Revert "Migrate to UR robots"

This reverts commit 822ea75.

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

.github/workflows/nexus_integration_tests.yaml

@@ -28,11 +28,9 @@ jobs:
       with:
         path: ~/.cache/ccache
         key: ccache
-    # TODO(luca) Remove build from source of UR robots
-    # This is only temporary until a new Jazzy sync that includes https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/pull/1153/ is made
-    - name: TEMPORARY build UR from source
-      run:
-        git clone -b 2.4.13 https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver
+    - name: vcs
+      run: |
+        vcs import . < abb.repos
     - name: rosdep
       run: |
         apt update

abb.repos

@@ -0,0 +1,21 @@
+repositories:
+  thirdparty/abb/abb_libegm:
+    type: git
+    url: https://github.com/yadunund/abb_libegm.git
+    version: feature/scara
+  thirdparty/abb/abb_librws:
+    type: git
+    url: https://github.com/ros-industrial/abb_librws.git
+    version: master
+  thirdparty/abb/abb_egm_rws_managers:
+    type: git
+    url: https://github.com/yadunund/abb_egm_rws_managers.git
+    version: feature/scara
+  thirdparty/abb/abb_ros2_msgs:
+    type: git
+    url: https://github.com/gbartyzel/abb_ros2_msgs.git
+    version: rolling
+  thirdparty/abb/abb_ros2:
+    type: git
+    url: https://github.com/yadunund/abb_ros2.git
+    version: main

nexus_integration_tests/config/abb_irb1300_controllers.yaml

@@ -0,0 +1,78 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 250  # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+robot_controller_server:
+  ros__parameters:
+    managed_controllers: ["joint_state_broadcaster", "joint_trajectory_controller"]
+
+joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - joint_1
+      - joint_2
+      - joint_3
+      - joint_4
+      - joint_5
+      - joint_6
+    command_interfaces:
+      - position
+      - velocity
+    state_interfaces:
+      - position
+      - velocity
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    constraints:
+      stopped_velocity_tolerance: 0.01
+      goal_time: 0.0
+    gains:
+      joint_1:
+        p: 0.0
+        i: 0.0
+        d: 0.0
+        i_clamp: 0.0
+        ff_velocity_scale: 0.0
+        normalize_error: false
+      joint_2:
+        p: 0.0
+        i: 0.0
+        d: 0.0
+        i_clamp: 0.0
+        ff_velocity_scale: 0.0
+        normalize_error: false
+      joint_3:
+        p: 0.0
+        i: 0.0
+        d: 0.0
+        i_clamp: 0.0
+        ff_velocity_scale: 0.0
+        normalize_error: false
+      joint_4:
+        p: 0.0
+        i: 0.0
+        d: 0.0
+        i_clamp: 0.0
+        ff_velocity_scale: 0.0
+        normalize_error: false
+      joint_5:
+        p: 0.0
+        i: 0.0
+        d: 0.0
+        i_clamp: 0.0
+        ff_velocity_scale: 0.0
+        normalize_error: false
+      joint_6:
+        p: 0.0
+        i: 0.0
+        d: 0.0
+        i_clamp: 0.0
+        ff_velocity_scale: 0.0
+        normalize_error: false

nexus_integration_tests/config/abb_irb1300_planner_params.yaml

@@ -0,0 +1,58 @@
+motion_planner_server:
+  ros__parameters:
+    # List of robots to generate motion plans for
+    manipulators: ["abb_irb1300"]
+    # The default moveit group for each manipulator
+    default_group_name: "manipulator"
+    # Seconds to wait to connect to an action or service server
+    timeout_duration: 5
+    # Configure the planner_server to query motion plans directly from a move_group
+    # node that is running by initializing a move_group_interface.
+    # When set to false, the planner_server will initialize planning pipelines
+    # to directly compute plans but this has not been implemented yet.
+    use_move_group_interfaces: true
+    # When planning for multiple robots, set this to true.
+    use_namespace: false
+    # Tolerance for goal position.
+    goal_tolerance: 0.05
+    # Maximum seconds to generate a plan.
+    planning_time: 1.0
+    # Maximum number of replanning attempts
+    replan_attempts: 10
+    # If true, the cartesian interpolator will check for collisions.
+    collision_aware_cartesian_path: false
+    # The value of the max_step parameter used in cartesian interpolation.
+    cartesian_max_step: 0.001
+    # The value of the jump_threshold parameter used in cartesian interpolation.
+    cartesian_jump_threshold: 0.0
+    # Set true if trajectory should be executed after a plan is generated.
+    # The execution is a blocking event.
+    execute_trajectory: false
+    # The min_x of workspace bounding box.
+    workspace_min_x: -1.0
+    # The min_y of workspace bounding box.
+    workspace_min_y: -1.0
+    # The min_z of workspace bounding box.
+    workspace_min_z: -1.0
+    # The max_x of workspace bounding box.
+    workspace_max_x: 1.0
+    # The max_y of workspace bounding box.
+    workspace_max_y: 1.0
+      # The max_z of workspace bounding box.
+    workspace_max_z: 1.0
+    # The seconds within which the current robot state should be valid.
+    get_state_wait_seconds: 0.01
+    # Namespaced parameters for each robot when use_namespace is true.
+    # Is important to ensure move_group, robot_state_publisher and
+    # joint_state broadcaster all have the same namespace.
+    # Note: If use_namespace is false, pass these parameters directly.
+    abb_irb1300:
+      robot_description: ""
+      robot_description_semantic: ""
+      group_name: "manipulator"
+      # Group specific kinematic properties.
+      manipulator:
+        kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+        kinematics_solver_search_resolution: 0.005
+        kinematics_solver_timeout: 0.005
+        kinematics_solver_attempts: 3

nexus_integration_tests/config/abb_irb910sc_controllers.yaml

@@ -0,0 +1,79 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 250  # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    forward_command_controller_position:
+      type: forward_command_controller/ForwardCommandController
+
+robot_controller_server:
+  ros__parameters:
+    managed_controllers: [
+      "joint_state_broadcaster",
+      "joint_trajectory_controller",
+      # "forward_command_controller_position"
+    ]
+
+joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - joint_1
+      - joint_2
+      - joint_3
+      - joint_4
+    command_interfaces:
+      - position
+      - velocity
+    state_interfaces:
+      - position
+      - velocity
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    constraints:
+      stopped_velocity_tolerance: 0.01
+      goal_time: 0.0
+    open_loop_control: false
+    gains:
+      joint_1:
+        p: 0.0
+        i: 0.0
+        d: 0.0
+        i_clamp: 0.0
+        ff_velocity_scale: 0.0
+        normalize_error: false
+      joint_2:
+        p: 0.0
+        i: 0.0
+        d: 0.0
+        i_clamp: 0.0
+        ff_velocity_scale: 0.0
+        normalize_error: false
+      joint_3:
+        p: 0.0
+        i: 0.0
+        d: 0.0
+        i_clamp: 0.0
+        ff_velocity_scale: 0.0
+        normalize_error: false
+      joint_4:
+        p: 0.0
+        i: 0.0
+        d: 0.0
+        i_clamp: 0.0
+        ff_velocity_scale: 0.0
+        normalize_error: false
+
+forward_command_controller_position:
+  ros__parameters:
+    joints:
+      - joint_1
+      - joint_2
+      - joint_3
+      - joint_4
+    interface_name: position

nexus_integration_tests/config/abb_irb910sc_planner_params.yaml

@@ -0,0 +1,43 @@
+motion_planner_server:
+  ros__parameters:
+    # List of robots to generate motion plans for
+    manipulators: ["abb_irb910sc"]
+    # The default moveit group for each manipulator
+    default_group_name: "manipulator"
+    # Seconds to wait to connect to an action or service server
+    timeout_duration: 5
+    # Configure the planner_server to query motion plans directly from a move_group
+    # node that is running by initializing a move_group_interface.
+    # When set to false, the planner_server will initialize planning pipelines
+    # to directly compute plans but this has not been implemented yet.
+    use_move_group_interfaces: true
+    # When planning for multiple robots, set this to true.
+    use_namespace: false
+    # Tolerance for goal position.
+    goal_tolerance: 0.05
+    # Maximum seconds to generate a plan.
+    planning_time: 5.0
+    # Maximum number of replanning attempts
+    replan_attempts: 10
+    # If true, the cartesian interpolator will check for collisions.
+    collision_aware_cartesian_path: false
+    # Set true if trajectory should be executed after a plan is generated.
+    # The execution is a blocking event.
+    execute_trajectory: false
+    # The seconds within which the current robot state should be valid.
+    get_state_wait_seconds: 0.01
+
+    # Namespaced parameters for each robot when use_namespace is true.
+    # Is important to ensure move_group, robot_state_publisher and
+    # joint_state broadcaster all have the same namespace.
+    # Note: If use_namespace is false, pass these parameters directly.
+    abb_irb910sc:
+      robot_description: ""
+      robot_description_semantic: ""
+      group_name: "manipulator"
+      # Group specific kinematic properties.
+      manipulator:
+        kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+        kinematics_solver_search_resolution: 0.005
+        kinematics_solver_timeout: 0.005
+        kinematics_solver_attempts: 3

nexus_integration_tests/config/workcell_1_bts/place_on_conveyor.xml

@@ -5,23 +5,23 @@
       <dispense_item.DispenseItem name="dispense_item" item="productA" />
 
       <ApplyTransform base_pose="pickup_pose" x="0" y="0" z="-0.02" qx="0" qy="0" qz="0" qw="1" local="true" result="{pickup_top_goal}" />
-      <plan_motion.PlanMotion name="plan_to_pickup_top" robot_name="ur5e" goal="{pickup_top_goal}" scale_speed="0.5" cartesian="true" result="{pickup_top_traj}" />
+      <plan_motion.PlanMotion name="plan_to_pickup_top" robot_name="abb_irb910sc" goal="{pickup_top_goal}" scale_speed="0.5" cartesian="true" result="{pickup_top_traj}" />
       <GetJointConstraints trajectory="{pickup_top_traj}" joint_constraints="{joint_constraints}" />
       <execute_trajectory.ExecuteTrajectory name="execute_pickup_top" trajectory="{pickup_top_traj}" />
 
-      <plan_motion.PlanMotion name="plan_to_pickup" robot_name="ur5e" goal="pickup_pose" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{pickup_traj}" />
+      <plan_motion.PlanMotion name="plan_to_pickup" robot_name="abb_irb910sc" goal="pickup_pose" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{pickup_traj}" />
       <GetJointConstraints trajectory="{pickup_traj}" joint_constraints="{joint_constraints}" />
       <execute_trajectory.ExecuteTrajectory name="execute_pickup" trajectory="{pickup_traj}" />
       <gripper.GripperControl name="pickup_product" gripper="workcell_1_mock_gripper" position="0.0" max_effort="1.0" />
 
-      <plan_motion.PlanMotion name="plan_to_dropoff" robot_name="ur5e" goal="dropoff_pose" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{dropoff_traj}" />
+      <plan_motion.PlanMotion name="plan_to_dropoff" robot_name="abb_irb910sc" goal="dropoff_pose" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{dropoff_traj}" />
       <GetJointConstraints trajectory="{dropoff_traj}" joint_constraints="{joint_constraints}" />
 
       <WaitForSignal name="wait_for_pallet" signal="transporter_done" clear="true"/>
       <execute_trajectory.ExecuteTrajectory name="execute_dropoff" trajectory="{dropoff_traj}" />
       <gripper.GripperControl name="dropoff_product" gripper="workcell_1_mock_gripper" position="1.0" max_effort="0.0" />
 
-      <plan_motion.PlanMotion name="plan_to_home" robot_name="ur5e" goal="home" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{home_traj}" />
+      <plan_motion.PlanMotion name="plan_to_home" robot_name="abb_irb910sc" goal="home" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{home_traj}" />
       <execute_trajectory.ExecuteTrajectory name="execute_home" trajectory="{home_traj}" />
 
 

nexus_integration_tests/config/workcell_2_bts/pick_from_conveyor.xml

@@ -9,25 +9,25 @@
       <detection.GetDetectionPose detection="{current_product_detection}" result="{current_product_pose}" />
 
       <ApplyTransform base_pose="{current_product_pose}" x="0" y="0" z="-0.02" qx="0" qy="0" qz="0" qw="1" local="true" result="{pickup_top_goal}" />
-      <plan_motion.PlanMotion name="plan_to_pickup_top" robot_name="ur5e" goal="{pickup_top_goal}" scale_speed="0.5" result="{pickup_top_traj}" />
+      <plan_motion.PlanMotion name="plan_to_pickup_top" robot_name="abb_irb1300" goal="{pickup_top_goal}" scale_speed="0.5" result="{pickup_top_traj}" />
       <GetJointConstraints trajectory="{pickup_top_traj}" joint_constraints="{joint_constraints}" />
       <execute_trajectory.ExecuteTrajectory name="execute_pickup" trajectory="{pickup_top_traj}" />
 
-      <plan_motion.PlanMotion name="plan_to_product" robot_name="ur5e" goal="{current_product_pose}" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{pickup_traj}" />
+      <plan_motion.PlanMotion name="plan_to_product" robot_name="abb_irb1300" goal="{current_product_pose}" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{pickup_traj}" />
       <GetJointConstraints trajectory="{pickup_traj}" joint_constraints="{joint_constraints}" />
       <execute_trajectory.ExecuteTrajectory name="execute_pickup" trajectory="{pickup_traj}" />
       <gripper.GripperControl name="pickup_product" gripper="workcell_2_mock_gripper" position="0.0" max_effort="1.0" />
 
       <ApplyTransform base_pose="dropoff_pose" x="0" y="0" z="-0.02" qx="0" qy="0" qz="0" qw="1" result="{dropoff_top_goal}" />
-      <plan_motion.PlanMotion name="plan_to_dropoff_top" robot_name="ur5e" goal="{dropoff_top_goal}" scale_speed="0.5" result="{dropoff_top_traj}" />
+      <plan_motion.PlanMotion name="plan_to_dropoff_top" robot_name="abb_irb1300" goal="{dropoff_top_goal}" scale_speed="0.5" result="{dropoff_top_traj}" />
       <GetJointConstraints trajectory="{dropoff_top_traj}" joint_constraints="{joint_constraints}" />
       <execute_trajectory.ExecuteTrajectory name="execute_dropoff_top" trajectory="{dropoff_top_traj}" />
 
-      <plan_motion.PlanMotion name="plan_to_dropoff" robot_name="ur5e" goal="dropoff_pose" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{dropoff_traj}" />
+      <plan_motion.PlanMotion name="plan_to_dropoff" robot_name="abb_irb1300" goal="dropoff_pose" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{dropoff_traj}" />
       <GetJointConstraints trajectory="{dropoff_traj}" joint_constraints="{joint_constraints}" />
       <gripper.GripperControl name="pickup_product" gripper="workcell_2_mock_gripper" position="1.0" max_effort="0.0" />
 
-      <plan_motion.PlanMotion name="plan_to_home" robot_name="ur5e" goal="home" scale_speed="0.5" start_constraints="{joint_constraints}" result="{home_traj}" />
+      <plan_motion.PlanMotion name="plan_to_home" robot_name="abb_irb1300" goal="home" scale_speed="0.5" start_constraints="{joint_constraints}" result="{home_traj}" />
       <execute_trajectory.ExecuteTrajectory name="execute_home" trajectory="{home_traj}" />
     </Sequence>
   </BehaviorTree>