diff --git a/CMakeLists.txt b/rbs_mill_assist/CMakeLists.txt
similarity index 97%
rename from CMakeLists.txt
rename to rbs_mill_assist/CMakeLists.txt
index ba9da6e..43e6bc2 100644
--- a/CMakeLists.txt
+++ b/rbs_mill_assist/CMakeLists.txt
@@ -48,7 +48,7 @@ install(
DESTINATION lib/${PROJECT_NAME}
)
-install(DIRECTORY launch urdf config world assets
+install(DIRECTORY launch urdf config world assets meshes
DESTINATION share/${PROJECT_NAME})
if(BUILD_TESTING)
diff --git a/assets/shildik/meshes/shildik_sh.dae b/rbs_mill_assist/assets/shildik/meshes/shildik_sh.dae
similarity index 100%
rename from assets/shildik/meshes/shildik_sh.dae
rename to rbs_mill_assist/assets/shildik/meshes/shildik_sh.dae
diff --git a/assets/shildik/model.config b/rbs_mill_assist/assets/shildik/model.config
similarity index 100%
rename from assets/shildik/model.config
rename to rbs_mill_assist/assets/shildik/model.config
diff --git a/assets/shildik/model.sdf b/rbs_mill_assist/assets/shildik/model.sdf
similarity index 100%
rename from assets/shildik/model.sdf
rename to rbs_mill_assist/assets/shildik/model.sdf
diff --git a/assets/shildik/textures/shildik_sh.png b/rbs_mill_assist/assets/shildik/textures/shildik_sh.png
similarity index 100%
rename from assets/shildik/textures/shildik_sh.png
rename to rbs_mill_assist/assets/shildik/textures/shildik_sh.png
diff --git a/assets/shildik/textures/shildik_sh_d.png b/rbs_mill_assist/assets/shildik/textures/shildik_sh_d.png
similarity index 100%
rename from assets/shildik/textures/shildik_sh_d.png
rename to rbs_mill_assist/assets/shildik/textures/shildik_sh_d.png
diff --git a/assets/shildik/textures/shildik_sh_m.png b/rbs_mill_assist/assets/shildik/textures/shildik_sh_m.png
similarity index 100%
rename from assets/shildik/textures/shildik_sh_m.png
rename to rbs_mill_assist/assets/shildik/textures/shildik_sh_m.png
diff --git a/assets/shildik/textures/shildik_sh_n.png b/rbs_mill_assist/assets/shildik/textures/shildik_sh_n.png
similarity index 100%
rename from assets/shildik/textures/shildik_sh_n.png
rename to rbs_mill_assist/assets/shildik/textures/shildik_sh_n.png
diff --git a/assets/shildik/textures/shildik_sh_o.png b/rbs_mill_assist/assets/shildik/textures/shildik_sh_o.png
similarity index 100%
rename from assets/shildik/textures/shildik_sh_o.png
rename to rbs_mill_assist/assets/shildik/textures/shildik_sh_o.png
diff --git a/assets/shildik/textures/shildik_sh_r.png b/rbs_mill_assist/assets/shildik/textures/shildik_sh_r.png
similarity index 100%
rename from assets/shildik/textures/shildik_sh_r.png
rename to rbs_mill_assist/assets/shildik/textures/shildik_sh_r.png
diff --git a/config/config.rviz b/rbs_mill_assist/config/config.rviz
similarity index 100%
rename from config/config.rviz
rename to rbs_mill_assist/config/config.rviz
diff --git a/config/gz_bridge.yaml b/rbs_mill_assist/config/gz_bridge.yaml
similarity index 100%
rename from config/gz_bridge.yaml
rename to rbs_mill_assist/config/gz_bridge.yaml
diff --git a/hooks/rbs_mill_assist.dsv.in b/rbs_mill_assist/hooks/rbs_mill_assist.dsv.in
similarity index 100%
rename from hooks/rbs_mill_assist.dsv.in
rename to rbs_mill_assist/hooks/rbs_mill_assist.dsv.in
diff --git a/hooks/rbs_mill_assist.sh.in b/rbs_mill_assist/hooks/rbs_mill_assist.sh.in
similarity index 100%
rename from hooks/rbs_mill_assist.sh.in
rename to rbs_mill_assist/hooks/rbs_mill_assist.sh.in
diff --git a/include/rbs_mill_assist/VacuumGripper.hpp b/rbs_mill_assist/include/rbs_mill_assist/VacuumGripper.hpp
similarity index 100%
rename from include/rbs_mill_assist/VacuumGripper.hpp
rename to rbs_mill_assist/include/rbs_mill_assist/VacuumGripper.hpp
diff --git a/launch/simulation.launch.py b/rbs_mill_assist/launch/simulation.launch.py
similarity index 99%
rename from launch/simulation.launch.py
rename to rbs_mill_assist/launch/simulation.launch.py
index a447f37..2d8446c 100644
--- a/launch/simulation.launch.py
+++ b/rbs_mill_assist/launch/simulation.launch.py
@@ -206,7 +206,7 @@ def generate_launch_description():
declared_arguments.append(
DeclareLaunchArgument(
"description_file",
- default_value="rbs_arm_modular.xacro",
+ default_value="rbs_arm.xacro",
description="URDF/XACRO description file with the robot.",
)
)
@@ -272,7 +272,7 @@ def generate_launch_description():
declared_arguments.append(
DeclareLaunchArgument(
"ee_link_name",
- default_value="tool0",
+ default_value="Link6",
description="End effector name of robot arm",
)
)
diff --git a/rbs_mill_assist/meshes/Link1.STL b/rbs_mill_assist/meshes/Link1.STL
new file mode 100644
index 0000000..8b3194f
Binary files /dev/null and b/rbs_mill_assist/meshes/Link1.STL differ
diff --git a/rbs_mill_assist/meshes/Link2.STL b/rbs_mill_assist/meshes/Link2.STL
new file mode 100644
index 0000000..d3e4c7f
Binary files /dev/null and b/rbs_mill_assist/meshes/Link2.STL differ
diff --git a/rbs_mill_assist/meshes/Link3.STL b/rbs_mill_assist/meshes/Link3.STL
new file mode 100644
index 0000000..441cdf5
Binary files /dev/null and b/rbs_mill_assist/meshes/Link3.STL differ
diff --git a/rbs_mill_assist/meshes/Link4.STL b/rbs_mill_assist/meshes/Link4.STL
new file mode 100644
index 0000000..d4d068e
Binary files /dev/null and b/rbs_mill_assist/meshes/Link4.STL differ
diff --git a/rbs_mill_assist/meshes/Link5.STL b/rbs_mill_assist/meshes/Link5.STL
new file mode 100644
index 0000000..ded2138
Binary files /dev/null and b/rbs_mill_assist/meshes/Link5.STL differ
diff --git a/rbs_mill_assist/meshes/Link6.STL b/rbs_mill_assist/meshes/Link6.STL
new file mode 100644
index 0000000..b569cba
Binary files /dev/null and b/rbs_mill_assist/meshes/Link6.STL differ
diff --git a/rbs_mill_assist/meshes/Link7.STL b/rbs_mill_assist/meshes/Link7.STL
new file mode 100644
index 0000000..815ccbd
Binary files /dev/null and b/rbs_mill_assist/meshes/Link7.STL differ
diff --git a/rbs_mill_assist/meshes/Link8.STL b/rbs_mill_assist/meshes/Link8.STL
new file mode 100644
index 0000000..bb6c5e9
Binary files /dev/null and b/rbs_mill_assist/meshes/Link8.STL differ
diff --git a/rbs_mill_assist/meshes/base_link.STL b/rbs_mill_assist/meshes/base_link.STL
new file mode 100644
index 0000000..3121126
Binary files /dev/null and b/rbs_mill_assist/meshes/base_link.STL differ
diff --git a/package.xml b/rbs_mill_assist/package.xml
similarity index 100%
rename from package.xml
rename to rbs_mill_assist/package.xml
diff --git a/src/VacuumGripper.cpp b/rbs_mill_assist/src/VacuumGripper.cpp
similarity index 100%
rename from src/VacuumGripper.cpp
rename to rbs_mill_assist/src/VacuumGripper.cpp
diff --git a/rbs_mill_assist/urdf/current.urdf b/rbs_mill_assist/urdf/current.urdf
new file mode 100644
index 0000000..7d851da
--- /dev/null
+++ b/rbs_mill_assist/urdf/current.urdf
@@ -0,0 +1,422 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ gz_ros2_control/GazeboSimSystem
+
+
+
+
+
+
+
+
+
+
+ 0.0
+
+
+
+
+
+
+
+ gz_ros2_control/GazeboSimSystem
+
+
+
+
+
+
+
+
+
+
+ 0.0
+
+
+
+
+
+
+
+ gz_ros2_control/GazeboSimSystem
+
+
+
+
+
+
+
+
+
+
+ 0.0
+
+
+
+
+
+
+
+ gz_ros2_control/GazeboSimSystem
+
+
+
+
+
+
+
+
+
+
+ 0.0
+
+
+
+
+
+
+
+ gz_ros2_control/GazeboSimSystem
+
+
+
+
+
+
+
+
+
+
+ 0.0
+
+
+
+
+
+
+
+ gz_ros2_control/GazeboSimSystem
+
+
+
+
+
+
+
+
+
+
+ 0.0
+
+
+
+
+
+
+
+
+
+
+ arm0
+
+
+
+ Link6
+
+
+
+
+
+ Link6_collision
+
+
+
+
diff --git a/rbs_mill_assist/urdf/gazebo_reference_macro.xacro b/rbs_mill_assist/urdf/gazebo_reference_macro.xacro
new file mode 100644
index 0000000..e69de29
diff --git a/rbs_mill_assist/urdf/rbs_arm.xacro b/rbs_mill_assist/urdf/rbs_arm.xacro
new file mode 100644
index 0000000..554d9f0
--- /dev/null
+++ b/rbs_mill_assist/urdf/rbs_arm.xacro
@@ -0,0 +1,25 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
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+
diff --git a/rbs_mill_assist/urdf/rbs_arm_macro.xacro b/rbs_mill_assist/urdf/rbs_arm_macro.xacro
new file mode 100644
index 0000000..a4446d2
--- /dev/null
+++ b/rbs_mill_assist/urdf/rbs_arm_macro.xacro
@@ -0,0 +1,540 @@
+
+
+
+
+
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+
+
+
+ $(arg simulation_controllers)
+
+ ${namespace}
+
+
+
+ Link6
+
+
+
+
+
+
+ Link6_collision
+
+
+
+
+
+
diff --git a/urdf/rbs_arm_modular.xacro b/rbs_mill_assist/urdf/rbs_arm_modular.xacro
similarity index 100%
rename from urdf/rbs_arm_modular.xacro
rename to rbs_mill_assist/urdf/rbs_arm_modular.xacro
diff --git a/urdf/rbs_arm_modular_macro.xacro b/rbs_mill_assist/urdf/rbs_arm_modular_macro.xacro
similarity index 100%
rename from urdf/rbs_arm_modular_macro.xacro
rename to rbs_mill_assist/urdf/rbs_arm_modular_macro.xacro
diff --git a/urdf/sensors.xacro b/rbs_mill_assist/urdf/sensors.xacro
similarity index 96%
rename from urdf/sensors.xacro
rename to rbs_mill_assist/urdf/sensors.xacro
index b0118b4..7dc7790 100644
--- a/urdf/sensors.xacro
+++ b/rbs_mill_assist/urdf/sensors.xacro
@@ -30,12 +30,12 @@
1.047
- 320
- 240
+ 1920
+ 1080
0.1
- 100
+ 3
1
diff --git a/urdf/xacro_args.yaml b/rbs_mill_assist/urdf/xacro_args.yaml
similarity index 100%
rename from urdf/xacro_args.yaml
rename to rbs_mill_assist/urdf/xacro_args.yaml
diff --git a/world/default.sdf b/rbs_mill_assist/world/default.sdf
similarity index 99%
rename from world/default.sdf
rename to rbs_mill_assist/world/default.sdf
index 792b739..8aecf35 100644
--- a/world/default.sdf
+++ b/rbs_mill_assist/world/default.sdf
@@ -55,7 +55,7 @@
- -0.3 0.0 0 0 0 0
+ -0.35 0.0 0 0 0 0
model://shildik
diff --git a/solidworks_files/COLCON_IGNORE b/solidworks_files/COLCON_IGNORE
new file mode 100644
index 0000000..e69de29
diff --git a/src/Label_bunker/Bunker_for_labels_60х40.SLDPRT b/solidworks_files/Label_bunker/Bunker_for_labels_60х40.SLDPRT
similarity index 100%
rename from src/Label_bunker/Bunker_for_labels_60х40.SLDPRT
rename to solidworks_files/Label_bunker/Bunker_for_labels_60х40.SLDPRT
diff --git a/src/Label_fixtures/Label Fixture 001.SLDPRT b/solidworks_files/Label_fixtures/Label Fixture 001.SLDPRT
similarity index 100%
rename from src/Label_fixtures/Label Fixture 001.SLDPRT
rename to solidworks_files/Label_fixtures/Label Fixture 001.SLDPRT
diff --git a/src/Label_fixtures/Label Fixture 002.SLDPRT b/solidworks_files/Label_fixtures/Label Fixture 002.SLDPRT
similarity index 100%
rename from src/Label_fixtures/Label Fixture 002.SLDPRT
rename to solidworks_files/Label_fixtures/Label Fixture 002.SLDPRT
diff --git a/src/Label_fixtures/Label Fixture 003.SLDPRT b/solidworks_files/Label_fixtures/Label Fixture 003.SLDPRT
similarity index 100%
rename from src/Label_fixtures/Label Fixture 003.SLDPRT
rename to solidworks_files/Label_fixtures/Label Fixture 003.SLDPRT
diff --git a/src/Label_fixtures/Label Fixture 004.SLDPRT b/solidworks_files/Label_fixtures/Label Fixture 004.SLDPRT
similarity index 100%
rename from src/Label_fixtures/Label Fixture 004.SLDPRT
rename to solidworks_files/Label_fixtures/Label Fixture 004.SLDPRT
diff --git a/src/Label_fixtures/Label Fixture 005.SLDPRT b/solidworks_files/Label_fixtures/Label Fixture 005.SLDPRT
similarity index 100%
rename from src/Label_fixtures/Label Fixture 005.SLDPRT
rename to solidworks_files/Label_fixtures/Label Fixture 005.SLDPRT
diff --git a/src/Label_fixtures/Parts/Label_60x40mm.SLDPRT b/solidworks_files/Label_fixtures/Parts/Label_60x40mm.SLDPRT
similarity index 100%
rename from src/Label_fixtures/Parts/Label_60x40mm.SLDPRT
rename to solidworks_files/Label_fixtures/Parts/Label_60x40mm.SLDPRT
diff --git a/src/Label_fixtures/Parts/Shock Absorber Spring.SLDPRT b/solidworks_files/Label_fixtures/Parts/Shock Absorber Spring.SLDPRT
similarity index 100%
rename from src/Label_fixtures/Parts/Shock Absorber Spring.SLDPRT
rename to solidworks_files/Label_fixtures/Parts/Shock Absorber Spring.SLDPRT
diff --git a/src/Label_fixtures/Parts/Solenoid JF-0826B.SLDPRT b/solidworks_files/Label_fixtures/Parts/Solenoid JF-0826B.SLDPRT
similarity index 100%
rename from src/Label_fixtures/Parts/Solenoid JF-0826B.SLDPRT
rename to solidworks_files/Label_fixtures/Parts/Solenoid JF-0826B.SLDPRT
diff --git a/src/Label_fixtures/Parts/Solenoid JF-0826B.STEP b/solidworks_files/Label_fixtures/Parts/Solenoid JF-0826B.STEP
similarity index 100%
rename from src/Label_fixtures/Parts/Solenoid JF-0826B.STEP
rename to solidworks_files/Label_fixtures/Parts/Solenoid JF-0826B.STEP
diff --git a/src/Label_fixtures/Parts/Помпа.SLDPRT b/solidworks_files/Label_fixtures/Parts/Помпа.SLDPRT
similarity index 100%
rename from src/Label_fixtures/Parts/Помпа.SLDPRT
rename to solidworks_files/Label_fixtures/Parts/Помпа.SLDPRT
diff --git a/src/Label_fixtures/Parts/Присоска.SLDPRT b/solidworks_files/Label_fixtures/Parts/Присоска.SLDPRT
similarity index 100%
rename from src/Label_fixtures/Parts/Присоска.SLDPRT
rename to solidworks_files/Label_fixtures/Parts/Присоска.SLDPRT
diff --git a/src/Label_fixtures/Parts/Трубка_001.SLDPRT b/solidworks_files/Label_fixtures/Parts/Трубка_001.SLDPRT
similarity index 100%
rename from src/Label_fixtures/Parts/Трубка_001.SLDPRT
rename to solidworks_files/Label_fixtures/Parts/Трубка_001.SLDPRT
diff --git a/src/Label_fixtures/asm_fixtures.SLDASM b/solidworks_files/Label_fixtures/asm_fixtures.SLDASM
similarity index 100%
rename from src/Label_fixtures/asm_fixtures.SLDASM
rename to solidworks_files/Label_fixtures/asm_fixtures.SLDASM
diff --git a/urdf/current.urdf b/urdf/current.urdf
deleted file mode 100644
index 5f8ead8..0000000
--- a/urdf/current.urdf
+++ /dev/null
@@ -1,355 +0,0 @@
-
-
-
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-
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-
-
- gz_ros2_control/GazeboSimSystem
-
-
-
-
-
-
- 10000
- 0.2
-
-
- 0.0
-
-
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-
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-
-
- gz_ros2_control/GazeboSimSystem
-
-
-
-
-
-
- 10000
- 0.2
-
-
- 0.0
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- gz_ros2_control/GazeboSimSystem
-
-
-
-
-
-
- 10000
- 0.2
-
-
- 0.0
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- gz_ros2_control/GazeboSimSystem
-
-
-
-
-
-
- 1000
- 0.2
-
-
- 0.0
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- gz_ros2_control/GazeboSimSystem
-
-
-
-
-
-
- 20
- 0.2
-
-
- 0.0
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- 1.047
-
- 320
- 240
-
-
- 0.1
- 100
-
-
- 1
- 30
- true
- rgbd_camera
- true
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- arm0
-
-
-
-