Experimental support for CRB 15000-12/1.27

ros-industrial / abb_experimental

Experimental packages for ABB manipulators within ROS-Industrial (http://wiki.ros.org/abb_experimental)

Apache License 2.0

134 stars 116 forks source link

Experimental support for CRB 15000-12/1.27 #149

Closed mmmarcopalma closed 1 month ago

mmmarcopalma commented 3 months ago

Extending support for CRB 15000 to model 12-1.27 (GoFa 12 kg).

Includes updates of:

/config, /launch, /urdf directories
.stl visual and collision mesh geometry (link-3, link-5 and link-6 are referenced to meshes/crb15000_5_95)

mmmarcopalma commented 3 months ago

/cc @gonzalocasas

gavanderhoorn commented 3 months ago

Thanks for the PR.

Some high-level comments:

could you remove all the desktop.ini files please?
could none of the meshes of the other variant be reused?
please add a roslaunch test for the new variant
please update the description in the manifest with the details about the new variant you added
and if you'd like: please add yourself as an author, seeing as you added a new variant

mmmarcopalma commented 3 months ago

Thanks, I'll follow up on your comments.

could none of the meshes of the other variant be reused?

I could re-use 3+3 meshes (links 3-5-6). The ones I uploaded are exact copies of the existing ones.

I'm not fluent yet in git, apologies for missing on some best-practice.

gavanderhoorn commented 3 months ago

could none of the meshes of the other variant be reused?

I could re-use 3+3 meshes (links 3-5-6). The ones I uploaded are exact copies of the existing ones.

Ok, so this is perhaps due to me not being clear by what I meant by reuse.

A xacro:macro can refer to files 'anywhere', so you don't have to copy meshes if they are identical to files for other variants.

Just have your <mesh filename="..."/> point to the file you'd like to reuse from the other variant.

No need to copy anything.

mmmarcopalma commented 3 months ago

I added a commit with the requested changes.

and if you'd like: please add yourself as an author, seeing as you added a new variant

Thanks, I added my name in the Package.xml

mmmarcopalma commented 3 months ago

Hello @gavanderhoorn, is there any news regarding this request? Thanks!

mmmarcopalma commented 2 months ago

Committed the requested changes. Thanks for supporting!

mmmarcopalma commented 2 months ago

Hello @gavanderhoorn, is there anything else I can do to push this PR? Thanks!

gavanderhoorn commented 1 month ago

I've re-enabled CI and added a couple of commits.

I believe this is in an OK state to merge. Thanks again for the PR @mmmarcopalma :+1:

Let's wait on CI to turn green.

gavanderhoorn commented 1 month ago

To prevent all the fixups from ending up in the commit history, I'll squash-merge this.

Provenance and attribution will be retained, of course.

gavanderhoorn commented 1 month ago

Thanks again @mmmarcopalma :+1:

mmmarcopalma commented 1 month ago

Great news, thanks for the support @gavanderhoorn, and thanks also to @gonzalocasas for initiating the process