454 lines
20 KiB
XML
454 lines
20 KiB
XML
<?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>
|