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feat: add dh_ag145 gripper

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Ilya Uraev 2025-05-27 21:14:07 +03:00
parent 804c32bba4
commit c82466ed4a
3 changed files with 260 additions and 1 deletions
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19
urdf/aubo_i5.urdf.xacro
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@ -8,9 +8,15 @@
<xacro:include filename="$(find aubo_description)/urdf/aubo.transmission.xacro" />
<xacro:include filename="$(find aubo_description)/urdf/materials.xacro" />
<xacro:include filename="$(find aubo_description)/urdf/ros2_control.xacro" />
<xacro:include filename="$(find dh_ag95_description)/urdf/dh_ag95_macro.urdf.xacro" />
<xacro:include filename="$(find dh_ag145_description)/urdf/dh_ag145_macro.urdf.xacro" />
<xacro:include filename="$(find aubo_description)/urdf/sensors.xacro" />
<xacro:property name="hardware" value="$(arg hardware)"/>
<xacro:property name="robot_ip" value="$(arg robot_ip)"/>
<xacro:property name="with_gripper" value="$(arg with_gripper)"/>
<xacro:property name="simulation_controllers" value="$(arg simulation_controllers)"/>
<link name="base_link">
<inertial>
@ -236,11 +242,22 @@
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>
<!-- <xacro:if value="${with_gripper=='true'}"> -->
<xacro:dh_ag145_gripper prefix="" parent="wrist3_Link">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</xacro:dh_ag145_gripper>
<!-- </xacro:if> -->
<xacro:rgbd parent="wrist3_Link" tf_prefix="">
<origin xyz="0.0 0.05 0.04" rpy="0.0 -1.47 -1.57" />
</xacro:rgbd>
<xacro:aubo_ros2_control hardware="${hardware}" robot_ip="${robot_ip}" />
<xacro:if value="${hardware=='gazebo'}">
<gazebo>
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(arg simulation_controllers)</parameters>
<parameters>${simulation_controllers}</parameters>
<!-- <ros> -->
<!-- <namespace>${namespace}</namespace> -->
<!-- </ros> -->

1
urdf/xacro_args.yaml
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@ -1,3 +1,4 @@
simulation_controllers: !variable controllers_file
robot_ip: 192.168.0.106
hardware: gazebo
with_gripper: "true"