[WIP][MyCobot] add eus model for mycobot

[tongtybj]

Add directory jsk_mycobot_robot to enable control MyCobot from eus
For more details. Please check https://github.com/tongtybj/jsk_robot/tree/PR/mycobot/eus/jsk_mycobot_robot.

Features

• implement eus model to control mycobot
• enable joint trajectory control for both simulation and real arm.

mycoboteus_gazebo.mp4

TODO

• add gripper model and controller. Currently only support 6-DoF arm without girpper.
• support multiple mycobot series (280, 320, 600). Currently only support type 280. Check jsk_kinova_robot
• support moveit based joint trajectory following. The original mycobot repository has been able to support moveit: Support Moveit for real arm elephantrobotics/mycobot_ros#48

[k-okada]

@tongtybj great! please remove mycobot.l from PR, because this should be genreated on compile time.

[k-okada]

@tongtybj
something wrong with your code
https://github.com/jsk-ros-pkg/jsk_robot/runs/4578667504?check_suite_focus=true

 Skipping "catkin_tools_prebuild/package.xml": the root tag is neither 'testsuite' nor 'testsuites'
  Full test results for 'jsk_mycobot_startup/test_results/jsk_mycobot_startup/MISSING-roslaunch-check__github_home_ros_ws_jsk_robot_src_jsk_robot_jsk_mycobot_robot_jsk_mycobot_startup_launch_mycobot_bringup.launch.xml'
  -------------------------------------------------
  <?xml version="1.0" encoding="UTF-8"?>
  <testsuite tests="1" failures="1" time="1" errors="0" name="roslaunch-check__github_home_ros_ws_jsk_robot_src_jsk_robot_jsk_mycobot_robot_jsk_mycobot_startup_launch_mycobot_bringup.launch.xml">
    <testcase name="test_ran" status="run" time="1" classname="Results">
      <failure message="Unable to find test results for roslaunch-check__github_home_ros_ws_jsk_robot_src_jsk_robot_jsk_mycobot_robot_jsk_mycobot_startup_launch_mycobot_bringup.launch.xml, test did not run.
  Expected results in /github/home/ros/ws_jsk_robot/build/jsk_mycobot_startup/test_results/jsk_mycobot_startup/roslaunch-check__github_home_ros_ws_jsk_robot_src_jsk_robot_jsk_mycobot_robot_jsk_mycobot_startup_launch_mycobot_bringup.launch.xml" type=""/>
    </testcase>
  </testsuite>

[tongtybj]

@k-okada

It seems like the following rosnode can be found

jsk_robot/jsk_mycobot_robot/jsk_mycobot_startup/launch/mycobot_bringup.launch

Lines 7 to 10 in 61637cc

	<include file="$(find mycobot_communication)/launch/mycobot_interface.launch" >
	<arg name="port" value="$(arg port)" />
	<arg name="baud" value="$(arg baud)" />
	</include>

Because mycobot_communication can not be installed by rosdep:
https://github.com/jsk-ros-pkg/jsk_robot/runs/4581278378?check_suite_focus=true#step:6:2493

Should I add MyCobot repository to https://github.com/jsk-ros-pkg/jsk_robot/blob/master/.travis.rosinstall.kinetic, or just ignore the check on mycobot_bringup.launch?

[k-okada]

Add MyCobot repository to https://github.com/jsk-ros-pkg/jsk_robot/blob/master/.travis.rosinstall.kinetic or skip them

jsk_robot/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt

Lines 3 to 8 in dd6672e

	if($ENV{ROS_DISTRO} STREQUAL "hydro")
	message(STATUS "fetch is not supported on hydro")
	find_package(catkin)
	catkin_package()
	return()
	endif()

[haraduka]

When I tried this program, I noticed three problems.

• When I use (send ri :angle-vector (send robot :angle-vector) 3000), the robot always moves at the fastest speed.
• The x-axis of the robot's TF coordinates are not aligned, is it OK ?
• Sometimes (about once every 100 seconds), /joint_states can have a big noise (is this just for me ? probably it is not the issue of this program.)

[tongtybj]

@haraduka

Thank you for your trial and comments!

• The first bug has been fixed by the latest version of Support Moveit for real arm elephantrobotics/mycobot_ros#48.
  Please check elephantrobotics/mycobot_ros@3ef1848, if you have time.

• The second issue is associated to https://github.com/elephantrobotics/mycobot_ros.
  Is there a rule that must align all x axes of links? @knorth55
  Current kinematics model:
  

• About the third issue. I monitored my arm for about 1000 seconds, but I could not find any large noise as you stated....

[k-okada]

@haraduka please follow https://github.com/jsk-ros-pkg/jsk_robot/pull/1421/files/bfc11cdd2a3b235d3a0a2056d205b70f1aa23c26#diff-5fa554345354cd75602f95bb2b342daf2465bc658512250d4fc6a987bb646638R24 to setup your workspace.

Is there a rule that must align all x axes of links?

No. URDF can did not have such rules and we wrote conversion program (urdf <-> collada <-> eus) to support arbitrary definitions. @haraduka if there is any reason that you wan to align all X axis of links, please describe that situation.
I believe knorth55 is super busy on thesis and have no time to follow this conversation.

[haraduka]

@tongtybj thank you !, most of the problems have been solved.
@k-okada I'm not sure about the problem, but I thought almost all robots like PR2 and Fetch had aligned coordinates.
If there is no problem, it is OK for me.

[tongtybj]

Enable moveit-based joint trajectory planning with eus IK result.
Please follow https://github.com/jsk-ros-pkg/jsk_robot/blob/77f8e6018a6dffb0fb185ae8119887153bd16eac/jsk_mycobot_robot/README.md#try-with-moveit

sample:

rostest mycoboteus test-mycobot-eus-moveit.test

[tongtybj]

I add grasp control action in eus model (GripperCommand) and confirm that it works with the real arm. Please check a09a37b.
Also please update elephantrobotics/mycobot_ros#48 to the latest version (e.g. wstool update)

However, mycobot repository does not provide the urdf file for gripper, so currently the gripper part is not visualized and thus grasping function is not available in gazebo.

Of course I can create a simple gripper model for visualizing totally from scratch. But I am not sure whether this job is necessary...