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add ros description package

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Ilya Uraev 2024-02-05 19:38:37 +03:00
parent ddf7f113a0
commit 735cce108f
20 changed files with 1439 additions and 0 deletions
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rbs_gripper/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(rbs_gripper)
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 meshes config
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()

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Apache License
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Panels:
- Class: rviz_common/Displays
Help Height: 138
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.5
Tree Height: 1362
- 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
rbs-gripper_gripper_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rbs-gripper_l_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
rbs-gripper_r_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
rbs-gripper_rot_base_link:
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
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
rbs-gripper_gripper_base_link:
Value: true
rbs-gripper_l_finger_link:
Value: true
rbs-gripper_r_finger_link:
Value: true
rbs-gripper_rot_base_link:
Value: true
world:
Value: true
Marker Scale: 0.30000001192092896
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
world:
rbs-gripper_gripper_base_link:
rbs-gripper_rot_base_link:
rbs-gripper_l_finger_link:
{}
rbs-gripper_r_finger_link:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: world
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: 0.6788996458053589
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: 0.6197971701622009
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.408583641052246
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1862
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000020000000648fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000af00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006d000006480000018000fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000016600000648fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000006d000006480000012f00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000c0800000058fc0100000002fb0000000800540069006d0065010000000000000c08000004d300fffffffb0000000800540069006d006501000000000000045000000000000000000000088a0000064800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 3080
X: 120
Y: 64

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from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
def generate_launch_description():
declared_arguments = []
# General arguments
declared_arguments.append(
DeclareLaunchArgument(
"description_package",
default_value="rbs_gripper",
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_gripper.xacro",
description="URDF/XACRO description file with the robot.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"prefix",
default_value='""',
description="Prefix of the joint names, useful for \
multi-robot setup. If changed than also joint names in the controllers' configuration \
have to be updated.",
)
)
description_package = LaunchConfiguration("description_package")
description_file = LaunchConfiguration("description_file")
robot_description_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution([FindPackageShare(description_package), "urdf", description_file]),
]
)
robot_description = {"robot_description": robot_description_content}
rviz_config_file = PathJoinSubstitution(
[FindPackageShare(description_package), "config", "view_robot.rviz"]
)
joint_state_publisher_node = Node(
package="joint_state_publisher_gui",
executable="joint_state_publisher_gui",
)
robot_state_publisher_node = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
output="both",
parameters=[robot_description],
)
rviz_node = Node(
package="rviz2",
executable="rviz2",
name="rviz2",
output="log",
arguments=["-d", rviz_config_file],
)
nodes_to_start = [
joint_state_publisher_node,
robot_state_publisher_node,
rviz_node,
]
return LaunchDescription(declared_arguments + nodes_to_start)

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<?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_gripper</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="ur.narmak@gmail.com">bill-finger</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>

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<?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="rbs-gripper-description">
<link
name="Grip_Base">
<inertial>
<origin
xyz="0.000364704367134063 0.0336387482840125 0.0593891203954369"
rpy="0 0 0" />
<mass
value="1.13983632906086" />
<inertia
ixx="0.00107738806534129"
ixy="-1.09841172461737E-05"
ixz="2.62750043451545E-06"
iyy="0.000717388573992299"
iyz="-2.95426438182787E-05"
izz="0.00115777179755934" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rbs-gripper-description/meshes/visual/Grip_Base.dae" />
</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://rbs-gripper-description/meshes/collision/Grip_Base.stl" />
</geometry>
</collision>
</link>
<link
name="Grip_Rotator">
<inertial>
<origin
xyz="6.79110135283868E-11 -3.80956832067611E-10 0.00775394473595793"
rpy="0 0 0" />
<mass
value="0.161003401535982" />
<inertia
ixx="0.00011089089949771"
ixy="5.01335040610636E-06"
ixz="1.74608448389267E-14"
iyy="0.000105515893695012"
iyz="-2.03282362854432E-14"
izz="0.000206912001661452" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rbs-gripper-description/meshes/visual/Grip_Rotator.dae" />
</geometry>
<material
name="">
<color
rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rbs-gripper-description/meshes/collision/Grip_Rotator.stl" />
</geometry>
</collision>
</link>
<joint
name="grip_rot"
type="revolute">
<origin
xyz="0 0 0.10861"
rpy="0 0 0" />
<parent
link="Grip_Base" />
<child
link="Grip_Rotator" />
<axis
xyz="0 0 1" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="Gripper_1">
<inertial>
<origin
xyz="0.00399878118534129 0.0187296413885176 -0.0777776233934166"
rpy="0 0 0" />
<mass
value="0.0601996441483964" />
<inertia
ixx="4.18533281165612E-05"
ixy="-7.11657995951147E-06"
ixz="1.81029223490065E-05"
iyy="7.89886367868258E-05"
iyz="1.20542845942065E-05"
izz="5.16740841307935E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rbs-gripper-description/meshes/visual/Gripper_1.dae" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0 0 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rbs-gripper-description/meshes/collision/Gripper_1.stl" />
</geometry>
</collision>
</link>
<joint
name="open_1"
type="prismatic">
<origin
xyz="0 0 0.1071"
rpy="0 0 1.5708" />
<parent
link="Grip_Rotator" />
<child
link="Gripper_1" />
<axis
xyz="-1 0 0" />
<limit
lower="0"
upper="0.064"
effort="0"
velocity="0" />
</joint>
<link
name="Gripper_2">
<inertial>
<origin
xyz="0.0039988 -0.077778 -0.01873"
rpy="0 0 0" />
<mass
value="0.0602" />
<inertia
ixx="4.1853E-05"
ixy="1.8103E-05"
ixz="7.1166E-06"
iyy="5.1674E-05"
iyz="-1.2054E-05"
izz="7.8989E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rbs-gripper-description/meshes/visual/Gripper_2.dae" />
</geometry>
<material
name="">
<color
rgba="0.75294 0 0 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rbs-gripper-description/meshes/collision/Gripper_2.stl" />
</geometry>
</collision>
</link>
<joint
name="open_2"
type="prismatic">
<origin
xyz="0 0 0.1071"
rpy="1.5708 0 -1.5708" />
<parent
link="Grip_Rotator" />
<child
link="Gripper_2" />
<axis
xyz="-1 0 0" />
<limit
lower="0"
upper="0.064"
effort="0"
velocity="0" />
</joint>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rbs-gripper">
<xacro:include filename="$(find rbs_gripper)/urdf/rbs_gripper_macro.xacro"/>
<xacro:arg name="hardware" default="gazebo"/>
<link name="world"/>
<xacro:rbs_gripper prefix="" gripper_name="rbs-gripper" parent="world" hardware="$(arg hardware)">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
</xacro:rbs_gripper>
</robot>

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<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:include filename="$(find rbs_gripper)/urdf/rbs_gripper_ros2_control.xacro" />
<xacro:macro name="rbs_gripper" params="prefix gripper_name *origin parent hardware">
<xacro:rbs_gripper_hardware prefix="${prefix}" gripper_name="${gripper_name}"
hardware="${hardware}" />
<joint name="${prefix}${gripper_name}_gripper_base_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="${parent}" />
<child link="${prefix}${gripper_name}_gripper_base_link" />
</joint>
<link name="${prefix}${gripper_name}_gripper_base_link">
<inertial>
<origin xyz="0.000364704367134063 0.0336387482840125 0.0593891203954369" rpy="0 0 0" />
<mass value="1.13983632906086" />
<inertia ixx="0.00107738806534129" ixy="-1.09841172461737E-05" ixz="2.62750043451545E-06"
iyy="0.000717388573992299" iyz="-2.95426438182787E-05" izz="0.00115777179755934" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find rbs_gripper)/meshes/visual/Grip_Base.dae" />
</geometry>
<material name="${prefix}${gripper_name}_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find rbs_gripper)/meshes/collision/Grip_Base.stl" />
</geometry>
</collision>
</link>
<link name="${prefix}${gripper_name}_rot_base_link">
<inertial>
<origin xyz="6.79110135283868E-11 -3.80956832067611E-10 0.00775394473595793" rpy="0 0 0" />
<mass value="0.161003401535982" />
<inertia ixx="0.00011089089949771" ixy="5.01335040610636E-06" ixz="1.74608448389267E-14"
iyy="0.000105515893695012" iyz="-2.03282362854432E-14" izz="0.000206912001661452" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find rbs_gripper)/meshes/visual/Grip_Rotator.dae" />
</geometry>
<material name="${prefix}${gripper_name}_material">
<color rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find rbs_gripper)/meshes/collision/Grip_Rotator.stl" />
</geometry>
</collision>
</link>
<joint name="${prefix}${gripper_name}_rot_base_joint" type="revolute">
<origin xyz="0 0 0.10861" rpy="0 0 0" />
<parent link="${prefix}${gripper_name}_gripper_base_link" />
<child link="${prefix}${gripper_name}_rot_base_link" />
<axis xyz="0 0 1" />
<limit lower="0" upper="0" effort="0" velocity="0" />
</joint>
<link name="${prefix}${gripper_name}_l_finger_link">
<inertial>
<origin xyz="0.00399878118534129 0.0187296413885176 -0.0777776233934166" rpy="0 0 0" />
<mass value="0.0601996441483964" />
<inertia ixx="4.18533281165612E-05" ixy="-7.11657995951147E-06" ixz="1.81029223490065E-05"
iyy="7.89886367868258E-05" iyz="1.20542845942065E-05" izz="5.16740841307935E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find rbs_gripper)/meshes/visual/Gripper_1.dae" />
</geometry>
<material name="${prefix}${gripper_name}_material">
<color rgba="0.752941176470588 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find rbs_gripper)/meshes/collision/Gripper_1.stl" />
</geometry>
</collision>
</link>
<joint name="${prefix}${gripper_name}_l_finger_joint" type="prismatic">
<origin xyz="0 0 0.1071" rpy="0 0 1.5708" />
<parent link="${prefix}${gripper_name}_rot_base_link" />
<child link="${prefix}${gripper_name}_l_finger_link" />
<axis xyz="-1 0 0" />
<limit lower="0" upper="0.064" effort="0" velocity="0" />
<mimic joint="${prefix}${gripper_name}_r_finger_joint" multiplier="1" />
</joint>
<link name="${prefix}${gripper_name}_r_finger_link">
<inertial>
<origin xyz="0.0039988 -0.077778 -0.01873" rpy="0 0 0" />
<mass value="0.0602" />
<inertia ixx="4.1853E-05" ixy="1.8103E-05" ixz="7.1166E-06" iyy="5.1674E-05"
iyz="-1.2054E-05"
izz="7.8989E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find rbs_gripper)/meshes/visual/Gripper_2.dae" />
</geometry>
<material name="${prefix}${gripper_name}_material">
<color rgba="0.75294 0 0 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find rbs_gripper)/meshes/collision/Gripper_2.stl" />
</geometry>
</collision>
</link>
<joint name="${prefix}${gripper_name}_r_finger_joint" type="prismatic">
<origin xyz="0 0 0.1071" rpy="1.5708 0 -1.5708" />
<parent link="${prefix}${gripper_name}_rot_base_link" />
<child link="${prefix}${gripper_name}_r_finger_link" />
<axis xyz="-1 0 0" />
<limit lower="0" upper="0.064" effort="0" velocity="0" />
</joint>
<link name="${prefix}gripper_grasp_point" />
<joint name="${prefix}${gripper_name}_gripper_tool0_joint" type="fixed">
<origin xyz="0 0 0.2" rpy="0 0 0" />
<parent link="${prefix}${parent}" />
<child link="${prefix}gripper_grasp_point" />
</joint>
</xacro:macro>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="rbs_gripper_hardware"
params="prefix gripper_name hardware">
<ros2_control name="${prefix}${gripper_name}_${hardware}" type="system">
<!-- Plugins -->
<hardware>
<xacro:if value="${hardware=='isaac'}">
<plugin>isaac_ros2_control/IsaacSystem</plugin>
<param name="joint_commands_topic">/isaac_joint_commands</param>
<param name="joint_states_topic">/isaac_joint_states</param>
</xacro:if>
<xacro:if value="${hardware=='gazebo'}">
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</xacro:if>
<xacro:if value="${hardware=='fake'}">
<plugin>mock_components/GenericSystem</plugin>
</xacro:if>
</hardware>
<!-- Joint interfaces -->
<joint name="${prefix}${gripper_name}_rot_base_joint">
<xacro:if value="${hardware=='gazebo'}">
<state_interface name="position">
<param name="initial_value">0.000</param>
</state_interface>
</xacro:if>
<xacro:unless value="${hardware=='gazebo'}">
<param name="initial_value">0.000</param>
<state_interface name="position" />
</xacro:unless>
<command_interface name="position" />
<state_interface name="velocity" />
</joint>
<joint name="${prefix}${gripper_name}_r_finger_joint">
<!-- With Gazebo, we have mimic joints, so we only need this command interface
activated -->
<xacro:if value="${hardware=='gazebo'}">
<state_interface name="position">
<param name="initial_value">0.004</param>
</state_interface>
</xacro:if>
<xacro:unless value="${hardware=='gazebo'}">
<param name="initial_position">0.000</param>
<state_interface name="position" />
</xacro:unless>
<command_interface name="position" />
<state_interface name="velocity" />
</joint>
<joint name="${prefix}${gripper_name}_l_finger_joint">
<param name="mimic">${prefix}${gripper_name}_r_finger_joint</param>
<param name="multiplier">1</param>
<xacro:unless value="${hardware == 'gazebo'}">
<command_interface name="position" />
<state_interface name="position" />
<state_interface name="velocity" />
</xacro:unless>
</joint>
</ros2_control>
</xacro:macro>
</robot>