Package Summary

Tags No category tags.
Version 0.5.18
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/PilzDE/pilz_robots.git
VCS Type git
VCS Version melodic-devel
Last Updated 2020-07-03
Dev Status DEVELOPED
CI status
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Mechanical, kinematic and visual description of the Pilz light weight arm PRBT.

Additional Links

Maintainers

  • Alexander Gutenkunst
  • Christian Henkel
  • Hagen Slusarek
  • Immanuel Martini

Authors

No additional authors.

Overview

The prbt_support package contains files to start the PRBT manipulator. To start the robot run roslaunch prbt_support robot.launch.

ROS API

SystemInfoNode

Logs important system information.

Used Services

  • /prbt/driver/get_object (canopen_chain_node/GetObject)
    • Read CANOpen object holding firmware information.
CHANGELOG

Changelog for package prbt_support

0.5.18 (2020-07-02)

  • Make AsyncTest header-only
  • Contributors: Pilz GmbH and Co. KG

0.5.17 (2020-06-22)

  • Redirect start of fake_speed_override_node to separate launch file
  • Contributors: Pilz GmbH and Co. KG

0.5.16 (2020-05-15)

  • Fix include_directories for prbt_support tests (#390)
  • Update and apply clang-format (#387)
  • Make test-subfolder-names consistent (#380)
  • Fix/joint limits acceptance test (#381)
  • Contributors: Pilz GmbH and Co. KG

0.5.15 (2020-05-03)

  • Add support for starting the robot without modbus
  • Rename argument enable_safety_interface to iso10218_support.
  • Moved system_info_node here from prbt_hardware_support
  • Adopted default configuration for launchfiles
  • Add README
  • Enable starting ROS without connecting to safety controller
  • Contributors: Pilz GmbH and Co. KG

0.5.14 (2020-03-11)

0.5.13 (2019-12-04)

0.5.12 (2019-11-28)

0.5.11 (2019-11-22)

  • Fix clang compiler errors (#283)
  • Contributors: Pilz GmbH and Co. KG

0.5.10 (2019-10-08)

0.5.9 (2019-10-07)

  • Add frame speed monitoring
  • Contributors: Pilz GmbH and Co. KG

0.5.8 (2019-09-10)

  • integrate clang-tidy via CMake flag
  • Contributors: Pilz GmbH and Co. KG

0.5.7 (2019-08-29)

  • Add default modbus server ip for pss4000
  • Contributors: Pilz GmbH and Co. KG

0.5.6 (2019-06-12)

0.5.5 (2019-06-12)

0.5.4 (2019-05-27)

  • instantiate pg70 xacro macro (due to change in prbt_grippers)
  • Contributors: Pilz GmbH and Co. KG

0.5.3 (2019-04-24)

  • Add acceptance test for joint position limits
  • Relax joint limits.
  • Replace the radian values for the position limits (they have been rounded too roughly).
  • Added support for force-/torque sensors in gazebo
  • allow gripper_name as outside property instead of passing it explicitly
  • Add gripper brackets definition to prbt.xacro
  • Remove unnecessary file test_context.launch This file is moved to pilz_trajectory_generation, where it is mainly used. The test urdf_tests can use the original file planning_context.launch.
  • Add missing dependency on joint_state_controller
  • Relax joint limits (recompute radian values and round up 5th decimal)
  • Contributors: Pilz GmbH and Co. KG

0.5.2 (2019-02-21)

  • drop outdated can configuration
  • Fixup of mesh files due to errors in gazebo visualization
  • make robot.launch file configurable with args
  • Contributors: Pilz GmbH and Co. KG

0.5.1 (2018-11-30)

  • melodic release based on kinetic version 0.4.3
  • Contributors: Pilz GmbH and Co. KG

0.5.0 (2018-11-07)

0.4.3 (2018-11-30)

  • Update readme

0.4.2 (2018-11-08)

0.4.1 (2018-11-07)

0.4.0 (2018-11-06)

  • Enable prbt model to be used in combination with Gazebo
  • Add improved values for mass and inertia for all links
  • Contributors: Pilz GmbH and Co. KG

0.3.0 (2018-08-15)

  • remove dependency on gripper

0.2.2 (2018-07-26)

  • Move constants inside prbt_macro.xacro into local namespace.

0.2.1 (2018-07-19)

  • Add <url> tag to all package.xml files
  • test launch files and add missing dependencies

0.2.0 (2018-07-12)

  • initial robot model for prbt with and without pg+70 gripper
  • Contributors: Pilz GmbH and Co. KG

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/system_info.launch
    • Copyright (c) 2020 Pilz GmbH & Co. KG This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this program. If not, see .
  • launch/robot.launch
      • gripper [default: ]
      • iso10218_support [default: true]
      • safety_hw [default: pss4000]
      • read_api_spec_file [default: $(find prbt_hardware_support)/config/modbus_read_api_spec_$(arg safety_hw).yaml]
      • write_api_spec_file [default: $(find prbt_hardware_support)/config/modbus_write_api_spec_$(arg safety_hw).yaml]
      • modbus_server_ip [default: $(eval '192.168.0.10' if safety_hw=='pss4000' else '169.254.60.1')]
      • has_braketest_support [default: true]
      • has_operation_mode_support [default: true]
      • visual_status_indicator [default: true]
      • canopen_config [default: $(find prbt_support)/config/manipulator_driver.yaml]
      • load_robot_description [default: true]
      • spawn_controllers [default: $(eval 'manipulator_joint_trajectory_controller manipulator_joint_state_controller' + (' gripper_joint_trajectory_controller' if arg('gripper') else ''))]
  • test/test_urdf.launch
      • gripper [default: ]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged prbt_support at answers.ros.org

Package Summary

Tags No category tags.
Version 0.4.12
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/PilzDE/pilz_robots.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2020-04-08
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Mechanical, kinematic and visual description of the Pilz light weight arm PRBT.

Additional Links

Maintainers

  • Alexander Gutenkunst
  • Christian Henkel
  • Hagen Slusarek
  • Immanuel Martini

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package prbt_support

Forthcoming

  • Adopted default configuration for launchfiles
  • Contributors: Pilz GmbH and Co. KG

0.4.12 (2020-03-24)

  • Fake speed override in case of sim:=true
  • Add frame speed monitoring
  • integrate clang-tidy via CMake flag
  • Contributors: Pilz GmbH and Co. KG

0.4.11 (2019-09-11)

0.4.10 (2019-09-03)

  • Add default modbus server ip for pss4000
  • Contributors: Pilz GmbH and Co. KG

0.4.9 (2019-06-19)

  • instantiate pg70 xacro macro (due to change in prbt_grippers)
  • Contributors: Pilz GmbH and Co. KG

0.4.8 (2019-04-24)

  • Add acceptance test for joint position limits
  • Relax joint limits.
  • Replace the radian values for the position limits (they have been rounded too roughly).
  • Added support for force-/torque sensors in gazebo
  • allow gripper_name as outside property instead of passing it explicitly
  • Add gripper brackets definition to prbt.xacro
  • Remove unnecessary file test_context.launch This file is moved to pilz_trajectory_generation, where it is mainly used. The test urdf_tests can use the original file planning_context.launch.
  • Add missing dependency on joint_state_controller
  • Relax joint limits (recompute radian values and round up 5th decimal)
  • Contributors: Pilz GmbH and Co. KG

0.4.7 (2019-02-15)

  • drop outdated can configuration
  • make robot.launch file configurable with args
  • Contributors: Pilz GmbH and Co. KG

0.4.6 (2019-01-18)

0.4.5 (2019-01-16)

0.4.4 (2019-01-16)

  • Fixup of mesh files due to errors in gazebo visualization

0.4.3 (2018-11-30)

  • Update readme

0.4.2 (2018-11-08)

0.4.1 (2018-11-07)

0.4.0 (2018-11-06)

  • Enable prbt model to be used in combination with Gazebo
  • Add improved values for mass and inertia for all links
  • Contributors: Pilz GmbH and Co. KG

0.3.0 (2018-08-15)

  • remove dependency on gripper

0.2.2 (2018-07-26)

  • Move constants inside prbt_macro.xacro into local namespace.

0.2.1 (2018-07-19)

  • Add <url> tag to all package.xml files
  • test launch files and add missing dependencies

0.2.0 (2018-07-12)

  • initial robot model for prbt with and without pg+70 gripper
  • Contributors: Pilz GmbH and Co. KG

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/robot.launch
      • gripper [default: ]
      • safety_hw [default: pss4000]
      • read_api_spec_file [default: $(find prbt_hardware_support)/config/modbus_read_api_spec_$(arg safety_hw).yaml]
      • write_api_spec_file [default: $(find prbt_hardware_support)/config/modbus_write_api_spec_$(arg safety_hw).yaml]
      • modbus_server_ip [default: $(eval '192.168.0.10' if safety_hw=='pss4000' else '169.254.60.1')]
      • has_braketest_support [default: true]
      • has_operation_mode_support [default: true]
      • visual_status_indicator [default: true]
      • canopen_config [default: $(find prbt_support)/config/manipulator_driver.yaml]
      • load_robot_description [default: true]
      • spawn_controllers [default: $(eval 'manipulator_joint_trajectory_controller manipulator_joint_state_controller' + (' gripper_joint_trajectory_controller' if arg('gripper') else ''))]
  • test/test_urdf.launch
      • gripper [default: ]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged prbt_support at answers.ros.org