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🔨 add move_group cpp interface that's work

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Ilya Uraev 2021-11-09 14:45:17 +04:00
parent b1ae818aa0
commit 4fe0324b25
10 changed files with 1135 additions and 60 deletions
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366
rasms_description/urdf/rasms_description.urdf Normal file
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@ -0,0 +1,366 @@
<robot name="rasms">
<link name="world"/>
<joint name="to_world" type="fixed">
<parent link="world"/>
<child link="base"/>
<origin xyz="0.0 0.0 0.07" rpy="0.0 0.0 0.0"/>
</joint>
<link
name="base">
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<origin
xyz="-0.000332122479320982 0.000107427994729828 -0.0364210136165633"
rpy="0 0 0" />
<mass
value="1.31011976880718" />
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ixx="0.00259583556985636"
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ixz="-1.47312310265428E-05"
iyy="0.00238834687122552"
iyz="5.81913913034168E-07"
izz="0.00430679870377171" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/base.stl" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/base.stl" />
</geometry>
</collision>
</link>
<link
name="link1">
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<origin
xyz="0.028753 0.080526 1.3501E-08"
rpy="0 0 0" />
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value="0.52648" />
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iyy="0.00038929"
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</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link1.stl" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link1.stl" />
</geometry>
</collision>
</link>
<joint
name="joint1"
type="continuous">
<origin
xyz="0 0 0"
rpy="1.5708 0 -1.5708" />
<parent
link="base" />
<child
link="link1" />
<axis
xyz="0 1 0" />
</joint>
<link
name="link2">
<inertial>
<origin
xyz="-0.0098423932944443 0.025631709550142 2.62062855886029E-08"
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<visual>
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xyz="0 0 0"
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filename="package://rasms_description/meshes/link2.stl" />
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<material
name="">
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<collision>
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link2.stl" />
</geometry>
</collision>
</link>
<joint
name="joint2"
type="continuous">
<origin
xyz="0 0.14172 0"
rpy="0 0 0" />
<parent
link="link1" />
<child
link="link2" />
<axis
xyz="1 0 0" />
</joint>
<link
name="link3">
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<origin
xyz="0.0215100033761789 0.0694423986454957 3.93278649368959E-08"
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<visual>
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xyz="0 0 0"
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<mesh
filename="package://rasms_description/meshes/link3.stl" />
</geometry>
<material
name="">
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link3.stl" />
</geometry>
</collision>
</link>
<joint
name="joint3"
type="continuous">
<origin
xyz="0 0.081346 0"
rpy="0 0.0071935 0" />
<parent
link="link2" />
<child
link="link3" />
<axis
xyz="0 1 0" />
</joint>
<link
name="link4">
<inertial>
<origin
xyz="-0.0098423941326931 0.025631710847922 2.62314079923008E-08"
rpy="0 0 0" />
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</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link4.stl" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link4.stl" />
</geometry>
</collision>
</link>
<joint
name="joint4"
type="continuous">
<origin
xyz="0 0.14438 0"
rpy="0 0 0" />
<parent
link="link3" />
<child
link="link4" />
<axis
xyz="1 0 0" />
</joint>
<link
name="link5">
<inertial>
<origin
xyz="0.0215100033039704 0.0694423990612557 3.93278667377771E-08"
rpy="0 0 0" />
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value="0.708169356775496" />
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</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link5.stl" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link5.stl" />
</geometry>
</collision>
</link>
<joint
name="joint5"
type="continuous">
<origin
xyz="0 0.081346 0"
rpy="0 0 0" />
<parent
link="link4" />
<child
link="link5" />
<axis
xyz="0 1 0" />
</joint>
<link
name="link6">
<inertial>
<origin
xyz="-0.0107961703559938 0.0337046197725978 6.41961769822694E-06"
rpy="0 0 0" />
<mass
value="0.599356299495803" />
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iyy="0.000358508548445319"
iyz="-4.97585335654749E-10"
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</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link6.stl" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link6.stl" />
</geometry>
</collision>
</link>
<joint
name="joint6"
type="continuous">
<origin
xyz="0 0.14438 0"
rpy="0 0 0" />
<parent
link="link5" />
<child
link="link6" />
<axis
xyz="1 0 0" />
</joint>
</robot>