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30
CMakeLists.txt
Normal file
30
CMakeLists.txt
Normal file
|
|
@ -0,0 +1,30 @@
|
||||||
|
cmake_minimum_required(VERSION 3.8)
|
||||||
|
project(rbs_mill_assist)
|
||||||
|
|
||||||
|
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||||
|
add_compile_options(-Wall -Wextra -Wpedantic)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# find dependencies
|
||||||
|
find_package(ament_cmake REQUIRED)
|
||||||
|
# uncomment the following section in order to fill in
|
||||||
|
# further dependencies manually.
|
||||||
|
# find_package(<dependency> REQUIRED)
|
||||||
|
|
||||||
|
|
||||||
|
install(DIRECTORY launch urdf config world
|
||||||
|
DESTINATION share/${PROJECT_NAME})
|
||||||
|
|
||||||
|
if(BUILD_TESTING)
|
||||||
|
find_package(ament_lint_auto REQUIRED)
|
||||||
|
# the following line skips the linter which checks for copyrights
|
||||||
|
# comment the line when a copyright and license is added to all source files
|
||||||
|
set(ament_cmake_copyright_FOUND TRUE)
|
||||||
|
# the following line skips cpplint (only works in a git repo)
|
||||||
|
# comment the line when this package is in a git repo and when
|
||||||
|
# a copyright and license is added to all source files
|
||||||
|
set(ament_cmake_cpplint_FOUND TRUE)
|
||||||
|
ament_lint_auto_find_test_dependencies()
|
||||||
|
endif()
|
||||||
|
|
||||||
|
ament_package()
|
||||||
202
LICENSE
Normal file
202
LICENSE
Normal file
|
|
@ -0,0 +1,202 @@
|
||||||
|
|
||||||
|
Apache License
|
||||||
|
Version 2.0, January 2004
|
||||||
|
http://www.apache.org/licenses/
|
||||||
|
|
||||||
|
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
|
||||||
|
|
||||||
|
1. Definitions.
|
||||||
|
|
||||||
|
"License" shall mean the terms and conditions for use, reproduction,
|
||||||
|
and distribution as defined by Sections 1 through 9 of this document.
|
||||||
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|
||||||
|
"Licensor" shall mean the copyright owner or entity authorized by
|
||||||
|
the copyright owner that is granting the License.
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||||||
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|
||||||
|
"Legal Entity" shall mean the union of the acting entity and all
|
||||||
|
other entities that control, are controlled by, or are under common
|
||||||
|
control with that entity. For the purposes of this definition,
|
||||||
|
"control" means (i) the power, direct or indirect, to cause the
|
||||||
|
direction or management of such entity, whether by contract or
|
||||||
|
otherwise, or (ii) ownership of fifty percent (50%) or more of the
|
||||||
|
outstanding shares, or (iii) beneficial ownership of such entity.
|
||||||
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|
||||||
|
"You" (or "Your") shall mean an individual or Legal Entity
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||||||
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exercising permissions granted by this License.
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||||||
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"Source" form shall mean the preferred form for making modifications,
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including but not limited to software source code, documentation
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source, and configuration files.
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"Object" form shall mean any form resulting from mechanical
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"Work" shall mean the work of authorship, whether in Source or
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2. Grant of Copyright License. Subject to the terms and conditions of
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Contribution(s) alone or by combination of their Contribution(s)
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with the Work to which such Contribution(s) was submitted. If You
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or a Contribution incorporated within the Work constitutes direct
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4. Redistribution. You may reproduce and distribute copies of the
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(a) You must give any other recipients of the Work or
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(b) You must cause any modified files to carry prominent notices
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||||||
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stating that You changed the files; and
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(c) You must retain, in the Source form of any Derivative Works
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attribution notices from the Source form of the Work,
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excluding those notices that do not pertain to any part of
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(d) If the Work includes a "NOTICE" text file as part of its
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distribution, then any Derivative Works that You distribute must
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||||||
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include a readable copy of the attribution notices contained
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within such NOTICE file, excluding those notices that do not
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of the following places: within a NOTICE text file distributed
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within a display generated by the Derivative Works, if and
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wherever such third-party notices normally appear. The contents
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||||||
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of the NOTICE file are for informational purposes only and
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||||||
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do not modify the License. You may add Your own attribution
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||||||
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notices within Derivative Works that You distribute, alongside
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||||||
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or as an addendum to the NOTICE text from the Work, provided
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||||||
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that such additional attribution notices cannot be construed
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||||||
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||||||
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||||||
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You may add Your own copyright statement to Your modifications and
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||||||
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may provide additional or different license terms and conditions
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||||||
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for use, reproduction, or distribution of Your modifications, or
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reproduction, and distribution of the Work otherwise complies with
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the conditions stated in this License.
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||||||
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5. Submission of Contributions. Unless You explicitly state otherwise,
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||||||
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any Contribution intentionally submitted for inclusion in the Work
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Notwithstanding the above, nothing herein shall supersede or modify
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|
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with Licensor regarding such Contributions.
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6. Trademarks. This License does not grant permission to use the trade
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||||||
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except as required for reasonable and customary use in describing the
|
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7. Disclaimer of Warranty. Unless required by applicable law or
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agreed to in writing, Licensor provides the Work (and each
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
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implied, including, without limitation, any warranties or conditions
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PARTICULAR PURPOSE. You are solely responsible for determining the
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8. Limitation of Liability. In no event and under no legal theory,
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unless required by applicable law (such as deliberate and grossly
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||||||
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has been advised of the possibility of such damages.
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||||||
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|
||||||
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9. Accepting Warranty or Additional Liability. While redistributing
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the Work or Derivative Works thereof, You may choose to offer,
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defend, and hold each Contributor harmless for any liability
|
||||||
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incurred by, or claims asserted against, such Contributor by reason
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||||||
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of your accepting any such warranty or additional liability.
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||||||
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|
||||||
|
END OF TERMS AND CONDITIONS
|
||||||
|
|
||||||
|
APPENDIX: How to apply the Apache License to your work.
|
||||||
|
|
||||||
|
To apply the Apache License to your work, attach the following
|
||||||
|
boilerplate notice, with the fields enclosed by brackets "[]"
|
||||||
|
replaced with your own identifying information. (Don't include
|
||||||
|
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|
||||||
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||||||
|
file or class name and description of purpose be included on the
|
||||||
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same "printed page" as the copyright notice for easier
|
||||||
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identification within third-party archives.
|
||||||
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|
||||||
|
Copyright [yyyy] [name of copyright owner]
|
||||||
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|
||||||
|
Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
you may not use this file except in compliance with the License.
|
||||||
|
You may obtain a copy of the License at
|
||||||
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|
||||||
|
http://www.apache.org/licenses/LICENSE-2.0
|
||||||
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|
||||||
|
Unless required by applicable law or agreed to in writing, software
|
||||||
|
distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
See the License for the specific language governing permissions and
|
||||||
|
limitations under the License.
|
||||||
198
config/config.rviz
Normal file
198
config/config.rviz
Normal file
|
|
@ -0,0 +1,198 @@
|
||||||
|
Panels:
|
||||||
|
- Class: rviz_common/Displays
|
||||||
|
Help Height: 78
|
||||||
|
Name: Displays
|
||||||
|
Property Tree Widget:
|
||||||
|
Expanded:
|
||||||
|
- /Global Options1
|
||||||
|
- /Status1
|
||||||
|
- /RobotModel1
|
||||||
|
Splitter Ratio: 0.5
|
||||||
|
Tree Height: 739
|
||||||
|
- Class: rviz_common/Selection
|
||||||
|
Name: Selection
|
||||||
|
- Class: rviz_common/Tool Properties
|
||||||
|
Expanded:
|
||||||
|
- /2D Goal Pose1
|
||||||
|
- /Publish Point1
|
||||||
|
Name: Tool Properties
|
||||||
|
Splitter Ratio: 0.5886790156364441
|
||||||
|
- Class: rviz_common/Views
|
||||||
|
Expanded:
|
||||||
|
- /Current View1
|
||||||
|
Name: Views
|
||||||
|
Splitter Ratio: 0.5
|
||||||
|
- Class: rviz_common/Time
|
||||||
|
Experimental: false
|
||||||
|
Name: Time
|
||||||
|
SyncMode: 0
|
||||||
|
SyncSource: ""
|
||||||
|
Visualization Manager:
|
||||||
|
Class: ""
|
||||||
|
Displays:
|
||||||
|
- Alpha: 0.5
|
||||||
|
Cell Size: 1
|
||||||
|
Class: rviz_default_plugins/Grid
|
||||||
|
Color: 160; 160; 164
|
||||||
|
Enabled: true
|
||||||
|
Line Style:
|
||||||
|
Line Width: 0.029999999329447746
|
||||||
|
Value: Lines
|
||||||
|
Name: Grid
|
||||||
|
Normal Cell Count: 0
|
||||||
|
Offset:
|
||||||
|
X: 0
|
||||||
|
Y: 0
|
||||||
|
Z: 0
|
||||||
|
Plane: XY
|
||||||
|
Plane Cell Count: 10
|
||||||
|
Reference Frame: <Fixed Frame>
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Class: rviz_default_plugins/RobotModel
|
||||||
|
Collision Enabled: false
|
||||||
|
Description File: ""
|
||||||
|
Description Source: Topic
|
||||||
|
Description Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /robot_description
|
||||||
|
Enabled: true
|
||||||
|
Links:
|
||||||
|
All Links Enabled: true
|
||||||
|
Expand Joint Details: false
|
||||||
|
Expand Link Details: false
|
||||||
|
Expand Tree: false
|
||||||
|
Link Tree Style: Links in Alphabetic Order
|
||||||
|
base_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
ee_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
fork0_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
fork1_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
main0_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
main1_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
tool0:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
world:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Mass Properties:
|
||||||
|
Inertia: false
|
||||||
|
Mass: false
|
||||||
|
Name: RobotModel
|
||||||
|
TF Prefix: ""
|
||||||
|
Update Interval: 0
|
||||||
|
Value: true
|
||||||
|
Visual Enabled: true
|
||||||
|
Enabled: true
|
||||||
|
Global Options:
|
||||||
|
Background Color: 48; 48; 48
|
||||||
|
Fixed Frame: base_link
|
||||||
|
Frame Rate: 30
|
||||||
|
Name: root
|
||||||
|
Tools:
|
||||||
|
- Class: rviz_default_plugins/Interact
|
||||||
|
Hide Inactive Objects: true
|
||||||
|
- Class: rviz_default_plugins/MoveCamera
|
||||||
|
- Class: rviz_default_plugins/Select
|
||||||
|
- Class: rviz_default_plugins/FocusCamera
|
||||||
|
- Class: rviz_default_plugins/Measure
|
||||||
|
Line color: 128; 128; 0
|
||||||
|
- Class: rviz_default_plugins/SetInitialPose
|
||||||
|
Covariance x: 0.25
|
||||||
|
Covariance y: 0.25
|
||||||
|
Covariance yaw: 0.06853891909122467
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /initialpose
|
||||||
|
- Class: rviz_default_plugins/SetGoal
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /goal_pose
|
||||||
|
- Class: rviz_default_plugins/PublishPoint
|
||||||
|
Single click: true
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /clicked_point
|
||||||
|
Transformation:
|
||||||
|
Current:
|
||||||
|
Class: rviz_default_plugins/TF
|
||||||
|
Value: true
|
||||||
|
Views:
|
||||||
|
Current:
|
||||||
|
Class: rviz_default_plugins/Orbit
|
||||||
|
Distance: 3.529470682144165
|
||||||
|
Enable Stereo Rendering:
|
||||||
|
Stereo Eye Separation: 0.05999999865889549
|
||||||
|
Stereo Focal Distance: 1
|
||||||
|
Swap Stereo Eyes: false
|
||||||
|
Value: false
|
||||||
|
Focal Point:
|
||||||
|
X: 0
|
||||||
|
Y: 0
|
||||||
|
Z: 0
|
||||||
|
Focal Shape Fixed Size: true
|
||||||
|
Focal Shape Size: 0.05000000074505806
|
||||||
|
Invert Z Axis: false
|
||||||
|
Name: Current View
|
||||||
|
Near Clip Distance: 0.009999999776482582
|
||||||
|
Pitch: 0.5553982257843018
|
||||||
|
Target Frame: <Fixed Frame>
|
||||||
|
Value: Orbit (rviz)
|
||||||
|
Yaw: 0.5453980565071106
|
||||||
|
Saved: ~
|
||||||
|
Window Geometry:
|
||||||
|
Displays:
|
||||||
|
collapsed: false
|
||||||
|
Height: 1043
|
||||||
|
Hide Left Dock: false
|
||||||
|
Hide Right Dock: false
|
||||||
|
QMainWindow State: 000000ff00000000fd00000004000000000000015600000371fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f00000371000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000371fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003f00000371000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000026f00fffffffb0000000800540069006d00650100000000000004500000000000000000000006240000037100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||||
|
Selection:
|
||||||
|
collapsed: false
|
||||||
|
Time:
|
||||||
|
collapsed: false
|
||||||
|
Tool Properties:
|
||||||
|
collapsed: false
|
||||||
|
Views:
|
||||||
|
collapsed: false
|
||||||
|
Width: 1920
|
||||||
|
X: 0
|
||||||
|
Y: 196
|
||||||
9
config/gz_bridge.yaml
Normal file
9
config/gz_bridge.yaml
Normal file
|
|
@ -0,0 +1,9 @@
|
||||||
|
- topic_name: "/clock"
|
||||||
|
ros_type_name: "rosgraph_msgs/msg/Clock"
|
||||||
|
gz_type_name: "gz.msgs.Clock"
|
||||||
|
direction: GZ_TO_ROS
|
||||||
|
|
||||||
|
- topic_name: "rgbd_camera/image"
|
||||||
|
ros_type_name: "sensor_msgs/msg/Image"
|
||||||
|
gz_type_name: "gz.msgs.Image"
|
||||||
|
direction: GZ_TO_ROS
|
||||||
335
launch/simulation.launch.py
Normal file
335
launch/simulation.launch.py
Normal file
|
|
@ -0,0 +1,335 @@
|
||||||
|
import os
|
||||||
|
|
||||||
|
import xacro
|
||||||
|
from ament_index_python.packages import get_package_share_directory
|
||||||
|
from launch import LaunchDescription
|
||||||
|
from launch.actions import (
|
||||||
|
DeclareLaunchArgument,
|
||||||
|
IncludeLaunchDescription,
|
||||||
|
OpaqueFunction,
|
||||||
|
)
|
||||||
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||||
|
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
|
||||||
|
from launch_ros.actions import Node
|
||||||
|
from launch_ros.substitutions import FindPackageShare
|
||||||
|
from rbs_utils.launch import load_xacro_args
|
||||||
|
from robot_builder.external.ros2_control import ControllerManager
|
||||||
|
from robot_builder.parser.urdf import URDF_parser
|
||||||
|
from ros_gz_bridge.actions import RosGzBridge
|
||||||
|
|
||||||
|
|
||||||
|
def launch_setup(context, *args, **kwargs):
|
||||||
|
robot_type = LaunchConfiguration("robot_type")
|
||||||
|
# General arguments
|
||||||
|
with_gripper_condition = LaunchConfiguration("with_gripper")
|
||||||
|
description_package = LaunchConfiguration("description_package")
|
||||||
|
description_file = LaunchConfiguration("description_file")
|
||||||
|
use_moveit = LaunchConfiguration("use_moveit")
|
||||||
|
moveit_config_package = LaunchConfiguration("moveit_config_package")
|
||||||
|
moveit_config_file = LaunchConfiguration("moveit_config_file")
|
||||||
|
use_sim_time = LaunchConfiguration("use_sim_time")
|
||||||
|
ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
|
||||||
|
base_link_name = LaunchConfiguration("base_link_name").perform(context)
|
||||||
|
control_space = LaunchConfiguration("control_space").perform(context)
|
||||||
|
control_strategy = LaunchConfiguration("control_strategy").perform(context)
|
||||||
|
interactive = LaunchConfiguration("interactive").perform(context)
|
||||||
|
real_robot = LaunchConfiguration("real_robot").perform(context)
|
||||||
|
|
||||||
|
use_rbs_utils = LaunchConfiguration("use_rbs_utils")
|
||||||
|
assembly_config_name = LaunchConfiguration("assembly_config_name")
|
||||||
|
|
||||||
|
description_package_abs_path = get_package_share_directory(
|
||||||
|
description_package.perform(context)
|
||||||
|
)
|
||||||
|
|
||||||
|
controllers_file = os.path.join(
|
||||||
|
description_package_abs_path, "config", "controllers.yaml"
|
||||||
|
)
|
||||||
|
|
||||||
|
xacro_file = os.path.join(
|
||||||
|
description_package_abs_path,
|
||||||
|
"urdf",
|
||||||
|
description_file.perform(context),
|
||||||
|
)
|
||||||
|
|
||||||
|
# xacro_config_file = f"{description_package_abs_path}/config/xacro_args.yaml"
|
||||||
|
xacro_config_file = os.path.join(
|
||||||
|
description_package_abs_path, "urdf", "xacro_args.yaml"
|
||||||
|
)
|
||||||
|
|
||||||
|
mappings_data = load_xacro_args(xacro_config_file, locals())
|
||||||
|
|
||||||
|
robot_description_doc = xacro.process_file(xacro_file, mappings=mappings_data)
|
||||||
|
|
||||||
|
robot_description_semantic_content = ""
|
||||||
|
|
||||||
|
if use_moveit.perform(context) == "true":
|
||||||
|
srdf_config_file = os.path.join(
|
||||||
|
get_package_share_directory(moveit_config_package.perform(context)),
|
||||||
|
"srdf",
|
||||||
|
"xacro_args.yaml",
|
||||||
|
)
|
||||||
|
srdf_file = os.path.join(
|
||||||
|
get_package_share_directory(moveit_config_package.perform(context)),
|
||||||
|
"srdf",
|
||||||
|
moveit_config_file.perform(context),
|
||||||
|
)
|
||||||
|
srdf_mappings = load_xacro_args(srdf_config_file, locals())
|
||||||
|
robot_description_semantic_content = xacro.process_file(
|
||||||
|
srdf_file, mappings=srdf_mappings
|
||||||
|
)
|
||||||
|
robot_description_semantic_content = (
|
||||||
|
robot_description_semantic_content.toprettyxml(indent=" ")
|
||||||
|
)
|
||||||
|
control_space = "joint"
|
||||||
|
control_strategy = "position"
|
||||||
|
interactive = "false"
|
||||||
|
|
||||||
|
robot_description_content = robot_description_doc.toprettyxml(indent=" ")
|
||||||
|
robot_description = {"robot_description": robot_description_content}
|
||||||
|
|
||||||
|
# Parse robot and configure controller's file for ControllerManager
|
||||||
|
robot = URDF_parser.load_string(
|
||||||
|
robot_description_content, ee_link_name=ee_link_name
|
||||||
|
)
|
||||||
|
ControllerManager.save_to_yaml(
|
||||||
|
robot, description_package_abs_path, "controllers.yaml"
|
||||||
|
)
|
||||||
|
|
||||||
|
rbs_robot_setup = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
[
|
||||||
|
PathJoinSubstitution(
|
||||||
|
[FindPackageShare("rbs_bringup"), "launch", "rbs_robot.launch.py"]
|
||||||
|
)
|
||||||
|
]
|
||||||
|
),
|
||||||
|
launch_arguments={
|
||||||
|
"with_gripper": with_gripper_condition,
|
||||||
|
"controllers_file": controllers_file,
|
||||||
|
"robot_type": robot_type,
|
||||||
|
"description_package": description_package,
|
||||||
|
"description_file": description_file,
|
||||||
|
"robot_name": robot_type,
|
||||||
|
"use_moveit": use_moveit,
|
||||||
|
"moveit_config_package": moveit_config_package,
|
||||||
|
"moveit_config_file": moveit_config_file,
|
||||||
|
"use_sim_time": use_sim_time,
|
||||||
|
"use_controllers": "true",
|
||||||
|
"robot_description": robot_description_content,
|
||||||
|
"robot_description_semantic": robot_description_semantic_content,
|
||||||
|
"base_link_name": base_link_name,
|
||||||
|
"ee_link_name": ee_link_name,
|
||||||
|
"control_space": control_space,
|
||||||
|
"control_strategy": control_strategy,
|
||||||
|
"interactive_control": interactive,
|
||||||
|
"use_rbs_utils": use_rbs_utils,
|
||||||
|
"assembly_config_name": assembly_config_name,
|
||||||
|
}.items(),
|
||||||
|
)
|
||||||
|
|
||||||
|
rviz_config_file = os.path.join(description_package_abs_path, "config", "config.rviz")
|
||||||
|
|
||||||
|
rviz_node = Node(
|
||||||
|
package="rviz2",
|
||||||
|
executable="rviz2",
|
||||||
|
arguments=["-d", rviz_config_file],
|
||||||
|
parameters=[{"use_sim_time": True}]
|
||||||
|
)
|
||||||
|
|
||||||
|
gazebo_world = os.path.join(description_package_abs_path, "world", "default.sdf")
|
||||||
|
|
||||||
|
gazebo = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
[os.path.join(get_package_share_directory('ros_gz_sim'),
|
||||||
|
'launch', 'gz_sim.launch.py')]),
|
||||||
|
launch_arguments=[('gz_args', [' -r ', gazebo_world])],
|
||||||
|
)
|
||||||
|
|
||||||
|
gazebo_spawn_robot = Node(
|
||||||
|
package="ros_gz_sim",
|
||||||
|
executable="create",
|
||||||
|
arguments=[
|
||||||
|
"-name", "arm0",
|
||||||
|
"-x", "0.0",
|
||||||
|
"-z", "0.0",
|
||||||
|
"-y", "0.0",
|
||||||
|
"-topic", "/robot_description",
|
||||||
|
],
|
||||||
|
output="screen",
|
||||||
|
parameters=[{"use_sim_time": True}],
|
||||||
|
)
|
||||||
|
|
||||||
|
gz_bridge = RosGzBridge(
|
||||||
|
bridge_name="ros_gz_bridge",
|
||||||
|
config_file=os.path.join(description_package_abs_path, "config", "gz_bridge.yaml")
|
||||||
|
)
|
||||||
|
|
||||||
|
nodes_to_start = [
|
||||||
|
rbs_robot_setup,
|
||||||
|
rviz_node,
|
||||||
|
gazebo,
|
||||||
|
gazebo_spawn_robot,
|
||||||
|
gz_bridge
|
||||||
|
]
|
||||||
|
return nodes_to_start
|
||||||
|
|
||||||
|
|
||||||
|
def generate_launch_description():
|
||||||
|
declared_arguments = []
|
||||||
|
declared_arguments.append(
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
"robot_type",
|
||||||
|
description="Type of robot by name",
|
||||||
|
choices=[
|
||||||
|
"rbs_arm",
|
||||||
|
"ar4",
|
||||||
|
"ur3",
|
||||||
|
"ur3e",
|
||||||
|
"ur5",
|
||||||
|
"ur5e",
|
||||||
|
"ur10",
|
||||||
|
"ur10e",
|
||||||
|
"ur16e",
|
||||||
|
],
|
||||||
|
default_value="rbs_arm",
|
||||||
|
)
|
||||||
|
)
|
||||||
|
declared_arguments.append(
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
"description_package",
|
||||||
|
default_value="rbs_mill_assist",
|
||||||
|
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(
|
||||||
|
"robot_name",
|
||||||
|
default_value="arm0",
|
||||||
|
description="Name for robot, used to apply namespace for specific robot in multirobot setup",
|
||||||
|
)
|
||||||
|
)
|
||||||
|
declared_arguments.append(
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
"moveit_config_package",
|
||||||
|
default_value="rbs_arm",
|
||||||
|
description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \
|
||||||
|
is not set, it enables use of a custom moveit config.",
|
||||||
|
)
|
||||||
|
)
|
||||||
|
declared_arguments.append(
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
"moveit_config_file",
|
||||||
|
default_value="rbs_arm.srdf.xacro",
|
||||||
|
description="MoveIt SRDF/XACRO description file with the robot.",
|
||||||
|
)
|
||||||
|
)
|
||||||
|
declared_arguments.append(
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
"use_sim_time",
|
||||||
|
default_value="true",
|
||||||
|
description="Make MoveIt to use simulation time.\
|
||||||
|
This is needed for the trajectory planing in simulation.",
|
||||||
|
)
|
||||||
|
)
|
||||||
|
declared_arguments.append(
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
"with_gripper", default_value="false", description="With gripper or not?"
|
||||||
|
)
|
||||||
|
)
|
||||||
|
declared_arguments.append(
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
"use_moveit", default_value="false", description="Launch moveit?"
|
||||||
|
)
|
||||||
|
)
|
||||||
|
declared_arguments.append(
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
"launch_perception", default_value="false", description="Launch perception?"
|
||||||
|
)
|
||||||
|
)
|
||||||
|
declared_arguments.append(
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
"use_controllers",
|
||||||
|
default_value="true",
|
||||||
|
description="Launch controllers?",
|
||||||
|
)
|
||||||
|
)
|
||||||
|
declared_arguments.append(
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
"scene_config_file",
|
||||||
|
default_value="",
|
||||||
|
description="Path to a scene configuration file",
|
||||||
|
)
|
||||||
|
)
|
||||||
|
declared_arguments.append(
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
"ee_link_name",
|
||||||
|
default_value="tool0",
|
||||||
|
description="End effector name of robot arm",
|
||||||
|
)
|
||||||
|
)
|
||||||
|
declared_arguments.append(
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
"base_link_name",
|
||||||
|
default_value="base_link",
|
||||||
|
description="Base link name if robot arm",
|
||||||
|
)
|
||||||
|
)
|
||||||
|
declared_arguments.append(
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
"control_space",
|
||||||
|
default_value="task",
|
||||||
|
choices=["task", "joint"],
|
||||||
|
description="Specify the control space for the robot (e.g., task space).",
|
||||||
|
)
|
||||||
|
)
|
||||||
|
declared_arguments.append(
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
"control_strategy",
|
||||||
|
default_value="position",
|
||||||
|
choices=["position", "velocity", "effort"],
|
||||||
|
description="Specify the control strategy (e.g., position control).",
|
||||||
|
)
|
||||||
|
)
|
||||||
|
declared_arguments.append(
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
"interactive",
|
||||||
|
default_value="true",
|
||||||
|
description="Wheter to run the motion_control_handle controller",
|
||||||
|
),
|
||||||
|
)
|
||||||
|
declared_arguments.append(
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
"real_robot",
|
||||||
|
default_value="false",
|
||||||
|
description="Wheter to run on the real robot",
|
||||||
|
),
|
||||||
|
)
|
||||||
|
|
||||||
|
declared_arguments.append(
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
"use_rbs_utils",
|
||||||
|
default_value="true",
|
||||||
|
description="Wheter to use rbs_utils",
|
||||||
|
),
|
||||||
|
)
|
||||||
|
|
||||||
|
declared_arguments.append(
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
"assembly_config_name",
|
||||||
|
default_value="",
|
||||||
|
description="Assembly config name from rbs_assets_library",
|
||||||
|
),
|
||||||
|
)
|
||||||
|
|
||||||
|
return LaunchDescription(
|
||||||
|
declared_arguments + [OpaqueFunction(function=launch_setup)]
|
||||||
|
)
|
||||||
18
package.xml
Normal file
18
package.xml
Normal file
|
|
@ -0,0 +1,18 @@
|
||||||
|
<?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>rbs_mill_assist</name>
|
||||||
|
<version>0.0.0</version>
|
||||||
|
<description>TODO: Package description</description>
|
||||||
|
<maintainer email="ur.narmak@gmail.com">narenmak</maintainer>
|
||||||
|
<license>Apache-2.0</license>
|
||||||
|
|
||||||
|
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||||
|
|
||||||
|
<test_depend>ament_lint_auto</test_depend>
|
||||||
|
<test_depend>ament_lint_common</test_depend>
|
||||||
|
|
||||||
|
<export>
|
||||||
|
<build_type>ament_cmake</build_type>
|
||||||
|
</export>
|
||||||
|
</package>
|
||||||
355
urdf/current.urdf
Normal file
355
urdf/current.urdf
Normal file
|
|
@ -0,0 +1,355 @@
|
||||||
|
<?xml version="1.0" ?>
|
||||||
|
<!-- =================================================================================== -->
|
||||||
|
<!-- | This document was autogenerated by xacro from 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 0.0 0.0" xyz="0.0 0.0 0.0"/>
|
||||||
|
<parent link="world"/>
|
||||||
|
<child link="base_link"/>
|
||||||
|
</joint>
|
||||||
|
<link name="base_link">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.00078073 -0.005657 0.036649"/>
|
||||||
|
<mass value="0.61398"/>
|
||||||
|
<inertia ixx="0.0015423" ixy="2.1048E-05" ixz="-2.1541E-06" iyy="0.0014689" iyz="7.0187E-07" izz="0.0015067"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file:///home/narenmak/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/visual/base_link.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="">
|
||||||
|
<color rgba="0.75294 0.75294 0.75294 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file:///home/narenmak/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/base_link.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<!-- <xacro:joint_hardware joint_name="${tf_prefix}base_link" hardware="${hardware}" p="100"/> -->
|
||||||
|
<!-- <xacro:rbs_materials link_name="${tf_prefix}base_link" link_type="base_link"></xacro:rbs_materials> -->
|
||||||
|
<joint name="fork0_link_joint" type="revolute">
|
||||||
|
<limit effort="78" lower="-6.14159" upper="6.14159" velocity="0.52"/>
|
||||||
|
<origin rpy="0.0 0 -3.1416" xyz="0 0 0.11165"/>
|
||||||
|
<parent link="base_link"/>
|
||||||
|
<child link="fork0_link"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
</joint>
|
||||||
|
<link name="fork0_link">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="-0.0050017 0.088736 0.0023758"/>
|
||||||
|
<mass value="0.49312"/>
|
||||||
|
<inertia ixx="0.0016921" ixy="-1.8404E-05" ixz="9.951E-07" iyy="0.00087841" iyz="-2.5874E-06" izz="0.0019955"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file:///home/narenmak/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/visual/axis1_fork.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="">
|
||||||
|
<color rgba="0.75294 0.75294 0.75294 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file:///home/narenmak/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/axis1_fork.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<ros2_control name="fork0_link_joint_hardware_interface" type="actuator">
|
||||||
|
<hardware>
|
||||||
|
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
|
||||||
|
</hardware>
|
||||||
|
<joint name="fork0_link_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<!-- WARN When this active a robot falls down -->
|
||||||
|
<!-- <command_interface name="effort"/> -->
|
||||||
|
<param name="p">10000</param>
|
||||||
|
<param name="d">0.2</param>
|
||||||
|
<!-- <command_interface name="effort"/> -->
|
||||||
|
<state_interface name="position">
|
||||||
|
<param name="initial_value">0.0</param>
|
||||||
|
</state_interface>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<!-- <state_interface name="acceleration"/> -->
|
||||||
|
</joint>
|
||||||
|
</ros2_control>
|
||||||
|
<!-- <xacro:rbs_materials link_name="${tf_prefix}${name}" link_type="fork" /> -->
|
||||||
|
<joint name="main0_link_joint" type="revolute">
|
||||||
|
<limit effort="78" lower="-2.43" upper="2.43" velocity="0.52"/>
|
||||||
|
<!-- <origin rpy="0.0 0 -3.1416" xyz="0 0 0.11165"></origin> -->
|
||||||
|
<origin rpy="0.0 0 0" xyz="0 0.0 0.15465"/>
|
||||||
|
<parent link="fork0_link"/>
|
||||||
|
<child link="main0_link"/>
|
||||||
|
<axis xyz="1 0 0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="main0_link">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.00027998 -0.045366 0.0068959"/>
|
||||||
|
<mass value="0.42726"/>
|
||||||
|
<inertia ixx="0.0013794" ixy="-4.0542E-05" ixz="-8.9181E-06" iyy="0.00047255" iyz="-3.4771E-05" izz="0.001587"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file:///home/narenmak/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/visual/axis2_main.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="">
|
||||||
|
<color rgba="0.75294 0.75294 0.75294 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file:///home/narenmak/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/axis2_main.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<ros2_control name="main0_link_joint_hardware_interface" type="actuator">
|
||||||
|
<hardware>
|
||||||
|
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
|
||||||
|
</hardware>
|
||||||
|
<joint name="main0_link_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<!-- WARN When this active a robot falls down -->
|
||||||
|
<!-- <command_interface name="effort"/> -->
|
||||||
|
<param name="p">10000</param>
|
||||||
|
<param name="d">0.2</param>
|
||||||
|
<!-- <command_interface name="effort"/> -->
|
||||||
|
<state_interface name="position">
|
||||||
|
<param name="initial_value">0.0</param>
|
||||||
|
</state_interface>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<!-- <state_interface name="acceleration"/> -->
|
||||||
|
</joint>
|
||||||
|
</ros2_control>
|
||||||
|
<!-- <xacro:rbs_materials link_name="${tf_prefix}${name}" link_type="main_link" /> -->
|
||||||
|
<joint name="fork1_link_joint" type="revolute">
|
||||||
|
<limit effort="78" lower="-6.14159" upper="6.14159" velocity="0.52"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.11995"/>
|
||||||
|
<parent link="main0_link"/>
|
||||||
|
<child link="fork1_link"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
</joint>
|
||||||
|
<link name="fork1_link">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="-0.0050017 0.088736 0.0023758"/>
|
||||||
|
<mass value="0.49312"/>
|
||||||
|
<inertia ixx="0.0016921" ixy="-1.8404E-05" ixz="9.951E-07" iyy="0.00087841" iyz="-2.5874E-06" izz="0.0019955"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file:///home/narenmak/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/visual/axis1_fork.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="">
|
||||||
|
<color rgba="0.75294 0.75294 0.75294 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file:///home/narenmak/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/axis1_fork.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<ros2_control name="fork1_link_joint_hardware_interface" type="actuator">
|
||||||
|
<hardware>
|
||||||
|
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
|
||||||
|
</hardware>
|
||||||
|
<joint name="fork1_link_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<!-- WARN When this active a robot falls down -->
|
||||||
|
<!-- <command_interface name="effort"/> -->
|
||||||
|
<param name="p">10000</param>
|
||||||
|
<param name="d">0.2</param>
|
||||||
|
<!-- <command_interface name="effort"/> -->
|
||||||
|
<state_interface name="position">
|
||||||
|
<param name="initial_value">0.0</param>
|
||||||
|
</state_interface>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<!-- <state_interface name="acceleration"/> -->
|
||||||
|
</joint>
|
||||||
|
</ros2_control>
|
||||||
|
<!-- <xacro:rbs_materials link_name="${tf_prefix}${name}" link_type="fork" /> -->
|
||||||
|
<joint name="main1_link_joint" type="revolute">
|
||||||
|
<limit effort="78" lower="-2.43" upper="2.43" velocity="0.52"/>
|
||||||
|
<!-- <origin rpy="0.0 0 -3.1416" xyz="0 0 0.11165"></origin> -->
|
||||||
|
<origin rpy="0.0 0 0" xyz="0 0.0 0.15465"/>
|
||||||
|
<parent link="fork1_link"/>
|
||||||
|
<child link="main1_link"/>
|
||||||
|
<axis xyz="1 0 0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="main1_link">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.00027998 -0.045366 0.0068959"/>
|
||||||
|
<mass value="0.42726"/>
|
||||||
|
<inertia ixx="0.0013794" ixy="-4.0542E-05" ixz="-8.9181E-06" iyy="0.00047255" iyz="-3.4771E-05" izz="0.001587"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file:///home/narenmak/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/visual/axis2_main.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="">
|
||||||
|
<color rgba="0.75294 0.75294 0.75294 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file:///home/narenmak/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/axis2_main.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<ros2_control name="main1_link_joint_hardware_interface" type="actuator">
|
||||||
|
<hardware>
|
||||||
|
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
|
||||||
|
</hardware>
|
||||||
|
<joint name="main1_link_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<!-- WARN When this active a robot falls down -->
|
||||||
|
<!-- <command_interface name="effort"/> -->
|
||||||
|
<param name="p">1000</param>
|
||||||
|
<param name="d">0.2</param>
|
||||||
|
<!-- <command_interface name="effort"/> -->
|
||||||
|
<state_interface name="position">
|
||||||
|
<param name="initial_value">0.0</param>
|
||||||
|
</state_interface>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<!-- <state_interface name="acceleration"/> -->
|
||||||
|
</joint>
|
||||||
|
</ros2_control>
|
||||||
|
<!-- <xacro:rbs_materials link_name="${tf_prefix}${name}" link_type="main_link" /> -->
|
||||||
|
<joint name="ee_link_joint" type="revolute">
|
||||||
|
<limit effort="78" lower="-2.43" upper="2.43" velocity="0.52"/>
|
||||||
|
<origin rpy="0 0 0.0" xyz="0.0 0.0 0.0754"/>
|
||||||
|
<parent link="main1_link"/>
|
||||||
|
<child link="ee_link"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="tool0_joint" type="fixed">
|
||||||
|
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.14100"/>
|
||||||
|
<parent link="ee_link"/>
|
||||||
|
<child link="tool0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="tool0"/>
|
||||||
|
<link name="ee_link">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="1.594E-06 0.085889 0.0021969"/>
|
||||||
|
<mass value="0.20976"/>
|
||||||
|
<inertia ixx="0.00016257" ixy="4.2628E-07" ixz="-3.8857E-07" iyy="0.00022468" iyz="2.1709E-05" izz="0.00023702"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file:///home/narenmak/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/visual/axis7_tail.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="">
|
||||||
|
<color rgba="0.75294 0.75294 0.75294 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file:///home/narenmak/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/axis7_tail.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<ros2_control name="ee_link_joint_hardware_interface" type="actuator">
|
||||||
|
<hardware>
|
||||||
|
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
|
||||||
|
</hardware>
|
||||||
|
<joint name="ee_link_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<!-- WARN When this active a robot falls down -->
|
||||||
|
<!-- <command_interface name="effort"/> -->
|
||||||
|
<param name="p">20</param>
|
||||||
|
<param name="d">0.2</param>
|
||||||
|
<!-- <command_interface name="effort"/> -->
|
||||||
|
<state_interface name="position">
|
||||||
|
<param name="initial_value">0.0</param>
|
||||||
|
</state_interface>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<!-- <state_interface name="acceleration"/> -->
|
||||||
|
</joint>
|
||||||
|
</ros2_control>
|
||||||
|
<!-- <xacro:rbs_materials link_name="${tf_prefix}ee_link" link_type="ee_link" /> -->
|
||||||
|
<link name="rgbd_camera">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
|
||||||
|
<mass value="0.1"/>
|
||||||
|
<inertia ixx="0.000166667" ixy="0.0" ixz="0.0" iyy="0.000166667" iyz="0.0" izz="0.000166667"/>
|
||||||
|
</inertial>
|
||||||
|
<visual name="">
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.01 0.01 0.01"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="">
|
||||||
|
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||||
|
<texture filename=""/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.01 0.01 0.01"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<gazebo reference="rgbd_camera">
|
||||||
|
<sensor name="rgbd_camera" type="rgbd_camera">
|
||||||
|
<camera>
|
||||||
|
<horizontal_fov>1.047</horizontal_fov>
|
||||||
|
<image>
|
||||||
|
<width>320</width>
|
||||||
|
<height>240</height>
|
||||||
|
</image>
|
||||||
|
<clip>
|
||||||
|
<near>0.1</near>
|
||||||
|
<far>100</far>
|
||||||
|
</clip>
|
||||||
|
</camera>
|
||||||
|
<always_on>1</always_on>
|
||||||
|
<update_rate>30</update_rate>
|
||||||
|
<visualize>true</visualize>
|
||||||
|
<topic>rgbd_camera</topic>
|
||||||
|
<enable_metrics>true</enable_metrics>
|
||||||
|
</sensor>
|
||||||
|
</gazebo>
|
||||||
|
<joint name="rgbd_camera_to_parent" type="fixed">
|
||||||
|
<parent link="ee_link"/>
|
||||||
|
<child link="rgbd_camera"/>
|
||||||
|
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
|
||||||
|
</joint>
|
||||||
|
<!-- Insert gripper in robot description if exist -->
|
||||||
|
<!-- <xacro:if value="${gripper_name=='rbs_gripper'}"> -->
|
||||||
|
<!-- <xacro:include filename="$(find rbs_gripper)/urdf/rbs_gripper_macro.xacro"></xacro:include> -->
|
||||||
|
<!-- <xacro:rbs_gripper gripper_name="rbs_gripper" hardware="${hardware}"
|
||||||
|
parent="${tf_prefix}tool0" tf_prefix="${tf_prefix}"> -->
|
||||||
|
<!-- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"></origin> -->
|
||||||
|
<!-- </xacro:rbs_gripper> -->
|
||||||
|
<!-- </xacro:if> -->
|
||||||
|
<!-- <xacro:fts link="tool0" name="fts_sensor" tf_prefix="${tf_prefix}"></xacro:fts> -->
|
||||||
|
<gazebo>
|
||||||
|
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
|
||||||
|
<parameters></parameters>
|
||||||
|
<ros>
|
||||||
|
<namespace>arm0</namespace>
|
||||||
|
</ros>
|
||||||
|
</plugin>
|
||||||
|
</gazebo>
|
||||||
|
</robot>
|
||||||
99
urdf/rbs_arm_modular.xacro
Normal file
99
urdf/rbs_arm_modular.xacro
Normal file
|
|
@ -0,0 +1,99 @@
|
||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rbs_arm">
|
||||||
|
<xacro:arg name="gripper_name" default="" />
|
||||||
|
<xacro:arg name="hardware" default="gazebo" />
|
||||||
|
<xacro:arg name="simulation_controllers" default="" />
|
||||||
|
<xacro:arg name="tf_prefix" default="" />
|
||||||
|
<xacro:arg name="namespace" default="arm0"/>
|
||||||
|
|
||||||
|
<xacro:arg name="x" default="-0.10" />
|
||||||
|
<xacro:arg name="y" default="0.0" />
|
||||||
|
<xacro:arg name="z" default="0.03" />
|
||||||
|
|
||||||
|
<xacro:arg name="roll" default="0.0" />
|
||||||
|
<xacro:arg name="pitch" default="0.0" />
|
||||||
|
<xacro:arg name="yaw" default="0.0" />
|
||||||
|
|
||||||
|
<xacro:include filename="$(find rbs_mill_assist)/urdf/rbs_arm_modular_macro.xacro" />
|
||||||
|
<link name="world" />
|
||||||
|
|
||||||
|
<!-- World objects-->
|
||||||
|
<xacro:property name="table_length" value="1.2"/>
|
||||||
|
<xacro:property name="table_width" value="0.7"/>
|
||||||
|
<xacro:property name="table_height" value="0.8"/>
|
||||||
|
|
||||||
|
<link name="table_link">
|
||||||
|
<visual>
|
||||||
|
<geometry>
|
||||||
|
<box size="${table_length} ${table_width} ${table_height}"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="blue">
|
||||||
|
<color rgba="0 0 1 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<geometry>
|
||||||
|
<box size="${table_length} ${table_width} ${table_height}"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="10.0"/>
|
||||||
|
<inertia
|
||||||
|
ixx="${(1/12)*50*(table_width**2 + table_height**2)}"
|
||||||
|
iyy="${(1/12)*50*(table_length**2 + table_height**2)}"
|
||||||
|
izz="${(1/12)*50*(table_length**2 + table_width**2)}"
|
||||||
|
ixy="0"
|
||||||
|
ixz="0"
|
||||||
|
iyz="0"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="world_joint" type="fixed">
|
||||||
|
<parent link="world"/>
|
||||||
|
<child link="table_link"/>
|
||||||
|
<origin xyz="0 0 -0.4" rpy="0 0 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<xacro:property name="machine_length" value="0.4"/>
|
||||||
|
<xacro:property name="machine_width" value="0.5"/>
|
||||||
|
<xacro:property name="machine_height" value="0.115"/>
|
||||||
|
|
||||||
|
<link name="machine_link">
|
||||||
|
<visual>
|
||||||
|
<geometry>
|
||||||
|
<box size="${machine_length} ${machine_width} ${machine_height}"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="gray">
|
||||||
|
<color rgba="0 1 0 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<geometry>
|
||||||
|
<box size="${machine_length} ${machine_width} ${machine_height}"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="40.0"/>
|
||||||
|
<inertia
|
||||||
|
ixx="${(1/12)*30*(machine_width**2 + machine_height**2)}"
|
||||||
|
iyy="${(1/12)*30*(machine_length**2 + machine_height**2)}"
|
||||||
|
izz="${(1/12)*30*(machine_length**2 + machine_width**2)}"
|
||||||
|
ixy="0"
|
||||||
|
ixz="0"
|
||||||
|
iyz="0"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="machine_joint" type="fixed">
|
||||||
|
<parent link="world"/>
|
||||||
|
<child link="machine_link"/>
|
||||||
|
<origin xyz="0.25 0 ${0.115/2}" rpy="0 0 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
|
||||||
|
<!-- Arm-->
|
||||||
|
<xacro:rbs_arm namespace="$(arg namespace)" parent="world" tf_prefix="$(arg tf_prefix)" hardware="$(arg hardware)"
|
||||||
|
gripper_name="$(arg gripper_name)" controllers="$(arg simulation_controllers)">
|
||||||
|
<origin xyz="$(arg x) $(arg y) $(arg z)" rpy="$(arg roll) $(arg pitch) $(arg yaw)" />
|
||||||
|
</xacro:rbs_arm>
|
||||||
|
</robot>
|
||||||
53
urdf/rbs_arm_modular_macro.xacro
Normal file
53
urdf/rbs_arm_modular_macro.xacro
Normal file
|
|
@ -0,0 +1,53 @@
|
||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||||
|
<xacro:macro name="rbs_arm" params="namespace parent *origin tf_prefix hardware gripper_name controllers">
|
||||||
|
<xacro:include filename="$(find rbs_arm)/urdf/inc/rbs_base_link.xacro"></xacro:include>
|
||||||
|
<xacro:include filename="$(find rbs_arm)/urdf/inc/rbs_ee_link.xacro"></xacro:include>
|
||||||
|
<xacro:include filename="$(find rbs_arm)/urdf/inc/rbs_fork_link.xacro"></xacro:include>
|
||||||
|
<xacro:include filename="$(find rbs_arm)/urdf/inc/rbs_main_link.xacro"></xacro:include>
|
||||||
|
<xacro:include filename="$(find rbs_arm)/urdf/sensors.xacro"></xacro:include>
|
||||||
|
<!-- BEGIN robot description -->
|
||||||
|
<!-- link 0-->
|
||||||
|
<xacro:base_link hardware="${hardware}" parent="${parent}" tf_prefix="${tf_prefix}">
|
||||||
|
<xacro:insert_block name="origin"></xacro:insert_block>
|
||||||
|
</xacro:base_link>
|
||||||
|
|
||||||
|
<!-- link 1-->
|
||||||
|
<xacro:fork_link d="0.2" hardware="${hardware}" name="fork0_link" p="10000" parent="base_link" tf_prefix="${tf_prefix}" initial_joint_position="1.57"></xacro:fork_link>
|
||||||
|
<!-- link 2-->
|
||||||
|
<xacro:main_link d="0.2" hardware="${hardware}" name="main0_link" p="10000" parent="fork0_link" tf_prefix="${tf_prefix}" initial_joint_position="0.5"></xacro:main_link>
|
||||||
|
<!-- link 3-->
|
||||||
|
<xacro:fork_link d="0.2" hardware="${hardware}" name="fork1_link" p="10000" parent="main0_link" tf_prefix="${tf_prefix}" initial_joint_position="0.0"></xacro:fork_link>
|
||||||
|
<!-- link 4-->
|
||||||
|
<xacro:main_link d="0.2" hardware="${hardware}" name="main1_link" p="1000" parent="fork1_link" tf_prefix="${tf_prefix}" initial_joint_position="1.5"></xacro:main_link>
|
||||||
|
<!-- ee link also contain tool0-->
|
||||||
|
<!-- link 5-->
|
||||||
|
<xacro:ee_link d="0.2" hardware="${hardware}" p="20" parent="main1_link" tf_prefix="${tf_prefix}"></xacro:ee_link>
|
||||||
|
<!-- END robot description -->
|
||||||
|
<xacro:rgbd parent="${tf_prefix}ee_link" tf_prefix="${tf_prefix}">
|
||||||
|
<origin rpy="0.0 -1.57 0.0" xyz="0.0 0.0 0.0754"></origin>
|
||||||
|
</xacro:rgbd>
|
||||||
|
|
||||||
|
<!-- Insert gripper in robot description if exist -->
|
||||||
|
<!-- <xacro:if value="${gripper_name=='rbs_gripper'}"> -->
|
||||||
|
<!-- <xacro:include filename="$(find rbs_gripper)/urdf/rbs_gripper_macro.xacro"></xacro:include> -->
|
||||||
|
<!-- <xacro:rbs_gripper gripper_name="rbs_gripper" hardware="${hardware}"
|
||||||
|
parent="${tf_prefix}tool0" tf_prefix="${tf_prefix}"> -->
|
||||||
|
<!-- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"></origin> -->
|
||||||
|
<!-- </xacro:rbs_gripper> -->
|
||||||
|
<!-- </xacro:if> -->
|
||||||
|
|
||||||
|
<!-- If hardware == gazebo so insert additional parameters for it -->
|
||||||
|
<xacro:if value="${hardware=='gazebo'}">
|
||||||
|
<!-- <xacro:fts link="tool0" name="fts_sensor" tf_prefix="${tf_prefix}"></xacro:fts> -->
|
||||||
|
<gazebo>
|
||||||
|
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
|
||||||
|
<parameters>$(arg simulation_controllers)</parameters>
|
||||||
|
<ros>
|
||||||
|
<namespace>${namespace}</namespace>
|
||||||
|
</ros>
|
||||||
|
</plugin>
|
||||||
|
</gazebo>
|
||||||
|
</xacro:if>
|
||||||
|
</xacro:macro>
|
||||||
|
</robot>
|
||||||
88
urdf/sensors.xacro
Normal file
88
urdf/sensors.xacro
Normal file
|
|
@ -0,0 +1,88 @@
|
||||||
|
<?xml version="1.0"?>
|
||||||
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rack">
|
||||||
|
<xacro:macro name="rgbd" params="*origin parent tf_prefix">
|
||||||
|
<link name="${tf_prefix}rgbd_camera">
|
||||||
|
<inertial>
|
||||||
|
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||||
|
<mass value="0.1"/>
|
||||||
|
<inertia ixx="0.000166667" ixy="0.0" ixz="0.0" iyy="0.000166667" iyz="0.0" izz="0.000166667"/>
|
||||||
|
</inertial>
|
||||||
|
<visual name="">
|
||||||
|
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.01 0.01 0.01"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="">
|
||||||
|
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||||
|
<texture filename=""/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.01 0.01 0.01"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<gazebo reference = "${tf_prefix}rgbd_camera">
|
||||||
|
<sensor name="${tf_prefix}rgbd_camera" type="rgbd_camera">
|
||||||
|
<camera>
|
||||||
|
<horizontal_fov>1.047</horizontal_fov>
|
||||||
|
<image>
|
||||||
|
<width>320</width>
|
||||||
|
<height>240</height>
|
||||||
|
</image>
|
||||||
|
<clip>
|
||||||
|
<near>0.1</near>
|
||||||
|
<far>100</far>
|
||||||
|
</clip>
|
||||||
|
</camera>
|
||||||
|
<always_on>1</always_on>
|
||||||
|
<update_rate>30</update_rate>
|
||||||
|
<visualize>true</visualize>
|
||||||
|
<topic>${tf_prefix}rgbd_camera</topic>
|
||||||
|
<enable_metrics>true</enable_metrics>
|
||||||
|
</sensor>
|
||||||
|
</gazebo>
|
||||||
|
|
||||||
|
<joint name="${tf_prefix}rgbd_camera_to_parent" type="fixed">
|
||||||
|
<parent link="${parent}" />
|
||||||
|
<child link="${tf_prefix}rgbd_camera" />
|
||||||
|
<xacro:insert_block name="origin" />
|
||||||
|
</joint>
|
||||||
|
</xacro:macro>
|
||||||
|
|
||||||
|
<xacro:macro name="fts" params="name tf_prefix link">
|
||||||
|
|
||||||
|
<ros2_control name="${tf_prefix}${name}" type="sensor">
|
||||||
|
<hardware>
|
||||||
|
<plugin>gz_ros2_control/GzFts</plugin>
|
||||||
|
</hardware>
|
||||||
|
|
||||||
|
<sensor name="${tf_prefix}${name}">
|
||||||
|
<state_interface name="force.x"/>
|
||||||
|
<state_interface name="force.y"/>
|
||||||
|
<state_interface name="force.z"/>
|
||||||
|
<state_interface name="torque.x"/>
|
||||||
|
<state_interface name="torque.y"/>
|
||||||
|
<state_interface name="torque.z"/>
|
||||||
|
</sensor>
|
||||||
|
</ros2_control>
|
||||||
|
|
||||||
|
<gazebo reference="${tf_prefix}${link}_joint">
|
||||||
|
<preserveFixedJoint>true</preserveFixedJoint>
|
||||||
|
<sensor name="${tf_prefix}${name}" type="force_torque">
|
||||||
|
<always_on>true</always_on>
|
||||||
|
<update_rate>50</update_rate>
|
||||||
|
<visualize>true</visualize>
|
||||||
|
<topic>${tf_prefix}ft_data</topic>
|
||||||
|
<force_torque>
|
||||||
|
<frame>sensor</frame>
|
||||||
|
<measure_direction>child_to_parent</measure_direction>
|
||||||
|
</force_torque>
|
||||||
|
</sensor>
|
||||||
|
</gazebo>
|
||||||
|
</xacro:macro>
|
||||||
|
|
||||||
|
</robot>
|
||||||
4
urdf/xacro_args.yaml
Normal file
4
urdf/xacro_args.yaml
Normal file
|
|
@ -0,0 +1,4 @@
|
||||||
|
gripper_name: "rbs_gripper"
|
||||||
|
hardware: "gazebo"
|
||||||
|
simulation_controllers: !variable controllers_file
|
||||||
|
namespace: ""
|
||||||
74
world/default.sdf
Normal file
74
world/default.sdf
Normal file
|
|
@ -0,0 +1,74 @@
|
||||||
|
<?xml version="1.0"?>
|
||||||
|
<sdf version="1.9">
|
||||||
|
<world name="rbs_freazer_world">
|
||||||
|
<scene>
|
||||||
|
<ambient>1.0 1.0 1.0</ambient>
|
||||||
|
<grid>false</grid>
|
||||||
|
</scene>
|
||||||
|
|
||||||
|
<physics name="1ms" type="ignored">
|
||||||
|
<max_step_size>0.001</max_step_size>
|
||||||
|
<real_time_factor>1.0</real_time_factor>
|
||||||
|
</physics>
|
||||||
|
<plugin
|
||||||
|
filename="gz-sim-physics-system"
|
||||||
|
name="gz::sim::systems::Physics">
|
||||||
|
</plugin>
|
||||||
|
<plugin
|
||||||
|
filename="gz-sim-sensors-system"
|
||||||
|
name="gz::sim::systems::Sensors">
|
||||||
|
<render_engine>ogre2</render_engine>
|
||||||
|
</plugin>
|
||||||
|
<plugin
|
||||||
|
filename="gz-sim-user-commands-system"
|
||||||
|
name="gz::sim::systems::UserCommands">
|
||||||
|
</plugin>
|
||||||
|
<plugin
|
||||||
|
filename="gz-sim-scene-broadcaster-system"
|
||||||
|
name="gz::sim::systems::SceneBroadcaster">
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<light type="directional" name="sun">
|
||||||
|
<cast_shadows>true</cast_shadows>
|
||||||
|
<pose>0 0 10 0 0 0</pose>
|
||||||
|
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||||
|
<specular>0.2 0.2 0.2 1</specular>
|
||||||
|
<attenuation>
|
||||||
|
<range>1000</range>
|
||||||
|
<constant>0.9</constant>
|
||||||
|
<linear>0.01</linear>
|
||||||
|
<quadratic>0.001</quadratic>
|
||||||
|
</attenuation>
|
||||||
|
<direction>-0.5 0.1 -0.9</direction>
|
||||||
|
</light>
|
||||||
|
|
||||||
|
<!-- <model name="ground_plane"> -->
|
||||||
|
<!-- <static>true</static> -->
|
||||||
|
<!-- <link name="link"> -->
|
||||||
|
<!-- <collision name="collision"> -->
|
||||||
|
<!-- <geometry> -->
|
||||||
|
<!-- <plane> -->
|
||||||
|
<!-- <normal>0 0 1</normal> -->
|
||||||
|
<!-- <size>1 1</size> -->
|
||||||
|
<!-- </plane> -->
|
||||||
|
<!-- </geometry> -->
|
||||||
|
<!-- </collision> -->
|
||||||
|
<!-- <visual name="visual"> -->
|
||||||
|
<!-- <geometry> -->
|
||||||
|
<!-- <plane> -->
|
||||||
|
<!-- <normal>0 0 1</normal> -->
|
||||||
|
<!-- <size>1 1</size> -->
|
||||||
|
<!-- </plane> -->
|
||||||
|
<!-- </geometry> -->
|
||||||
|
<!-- <material> -->
|
||||||
|
<!-- <ambient>0.8 0.8 0.8 1</ambient> -->
|
||||||
|
<!-- <diffuse>0.8 0.8 0.8 1</diffuse> -->
|
||||||
|
<!-- <specular>0.8 0.8 0.8 1</specular> -->
|
||||||
|
<!-- </material> -->
|
||||||
|
<!-- </visual> -->
|
||||||
|
<!-- </link> -->
|
||||||
|
<!-- </model> -->
|
||||||
|
|
||||||
|
|
||||||
|
</world>
|
||||||
|
</sdf>
|
||||||
Loading…
Add table
Add a link
Reference in a new issue