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🔧 update urdf and add tool0 to chain

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This commit is contained in:
Ilya Uraev 2021-11-09 17:09:02 +04:00
parent 4fe0324b25
commit dfaea654f1
13 changed files with 302 additions and 239 deletions
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rasms_description/meshes/base.stl Executable file → Normal file
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1
rasms_description/urdf/rasms.gazebo.xacro
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@ -7,7 +7,6 @@
<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
<robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
<parameters>$(find rasms_moveit_config)/config/rasms_controllers.yml</parameters>
<robotNamespace>/rasms</robotNamespace>
</plugin>
</gazebo>

315
rasms_description/urdf/rasms_description.urdf
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@ -1,65 +1,24 @@
<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>
<?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="rasms">
<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"
xyz="-0.00033212 0.00010743 -0.036421"
rpy="0 0 0" />
<mass
value="0.52648" />
value="1.3101" />
<inertia
ixx="0.00076496"
ixy="-3.5256E-05"
ixz="-2.8173E-10"
iyy="0.00038929"
iyz="1.9918E-09"
izz="0.00075521" />
ixx="0.0025958"
ixy="9.7863E-07"
ixz="-1.4731E-05"
iyy="0.0023883"
iyz="5.8191E-07"
izz="0.0043068" />
</inertial>
<visual>
<origin
@ -67,10 +26,10 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link1.stl" />
filename="package://rasms_description/meshes/base.STL" />
</geometry>
<material
name="">
name="rasms_color">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
@ -81,38 +40,25 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link1.stl" />
filename="package://rasms_description/meshes/base.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">
name="link1">
<inertial>
<origin
xyz="-0.0098423932944443 0.025631709550142 2.62062855886029E-08"
xyz="0.080526 -0.028752 -0.00018483"
rpy="0 0 0" />
<mass
value="0.466449031624498" />
value="0.52648" />
<inertia
ixx="0.000250149264856934"
ixy="-6.39625267943634E-06"
ixz="1.16240576365026E-09"
iyy="0.000302356392836182"
iyz="-5.72107071817652E-10"
izz="0.000264859050215469" />
ixx="0.00038929"
ixy="3.5255E-05"
ixz="2.2864E-07"
iyy="0.00076496"
iyz="6.2982E-08"
izz="0.00075521" />
</inertial>
<visual>
<origin
@ -120,12 +66,12 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link2.stl" />
filename="package://rasms_description/meshes/link1.STL" />
</geometry>
<material
name="">
name="rasms_color">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
@ -134,7 +80,65 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link2.stl" />
filename="package://rasms_description/meshes/link1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint1"
type="revolute">
<origin
xyz="0 0 0"
rpy="3.1352 -1.5708 0" />
<parent
link="base" />
<child
link="link1" />
<axis
xyz="1 0 0" />
<limit
lower="-3.1416"
upper="3.1416"
effort="0"
velocity="0" />
</joint>
<link
name="link2">
<inertial>
<origin
xyz="0.025632 0.0098422 6.3301E-05"
rpy="0 0 0" />
<mass
value="0.46645" />
<inertia
ixx="0.00030236"
ixy="6.3961E-06"
ixz="4.0548E-08"
iyy="0.00025015"
iyz="-9.5727E-08"
izz="0.00026486" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link2.STL" />
</geometry>
<material
name="rasms_color">
<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/link2.STL" />
</geometry>
</collision>
</link>
@ -142,30 +146,35 @@
name="joint2"
type="continuous">
<origin
xyz="0 0.14172 0"
xyz="0.14172 0 0"
rpy="0 0 0" />
<parent
link="link1" />
<child
link="link2" />
<axis
xyz="1 0 0" />
xyz="0 1 0" />
<limit
lower="-2.0944"
upper="2.0944"
effort="0"
velocity="0" />
</joint>
<link
name="link3">
<inertial>
<origin
xyz="0.0215100033761789 0.0694423986454957 3.93278649368959E-08"
xyz="0.069442 -0.021508 -0.00029297"
rpy="0 0 0" />
<mass
value="0.70816935413754" />
value="0.70817" />
<inertia
ixx="0.000864850509477081"
ixy="-3.62319530566251E-05"
ixz="-2.95541145601842E-10"
iyy="0.000482143975333292"
iyz="2.00353934934295E-09"
izz="0.000860394915615017" />
ixx="0.00048214"
ixy="3.6229E-05"
ixz="4.9555E-07"
iyy="0.00086485"
iyz="6.0984E-08"
izz="0.0008604" />
</inertial>
<visual>
<origin
@ -173,12 +182,12 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link3.stl" />
filename="package://rasms_description/meshes/link3.STL" />
</geometry>
<material
name="">
name="rasms_color">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
@ -187,7 +196,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link3.stl" />
filename="package://rasms_description/meshes/link3.STL" />
</geometry>
</collision>
</link>
@ -195,30 +204,35 @@
name="joint3"
type="continuous">
<origin
xyz="0 0.081346 0"
rpy="0 0.0071935 0" />
xyz="0.081346 0 0"
rpy="0 0 0" />
<parent
link="link2" />
<child
link="link3" />
<axis
xyz="0 1 0" />
xyz="1 0 0" />
<limit
lower="-2.0944"
upper="2.0944"
effort="0"
velocity="0" />
</joint>
<link
name="link4">
<inertial>
<origin
xyz="-0.0098423941326931 0.025631710847922 2.62314079923008E-08"
xyz="0.025632 0.0098415 0.0001341"
rpy="0 0 0" />
<mass
value="0.466449036998311" />
value="0.46645" />
<inertia
ixx="0.0002501492525602"
ixy="-6.39624584934821E-06"
ixz="1.15937712750973E-09"
iyy="0.000302356392948396"
iyz="-5.70585180406975E-10"
izz="0.000264859056361031" />
ixx="0.00030236"
ixy="6.3957E-06"
ixz="8.6559E-08"
iyy="0.00025015"
iyz="-2.0152E-07"
izz="0.00026486" />
</inertial>
<visual>
<origin
@ -226,12 +240,12 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link4.stl" />
filename="package://rasms_description/meshes/link4.STL" />
</geometry>
<material
name="">
name="rasms_color">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
@ -240,7 +254,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link4.stl" />
filename="package://rasms_description/meshes/link4.STL" />
</geometry>
</collision>
</link>
@ -248,30 +262,35 @@
name="joint4"
type="continuous">
<origin
xyz="0 0.14438 0"
xyz="0.14438 0 0"
rpy="0 0 0" />
<parent
link="link3" />
<child
link="link4" />
<axis
xyz="1 0 0" />
xyz="0 1 0" />
<limit
lower="-2.0944"
upper="2.0944"
effort="0"
velocity="0" />
</joint>
<link
name="link5">
<inertial>
<origin
xyz="0.0215100033039704 0.0694423990612557 3.93278667377771E-08"
xyz="0.069442 -0.021508 -0.00029297"
rpy="0 0 0" />
<mass
value="0.708169356775496" />
value="0.70817" />
<inertia
ixx="0.000864850515095"
ixy="-3.6231953093431E-05"
ixz="-2.95541136548844E-10"
iyy="0.000482143976309882"
iyz="2.00353938873391E-09"
izz="0.000860394921240315" />
ixx="0.00048214"
ixy="3.6229E-05"
ixz="4.9555E-07"
iyy="0.00086485"
iyz="6.0984E-08"
izz="0.0008604" />
</inertial>
<visual>
<origin
@ -279,12 +298,12 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link5.stl" />
filename="package://rasms_description/meshes/link5.STL" />
</geometry>
<material
name="">
name="rasms_color">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
@ -293,7 +312,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link5.stl" />
filename="package://rasms_description/meshes/link5.STL" />
</geometry>
</collision>
</link>
@ -301,30 +320,35 @@
name="joint5"
type="continuous">
<origin
xyz="0 0.081346 0"
xyz="0.081346 0 0"
rpy="0 0 0" />
<parent
link="link4" />
<child
link="link5" />
<axis
xyz="0 1 0" />
xyz="1 0 0" />
<limit
lower="-2.0944"
upper="2.0944"
effort="0"
velocity="0" />
</joint>
<link
name="link6">
<inertial>
<origin
xyz="-0.0107961703559938 0.0337046197725978 6.41961769822694E-06"
xyz="0.033705 0.010795 0.00015348"
rpy="0 0 0" />
<mass
value="0.599356299495803" />
value="0.59936" />
<inertia
ixx="0.000286310483854348"
ixy="-5.79903953240378E-06"
ixz="6.26853068396246E-08"
iyy="0.000358508548445319"
iyz="-4.97585335654749E-10"
izz="0.000295138763544911" />
ixx="0.00035851"
ixy="5.7985E-06"
ixz="7.8497E-08"
iyy="0.00028631"
iyz="-1.8291E-07"
izz="0.00029514" />
</inertial>
<visual>
<origin
@ -332,12 +356,12 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link6.stl" />
filename="package://rasms_description/meshes/link6.STL" />
</geometry>
<material
name="">
name="rasms_color">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
@ -346,7 +370,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link6.stl" />
filename="package://rasms_description/meshes/link6.STL" />
</geometry>
</collision>
</link>
@ -354,13 +378,18 @@
name="joint6"
type="continuous">
<origin
xyz="0 0.14438 0"
xyz="0.14438 0 0"
rpy="0 0 0" />
<parent
link="link5" />
<child
link="link6" />
<axis
xyz="1 0 0" />
xyz="0 1 0" />
<limit
lower="-2.0944"
upper="2.0944"
effort="0"
velocity="0" />
</joint>
</robot>

211
rasms_description/urdf/rasms_description.urdf.xacro
View file

@ -12,19 +12,19 @@
</joint>
<link
name="base">
<inertial>
<inertial>
<origin
xyz="-0.000332122479320982 0.000107427994729828 -0.0364210136165633"
xyz="-0.00033212 0.00010743 -0.036421"
rpy="0 0 0" />
<mass
value="1.31011976880718" />
value="1.3101" />
<inertia
ixx="0.00259583556985636"
ixy="9.78631121059142E-07"
ixz="-1.47312310265428E-05"
iyy="0.00238834687122552"
iyz="5.81913913034168E-07"
izz="0.00430679870377171" />
ixx="0.0025958"
ixy="9.7863E-07"
ixz="-1.4731E-05"
iyy="0.0023883"
iyz="5.8191E-07"
izz="0.0043068" />
</inertial>
<visual>
<origin
@ -35,9 +35,9 @@
filename="package://rasms_description/meshes/base.stl" />
</geometry>
<material
name="">
name="rasms_color">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
@ -54,16 +54,16 @@
name="link1">
<inertial>
<origin
xyz="0.028753 0.080526 1.3501E-08"
xyz="0.080526 -0.028752 -0.00018483"
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"
ixx="0.00038929"
ixy="3.5255E-05"
ixz="2.2864E-07"
iyy="0.00076496"
iyz="6.2982E-08"
izz="0.00075521" />
</inertial>
<visual>
@ -75,7 +75,7 @@
filename="package://rasms_description/meshes/link1.stl" />
</geometry>
<material
name="">
name="rasms_color">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
@ -92,32 +92,37 @@
</link>
<joint
name="joint1"
type="continuous">
type="revolute">
<origin
xyz="0 0 0"
rpy="1.5708 0 -1.5708" />
rpy="0 -1.5708 0" />
<parent
link="base" />
<child
link="link1" />
<axis
xyz="0 1 0" />
xyz="1 0 0" />
<limit
lower="-3.1416"
upper="3.1416"
effort="0"
velocity="0" />
</joint>
<link
name="link2">
<inertial>
<origin
xyz="-0.0098423932944443 0.025631709550142 2.62062855886029E-08"
xyz="0.025632 0.0098422 6.3301E-05"
rpy="0 0 0" />
<mass
value="0.466449031624498" />
value="0.46645" />
<inertia
ixx="0.000250149264856934"
ixy="-6.39625267943634E-06"
ixz="1.16240576365026E-09"
iyy="0.000302356392836182"
iyz="-5.72107071817652E-10"
izz="0.000264859050215469" />
ixx="0.00030236"
ixy="6.3961E-06"
ixz="4.0548E-08"
iyy="0.00025015"
iyz="-9.5727E-08"
izz="0.00026486" />
</inertial>
<visual>
<origin
@ -128,9 +133,9 @@
filename="package://rasms_description/meshes/link2.stl" />
</geometry>
<material
name="">
name="rasms_color">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
@ -145,32 +150,37 @@
</link>
<joint
name="joint2"
type="continuous">
type="revolute">
<origin
xyz="0 0.14172 0"
xyz="0.14172 0 0"
rpy="0 0 0" />
<parent
link="link1" />
<child
link="link2" />
<axis
xyz="1 0 0" />
xyz="0 1 0" />
<limit
lower="-2.0944"
upper="2.0944"
effort="0"
velocity="0" />
</joint>
<link
name="link3">
<inertial>
<origin
xyz="0.0215100033761789 0.0694423986454957 3.93278649368959E-08"
xyz="0.069442 -0.021508 -0.00029297"
rpy="0 0 0" />
<mass
value="0.70816935413754" />
value="0.70817" />
<inertia
ixx="0.000864850509477081"
ixy="-3.62319530566251E-05"
ixz="-2.95541145601842E-10"
iyy="0.000482143975333292"
iyz="2.00353934934295E-09"
izz="0.000860394915615017" />
ixx="0.00048214"
ixy="3.6229E-05"
ixz="4.9555E-07"
iyy="0.00086485"
iyz="6.0984E-08"
izz="0.0008604" />
</inertial>
<visual>
<origin
@ -181,9 +191,9 @@
filename="package://rasms_description/meshes/link3.stl" />
</geometry>
<material
name="">
name="rasms_color">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
@ -198,32 +208,37 @@
</link>
<joint
name="joint3"
type="continuous">
type="revolute">
<origin
xyz="0 0.081346 0"
rpy="0 0.0071935 0" />
xyz="0.081346 0 0"
rpy="0 0 0" />
<parent
link="link2" />
<child
link="link3" />
<axis
xyz="0 1 0" />
xyz="1 0 0" />
<limit
lower="-2.0944"
upper="2.0944"
effort="0"
velocity="0" />
</joint>
<link
name="link4">
<inertial>
<origin
xyz="-0.0098423941326931 0.025631710847922 2.62314079923008E-08"
xyz="0.025632 0.0098415 0.0001341"
rpy="0 0 0" />
<mass
value="0.466449036998311" />
value="0.46645" />
<inertia
ixx="0.0002501492525602"
ixy="-6.39624584934821E-06"
ixz="1.15937712750973E-09"
iyy="0.000302356392948396"
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izz="0.000264859056361031" />
ixx="0.00030236"
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ixz="8.6559E-08"
iyy="0.00025015"
iyz="-2.0152E-07"
izz="0.00026486" />
</inertial>
<visual>
<origin
@ -234,9 +249,9 @@
filename="package://rasms_description/meshes/link4.stl" />
</geometry>
<material
name="">
name="rasms_color">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
@ -251,32 +266,37 @@
</link>
<joint
name="joint4"
type="continuous">
type="revolute">
<origin
xyz="0 0.14438 0"
xyz="0.14438 0 0"
rpy="0 0 0" />
<parent
link="link3" />
<child
link="link4" />
<axis
xyz="1 0 0" />
xyz="0 1 0" />
<limit
lower="-2.0944"
upper="2.0944"
effort="0"
velocity="0" />
</joint>
<link
name="link5">
<inertial>
<origin
xyz="0.0215100033039704 0.0694423990612557 3.93278667377771E-08"
xyz="0.069442 -0.021508 -0.00029297"
rpy="0 0 0" />
<mass
value="0.708169356775496" />
value="0.70817" />
<inertia
ixx="0.000864850515095"
ixy="-3.6231953093431E-05"
ixz="-2.95541136548844E-10"
iyy="0.000482143976309882"
iyz="2.00353938873391E-09"
izz="0.000860394921240315" />
ixx="0.00048214"
ixy="3.6229E-05"
ixz="4.9555E-07"
iyy="0.00086485"
iyz="6.0984E-08"
izz="0.0008604" />
</inertial>
<visual>
<origin
@ -287,9 +307,9 @@
filename="package://rasms_description/meshes/link5.stl" />
</geometry>
<material
name="">
name="rasms_color">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
@ -304,32 +324,37 @@
</link>
<joint
name="joint5"
type="continuous">
type="revolute">
<origin
xyz="0 0.081346 0"
xyz="0.081346 0 0"
rpy="0 0 0" />
<parent
link="link4" />
<child
link="link5" />
<axis
xyz="0 1 0" />
xyz="1 0 0" />
<limit
lower="-2.0944"
upper="2.0944"
effort="0"
velocity="0" />
</joint>
<link
name="link6">
<inertial>
<origin
xyz="-0.0107961703559938 0.0337046197725978 6.41961769822694E-06"
xyz="0.033705 0.010795 0.00015348"
rpy="0 0 0" />
<mass
value="0.599356299495803" />
value="0.59936" />
<inertia
ixx="0.000286310483854348"
ixy="-5.79903953240378E-06"
ixz="6.26853068396246E-08"
iyy="0.000358508548445319"
iyz="-4.97585335654749E-10"
izz="0.000295138763544911" />
ixx="0.00035851"
ixy="5.7985E-06"
ixz="7.8497E-08"
iyy="0.00028631"
iyz="-1.8291E-07"
izz="0.00029514" />
</inertial>
<visual>
<origin
@ -340,9 +365,9 @@
filename="package://rasms_description/meshes/link6.stl" />
</geometry>
<material
name="">
name="rasms_color">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
@ -357,18 +382,28 @@
</link>
<joint
name="joint6"
type="continuous">
type="revolute">
<origin
xyz="0 0.14438 0"
xyz="0.14438 0 0"
rpy="0 0 0" />
<parent
link="link5" />
<child
link="link6" />
<axis
xyz="1 0 0" />
xyz="0 1 0" />
<limit
lower="-2.0944"
upper="2.0944"
effort="0"
velocity="0" />
</joint>
<link name="tool0"/>
<joint name="to_tool0" type="fixed">
<parent link="link6"/>
<child link="tool0"/>
<origin xyz="0.101 0 0" rpy="0 1.5708 0"/>
</joint>
<xacro:rasms_hi/>
<xacro:rasms_gazebo/>
</robot>

2
rasms_moveit_actions/src/rasms_move_group_interface.cpp
View file

@ -213,7 +213,7 @@ int main(int argc, char** argv)
// Let's specify a path constraint and a pose goal for our group.
// First define the path constraint.
moveit_msgs::msg::OrientationConstraint ocm;
ocm.link_name = "link6";
ocm.link_name = "tool0";
ocm.header.frame_id = "base";
ocm.orientation.w = 1.0;
ocm.absolute_x_axis_tolerance = 0.1;

10
rasms_moveit_config/config/rasms.rviz
View file

@ -7,7 +7,7 @@ Panels:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 197
Tree Height: 356
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
@ -385,7 +385,7 @@ Visualization Manager:
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 3.8008623123168945
Distance: 2.561343193054199
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
@ -400,10 +400,10 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.72039794921875
Pitch: 0.6653979420661926
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.2953982949256897
Yaw: 0.26539817452430725
Saved: ~
Window Geometry:
Displays:
@ -415,7 +415,7 @@ Window Geometry:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 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
QMainWindow State: 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
RvizVisualToolsGui:
collapsed: false
Selection:

2
rasms_moveit_config/srdf/rasms_description.srdf
View file

@ -10,7 +10,7 @@
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="rasms_arm_group">
<chain base_link="base" tip_link="link6"/>
<chain base_link="base" tip_link="tool0"/>
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="zero_pose" group="rasms_arm_group">