robossembler/aubo_ros2_description
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chore(urdf): rename robot description package to aubo_description

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This commit is contained in:
Ilya Uraev 2025-05-14 13:08:47 +03:00
parent b3235cf709
commit d74ed8647a
7 changed files with 61 additions and 59 deletions
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2
CMakeLists.txt
View file

@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.5)
project(aubo_ros2_description)
project(aubo_description)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)

6
launch/view_auboi5.launch.py
View file

@ -27,7 +27,7 @@ def load_yaml(package_name, file_path):
def generate_launch_description():
pkg_share = FindPackageShare("aubo_ros2_description")
pkg_share = FindPackageShare("aubo_description")
default_rviz_config_path = PathJoinSubstitution(
[pkg_share, "rviz", "view_rizon.rviz"]
)
@ -36,7 +36,7 @@ def generate_launch_description():
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution(
[FindPackageShare("aubo_ros2_description"), "urdf", "aubo_i5.urdf.xacro"]
[FindPackageShare("aubo_description"), "urdf", "aubo_i5.urdf.xacro"]
),
" ",
"name:=",
@ -53,7 +53,7 @@ def generate_launch_description():
parameters=[{"robot_description": robot_description_content}],
)
# package_path = get_package_share_directory("aubo_ros2_description")
# package_path = get_package_share_directory("aubo_description")
# joint_state_publisher_node = Node(
# package="joint_state_publisher",
# executable="joint_state_publisher",

2
package.xml
View file

@ -1,7 +1,7 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>aubo_ros2_description</name>
<name>aubo_description</name>
<version>1.0.0</version>
<description>the aubo description</description>
<maintainer email="834031119@qq.com">Shaosong</maintainer>

2
urdf/aubo.gazebo.xacro
View file

@ -1,7 +1,7 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find aubo_ros2_description)/urdf/materials.xacro" />
<xacro:include filename="$(find aubo_description)/urdf/materials.xacro" />
<xacro:macro name="aubo_arm_gazebo" params="prefix">

28
urdf/aubo_i5.urdf
View file

@ -10,7 +10,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/base_link.DAE" />
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/base_link.DAE" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
@ -19,7 +19,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/base_link.STL" />
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/base_link.STL" />
</geometry>
</collision>
</link>
@ -33,7 +33,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/shoulder_Link.DAE" />
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/shoulder_Link.DAE" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
@ -42,7 +42,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/shoulder_Link.STL" />
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/shoulder_Link.STL" />
</geometry>
</collision>
</link>
@ -64,7 +64,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/upperArm_Link.DAE" />
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/upperArm_Link.DAE" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
@ -73,7 +73,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/upperArm_Link.STL" />
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/upperArm_Link.STL" />
</geometry>
</collision>
</link>
@ -95,7 +95,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/foreArm_Link.DAE" />
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/foreArm_Link.DAE" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
@ -104,7 +104,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/foreArm_Link.STL" />
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/foreArm_Link.STL" />
</geometry>
</collision>
</link>
@ -126,7 +126,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist1_Link.DAE" />
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist1_Link.DAE" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
@ -135,7 +135,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist1_Link.STL" />
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist1_Link.STL" />
</geometry>
</collision>
</link>
@ -157,7 +157,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist2_Link.DAE" />
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist2_Link.DAE" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
@ -166,7 +166,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist2_Link.STL" />
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist2_Link.STL" />
</geometry>
</collision>
</link>
@ -188,7 +188,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist3_Link.DAE" />
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist3_Link.DAE" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
@ -197,7 +197,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist3_Link.STL" />
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist3_Link.STL" />
</geometry>
</collision>
</link>

39
urdf/aubo_i5.urdf.xacro
View file

@ -5,11 +5,12 @@
<!-- =================================================================================== -->
<robot name="aubo_i5" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find aubo_ros2_description)/urdf/aubo.transmission.xacro" />
<xacro:include filename="$(find aubo_ros2_description)/urdf/materials.xacro" />
<xacro:include filename="$(find aubo_ros2_description)/urdf/ros2_control.xacro" />
<xacro:include filename="$(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:property name="hardware" value="gazebo" />
<xacro:property name="hardware" value="$(arg hardware)"/>
<xacro:property name="robot_ip" value="$(arg robot_ip)"/>
<link name="base_link">
<inertial>
@ -21,7 +22,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/base_link.DAE" />
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/base_link.DAE" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
@ -30,7 +31,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/base_link.STL" />
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/base_link.STL" />
</geometry>
</collision>
</link>
@ -45,7 +46,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/shoulder_Link.DAE" />
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/shoulder_Link.DAE" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
@ -54,7 +55,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/shoulder_Link.STL" />
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/shoulder_Link.STL" />
</geometry>
</collision>
</link>
@ -77,7 +78,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/upperArm_Link.DAE" />
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/upperArm_Link.DAE" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
@ -86,7 +87,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/upperArm_Link.STL" />
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/upperArm_Link.STL" />
</geometry>
</collision>
</link>
@ -109,7 +110,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/foreArm_Link.DAE" />
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/foreArm_Link.DAE" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
@ -118,7 +119,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/foreArm_Link.STL" />
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/foreArm_Link.STL" />
</geometry>
</collision>
</link>
@ -141,7 +142,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist1_Link.DAE" />
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist1_Link.DAE" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
@ -150,7 +151,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist1_Link.STL" />
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist1_Link.STL" />
</geometry>
</collision>
</link>
@ -173,7 +174,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist2_Link.DAE" />
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist2_Link.DAE" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
@ -182,7 +183,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist2_Link.STL" />
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist2_Link.STL" />
</geometry>
</collision>
</link>
@ -205,7 +206,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist3_Link.DAE" />
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist3_Link.DAE" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
@ -214,7 +215,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist3_Link.STL" />
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist3_Link.STL" />
</geometry>
</collision>
</link>
@ -235,7 +236,7 @@
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>
<xacro:aubo_ros2_control hardware="${hardware}" />
<xacro:aubo_ros2_control hardware="${hardware}" robot_ip="${robot_ip}" />
<xacro:if value="${hardware=='gazebo'}">
<gazebo>
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">

41
urdf/aubo_i5_dh_ag95.urdf.xacro
View file

@ -5,13 +5,14 @@
<!-- =================================================================================== -->
<robot name="aubo_i5" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find aubo_ros2_description)/urdf/aubo.transmission.xacro" />
<xacro:include filename="$(find aubo_ros2_description)/urdf/materials.xacro" />
<xacro:include filename="$(find aubo_ros2_description)/urdf/ros2_control.xacro" />
<xacro:include filename="$(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 aubo_ros2_description)/urdf/sensors.xacro" />
<xacro:include filename="$(find aubo_description)/urdf/sensors.xacro" />
<xacro:property name="hardware" value="gazebo" />
<xacro:property name="hardware" value="$(arg hardware)"/>
<xacro:property name="robot_ip" value="$(arg robot_ip)"/>
<link name="base_link">
<inertial>
@ -23,7 +24,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/base_link.DAE" />
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/base_link.DAE" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
@ -32,7 +33,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/base_link.STL" />
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/base_link.STL" />
</geometry>
</collision>
</link>
@ -47,7 +48,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/shoulder_Link.DAE" />
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/shoulder_Link.DAE" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
@ -56,7 +57,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/shoulder_Link.STL" />
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/shoulder_Link.STL" />
</geometry>
</collision>
</link>
@ -79,7 +80,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/upperArm_Link.DAE" />
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/upperArm_Link.DAE" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
@ -88,7 +89,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/upperArm_Link.STL" />
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/upperArm_Link.STL" />
</geometry>
</collision>
</link>
@ -111,7 +112,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/foreArm_Link.DAE" />
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/foreArm_Link.DAE" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
@ -120,7 +121,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/foreArm_Link.STL" />
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/foreArm_Link.STL" />
</geometry>
</collision>
</link>
@ -143,7 +144,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist1_Link.DAE" />
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist1_Link.DAE" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
@ -152,7 +153,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist1_Link.STL" />
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist1_Link.STL" />
</geometry>
</collision>
</link>
@ -175,7 +176,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist2_Link.DAE" />
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist2_Link.DAE" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
@ -184,7 +185,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist2_Link.STL" />
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist2_Link.STL" />
</geometry>
</collision>
</link>
@ -207,7 +208,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/visual/wrist3_Link.DAE" />
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist3_Link.DAE" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
@ -216,7 +217,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://aubo_ros2_description/meshes/aubo_i5/collision/wrist3_Link.STL" />
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist3_Link.STL" />
</geometry>
</collision>
</link>
@ -246,7 +247,7 @@
<origin xyz="0.0 0.05 0.08" rpy="0.0 -1.57 -1.57" />
</xacro:rgbd>
<xacro:aubo_ros2_control hardware="${hardware}" />
<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">