remove old robot model

This commit is contained in:
Ilya Uraev 2025-03-02 14:37:58 +03:00
parent 388692d941
commit 96ef9cb69c
4 changed files with 46 additions and 136 deletions

View file

@ -8,7 +8,7 @@
<xacro:arg name="x" default="-0.10" />
<xacro:arg name="y" default="0.0" />
<xacro:arg name="z" default="0.03" />
<xacro:arg name="z" default="0.0" />
<xacro:arg name="roll" default="0.0" />
<xacro:arg name="pitch" default="0.0" />

View file

@ -160,7 +160,7 @@
<child
link="Link2" />
<axis
xyz="-1 0 0" />
xyz="1 0 0" />
<limit
lower="-2.2689"
upper="1.7453"
@ -276,7 +276,7 @@
<child
link="Link4" />
<axis
xyz="0 0 -1" />
xyz="0 0 1" />
<limit
lower="-6.2832"
upper="6.2832"
@ -505,17 +505,45 @@
<axis
xyz="0 0 0" />
</joint>
<link name="grasp_point"/>
<joint
name="grasp_point_joint"
type="fixed">
<origin
xyz="0.0 -0.095 0.05"
rpy="0 0 0" />
<parent
link="Link6" />
<child
link="grasp_point" />
<axis
xyz="0 0 0" />
</joint>
<xacro:macro name="gazebo_reference" params="joint_name">
<gazebo reference='${joint_name}'>
<preserveFixedJoint>true</preserveFixedJoint>
</gazebo>
</xacro:macro>
<xacro:gazebo_reference joint_name="Right_point"/>
<xacro:gazebo_reference joint_name="Left_point"/>
<xacro:joint_hardware joint_name="ax1" hardware="${hardware}" initial_joint_position="0.0" />
<xacro:joint_hardware joint_name="ax2" hardware="${hardware}" initial_joint_position="0.0" />
<xacro:joint_hardware joint_name="ax3" hardware="${hardware}" initial_joint_position="0.0" />
<xacro:joint_hardware joint_name="ax2" hardware="${hardware}" initial_joint_position="0.85" />
<xacro:joint_hardware joint_name="ax3" hardware="${hardware}" initial_joint_position="1.0" />
<xacro:joint_hardware joint_name="ax4" hardware="${hardware}" initial_joint_position="0.0" />
<xacro:joint_hardware joint_name="ax5" hardware="${hardware}" initial_joint_position="0.0" />
<xacro:joint_hardware joint_name="ax6" hardware="${hardware}" initial_joint_position="0.0" />
<xacro:joint_hardware joint_name="ax5" hardware="${hardware}" initial_joint_position="1.0" />
<xacro:joint_hardware joint_name="ax6" hardware="${hardware}" initial_joint_position="3.14159" />
<xacro:if value="${hardware=='gazebo'}">
<!-- <xacro:fts link="tool0" name="fts_sensor" tf_prefix="${tf_prefix}"></xacro:fts> -->
<xacro:rgbd parent="Link1" tf_prefix="${tf_prefix}">
<origin rpy="0.0 0.0 -1.57" xyz="0.0 -0.035 0.03"></origin>
</xacro:rgbd>
<gazebo>
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(arg simulation_controllers)</parameters>
@ -524,14 +552,21 @@
</ros>
</plugin>
<plugin filename="VacuumGripper" name="rbs_mill_assist::VacuumGripper">
<link_name>Link6</link_name>
<link_name>Link8</link_name>
</plugin>
</gazebo>
</xacro:if>
<gazebo reference="Link6">
<sensor name='sensor_contact' type='contact'>
<gazebo reference="Link8">
<sensor name='left_sensor_contact' type='contact'>
<contact>
<collision>Link6_collision</collision>
<collision>Link8_collision</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="Link7">
<sensor name='right_sensor_contact' type='contact'>
<contact>
<collision>Link7_collision</collision>
</contact>
</sensor>
</gazebo>

View file

@ -1,62 +0,0 @@
<?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="$(find rbs_mill_assist)/urdf/rbs_arm_modular_macro.xacro" />
<link name="world" />
<xacro:property name="machine_length" value="0.4"/>
<xacro:property name="machine_width" value="0.5"/>
<xacro:property name="machine_height" value="0.115"/>
<link name="machine_link">
<visual>
<geometry>
<box size="${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>

View file

@ -1,63 +0,0 @@
<?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>
<plugin filename="VacuumGripper" name="rbs_mill_assist::VacuumGripper">
<link_name>ee_link</link_name>
</plugin>
</gazebo>
</xacro:if>
<gazebo reference="ee_link">
<sensor name='sensor_contact' type='contact'>
<contact>
<collision>ee_link_collision</collision>
</contact>
</sensor>
</gazebo>
</xacro:macro>
</robot>