add ros description package
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28
rbs_gripper/CMakeLists.txt
Normal file
28
rbs_gripper/CMakeLists.txt
Normal file
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@ -0,0 +1,28 @@
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|
cmake_minimum_required(VERSION 3.8)
|
||||||
|
project(rbs_gripper)
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||||||
|
|
||||||
|
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||||
|
add_compile_options(-Wall -Wextra -Wpedantic)
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||||||
|
endif()
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||||||
|
|
||||||
|
# find dependencies
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||||||
|
find_package(ament_cmake REQUIRED)
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||||||
|
# uncomment the following section in order to fill in
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||||||
|
# further dependencies manually.
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||||||
|
# find_package(<dependency> REQUIRED)
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||||||
|
install(DIRECTORY launch urdf meshes config
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|
DESTINATION share/${PROJECT_NAME})
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||||||
|
|
||||||
|
if(BUILD_TESTING)
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||||||
|
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()
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||||||
|
endif()
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||||||
|
|
||||||
|
ament_package()
|
202
rbs_gripper/LICENSE
Normal file
202
rbs_gripper/LICENSE
Normal file
|
@ -0,0 +1,202 @@
|
||||||
|
|
||||||
|
Apache License
|
||||||
|
Version 2.0, January 2004
|
||||||
|
http://www.apache.org/licenses/
|
||||||
|
|
||||||
|
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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|
1. Definitions.
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"License" shall mean the terms and conditions for use, reproduction,
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"Legal Entity" shall mean the union of the acting entity and all
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"control" means (i) the power, direct or indirect, to cause the
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"You" (or "Your") shall mean an individual or Legal Entity
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"Work" shall mean the work of authorship, whether in Source or
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You may add Your own copyright statement to Your modifications and
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5. Submission of Contributions. Unless You explicitly state otherwise,
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9. Accepting Warranty or Additional Liability. While redistributing
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of your accepting any such warranty or additional liability.
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END OF TERMS AND CONDITIONS
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APPENDIX: How to apply the Apache License to your work.
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To apply the Apache License to your work, attach the following
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Copyright [yyyy] [name of copyright owner]
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||||||
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||||||
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Licensed under the Apache License, Version 2.0 (the "License");
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You may obtain a copy of the License at
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Unless required by applicable law or agreed to in writing, software
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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||||||
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limitations under the License.
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208
rbs_gripper/config/view_robot.rviz
Normal file
208
rbs_gripper/config/view_robot.rviz
Normal file
|
@ -0,0 +1,208 @@
|
||||||
|
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
|
BIN
rbs_gripper/images/08_Grip_Tool_01.jpg
Normal file
BIN
rbs_gripper/images/08_Grip_Tool_01.jpg
Normal file
Binary file not shown.
After Width: | Height: | Size: 191 KiB |
BIN
rbs_gripper/images/08_Grip_Tool_02.jpg
Normal file
BIN
rbs_gripper/images/08_Grip_Tool_02.jpg
Normal file
Binary file not shown.
After Width: | Height: | Size: 185 KiB |
BIN
rbs_gripper/images/08_Grip_Tool_03.jpg
Normal file
BIN
rbs_gripper/images/08_Grip_Tool_03.jpg
Normal file
Binary file not shown.
After Width: | Height: | Size: 157 KiB |
76
rbs_gripper/launch/display.launch.py
Normal file
76
rbs_gripper/launch/display.launch.py
Normal file
|
@ -0,0 +1,76 @@
|
||||||
|
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)
|
BIN
rbs_gripper/meshes/collision/Grip_Base.stl
Normal file
BIN
rbs_gripper/meshes/collision/Grip_Base.stl
Normal file
Binary file not shown.
BIN
rbs_gripper/meshes/collision/Grip_Rotator.stl
Normal file
BIN
rbs_gripper/meshes/collision/Grip_Rotator.stl
Normal file
Binary file not shown.
BIN
rbs_gripper/meshes/collision/Gripper_1.stl
Normal file
BIN
rbs_gripper/meshes/collision/Gripper_1.stl
Normal file
Binary file not shown.
BIN
rbs_gripper/meshes/collision/Gripper_2.stl
Normal file
BIN
rbs_gripper/meshes/collision/Gripper_2.stl
Normal file
Binary file not shown.
168
rbs_gripper/meshes/visual/Grip_Base.dae
Normal file
168
rbs_gripper/meshes/visual/Grip_Base.dae
Normal file
File diff suppressed because one or more lines are too long
121
rbs_gripper/meshes/visual/Grip_Rotator.dae
Normal file
121
rbs_gripper/meshes/visual/Grip_Rotator.dae
Normal file
File diff suppressed because one or more lines are too long
92
rbs_gripper/meshes/visual/Gripper_1.dae
Normal file
92
rbs_gripper/meshes/visual/Gripper_1.dae
Normal file
File diff suppressed because one or more lines are too long
92
rbs_gripper/meshes/visual/Gripper_2.dae
Normal file
92
rbs_gripper/meshes/visual/Gripper_2.dae
Normal file
File diff suppressed because one or more lines are too long
18
rbs_gripper/package.xml
Normal file
18
rbs_gripper/package.xml
Normal file
|
@ -0,0 +1,18 @@
|
||||||
|
<?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>
|
221
rbs_gripper/urdf/rbs_gripper.urdf
Normal file
221
rbs_gripper/urdf/rbs_gripper.urdf
Normal file
|
@ -0,0 +1,221 @@
|
||||||
|
<?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>
|
11
rbs_gripper/urdf/rbs_gripper.xacro
Normal file
11
rbs_gripper/urdf/rbs_gripper.xacro
Normal file
|
@ -0,0 +1,11 @@
|
||||||
|
<?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="$(arg hardware)">
|
||||||
|
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||||
|
</xacro:rbs_gripper>
|
||||||
|
</robot>
|
136
rbs_gripper/urdf/rbs_gripper_macro.xacro
Normal file
136
rbs_gripper/urdf/rbs_gripper_macro.xacro
Normal file
|
@ -0,0 +1,136 @@
|
||||||
|
<?xml version="1.0" encoding="utf-8"?>
|
||||||
|
<robot xmlns:xacro="http://wiki.ros.org/xacro">
|
||||||
|
<xacro:include filename="$(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>
|
66
rbs_gripper/urdf/rbs_gripper_ros2_control.xacro
Normal file
66
rbs_gripper/urdf/rbs_gripper_ros2_control.xacro
Normal file
|
@ -0,0 +1,66 @@
|
||||||
|
<?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>
|
Loading…
Add table
Add a link
Reference in a new issue