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10
.gitattributes
vendored
Normal file
|
@ -0,0 +1,10 @@
|
|||
*.blend filter=lfs diff=lfs merge=lfs -text
|
||||
*.jpg filter=lfs diff=lfs merge=lfs -text
|
||||
*.png filter=lfs diff=lfs merge=lfs -text
|
||||
*.exr filter=lfs diff=lfs merge=lfs -text
|
||||
*.hdr filter=lfs diff=lfs merge=lfs -text
|
||||
*.mp4 filter=lfs diff=lfs merge=lfs -text
|
||||
*.obj filter=lfs diff=lfs merge=lfs -text
|
||||
*.stl filter=lfs diff=lfs merge=lfs -text
|
||||
*.dae filter=lfs diff=lfs merge=lfs -text
|
||||
*.FCStd filter=lfs diff=lfs merge=lfs -text
|
21
.gitignore
vendored
|
@ -1,3 +1,22 @@
|
|||
# ignore SolidWorks temporary files
|
||||
# Temporary files KiCAD
|
||||
*.000
|
||||
*.bak
|
||||
*.bck
|
||||
*.kicad_pcb-bak
|
||||
*.sch-bak
|
||||
*~
|
||||
_autosave-*
|
||||
*.tmp
|
||||
*-save.pro
|
||||
*-save.kicad_pcb
|
||||
fp-info-cache
|
||||
# Netlist files (exported from Eeschema)
|
||||
*.net
|
||||
# Autorouter files (exported from Pcbnew)
|
||||
*.dsn
|
||||
*.ses
|
||||
|
||||
# ignore SolidWorks temporary files & logs
|
||||
~$*.SLDPRT
|
||||
~$*.SLDASM
|
||||
*.log
|
||||
|
|
|
@ -1,7 +1,8 @@
|
|||
# Grip Tool
|
||||

|
||||
|
||||
Поворотный захват с двумя пальцами
|
||||
v.1a
|
||||
# Устройство захвата Robossembler
|
||||
|
||||
Параллельный захват с поворотным механизмом для вращения на 360 градусов.
|
||||
|
||||
## Характеристики
|
||||
|
||||
|
|
3
_grip_tool.FCStd
Normal file
|
@ -0,0 +1,3 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:2b321dcdcbaf09afaa41f1ebdcd8229eeb6cbff6765ef8f8c528effd4bf7a3a4
|
||||
size 18825692
|
BIN
img/title.png
Normal file
After Width: | Height: | Size: 147 KiB |
28
rbs_gripper/CMakeLists.txt
Normal file
|
@ -0,0 +1,28 @@
|
|||
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()
|
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
|
||||
|
||||
1. Definitions.
|
||||
|
||||
"License" shall mean the terms and conditions for use, reproduction,
|
||||
and distribution as defined by Sections 1 through 9 of this document.
|
||||
|
||||
"Licensor" shall mean the copyright owner or entity authorized by
|
||||
the copyright owner that is granting the License.
|
||||
|
||||
"Legal Entity" shall mean the union of the acting entity and all
|
||||
other entities that control, are controlled by, or are under common
|
||||
control with that entity. For the purposes of this definition,
|
||||
"control" means (i) the power, direct or indirect, to cause the
|
||||
direction or management of such entity, whether by contract or
|
||||
otherwise, or (ii) ownership of fifty percent (50%) or more of the
|
||||
outstanding shares, or (iii) beneficial ownership of such entity.
|
||||
|
||||
"You" (or "Your") shall mean an individual or Legal Entity
|
||||
exercising permissions granted by this License.
|
||||
|
||||
"Source" form shall mean the preferred form for making modifications,
|
||||
including but not limited to software source code, documentation
|
||||
source, and configuration files.
|
||||
|
||||
"Object" form shall mean any form resulting from mechanical
|
||||
transformation or translation of a Source form, including but
|
||||
not limited to compiled object code, generated documentation,
|
||||
and conversions to other media types.
|
||||
|
||||
"Work" shall mean the work of authorship, whether in Source or
|
||||
Object form, made available under the License, as indicated by a
|
||||
copyright notice that is included in or attached to the work
|
||||
(an example is provided in the Appendix below).
|
||||
|
||||
"Derivative Works" shall mean any work, whether in Source or Object
|
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|
||||
editorial revisions, annotations, elaborations, or other modifications
|
||||
represent, as a whole, an original work of authorship. For the purposes
|
||||
of this License, Derivative Works shall not include works that remain
|
||||
separable from, or merely link (or bind by name) to the interfaces of,
|
||||
the Work and Derivative Works thereof.
|
||||
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||||
"Contribution" shall mean any work of authorship, including
|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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||||
|
||||
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|
||||
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|
||||
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|
||||
|
||||
2. Grant of Copyright License. Subject to the terms and conditions of
|
||||
this License, each Contributor hereby grants to You a perpetual,
|
||||
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
|
||||
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|
||||
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|
||||
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|
||||
|
||||
3. Grant of Patent License. Subject to the terms and conditions of
|
||||
this License, each Contributor hereby grants to You a perpetual,
|
||||
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
|
||||
(except as stated in this section) patent license to make, have made,
|
||||
use, offer to sell, sell, import, and otherwise transfer the Work,
|
||||
where such license applies only to those patent claims licensable
|
||||
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|
||||
Contribution(s) alone or by combination of their Contribution(s)
|
||||
with the Work to which such Contribution(s) was submitted. If You
|
||||
institute patent litigation against any entity (including a
|
||||
cross-claim or counterclaim in a lawsuit) alleging that the Work
|
||||
or a Contribution incorporated within the Work constitutes direct
|
||||
or contributory patent infringement, then any patent licenses
|
||||
granted to You under this License for that Work shall terminate
|
||||
as of the date such litigation is filed.
|
||||
|
||||
4. Redistribution. You may reproduce and distribute copies of the
|
||||
Work or Derivative Works thereof in any medium, with or without
|
||||
modifications, and in Source or Object form, provided that You
|
||||
meet the following conditions:
|
||||
|
||||
(a) You must give any other recipients of the Work or
|
||||
Derivative Works a copy of this License; and
|
||||
|
||||
(b) You must cause any modified files to carry prominent notices
|
||||
stating that You changed the files; and
|
||||
|
||||
(c) You must retain, in the Source form of any Derivative Works
|
||||
that You distribute, all copyright, patent, trademark, and
|
||||
attribution notices from the Source form of the Work,
|
||||
excluding those notices that do not pertain to any part of
|
||||
the Derivative Works; and
|
||||
|
||||
(d) If the Work includes a "NOTICE" text file as part of its
|
||||
distribution, then any Derivative Works that You distribute must
|
||||
include a readable copy of the attribution notices contained
|
||||
within such NOTICE file, excluding those notices that do not
|
||||
pertain to any part of the Derivative Works, in at least one
|
||||
of the following places: within a NOTICE text file distributed
|
||||
as part of the Derivative Works; within the Source form or
|
||||
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|
||||
within a display generated by the Derivative Works, if and
|
||||
wherever such third-party notices normally appear. The contents
|
||||
of the NOTICE file are for informational purposes only and
|
||||
do not modify the License. You may add Your own attribution
|
||||
notices within Derivative Works that You distribute, alongside
|
||||
or as an addendum to the NOTICE text from the Work, provided
|
||||
that such additional attribution notices cannot be construed
|
||||
as modifying the License.
|
||||
|
||||
You may add Your own copyright statement to Your modifications and
|
||||
may provide additional or different license terms and conditions
|
||||
for use, reproduction, or distribution of Your modifications, or
|
||||
for any such Derivative Works as a whole, provided Your use,
|
||||
reproduction, and distribution of the Work otherwise complies with
|
||||
the conditions stated in this License.
|
||||
|
||||
5. Submission of Contributions. Unless You explicitly state otherwise,
|
||||
any Contribution intentionally submitted for inclusion in the Work
|
||||
by You to the Licensor shall be under the terms and conditions of
|
||||
this License, without any additional terms or conditions.
|
||||
Notwithstanding the above, nothing herein shall supersede or modify
|
||||
the terms of any separate license agreement you may have executed
|
||||
with Licensor regarding such Contributions.
|
||||
|
||||
6. Trademarks. This License does not grant permission to use the trade
|
||||
names, trademarks, service marks, or product names of the Licensor,
|
||||
except as required for reasonable and customary use in describing the
|
||||
origin of the Work and reproducing the content of the NOTICE file.
|
||||
|
||||
7. Disclaimer of Warranty. Unless required by applicable law or
|
||||
agreed to in writing, Licensor provides the Work (and each
|
||||
Contributor provides its Contributions) on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
|
||||
implied, including, without limitation, any warranties or conditions
|
||||
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
|
||||
PARTICULAR PURPOSE. You are solely responsible for determining the
|
||||
appropriateness of using or redistributing the Work and assume any
|
||||
risks associated with Your exercise of permissions under this License.
|
||||
|
||||
8. Limitation of Liability. In no event and under no legal theory,
|
||||
whether in tort (including negligence), contract, or otherwise,
|
||||
unless required by applicable law (such as deliberate and grossly
|
||||
negligent acts) or agreed to in writing, shall any Contributor be
|
||||
liable to You for damages, including any direct, indirect, special,
|
||||
incidental, or consequential damages of any character arising as a
|
||||
result of this License or out of the use or inability to use the
|
||||
Work (including but not limited to damages for loss of goodwill,
|
||||
work stoppage, computer failure or malfunction, or any and all
|
||||
other commercial damages or losses), even if such Contributor
|
||||
has been advised of the possibility of such damages.
|
||||
|
||||
9. Accepting Warranty or Additional Liability. While redistributing
|
||||
the Work or Derivative Works thereof, You may choose to offer,
|
||||
and charge a fee for, acceptance of support, warranty, indemnity,
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||||
or other liability obligations and/or rights consistent with this
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||||
License. However, in accepting such obligations, You may act only
|
||||
on Your own behalf and on Your sole responsibility, not on behalf
|
||||
of any other Contributor, and only if You agree to indemnify,
|
||||
defend, and hold each Contributor harmless for any liability
|
||||
incurred by, or claims asserted against, such Contributor by reason
|
||||
of your accepting any such warranty or additional liability.
|
||||
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
APPENDIX: How to apply the Apache License to your work.
|
||||
|
||||
To apply the Apache License to your work, attach the following
|
||||
boilerplate notice, with the fields enclosed by brackets "[]"
|
||||
replaced with your own identifying information. (Don't include
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||||
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||||
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||||
identification within third-party archives.
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||||
|
||||
Copyright [yyyy] [name of copyright owner]
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
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||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
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||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
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
After Width: | Height: | Size: 191 KiB |
BIN
rbs_gripper/images/08_Grip_Tool_02.jpg
Normal file
After Width: | Height: | Size: 185 KiB |
BIN
rbs_gripper/images/08_Grip_Tool_03.jpg
Normal file
After Width: | Height: | Size: 157 KiB |
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_Rotator.stl
Normal file
BIN
rbs_gripper/meshes/collision/Gripper_1.stl
Normal file
BIN
rbs_gripper/meshes/collision/Gripper_2.stl
Normal file
168
rbs_gripper/meshes/visual/Grip_Base.dae
Normal file
121
rbs_gripper/meshes/visual/Grip_Rotator.dae
Normal file
92
rbs_gripper/meshes/visual/Gripper_1.dae
Normal file
92
rbs_gripper/meshes/visual/Gripper_2.dae
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>
|
|
@ -1,9 +1,9 @@
|
|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<?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="_grip_tool">
|
||||
name="rbs-gripper-description">
|
||||
<link
|
||||
name="Grip_Base">
|
||||
<inertial>
|
||||
|
@ -26,7 +26,7 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://_grip_tool/meshes/Grip_Base.STL" />
|
||||
filename="package://rbs-gripper-description/meshes/visual/Grip_Base.dae" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
|
@ -40,7 +40,7 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://_grip_tool/meshes/Grip_Base.STL" />
|
||||
filename="package://rbs-gripper-description/meshes/collision/Grip_Base.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
@ -66,7 +66,7 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://_grip_tool/meshes/Grip_Rotator.STL" />
|
||||
filename="package://rbs-gripper-description/meshes/visual/Grip_Rotator.dae" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
|
@ -80,7 +80,7 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://_grip_tool/meshes/Grip_Rotator.STL" />
|
||||
filename="package://rbs-gripper-description/meshes/collision/Grip_Rotator.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
@ -124,7 +124,7 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://_grip_tool/meshes/Gripper_1.STL" />
|
||||
filename="package://rbs-gripper-description/meshes/visual/Gripper_1.dae" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
|
@ -138,7 +138,7 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://_grip_tool/meshes/Gripper_1.STL" />
|
||||
filename="package://rbs-gripper-description/meshes/collision/Gripper_1.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
@ -182,7 +182,7 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://_grip_tool/meshes/Gripper_2.STL" />
|
||||
filename="package://rbs-gripper-description/meshes/visual/Gripper_2.dae" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
|
@ -196,7 +196,7 @@
|
|||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://_grip_tool/meshes/Gripper_2.STL" />
|
||||
filename="package://rbs-gripper-description/meshes/collision/Gripper_2.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
@ -218,4 +218,4 @@
|
|||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
</robot>
|
||||
</robot>
|
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="$(arg hardware)">
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
</xacro:rbs_gripper>
|
||||
</robot>
|
136
rbs_gripper/urdf/rbs_gripper_macro.xacro
Normal file
|
@ -0,0 +1,136 @@
|
|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<robot xmlns:xacro="http://wiki.ros.org/xacro">
|
||||
<xacro:include filename="$(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
|
@ -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>
|
BIN
researches/media/image1.png
Normal file
After Width: | Height: | Size: 219 KiB |
BIN
researches/media/image2.png
Normal file
After Width: | Height: | Size: 90 KiB |
BIN
researches/media/image3.png
Normal file
After Width: | Height: | Size: 195 KiB |
BIN
researches/media/image4.png
Normal file
After Width: | Height: | Size: 447 KiB |
BIN
researches/media/image5.png
Normal file
After Width: | Height: | Size: 176 KiB |
BIN
researches/media/image6.png
Normal file
After Width: | Height: | Size: 276 KiB |
80
researches/topoopt_report.md
Normal file
|
@ -0,0 +1,80 @@
|
|||
---
|
||||
title: Топологическая оптимизация корпуса механического захвата Roboarm
|
||||
Griptool
|
||||
---
|
||||
|
||||
Конструкторские изыскания привели к созданию универсального
|
||||
механического захвата следующего вида:
|
||||
|
||||

|
||||
|
||||
Однако корпус данного изделия представляет собой чрезмерно громоздкую и
|
||||
тяжелую конструкцию, которая существенно ограничивает возможности
|
||||
манипулятора, а также -- требует больших затрат при изготовлении.
|
||||
|
||||
По этой причине производились исследования в поле возможностей
|
||||
оптимизации данной конструкции с целью уменьшения массы при сохранении
|
||||
требуемых прочностных характеристик.
|
||||
|
||||
Для данной работы использовался пакет Solidworks Simulation, позволяющий
|
||||
производить анализ изделий методом конечных элементов, а также
|
||||
производить топологическую оптимизацию.
|
||||
|
||||
Стартовая масса корпуса и крышки -- 0.33 кг.
|
||||
|
||||
Для запуска расчета и оптимизации была создана упрощенная модель
|
||||
корпуса, лишенная всех мелких деталей.
|
||||
|
||||

|
||||
|
||||
Рассматривается нагруженное состояние, получаемое при одновременном
|
||||
воздействии двух шаговых двигателей, реакций опоры от обоих редукторов и
|
||||
массы, приложенной к пальцам захвата. Схема приложения нагружения
|
||||
отражена на следующем рисунке.
|
||||
|
||||
Значения нагружений:
|
||||
|
||||
\- Крутящие моменты двигателей -- 4 кгс/см
|
||||
|
||||
\- Реакции опор редукторов -- 20 кгс/см
|
||||
|
||||
\- Растягивающе-изгибающая нагрузка, направленная по осям x, y, z по 2.5
|
||||
кгс на каждое
|
||||
|
||||
Участок крепления стыковочного модуля зафиксирован.
|
||||
|
||||

|
||||
|
||||
Были заданы условия симметричности конструкции относительно продольной
|
||||
оси, что позволило учесть и случай с противоположно приложенными
|
||||
нагрузками. Предел прочности для материала был задан как 30 МПа.
|
||||
|
||||
По результатам топологической оптимизации была получена следующая
|
||||
геометрия:
|
||||
|
||||

|
||||
|
||||
Масса модели -- 0.19 кг
|
||||
|
||||
При этом модель возможно дополнительно облегчить за счет учета
|
||||
внутренних пустот при 3д-печати.
|
||||
|
||||
Полученная модель была приблизительно перерисована с помощью
|
||||
твердотельных элементов в Solidworks.
|
||||
|
||||
В итоге был получен следующий результат.
|
||||
|
||||

|
||||
|
||||
Масса полученной детали -- 0.24 кг.
|
||||
|
||||
Был произведен поверочный расчет, чтобы выяснить, насколько конструкция
|
||||
соответствует требованиям и насколько большой запас прочности имеет.
|
||||
Были приложены те же нагрузки, что использовались при оптимизации.
|
||||
|
||||

|
||||
|
||||
Предел нагрузок не превышает 5МПа, что существенно ниже предела
|
||||
прочности пластика АБС. Это говорит о том, что полученная конструкция
|
||||
сохраняет требуемую прочность, а так же -- что она может быть
|
||||
оптимизирована и дальше.
|
3
sdf/grip_tool/meshes/grip_tool_grip1.dae
Normal file
|
@ -0,0 +1,3 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:9f9073d3d1df5baed66ddbf52ff6dd77e4865efa7b0d60f4f54cc6d3c1b1edde
|
||||
size 102231
|
3
sdf/grip_tool/meshes/grip_tool_grip1.stl
Normal file
|
@ -0,0 +1,3 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:0ebeeb8841a5fd6295a315eba8032e390614d7d044bce823d9bb0908053dbbce
|
||||
size 36584
|
3
sdf/grip_tool/meshes/grip_tool_root.dae
Normal file
|
@ -0,0 +1,3 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:334eb4235abda3c4b03d61837834e092f327d260177e9d8af56fb6b37ee7258a
|
||||
size 443375
|
3
sdf/grip_tool/meshes/grip_tool_root.stl
Normal file
|
@ -0,0 +1,3 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:62b22f6ea8c60b38b52d333a4e00efac5aed1fc153dc3b696e76b4b012f7cd06
|
||||
size 121884
|
3
sdf/grip_tool/meshes/grip_tool_tool.dae
Normal file
|
@ -0,0 +1,3 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:3958986941c076dc41f5f8ad4049a559cbd7221e83153867a95731b95f41a760
|
||||
size 338225
|
3
sdf/grip_tool/meshes/grip_tool_tool.stl
Normal file
|
@ -0,0 +1,3 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:62b22f6ea8c60b38b52d333a4e00efac5aed1fc153dc3b696e76b4b012f7cd06
|
||||
size 121884
|
16
sdf/grip_tool/model.config
Normal file
|
@ -0,0 +1,16 @@
|
|||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>grip_tool</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>brothermechanic</name>
|
||||
<email>brothermechanic@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Grip Tool
|
||||
</description>
|
||||
</model>
|
152
sdf/grip_tool/model.sdf
Normal file
|
@ -0,0 +1,152 @@
|
|||
<?xml version="1.0"?>
|
||||
<!-- created with Phobos 1.0.1 "Capricious Choutengan" -->
|
||||
<sdf version="1.6">
|
||||
<model name="grip_tool">
|
||||
<link name="root">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<collision name="grip_tool_root">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://grip_tool/meshes/grip_tool_root.dae</uri>
|
||||
<scale>1.0 1.0 1.0</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="grip_tool_root">
|
||||
<pose>0.0 0.0 0.0 0.0 -0.0 0.0</pose>
|
||||
<material>
|
||||
<ambient>0.8 0.8 0.8 1.0</ambient>
|
||||
<diffuse>0.8 0.8 0.8 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1.0</specular>
|
||||
</material>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://grip_tool/meshes/grip_tool_root.dae</uri>
|
||||
<scale>1.0 1.0 1.0</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="link_grip_tool_tool">
|
||||
<pose>0 0 0.1095 0 0 0</pose>
|
||||
<collision name="grip_tool_tool">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://grip_tool/meshes/grip_tool_tool.dae</uri>
|
||||
<scale>1.0 1.0 1.0</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="grip_tool_tool">
|
||||
<pose>0.0 0.0 0.0 0.0 -0.0 0.0</pose>
|
||||
<material>
|
||||
<ambient>0.8 0.8 0.8 1.0</ambient>
|
||||
<diffuse>0.8 0.8 0.8 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1.0</specular>
|
||||
</material>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://grip_tool/meshes/grip_tool_tool.dae</uri>
|
||||
<scale>1.0 1.0 1.0</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="link_grip_tool_grip1">
|
||||
<pose>0.068 0.02375 0.1145 0 1.5708 0</pose>
|
||||
<collision name="grip_tool_grip1">
|
||||
<pose>0 0 0 0 -1.5708 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://grip_tool/meshes/grip_tool_grip1.dae</uri>
|
||||
<scale>1.0 1.0 1.0</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="grip_tool_grip1">
|
||||
<pose>-2.3167228135889673e-09 0.0 0.0 -0.0 -1.570796251296997 0.0</pose>
|
||||
<material>
|
||||
<ambient>0.8 0.8 0.8 1.0</ambient>
|
||||
<diffuse>0.8 0.8 0.8 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1.0</specular>
|
||||
</material>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://grip_tool/meshes/grip_tool_grip1.dae</uri>
|
||||
<scale>1.0 1.0 1.0</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="link_grip_tool_grip2">
|
||||
<pose>-0.068 -0.02375 0.1145 3.14159 1.5708 0</pose>
|
||||
<collision name="grip_tool_grip2">
|
||||
<pose>0 0 0 0 -1.5708 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://grip_tool/meshes/grip_tool_grip1.dae</uri>
|
||||
<scale>1.0 1.0 1.0</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="grip_tool_grip2">
|
||||
<pose>1.661072168701594e-09 0.0 0.0 -1.7021841970882648e-14 -1.5707961320877075 0.0</pose>
|
||||
<material>
|
||||
<ambient>0.8 0.8 0.8 1.0</ambient>
|
||||
<diffuse>0.8 0.8 0.8 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1.0</specular>
|
||||
</material>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://grip_tool/meshes/grip_tool_grip1.dae</uri>
|
||||
<scale>1.0 1.0 1.0</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="link_grip_tool_tool" type="revolute">
|
||||
<parent>root</parent>
|
||||
<child>link_grip_tool_tool</child>
|
||||
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1.0</xyz>
|
||||
<limit>
|
||||
<lower></lower>
|
||||
<upper></upper>
|
||||
<effort>2.0</effort>
|
||||
<velocity>1.0</velocity>
|
||||
</limit>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name="link_grip_tool_grip1" type="prismatic">
|
||||
<parent>link_grip_tool_tool</parent>
|
||||
<child>link_grip_tool_grip1</child>
|
||||
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1.0</xyz>
|
||||
<limit>
|
||||
<lower>-0.05</lower>
|
||||
<upper>0</upper>
|
||||
<effort>2.0</effort>
|
||||
<velocity>1.0</velocity>
|
||||
</limit>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name="link_grip_tool_grip2" type="prismatic">
|
||||
<parent>link_grip_tool_tool</parent>
|
||||
<child>link_grip_tool_grip2</child>
|
||||
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1.0</xyz>
|
||||
<limit>
|
||||
<lower>-0.05</lower>
|
||||
<upper>0</upper>
|
||||
<effort>2.0</effort>
|
||||
<velocity>1.0</velocity>
|
||||
</limit>
|
||||
</axis>
|
||||
</joint>
|
||||
</model>
|
||||
</sdf>
|
3
sdf/grip_tool/textures/T_grip_tool_d.png
Normal file
|
@ -0,0 +1,3 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:e4a21eb1d38e18f186aa9770ac050c23c49eb732ff0eade2c416c04ec76d9ec4
|
||||
size 173681
|
3
sdf/grip_tool/textures/T_grip_tool_n.png
Normal file
|
@ -0,0 +1,3 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:20aee01d1c062d4db303253926809a57518de6c2758c796faaa85e5463dbf79e
|
||||
size 2348237
|
3
sdf/grip_tool/textures/T_grip_tool_orm.png
Normal file
|
@ -0,0 +1,3 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:aa77f14788fd485cda5d3828d6df1a8d9b6e3345ea08e6af82b37291f059a7f2
|
||||
size 3381575
|
BIN
src/body.SLDPRT
|
@ -1,10 +0,0 @@
|
|||
Level: Info
|
||||
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
|
||||
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
|
||||
Line: 179
|
||||
-----------------------
|
||||
Level: Info
|
||||
Message: DisplayVresionUpdatePage() sw3DPrintConnector undefined
|
||||
Source: file:///C:/Users/Admin/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=True&newVersion=6.30.3041
|
||||
Line: 179
|
||||
-----------------------
|
|
@ -1,4 +0,0 @@
|
|||
[ViewState]
|
||||
Mode=
|
||||
Vid=
|
||||
FolderType=Generic
|
BIN
src/p red 1_5/gear_fixer.SLDPRT
Normal file
BIN
src/p red 1_5/planet_gears_asm.SLDASM
Normal file
|
@ -1,14 +0,0 @@
|
|||
cmake_minimum_required(VERSION 2.8.3)
|
||||
|
||||
project(_grip_tool)
|
||||
|
||||
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)
|
|
@ -1 +0,0 @@
|
|||
controller_joint_names: ['', 'grip_rot', 'open_1', 'open_2', ]
|
|
@ -1,20 +0,0 @@
|
|||
<launch>
|
||||
<arg
|
||||
name="model" />
|
||||
<param
|
||||
name="robot_description"
|
||||
textfile="$(find _grip_tool)/urdf/_grip_tool.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 $(find _grip_tool)/urdf.rviz" />
|
||||
</launch>
|
|
@ -1,20 +0,0 @@
|
|||
<launch>
|
||||
<include
|
||||
file="$(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 _grip_tool)/urdf/_grip_tool.urdf -urdf -model _grip_tool"
|
||||
output="screen" />
|
||||
<node
|
||||
name="fake_joint_calibration"
|
||||
pkg="rostopic"
|
||||
type="rostopic"
|
||||
args="pub /calibrated std_msgs/Bool true" />
|
||||
</launch>
|
|
@ -1,21 +0,0 @@
|
|||
<package format="2">
|
||||
<name>_grip_tool</name>
|
||||
<version>1.0.0</version>
|
||||
<description>
|
||||
<p>URDF Description package for _grip_tool</p>
|
||||
<p>This package contains configuration data, 3D models and launch files
|
||||
for _grip_tool 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>
|