Добавлена упрощенная сцена сборки редуктора

README.md

@@ -1,27 +0,0 @@
-# connection-tool
-
-куб вариант v0
-ver 03
-Наброски. многое еще не доделано.
-
-![cubic-modular-workspace](img/plate_model_v03.png)
-
-![cubic-modular-workspace](img/plate_element_v03.png)
-
-![cubic-modular-workspace](img/plate_empty_element_v03.png)
-
-![cubic-modular-workspace](img/plate_link_v03.png)
-
-
-ver 02
-
-![cubic-modular-workspace](img/cube_v02.png)
-
-
-ver 01
-
-![cubic-modular-workspace](img/cube_v01.png)
-
-
-
-

oversimplification/assembly_scene_01/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(assembly_scene_01)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)

oversimplification/assembly_scene_01/config/joint_names_assembly_scene_01.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['', ]

oversimplification/assembly_scene_01/launch/display.launch

@@ -0,0 +1,20 @@
+<launch>
+  <arg
+    name="model" />
+  <param
+    name="robot_description"
+    textfile="$(find assembly_scene_01)/urdf/assembly_scene_01.urdf" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find assembly_scene_01)/urdf.rviz" />
+</launch>

oversimplification/assembly_scene_01/launch/gazebo.launch

@@ -0,0 +1,20 @@
+<launch>
+  <include
+    file="$(find gazebo_ros)/launch/empty_world.launch" />
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 base_link base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find assembly_scene_01)/urdf/assembly_scene_01.urdf -urdf -model assembly_scene_01"
+    output="screen" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>

oversimplification/assembly_scene_01/package.xml

@@ -0,0 +1,21 @@
+<package format="2">
+  <name>assembly_scene_01</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for assembly_scene_01</p>
+    <p>This package contains configuration data, 3D models and launch files
+for assembly_scene_01 robot</p>
+  </description>
+  <author>TODO</author>
+  <maintainer email="TODO@email.com" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roslaunch</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>gazebo</depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>

oversimplification/assembly_scene_01/urdf/assembly_scene_01.csv

@@ -0,0 +1,2 @@
+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
+base,"0,14","0,57288","-0,40483",0,0,0,"425,91","1,5666","8,2059E-17","-4,7718E-16","2,2375","2,6252E-17","1,6299",0,0,0,0,0,0,package://assembly_scene_01/meshes/base.STL,1,1,1,1,0,0,0,0,0,0,package://assembly_scene_01/meshes/base.STL,,Rod_element-2;Rod_element-5;Rod_element-4;Rod_element-3;Plate_element-25;Plate_element-24;Plate_element-23;Plate_element-22;Plate_element-21;Plate_element-20;Plate_element-19;Plate_element-18;Plate_element-16;Plate_element-17;Plate_element-15;Plate_element-14;Plate_element-13;Plate_element-12;Plate_element-11;Plate_element-10;Plate_element-9;Plate_element-8;Plate_element-7;Plate_element-6;Plate_element-5;Plate_element-4;Plate_element-3;Plate_element-2;Rod_element-7;Rod_element-8;Rod_element-9;Rod_element-10;Rod_element-17;Rod_element-18;Rod_element-20;Rod_element-19;Rod_element-22;Rod_element-23;Rod_element-24;Rod_element-25;Rod_element-27;Rod_element-28;Rod_element-29;Rod_element-30;Rod_element-32;Rod_element-33;Rod_element-34;Rod_element-35;Rod_element-38;Rod_element-39;Rod_element-40;Rod_element-41;Rod_element-42;Rod_element-43;Rod_element-44;Rod_element-45;Rod_element-46;Plate_element-34;Rod_element-47;Rod_element-48;Rod_element-49;Rod_element-50;Plate_element-35;Plate_element-36;Plate_element-37;Rod_element-51;Rod_element-52;Rod_element-53;Rod_element-54;Plate_element-38;Rod_element-55;Rod_element-56;Rod_element-57;Rod_element-58;Rod_element-59;Rod_element-60;Plate_element-39;Rod_element-62;Rod_element-61;Rod_element-63;Rod_element-64;Rod_element-65;Plate_element-40;Plate_element-41;Plate_element-43;Plate_element-44;Plate_element-46;Plate_element-48;Plate_element-45;Plate_element-49;Plate_element-50;Plate_element-51;Plate_element-52;Plate_element-53;Plate_element-54;Plate_element-55;Plate_element-56;Plate_element-57;Plate_element-58;Plate_element-59;Plate_element-60;Plate_element-61;Plate_element-62;Plate_element-63;Plate_element-64;Plate_element-65;Plate_element-66;Plate_element-67;Plate_element-68;Plate_element-69;Plate_element-70;Plate_element-71;Plate_element-72;Plate_element-73;Plate_element-74;Plate_element-75;Rod_element-66;Plate_element-76;Plate_element-77;Plate_element-78;Rod_element-67;Plate_element-79;Plate_element-80;Rod_element-68;Plate_element-81;Rod_element-69;Rod_element-70;Rod_element-71;Rod_element-72;Plate_element-82;Rod_element-73;Plate_element-83;Rod_element-74;Rod_element-75;Rod_element-76;Rod_element-77;Rod_element-78;Rod_element-79;Plate_element-84;Rod_element-80;Rod_element-81;Rod_element-82;Plate_element-85;Rod_element-83;Plate_element-86;Plate_element-87;Plate_element-88;Plate_element-89;Rod_element-84;Plate_element-90;Plate_element-91;Plate_element-92;Plate_element-93;Rod_element-85;Plate_element-94;Rod_element-86;Plate_element-95;Rod_element-87;Rod_element-88;Plate_element-96;Rod_element-89;Rod_element-90;Plate_element-97;Rod_element-91;Rod_element-92;Rod_element-93;Plate_element-98;Rod_element-94;Plate_element-99;Plate_element-100;Plate_element-101;Plate_element-102;Plate_element-103;Plate_element-104;Plate_element-105;Rod_element-95;Plate_element-106;Plate_element-107;Plate_element-108;Plate_element-109;Plate_element-110;Plate_element-111;Plate_element-112;Plate_element-113;Plate_element-114;Plate_element-115;Plate_element-116;Rod_element-96;Plate_element-117;Rod_element-97;Rod_element-98;Plate_element-118;Rod_element-99;Rod_element-100;Rod_element-101;Rod_element-102;Rod_element-103;Plate_element-119;Plate_element-120;Plate_element-121;Plate_element-122;Plate_element-123;Plate_element-124;Plate_element-125;Plate_element-126;Rod_element-104;Plate_element-127;Rod_element-105;Plate_element-128;Plate_element-129;Stellage_block_1x1x1-2;Stellage_block_1x1x1-3;Stellage_block_1x1x1-4;Stellage_block_1x1x1-5;Stellage_block_1x1x1-6;Stellage_block_1x1x1-7;Stellage_block_1x1x1-8;Stellage_block_1x1x1-9;Stellage_block_1x1x1-10;Stellage_block_1x1x1-12;Stellage_block_1x1x1-13;Stellage_block_1x1x1-14;Stellage_block_1x1x1-15;Stellage_block_1x1x1-16;Stellage_block_1x1x1-17;Stellage_block_1x1x1-18;Stellage_block_1x1x1-19;Stellage_block_1x1x1-20;Plate_element-1;Rod_element-1;Rod_element-6;Rod_element-16;Plate_element-26;Plate_element-27;Rod_element-21;Plate_element-28;Plate_element-29;Rod_element-26;Plate_element-30;Plate_element-31;Rod_element-31;Plate_element-32;Plate_element-33;Rod_element-36;Rod_element-37;Plate_element-42;Stellage_block_1x1x1-11;Stellage_block_1x1x1-1,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,

oversimplification/assembly_scene_01/urdf/assembly_scene_01.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="assembly_scene_01">
+  <link
+    name="base">
+    <inertial>
+      <origin
+        xyz="0.14 0.57288 -0.40483"
+        rpy="0 0 0" />
+      <mass
+        value="425.91" />
+      <inertia
+        ixx="1.5666"
+        ixy="8.2059E-17"
+        ixz="-4.7718E-16"
+        iyy="2.2375"
+        iyz="2.6252E-17"
+        izz="1.6299" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://assembly_scene_01/meshes/base.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://assembly_scene_01/meshes/base.STL" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

oversimplification/assembly_scene_01_cube_5x5x5/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(assembly_scene_01_cube_5x5x5)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)

oversimplification/assembly_scene_01_cube_5x5x5/config/joint_names_assembly_scene_01_cube_5x5x5.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['', ]

oversimplification/assembly_scene_01_cube_5x5x5/launch/display.launch

@@ -0,0 +1,20 @@
+<launch>
+  <arg
+    name="model" />
+  <param
+    name="robot_description"
+    textfile="$(find assembly_scene_01_cube_5x5x5)/urdf/assembly_scene_01_cube_5x5x5.urdf" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find assembly_scene_01_cube_5x5x5)/urdf.rviz" />
+</launch>

oversimplification/assembly_scene_01_cube_5x5x5/launch/gazebo.launch

@@ -0,0 +1,20 @@
+<launch>
+  <include
+    file="$(find gazebo_ros)/launch/empty_world.launch" />
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 base_link base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find assembly_scene_01_cube_5x5x5)/urdf/assembly_scene_01_cube_5x5x5.urdf -urdf -model assembly_scene_01_cube_5x5x5"
+    output="screen" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>

oversimplification/assembly_scene_01_cube_5x5x5/package.xml

@@ -0,0 +1,21 @@
+<package format="2">
+  <name>assembly_scene_01_cube_5x5x5</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for assembly_scene_01_cube_5x5x5</p>
+    <p>This package contains configuration data, 3D models and launch files
+for assembly_scene_01_cube_5x5x5 robot</p>
+  </description>
+  <author>TODO</author>
+  <maintainer email="TODO@email.com" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roslaunch</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>gazebo</depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>

oversimplification/assembly_scene_01_cube_5x5x5/urdf/assembly_scene_01_cube_5x5x5.csv

@@ -0,0 +1,2 @@
+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
+cube_5x5x5,"0,00447534924358567","3,88578058618805E-16","0,577442718381863",0,0,0,"229,702743640267","0,861061684864627","2,44051917358971E-16","-7,22504479278366E-17","0,861061684864627","3,40173783814779E-17","1,16486983947946",0,0,0,0,0,0,package://assembly_scene_01_cube_5x5x5/meshes/cube_5x5x5.STL,"0,752941176470588","0,752941176470588","0,752941176470588",1,0,0,0,0,0,0,package://assembly_scene_01_cube_5x5x5/meshes/cube_5x5x5.STL,,Stellage_block_1x1x1-1;Stellage_block_1x1x1-9;Stellage_block_1x1x1-3;Stellage_block_1x1x1-2;Stellage_block_1x1x1-8;Stellage_block_1x1x1-7;Stellage_block_1x1x1-6;Stellage_block_1x1x1-5;Stellage_block_1x1x1-4;Stellage_block_1x1x1-10;Plate_element-21;Plate_element-17;Plate_element-19;Plate_element-15;Plate_element-12;Rod_element-9;Rod_element-5;Rod_element-8;Rod_element-4;Plate_element-20;Rod_element-2;Plate_element-23;Plate_element-25;Plate_element-11;Plate_element-16;Plate_element-22;Plate_element-18;Plate_element-14;Plate_element-13;Plate_element-24;Rod_element-7;Plate_element-63;Plate_element-59;Plate_element-58;Plate_element-65;Plate_element-64;Plate_element-61;Plate_element-60;Plate_element-57;Plate_element-67;Plate_element-62;Plate_element-66;Rod_element-65;Rod_element-61;Rod_element-64;Plate_element-55;Plate_element-53;Plate_element-51;Plate_element-49;Rod_element-60;Rod_element-63;Plate_element-48;Plate_element-40;Plate_element-45;Rod_element-62;Plate_element-44;Plate_element-41;Plate_element-54;Plate_element-39;Plate_element-56;Plate_element-50;Plate_element-52;Plate_element-46;Plate_element-43;Plate_element-38;Rod_element-46;Rod_element-47;Rod_element-49;Rod_element-44;Rod_element-43;Rod_element-54;Rod_element-57;Rod_element-56;Rod_element-48;Rod_element-53;Rod_element-52;Plate_element-35;Rod_element-51;Plate_element-37;Rod_element-45;Rod_element-59;Rod_element-50;Plate_element-36;Plate_element-34;Rod_element-58;Rod_element-55;Rod_element-22;Rod_element-19;Rod_element-38;Rod_element-42;Rod_element-10;Rod_element-41;Rod_element-28;Rod_element-24;Rod_element-40;Rod_element-32;Rod_element-39;Rod_element-23;Rod_element-33;Rod_element-17;Rod_element-35;Rod_element-20;Rod_element-34;Rod_element-29;Rod_element-30;Rod_element-27;Rod_element-25;Rod_element-18;Plate_element-42;connector imitation-2;Rod_element-37;Rod_element-36;Plate_element-27;Plate_element-26;Rod_element-6;Plate_element-33;Plate_element-30;Rod_element-31;Rod_element-21;Rod_element-16;Rod_element-1;Plate_element-1;Plate_element-32;Rod_element-26;Plate_element-31;Plate_element-28;Plate_element-29;Plate_element-3;Plate_element-2;Plate_element-4;Plate_element-10;Plate_element-9;Plate_element-8;Plate_element-7;Plate_element-6;Plate_element-5;Rod_element-3,Система координат2,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,

oversimplification/assembly_scene_01_cube_5x5x5/urdf/assembly_scene_01_cube_5x5x5.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="assembly_scene_01_cube_5x5x5">
+  <link
+    name="cube_5x5x5">
+    <inertial>
+      <origin
+        xyz="0.00447534924358567 3.88578058618805E-16 0.577442718381863"
+        rpy="0 0 0" />
+      <mass
+        value="229.702743640267" />
+      <inertia
+        ixx="0.861061684864627"
+        ixy="2.44051917358971E-16"
+        ixz="-7.22504479278366E-17"
+        iyy="0.861061684864627"
+        iyz="3.40173783814779E-17"
+        izz="1.16486983947946" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://assembly_scene_01_cube_5x5x5/meshes/cube_5x5x5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://assembly_scene_01_cube_5x5x5/meshes/cube_5x5x5.STL" />
+      </geometry>
+    </collision>
+  </link>
+</robot>