diff --git a/CMakeLists.txt b/CMakeLists.txt
index ba9da6e..43e6bc2 100644
--- a/CMakeLists.txt
+++ b/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/launch/simulation.launch.py b/launch/simulation.launch.py
index a447f37..2d8446c 100644
--- a/launch/simulation.launch.py
+++ b/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/meshes/Link1.STL b/meshes/Link1.STL
new file mode 100644
index 0000000..8b3194f
Binary files /dev/null and b/meshes/Link1.STL differ
diff --git a/meshes/Link2.STL b/meshes/Link2.STL
new file mode 100644
index 0000000..d3e4c7f
Binary files /dev/null and b/meshes/Link2.STL differ
diff --git a/meshes/Link3.STL b/meshes/Link3.STL
new file mode 100644
index 0000000..441cdf5
Binary files /dev/null and b/meshes/Link3.STL differ
diff --git a/meshes/Link4.STL b/meshes/Link4.STL
new file mode 100644
index 0000000..d4d068e
Binary files /dev/null and b/meshes/Link4.STL differ
diff --git a/meshes/Link5.STL b/meshes/Link5.STL
new file mode 100644
index 0000000..ded2138
Binary files /dev/null and b/meshes/Link5.STL differ
diff --git a/meshes/Link6.STL b/meshes/Link6.STL
new file mode 100644
index 0000000..b569cba
Binary files /dev/null and b/meshes/Link6.STL differ
diff --git a/meshes/Link7.STL b/meshes/Link7.STL
new file mode 100644
index 0000000..815ccbd
Binary files /dev/null and b/meshes/Link7.STL differ
diff --git a/meshes/Link8.STL b/meshes/Link8.STL
new file mode 100644
index 0000000..bb6c5e9
Binary files /dev/null and b/meshes/Link8.STL differ
diff --git a/meshes/base_link.STL b/meshes/base_link.STL
new file mode 100644
index 0000000..3121126
Binary files /dev/null and b/meshes/base_link.STL differ
diff --git a/urdf/current.urdf b/urdf/current.urdf
index 5f8ead8..7d851da 100644
--- a/urdf/current.urdf
+++ b/urdf/current.urdf
@@ -1,25 +1,49 @@
-
+
-
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+
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@@ -28,29 +52,49 @@
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@@ -59,48 +103,56 @@
-
+
-
-
- gz_ros2_control/GazeboSimSystem
-
-
-
-
-
-
- 10000
- 0.2
-
-
- 0.0
-
-
-
-
-
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-
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@@ -109,47 +161,27 @@
-
+
-
-
- gz_ros2_control/GazeboSimSystem
-
-
-
-
-
-
- 10000
- 0.2
-
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- 0.0
-
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@@ -158,48 +190,27 @@
-
+
-
-
- gz_ros2_control/GazeboSimSystem
-
-
-
-
-
-
- 10000
- 0.2
-
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- 0.0
-
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-
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+
@@ -208,76 +219,179 @@
-
+
-
-
- gz_ros2_control/GazeboSimSystem
-
-
-
-
-
-
- 1000
- 0.2
-
-
- 0.0
-
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+
gz_ros2_control/GazeboSimSystem
-
+
- 20
- 0.2
+
+
+
+
+ 0.0
+
+
+
+
+
+
+
+ gz_ros2_control/GazeboSimSystem
+
+
+
+
+
+
+
+
+
+
+ 0.0
+
+
+
+
+
+
+
+ gz_ros2_control/GazeboSimSystem
+
+
+
+
+
+
+
+
+
+
+ 0.0
+
+
+
+
+
+
+
+ gz_ros2_control/GazeboSimSystem
+
+
+
+
+
+
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+
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+ 0.0
+
+
+
+
+
+
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+ gz_ros2_control/GazeboSimSystem
+
+
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+
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+
+
+
+
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+ 0.0
+
+
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+
+
+
+ gz_ros2_control/GazeboSimSystem
+
+
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+
0.0
@@ -286,63 +400,6 @@
-
-
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-
-
-
-
-
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-
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-
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-
-
-
- 1.047
-
- 320
- 240
-
-
- 0.1
- 100
-
-
- 1
- 30
- true
- rgbd_camera
- true
-
-
-
-
-
-
-
-
-
-
-
-
-
-
@@ -351,5 +408,15 @@
arm0
+
+ Link6
+
+
+
+
+
+ Link6_collision
+
+
diff --git a/urdf/gazebo_reference_macro.xacro b/urdf/gazebo_reference_macro.xacro
new file mode 100644
index 0000000..e69de29
diff --git a/urdf/rbs_arm.xacro b/urdf/rbs_arm.xacro
new file mode 100644
index 0000000..554d9f0
--- /dev/null
+++ b/urdf/rbs_arm.xacro
@@ -0,0 +1,25 @@
+
+
+
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+
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diff --git a/urdf/rbs_arm_macro.xacro b/urdf/rbs_arm_macro.xacro
new file mode 100644
index 0000000..a4446d2
--- /dev/null
+++ b/urdf/rbs_arm_macro.xacro
@@ -0,0 +1,540 @@
+
+
+
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+
+
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+
+
+ $(arg simulation_controllers)
+
+ ${namespace}
+
+
+
+ Link6
+
+
+
+
+
+
+ Link6_collision
+
+
+
+
+
+
diff --git a/urdf/sensors.xacro b/urdf/sensors.xacro
index b0118b4..7dc7790 100644
--- a/urdf/sensors.xacro
+++ b/urdf/sensors.xacro
@@ -30,12 +30,12 @@
1.047
- 320
- 240
+ 1920
+ 1080
0.1
- 100
+ 3
1
diff --git a/world/default.sdf b/world/default.sdf
index 792b739..8aecf35 100644
--- a/world/default.sdf
+++ b/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