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prbt_support package from pilz_robots repopilz_control pilz_robots pilz_status_indicator_rqt prbt_gazebo prbt_hardware_support prbt_ikfast_manipulator_plugin prbt_moveit_config prbt_support |
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Package Summary
| Tags | No category tags. |
| Version | 0.6.0 |
| 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 | noetic-devel |
| Last Updated | 2023-11-22 |
| Dev Status | END-OF-LIFE |
| CI status |
|
| Released | RELEASED |
| 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
- 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
0.6.0 (2021-04-19)
- Ports the driver to noetic. Includes moveing the trajectory planner
to moveit
- changes the references of the pilz_command_planner to the pilz_industrial_command_planner in moveit
- fixes compatibility with ubuntu 20, noetic and colcon
- changes CI to noetic and ubuntu 20
- Contributors: Pilz GmbH and Co. KG
0.5.21 (2020-11-23)
0.5.20 (2020-11-17)
- Fix acceptancetest_joint_limits (#448)
- Contributors: Pilz GmbH and Co. KG
0.5.19 (2020-09-07)
- Reduce planning context to urdf model in urdf_tests.test (#451)
- Increase acceleration limits. (#442)
- Contributors: Pilz GmbH and Co. KG
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
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
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
-
-
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 Robotics Stack Exchange
No version for distro galactic. Known supported distros are highlighted in the buttons above.
|
|
prbt_support package from pilz_robots repopilz_control pilz_robots pilz_status_indicator_rqt prbt_gazebo prbt_hardware_support prbt_ikfast_manipulator_plugin prbt_moveit_config prbt_support |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.5.23 |
| 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 | 2023-11-22 |
| Dev Status | END-OF-LIFE |
| CI status |
|
| Released | RELEASED |
| 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
- 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
0.5.23 (2021-07-21)
0.5.22 (2021-07-12)
0.5.21 (2020-11-23)
0.5.20 (2020-11-17)
- Fix acceptancetest_joint_limits (#448)
- Contributors: Pilz GmbH and Co. KG
0.5.19 (2020-09-07)
- Reduce planning context to urdf model in urdf_tests.test (#451)
- Increase acceleration limits. (#442)
- Contributors: Pilz GmbH and Co. KG
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
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
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
-
-
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.