feat: add dh_ag145 gripper
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3 changed files with 260 additions and 1 deletions
241
config/config.rviz
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241
config/config.rviz
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Panels:
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- Class: rviz_common/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /RobotModel1
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- /TF1
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- /TF1/Frames1
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Splitter Ratio: 0.5
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Tree Height: 1075
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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Expanded:
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- /2D Goal Pose1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz_common/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz_common/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: ""
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz_default_plugins/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Class: rviz_default_plugins/RobotModel
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Collision Enabled: false
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Description File: ""
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Description Source: Topic
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Description Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /robot_description
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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base_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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foreArm_Link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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shoulder_Link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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upperArm_Link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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world:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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wrist1_Link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wrist2_Link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wrist3_Link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Mass Properties:
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Inertia: false
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Mass: false
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Name: RobotModel
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Class: rviz_default_plugins/TF
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Enabled: true
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Filter (blacklist): ""
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Filter (whitelist): ""
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Frame Timeout: 15
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Frames:
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All Enabled: false
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base_link:
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Value: false
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foreArm_Link:
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Value: false
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shoulder_Link:
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Value: false
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upperArm_Link:
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Value: false
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world:
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Value: false
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wrist1_Link:
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Value: false
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wrist2_Link:
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Value: false
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wrist3_Link:
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Value: true
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: false
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Tree:
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world:
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base_link:
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shoulder_Link:
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upperArm_Link:
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foreArm_Link:
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wrist1_Link:
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wrist2_Link:
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wrist3_Link:
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{}
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Update Interval: 0
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: world
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz_default_plugins/Interact
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Hide Inactive Objects: true
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- Class: rviz_default_plugins/MoveCamera
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- Class: rviz_default_plugins/Select
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- Class: rviz_default_plugins/FocusCamera
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- Class: rviz_default_plugins/Measure
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Line color: 128; 128; 0
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- Class: rviz_default_plugins/SetInitialPose
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Covariance x: 0.25
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Covariance y: 0.25
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Covariance yaw: 0.06853891909122467
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /initialpose
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- Class: rviz_default_plugins/SetGoal
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /goal_pose
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- Class: rviz_default_plugins/PublishPoint
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Single click: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /clicked_point
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Transformation:
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Current:
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Class: rviz_default_plugins/TF
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Value: true
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 4.086756229400635
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: -0.45825716853141785
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Y: 0.3474913537502289
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Z: 0.03773466497659683
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.5703981518745422
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 5.863582134246826
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1379
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd000000040000000000000156000004c1fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000004c1000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000004c1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f000004c1000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000003efc0100000002fb0000000800540069006d0065010000000000000a000000026f00fffffffb0000000800540069006d006501000000000000045000000000000000000000078f000004c100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 2560
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X: 1920
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Y: 24
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@ -8,9 +8,15 @@
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<xacro:include filename="$(find aubo_description)/urdf/aubo.transmission.xacro" />
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<xacro:include filename="$(find aubo_description)/urdf/aubo.transmission.xacro" />
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<xacro:include filename="$(find aubo_description)/urdf/materials.xacro" />
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<xacro:include filename="$(find aubo_description)/urdf/materials.xacro" />
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<xacro:include filename="$(find aubo_description)/urdf/ros2_control.xacro" />
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<xacro:include filename="$(find aubo_description)/urdf/ros2_control.xacro" />
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<xacro:include filename="$(find dh_ag95_description)/urdf/dh_ag95_macro.urdf.xacro" />
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<xacro:include filename="$(find dh_ag145_description)/urdf/dh_ag145_macro.urdf.xacro" />
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<xacro:include filename="$(find aubo_description)/urdf/sensors.xacro" />
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<xacro:property name="hardware" value="$(arg hardware)"/>
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<xacro:property name="hardware" value="$(arg hardware)"/>
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<xacro:property name="robot_ip" value="$(arg robot_ip)"/>
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<xacro:property name="robot_ip" value="$(arg robot_ip)"/>
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<xacro:property name="with_gripper" value="$(arg with_gripper)"/>
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<xacro:property name="simulation_controllers" value="$(arg simulation_controllers)"/>
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<link name="base_link">
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<link name="base_link">
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<inertial>
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<inertial>
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@ -236,11 +242,22 @@
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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</joint>
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</joint>
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<!-- <xacro:if value="${with_gripper=='true'}"> -->
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<xacro:dh_ag145_gripper prefix="" parent="wrist3_Link">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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</xacro:dh_ag145_gripper>
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<!-- </xacro:if> -->
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<xacro:rgbd parent="wrist3_Link" tf_prefix="">
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<origin xyz="0.0 0.05 0.04" rpy="0.0 -1.47 -1.57" />
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</xacro:rgbd>
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<xacro:aubo_ros2_control hardware="${hardware}" robot_ip="${robot_ip}" />
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<xacro:aubo_ros2_control hardware="${hardware}" robot_ip="${robot_ip}" />
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<xacro:if value="${hardware=='gazebo'}">
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<xacro:if value="${hardware=='gazebo'}">
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<gazebo>
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<gazebo>
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<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
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<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
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<parameters>$(arg simulation_controllers)</parameters>
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<parameters>${simulation_controllers}</parameters>
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<!-- <ros> -->
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<!-- <ros> -->
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<!-- <namespace>${namespace}</namespace> -->
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<!-- <namespace>${namespace}</namespace> -->
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<!-- </ros> -->
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<!-- </ros> -->
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@ -1,3 +1,4 @@
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simulation_controllers: !variable controllers_file
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simulation_controllers: !variable controllers_file
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robot_ip: 192.168.0.106
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robot_ip: 192.168.0.106
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hardware: gazebo
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hardware: gazebo
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with_gripper: "true"
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