Mobile manipulation MyAgv (Elephant Robotics)

CustomRobots/CMakeLists.txt

@@ -36,6 +36,7 @@ foreach(dependency ${PROJECT_DEPENDENCIES})
 endforeach()
 
 add_subdirectory(follow_person_harmonic)
+add_subdirectory(warehouse_delivery)
 
 # ============================================================================
 # Person plugin
@@ -139,6 +140,14 @@ install(
     mmo500/models
     mmo500/launch
 
+    myagv_mycobot/models
+    myagv_mycobot/launch
+
+    myagv_mecharm/models
+    myagv_mecharm/launch
+
+    warehouse_delivery/models
+
   DESTINATION share/${PROJECT_NAME})
 
 # Palletizing box feeder node (ament_cmake package: install python node explicitly)

CustomRobots/myagv_mecharm/LICENSE

@@ -0,0 +1,63 @@
+The mechArm 270 Pi and adaptive gripper meshes and kinematics come from
+mycobot_description in https://github.com/elephantrobotics/mycobot_ros2
+under this license:
+
+BSD 2-Clause License
+
+Copyright (c) 2020, Elephant Robotics
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+------------------------------------------------------------------------------
+
+The myAGV meshes come from myagv_description in
+https://github.com/elephantrobotics/myagv_ros2 under this license:
+
+BSD 3-Clause License
+
+Copyright (c) 2024, Elephant Robotics
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

CustomRobots/myagv_mecharm/NOTICE

@@ -0,0 +1,25 @@
+The meshes under models/myagv_mecharm/meshes/ come from Elephant Robotics,
+see LICENSE in this directory for both licenses.
+
+myagv_body, myagv_top and myagv_wheel_* were generated from myagv_base.dae
+and myagv_up.dae in https://github.com/elephantrobotics/myagv_ros2
+(myagv_description), Copyright (c) 2024 Elephant Robotics, BSD-3-Clause.
+The four mecanum wheels were split out of the base mesh so they can turn,
+and everything was converted from inches to meters.
+
+mecharm_* and gripper_* were converted to STL in meters from the mechArm 270 Pi
+and adaptive gripper meshes in https://github.com/elephantrobotics/mycobot_ros2
+(mycobot_description), Copyright (c) 2020 Elephant Robotics, BSD-2-Clause.
+
+The arm and gripper joint origins, axes and limits in
+myagv_mecharm_common.urdf.xacro follow mecharm_270_pi_adaptive_gripper.urdf
+from the same source. The driving gripper joint is renamed from
+gripper_controller to gripper_base_to_gripper_left3 because ros2_control
+cannot activate a controller named like one of its joints. The laser and
+camera frames follow the myAGV bringup in
+https://github.com/elephantrobotics/myagv_ros (myagv_odometry).
+
+The myagv_mycobot robot in this repository reuses the myAGV and gripper
+meshes from this directory.
+
+Everything else in this directory is original work for RoboticsAcademy.