moveit config
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9
rbs_arm/config/moveit/initial_positions.yaml
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9
rbs_arm/config/moveit/initial_positions.yaml
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# Default initial positions for rbs_arm's ros2_control fake system
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initial_positions:
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ee_link_joint: 0
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fork0_link_joint: 0
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fork1_link_joint: 0
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fork2_link_joint: 0
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main0_link_joint: 0
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main1_link_joint: 0
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40
rbs_arm/config/moveit/joint_limits.yaml
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40
rbs_arm/config/moveit/joint_limits.yaml
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# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
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# For beginners, we downscale velocity and acceleration limits.
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# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
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default_velocity_scaling_factor: 0.1
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default_acceleration_scaling_factor: 0.1
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# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
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# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
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joint_limits:
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ee_link_joint:
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has_velocity_limits: true
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max_velocity: 0.52000000000000002
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has_acceleration_limits: false
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max_acceleration: 0
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fork0_link_joint:
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has_velocity_limits: true
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max_velocity: 0.52000000000000002
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has_acceleration_limits: false
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max_acceleration: 0
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fork1_link_joint:
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has_velocity_limits: true
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max_velocity: 0.52000000000000002
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has_acceleration_limits: false
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max_acceleration: 0
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fork2_link_joint:
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has_velocity_limits: true
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max_velocity: 0.52000000000000002
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has_acceleration_limits: false
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max_acceleration: 0
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main0_link_joint:
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has_velocity_limits: true
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max_velocity: 0.52000000000000002
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has_acceleration_limits: false
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max_acceleration: 0
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main1_link_joint:
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has_velocity_limits: true
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max_velocity: 0.52000000000000002
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has_acceleration_limits: false
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max_acceleration: 0
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7
rbs_arm/config/moveit/kinematics.yaml
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7
rbs_arm/config/moveit/kinematics.yaml
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/**:
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ros__parameters:
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robot_description_kinematics:
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rbs_arm:
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kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
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kinematics_solver_search_resolution: 0.0050000000000000001
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kinematics_solver_timeout: 0.0050000000000000001
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17
rbs_arm/config/moveit/moveit_controllers.yaml
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17
rbs_arm/config/moveit/moveit_controllers.yaml
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moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
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moveit_simple_controller_manager:
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controller_names:
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- joint_trajectory_controller
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joint_trajectory_controller:
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type: FollowJointTrajectory
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action_ns: follow_joint_trajectory
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default: true
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joints:
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- fork0_link_joint
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- main0_link_joint
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- fork1_link_joint
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- main1_link_joint
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- fork2_link_joint
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- ee_link_joint
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54
rbs_arm/config/moveit/ompl_planning.yaml
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54
rbs_arm/config/moveit/ompl_planning.yaml
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planner_configs:
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SBLkConfigDefault:
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type: geometric::SBL
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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ESTkConfigDefault:
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type: geometric::EST
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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LBKPIECEkConfigDefault:
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type: geometric::LBKPIECE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
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min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
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BKPIECEkConfigDefault:
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type: geometric::BKPIECE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
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failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
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min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
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KPIECEkConfigDefault:
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type: geometric::KPIECE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
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failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
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min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
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RRTkConfigDefault:
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type: geometric::RRT
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
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RRTConnectkConfigDefault:
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type: geometric::RRTConnect
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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RRTstarkConfigDefault:
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type: geometric::RRTstar
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
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delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
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TRRTkConfigDefault:
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type: geometric::TRRT
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
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max_states_failed: 10 # when to start increasing temp. default: 10
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temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
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min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
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init_temperature: 10e-6 # initial temperature. default: 10e-6
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frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
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frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
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k_constant: 0.0 # value used to normalize expression. default: 0.0 set in setup()
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PRMkConfigDefault:
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type: geometric::PRM
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max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
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PRMstarkConfigDefault:
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type: geometric::PRMstar
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6
rbs_arm/config/moveit/pilz_cartesian_limits.yaml
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6
rbs_arm/config/moveit/pilz_cartesian_limits.yaml
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# Limits for the Pilz planner
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cartesian_limits:
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max_trans_vel: 1.0
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max_trans_acc: 2.25
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max_trans_dec: -5.0
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max_rot_vel: 1.57
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10
rbs_arm/config/moveit/rbs_arm.srdf.xacro
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10
rbs_arm/config/moveit/rbs_arm.srdf.xacro
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<?xml version="1.0" encoding="UTF-8"?>
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<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
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<xacro:arg name="name" default="rbs_arm" />
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<xacro:arg name="prefix" default="" />
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<xacro:include filename="$(find rbs_arm)/config/moveit/rbs_arm_macro.srdf.xacro" />
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<xacro:rbs_arm name="$(arg name)" prefix="$(arg prefix)" />
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</robot>
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35
rbs_arm/config/moveit/rbs_arm_macro.srdf.xacro
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35
rbs_arm/config/moveit/rbs_arm_macro.srdf.xacro
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<?xml version="1.0" encoding="UTF-8"?>
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<robot xmlns:xacro="http://wiki.ros.org/xacro">
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<xacro:macro name="rbs_arm" params="prefix name">
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<group name="${name}">
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<joint name="${prefix}fork0_link_joint" />
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<joint name="${prefix}main0_link_joint" />
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<joint name="${prefix}fork1_link_joint" />
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<joint name="${prefix}main1_link_joint" />
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<joint name="${prefix}fork2_link_joint" />
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<joint name="${prefix}ee_link_joint" />
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<joint name="${prefix}tool0_joint" />
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</group>
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<group_state name="home" group="rbs_arm">
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<joint name="${prefix}ee_link_joint" value="0" />
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<joint name="${prefix}fork0_link_joint" value="0" />
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<joint name="${prefix}fork1_link_joint" value="0" />
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<joint name="${prefix}fork2_link_joint" value="0" />
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<joint name="${prefix}main0_link_joint" value="0" />
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<joint name="${prefix}main1_link_joint" value="0" />
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</group_state>
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<disable_collisions link1="${prefix}base_link" link2="${prefix}fork0_link" reason="Adjacent" />
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<disable_collisions link1="${prefix}ee_link" link2="${prefix}fork2_link" reason="Adjacent" />
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<disable_collisions link1="${prefix}fork0_link" link2="${prefix}fork1_link" reason="Never" />
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<disable_collisions link1="${prefix}fork0_link" link2="${prefix}main0_link"
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reason="Adjacent" />
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<disable_collisions link1="${prefix}fork1_link" link2="${prefix}fork2_link" reason="Never" />
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<disable_collisions link1="${prefix}fork1_link" link2="${prefix}main0_link"
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reason="Adjacent" />
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<disable_collisions link1="${prefix}fork1_link" link2="${prefix}main1_link"
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reason="Adjacent" />
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<disable_collisions link1="${prefix}fork2_link" link2="${prefix}main1_link"
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reason="Adjacent" />
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</xacro:macro>
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</robot>
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from launch_ros.actions import Node
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, ExecuteProcess
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from launch_ros.substitutions import FindPackageShare
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
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from launch.conditions import IfCondition, UnlessCondition
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def generate_launch_description():
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument(
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"with_gripper",
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default_value="false",
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description="With gripper or not?",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"robot_description",
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default_value="",
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description="robot description param",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"start_joint_controller",
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default_value="false",
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description="Enable headless mode for robot control",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"initial_joint_controller",
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default_value="joint_trajectory_controller",
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description="Robot controller to start.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"controllers_file",
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default_value="rbs_arm_gazebosim.yaml",
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description="YAML file with the controllers configuration.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"cartesian_controllers",
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default_value="true",
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description="Launch cartesian controllres",
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)
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)
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robot_description_content = LaunchConfiguration("robot_description")
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controllers_file = LaunchConfiguration("controllers_file")
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start_joint_controller = LaunchConfiguration("start_joint_controller")
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with_gripper_condition = LaunchConfiguration("with_gripper")
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initial_joint_controller = LaunchConfiguration("initial_joint_controller")
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cartesian_controllers = LaunchConfiguration("cartesian_controllers")
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initial_joint_controllers_file_path = PathJoinSubstitution(
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[FindPackageShare("rba_arm"), "config", controllers_file]
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)
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robot_description = {"robot_description": robot_description_content}
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control_node = Node(
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package="controller_manager",
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executable="ros2_control_node",
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parameters=[robot_description, initial_joint_controllers_file_path],
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output="both",
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remappings=[
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('motion_control_handle/target_frame', 'target_frame'),
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('cartesian_compliance_controller/target_frame', 'target_frame'),
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('cartesian_compliance_controller/target_wrench', 'target_wrench'),
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('cartesian_compliance_controller/ft_sensor_wrench', 'ft_sensor_wrench')],
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condition=IfCondition(cartesian_controllers)
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)
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joint_state_broadcaster_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
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)
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# FIXME: Start controllers one controller by one launch or launch it all and switch by runtime?
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initial_joint_controller_spawner_started = Node(
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package="controller_manager",
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executable="spawner",
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arguments=[initial_joint_controller, "-c", "/controller_manager"],
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condition=IfCondition(start_joint_controller),
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)
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initial_joint_controller_spawner_stopped = Node(
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package="controller_manager",
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executable="spawner",
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arguments=[initial_joint_controller, "-c", "/controller_manager", "--inactive"],
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condition=UnlessCondition(start_joint_controller),
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)
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gripper_controller = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["gripper_controller", "-c", "/controller_manager"],
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condition=IfCondition(with_gripper_condition)
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)
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cartesian_motion_controller_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["cartesian_motion_controller", "--inactive", "-c", "/controller_manager"],
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condition=IfCondition(cartesian_controllers)
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)
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motion_control_handle_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["motion_control_handle", "--inactive", "-c", "/controller_manager"],
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condition=IfCondition(cartesian_controllers)
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)
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cartesian_compliance_controller_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["cartesian_compliance_controller", "--inactive", "-c", "/controller_manager"],
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condition=IfCondition(cartesian_controllers)
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)
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# force_torque_sensor_broadcaster = Node(
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# package="controller_manager",
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# executable="spawner",
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# arguments=["force_torque_sensor_broadcaster", "-c", "/controller_manager"]
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# )
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nodes_to_start = [
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control_node,
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joint_state_broadcaster_spawner,
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initial_joint_controller_spawner_started,
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initial_joint_controller_spawner_stopped,
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gripper_controller,
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cartesian_motion_controller_spawner,
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motion_control_handle_spawner,
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cartesian_compliance_controller_spawner,
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# force_torque_sensor_broadcaster
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]
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return LaunchDescription(declared_arguments + nodes_to_start)
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153
rbs_arm/launch/moveit.launch.py
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153
rbs_arm/launch/moveit.launch.py
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from launch_ros.actions import Node
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch_ros.substitutions import FindPackageShare
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
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from rbs_launch_utils.launch_common import load_yaml
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def generate_launch_description():
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument(
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"robot_description",
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default_value="''",
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description="robot description string",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"robot_description_semantic",
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default_value="''",
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description="robot description semantic string",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"moveit_config_package",
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default_value="rbs_arm",
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description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \
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is not set, it enables use of a custom moveit config.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"moveit_config_file",
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default_value="rbs_arm.srdf.xacro",
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description="MoveIt SRDF/XACRO description file with the robot.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"use_sim_time",
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default_value="true",
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description="Make MoveIt to use simulation time. This is needed for the trajectory planing in simulation.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"prefix",
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default_value="''",
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description="prefix for robot links",
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)
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)
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prefix = LaunchConfiguration("prefix")
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moveit_config_package = LaunchConfiguration("moveit_config_package")
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moveit_config_file = LaunchConfiguration("moveit_config_file")
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use_sim_time = LaunchConfiguration("use_sim_time")
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robot_description_content = LaunchConfiguration("robot_description")
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robot_description_semantic_content = LaunchConfiguration("robot_description_semantic")
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robot_description = {"robot_description": robot_description_content}
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robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}
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use_sim_time = {"use_sim_time": use_sim_time}
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robot_description_kinematics = PathJoinSubstitution(
|
||||
[FindPackageShare(moveit_config_package), "config/moveit", "kinematics.yaml"]
|
||||
)
|
||||
|
||||
# Planning Configuration
|
||||
ompl_planning_pipeline_config = {
|
||||
"move_group": {
|
||||
"planning_plugin": "ompl_interface/OMPLPlanner",
|
||||
"request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
|
||||
"start_state_max_bounds_error": 0.1,
|
||||
}
|
||||
}
|
||||
ompl_planning_yaml = load_yaml("rbs_arm", "config/moveit/ompl_planning.yaml")
|
||||
ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
|
||||
|
||||
moveit_controllers = load_yaml("rbs_arm", "config/moveit/moveit_controllers.yaml")
|
||||
|
||||
trajectory_execution = {
|
||||
"moveit_manage_controllers": True,
|
||||
"trajectory_execution.allowed_execution_duration_scaling": 100.0,
|
||||
"trajectory_execution.allowed_goal_duration_margin": 0.5,
|
||||
"trajectory_execution.allowed_start_tolerance": 0.01,
|
||||
}
|
||||
|
||||
planning_scene_monitor_parameters = {
|
||||
"publish_planning_scene": True,
|
||||
"publish_geometry_updates": True,
|
||||
"publish_state_updates": True,
|
||||
"publish_transforms_updates": True,
|
||||
}
|
||||
|
||||
move_group_node = Node(
|
||||
package="moveit_ros_move_group",
|
||||
executable="move_group",
|
||||
output="screen",
|
||||
parameters=[
|
||||
robot_description,
|
||||
robot_description_semantic,
|
||||
robot_description_kinematics,
|
||||
ompl_planning_pipeline_config,
|
||||
trajectory_execution,
|
||||
moveit_controllers,
|
||||
planning_scene_monitor_parameters,
|
||||
use_sim_time,
|
||||
],
|
||||
)
|
||||
|
||||
move_topose_action_server = Node(
|
||||
package="rbs_skill_servers",
|
||||
executable="move_topose_action_server",
|
||||
parameters=[
|
||||
robot_description,
|
||||
robot_description_semantic,
|
||||
robot_description_kinematics,
|
||||
use_sim_time,
|
||||
]
|
||||
)
|
||||
|
||||
move_cartesian_path_action_server = Node(
|
||||
package="rbs_skill_servers",
|
||||
executable="move_cartesian_path_action_server",
|
||||
parameters=[
|
||||
robot_description,
|
||||
robot_description_semantic,
|
||||
robot_description_kinematics,
|
||||
use_sim_time,
|
||||
]
|
||||
)
|
||||
|
||||
move_joint_state_action_server = Node(
|
||||
package="rbs_skill_servers",
|
||||
executable="move_to_joint_states_action_server",
|
||||
parameters=[
|
||||
robot_description,
|
||||
robot_description_semantic,
|
||||
robot_description_kinematics,
|
||||
use_sim_time,
|
||||
]
|
||||
)
|
||||
|
||||
nodes_to_start = [
|
||||
move_group_node,
|
||||
move_topose_action_server,
|
||||
move_cartesian_path_action_server,
|
||||
move_joint_state_action_server,
|
||||
]
|
||||
return LaunchDescription(declared_arguments + nodes_to_start)
|
||||
168
rbs_arm/launch/moveit_gazebosim.launch.py
Normal file
168
rbs_arm/launch/moveit_gazebosim.launch.py
Normal file
|
|
@ -0,0 +1,168 @@
|
|||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, ExecuteProcess
|
||||
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
import os
|
||||
|
||||
def generate_launch_description():
|
||||
declared_arguments = []
|
||||
# General arguments
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"description_package",
|
||||
default_value="rbs_arm",
|
||||
description="Description package with robot URDF/XACRO files. Usually the argument \
|
||||
is not set, it enables use of a custom description.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"description_file",
|
||||
default_value="rbs_arm_modular.xacro",
|
||||
description="URDF/XACRO description file with the robot.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"prefix",
|
||||
default_value='',
|
||||
description="Prefix of the joint names, useful for \
|
||||
multi-robot setup. If changed than also joint names in the controllers' configuration \
|
||||
have to be updated.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"hardware",
|
||||
default_value='',
|
||||
# choices=["mock", "gazebo"],
|
||||
description="The name of hardware",
|
||||
)
|
||||
)
|
||||
prefix = LaunchConfiguration("prefix")
|
||||
description_package = LaunchConfiguration("description_package")
|
||||
description_file = LaunchConfiguration("description_file")
|
||||
hardware = LaunchConfiguration("hardware")
|
||||
|
||||
rviz_config_file = PathJoinSubstitution(
|
||||
[FindPackageShare(description_package), "config", "view_robot.rviz"]
|
||||
)
|
||||
initial_joint_controllers = PathJoinSubstitution(
|
||||
[FindPackageShare("rbs_arm"), "config", "rbs_arm_controllers_gazebosim.yaml"]
|
||||
)
|
||||
|
||||
robot_description_content = Command(
|
||||
[
|
||||
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
||||
" ",
|
||||
PathJoinSubstitution([FindPackageShare(description_package), "urdf", description_file]),
|
||||
" ",
|
||||
"gripper_name:=", "", " ",
|
||||
"prefix:=", prefix, " ",
|
||||
"hardware:=", hardware, " ",
|
||||
"simulation_controllers:=", initial_joint_controllers, " ",
|
||||
|
||||
]
|
||||
)
|
||||
|
||||
robot_description = {"robot_description": robot_description_content}
|
||||
|
||||
# MoveIt Configuration
|
||||
robot_description_semantic_content = Command(
|
||||
[
|
||||
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
||||
" ",
|
||||
PathJoinSubstitution(
|
||||
[FindPackageShare("rbs_arm"), "config/moveit", "rbs_arm.srdf.xacro"]
|
||||
),
|
||||
" ",
|
||||
"name:=","rbs_arm"," ",
|
||||
"prefix:=",prefix," ",
|
||||
]
|
||||
)
|
||||
robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}
|
||||
robot_description_kinematics = PathJoinSubstitution(
|
||||
[FindPackageShare("rbs_arm"), "moveit/config", "kinematics.yaml"]
|
||||
)
|
||||
|
||||
moveit = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource([
|
||||
PathJoinSubstitution([
|
||||
FindPackageShare(description_package),
|
||||
'launch',
|
||||
'moveit.launch.py'
|
||||
])
|
||||
]),
|
||||
launch_arguments={
|
||||
'robot_description': robot_description_content,
|
||||
'robot_description_semantic': robot_description_semantic_content,
|
||||
'prefix': prefix,
|
||||
}.items())
|
||||
|
||||
|
||||
load_joint_state_broadcaster = ExecuteProcess(
|
||||
cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
|
||||
'joint_state_broadcaster'],
|
||||
output='screen'
|
||||
)
|
||||
|
||||
load_joint_trajectory_controller = ExecuteProcess(
|
||||
cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
|
||||
'joint_trajectory_controller'],
|
||||
output='screen'
|
||||
)
|
||||
|
||||
robot_state_publisher_node = Node(
|
||||
package="robot_state_publisher",
|
||||
executable="robot_state_publisher",
|
||||
output="both",
|
||||
parameters=[robot_description],
|
||||
)
|
||||
rviz_node = Node(
|
||||
package="rviz2",
|
||||
executable="rviz2",
|
||||
name="rviz2",
|
||||
output="log",
|
||||
arguments=["-d", rviz_config_file],
|
||||
parameters=[
|
||||
robot_description,
|
||||
robot_description_semantic,
|
||||
robot_description_kinematics
|
||||
],
|
||||
|
||||
)
|
||||
|
||||
gazebo = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
[os.path.join(get_package_share_directory('ros_gz_sim'),
|
||||
'launch', 'gz_sim.launch.py')]),
|
||||
launch_arguments=[('gz_args', [' -r ', "empty.sdf"])],
|
||||
)
|
||||
# Spawn robot
|
||||
gazebo_spawn_robot = Node(
|
||||
package='ros_gz_sim',
|
||||
executable='create',
|
||||
arguments=[
|
||||
'-name', "rbs_arm",
|
||||
'-x', '0.0',
|
||||
'-z', '0.0',
|
||||
'-y', '0.0',
|
||||
'-string', robot_description_content
|
||||
],
|
||||
output='screen'
|
||||
)
|
||||
|
||||
nodes_to_start = [
|
||||
load_joint_state_broadcaster,
|
||||
load_joint_trajectory_controller,
|
||||
robot_state_publisher_node,
|
||||
rviz_node,
|
||||
gazebo,
|
||||
gazebo_spawn_robot,
|
||||
moveit
|
||||
]
|
||||
|
||||
return LaunchDescription(declared_arguments + nodes_to_start)
|
||||
454
rbs_arm/urdf/rbs_arm.urdf
Normal file
454
rbs_arm/urdf/rbs_arm.urdf
Normal file
|
|
@ -0,0 +1,454 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/urdf/rbs_arm_modular.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="rbs_arm">
|
||||
<link name="world"/>
|
||||
<joint name="base_link_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="world"/>
|
||||
<child link="base_link"/>
|
||||
</joint>
|
||||
<link name="base_link">
|
||||
<collision name="base_link_collision">
|
||||
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/start_link.stl" scale="1.00000 1.00000 1.00000"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<inertia ixx="0.00503302470272442" ixy="0.000343817346410954" ixz="-4.74990755448368E-06" iyy="0.00337962410057753" iyz="-2.3099255620051E-05" izz="0.00405858207282473"/>
|
||||
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.000297002857922682 0.0964721185617698 -0.000361033370053684"/>
|
||||
<mass value="1.88031044620482"/>
|
||||
</inertial>
|
||||
<visual name="base_link_visual">
|
||||
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/visual/start_link.dae" scale="1.00000 1.00000 1.00000"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<gazebo reference="base_link">
|
||||
<visual>
|
||||
<material>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.6 0.6 0.6 1</specular>
|
||||
<ambient>1.0 1.0 1.0</ambient>
|
||||
<lighting>true</lighting>
|
||||
<emissive>0 0 0 1</emissive>
|
||||
<pbr>
|
||||
<metal>
|
||||
<albedo_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/base_link_d.png</albedo_map>
|
||||
<normal_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/base_link_n.png</normal_map>
|
||||
<ambient_occlusion_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/base_link_ao.png</ambient_occlusion_map>
|
||||
<roughness_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/base_link_r.png</roughness_map>
|
||||
</metal>
|
||||
</pbr>
|
||||
</material>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<joint name="fork0_link_joint" type="revolute">
|
||||
<limit effort="78" lower="-3.14159" upper="3.14159" velocity="0.52"/>
|
||||
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.17833"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="fork0_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<link name="fork0_link">
|
||||
<collision name="fork0_link_collision">
|
||||
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.00000 0.00000"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/fork.stl" scale="1.00000 1.00000 1.00000"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<inertia ixx="0.00367804533572758" ixy="1.04277925521833E-05" ixz="-0.00149971410403071" iyy="0.00415208849477534" iyz="-0.00122" izz="0.00329"/>
|
||||
<origin rpy="0.00000 0.00000 0.00000" xyz="0.0472051139085306 0.00208890925682996 0.0557265410642575"/>
|
||||
<mass value="1.12472202892859"/>
|
||||
</inertial>
|
||||
<visual name="fork0_link_visual">
|
||||
<origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/visual/fork.dae" scale="1.00000 1.00000 1.00000"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<ros2_control name="fork0_link_joint_hardware_interface" type="actuator">
|
||||
<hardware>
|
||||
<plugin>ign_ros2_control/IgnitionSystem</plugin>
|
||||
</hardware>
|
||||
<joint name="fork0_link_joint">
|
||||
<command_interface name="position">
|
||||
<param name="min">-1</param>
|
||||
<param name="max">1</param>
|
||||
</command_interface>
|
||||
<command_interface name="velocity">
|
||||
<param name="min">-1</param>
|
||||
<param name="max">1</param>
|
||||
</command_interface>
|
||||
<param name="p">500</param>
|
||||
<param name="d">0.5</param>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
</ros2_control>
|
||||
<gazebo reference="fork0_link">
|
||||
<visual>
|
||||
<material>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.6 0.6 0.6 1</specular>
|
||||
<ambient>1.0 1.0 1.0</ambient>
|
||||
<lighting>true</lighting>
|
||||
<emissive>0 0 0 1</emissive>
|
||||
<pbr>
|
||||
<metal>
|
||||
<albedo_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_d.png</albedo_map>
|
||||
<normal_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_n.png</normal_map>
|
||||
<ambient_occlusion_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_ao.png</ambient_occlusion_map>
|
||||
<roughness_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_r.png</roughness_map>
|
||||
</metal>
|
||||
</pbr>
|
||||
</material>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<joint name="main0_link_joint" type="revolute">
|
||||
<limit effort="78" lower="-1.5708" upper="3.14159" velocity="0.52"/>
|
||||
<origin rpy="-0.00000 0.00000 0.00000" xyz="0.10000 0.00000 0.09400"/>
|
||||
<parent link="fork0_link"/>
|
||||
<child link="main0_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
</joint>
|
||||
<link name="main0_link">
|
||||
<collision name="main0_link_collision">
|
||||
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/main_link.stl" scale="1.00000 1.00000 1.00000"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<inertia ixx="0.00315699373090845" ixy="2.84713820858537E-05" ixz="-7.01601261191721E-05" iyy="0.00343729241263707" iyz="-0.000101485203138902" izz="0.00125534890134052"/>
|
||||
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00186712264682627 -0.000412152188777604 0.0516389446895805"/>
|
||||
<mass value="1.58688811563124"/>
|
||||
</inertial>
|
||||
<visual name="main0_link_visual">
|
||||
<origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/visual/main_link.dae" scale="1.00000 1.00000 1.00000"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<ros2_control name="main0_link_joint_hardware_interface" type="actuator">
|
||||
<hardware>
|
||||
<plugin>ign_ros2_control/IgnitionSystem</plugin>
|
||||
</hardware>
|
||||
<joint name="main0_link_joint">
|
||||
<command_interface name="position">
|
||||
<param name="min">-1</param>
|
||||
<param name="max">1</param>
|
||||
</command_interface>
|
||||
<command_interface name="velocity">
|
||||
<param name="min">-1</param>
|
||||
<param name="max">1</param>
|
||||
</command_interface>
|
||||
<param name="p">100</param>
|
||||
<param name="d">0.5</param>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
</ros2_control>
|
||||
<gazebo reference="main0_link">
|
||||
<visual>
|
||||
<material>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.6 0.6 0.6 1</specular>
|
||||
<ambient>1.0 1.0 1.0</ambient>
|
||||
<lighting>true</lighting>
|
||||
<emissive>0 0 0 1</emissive>
|
||||
<pbr>
|
||||
<metal>
|
||||
<albedo_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_d.png</albedo_map>
|
||||
<normal_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_n.png</normal_map>
|
||||
<ambient_occlusion_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_ao.png</ambient_occlusion_map>
|
||||
<roughness_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_r.png</roughness_map>
|
||||
</metal>
|
||||
</pbr>
|
||||
</material>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<joint name="fork1_link_joint" type="revolute">
|
||||
<limit effort="78" lower="-3.14159" upper="3.14159" velocity="0.52"/>
|
||||
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.13300"/>
|
||||
<parent link="main0_link"/>
|
||||
<child link="fork1_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<link name="fork1_link">
|
||||
<collision name="fork1_link_collision">
|
||||
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.00000 0.00000"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/fork.stl" scale="1.00000 1.00000 1.00000"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<inertia ixx="0.00367804533572758" ixy="1.04277925521833E-05" ixz="-0.00149971410403071" iyy="0.00415208849477534" iyz="-0.00122" izz="0.00329"/>
|
||||
<origin rpy="0.00000 0.00000 0.00000" xyz="0.0472051139085306 0.00208890925682996 0.0557265410642575"/>
|
||||
<mass value="1.12472202892859"/>
|
||||
</inertial>
|
||||
<visual name="fork1_link_visual">
|
||||
<origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/visual/fork.dae" scale="1.00000 1.00000 1.00000"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<ros2_control name="fork1_link_joint_hardware_interface" type="actuator">
|
||||
<hardware>
|
||||
<plugin>ign_ros2_control/IgnitionSystem</plugin>
|
||||
</hardware>
|
||||
<joint name="fork1_link_joint">
|
||||
<command_interface name="position">
|
||||
<param name="min">-1</param>
|
||||
<param name="max">1</param>
|
||||
</command_interface>
|
||||
<command_interface name="velocity">
|
||||
<param name="min">-1</param>
|
||||
<param name="max">1</param>
|
||||
</command_interface>
|
||||
<param name="p">500</param>
|
||||
<param name="d">0.5</param>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
</ros2_control>
|
||||
<gazebo reference="fork1_link">
|
||||
<visual>
|
||||
<material>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.6 0.6 0.6 1</specular>
|
||||
<ambient>1.0 1.0 1.0</ambient>
|
||||
<lighting>true</lighting>
|
||||
<emissive>0 0 0 1</emissive>
|
||||
<pbr>
|
||||
<metal>
|
||||
<albedo_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_d.png</albedo_map>
|
||||
<normal_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_n.png</normal_map>
|
||||
<ambient_occlusion_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_ao.png</ambient_occlusion_map>
|
||||
<roughness_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_r.png</roughness_map>
|
||||
</metal>
|
||||
</pbr>
|
||||
</material>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<joint name="main1_link_joint" type="revolute">
|
||||
<limit effort="78" lower="-1.5708" upper="3.14159" velocity="0.52"/>
|
||||
<origin rpy="-0.00000 0.00000 0.00000" xyz="0.10000 0.00000 0.09400"/>
|
||||
<parent link="fork1_link"/>
|
||||
<child link="main1_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
</joint>
|
||||
<link name="main1_link">
|
||||
<collision name="main1_link_collision">
|
||||
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/main_link.stl" scale="1.00000 1.00000 1.00000"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<inertia ixx="0.00315699373090845" ixy="2.84713820858537E-05" ixz="-7.01601261191721E-05" iyy="0.00343729241263707" iyz="-0.000101485203138902" izz="0.00125534890134052"/>
|
||||
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00186712264682627 -0.000412152188777604 0.0516389446895805"/>
|
||||
<mass value="1.58688811563124"/>
|
||||
</inertial>
|
||||
<visual name="main1_link_visual">
|
||||
<origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/visual/main_link.dae" scale="1.00000 1.00000 1.00000"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<ros2_control name="main1_link_joint_hardware_interface" type="actuator">
|
||||
<hardware>
|
||||
<plugin>ign_ros2_control/IgnitionSystem</plugin>
|
||||
</hardware>
|
||||
<joint name="main1_link_joint">
|
||||
<command_interface name="position">
|
||||
<param name="min">-1</param>
|
||||
<param name="max">1</param>
|
||||
</command_interface>
|
||||
<command_interface name="velocity">
|
||||
<param name="min">-1</param>
|
||||
<param name="max">1</param>
|
||||
</command_interface>
|
||||
<param name="p">100</param>
|
||||
<param name="d">0.5</param>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
</ros2_control>
|
||||
<gazebo reference="main1_link">
|
||||
<visual>
|
||||
<material>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.6 0.6 0.6 1</specular>
|
||||
<ambient>1.0 1.0 1.0</ambient>
|
||||
<lighting>true</lighting>
|
||||
<emissive>0 0 0 1</emissive>
|
||||
<pbr>
|
||||
<metal>
|
||||
<albedo_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_d.png</albedo_map>
|
||||
<normal_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_n.png</normal_map>
|
||||
<ambient_occlusion_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_ao.png</ambient_occlusion_map>
|
||||
<roughness_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_r.png</roughness_map>
|
||||
</metal>
|
||||
</pbr>
|
||||
</material>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<joint name="fork2_link_joint" type="revolute">
|
||||
<limit effort="78" lower="-3.14159" upper="3.14159" velocity="0.52"/>
|
||||
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.13300"/>
|
||||
<parent link="main1_link"/>
|
||||
<child link="fork2_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<link name="fork2_link">
|
||||
<collision name="fork2_link_collision">
|
||||
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.00000 0.00000"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/fork.stl" scale="1.00000 1.00000 1.00000"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<inertia ixx="0.00367804533572758" ixy="1.04277925521833E-05" ixz="-0.00149971410403071" iyy="0.00415208849477534" iyz="-0.00122" izz="0.00329"/>
|
||||
<origin rpy="0.00000 0.00000 0.00000" xyz="0.0472051139085306 0.00208890925682996 0.0557265410642575"/>
|
||||
<mass value="1.12472202892859"/>
|
||||
</inertial>
|
||||
<visual name="fork2_link_visual">
|
||||
<origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/visual/fork.dae" scale="1.00000 1.00000 1.00000"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<ros2_control name="fork2_link_joint_hardware_interface" type="actuator">
|
||||
<hardware>
|
||||
<plugin>ign_ros2_control/IgnitionSystem</plugin>
|
||||
</hardware>
|
||||
<joint name="fork2_link_joint">
|
||||
<command_interface name="position">
|
||||
<param name="min">-1</param>
|
||||
<param name="max">1</param>
|
||||
</command_interface>
|
||||
<command_interface name="velocity">
|
||||
<param name="min">-1</param>
|
||||
<param name="max">1</param>
|
||||
</command_interface>
|
||||
<param name="p">500</param>
|
||||
<param name="d">0.5</param>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
</ros2_control>
|
||||
<gazebo reference="fork2_link">
|
||||
<visual>
|
||||
<material>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.6 0.6 0.6 1</specular>
|
||||
<ambient>1.0 1.0 1.0</ambient>
|
||||
<lighting>true</lighting>
|
||||
<emissive>0 0 0 1</emissive>
|
||||
<pbr>
|
||||
<metal>
|
||||
<albedo_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_d.png</albedo_map>
|
||||
<normal_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_n.png</normal_map>
|
||||
<ambient_occlusion_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_ao.png</ambient_occlusion_map>
|
||||
<roughness_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_r.png</roughness_map>
|
||||
</metal>
|
||||
</pbr>
|
||||
</material>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<joint name="ee_link_joint" type="revolute">
|
||||
<limit effort="78" lower="-1.5708" upper="3.14159" velocity="0.52"/>
|
||||
<origin rpy="0.00000 0.00000 0.00000" xyz="0.10000 0.00000 0.09473"/>
|
||||
<parent link="fork2_link"/>
|
||||
<child link="ee_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
</joint>
|
||||
<joint name="tool0_joint" type="fixed">
|
||||
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.11000"/>
|
||||
<parent link="ee_link"/>
|
||||
<child link="tool0"/>
|
||||
</joint>
|
||||
<link name="tool0"/>
|
||||
<link name="ee_link">
|
||||
<collision name="ee_link_collision">
|
||||
<origin rpy="-0.00000 0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/tail_link.stl" scale="1.00000 1.00000 1.00000"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<inertia ixx="0.00147695259043549" ixy="-2.66894744420299E-05" ixz="-4.40871314563273E-05" iyy="0.00135500487881796" iyz="-3.19001462979333E-05" izz="0.00087582892706912"/>
|
||||
<origin rpy="0.00000 0.00000 0.00000" xyz="-9.7531539777207E-06 -0.000888494418875867 0.0342332199538358"/>
|
||||
<mass value="1.88031044620482"/>
|
||||
</inertial>
|
||||
<visual name="ee_link_visual">
|
||||
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.00000 0.00000"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/visual/tail_link.dae" scale="1.00000 1.00000 1.00000"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<ros2_control name="ee_link_joint_hardware_interface" type="actuator">
|
||||
<hardware>
|
||||
<plugin>ign_ros2_control/IgnitionSystem</plugin>
|
||||
</hardware>
|
||||
<joint name="ee_link_joint">
|
||||
<command_interface name="position">
|
||||
<param name="min">-1</param>
|
||||
<param name="max">1</param>
|
||||
</command_interface>
|
||||
<command_interface name="velocity">
|
||||
<param name="min">-1</param>
|
||||
<param name="max">1</param>
|
||||
</command_interface>
|
||||
<param name="p">10</param>
|
||||
<param name="d">0.5</param>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
</ros2_control>
|
||||
<gazebo reference="ee_link">
|
||||
<visual>
|
||||
<material>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.6 0.6 0.6 1</specular>
|
||||
<ambient>1.0 1.0 1.0</ambient>
|
||||
<lighting>true</lighting>
|
||||
<emissive>0 0 0 1</emissive>
|
||||
<pbr>
|
||||
<metal>
|
||||
<albedo_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/ee_link_d.png</albedo_map>
|
||||
<normal_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/ee_link_n.png</normal_map>
|
||||
<ambient_occlusion_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/ee_link_ao.png</ambient_occlusion_map>
|
||||
<roughness_map>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/ee_link_r.png</roughness_map>
|
||||
</metal>
|
||||
</pbr>
|
||||
</material>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
|
||||
<parameters>/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/config/rbs_arm_controllers_gazebosim.yaml</parameters>
|
||||
<controller_manager_node_name>/controller_manager</controller_manager_node_name>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
</robot>
|
||||
Loading…
Add table
Add a link
Reference in a new issue