➖ Delete extra files and folders
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89ba14c294
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2 changed files with 0 additions and 417 deletions
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@ -1,102 +0,0 @@
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
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from launch.conditions import IfCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PythonExpression
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from launch_ros.actions import Node
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from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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# Get the launch directory
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bringup_dir = get_package_share_directory('roboasm_sgonov')
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launch_dir = os.path.join(bringup_dir, 'launch')
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rviz_file = os.path.join(bringup_dir, 'config/robasm_sgonov.rviz')
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# Launch configuration variables specific to simulation
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rviz_config_file = LaunchConfiguration('rviz_config_file')
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use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
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use_joint_state_pub = LaunchConfiguration('use_joint_state_pub')
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use_rviz = LaunchConfiguration('use_rviz')
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urdf_file= LaunchConfiguration('urdf_file')
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robot_description_content = Command(
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[
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FindExecutable(name="xacro"), " ",
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PathJoinSubstitution(
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[FindPackageShare("roboasm_sgonov"), "urdf/roboasm_sgonov.urdf.xacro"]
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), " "
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# "robot_name:=", LaunchConfiguration("robot_name"), " ",
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# "sim:=", LaunchConfiguration("sim")
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]
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)
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declare_rviz_config_file_cmd = DeclareLaunchArgument(
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'rviz_config_file',
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default_value=os.path.join(bringup_dir, 'config', 'robasm_sgonov.rviz'),
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description= rviz_file)
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declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
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'use_robot_state_pub',
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default_value='True',
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description='Whether to start the robot state publisher')
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declare_use_joint_state_pub_cmd = DeclareLaunchArgument(
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'use_joint_state_pub',
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default_value='True',
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description='Whether to start the joint state publisher')
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declare_use_rviz_cmd = DeclareLaunchArgument(
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'use_rviz',
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default_value='True',
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description='Whether to start RVIZ')
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declare_urdf_cmd = DeclareLaunchArgument(
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'urdf_file',
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default_value=os.path.join(bringup_dir, 'urdf', 'roboasm_sgonov.urdf.xacro'),
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description='Whether to start RVIZ')
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start_robot_state_publisher_cmd = Node(
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condition=IfCondition(use_robot_state_pub),
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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output='screen',
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#parameters=[{'use_sim_time': use_sim_time}],
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arguments=[robot_description_content])
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start_joint_state_publisher_cmd = Node(
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condition=IfCondition(use_joint_state_pub),
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package='joint_state_publisher_gui',
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executable='joint_state_publisher_gui',
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name='joint_state_publisher_gui',
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output='screen',
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arguments=[robot_description_content])
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rviz_cmd = Node(
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condition=IfCondition(use_rviz),
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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arguments=['-d', rviz_config_file],
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output='screen')
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# Create the launch description and populate
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ld = LaunchDescription()
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# Declare the launch options
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ld.add_action(declare_rviz_config_file_cmd)
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ld.add_action(declare_urdf_cmd)
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ld.add_action(declare_use_robot_state_pub_cmd)
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ld.add_action(declare_use_joint_state_pub_cmd)
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ld.add_action(declare_use_rviz_cmd)
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# Add any conditioned actions
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ld.add_action(start_joint_state_publisher_cmd)
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ld.add_action(start_robot_state_publisher_cmd)
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ld.add_action(rviz_cmd)
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return ld
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@ -1,315 +0,0 @@
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<?xml version="1.0" encoding="utf-8"?>
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<sdf version='1.7'>
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<model name='roboasm_sgonov'>
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<link name='base'>
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<inertial>
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<pose>-0.000332 0.000107 -0.036421 0 -0 0</pose>
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<mass>1.31012</mass>
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<inertia>
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<ixx>0.00259584</ixx>
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<ixy>9.78631e-07</ixy>
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<ixz>-1.47312e-05</ixz>
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<iyy>0.00238835</iyy>
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<iyz>5.81914e-07</iyz>
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<izz>0.0043068</izz>
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</inertia>
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</inertial>
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<collision name='base_collision'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://roboasm_sgonov/meshes/base.stl</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='base_visual'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://roboasm_sgonov/meshes/base.stl</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name='joint1' type='revolute'>
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<pose relative_to='base'>0 0 0 1.5708 0 -1.5708</pose>
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<parent>base</parent>
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<child>link1</child>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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</limit>
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<dynamics>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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</axis>
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</joint>
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<link name='link1'>
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<pose relative_to='joint1'>0 0 0 0 -0 0</pose>
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<inertial>
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<pose>0.028753 0.080526 0 0 -0 0</pose>
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<mass>0.52648</mass>
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<inertia>
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<ixx>0.00076496</ixx>
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<ixy>-3.5256e-05</ixy>
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<ixz>-2.8173e-10</ixz>
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<iyy>0.00038929</iyy>
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<iyz>1.9918e-09</iyz>
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<izz>0.00075521</izz>
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</inertia>
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</inertial>
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<collision name='link1_collision'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://roboasm_sgonov/meshes/link1.stl</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='link1_visual'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://roboasm_sgonov/meshes/link1.stl</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name='joint2' type='revolute'>
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<pose relative_to='link1'>0 0.14172 0 0 -0 0</pose>
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<parent>link1</parent>
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<child>link2</child>
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<axis>
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<xyz>1 0 0</xyz>
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<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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</limit>
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<dynamics>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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</axis>
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</joint>
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<link name='link2'>
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<pose relative_to='joint2'>0 0 0 0 -0 0</pose>
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<inertial>
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<pose>-0.009842 0.025632 0 0 -0 0</pose>
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<mass>0.466449</mass>
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<inertia>
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<ixx>0.000250149</ixx>
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<ixy>-6.39625e-06</ixy>
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<ixz>1.16241e-09</ixz>
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<iyy>0.000302356</iyy>
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<iyz>-5.72107e-10</iyz>
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<izz>0.000264859</izz>
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</inertia>
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</inertial>
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<collision name='link2_collision'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://roboasm_sgonov/meshes/link2.stl</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='link2_visual'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://roboasm_sgonov/meshes/link2.stl</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name='joint3' type='revolute'>
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<pose relative_to='link2'>0 0.081346 0 0 0.007194 0</pose>
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<parent>link2</parent>
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<child>link3</child>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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</limit>
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<dynamics>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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</axis>
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</joint>
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<link name='link3'>
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<pose relative_to='joint3'>0 0 0 0 -0 0</pose>
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<inertial>
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<pose>0.02151 0.069442 0 0 -0 0</pose>
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<mass>0.708169</mass>
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<inertia>
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<ixx>0.000864851</ixx>
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<ixy>-3.6232e-05</ixy>
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<ixz>-2.95541e-10</ixz>
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<iyy>0.000482144</iyy>
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<iyz>2.00354e-09</iyz>
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<izz>0.000860395</izz>
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</inertia>
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</inertial>
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<collision name='link3_collision'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://roboasm_sgonov/meshes/link3.stl</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='link3_visual'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://roboasm_sgonov/meshes/link3.stl</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name='joint4' type='revolute'>
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<pose relative_to='link3'>0 0.14438 0 0 -0 0</pose>
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<parent>link3</parent>
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<child>link4</child>
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<axis>
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<xyz>1 0 0</xyz>
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<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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</limit>
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<dynamics>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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</axis>
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</joint>
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<link name='link4'>
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<pose relative_to='joint4'>0 0 0 0 -0 0</pose>
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<inertial>
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<pose>-0.009842 0.025632 0 0 -0 0</pose>
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<mass>0.466449</mass>
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<inertia>
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<ixx>0.000250149</ixx>
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<ixy>-6.39625e-06</ixy>
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<ixz>1.15938e-09</ixz>
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<iyy>0.000302356</iyy>
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<iyz>-5.70585e-10</iyz>
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<izz>0.000264859</izz>
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</inertia>
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</inertial>
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<collision name='link4_collision'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://roboasm_sgonov/meshes/link4.stl</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='link4_visual'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://roboasm_sgonov/meshes/link4.stl</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name='joint5' type='revolute'>
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<pose relative_to='link4'>0 0.081346 0 0 -0 0</pose>
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<parent>link4</parent>
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<child>link5</child>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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</limit>
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<dynamics>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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</axis>
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</joint>
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<link name='link5'>
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<pose relative_to='joint5'>0 0 0 0 -0 0</pose>
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<inertial>
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<pose>0.02151 0.069442 0 0 -0 0</pose>
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<mass>0.708169</mass>
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<inertia>
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<ixx>0.000864851</ixx>
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<ixy>-3.6232e-05</ixy>
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<ixz>-2.95541e-10</ixz>
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<iyy>0.000482144</iyy>
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<iyz>2.00354e-09</iyz>
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<izz>0.000860395</izz>
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</inertia>
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</inertial>
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<collision name='link5_collision'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://roboasm_sgonov/meshes/link5.stl</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='link5_visual'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://roboasm_sgonov/meshes/link5.stl</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<link name='link6'>
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<pose relative_to='joint6'>0 0 0 0 -0 0</pose>
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<inertial>
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<pose>-0.010796 0.033705 6e-06 0 -0 0</pose>
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<mass>0.599356</mass>
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<inertia>
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<ixx>0.00028631</ixx>
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<ixy>-5.79904e-06</ixy>
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<ixz>6.26853e-08</ixz>
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<iyy>0.000358509</iyy>
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<iyz>-4.97585e-10</iyz>
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<izz>0.000295139</izz>
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</inertia>
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</inertial>
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<collision name='link6_collision'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://roboasm_sgonov/meshes/link6.stl</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='link6_visual'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://roboasm_sgonov/meshes/link6.stl</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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</model>
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</sdf>
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