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🔖 renaming robot

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This commit is contained in:
Ilya Uraev 2021-10-19 23:26:26 +04:00
parent 50ee38c5ad
commit 9ad9e6c031
30 changed files with 50 additions and 67 deletions
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55
rasms_description/urdf/rasms.control.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="rasms_hi">
<!-- arg for control mode -->
<ros2_control name="rasms_hi" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<!-- define joints and command/state interfaces for each joint -->
<joint name="joint1">
<command_interface name="position">
<!-- better to use radians as min max first -->
<param name="min">-1</param>
<param name="max"> 1</param>
</command_interface>
<state_interface name="position"/>
</joint>
<joint name="joint2">
<command_interface name="position">
<param name="min">-1</param>
<param name="max"> 1</param>
</command_interface>
<state_interface name="position"/>
</joint>
<joint name="joint3">
<command_interface name="position">
<param name="min">-1</param>
<param name="max"> 1</param>
</command_interface>
<state_interface name="position"/>
</joint>
<joint name="joint4">
<command_interface name="position">
<param name="min">-1</param>
<param name="max"> 1</param>
</command_interface>
<state_interface name="position"/>
</joint>
<joint name="joint5">
<command_interface name="position">
<param name="min">-1</param>
<param name="max"> 1</param>
</command_interface>
<state_interface name="position"/>
</joint>
<joint name="joint6">
<command_interface name="position">
<param name="min">-1</param>
<param name="max"> 1</param>
</command_interface>
<state_interface name="position"/>
</joint>
</ros2_control>
</xacro:macro>
</robot>

69
rasms_description/urdf/rasms.gazebo.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="rasms_gazebo">
<!-- ros_control-plugin -->
<gazebo>
<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
<parameters>$(find rasms_moveit_config)/config/rasms_controllers.yml</parameters>
<robotNamespace>/rasms</robotNamespace>
</plugin>
</gazebo>
<!-- link 0 -->
<gazebo reference="base">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
<gravity>0</gravity>
</gazebo>
<!-- link 1 -->
<gazebo reference="link1">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
<gravity>0</gravity>
</gazebo>
<!-- link 2 -->
<gazebo reference="link2">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
<gravity>0</gravity>
</gazebo>
<!-- link 3 -->
<gazebo reference="link3">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
<gravity>0</gravity>
</gazebo>
<!-- link 4 -->
<gazebo reference="link4">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
<gravity>0</gravity>
</gazebo>
<!-- link 5 -->
<gazebo reference="link5">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
<gravity>0</gravity>
</gazebo>
<!-- link 6 -->
<gazebo reference="link6">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
<gravity>0</gravity>
</gazebo>
</xacro:macro>
</robot>

374
rasms_description/urdf/rasms_description.urdf.xacro Executable file
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<?xml version="1.0" encoding="utf-8"?>
<robot name="rasms" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find rasms_description)/urdf/rasms.gazebo.xacro"/>
<xacro:include filename="$(find rasms_description)/urdf/rasms.control.xacro"/>
<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">
<inertial>
<origin
xyz="-0.000332122479320982 0.000107427994729828 -0.0364210136165633"
rpy="0 0 0" />
<mass
value="1.31011976880718" />
<inertia
ixx="0.00259583556985636"
ixy="9.78631121059142E-07"
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">
<inertial>
<origin
xyz="0.028753 0.080526 1.3501E-08"
rpy="0 0 0" />
<mass
value="0.52648" />
<inertia
ixx="0.00076496"
ixy="-3.5256E-05"
ixz="-2.8173E-10"
iyy="0.00038929"
iyz="1.9918E-09"
izz="0.00075521" />
</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"
rpy="0 0 0" />
<mass
value="0.466449031624498" />
<inertia
ixx="0.000250149264856934"
ixy="-6.39625267943634E-06"
ixz="1.16240576365026E-09"
iyy="0.000302356392836182"
iyz="-5.72107071817652E-10"
izz="0.000264859050215469" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link2.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/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">
<inertial>
<origin
xyz="0.0215100033761789 0.0694423986454957 3.93278649368959E-08"
rpy="0 0 0" />
<mass
value="0.70816935413754" />
<inertia
ixx="0.000864850509477081"
ixy="-3.62319530566251E-05"
ixz="-2.95541145601842E-10"
iyy="0.000482143975333292"
iyz="2.00353934934295E-09"
izz="0.000860394915615017" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link3.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/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" />
<mass
value="0.466449036998311" />
<inertia
ixx="0.0002501492525602"
ixy="-6.39624584934821E-06"
ixz="1.15937712750973E-09"
iyy="0.000302356392948396"
iyz="-5.70585180406975E-10"
izz="0.000264859056361031" />
</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" />
<mass
value="0.708169356775496" />
<inertia
ixx="0.000864850515095"
ixy="-3.6231953093431E-05"
ixz="-2.95541136548844E-10"
iyy="0.000482143976309882"
iyz="2.00353938873391E-09"
izz="0.000860394921240315" />
</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" />
<inertia
ixx="0.000286310483854348"
ixy="-5.79903953240378E-06"
ixz="6.26853068396246E-08"
iyy="0.000358508548445319"
iyz="-4.97585335654749E-10"
izz="0.000295138763544911" />
</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>
<xacro:rasms_hi/>
<xacro:rasms_gazebo/>
</robot>