robot's URDF file",
+            ),
+            use_sim_time_launch_arg,
+            robot_state_publisher_node,
+        ]
+    )

openarm_bimanual_description/launch/display.launch.py

@@ -0,0 +1,100 @@
+from pathlib import Path
+
+import launch
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+
+import launch_ros
+from launch_ros.substitutions import FindPackageShare
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+
+def generate_launch_description():
+    pkg_share = Path(
+        launch_ros.substitutions.FindPackageShare(package="openarm_bimanual_description").find(
+            "openarm_bimanual_description"
+        )
+    )
+    default_model_path = pkg_share / "urdf/openarm_bimanual_wrapper.urdf.xacro"
+    default_rviz_config_path = pkg_share / "rviz/robot_description.rviz"
+
+    use_sim_time = LaunchConfiguration("use_sim_time")
+
+    robot_state_publisher_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("openarm_bimanual_description"),
+                        "launch",
+                        "description.launch.py",
+                    ]
+                ),
+            ]
+        ),
+        launch_arguments=dict(use_sim_time=use_sim_time).items(),
+    )
+
+    joint_state_publisher_node = launch_ros.actions.Node(
+        package="joint_state_publisher",
+        executable="joint_state_publisher",
+        name="joint_state_publisher",
+        condition=launch.conditions.UnlessCondition(LaunchConfiguration("gui")),
+        parameters=[
+            {
+                "use_sim_time": use_sim_time,
+            }
+        ],
+    )
+    joint_state_publisher_gui_node = launch_ros.actions.Node(
+        package="joint_state_publisher_gui",
+        executable="joint_state_publisher_gui",
+        name="joint_state_publisher_gui",
+        condition=launch.conditions.IfCondition(LaunchConfiguration("gui")),
+        parameters=[
+            {
+                "use_sim_time": use_sim_time,
+            }
+        ],
+    )
+    rviz_node = launch_ros.actions.Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="screen",
+        arguments=["-d", LaunchConfiguration("rvizconfig")],
+        parameters=[
+            {
+                "use_sim_time": use_sim_time,
+            }
+        ],
+    )
+
+    return launch.LaunchDescription(
+        [
+            launch.actions.DeclareLaunchArgument(
+                name="use_sim_time",
+                default_value="false",
+                description="Flag to enable usage of simulation time",
+            ),
+            launch.actions.DeclareLaunchArgument(
+                name="gui",
+                default_value="True",
+                description="Flag to enable joint_state_publisher_gui",
+            ),
+            launch.actions.DeclareLaunchArgument(
+                name="model",
+                default_value=str(default_model_path),
+                description="Absolute path to robot urdf file",
+            ),
+            launch.actions.DeclareLaunchArgument(
+                name="rvizconfig",
+                default_value=str(default_rviz_config_path),
+                description="Absolute path to rviz config file",
+            ),
+            joint_state_publisher_node,
+            joint_state_publisher_gui_node,
+            robot_state_publisher_node,
+            rviz_node,
+        ]
+    )

openarm_bimanual_description/launch/display_xacro.launch.py

@@ -15,9 +15,13 @@ def get_package_file(package, file_path):
 
 
 def generate_launch_description():
-    xacro_file = get_package_file("openarm_two_arms", "urdf/openarm_two_arms.urdf.xacro")
+    xacro_file = get_package_file(
+        "openarm_bimanual_description", "urdf/openarm_bimanual.urdf.xacro"
+    )
     urdf = xacro.process_file(xacro_file).toprettyxml(indent="  ")
-    default_rviz_config_path = get_package_file("openarm_two_arms", "rviz/robot_description.rviz")
+    default_rviz_config_path = get_package_file(
+        "openarm_bimanual_description", "rviz/robot_description.rviz"
+    )
 
     return launch.LaunchDescription(
         [

openarm_bimanual_description/launch/gazebo.launch.py

@@ -0,0 +1,149 @@
+import os
+import re
+import subprocess
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.conditions import UnlessCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch.substitutions import PathJoinSubstitution
+
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    resources_package = "openarm_bimanual_description"
+
+    # Make path to resources dir without last package_name fragment.
+    path_to_share_dir_clipped = "".join(
+        get_package_share_directory(resources_package).rsplit("/" + resources_package, 1)
+    )
+
+    # Gazebo hint for resources.
+    os.environ["GZ_SIM_RESOURCE_PATH"] = path_to_share_dir_clipped
+
+    # Ensure `SDF_PATH` is populated since `sdformat_urdf` uses this rather
+
+    # than `GZ_SIM_RESOURCE_PATH` to locate resources.
+    if "GZ_SIM_RESOURCE_PATH" in os.environ:
+        gz_sim_resource_path = os.environ["GZ_SIM_RESOURCE_PATH"]
+
+        if "SDF_PATH" in os.environ:
+            sdf_path = os.environ["SDF_PATH"]
+            os.environ["SDF_PATH"] = sdf_path + ":" + gz_sim_resource_path
+        else:
+            os.environ["SDF_PATH"] = gz_sim_resource_path
+
+    use_custom_world = LaunchConfiguration("use_custom_world")
+    use_custom_world_launch_arg = DeclareLaunchArgument("use_custom_world", default_value="true")
+    gazebo_world = LaunchConfiguration("gazebo_world")
+    gazebo_world_launch_arg = DeclareLaunchArgument("gazebo_world", default_value="empty.sdf")
+
+    # prepare custom world
+    world = os.getenv("GZ_SIM_WORLD", "empty")
+    fly_world_path = resources_package + "/worlds/" + world + ".sdf"
+    gz_version = subprocess.getoutput("gz sim --versions")
+    gz_version_major = re.search(r"^\d{1}", gz_version).group()
+    launch_arguments = dict(
+        gz_args="-r " + str(fly_world_path) + " --verbose ", gz_version=gz_version_major
+    ).items()
+
+    # Gazebo Sim.
+    # by default the custom world is used, otherwise the gazebo world is used, which can be changed with the argument
+    pkg_ros_gz_sim = get_package_share_directory("ros_gz_sim")
+    gazebo = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_ros_gz_sim, "launch", "gz_sim.launch.py"),
+        ),
+        launch_arguments=launch_arguments
+        if use_custom_world
+        else dict(gz_args="-r " + gazebo_world + " --verbose").items(),
+    )
+
+    # Spawn
+    spawn = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=[
+            "-name",
+            "openarm_bimanual_description",
+            "-x",
+            "1.2",
+            "-z",
+            "2.3",
+            "-Y",
+            "3.4",
+            "-topic",
+            "/robot_description",
+        ],
+        output="screen",
+    )
+
+    use_sim_time = LaunchConfiguration("use_sim_time")
+    use_sim_time_launch_arg = DeclareLaunchArgument("use_sim_time", default_value="true")
+    use_rviz = LaunchConfiguration("use_rviz")
+    use_rviz_arg = DeclareLaunchArgument("use_rviz", default_value="true")
+
+    robot_state_publisher = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare(resources_package),
+                        "launch",
+                        "description.launch.py",
+                    ]
+                ),
+            ]
+        ),
+        condition=UnlessCondition(use_rviz),  # rviz launch includes rsp.
+        launch_arguments=dict(use_sim_time=use_sim_time).items(),
+    )
+
+    rviz = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare(resources_package),
+                        "launch",
+                        "display.launch.py",
+                    ]
+                ),
+            ]
+        ),
+        condition=IfCondition(use_rviz),
+        launch_arguments=dict(use_sim_time=use_sim_time).items(),
+    )
+
+    gz_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=["/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock"],
+        output="screen",
+        parameters=[
+            {
+                "use_sim_time": use_sim_time,
+            }
+        ],
+    )
+
+    return LaunchDescription(
+        [
+            use_sim_time_launch_arg,
+            use_rviz_arg,
+            use_custom_world_launch_arg,
+            gazebo_world_launch_arg,
+            robot_state_publisher,
+            rviz,
+            gazebo,
+            spawn,
+            gz_bridge,
+        ]
+    )

openarm_bimanual_description/package.xml

@@ -1,7 +1,7 @@
 <?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>openarm_two_arms</name>
+  <name>openarm_bimanual_description</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="t95zhou@uwaterloo.ca">Thomason Zhou</maintainer>

openarm_bimanual_description/urdf/openarm.xacro

@@ -5,8 +5,6 @@
     <material name="gray">
         <color rgba="${105/255} ${105/255} ${105/255} 1.0"/>
     </material>
-    <!-- <xacro:property name="zero_pos" value="vertical"/> -->
-
 
     <xacro:macro name="openarm" params="side prefix">
         <xacro:property name="reflect" value="${1 if side=='right' else -1}"/>
@@ -16,7 +14,7 @@
             <visual>
                 <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/link1.stl"/>
+                    <mesh filename="package://openarm_bimanual_description/meshes/link1.stl"/>
                 </geometry>
                 <material name="gray"/>
             </visual>
@@ -36,7 +34,7 @@
             <visual>
                 <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/link2.stl"/>
+                    <mesh filename="package://openarm_bimanual_description/meshes/link2.stl"/>
                 </geometry>
                 <material name="gray"/>
             </visual>
@@ -56,7 +54,7 @@
             <visual>
                 <origin rpy="${pi * 0.5} 0 0" xyz="0.0 0.0987 0.02975"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/link3.stl"/>
+                    <mesh filename="package://openarm_bimanual_description/meshes/link3.stl"/>
                 </geometry>
                 <material name="gray"/>
             </visual>
@@ -76,7 +74,7 @@
             <visual>
                 <origin rpy="${pi} -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/link4.stl"/>
+                    <mesh filename="package://openarm_bimanual_description/meshes/link4.stl"/>
                 </geometry>
                 <material name="gray"/>
             </visual>
@@ -96,7 +94,7 @@
             <visual>
                 <origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/link5.stl"/>
+                    <mesh filename="package://openarm_bimanual_description/meshes/link5.stl"/>
                 </geometry>
                 <material name="gray"/>
             </visual>
@@ -116,7 +114,7 @@
             <visual>
                 <origin rpy="${-2.1276679791326423*reflect + rotate} ${reflect* -1.5542266826921929} ${rotate}" xyz="${reflect*-0.0485412 + (0 if side=='right' else 0.012)} ${reflect*-0.0860404 +(0 if side=='right' else 0.0018)} ${0.437784- (0 if side=='right' else 0.0023)}"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/${'link6_rightarm.stl' if side=='right' else 'link6_leftarm.stl'}"/>
+                    <mesh filename="package://openarm_bimanual_description/meshes/${'link6_rightarm.stl' if side=='right' else 'link6_leftarm.stl'}"/>
                 </geometry>
                 <material name="gray"/>
             </visual>
@@ -136,7 +134,7 @@
             <visual>
                 <origin rpy="0 ${reflect*-0.008758182894510852 + rotate} 0" xyz="0.558839 ${reflect*-0.00358671 + (0 if side=='right' else -0.007)} ${reflect*-0.0631962 + (0 if side=='right' else 0.071)}"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/${'link7_rightarm.stl' if side=='right' else 'link7_leftarm.stl'}"/>
+                    <mesh filename="package://openarm_bimanual_description/meshes/${'link7_rightarm.stl' if side=='right' else 'link7_leftarm.stl'}"/>
                 </geometry>
                 <material name="gray"/>
             </visual>
@@ -156,7 +154,7 @@
             <visual>
                 <origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/link8.stl"/>
+                    <mesh filename="package://openarm_bimanual_description/meshes/link8.stl"/>
                 </geometry>
                 <material name="gray"/>
             </visual>
@@ -176,14 +174,14 @@
             <visual>
                 <origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/left_jaw.stl"/>
+                    <mesh filename="package://openarm_bimanual_description/meshes/left_jaw.stl"/>
                 </geometry>
                 <material name="gray"/>
             </visual>
             <collision>
                 <origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/left_jaw.stl"/>
+                    <mesh filename="package://openarm_bimanual_description/meshes/left_jaw.stl"/>
                 </geometry>
             </collision>
             <inertial>
@@ -196,14 +194,14 @@
             <visual>
                 <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/right_jaw.stl"/>
+                    <mesh filename="package://openarm_bimanual_description/meshes/right_jaw.stl"/>
                 </geometry>
                 <material name="gray"/>
             </visual>
             <collision>
                 <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/right_jaw.stl"/>
+                    <mesh filename="package://openarm_bimanual_description/meshes/right_jaw.stl"/>
                 </geometry>
             </collision>
             <inertial>

openarm_bimanual_description/urdf/openarm_bimanual.urdf

@@ -1,9 +1,9 @@
 <?xml version="1.0" ?>
 <!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from openarm_two_arms.urdf.xacro    | -->
+<!-- |    This document was autogenerated by xacro from openarm_bimanual.urdf.xacro    | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
-<robot name="openarm_two_arms">
+<robot name="openarm_bimanual">
   <link name="world"/>
   <material name="gray">
     <color rgba="0.4117647058823529 0.4117647058823529 0.4117647058823529 1.0"/>
@@ -13,7 +13,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/pedestal_link.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/pedestal_link.stl"/>
       </geometry>
       <material name="gray">
         <color rgba="0.4117647058823529 0.4117647058823529 0.4117647058823529 1.0"/>
@@ -35,7 +35,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/link1.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/link1.stl"/>
       </geometry>
       <material name="gray"/>
     </visual>
@@ -55,7 +55,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/link2.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/link2.stl"/>
       </geometry>
       <material name="gray"/>
     </visual>
@@ -75,7 +75,7 @@
     <visual>
       <origin rpy="1.5707963267948966 0 0" xyz="0.0 0.0987 0.02975"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/link3.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/link3.stl"/>
       </geometry>
       <material name="gray"/>
     </visual>
@@ -95,7 +95,7 @@
     <visual>
       <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/link4.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/link4.stl"/>
       </geometry>
       <material name="gray"/>
     </visual>
@@ -115,7 +115,7 @@
     <visual>
       <origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/link5.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/link5.stl"/>
       </geometry>
       <material name="gray"/>
     </visual>
@@ -135,7 +135,7 @@
     <visual>
       <origin rpy="-2.1276679791326423 -1.5542266826921929 0" xyz="-0.0485412 -0.0860404 0.437784"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/link6_rightarm.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/link6_rightarm.stl"/>
       </geometry>
       <material name="gray"/>
     </visual>
@@ -155,7 +155,7 @@
     <visual>
       <origin rpy="0 -0.008758182894510852 0" xyz="0.558839 -0.00358671 -0.0631962"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/link7_rightarm.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/link7_rightarm.stl"/>
       </geometry>
       <material name="gray"/>
     </visual>
@@ -175,7 +175,7 @@
     <visual>
       <origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/link8.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/link8.stl"/>
       </geometry>
       <material name="gray"/>
     </visual>
@@ -195,14 +195,14 @@
     <visual>
       <origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/left_jaw.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/left_jaw.stl"/>
       </geometry>
       <material name="gray"/>
     </visual>
     <collision>
       <origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/left_jaw.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/left_jaw.stl"/>
       </geometry>
     </collision>
     <inertial>
@@ -215,14 +215,14 @@
     <visual>
       <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/right_jaw.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/right_jaw.stl"/>
       </geometry>
       <material name="gray"/>
     </visual>
     <collision>
       <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/right_jaw.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/right_jaw.stl"/>
       </geometry>
     </collision>
     <inertial>
@@ -299,7 +299,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/link1.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/link1.stl"/>
       </geometry>
       <material name="gray"/>
     </visual>
@@ -319,7 +319,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/link2.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/link2.stl"/>
       </geometry>
       <material name="gray"/>
     </visual>
@@ -339,7 +339,7 @@
     <visual>
       <origin rpy="1.5707963267948966 0 0" xyz="0.0 0.0987 0.02975"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/link3.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/link3.stl"/>
       </geometry>
       <material name="gray"/>
     </visual>
@@ -359,7 +359,7 @@
     <visual>
       <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/link4.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/link4.stl"/>
       </geometry>
       <material name="gray"/>
     </visual>
@@ -379,7 +379,7 @@
     <visual>
       <origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/link5.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/link5.stl"/>
       </geometry>
       <material name="gray"/>
     </visual>
@@ -399,7 +399,7 @@
     <visual>
       <origin rpy="5.269260632722435 1.5542266826921929 3.141592653589793" xyz="0.0605412 0.0878404 0.435484"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/link6_leftarm.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/link6_leftarm.stl"/>
       </geometry>
       <material name="gray"/>
     </visual>
@@ -419,7 +419,7 @@
     <visual>
       <origin rpy="0 3.150350836484304 0" xyz="0.558839 -0.0034132900000000002 0.1341962"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/link7_leftarm.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/link7_leftarm.stl"/>
       </geometry>
       <material name="gray"/>
     </visual>
@@ -439,7 +439,7 @@
     <visual>
       <origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/link8.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/link8.stl"/>
       </geometry>
       <material name="gray"/>
     </visual>
@@ -459,14 +459,14 @@
     <visual>
       <origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/left_jaw.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/left_jaw.stl"/>
       </geometry>
       <material name="gray"/>
     </visual>
     <collision>
       <origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/left_jaw.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/left_jaw.stl"/>
       </geometry>
     </collision>
     <inertial>
@@ -479,14 +479,14 @@
     <visual>
       <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/right_jaw.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/right_jaw.stl"/>
       </geometry>
       <material name="gray"/>
     </visual>
     <collision>
       <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/right_jaw.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/right_jaw.stl"/>
       </geometry>
     </collision>
     <inertial>

openarm_bimanual_description/urdf/openarm_bimanual.urdf.xacro

@@ -1,9 +1,9 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm_two_arms">
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm_bimanual">
   <link name="world"/>
 
   <xacro:include filename="openarm.xacro"/>
-  <xacro:include filename="openarm_two_arms_pedestal.urdf"/>
+  <xacro:include filename="openarm_pedestal.urdf"/>
   <xacro:openarm prefix="right_" side="right"/>
   <xacro:openarm prefix="left_" side="left"/>
 

openarm_bimanual_description/urdf/openarm_bimanual_wrapper.urdf.xacro

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm_bimanual">
+    <xacro:include filename="openarm_bimanual.urdf.xacro"/>
+    <xacro:include filename="openarm_bimanual_sensors.urdf.xacro"/>
+</robot>

openarm_bimanual_description/urdf/openarm_pedestal.urdf

@@ -1,10 +1,10 @@
 <?xml version="1.0" ?>
-<robot name="openarm_two_arms">
+<robot name="openarm_bimanual_description">
   <link name="pedestal_link">
     <visual>
       <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/pedestal_link.stl"/>
+        <mesh filename="package://openarm_bimanual_description/meshes/pedestal_link.stl"/>
       </geometry>
       <material name="gray">
         <color rgba="${105/255} ${105/255} ${105/255} 1.0"/>

openarm_description/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(openarm_description_2)
+project(openarm_description)
 
 find_package(ament_cmake REQUIRED)
 

openarm_description/launch/description.launch.py

@@ -10,30 +10,38 @@ from launch_ros.parameter_descriptions import ParameterValue
 
 
 def generate_launch_description():
-    pkg_share = Path(launch_ros.substitutions.FindPackageShare(package='openarm_description_2').find('openarm_description_2'))
+    pkg_share = Path(
-    default_model_path = pkg_share / 'urdf/openarm_wrapper.urdf.xacro'
+        launch_ros.substitutions.FindPackageShare(package="openarm_description").find(
+            "openarm_description"
+        )
+    )
+    default_model_path = pkg_share / "urdf/openarm_wrapper.urdf.xacro"
 
-    use_sim_time = LaunchConfiguration('use_sim_time')
+    use_sim_time = LaunchConfiguration("use_sim_time")
-    use_sim_time_launch_arg = DeclareLaunchArgument('use_sim_time', default_value='true')
+    use_sim_time_launch_arg = DeclareLaunchArgument("use_sim_time", default_value="true")
 
     robot_state_publisher_node = launch_ros.actions.Node(
-        package='robot_state_publisher',
+        package="robot_state_publisher",
-        executable='robot_state_publisher',
+        executable="robot_state_publisher",
         parameters=[
             {
                 # ParameterValue is required to avoid being interpreted as YAML.
-                'robot_description': ParameterValue(Command(['xacro ', LaunchConfiguration('model')]), value_type=str),
+                "robot_description": ParameterValue(
-                'use_sim_time': use_sim_time,
+                    Command(["xacro ", LaunchConfiguration("model")]), value_type=str
+                ),
+                "use_sim_time": use_sim_time,
             },
         ],
     )
 
-    return launch.LaunchDescription([
+    return launch.LaunchDescription(
-        launch.actions.DeclareLaunchArgument(
+        [
-            name='model',
+            launch.actions.DeclareLaunchArgument(
-            default_value=str(default_model_path),
+                name="model",
-            description="Absolute path to the robot's URDF file",
+                default_value=str(default_model_path),
-        ),
+                description="Absolute path to the robot's URDF file",
-        use_sim_time_launch_arg,
+            ),
-        robot_state_publisher_node,
+            use_sim_time_launch_arg,
-    ])
+            robot_state_publisher_node,
+        ]
+    )

openarm_description/launch/display.launch.py

@@ -10,75 +10,91 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 
 def generate_launch_description():
-    pkg_share = Path(launch_ros.substitutions.FindPackageShare(package='openarm_description_2').find('openarm_description_2'))
+    pkg_share = Path(
-    default_model_path = pkg_share / 'urdf/openarm_wrapper.urdf.xacro'
+        launch_ros.substitutions.FindPackageShare(package="openarm_description").find(
-    default_rviz_config_path = pkg_share / 'rviz/robot_description.rviz'
+            "openarm_description"
+        )
+    )
+    default_model_path = pkg_share / "urdf/openarm_wrapper.urdf.xacro"
+    default_rviz_config_path = pkg_share / "rviz/robot_description.rviz"
 
-    use_sim_time = LaunchConfiguration('use_sim_time')
+    use_sim_time = LaunchConfiguration("use_sim_time")
 
     robot_state_publisher_node = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([
+        PythonLaunchDescriptionSource(
-            PathJoinSubstitution([
+            [
-                FindPackageShare('openarm_description_2'),
+                PathJoinSubstitution(
-                'launch',
+                    [
-                'description.launch.py',
+                        FindPackageShare("openarm_description"),
-            ]),
+                        "launch",
-        ]),
+                        "description.launch.py",
+                    ]
+                ),
+            ]
+        ),
         launch_arguments=dict(use_sim_time=use_sim_time).items(),
     )
 
     joint_state_publisher_node = launch_ros.actions.Node(
-        package='joint_state_publisher',
+        package="joint_state_publisher",
-        executable='joint_state_publisher',
+        executable="joint_state_publisher",
-        name='joint_state_publisher',
+        name="joint_state_publisher",
-        condition=launch.conditions.UnlessCondition(LaunchConfiguration('gui')),
+        condition=launch.conditions.UnlessCondition(LaunchConfiguration("gui")),
-        parameters=[{
+        parameters=[
-            'use_sim_time': use_sim_time,
+            {
-        }],
+                "use_sim_time": use_sim_time,
+            }
+        ],
     )
     joint_state_publisher_gui_node = launch_ros.actions.Node(
-        package='joint_state_publisher_gui',
+        package="joint_state_publisher_gui",
-        executable='joint_state_publisher_gui',
+        executable="joint_state_publisher_gui",
-        name='joint_state_publisher_gui',
+        name="joint_state_publisher_gui",
-        condition=launch.conditions.IfCondition(LaunchConfiguration('gui')),
+        condition=launch.conditions.IfCondition(LaunchConfiguration("gui")),
-        parameters=[{
+        parameters=[
-            'use_sim_time': use_sim_time,
+            {
-        }],
+                "use_sim_time": use_sim_time,
+            }
+        ],
     )
     rviz_node = launch_ros.actions.Node(
-        package='rviz2',
+        package="rviz2",
-        executable='rviz2',
+        executable="rviz2",
-        name='rviz2',
+        name="rviz2",
-        output='screen',
+        output="screen",
-        arguments=['-d', LaunchConfiguration('rvizconfig')],
+        arguments=["-d", LaunchConfiguration("rvizconfig")],
-        parameters=[{
+        parameters=[
-            'use_sim_time': use_sim_time,
+            {
-        }],
+                "use_sim_time": use_sim_time,
+            }
+        ],
     )
 
-    return launch.LaunchDescription([
+    return launch.LaunchDescription(
-        launch.actions.DeclareLaunchArgument(
+        [
-            name='use_sim_time',
+            launch.actions.DeclareLaunchArgument(
-            default_value='false',
+                name="use_sim_time",
-            description='Flag to enable usage of simulation time',
+                default_value="false",
-        ),
+                description="Flag to enable usage of simulation time",
-        launch.actions.DeclareLaunchArgument(
+            ),
-            name='gui',
+            launch.actions.DeclareLaunchArgument(
-            default_value='True',
+                name="gui",
-            description='Flag to enable joint_state_publisher_gui',
+                default_value="True",
-        ),
+                description="Flag to enable joint_state_publisher_gui",
-        launch.actions.DeclareLaunchArgument(
+            ),
-            name='model',
+            launch.actions.DeclareLaunchArgument(
-            default_value=str(default_model_path),
+                name="model",
-            description='Absolute path to robot urdf file',
+                default_value=str(default_model_path),
-        ),
+                description="Absolute path to robot urdf file",
-        launch.actions.DeclareLaunchArgument(
+            ),
-            name='rvizconfig',
+            launch.actions.DeclareLaunchArgument(
-            default_value=str(default_rviz_config_path),
+                name="rvizconfig",
-            description='Absolute path to rviz config file',
+                default_value=str(default_rviz_config_path),
-        ),
+                description="Absolute path to rviz config file",
-        joint_state_publisher_node,
+            ),
-        joint_state_publisher_gui_node,
+            joint_state_publisher_node,
-        robot_state_publisher_node,
+            joint_state_publisher_gui_node,
-        rviz_node,
+            robot_state_publisher_node,
-    ])
+            rviz_node,
+        ]
+    )

openarm_description/launch/gazebo.launch.py

@@ -18,14 +18,15 @@ from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
-
+    resources_package = "openarm_description"
-    resources_package = 'openarm_description_2'
 
     # Make path to resources dir without last package_name fragment.
-    path_to_share_dir_clipped = ''.join(get_package_share_directory(resources_package).rsplit('/' + resources_package, 1))
+    path_to_share_dir_clipped = "".join(
+        get_package_share_directory(resources_package).rsplit("/" + resources_package, 1)
+    )
 
     # Gazebo hint for resources.
-    os.environ['GZ_SIM_RESOURCE_PATH'] = path_to_share_dir_clipped
+    os.environ["GZ_SIM_RESOURCE_PATH"] = path_to_share_dir_clipped
 
     # Ensure `SDF_PATH` is populated since `sdformat_urdf` uses this rather
 
@@ -39,90 +40,110 @@ def generate_launch_description():
         else:
             os.environ["SDF_PATH"] = gz_sim_resource_path
 
-
+    use_custom_world = LaunchConfiguration("use_custom_world")
-    use_custom_world = LaunchConfiguration('use_custom_world')
+    use_custom_world_launch_arg = DeclareLaunchArgument("use_custom_world", default_value="true")
-    use_custom_world_launch_arg = DeclareLaunchArgument('use_custom_world', default_value='true')
+    gazebo_world = LaunchConfiguration("gazebo_world")
-    gazebo_world = LaunchConfiguration('gazebo_world')
+    gazebo_world_launch_arg = DeclareLaunchArgument("gazebo_world", default_value="empty.sdf")
-    gazebo_world_launch_arg = DeclareLaunchArgument('gazebo_world', default_value='empty.sdf')
 
     # prepare custom world
-    world = os.getenv('GZ_SIM_WORLD', 'empty')
+    world = os.getenv("GZ_SIM_WORLD", "empty")
-    fly_world_path = resources_package + '/worlds/' + world + '.sdf'
+    fly_world_path = resources_package + "/worlds/" + world + ".sdf"
     gz_version = subprocess.getoutput("gz sim --versions")
-    gz_version_major = re.search(r'^\d{1}', gz_version).group()
+    gz_version_major = re.search(r"^\d{1}", gz_version).group()
-    launch_arguments=dict(gz_args = '-r ' + str(fly_world_path) + ' --verbose ', gz_version = gz_version_major).items()
+    launch_arguments = dict(
+        gz_args="-r " + str(fly_world_path) + " --verbose ", gz_version=gz_version_major
+    ).items()
 
     # Gazebo Sim.
     # by default the custom world is used, otherwise the gazebo world is used, which can be changed with the argument
-    pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
+    pkg_ros_gz_sim = get_package_share_directory("ros_gz_sim")
     gazebo = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py'),
+            os.path.join(pkg_ros_gz_sim, "launch", "gz_sim.launch.py"),
         ),
-        launch_arguments=launch_arguments if use_custom_world else dict(gz_args='-r ' + gazebo_world + ' --verbose').items(),
+        launch_arguments=launch_arguments
+        if use_custom_world
+        else dict(gz_args="-r " + gazebo_world + " --verbose").items(),
     )
 
     # Spawn
     spawn = Node(
-            package='ros_gz_sim',
+        package="ros_gz_sim",
-            executable='create',
+        executable="create",
-            arguments=[
+        arguments=[
-                '-name', 'openarm',
+            "-name",
-                '-x', '1.2',
+            "openarm",
-                '-z', '2.3',
+            "-x",
-                '-Y', '3.4',
+            "1.2",
-                '-topic', '/robot_description',
+            "-z",
-            ],
+            "2.3",
-            output='screen',
+            "-Y",
+            "3.4",
+            "-topic",
+            "/robot_description",
+        ],
+        output="screen",
     )
 
-    use_sim_time = LaunchConfiguration('use_sim_time')
+    use_sim_time = LaunchConfiguration("use_sim_time")
-    use_sim_time_launch_arg = DeclareLaunchArgument('use_sim_time', default_value='true')
+    use_sim_time_launch_arg = DeclareLaunchArgument("use_sim_time", default_value="true")
-    use_rviz = LaunchConfiguration('use_rviz')
+    use_rviz = LaunchConfiguration("use_rviz")
-    use_rviz_arg = DeclareLaunchArgument("use_rviz", default_value='true')
+    use_rviz_arg = DeclareLaunchArgument("use_rviz", default_value="true")
 
     robot_state_publisher = IncludeLaunchDescription(
-            PythonLaunchDescriptionSource([
+        PythonLaunchDescriptionSource(
-                PathJoinSubstitution([
+            [
-                    FindPackageShare(resources_package),
+                PathJoinSubstitution(
-                    'launch',
+                    [
-                    'description.launch.py',
+                        FindPackageShare(resources_package),
-                ]),
+                        "launch",
-            ]),
+                        "description.launch.py",
-            condition=UnlessCondition(use_rviz),  # rviz launch includes rsp.
+                    ]
-            launch_arguments=dict(use_sim_time=use_sim_time).items(),
+                ),
+            ]
+        ),
+        condition=UnlessCondition(use_rviz),  # rviz launch includes rsp.
+        launch_arguments=dict(use_sim_time=use_sim_time).items(),
     )
 
     rviz = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([
+        PythonLaunchDescriptionSource(
-            PathJoinSubstitution([
+            [
-                FindPackageShare(resources_package),
+                PathJoinSubstitution(
-                'launch',
+                    [
-                'display.launch.py',
+                        FindPackageShare(resources_package),
-            ]),
+                        "launch",
-        ]),
+                        "display.launch.py",
+                    ]
+                ),
+            ]
+        ),
         condition=IfCondition(use_rviz),
         launch_arguments=dict(use_sim_time=use_sim_time).items(),
     )
 
     gz_bridge = Node(
-        package='ros_gz_bridge',
+        package="ros_gz_bridge",
-        executable='parameter_bridge',
+        executable="parameter_bridge",
-        arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock'],
+        arguments=["/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock"],
-        output='screen',
+        output="screen",
-        parameters=[{
+        parameters=[
-            'use_sim_time': use_sim_time,
+            {
-        }],
+                "use_sim_time": use_sim_time,
+            }
+        ],
     )
 
-    return LaunchDescription([
+    return LaunchDescription(
-        use_sim_time_launch_arg,
+        [
-        use_rviz_arg,
+            use_sim_time_launch_arg,
-        use_custom_world_launch_arg,
+            use_rviz_arg,
-        gazebo_world_launch_arg,
+            use_custom_world_launch_arg,
-        robot_state_publisher,
+            gazebo_world_launch_arg,
-        rviz,
+            robot_state_publisher,
-        gazebo,
+            rviz,
-        spawn,
+            gazebo,
-        gz_bridge,
+            spawn,
-    ])
+            gz_bridge,
+        ]
+    )

openarm_description/package.xml

@@ -1,7 +1,7 @@
 <?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>openarm_description_2</name>
+  <name>openarm_description</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="TODO@todo.com">TODO</maintainer>

openarm_description/urdf/openarm.urdf

@@ -1,278 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="openarm">
-  <!--Generated by RobotCAD, a ROS Workbench for FreeCAD (https://github.com/drfenixion/freecad.robotcad)-->
-  <link name="l_J1_v002">
-    <visual>
-      <!--J1 v002/Part__Feature.-->
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-      <geometry>
-        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j1v1_aooobi.dae"/>
-      </geometry>
-    </visual>
-    <collision>
-      <!--bound_obj__l_J1_v002__col_J1_v1__BoundBox/col_J1_v1__BoundBox.-->
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.0296"/>
-      <geometry>
-        <box size="0.11 0.073 0.0592"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.5769283920617252"/>
-      <origin rpy="0 0 0" xyz="0.0 2.52845e-05 0.0236621"/>
-      <inertia ixx="0.0003403516757406" ixy="-0.0" ixz="-0.0" iyy="0.000430005830001" iyz="-5.098294821e-07" izz="0.0004802171432002"/>
-    </inertial>
-  </link>
-  <link name="l_J2_v002">
-    <visual>
-      <!--J2 v002/Part__Feature001.-->
-      <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
-      <geometry>
-        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j2v1_jhlkho.dae"/>
-      </geometry>
-    </visual>
-    <collision>
-      <!--bound_obj__l_J2_v002__col_J2_v1__BoundBox/col_J2_v1__BoundBox.-->
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/>
-      <geometry>
-        <box size="0.059000000014901216 0.08200000000000003 0.0742471498637348"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.1625750413491735"/>
-      <origin rpy="0 0 0" xyz="-0.000225878 -0.00183836 0.0278368"/>
-      <inertia ixx="0.0002390311021329" ixy="-7.55169292e-08" ixz="-1.1282723362e-06" iyy="0.0001049079831478" iyz="5.907962784e-06" izz="0.0001973736868594"/>
-    </inertial>
-  </link>
-  <link name="l_J3_v003">
-    <visual>
-      <!--J3 v003/Part__Feature002.-->
-      <origin rpy="1.570796326794897 0 0" xyz="0.0 0.0987 0.02975"/>
-      <geometry>
-        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j3v2_wvlhxy.dae"/>
-      </geometry>
-    </visual>
-    <collision>
-      <!--bound_obj__l_J3_v003__col_J3_v2__BoundBox/col_J3_v2__BoundBox.-->
-      <origin rpy="1.5707963267948968 0 0" xyz="-0.0164466 -0.00045542 0.02975"/>
-      <geometry>
-        <box size="0.08989101803441883 0.06999999999999984 0.05903276947803012"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.420167646991003"/>
-      <origin rpy="1.5707963267948968 0 0" xyz="-0.00688022 0.0 0.0282752"/>
-      <inertia ixx="0.0002025600112623" ixy="6.0042478753e-06" ixz="1.3304903058e-06" iyy="0.0002970624991388" iyz="5.980157766e-07" izz="0.0003288999435124"/>
-    </inertial>
-  </link>
-  <link name="l_J4_v002">
-    <visual>
-      <!--J4 v002/Part__Feature003.-->
-      <origin rpy="1.5707963267958094 -1.5620381439005735 0" xyz="0.000536411 0.0992364 0.0612453"/>
-      <geometry>
-        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j4v1_augius.dae"/>
-      </geometry>
-    </visual>
-    <collision>
-      <!--bound_obj__l_J4_v002__col_J4_v1__BoundBox/col_J4_v1__BoundBox.-->
-      <origin rpy="1.5707963267958094 -1.5620381439005735 0" xyz="-0.013725 -0.00142762 -0.132481"/>
-      <geometry>
-        <box size="0.27584673777150337 0.08211429171582063 0.07186573179325861"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.8194755393734474"/>
-      <origin rpy="1.5707963267958094 -1.5620381439005735 0" xyz="-0.00310558 -0.00194096 -0.132377"/>
-      <inertia ixx="0.0004407845203398" ixy="6.02002369404e-05" ixz="0.0001463745926194" iyy="0.0092087914805304" iyz="1.5469710436e-06" izz="0.0091705393160237"/>
-    </inertial>
-  </link>
-  <link name="l_J5_v003">
-    <visual>
-      <!--J5 v003/Part__Feature004.-->
-      <origin rpy="0 -0.00875818289428989 0" xyz="0.303864 0.0 -0.128451"/>
-      <geometry>
-        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j5v2_1zjcxf.dae"/>
-      </geometry>
-    </visual>
-    <collision>
-      <!--bound_obj__l_J5_v003__col_J5_v2__BoundBox/col_J5_v2__BoundBox.-->
-      <origin rpy="0 -0.0087581828942894 0" xyz="-0.0542814 0.00265291 -0.0302022"/>
-      <geometry>
-        <box size="0.16827213220625822 0.06430555048399172 0.08257859967140947"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.4086748254352304"/>
-      <origin rpy="0 -0.0087581828942894 0" xyz="-0.0831891 0.00251789 -0.0290107"/>
-      <inertia ixx="0.000314171574253" ixy="-1.13915660296e-05" ixz="-1.88347409006e-05" iyy="0.001221711435314" iyz="1.4672541842e-06" izz="0.0010755135067661"/>
-    </inertial>
-  </link>
-  <link name="l_J6_v002">
-    <visual>
-      <!--J6 v002/Part__Feature005.-->
-      <origin rpy="-2.1276679791304027 -1.5542266826921316 0" xyz="-0.0485412 -0.0860404 0.437784"/>
-      <geometry>
-        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j6v1_71vz7n.dae"/>
-      </geometry>
-    </visual>
-    <collision>
-      <!--bound_obj__l_J6_v002__col_J6_v1__BoundBox/col_J6_v1__BoundBox.-->
-      <origin rpy="-2.1276679791303965 -1.5542266826921314 0" xyz="-0.00260794 -0.00312921 -0.0652641"/>
-      <geometry>
-        <box size="0.13114353004704765 0.05953478325301745 0.08817196195081879"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.344847195804925"/>
-      <origin rpy="-2.1276679791303965 -1.5542266826921314 0" xyz="-0.00898536 -0.0135065 -0.0438611"/>
-      <inertia ixx="0.0001935598099975" ixy="-1.0061665815e-06" ixz="-3.9096495715e-05" iyy="0.0003486912031866" iyz="6.0880603153e-06" izz="0.0002877497515376"/>
-    </inertial>
-  </link>
-  <link name="l_J7_v002">
-    <visual>
-      <!--J7 v002/Part__Feature006.-->
-      <origin rpy="0 -0.008758182894492011 0" xyz="0.558839 -0.00358671 -0.0631962"/>
-      <geometry>
-        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j7v1_ebpnbv.dae"/>
-      </geometry>
-    </visual>
-    <collision>
-      <!--bound_obj__l_J7_v002__col_J7_v1__BoundBox/col_J7_v1__BoundBox.-->
-      <origin rpy="0 -0.008758182894492202 0" xyz="-0.000318103 0.0022839 0.0340014"/>
-      <geometry>
-        <box size="0.058327402175132874 0.04432916698753661 0.08267601622411752"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.2782138078738053"/>
-      <origin rpy="0 -0.008758182894492202 0" xyz="5.99432e-05 0.0041433 0.0354274"/>
-      <inertia ixx="0.0001042415331565" ixy="2.735265832e-07" ixz="-1.066232238e-07" iyy="0.0001231355074328" iyz="-8.60499675e-08" izz="9.22131995851e-05"/>
-    </inertial>
-  </link>
-  <link name="l_J8_v002">
-    <visual>
-      <!--J8 v002/Part__Feature007.-->
-      <origin rpy="1.5709195259578743 -0.014065461951076396 0" xyz="0.557948 0.103587 0.019724"/>
-      <geometry>
-        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j8v1_n9o5e8.dae"/>
-      </geometry>
-    </visual>
-    <collision>
-      <!--bound_obj__l_J8_v002__col_J8_v1__BoundBox/col_J8_v1__BoundBox.-->
-      <origin rpy="1.5709195259578743 -0.014065461951076389 0" xyz="-0.042694 -0.000543176 0.0110286"/>
-      <geometry>
-        <box size="0.13038799671743653 0.05180887692688924 0.1601236763440867"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.3126145274380216"/>
-      <origin rpy="1.5709195259578743 -0.014065461951076387 0" xyz="-0.0607602 -0.000341696 0.00876618"/>
-      <inertia ixx="0.0002346566136679" ixy="7.60904888201e-05" ixz="3.088694121e-07" iyy="0.0005065459365215" iyz="1.902281803e-07" izz="0.0003737029250058"/>
-    </inertial>
-  </link>
-  <link name="l_right_jaw_v002">
-    <visual>
-      <!--right_jaw v002/Part__Feature009.-->
-      <origin rpy="0 -0.008758182894796506 0" xyz="0.665265 -0.00286677 -0.175928"/>
-      <geometry>
-        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_right_jawv1_fr5g7k.dae"/>
-      </geometry>
-    </visual>
-    <collision>
-      <!--bound_obj__l_right_jaw_v002__col_right_jaw_v1_col_obj/col_right_jaw_v1_col_obj.-->
-      <origin rpy="0 -0.008758182894796357 0" xyz="0.665265 -0.00286677 -0.175928"/>
-      <geometry>
-        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_col_right_jaw_v1_col_obj_p8alje.dae"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.0429816653011345"/>
-      <origin rpy="0 -0.008758182894796502 0" xyz="-0.0187844 -0.00272415 -0.0159503"/>
-      <inertia ixx="1.15612930876e-05" ixy="2.537718468e-06" ixz="-3.6591812258e-06" iyy="2.37016552787e-05" iyz="4.848038236e-07" izz="3.03965294654e-05"/>
-    </inertial>
-  </link>
-  <link name="l_left_jaw_v002">
-    <visual>
-      <!--left_jaw v002/Part__Feature008.-->
-      <origin rpy="0 -0.008758182894441503 0" xyz="0.665265 -0.00286677 -0.0209282"/>
-      <geometry>
-        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_left_jawv1_mtevtw.dae"/>
-      </geometry>
-    </visual>
-    <collision>
-      <!--bound_obj__l_left_jaw_v002__col_left_jaw_v1_col_obj/col_left_jaw_v1_col_obj.-->
-      <origin rpy="0 -0.008758182894441503 0" xyz="0.665265 -0.00286677 -0.0209282"/>
-      <geometry>
-        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_col_left_jaw_v1_col_obj_u5blmp.dae"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.0429789785639494"/>
-      <origin rpy="0 -0.008758182894441498 0" xyz="-0.0187138 0.00217075 0.0159499"/>
-      <inertia ixx="1.17717687429e-05" ixy="-2.3899281666e-06" ixz="3.9992922045e-06" iyy="2.38373544808e-05" iyz="3.494431877e-07" izz="3.04745902141e-05"/>
-    </inertial>
-  </link>
-  <joint name="rev1" type="revolute">
-    <parent link="l_J1_v002"/>
-    <child link="l_J2_v002"/>
-    <origin rpy="0 0 0" xyz="0.0 0.0 0.05395"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="-2.356194490192345" upper="2.356194490192345" velocity="0.0"/>
-  </joint>
-  <joint name="rev2" type="revolute">
-    <parent link="l_J2_v002"/>
-    <child link="l_J3_v003"/>
-    <origin rpy="-1.5707963267948977 1.5707963267948957 0" xyz="0.0 -0.02975 0.04475"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
-  </joint>
-  <joint name="rev3" type="revolute">
-    <parent link="l_J3_v003"/>
-    <child link="l_J4_v002"/>
-    <origin rpy="1.5707963267949046 0 1.5795545096892487" xyz="-0.0612477 -0.000536432 0.02975"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
-  </joint>
-  <joint name="rev4" type="revolute">
-    <parent link="l_J4_v002"/>
-    <child link="l_J5_v003"/>
-    <origin rpy="0.7854173400827703 -1.5584104649378014 0.7854173400871975" xyz="-0.0021149 -0.0318708 -0.241471"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="-0.3490658503988659" upper="2.792526803190927" velocity="0.0"/>
-  </joint>
-  <joint name="rev5" type="revolute">
-    <parent link="l_J5_v003"/>
-    <child link="l_J6_v002"/>
-    <origin rpy="1.5707963267949707 -0.5569332500522621 1.5567303253381135" xyz="-0.133937 0.00188408 -0.0297547"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
-  </joint>
-  <joint name="rev6" type="revolute">
-    <parent link="l_J6_v002"/>
-    <child link="l_J7_v002"/>
-    <origin rpy="-1.5707963268025373 -1.5567303253381704 -0.5569332500438752" xyz="-0.0187648 -0.0301352 -0.12105"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
-  </joint>
-  <joint name="rev7" type="revolute">
-    <parent link="l_J7_v002"/>
-    <child link="l_J8_v002"/>
-    <origin rpy="-1.570796326795002 -0.008759049335348993 -0.014066001454933549" xyz="-0.000217313 -0.0154485 0.0355"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="-0.9599310885968813" upper="0.9599310885968813" velocity="0.0"/>
-  </joint>
-  <joint name="gripper_right_jaw" type="prismatic">
-    <parent link="l_J8_v002"/>
-    <child link="l_right_jaw_v002"/>
-    <origin rpy="1.570796326794885 -0.014066001454926544 0.008759049336297665" xyz="-0.10571 -0.0781373 0.0132053"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
-    <mimic joint="gripper_left_jaw" multiplier="-1.0" offset="0.0"/>
-  </joint>
-  <joint name="gripper_left_jaw" type="prismatic">
-    <parent link="l_J8_v002"/>
-    <child link="l_left_jaw_v002"/>
-    <origin rpy="1.5707963267948268 -0.014066001454925883 0.00875904933451695" xyz="-0.1071 0.07686 0.0132053"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
-  </joint>
-</robot>

openarm_description/urdf/openarm_wrapper.urdf.xacro

@@ -1,5 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm">
-    <xacro:include filename="openarm.urdf"/>
+    <xacro:include filename="openarm.xacro.urdf"/>
+    <xacro:openarm/>
     <xacro:include filename="openarm_sensors.urdf.xacro"/>
 </robot>

openarm_grip_description/config/display.rviz

@@ -1,215 +0,0 @@
-Panels:
-  - Class: rviz_common/Displays
-    Help Height: 138
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Status1
-        - /RobotModel1
-        - /RobotModel1/Description Topic1
-      Splitter Ratio: 0.5
-    Tree Height: 1025
-  - Class: rviz_common/Selection
-    Name: Selection
-  - Class: rviz_common/Tool Properties
-    Expanded:
-      - /2D Goal Pose1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
-  - Class: rviz_common/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz_common/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: ""
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz_default_plugins/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.029999999329447746
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Alpha: 1
-      Class: rviz_default_plugins/RobotModel
-      Collision Enabled: false
-      Description File: ""
-      Description Source: Topic
-      Description Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /robot_description
-      Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        J2_v1_1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        J3_v1_1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        J4_v1_1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        J5_v1_1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        J6_v1_1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        J7_v1_1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        Link Tree Style: Links in Alphabetic Order
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        dummy:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        grip_attach_1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        left_jaw_1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        right_jaw_1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-      Mass Properties:
-        Inertia: false
-        Mass: false
-      Name: RobotModel
-      TF Prefix: ""
-      Update Interval: 0
-      Value: true
-      Visual Enabled: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: base_link
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz_default_plugins/Interact
-      Hide Inactive Objects: true
-    - Class: rviz_default_plugins/MoveCamera
-    - Class: rviz_default_plugins/Select
-    - Class: rviz_default_plugins/FocusCamera
-    - Class: rviz_default_plugins/Measure
-      Line color: 128; 128; 0
-    - Class: rviz_default_plugins/SetInitialPose
-      Covariance x: 0.25
-      Covariance y: 0.25
-      Covariance yaw: 0.06853891909122467
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /initialpose
-    - Class: rviz_default_plugins/SetGoal
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /goal_pose
-    - Class: rviz_default_plugins/PublishPoint
-      Single click: true
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /clicked_point
-  Transformation:
-    Current:
-      Class: rviz_default_plugins/TF
-  Value: true
-  Views:
-    Current:
-      Class: rviz_default_plugins/Orbit
-      Distance: 0.8663532137870789
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 0
-        Y: 0
-        Z: 0
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05000000074505806
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.5453979969024658
-      Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 0.7153980731964111
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 1531
-  Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001f4000004f9fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000004f90000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015d000004f9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000006e000004f90000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a970000005afc0100000002fb0000000800540069006d0065010000000000000a970000047a00fffffffb0000000800540069006d006501000000000000045000000000000000000000072e000004f900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 2711
-  X: 60
-  Y: 64

openarm_grip_description/launch/urdf_preview.launch.py

@@ -1,40 +0,0 @@
-import os
-import launch
-import launch_ros
-import xacro
-
-from ament_index_python import get_package_share_directory
-
-def get_package_file(package, file_path):
-    """Get the location of a file installed in an ament package"""
-    package_path = get_package_share_directory(package)
-    absolute_file_path = os.path.join(package_path, file_path)
-    return absolute_file_path
-
-def generate_launch_description():
-    xacro_file = get_package_file('openarm_grip_description', 'urdf/openarm_grip.xacro')
-    urdf = xacro.process_file(xacro_file).toprettyxml(indent='  ')
-    rviz_config_file = get_package_file('openarm_grip_description', 'config/display.rviz')
-
-    return launch.LaunchDescription([
-        launch_ros.actions.Node(
-            name='robot_state_publisher',
-            package='robot_state_publisher',
-            executable='robot_state_publisher',
-            output='screen',
-            parameters=[{'robot_description': urdf}],
-        ),
-        launch_ros.actions.Node(
-            name='joint_state_publisher_gui',
-            package='joint_state_publisher_gui',
-            executable='joint_state_publisher_gui',
-            output='screen',
-        ),
-        launch_ros.actions.Node(
-            name='rviz',
-            package='rviz2',
-            executable='rviz2',
-            output='screen',
-            arguments=['-d', rviz_config_file]
-        )
-    ])

openarm_grip_description/package.xml

@@ -1,24 +0,0 @@
-<?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>openarm_grip_description</name>
-  <version>0.0.0</version>
-<description>URDF models for OpenArm</description>
-  <maintainer email="t95zhou@uwaterloo.ca">Thomason Zhou</maintainer>
-  <license>BSD-3-Clause</license>
-
-  <depend>xacro</depend>
-  <depend>rviz2</depend>
-  <depend>robot_state_publisher</depend>
-  <depend>joint_state_publisher</depend>
-  <depend>joint_state_publisher_gui</depend>
-
-  <test_depend>ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-  <test_depend>ament_pep257</test_depend>
-  <test_depend>python3-pytest</test_depend>
-
-  <export>
-    <build_type>ament_python</build_type>
-  </export>
-</package>

openarm_grip_description/setup.cfg

@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/openarm_grip_description
-[install]
-install_scripts=$base/lib/openarm_grip_description

openarm_grip_description/setup.py

@@ -1,29 +0,0 @@
-from setuptools import setup
-import os
-from glob import glob
-
-package_name = "openarm_grip_description"
-
-setup(
-    name=package_name,
-    version="0.0.0",
-    packages=[package_name],
-    data_files=[
-        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
-        ("share/" + package_name, ["package.xml"]),
-        (os.path.join("share", package_name, "launch"), glob("launch/*.launch.py")),
-        (os.path.join("share", package_name, "urdf"), glob("urdf/*")),
-        (os.path.join("share", package_name, "meshes"), glob("meshes/*")),
-        (os.path.join("share", package_name, "config"), glob("config/*")),
-    ],
-    install_requires=["setuptools"],
-    zip_safe=True,
-    maintainer="Thomason",
-    maintainer_email="t95zhou@uwaterloo.ca",
-    description="URDF models for OpenArm",
-    license="BSD-3-Clause",
-    tests_require=["pytest"],
-    entry_points={
-        "console_scripts": [],
-    },
-)

openarm_grip_description/test/test_copyright.py

@@ -1,23 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "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.
-
-from ament_copyright.main import main
-import pytest
-
-
-@pytest.mark.copyright
-@pytest.mark.linter
-def test_copyright():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found errors'

openarm_grip_description/test/test_flake8.py

@@ -1,25 +0,0 @@
-# Copyright 2017 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "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.
-
-from ament_flake8.main import main_with_errors
-import pytest
-
-
-@pytest.mark.flake8
-@pytest.mark.linter
-def test_flake8():
-    rc, errors = main_with_errors(argv=[])
-    assert rc == 0, \
-        'Found %d code style errors / warnings:\n' % len(errors) + \
-        '\n'.join(errors)

openarm_grip_description/test/test_pep257.py

@@ -1,23 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "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.
-
-from ament_pep257.main import main
-import pytest
-
-
-@pytest.mark.linter
-@pytest.mark.pep257
-def test_pep257():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found code style errors / warnings'

openarm_grip_description/urdf/materials.xacro

@@ -1,8 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="openarm_grip" xmlns:xacro="http://www.ros.org/wiki/xacro" >
-
-<material name="silver">
-  <color rgba="0.700 0.700 0.700 1.000"/>
-</material>
-
-</robot>

openarm_grip_description/urdf/openarm_grip.gazebo

@@ -1,80 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="openarm_grip" xmlns:xacro="http://www.ros.org/wiki/xacro" >
-
-<xacro:property name="body_color" value="Gazebo/Silver" />
-
-<gazebo>
-  <plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="gz_ros2_control-system"/>
-</gazebo>
-<gazebo reference="base_link">
-  <material>${body_color}</material>
-  <mu1>0.2</mu1>
-  <mu2>0.2</mu2>
-  <self_collide>true</self_collide>
-  <gravity>true</gravity>
-</gazebo>
-
-<gazebo reference="J2_v1_1">
-  <material>${body_color}</material>
-  <mu1>0.2</mu1>
-  <mu2>0.2</mu2>
-  <self_collide>true</self_collide>
-</gazebo>
-
-<gazebo reference="J3_v1_1">
-  <material>${body_color}</material>
-  <mu1>0.2</mu1>
-  <mu2>0.2</mu2>
-  <self_collide>true</self_collide>
-</gazebo>
-
-<gazebo reference="J4_v1_1">
-  <material>${body_color}</material>
-  <mu1>0.2</mu1>
-  <mu2>0.2</mu2>
-  <self_collide>true</self_collide>
-</gazebo>
-
-<gazebo reference="J5_v1_1">
-  <material>${body_color}</material>
-  <mu1>0.2</mu1>
-  <mu2>0.2</mu2>
-  <self_collide>true</self_collide>
-</gazebo>
-
-<gazebo reference="J6_v1_1">
-  <material>${body_color}</material>
-  <mu1>0.2</mu1>
-  <mu2>0.2</mu2>
-  <self_collide>true</self_collide>
-</gazebo>
-
-<gazebo reference="J7_v1_1">
-  <material>${body_color}</material>
-  <mu1>0.2</mu1>
-  <mu2>0.2</mu2>
-  <self_collide>true</self_collide>
-</gazebo>
-
-<gazebo reference="grip_attach_1">
-  <material>${body_color}</material>
-  <mu1>0.2</mu1>
-  <mu2>0.2</mu2>
-  <self_collide>true</self_collide>
-</gazebo>
-
-<gazebo reference="left_jaw_1">
-  <material>${body_color}</material>
-  <mu1>0.2</mu1>
-  <mu2>0.2</mu2>
-  <self_collide>true</self_collide>
-</gazebo>
-
-<gazebo reference="right_jaw_1">
-  <material>${body_color}</material>
-  <mu1>0.2</mu1>
-  <mu2>0.2</mu2>
-  <self_collide>true</self_collide>
-</gazebo>
-
-</robot>

openarm_grip_description/urdf/openarm_grip.trans

@@ -1,103 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="openarm_grip" xmlns:xacro="http://www.ros.org/wiki/xacro" >
-
-<transmission name="rev1_tran">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="rev1">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="rev1_actr">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    <mechanicalReduction>1</mechanicalReduction>
-  </actuator>
-</transmission>
-
-<transmission name="rev2_tran">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="rev2">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="rev2_actr">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    <mechanicalReduction>1</mechanicalReduction>
-  </actuator>
-</transmission>
-
-<transmission name="rev3_tran">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="rev3">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="rev3_actr">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    <mechanicalReduction>1</mechanicalReduction>
-  </actuator>
-</transmission>
-
-<transmission name="rev4_tran">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="rev4">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="rev4_actr">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    <mechanicalReduction>1</mechanicalReduction>
-  </actuator>
-</transmission>
-
-<transmission name="rev5_tran">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="rev5">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="rev5_actr">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    <mechanicalReduction>1</mechanicalReduction>
-  </actuator>
-</transmission>
-
-<transmission name="rev6_tran">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="rev6">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="rev6_actr">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    <mechanicalReduction>1</mechanicalReduction>
-  </actuator>
-</transmission>
-
-<transmission name="rev7_tran">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="rev7">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="rev7_actr">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    <mechanicalReduction>1</mechanicalReduction>
-  </actuator>
-</transmission>
-
-<transmission name="slider_left_tran">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="slider_left">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="slider_left_actr">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    <mechanicalReduction>1</mechanicalReduction>
-  </actuator>
-</transmission>
-
-<transmission name="slider_right_tran">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="slider_right">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="slider_right_actr">
-    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    <mechanicalReduction>1</mechanicalReduction>
-  </actuator>
-</transmission>
-
-</robot>

openarm_grip_description/urdf/openarm_grip.urdf

@@ -1,443 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from openarm_grip.xacro             | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="openarm_grip">
-  <material name="silver">
-    <color rgba="0.700 0.700 0.700 1.000"/>
-  </material>
-  <transmission name="rev1_tran">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="rev1">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="rev1_actr">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="rev2_tran">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="rev2">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="rev2_actr">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="rev3_tran">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="rev3">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="rev3_actr">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="rev4_tran">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="rev4">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="rev4_actr">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="rev5_tran">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="rev5">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="rev5_actr">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="rev6_tran">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="rev6">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="rev6_actr">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="rev7_tran">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="rev7">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="rev7_actr">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="slider_left_tran">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="slider_left">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="slider_left_actr">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="slider_right_tran">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="slider_right">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="slider_right_actr">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <gazebo>
-    <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin"/>
-  </gazebo>
-  <gazebo reference="base_link">
-    <material>Gazebo/Silver</material>
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-    <self_collide>true</self_collide>
-    <gravity>true</gravity>
-  </gazebo>
-  <gazebo reference="J2_v1_1">
-    <material>Gazebo/Silver</material>
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-    <self_collide>true</self_collide>
-  </gazebo>
-  <gazebo reference="J3_v1_1">
-    <material>Gazebo/Silver</material>
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-    <self_collide>true</self_collide>
-  </gazebo>
-  <gazebo reference="J4_v1_1">
-    <material>Gazebo/Silver</material>
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-    <self_collide>true</self_collide>
-  </gazebo>
-  <gazebo reference="J5_v1_1">
-    <material>Gazebo/Silver</material>
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-    <self_collide>true</self_collide>
-  </gazebo>
-  <gazebo reference="J6_v1_1">
-    <material>Gazebo/Silver</material>
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-    <self_collide>true</self_collide>
-  </gazebo>
-  <gazebo reference="J7_v1_1">
-    <material>Gazebo/Silver</material>
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-    <self_collide>true</self_collide>
-  </gazebo>
-  <gazebo reference="grip_attach_1">
-    <material>Gazebo/Silver</material>
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-    <self_collide>true</self_collide>
-  </gazebo>
-  <gazebo reference="left_jaw_1">
-    <material>Gazebo/Silver</material>
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-    <self_collide>true</self_collide>
-  </gazebo>
-  <gazebo reference="right_jaw_1">
-    <material>Gazebo/Silver</material>
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-    <self_collide>true</self_collide>
-  </gazebo>
-  <link name="world"/>
-  <joint name="world_joint" type="fixed">
-    <parent link="world"/>
-    <child link="base_link"/>
-    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
-  </joint>
-  <link name="base_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="1.659663993709495e-08 0.00015470291788827239 -0.03159176823669262"/>
-      <mass value="0.9159780860248254"/>
-      <inertia ixx="0.000802" ixy="-0.0" ixz="0.0" iyy="0.000799" iyz="-0.0" izz="0.001037"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="silver"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="J2_v1_1">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.002300730781673588 -0.00021691236314287158 0.02760602616888808"/>
-      <mass value="0.49220952328993495"/>
-      <inertia ixx="0.000316" ixy="0.0" ixz="-2.2e-05" iyy="0.000717" iyz="-3e-06" izz="0.00059"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="-0.0 -0.0 0.00225"/>
-      <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J2_v1_1.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="silver"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="-0.0 -0.0 0.00225"/>
-      <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J2_v1_1.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="J3_v1_1">
-    <inertial>
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-      <mass value="0.6372830939810512"/>
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-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="-0.02975 0.0 -0.0425"/>
-      <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J3_v1_1.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="silver"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="-0.02975 0.0 -0.0425"/>
-      <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J3_v1_1.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="J4_v1_1">
-    <inertial>
-      <origin rpy="0 0 0" xyz="8.405076184644401e-05 0.1358717615053826 0.018429965102241944"/>
-      <mass value="1.1025467379280594"/>
-      <inertia ixx="0.011905" ixy="-1e-06" ixz="-4e-06" iyy="0.00114" iyz="-0.001657" izz="0.011791"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0.0 -0.06041 -0.052607"/>
-      <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J4_v1_1.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="silver"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0.0 -0.06041 -0.052607"/>
-      <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J4_v1_1.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="J5_v1_1">
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.028086778609557873 -0.06237848032279486 0.015103464347573828"/>
-      <mass value="0.7296865736952145"/>
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-    <visual>
-      <origin rpy="0 0 0" xyz="-0.029755 -0.298846 -0.0925"/>
-      <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J5_v1_1.stl" scale="0.001 0.001 0.001"/>
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-      <material name="silver"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="-0.029755 -0.298846 -0.0925"/>
-      <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J5_v1_1.stl" scale="0.001 0.001 0.001"/>
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-    </collision>
-  </link>
-  <link name="J6_v1_1">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.016428123043712856 -0.04271549352047854 0.009023923091251038"/>
-      <mass value="1.0339114396114095"/>
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-    <visual>
-      <origin rpy="0 0 0" xyz="0.0 -0.167496 -0.118765"/>
-      <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J6_v1_1.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="silver"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0.0 -0.167496 -0.118765"/>
-      <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J6_v1_1.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="J7_v1_1">
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.03510690863628159 0.0004066264284608781 0.001093657345024951"/>
-      <mass value="0.33288025570396623"/>
-      <inertia ixx="0.00014" ixy="-0.0" ixz="2e-06" iyy="0.000179" iyz="7e-06" izz="0.000207"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="-0.0355 -0.048796 -0.1425"/>
-      <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J7_v1_1.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="silver"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="-0.0355 -0.048796 -0.1425"/>
-      <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J7_v1_1.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="grip_attach_1">
-    <inertial>
-      <origin rpy="0 0 0" xyz="-3.544262443517109e-05 -0.08091067772872827 0.004061313352520662"/>
-      <mass value="0.8188472642682024"/>
-      <inertia ixx="0.001113" ixy="1e-06" ixz="2e-06" iyy="0.00061" iyz="-2.2e-05" izz="0.001556"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0.0 -0.051826 -0.15765"/>
-      <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/grip_attach_1.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="silver"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0.0 -0.051826 -0.15765"/>
-      <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/grip_attach_1.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="left_jaw_1">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.01737096632831872 -0.017398412728963003 0.004062150876211923"/>
-      <mass value="0.2869555939898112"/>
-      <inertia ixx="0.000209" ixy="1.6e-05" ixz="-4e-06" iyy="9.7e-05" iyz="3e-06" izz="0.000185"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0.0775 0.069829 -0.169736"/>
-      <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/left_jaw_1.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="silver"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0.0775 0.069829 -0.169736"/>
-      <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/left_jaw_1.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="right_jaw_1">
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.0173972747583793 -0.018685385724924758 -0.0017497641003002828"/>
-      <mass value="0.285094009790996"/>
-      <inertia ixx="0.000211" ixy="-1.6e-05" ixz="4e-06" iyy="0.000115" iyz="3.9e-05" izz="0.000169"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="-0.0775 0.069829 -0.169736"/>
-      <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/right_jaw_1.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="silver"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="-0.0775 0.069829 -0.169736"/>
-      <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/right_jaw_1.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="rev1" type="revolute">
-    <origin rpy="0 0 0" xyz="0.0 0.0 -0.00225"/>
-    <parent link="base_link"/>
-    <child link="J2_v1_1"/>
-    <axis xyz="0.0 0.0 1.0"/>
-    <limit acceleration="0.5" effort="100" lower="-2.356194" upper="2.356194" velocity="1.0"/>
-    <dynamics damping="1.0" friction="1.0"/>
-  </joint>
-  <joint name="rev2" type="revolute">
-    <origin rpy="0 0 0" xyz="0.02975 -0.0 0.04475"/>
-    <parent link="J2_v1_1"/>
-    <child link="J3_v1_1"/>
-    <axis xyz="-1.0 -0.0 0.0"/>
-    <limit acceleration="0.5" effort="100" lower="-3.054326" upper="0.0" velocity="1.0"/>
-    <dynamics damping="1.0" friction="1.0"/>
-  </joint>
-  <joint name="rev3" type="revolute">
-    <origin rpy="0 0 0" xyz="-0.02975 0.06041 0.010107"/>
-    <parent link="J3_v1_1"/>
-    <child link="J4_v1_1"/>
-    <axis xyz="-0.0 0.986291 0.165017"/>
-    <limit acceleration="0.5" effort="100" lower="-2.094395" upper="2.094395" velocity="1.0"/>
-    <dynamics damping="1.0" friction="1.0"/>
-  </joint>
-  <joint name="rev4" type="revolute">
-    <origin rpy="0 0 0" xyz="0.029755 0.238436 0.039893"/>
-    <parent link="J4_v1_1"/>
-    <child link="J5_v1_1"/>
-    <axis xyz="1.0 0.0 0.0"/>
-    <limit acceleration="0.5" effort="100" lower="-3.141593" upper="0.0" velocity="1.0"/>
-    <dynamics damping="1.0" friction="1.0"/>
-  </joint>
-  <joint name="rev5" type="revolute">
-    <origin rpy="0 0 0" xyz="-0.029755 -0.13135 0.026265"/>
-    <parent link="J5_v1_1"/>
-    <child link="J6_v1_1"/>
-    <axis xyz="0.0 -0.980588 0.196078"/>
-    <limit acceleration="0.5" effort="100" lower="-2.094395" upper="2.094395" velocity="1.0"/>
-    <dynamics damping="1.0" friction="1.0"/>
-  </joint>
-  <joint name="rev6" type="revolute">
-    <origin rpy="0 0 0" xyz="0.0355 -0.1187 0.023735"/>
-    <parent link="J6_v1_1"/>
-    <child link="J7_v1_1"/>
-    <axis xyz="-1.0 0.0 -0.0"/>
-    <limit acceleration="0.5" effort="100" lower="-1.570796" upper="1.570796" velocity="1.0"/>
-    <dynamics damping="1.0" friction="1.0"/>
-  </joint>
-  <joint name="rev7" type="revolute">
-    <origin rpy="0 0 0" xyz="-0.0355 0.00303 0.01515"/>
-    <parent link="J7_v1_1"/>
-    <child link="grip_attach_1"/>
-    <axis xyz="0.0 0.196078 0.980588"/>
-    <limit acceleration="0.5" effort="100" lower="-1.5" upper="1.5" velocity="1.0"/>
-    <dynamics damping="1.0" friction="1.0"/>
-  </joint>
-  <joint name="slider_left" type="prismatic">
-    <origin rpy="0 0 0" xyz="-0.0775 -0.121655 0.012086"/>
-    <parent link="grip_attach_1"/>
-    <child link="left_jaw_1"/>
-    <axis xyz="-1.0 0.0 -0.0"/>
-    <limit acceleration="0.5" effort="100" lower="-0.0455" upper="0.0" velocity="1.0"/>
-    <dynamics damping="1.0" friction="1.0"/>
-  </joint>
-  <joint name="slider_right" type="prismatic">
-    <origin rpy="0 0 0" xyz="0.0775 -0.121655 0.012086"/>
-    <parent link="grip_attach_1"/>
-    <child link="right_jaw_1"/>
-    <axis xyz="1.0 -0.0 0.0"/>
-    <limit acceleration="0.5" effort="100" lower="-0.0455" upper="0.0" velocity="1.0"/>
-    <dynamics damping="1.0" friction="1.0"/>
-    <mimic joint="slider_left"/>
-  </joint>
-</robot>

openarm_grip_description/urdf/openarm_grip.xacro

@@ -1,307 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="openarm_grip" xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-<xacro:include filename="materials.xacro" />
-<xacro:include filename="openarm_grip.trans" />
-<xacro:include filename="openarm_grip.gazebo" />
-<link name="world"/>
-<joint name="world_joint" type="fixed">
-  <parent link="world"/>
-  <child link="base_link"/>
-  <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-</joint>
-
-
-<link name="base_link">
-  <inertial>
-    <origin xyz="1.659663993709495e-08 0.00015470291788827239 -0.03159176823669262" rpy="0 0 0"/>
-    <mass value="0.9159780860248254"/>
-    <inertia ixx="0.000802" iyy="0.000799" izz="0.001037" ixy="-0.0" iyz="-0.0" ixz="0.0"/>
-  </inertial>
-  <visual>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-    <material name="silver"/>
-  </visual>
-  <collision>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-  </collision>
-</link>
-
-<link name="J2_v1_1">
-  <inertial>
-    <origin xyz="0.002300730781673588 -0.00021691236314287158 0.02760602616888808" rpy="0 0 0"/>
-    <mass value="0.49220952328993495"/>
-    <inertia ixx="0.000316" iyy="0.000717" izz="0.00059" ixy="0.0" iyz="-3e-06" ixz="-2.2e-05"/>
-  </inertial>
-  <visual>
-    <origin xyz="-0.0 -0.0 0.00225" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J2_v1_1.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-    <material name="silver"/>
-  </visual>
-  <collision>
-    <origin xyz="-0.0 -0.0 0.00225" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J2_v1_1.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-  </collision>
-</link>
-
-<link name="J3_v1_1">
-  <inertial>
-    <origin xyz="-0.029725947365562236 0.014084733811091961 0.002458883521108013" rpy="0 0 0"/>
-    <mass value="0.6372830939810512"/>
-    <inertia ixx="0.000647" iyy="0.000437" izz="0.00075" ixy="4e-06" iyz="-5.2e-05" ixz="2e-06"/>
-  </inertial>
-  <visual>
-    <origin xyz="-0.02975 0.0 -0.0425" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J3_v1_1.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-    <material name="silver"/>
-  </visual>
-  <collision>
-    <origin xyz="-0.02975 0.0 -0.0425" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J3_v1_1.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-  </collision>
-</link>
-
-<link name="J4_v1_1">
-  <inertial>
-    <origin xyz="8.405076184644401e-05 0.1358717615053826 0.018429965102241944" rpy="0 0 0"/>
-    <mass value="1.1025467379280594"/>
-    <inertia ixx="0.011905" iyy="0.00114" izz="0.011791" ixy="-1e-06" iyz="-0.001657" ixz="-4e-06"/>
-  </inertial>
-  <visual>
-    <origin xyz="0.0 -0.06041 -0.052607" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J4_v1_1.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-    <material name="silver"/>
-  </visual>
-  <collision>
-    <origin xyz="0.0 -0.06041 -0.052607" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J4_v1_1.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-  </collision>
-</link>
-
-<link name="J5_v1_1">
-  <inertial>
-    <origin xyz="-0.028086778609557873 -0.06237848032279486 0.015103464347573828" rpy="0 0 0"/>
-    <mass value="0.7296865736952145"/>
-    <inertia ixx="0.002473" iyy="0.000853" izz="0.002847" ixy="-7e-05" iyz="0.00038" ixz="1.8e-05"/>
-  </inertial>
-  <visual>
-    <origin xyz="-0.029755 -0.298846 -0.0925" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J5_v1_1.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-    <material name="silver"/>
-  </visual>
-  <collision>
-    <origin xyz="-0.029755 -0.298846 -0.0925" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J5_v1_1.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-  </collision>
-</link>
-
-<link name="J6_v1_1">
-  <inertial>
-    <origin xyz="0.016428123043712856 -0.04271549352047854 0.009023923091251038" rpy="0 0 0"/>
-    <mass value="1.0339114396114095"/>
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-  </inertial>
-  <visual>
-    <origin xyz="0.0 -0.167496 -0.118765" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J6_v1_1.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-    <material name="silver"/>
-  </visual>
-  <collision>
-    <origin xyz="0.0 -0.167496 -0.118765" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J6_v1_1.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-  </collision>
-</link>
-
-<link name="J7_v1_1">
-  <inertial>
-    <origin xyz="-0.03510690863628159 0.0004066264284608781 0.001093657345024951" rpy="0 0 0"/>
-    <mass value="0.33288025570396623"/>
-    <inertia ixx="0.00014" iyy="0.000179" izz="0.000207" ixy="-0.0" iyz="7e-06" ixz="2e-06"/>
-  </inertial>
-  <visual>
-    <origin xyz="-0.0355 -0.048796 -0.1425" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J7_v1_1.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-    <material name="silver"/>
-  </visual>
-  <collision>
-    <origin xyz="-0.0355 -0.048796 -0.1425" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J7_v1_1.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-  </collision>
-</link>
-
-<link name="grip_attach_1">
-  <inertial>
-    <origin xyz="-3.544262443517109e-05 -0.08091067772872827 0.004061313352520662" rpy="0 0 0"/>
-    <mass value="0.8188472642682024"/>
-    <inertia ixx="0.001113" iyy="0.00061" izz="0.001556" ixy="1e-06" iyz="-2.2e-05" ixz="2e-06"/>
-  </inertial>
-  <visual>
-    <origin xyz="0.0 -0.051826 -0.15765" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/grip_attach_1.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-    <material name="silver"/>
-  </visual>
-  <collision>
-    <origin xyz="0.0 -0.051826 -0.15765" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/grip_attach_1.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-  </collision>
-</link>
-
-<link name="left_jaw_1">
-  <inertial>
-    <origin xyz="0.01737096632831872 -0.017398412728963003 0.004062150876211923" rpy="0 0 0"/>
-    <mass value="0.2869555939898112"/>
-    <inertia ixx="0.000209" iyy="9.7e-05" izz="0.000185" ixy="1.6e-05" iyz="3e-06" ixz="-4e-06"/>
-  </inertial>
-  <visual>
-    <origin xyz="0.0775 0.069829 -0.169736" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/left_jaw_1.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-    <material name="silver"/>
-  </visual>
-  <collision>
-    <origin xyz="0.0775 0.069829 -0.169736" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/left_jaw_1.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-  </collision>
-</link>
-
-<link name="right_jaw_1">
-  <inertial>
-    <origin xyz="-0.0173972747583793 -0.018685385724924758 -0.0017497641003002828" rpy="0 0 0"/>
-    <mass value="0.285094009790996"/>
-    <inertia ixx="0.000211" iyy="0.000115" izz="0.000169" ixy="-1.6e-05" iyz="3.9e-05" ixz="4e-06"/>
-  </inertial>
-  <visual>
-    <origin xyz="-0.0775 0.069829 -0.169736" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/right_jaw_1.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-    <material name="silver"/>
-  </visual>
-  <collision>
-    <origin xyz="-0.0775 0.069829 -0.169736" rpy="0 0 0"/>
-    <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/right_jaw_1.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-  </collision>
-</link>
-
-<joint name="rev1" type="revolute">
-  <origin xyz="0.0 0.0 -0.00225" rpy="0 0 0"/>
-  <parent link="base_link"/>
-  <child link="J2_v1_1"/>
-  <axis xyz="0.0 0.0 1.0"/>
-  <limit upper="2.356194" lower="-2.356194" effort="100" velocity="1.0" acceleration="0.5"/>
-  <dynamics damping="1.0" friction="1.0"/>
-</joint>
-
-<joint name="rev2" type="revolute">
-  <origin xyz="0.02975 -0.0 0.04475" rpy="0 0 0"/>
-  <parent link="J2_v1_1"/>
-  <child link="J3_v1_1"/>
-  <axis xyz="-1.0 -0.0 0.0"/>
-  <limit upper="0.0" lower="-3.054326" effort="100" velocity="1.0" acceleration="0.5"/>
-  <dynamics damping="1.0" friction="1.0"/>
-</joint>
-
-<joint name="rev3" type="revolute">
-  <origin xyz="-0.02975 0.06041 0.010107" rpy="0 0 0"/>
-  <parent link="J3_v1_1"/>
-  <child link="J4_v1_1"/>
-  <axis xyz="-0.0 0.986291 0.165017"/>
-  <limit upper="2.094395" lower="-2.094395" effort="100" velocity="1.0" acceleration="0.5"/>
-  <dynamics damping="1.0" friction="1.0"/>
-</joint>
-
-<joint name="rev4" type="revolute">
-  <origin xyz="0.029755 0.238436 0.039893" rpy="0 0 0"/>
-  <parent link="J4_v1_1"/>
-  <child link="J5_v1_1"/>
-  <axis xyz="1.0 0.0 0.0"/>
-  <limit upper="0.0" lower="-3.141593" effort="100" velocity="1.0" acceleration="0.5"/>
-  <dynamics damping="1.0" friction="1.0"/>
-</joint>
-
-<joint name="rev5" type="revolute">
-  <origin xyz="-0.029755 -0.13135 0.026265" rpy="0 0 0"/>
-  <parent link="J5_v1_1"/>
-  <child link="J6_v1_1"/>
-  <axis xyz="0.0 -0.980588 0.196078"/>
-  <limit upper="2.094395" lower="-2.094395" effort="100" velocity="1.0" acceleration="0.5"/>
-  <dynamics damping="1.0" friction="1.0"/>
-</joint>
-
-<joint name="rev6" type="revolute">
-  <origin xyz="0.0355 -0.1187 0.023735" rpy="0 0 0"/>
-  <parent link="J6_v1_1"/>
-  <child link="J7_v1_1"/>
-  <axis xyz="-1.0 0.0 -0.0"/>
-  <limit upper="1.570796" lower="-1.570796" effort="100" velocity="1.0" acceleration="0.5"/>
-  <dynamics damping="1.0" friction="1.0"/>
-</joint>
-
-<joint name="rev7" type="revolute">
-  <origin xyz="-0.0355 0.00303 0.01515" rpy="0 0 0"/>
-  <parent link="J7_v1_1"/>
-  <child link="grip_attach_1"/>
-  <axis xyz="0.0 0.196078 0.980588"/>
-  <limit upper="0.5" lower="-0.5" effort="100" velocity="1.0" acceleration="0.5"/>
-  <dynamics damping="1.0" friction="1.0"/>
-</joint>
-
-<joint name="slider_left" type="prismatic">
-  <origin xyz="-0.0775 -0.121655 0.012086" rpy="0 0 0"/>
-  <parent link="grip_attach_1"/>
-  <child link="left_jaw_1"/>
-  <axis xyz="-1.0 0.0 -0.0"/>
-  <limit upper="0.0" lower="-0.0455" effort="100" velocity="1.0" acceleration="0.5"/>
-  <dynamics damping="1.0" friction="1.0"/>
-</joint>
-
-<joint name="slider_right" type="prismatic">
-  <origin xyz="0.0775 -0.121655 0.012086" rpy="0 0 0"/>
-  <parent link="grip_attach_1"/>
-  <child link="right_jaw_1"/>
-  <axis xyz="1.0 -0.0 0.0"/>
-  <limit upper="0.0" lower="-0.0455" effort="100" velocity="1.0" acceleration="0.5"/>
-  <dynamics damping="1.0" friction="1.0"/>
-  <mimic joint="slider_left"/>
-</joint>
-
-</robot>

openarm_moveit_config/.setup_assistant

@@ -1,6 +1,6 @@
 moveit_setup_assistant_config:
   urdf:
-    package: openarm_grip_description
+    package: openarm_description
     relative_path: urdf/openarm_grip.urdf
   srdf:
     relative_path: config/openarm_grip.srdf
@@ -24,4 +24,4 @@ moveit_setup_assistant_config:
       - velocity
     state:
       - position
-      - velocity
+      - velocity

openarm_moveit_config/config/openarm_grip.urdf.xacro

@@ -3,7 +3,7 @@
     <xacro:arg name="initial_positions_file" default="initial_positions.yaml" />
 
     <!-- Import openarm_grip urdf file -->
-    <xacro:include filename="$(find openarm_grip_description)/urdf/openarm_grip.urdf" />
+    <xacro:include filename="$(find openarm_description)/urdf/openarm_grip.urdf" />
 
     <!-- Import control_xacro -->
     <xacro:include filename="openarm_grip.ros2_control.xacro" />

openarm_moveit_config/package.xml

@@ -36,7 +36,7 @@
   <exec_depend>moveit_ros_visualization</exec_depend>
   <exec_depend>moveit_ros_warehouse</exec_depend>
   <exec_depend>moveit_setup_assistant</exec_depend>
-  <exec_depend>openarm_grip_description</exec_depend>
+  <exec_depend>openarm_description</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>rviz_common</exec_depend>
@@ -47,6 +47,6 @@
 
 
   <export>
-      <build_type>ament_cmake</build_type>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>

openarm_two_arms/launch/description.launch.py

@@ -1,39 +0,0 @@
-from pathlib import Path
-
-import launch
-from launch.substitutions import Command
-from launch.substitutions import LaunchConfiguration
-from launch.actions import DeclareLaunchArgument
-
-import launch_ros
-from launch_ros.parameter_descriptions import ParameterValue
-
-
-def generate_launch_description():
-    pkg_share = Path(launch_ros.substitutions.FindPackageShare(package='openarm_two_arms').find('openarm_two_arms'))
-    default_model_path = pkg_share / 'urdf/openarm_two_arms_wrapper.urdf.xacro'
-
-    use_sim_time = LaunchConfiguration('use_sim_time')
-    use_sim_time_launch_arg = DeclareLaunchArgument('use_sim_time', default_value='true')
-
-    robot_state_publisher_node = launch_ros.actions.Node(
-        package='robot_state_publisher',
-        executable='robot_state_publisher',
-        parameters=[
-            {
-                # ParameterValue is required to avoid being interpreted as YAML.
-                'robot_description': ParameterValue(Command(['xacro ', LaunchConfiguration('model')]), value_type=str),
-                'use_sim_time': use_sim_time,
-            },
-        ],
-    )
-
-    return launch.LaunchDescription([
-        launch.actions.DeclareLaunchArgument(
-            name='model',
-            default_value=str(default_model_path),
-            description="Absolute path to the robot's URDF file",
-        ),
-        use_sim_time_launch_arg,
-        robot_state_publisher_node,
-    ])

openarm_two_arms/launch/display.launch.py

@@ -1,84 +0,0 @@
-from pathlib import Path
-
-import launch
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-
-import launch_ros
-from launch_ros.substitutions import FindPackageShare
-from launch.actions import IncludeLaunchDescription
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-
-
-def generate_launch_description():
-    pkg_share = Path(launch_ros.substitutions.FindPackageShare(package='openarm_two_arms').find('openarm_two_arms'))
-    default_model_path = pkg_share / 'urdf/openarm_two_arms_wrapper.urdf.xacro'
-    default_rviz_config_path = pkg_share / 'rviz/robot_description.rviz'
-
-    use_sim_time = LaunchConfiguration('use_sim_time')
-
-    robot_state_publisher_node = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([
-            PathJoinSubstitution([
-                FindPackageShare('openarm_two_arms'),
-                'launch',
-                'description.launch.py',
-            ]),
-        ]),
-        launch_arguments=dict(use_sim_time=use_sim_time).items(),
-    )
-
-    joint_state_publisher_node = launch_ros.actions.Node(
-        package='joint_state_publisher',
-        executable='joint_state_publisher',
-        name='joint_state_publisher',
-        condition=launch.conditions.UnlessCondition(LaunchConfiguration('gui')),
-        parameters=[{
-            'use_sim_time': use_sim_time,
-        }],
-    )
-    joint_state_publisher_gui_node = launch_ros.actions.Node(
-        package='joint_state_publisher_gui',
-        executable='joint_state_publisher_gui',
-        name='joint_state_publisher_gui',
-        condition=launch.conditions.IfCondition(LaunchConfiguration('gui')),
-        parameters=[{
-            'use_sim_time': use_sim_time,
-        }],
-    )
-    rviz_node = launch_ros.actions.Node(
-        package='rviz2',
-        executable='rviz2',
-        name='rviz2',
-        output='screen',
-        arguments=['-d', LaunchConfiguration('rvizconfig')],
-        parameters=[{
-            'use_sim_time': use_sim_time,
-        }],
-    )
-
-    return launch.LaunchDescription([
-        launch.actions.DeclareLaunchArgument(
-            name='use_sim_time',
-            default_value='false',
-            description='Flag to enable usage of simulation time',
-        ),
-        launch.actions.DeclareLaunchArgument(
-            name='gui',
-            default_value='True',
-            description='Flag to enable joint_state_publisher_gui',
-        ),
-        launch.actions.DeclareLaunchArgument(
-            name='model',
-            default_value=str(default_model_path),
-            description='Absolute path to robot urdf file',
-        ),
-        launch.actions.DeclareLaunchArgument(
-            name='rvizconfig',
-            default_value=str(default_rviz_config_path),
-            description='Absolute path to rviz config file',
-        ),
-        joint_state_publisher_node,
-        joint_state_publisher_gui_node,
-        robot_state_publisher_node,
-        rviz_node,
-    ])

openarm_two_arms/launch/gazebo.launch.py

@@ -1,128 +0,0 @@
-import os
-import re
-import subprocess
-
-from ament_index_python.packages import get_package_share_directory
-
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.actions import IncludeLaunchDescription
-from launch.conditions import IfCondition
-from launch.conditions import UnlessCondition
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration
-from launch.substitutions import PathJoinSubstitution
-
-from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
-
-
-def generate_launch_description():
-
-    resources_package = 'openarm_two_arms'
-
-    # Make path to resources dir without last package_name fragment.
-    path_to_share_dir_clipped = ''.join(get_package_share_directory(resources_package).rsplit('/' + resources_package, 1))
-
-    # Gazebo hint for resources.
-    os.environ['GZ_SIM_RESOURCE_PATH'] = path_to_share_dir_clipped
-
-    # Ensure `SDF_PATH` is populated since `sdformat_urdf` uses this rather
-
-    # than `GZ_SIM_RESOURCE_PATH` to locate resources.
-    if "GZ_SIM_RESOURCE_PATH" in os.environ:
-        gz_sim_resource_path = os.environ["GZ_SIM_RESOURCE_PATH"]
-
-        if "SDF_PATH" in os.environ:
-            sdf_path = os.environ["SDF_PATH"]
-            os.environ["SDF_PATH"] = sdf_path + ":" + gz_sim_resource_path
-        else:
-            os.environ["SDF_PATH"] = gz_sim_resource_path
-
-
-    use_custom_world = LaunchConfiguration('use_custom_world')
-    use_custom_world_launch_arg = DeclareLaunchArgument('use_custom_world', default_value='true')
-    gazebo_world = LaunchConfiguration('gazebo_world')
-    gazebo_world_launch_arg = DeclareLaunchArgument('gazebo_world', default_value='empty.sdf')
-
-    # prepare custom world
-    world = os.getenv('GZ_SIM_WORLD', 'empty')
-    fly_world_path = resources_package + '/worlds/' + world + '.sdf'
-    gz_version = subprocess.getoutput("gz sim --versions")
-    gz_version_major = re.search(r'^\d{1}', gz_version).group()
-    launch_arguments=dict(gz_args = '-r ' + str(fly_world_path) + ' --verbose ', gz_version = gz_version_major).items()
-
-    # Gazebo Sim.
-    # by default the custom world is used, otherwise the gazebo world is used, which can be changed with the argument
-    pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
-    gazebo = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py'),
-        ),
-        launch_arguments=launch_arguments if use_custom_world else dict(gz_args='-r ' + gazebo_world + ' --verbose').items(),
-    )
-
-    # Spawn
-    spawn = Node(
-            package='ros_gz_sim',
-            executable='create',
-            arguments=[
-                '-name', 'openarm_two_arms',
-                '-x', '1.2',
-                '-z', '2.3',
-                '-Y', '3.4',
-                '-topic', '/robot_description',
-            ],
-            output='screen',
-    )
-
-    use_sim_time = LaunchConfiguration('use_sim_time')
-    use_sim_time_launch_arg = DeclareLaunchArgument('use_sim_time', default_value='true')
-    use_rviz = LaunchConfiguration('use_rviz')
-    use_rviz_arg = DeclareLaunchArgument("use_rviz", default_value='true')
-
-    robot_state_publisher = IncludeLaunchDescription(
-            PythonLaunchDescriptionSource([
-                PathJoinSubstitution([
-                    FindPackageShare(resources_package),
-                    'launch',
-                    'description.launch.py',
-                ]),
-            ]),
-            condition=UnlessCondition(use_rviz),  # rviz launch includes rsp.
-            launch_arguments=dict(use_sim_time=use_sim_time).items(),
-    )
-
-    rviz = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([
-            PathJoinSubstitution([
-                FindPackageShare(resources_package),
-                'launch',
-                'display.launch.py',
-            ]),
-        ]),
-        condition=IfCondition(use_rviz),
-        launch_arguments=dict(use_sim_time=use_sim_time).items(),
-    )
-
-    gz_bridge = Node(
-        package='ros_gz_bridge',
-        executable='parameter_bridge',
-        arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock'],
-        output='screen',
-        parameters=[{
-            'use_sim_time': use_sim_time,
-        }],
-    )
-
-    return LaunchDescription([
-        use_sim_time_launch_arg,
-        use_rviz_arg,
-        use_custom_world_launch_arg,
-        gazebo_world_launch_arg,
-        robot_state_publisher,
-        rviz,
-        gazebo,
-        spawn,
-        gz_bridge,
-    ])

openarm_two_arms/urdf/openarm_two_arms_wrapper.urdf.xacro

@@ -1,5 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm_two_arms">
-    <xacro:include filename="openarm_two_arms.urdf.xacro"/>
-    <xacro:include filename="openarm_two_arms_sensors.urdf.xacro"/>
-</robot>

overcross/openarm_controllers.yaml

@@ -1,27 +0,0 @@
-controller_manager:
-  ros__parameters:
-    update_rate: 250
-    gripper_action_controller_position:
-      type: position_controllers/GripperActionController
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-    joint_group_position_controller:
-      type: position_controllers/JointGroupPositionController
-gripper_action_controller_position:
-  ros__parameters:
-    action_monitor_rate: 20.0
-    allow_stalling: false
-    goal_tolerance: 0.01
-    joint: null
-    max_effort: 0.0
-    stall_timeout: 1.0
-    stall_velocity_threshold: 0.001
-joint_state_broadcaster:
-  ros__parameters:
-    map_interface_to_joint_state.effort: effort
-    map_interface_to_joint_state.position: position
-    map_interface_to_joint_state.velocity: velocity
-    use_local_topics: false
-    use_urdf_to_filter: true
-joint_group_position_controller:
-  ros__parameters: {}

overcross/robot_meta.xml

@@ -1,86 +0,0 @@
-<?xml version="1.0" ?>
-<robotMeta>
- <robotName>openarm</robotName>
- <urdfFileName>openarm.urdf</urdfFileName>
- <packageName>openarm_description_2</packageName>
- <meshesDir>meshes </meshesDir>
- <robotType>nonspecific</robotType>
- <generateCodeForRosVersion>jazzy</generateCodeForRosVersion>
- <rootLinkName>l_J1_v002</rootLinkName>
- <xacroWrapperFileName>openarm_wrapper.urdf.xacro</xacroWrapperFileName>
- <controllersConfigFileName>openarm_controllers.yaml</controllersConfigFileName>
- <joints>
-  <joint>
-   <name>rev1</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>0.09289716518533317</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.0012062241015717492</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>-0.061900576071863</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>rev2</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>0.09289716518533321</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>-0.02854377589842827</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>-0.017150576071863013</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>rev3</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>0.031649514284448864</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.0012062241015718708</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>-0.01661414422754956</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>rev4</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>-0.20983062047238518</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.033077014697707</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>-0.016614144227858844</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>rev5</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>-0.08488103444256599</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.0022268460560923354</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>0.030965376793060356</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>rev6</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>0.02795991840243387</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>-0.03426282248752859</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>0.07396277148947943</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>rev7</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>0.033758514926782335</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.001187752615916666</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>0.05952028198168136</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>gripper_right_jaw</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>0.0</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.0</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>0.0</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>gripper_left_jaw</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>0.0</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.0</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>0.0</jointRelTotalCenterOfMass_z>
-  </joint>
- </joints>
-</robotMeta>