a generic ros packages for a robot platform

[jacknlliu]

• ur_description
  • including CAD of robot(it's very useful for measurement of geometry information). step format.
  • including dae or obj mesh
  • including some measure information about robot dynamics
  • native URDF, URDF for moveit, URDF for gazebo
• ur_kinematics
  • including IK without/with moveit. we can use KDL and Trac-IK as the preferred option.
• ur_msgs
• ur_driver
  • including ros control interface
  • including robot script and native interface
• ur_moveit_config
  • a standalone module for IK
• ur_cartesian_controllers
  • including position, velocity, and force/torque interface, etc.
  • cartesian trajectory controller.
  • Hybrid Position/Force Control
• ur_gazebo
  • including gazebo simualtion interface
  • including simulation interface aligned with real robot(for example, cartesian space control(position and velocity)). Then we can switch between real controller and simulation controller seamlessly. I think we should do something out of ros.
  • ur_sensors. including F/T sensor.
• ur_bringup

We hope using dart or simbody as the default physics engine for robot arm. Because of the issue about dart installation, we may choose the simbody as the preferred option.

Reference

• PR2 robot
• ros-industrial/universal_robot

[jacknlliu]

Given some workflow and automatic scripts for generating the packages.

Some extend packages based on this platform, such as multiple robots and mobile manipulator.

Some advanced packages based on this platform, such as vision integrated, grasping, and assembly packages.

[jacknlliu]

Many tools we need in ur_description, for example, Solidworks, deep exploration, freecad, blender, bounding mesh or v-hacd, mesh_cleaner, 3d_viz, mesh lab