🔧 Delete robot 1 and add config for robot 2
This commit is contained in:
parent
6d712ca4c1
commit
e8cd58256b
39 changed files with 1062 additions and 990 deletions
|
|
@ -1,30 +0,0 @@
|
|||
cmake_minimum_required(VERSION 3.5)
|
||||
project(rasms_description)
|
||||
|
||||
# Default to C99
|
||||
if(NOT CMAKE_C_STANDARD)
|
||||
set(CMAKE_C_STANDARD 99)
|
||||
endif()
|
||||
|
||||
# Default to C++14
|
||||
if(NOT CMAKE_CXX_STANDARD)
|
||||
set(CMAKE_CXX_STANDARD 14)
|
||||
endif()
|
||||
|
||||
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 launch files.
|
||||
|
||||
install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME})
|
||||
install(DIRECTORY meshes DESTINATION share/${PROJECT_NAME})
|
||||
install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
|
||||
ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.dsv")
|
||||
ament_package()
|
||||
|
|
@ -1 +0,0 @@
|
|||
controller_joint_names: ['', 'Joint1', 'Joint3', 'Joint4', 'Joint5', 'Joint6', 'Joint7', ]
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
|
@ -1 +0,0 @@
|
|||
prepend-non-duplicate;GAZEBO_MODEL_PATH;share
|
||||
|
|
@ -1,71 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<xacro:macro name="rasms_gazebo">
|
||||
|
||||
<xacro:property name="gravity_disable" value="true" />
|
||||
|
||||
<!-- ros_control-plugin -->
|
||||
<gazebo>
|
||||
<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
|
||||
<robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
|
||||
<parameters>$(find rasms_moveit_config)/config/rasms_controllers.yml</parameters>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
<!-- link 0 -->
|
||||
<gazebo reference="base">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/White</material>
|
||||
<turnGravityOff>gravity_disable</turnGravityOff>
|
||||
</gazebo>
|
||||
|
||||
<!-- link 1 -->
|
||||
<gazebo reference="link1">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/White</material>
|
||||
<turnGravityOff>gravity_disable</turnGravityOff>
|
||||
</gazebo>
|
||||
|
||||
<!-- link 2 -->
|
||||
<gazebo reference="link2">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/White</material>
|
||||
<turnGravityOff>gravity_disable</turnGravityOff>
|
||||
</gazebo>
|
||||
|
||||
<!-- link 3 -->
|
||||
<gazebo reference="link3">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/White</material>
|
||||
<turnGravityOff>gravity_disable</turnGravityOff>
|
||||
</gazebo>
|
||||
|
||||
<!-- link 4 -->
|
||||
<gazebo reference="link4">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/White</material>
|
||||
<turnGravityOff>gravity_disable</turnGravityOff>
|
||||
</gazebo>
|
||||
|
||||
<!-- link 5 -->
|
||||
<gazebo reference="link5">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/White</material>
|
||||
<turnGravityOff>gravity_disable</turnGravityOff>
|
||||
</gazebo>
|
||||
|
||||
<!-- link 6 -->
|
||||
<gazebo reference="link6">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/White</material>
|
||||
<turnGravityOff>gravity_disable</turnGravityOff>
|
||||
</gazebo>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
|
|
@ -1,395 +0,0 @@
|
|||
<?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="-0.00033212 0.00010743 -0.036421"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1.3101" />
|
||||
<inertia
|
||||
ixx="0.0025958"
|
||||
ixy="9.7863E-07"
|
||||
ixz="-1.4731E-05"
|
||||
iyy="0.0023883"
|
||||
iyz="5.8191E-07"
|
||||
izz="0.0043068" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasms_description/meshes/base.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/base.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link
|
||||
name="link1">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.080526 -0.028752 -0.00018483"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.52648" />
|
||||
<inertia
|
||||
ixx="0.00038929"
|
||||
ixy="3.5255E-05"
|
||||
ixz="2.2864E-07"
|
||||
iyy="0.00076496"
|
||||
iyz="6.2982E-08"
|
||||
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="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/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>
|
||||
<joint
|
||||
name="joint2"
|
||||
type="continuous">
|
||||
<origin
|
||||
xyz="0.14172 0 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="link1" />
|
||||
<child
|
||||
link="link2" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="-2.0944"
|
||||
upper="2.0944"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="link3">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.069442 -0.021508 -0.00029297"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.70817" />
|
||||
<inertia
|
||||
ixx="0.00048214"
|
||||
ixy="3.6229E-05"
|
||||
ixz="4.9555E-07"
|
||||
iyy="0.00086485"
|
||||
iyz="6.0984E-08"
|
||||
izz="0.0008604" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasms_description/meshes/link3.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/link3.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint3"
|
||||
type="continuous">
|
||||
<origin
|
||||
xyz="0.081346 0 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="link2" />
|
||||
<child
|
||||
link="link3" />
|
||||
<axis
|
||||
xyz="1 0 0" />
|
||||
<limit
|
||||
lower="-2.0944"
|
||||
upper="2.0944"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="link4">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.025632 0.0098415 0.0001341"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.46645" />
|
||||
<inertia
|
||||
ixx="0.00030236"
|
||||
ixy="6.3957E-06"
|
||||
ixz="8.6559E-08"
|
||||
iyy="0.00025015"
|
||||
iyz="-2.0152E-07"
|
||||
izz="0.00026486" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasms_description/meshes/link4.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/link4.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint4"
|
||||
type="continuous">
|
||||
<origin
|
||||
xyz="0.14438 0 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="link3" />
|
||||
<child
|
||||
link="link4" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="-2.0944"
|
||||
upper="2.0944"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="link5">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.069442 -0.021508 -0.00029297"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.70817" />
|
||||
<inertia
|
||||
ixx="0.00048214"
|
||||
ixy="3.6229E-05"
|
||||
ixz="4.9555E-07"
|
||||
iyy="0.00086485"
|
||||
iyz="6.0984E-08"
|
||||
izz="0.0008604" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasms_description/meshes/link5.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/link5.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint5"
|
||||
type="continuous">
|
||||
<origin
|
||||
xyz="0.081346 0 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="link4" />
|
||||
<child
|
||||
link="link5" />
|
||||
<axis
|
||||
xyz="1 0 0" />
|
||||
<limit
|
||||
lower="-2.0944"
|
||||
upper="2.0944"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="link6">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.033705 0.010795 0.00015348"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.59936" />
|
||||
<inertia
|
||||
ixx="0.00035851"
|
||||
ixy="5.7985E-06"
|
||||
ixz="7.8497E-08"
|
||||
iyy="0.00028631"
|
||||
iyz="-1.8291E-07"
|
||||
izz="0.00029514" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasms_description/meshes/link6.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/link6.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint6"
|
||||
type="continuous">
|
||||
<origin
|
||||
xyz="0.14438 0 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="link5" />
|
||||
<child
|
||||
link="link6" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="-2.0944"
|
||||
upper="2.0944"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
</robot>
|
||||
|
|
@ -1,409 +0,0 @@
|
|||
<?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="-0.00033212 0.00010743 -0.036421"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1.3101" />
|
||||
<inertia
|
||||
ixx="0.0025958"
|
||||
ixy="9.7863E-07"
|
||||
ixz="-1.4731E-05"
|
||||
iyy="0.0023883"
|
||||
iyz="5.8191E-07"
|
||||
izz="0.0043068" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasms_description/meshes/base.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/base.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link
|
||||
name="link1">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.080526 -0.028752 -0.00018483"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.52648" />
|
||||
<inertia
|
||||
ixx="0.00038929"
|
||||
ixy="3.5255E-05"
|
||||
ixz="2.2864E-07"
|
||||
iyy="0.00076496"
|
||||
iyz="6.2982E-08"
|
||||
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="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/link1.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint1"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 -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>
|
||||
<joint
|
||||
name="joint2"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.14172 0 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="link1" />
|
||||
<child
|
||||
link="link2" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="-2.0944"
|
||||
upper="2.0944"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="link3">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.069442 -0.021508 -0.00029297"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.70817" />
|
||||
<inertia
|
||||
ixx="0.00048214"
|
||||
ixy="3.6229E-05"
|
||||
ixz="4.9555E-07"
|
||||
iyy="0.00086485"
|
||||
iyz="6.0984E-08"
|
||||
izz="0.0008604" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasms_description/meshes/link3.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/link3.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint3"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.081346 0 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="link2" />
|
||||
<child
|
||||
link="link3" />
|
||||
<axis
|
||||
xyz="1 0 0" />
|
||||
<limit
|
||||
lower="-2.0944"
|
||||
upper="2.0944"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="link4">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.025632 0.0098415 0.0001341"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.46645" />
|
||||
<inertia
|
||||
ixx="0.00030236"
|
||||
ixy="6.3957E-06"
|
||||
ixz="8.6559E-08"
|
||||
iyy="0.00025015"
|
||||
iyz="-2.0152E-07"
|
||||
izz="0.00026486" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasms_description/meshes/link4.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/link4.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint4"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.14438 0 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="link3" />
|
||||
<child
|
||||
link="link4" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="-2.0944"
|
||||
upper="2.0944"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="link5">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.069442 -0.021508 -0.00029297"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.70817" />
|
||||
<inertia
|
||||
ixx="0.00048214"
|
||||
ixy="3.6229E-05"
|
||||
ixz="4.9555E-07"
|
||||
iyy="0.00086485"
|
||||
iyz="6.0984E-08"
|
||||
izz="0.0008604" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasms_description/meshes/link5.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/link5.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint5"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.081346 0 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="link4" />
|
||||
<child
|
||||
link="link5" />
|
||||
<axis
|
||||
xyz="1 0 0" />
|
||||
<limit
|
||||
lower="-2.0944"
|
||||
upper="2.0944"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="link6">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.033705 0.010795 0.00015348"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.59936" />
|
||||
<inertia
|
||||
ixx="0.00035851"
|
||||
ixy="5.7985E-06"
|
||||
ixz="7.8497E-08"
|
||||
iyy="0.00028631"
|
||||
iyz="-1.8291E-07"
|
||||
izz="0.00029514" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasms_description/meshes/link6.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/link6.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint6"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.14438 0 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="link5" />
|
||||
<child
|
||||
link="link6" />
|
||||
<axis
|
||||
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>
|
||||
39
rasmt_support/CMakeLists.txt
Normal file
39
rasmt_support/CMakeLists.txt
Normal file
|
|
@ -0,0 +1,39 @@
|
|||
cmake_minimum_required(VERSION 3.5)
|
||||
project(rasmt_support)
|
||||
|
||||
# Default to C99
|
||||
if(NOT CMAKE_C_STANDARD)
|
||||
set(CMAKE_C_STANDARD 99)
|
||||
endif()
|
||||
|
||||
# Default to C++14
|
||||
if(NOT CMAKE_CXX_STANDARD)
|
||||
set(CMAKE_CXX_STANDARD 14)
|
||||
endif()
|
||||
|
||||
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)
|
||||
find_package(urdf REQUIRED)
|
||||
find_package(xacro REQUIRED)
|
||||
|
||||
if(BUILD_TESTING)
|
||||
find_package(ament_lint_auto REQUIRED)
|
||||
# the following line skips the linter which checks for copyrights
|
||||
# uncomment the line when a copyright and license is not present in all source files
|
||||
#set(ament_cmake_copyright_FOUND TRUE)
|
||||
# the following line skips cpplint (only works in a git repo)
|
||||
# uncomment the line when this package is not in a git repo
|
||||
#set(ament_cmake_cpplint_FOUND TRUE)
|
||||
ament_lint_auto_find_test_dependencies()
|
||||
endif()
|
||||
|
||||
install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME})
|
||||
install(DIRECTORY meshes DESTINATION share/${PROJECT_NAME})
|
||||
install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
|
||||
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
|
||||
|
||||
ament_package()
|
||||
|
|
@ -42,70 +42,29 @@ Visualization Manager:
|
|||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Class: moveit_rviz_plugin/PlanningScene
|
||||
- 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
|
||||
Move Group Namespace: ""
|
||||
Name: PlanningScene
|
||||
Planning Scene Topic: /monitored_planning_scene
|
||||
Robot Description: robot_description
|
||||
Scene Geometry:
|
||||
Scene Alpha: 0.8999999761581421
|
||||
Scene Color: 50; 230; 50
|
||||
Scene Display Time: 0.009999999776482582
|
||||
Show Scene Geometry: true
|
||||
Voxel Coloring: Z-Axis
|
||||
Voxel Rendering: Occupied Voxels
|
||||
Scene Robot:
|
||||
Attached Body Color: 150; 50; 150
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
base:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link4:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link5:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link6:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
world:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Robot Alpha: 1
|
||||
Show Robot Collision: false
|
||||
Show Robot Visual: true
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: ""
|
||||
Name: RobotModel
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
|
|
@ -164,10 +123,10 @@ Visualization Manager:
|
|||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.7903980612754822
|
||||
Pitch: 0.680398166179657
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 5.348577976226807
|
||||
Yaw: 5.493580341339111
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
21
rasmt_support/config/rasmt_hand_controllers.yaml
Normal file
21
rasmt_support/config/rasmt_hand_controllers.yaml
Normal file
|
|
@ -0,0 +1,21 @@
|
|||
controller_manager:
|
||||
ros__parameters:
|
||||
update_rate: 1000 # Hz
|
||||
|
||||
joint_state_broadcaster:
|
||||
type: joint_state_broadcaster/JointStateBroadcaster
|
||||
|
||||
hand_position_trajectory_controller:
|
||||
type: joint_trajectory_controller/JointTrajectoryController
|
||||
|
||||
hand_position_trajectory_controller:
|
||||
ros__parameters:
|
||||
joints:
|
||||
- rasmt_Slide_1
|
||||
- rasmt_Slide_2
|
||||
command_interfaces:
|
||||
- position
|
||||
state_interfaces:
|
||||
- position
|
||||
state_publish_rate: 50.0
|
||||
action_monitor_rate: 20.0
|
||||
25
rasmt_support/config/rasmt_single_controllers.yaml
Normal file
25
rasmt_support/config/rasmt_single_controllers.yaml
Normal file
|
|
@ -0,0 +1,25 @@
|
|||
controller_manager:
|
||||
ros__parameters:
|
||||
update_rate: 1000 # Hz
|
||||
|
||||
joint_state_broadcaster:
|
||||
type: joint_state_broadcaster/JointStateBroadcaster
|
||||
|
||||
position_trajectory_controller:
|
||||
type: joint_trajectory_controller/JointTrajectoryController
|
||||
|
||||
position_trajectory_controller:
|
||||
ros__parameters:
|
||||
joints:
|
||||
- rasmt_Rot_Z_1
|
||||
- rasmt_Rot_Y_1
|
||||
- rasmt_Rot_Z_2
|
||||
- rasmt_Rot_Y_2
|
||||
- rasmt_Rot_Z_3
|
||||
- rasmt_Rot_Y_4
|
||||
command_interfaces:
|
||||
- position
|
||||
state_interfaces:
|
||||
- position
|
||||
state_publish_rate: 50.0
|
||||
action_monitor_rate: 20.0
|
||||
54
rasmt_support/launch/gazebo.launch.py
Normal file
54
rasmt_support/launch/gazebo.launch.py
Normal file
|
|
@ -0,0 +1,54 @@
|
|||
from launch.launch_description import LaunchDescription
|
||||
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
|
||||
from launch.substitutions import PathJoinSubstitution, LaunchConfiguration, FindExecutable, Command
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
from launch_ros.actions import Node
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
import xacro
|
||||
import os
|
||||
from ament_index_python import get_package_share_directory
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
|
||||
# Launch Gazebo
|
||||
gazebo = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
PathJoinSubstitution([
|
||||
FindPackageShare("gazebo_ros"),
|
||||
"launch",
|
||||
"gazebo.launch.py"
|
||||
])
|
||||
)
|
||||
)
|
||||
xacro_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","rasmt.xacro")
|
||||
# get error if xacro file if missing
|
||||
assert os.path.exists(xacro_file), "The xacro file of rasmt.xacro doesnt exist"+str(xacro_file)
|
||||
|
||||
sdf_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","cube5x.sdf")
|
||||
|
||||
|
||||
spawn_entity = Node(
|
||||
package="gazebo_ros",
|
||||
executable="spawn_entity.py",
|
||||
arguments=[
|
||||
"-file", xacro_file,
|
||||
"-entity", "rasmt"
|
||||
],
|
||||
output="screen"
|
||||
)
|
||||
cube_spawn = Node(
|
||||
package="gazebo_ros",
|
||||
executable="spawn_entity.py",
|
||||
arguments=[
|
||||
"-file", sdf_file,
|
||||
"-entity", "cube_station"
|
||||
]
|
||||
)
|
||||
|
||||
return LaunchDescription(
|
||||
[
|
||||
gazebo,
|
||||
spawn_entity,
|
||||
#cube_spawn
|
||||
])
|
||||
77
rasmt_support/launch/rviz.launch.py
Normal file
77
rasmt_support/launch/rviz.launch.py
Normal file
|
|
@ -0,0 +1,77 @@
|
|||
from multiprocessing import context
|
||||
from webbrowser import get
|
||||
from launch.actions.declare_launch_argument import DeclareLaunchArgument
|
||||
from launch.launch_description import LaunchDescription
|
||||
#from launch.substitutions.launch_configuration import LaunchConfiguration
|
||||
from launch_ros.actions import Node
|
||||
import xacro
|
||||
import os
|
||||
from ament_index_python import get_package_share_directory
|
||||
|
||||
def generate_launch_description():
|
||||
|
||||
launch_args = []
|
||||
launch_args.append(
|
||||
DeclareLaunchArgument(
|
||||
name="grip",
|
||||
default_value="true",
|
||||
description="On or OFF gripper for launch"
|
||||
)
|
||||
)
|
||||
launch_args.append(
|
||||
DeclareLaunchArgument(
|
||||
name="sim",
|
||||
default_value="true",
|
||||
description="On or OFF simulation"
|
||||
)
|
||||
)
|
||||
launch_args.append(
|
||||
DeclareLaunchArgument(
|
||||
name="robot_name",
|
||||
default_value="rasmt",
|
||||
description="Robot name"
|
||||
)
|
||||
)
|
||||
|
||||
# For convert LaunchConfiguration to string
|
||||
# grip = LaunchConfiguration("grip").perform(context)
|
||||
|
||||
# get xacro file path
|
||||
xacro_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","rasmt.xacro")
|
||||
# get error if xacro file if missing
|
||||
assert os.path.exists(xacro_file), "The xacro file of neptun_description doesnt exist"+str(xacro_file)
|
||||
# parse xacro file from file with arguments
|
||||
robot_description = xacro.process_file(xacro_file, mappings={'grip':"true",'sim':"false",'robot_name':"rasmt"})
|
||||
# convert file to xml format
|
||||
robot_description_content = robot_description.toxml()
|
||||
|
||||
rviz_config_file = os.path.join(get_package_share_directory("rasmt_support"),"config/","rasmt.rviz")
|
||||
rviz = Node(
|
||||
package="rviz2",
|
||||
executable="rviz2",
|
||||
parameters=[{'robot_description': robot_description_content}],
|
||||
arguments=[
|
||||
'-d', rviz_config_file
|
||||
]
|
||||
)
|
||||
robot_state_publisher = Node(
|
||||
package="robot_state_publisher",
|
||||
executable="robot_state_publisher",
|
||||
output="screen",
|
||||
parameters=[{'robot_description': robot_description_content}]
|
||||
)
|
||||
joint_state_publisher =Node(
|
||||
package="joint_state_publisher_gui",
|
||||
executable="joint_state_publisher_gui",
|
||||
output="log",
|
||||
arguments=["--ros-args"],
|
||||
)
|
||||
|
||||
launch_nodes = []
|
||||
launch_nodes.append(rviz)
|
||||
launch_nodes.append(robot_state_publisher)
|
||||
launch_nodes.append(joint_state_publisher)
|
||||
#launch_nodes.add_action(launch_args)
|
||||
|
||||
|
||||
return LaunchDescription(launch_nodes)
|
||||
BIN
rasmt_support/meshes/collision/Base_Link.STL
Normal file
BIN
rasmt_support/meshes/collision/Base_Link.STL
Normal file
Binary file not shown.
BIN
rasmt_support/meshes/collision/Dock_Link.STL
Normal file
BIN
rasmt_support/meshes/collision/Dock_Link.STL
Normal file
Binary file not shown.
BIN
rasmt_support/meshes/collision/Fork_1.STL
Normal file
BIN
rasmt_support/meshes/collision/Fork_1.STL
Normal file
Binary file not shown.
BIN
rasmt_support/meshes/collision/Fork_2.STL
Normal file
BIN
rasmt_support/meshes/collision/Fork_2.STL
Normal file
Binary file not shown.
BIN
rasmt_support/meshes/collision/Fork_3.STL
Normal file
BIN
rasmt_support/meshes/collision/Fork_3.STL
Normal file
Binary file not shown.
BIN
rasmt_support/meshes/collision/Grip_Body.STL
Normal file
BIN
rasmt_support/meshes/collision/Grip_Body.STL
Normal file
Binary file not shown.
BIN
rasmt_support/meshes/collision/Grip_L.STL
Normal file
BIN
rasmt_support/meshes/collision/Grip_L.STL
Normal file
Binary file not shown.
BIN
rasmt_support/meshes/collision/Grip_R.STL
Normal file
BIN
rasmt_support/meshes/collision/Grip_R.STL
Normal file
Binary file not shown.
BIN
rasmt_support/meshes/collision/Link_1.STL
Normal file
BIN
rasmt_support/meshes/collision/Link_1.STL
Normal file
Binary file not shown.
BIN
rasmt_support/meshes/collision/Link_2.STL
Normal file
BIN
rasmt_support/meshes/collision/Link_2.STL
Normal file
Binary file not shown.
BIN
rasmt_support/meshes/collision/cube5x.STL
Normal file
BIN
rasmt_support/meshes/collision/cube5x.STL
Normal file
Binary file not shown.
|
|
@ -1,18 +1,16 @@
|
|||
<?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>rasms_description</name>
|
||||
<name>rasmt_support</name>
|
||||
<version>0.0.0</version>
|
||||
<description>TODO: Package description</description>
|
||||
<maintainer email="bill-finger@todo.todo">bill-finger</maintainer>
|
||||
<maintainer email="ur.narmak@gmail.com">bill-finger</maintainer>
|
||||
<license>TODO: License declaration</license>
|
||||
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
|
||||
<exec_depend>xacro</exec_depend>
|
||||
<exec_depend>joint_state_publisher_gui</exec_depend>
|
||||
<exec_depend>robot_state_publisher</exec_depend>
|
||||
<exec_depend>rviz2</exec_depend>
|
||||
<depend>urdf</depend>
|
||||
<depend>xacro</depend>
|
||||
|
||||
<test_depend>ament_lint_auto</test_depend>
|
||||
<test_depend>ament_lint_common</test_depend>
|
||||
38
rasmt_support/urdf/cube5x.sdf
Normal file
38
rasmt_support/urdf/cube5x.sdf
Normal file
|
|
@ -0,0 +1,38 @@
|
|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<sdf version='1.7'>
|
||||
<model name='cube_model'>
|
||||
<static>1</static>
|
||||
<link name='cube'>
|
||||
<inertial>
|
||||
<pose>0.004475 0 0.577443 0 0 0</pose>
|
||||
<mass>229.703</mass>
|
||||
<inertia>
|
||||
<ixx>0.861062</ixx>
|
||||
<ixy>2.44052e-16</ixy>
|
||||
<ixz>-7.22504e-17</ixz>
|
||||
<iyy>0.861062</iyy>
|
||||
<iyz>3.40174e-17</iyz>
|
||||
<izz>1.16487</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='cube_5x5x5_collision'>
|
||||
<pose>0 0 0 0 0 1.5707</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://neptun_description/meshes/cube5x.STL</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='cube_5x5x5_visual'>
|
||||
<pose>0 0 0 0 0 1.5707</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://neptun_description/meshes/cube5x.STL</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
18
rasmt_support/urdf/rasmt.xacro
Normal file
18
rasmt_support/urdf/rasmt.xacro
Normal file
|
|
@ -0,0 +1,18 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rasmt">
|
||||
|
||||
<xacro:arg name="grip" default="false"/>
|
||||
<xacro:arg name="sim" default="true"/>
|
||||
<xacro:arg name="robot_name" default="rasmt"/>
|
||||
|
||||
<link name="world"/>
|
||||
|
||||
<xacro:include filename="$(find rasmt_support)/urdf/robot/rasmt_single_macro.xacro"/>
|
||||
<xacro:rasmt_single prefix="$(arg robot_name)" parent="world" sim="$(arg sim)"/>
|
||||
|
||||
<xacro:if value="$(arg grip)">
|
||||
<xacro:include filename="$(find rasmt_support)/urdf/tools/rasmt_hand_macro.xacro"/>
|
||||
<xacro:rasmt_hand prefix="$(arg robot_name)" sim="$(arg sim)"/>
|
||||
</xacro:if>
|
||||
|
||||
</robot>
|
||||
|
|
@ -1,13 +1,22 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<xacro:macro name="rasms_hi">
|
||||
<xacro:macro name="rasmt_single_control" params="prefix sim">
|
||||
<!-- arg for control mode -->
|
||||
<ros2_control name="rasms_hi" type="system">
|
||||
<hardware>
|
||||
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
|
||||
</hardware>
|
||||
<!-- define joints and command/state interfaces for each joint -->
|
||||
<joint name="joint1">
|
||||
<ros2_control name="rasmt_single_hi" type="system">
|
||||
|
||||
<xacro:if value="${sim}">
|
||||
<hardware>
|
||||
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
|
||||
</hardware>
|
||||
</xacro:if>
|
||||
|
||||
<xacro:unless value="${sim}">
|
||||
<hardware>
|
||||
<plugin>fake_components/GenericSystem</plugin>
|
||||
</hardware>
|
||||
</xacro:unless>
|
||||
|
||||
<joint name="${prefix}_Rot_Z_1">
|
||||
<command_interface name="position">
|
||||
<!-- better to use radians as min max first -->
|
||||
<param name="min">-1</param>
|
||||
|
|
@ -17,7 +26,8 @@
|
|||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="joint2">
|
||||
|
||||
<joint name="${prefix}_Rot_Y_1">
|
||||
<command_interface name="position">
|
||||
<param name="min">-1</param>
|
||||
<param name="max"> 1</param>
|
||||
|
|
@ -26,7 +36,8 @@
|
|||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="joint3">
|
||||
|
||||
<joint name="${prefix}_Rot_Z_2">
|
||||
<command_interface name="position">
|
||||
<param name="min">-1</param>
|
||||
<param name="max"> 1</param>
|
||||
|
|
@ -35,7 +46,8 @@
|
|||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="joint4">
|
||||
|
||||
<joint name="${prefix}_Rot_Y_2">
|
||||
<command_interface name="position">
|
||||
<param name="min">-1</param>
|
||||
<param name="max"> 1</param>
|
||||
|
|
@ -44,7 +56,8 @@
|
|||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="joint5">
|
||||
|
||||
<joint name="${prefix}_Rot_Z_3">
|
||||
<command_interface name="position">
|
||||
<param name="min">-1</param>
|
||||
<param name="max"> 1</param>
|
||||
|
|
@ -53,7 +66,8 @@
|
|||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="joint6">
|
||||
|
||||
<joint name="${prefix}_Rot_Y_4">
|
||||
<command_interface name="position">
|
||||
<param name="min">-1</param>
|
||||
<param name="max"> 1</param>
|
||||
|
|
@ -62,6 +76,7 @@
|
|||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
</ros2_control>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
63
rasmt_support/urdf/robot/rasmt_single_gazebo.xacro
Normal file
63
rasmt_support/urdf/robot/rasmt_single_gazebo.xacro
Normal file
|
|
@ -0,0 +1,63 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<xacro:macro name="rasmt_single_gazebo" params="prefix">
|
||||
|
||||
<!-- ros_control-plugin -->
|
||||
<gazebo>
|
||||
<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
|
||||
<!--robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type-->
|
||||
<parameters>$(find rasmt_support)/config/rasmt_single_controllers.yaml</parameters>
|
||||
<robotNamespace>/${prefix}</robotNamespace>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
<!-- link 0 -->
|
||||
<gazebo reference="${prefix}_Base_Link">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<turnGravityOff>true</turnGravityOff>
|
||||
</gazebo>
|
||||
|
||||
<!-- link 1 -->
|
||||
<gazebo reference="${prefix}_Fork_1">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<turnGravityOff>true</turnGravityOff>
|
||||
</gazebo>
|
||||
|
||||
<!-- link 2 -->
|
||||
<gazebo reference="${prefix}_Link_1">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<turnGravityOff>true</turnGravityOff>
|
||||
</gazebo>
|
||||
|
||||
<!-- link 3 -->
|
||||
<gazebo reference="${prefix}_Fork_2">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<turnGravityOff>true</turnGravityOff>
|
||||
</gazebo>
|
||||
|
||||
<!-- link 4 -->
|
||||
<gazebo reference="${prefix}_Link_2">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<turnGravityOff>true</turnGravityOff>
|
||||
</gazebo>
|
||||
|
||||
<!-- link 5 -->
|
||||
<gazebo reference="${prefix}_Fork_3">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<turnGravityOff>true</turnGravityOff>
|
||||
</gazebo>
|
||||
|
||||
<!-- link 6 -->
|
||||
<gazebo reference="${prefix}_Dock_Link">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<turnGravityOff>true</turnGravityOff>
|
||||
</gazebo>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
405
rasmt_support/urdf/robot/rasmt_single_macro.xacro
Normal file
405
rasmt_support/urdf/robot/rasmt_single_macro.xacro
Normal file
|
|
@ -0,0 +1,405 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:include filename="$(find rasmt_support)/urdf/robot/rasmt_single_control.xacro"/>
|
||||
<xacro:include filename="$(find rasmt_support)/urdf/robot/rasmt_single_gazebo.xacro"/>
|
||||
|
||||
<xacro:macro name="rasmt_single" params="prefix parent sim:=^|true">
|
||||
|
||||
|
||||
<joint name="to_${parent}" type="fixed">
|
||||
<parent link="${parent}"/>
|
||||
<child link="${prefix}_Base_Link"/>
|
||||
<!--origin xyz="0 0 1.15" rpy="3.14159 0 3.14159"/-->
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="${prefix}_Base_Link">
|
||||
<inertial>
|
||||
<origin xyz="-0.0030651 -3.2739E-05 0.082353" rpy="0 0 0" />
|
||||
<mass value="5.2929" />
|
||||
<inertia
|
||||
ixx="0.0076169"
|
||||
ixy="1.0121E-05"
|
||||
ixz="-0.00010622"
|
||||
iyy="0.0076597"
|
||||
iyz="6.5117E-05"
|
||||
izz="0.01165" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://rasmt_support/meshes/collision/Base_Link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color rgba="0.75294 0.75294 0.75294 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://rasmt_support/meshes/collision/Base_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="${prefix}_Fork_1">
|
||||
<inertial>
|
||||
<origin xyz="0.043764 -0.0066984 -0.032285" rpy="0 0 0" />
|
||||
<mass value="0.67797" />
|
||||
<inertia
|
||||
ixx="0.0014091"
|
||||
ixy="-6.2674E-05"
|
||||
ixz="0.00057897"
|
||||
iyy="0.0017329"
|
||||
iyz="4.7826E-05"
|
||||
izz="0.0019056" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://rasmt_support/meshes/collision/Fork_1.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.75294 0.75294 0.75294 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasmt_support/meshes/collision/Fork_1.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint
|
||||
name="${prefix}_Rot_Z_1"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0 0 0.2533"
|
||||
rpy="-3.1416 0 0" />
|
||||
<parent
|
||||
link="${prefix}_Base_Link" />
|
||||
<child
|
||||
link="${prefix}_Fork_1" />
|
||||
<axis
|
||||
xyz="0 0 1" />
|
||||
<limit
|
||||
lower="-3.1416"
|
||||
upper="3.1416"
|
||||
effort="5.149"
|
||||
velocity="0.99903" />
|
||||
</joint>
|
||||
|
||||
<link
|
||||
name="${prefix}_Link_1">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00042264 0.0 0.075171"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1.8959" />
|
||||
<inertia
|
||||
ixx="0.0029317"
|
||||
ixy="-9.417E-06"
|
||||
ixz="5.5248E-05"
|
||||
iyy="0.0031666"
|
||||
iyz="-9.3067E-05"
|
||||
izz="0.0015477" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasmt_support/meshes/collision/Link_1.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.75294 0.75294 0.75294 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasmt_support/meshes/collision/Link_1.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint
|
||||
name="${prefix}_Rot_Y_1"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.1045 0.0 -0.0795"
|
||||
rpy="3.1416 0 0" />
|
||||
<parent
|
||||
link="${prefix}_Fork_1" />
|
||||
<child
|
||||
link="${prefix}_Link_1" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="-1.5707"
|
||||
upper="2.2863"
|
||||
effort="5.149"
|
||||
velocity="0.99903" />
|
||||
</joint>
|
||||
|
||||
<link
|
||||
name="${prefix}_Fork_2">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.043764 0.0066984 0.032285"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.67797" />
|
||||
<inertia
|
||||
ixx="0.0014091"
|
||||
ixy="6.2674E-05"
|
||||
ixz="-0.00057897"
|
||||
iyy="0.0017329"
|
||||
iyz="4.7826E-05"
|
||||
izz="0.0019056" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasmt_support/meshes/collision/Fork_2.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.75294 0.75294 0.75294 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasmt_support/meshes/collision/Fork_2.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint
|
||||
name="${prefix}_Rot_Z_2"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0 0.0 0.17502"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="${prefix}_Link_1" />
|
||||
<child
|
||||
link="${prefix}_Fork_2" />
|
||||
<axis
|
||||
xyz="0 0 1" />
|
||||
<limit
|
||||
lower="-3.1416"
|
||||
upper="3.1416"
|
||||
effort="5.149"
|
||||
velocity="0.99903" />
|
||||
</joint>
|
||||
|
||||
<link
|
||||
name="${prefix}_Link_2">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00042264 0.0 0.075171"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1.8959" />
|
||||
<inertia
|
||||
ixx="0.0029317"
|
||||
ixy="-9.4171E-06"
|
||||
ixz="5.5248E-05"
|
||||
iyy="0.0031666"
|
||||
iyz="-9.3067E-05"
|
||||
izz="0.0015477" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasmt_support/meshes/collision/Link_2.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.75294 0.75294 0.75294 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasmt_support/meshes/collision/Link_2.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint
|
||||
name="${prefix}_Rot_Y_2"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.1045 0.0 0.0795"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="${prefix}_Fork_2" />
|
||||
<child
|
||||
link="${prefix}_Link_2" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="-1.5707"
|
||||
upper="2.2863"
|
||||
effort="5.149"
|
||||
velocity="0.99903" />
|
||||
</joint>
|
||||
|
||||
<link
|
||||
name="${prefix}_Fork_3">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0437644555284691 0.00669835350471771 0.0322846229336455"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.677972982551887" />
|
||||
<inertia
|
||||
ixx="0.00140908677953665"
|
||||
ixy="6.26743492445164E-05"
|
||||
ixz="-0.000578970009504215"
|
||||
iyy="0.00173285340301686"
|
||||
iyz="4.78263030621606E-05"
|
||||
izz="0.00190561919128035" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasmt_support/meshes/collision/Fork_3.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasmt_support/meshes/collision/Fork_3.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint
|
||||
name="${prefix}_Rot_Z_3"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0 0.0 0.175"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="${prefix}_Link_2" />
|
||||
<child
|
||||
link="${prefix}_Fork_3" />
|
||||
<axis
|
||||
xyz="0 0 1" />
|
||||
<limit
|
||||
lower="-3.14159"
|
||||
upper="3.14159"
|
||||
effort="5.149"
|
||||
velocity="0.99903" />
|
||||
</joint>
|
||||
|
||||
<link
|
||||
name="${prefix}_Dock_Link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="1.08992929317431E-05 0.0 0.0566747528784688"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1.81040750781824" />
|
||||
<inertia
|
||||
ixx="0.00136087225665183"
|
||||
ixy="-1.57915998142718E-06"
|
||||
ixz="-1.31398366941724E-06"
|
||||
iyy="0.00136397029450427"
|
||||
iyz="-0.00010058418524025"
|
||||
izz="0.00124273705160787" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasmt_support/meshes/collision/Dock_Link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasmt_support/meshes/collision/Dock_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint
|
||||
name="${prefix}_Rot_Y_4"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.1045 0.0 0.0795"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="${prefix}_Fork_3" />
|
||||
<child
|
||||
link="${prefix}_Dock_Link" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="-1.5707"
|
||||
upper="2.2863"
|
||||
effort="5.149"
|
||||
velocity="0.99903" />
|
||||
</joint>
|
||||
<xacro:rasmt_single_gazebo prefix="${prefix}"/>
|
||||
<xacro:rasmt_single_control prefix="${prefix}" sim="${sim}"/>
|
||||
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
42
rasmt_support/urdf/tools/rasmt_hand_control.xacro
Normal file
42
rasmt_support/urdf/tools/rasmt_hand_control.xacro
Normal file
|
|
@ -0,0 +1,42 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<xacro:macro name="rasmt_hand_hi" params="prefix sim">
|
||||
<!-- arg for control mode -->
|
||||
<ros2_control name="rasmt_hand_hi" type="system">
|
||||
|
||||
<xacro:if value="${sim}">
|
||||
<hardware>
|
||||
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
|
||||
</hardware>
|
||||
</xacro:if>
|
||||
|
||||
<xacro:unless value="${sim}">
|
||||
<hardware>
|
||||
<plugin>fake_components/GenericSystem</plugin>
|
||||
</hardware>
|
||||
</xacro:unless>
|
||||
|
||||
<joint name="${prefix}_Slide_1">
|
||||
<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"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="${prefix}_Slide_2">
|
||||
<command_interface name="position">
|
||||
<param name="min">-1</param>
|
||||
<param name="max"> 1</param>
|
||||
</command_interface>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
</ros2_control>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
36
rasmt_support/urdf/tools/rasmt_hand_gazebo.xacro
Normal file
36
rasmt_support/urdf/tools/rasmt_hand_gazebo.xacro
Normal file
|
|
@ -0,0 +1,36 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<xacro:macro name="rasmt_hand_gazebo" params="prefix">
|
||||
|
||||
<!-- ros_control-plugin -->
|
||||
<gazebo>
|
||||
<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
|
||||
<!--robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type-->
|
||||
<parameters>$(find rasmt_support)/config/rasmt_hand_controllers.yaml</parameters>
|
||||
<robotNamespace>/${prefix}</robotNamespace>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
<!-- link 0 -->
|
||||
<gazebo reference="${prefix}_Grip_Body">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<turnGravityOff>true</turnGravityOff>
|
||||
</gazebo>
|
||||
|
||||
<!-- link 1 -->
|
||||
<gazebo reference="${prefix}_Grip_L">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<turnGravityOff>true</turnGravityOff>
|
||||
</gazebo>
|
||||
|
||||
<!-- link 2 -->
|
||||
<gazebo reference="${prefix}_Grip_R">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<turnGravityOff>true</turnGravityOff>
|
||||
</gazebo>
|
||||
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
189
rasmt_support/urdf/tools/rasmt_hand_macro.xacro
Normal file
189
rasmt_support/urdf/tools/rasmt_hand_macro.xacro
Normal file
|
|
@ -0,0 +1,189 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:include filename="$(find rasmt_support)/urdf/tools/rasmt_hand_gazebo.xacro"/>
|
||||
<xacro:include filename="$(find rasmt_support)/urdf/tools/rasmt_hand_control.xacro"/>
|
||||
|
||||
<xacro:macro name="rasmt_hand" params="prefix sim">
|
||||
|
||||
<link
|
||||
name="${prefix}_Grip_Body">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0016793 -0.00053126 -0.024041"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.72351" />
|
||||
<inertia
|
||||
ixx="0.00045979"
|
||||
ixy="-2.1983E-08"
|
||||
ixz="-6.5154E-06"
|
||||
iyy="0.00048572"
|
||||
iyz="8.3162E-07"
|
||||
izz="0.00082469" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasmt_support/meshes/collision/Grip_Body.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.50196 1 0.50196 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasmt_support/meshes/collision/Grip_Body.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint
|
||||
name="${prefix}_Fix"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 0.0 0.12324"
|
||||
rpy="-3.14159265358979 0 -1.5707963267949" />
|
||||
<parent
|
||||
link="${prefix}_Dock_Link" />
|
||||
<child
|
||||
link="${prefix}_Grip_Body" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
|
||||
<link
|
||||
name="${prefix}_Grip_L">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.010118 0.010281 -0.0038252"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.021223" />
|
||||
<inertia
|
||||
ixx="6.5436E-06"
|
||||
ixy="-3.114E-06"
|
||||
ixz="2.8479E-06"
|
||||
iyy="1.9726E-05"
|
||||
iyz="1.6432E-06"
|
||||
izz="1.6355E-05" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasmt_support/meshes/collision/Grip_L.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.75294 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasmt_support/meshes/collision/Grip_L.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint
|
||||
name="${prefix}_Slide_1"
|
||||
type="prismatic">
|
||||
<origin
|
||||
xyz="0 0 -0.09305"
|
||||
rpy="3.1416 0 -1.5708" />
|
||||
<parent
|
||||
link="${prefix}_Grip_Body" />
|
||||
<child
|
||||
link="${prefix}_Grip_L" />
|
||||
<axis
|
||||
xyz="1 0 0" />
|
||||
<limit
|
||||
effort="20"
|
||||
lower="-0.02"
|
||||
upper="0.04"
|
||||
velocity="0.2"/>
|
||||
</joint>
|
||||
|
||||
<link
|
||||
name="${prefix}_Grip_R">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.010118 0.010281 -0.0038252"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.021223" />
|
||||
<inertia
|
||||
ixx="6.5436E-06"
|
||||
ixy="-3.114E-06"
|
||||
ixz="2.8479E-06"
|
||||
iyy="1.9726E-05"
|
||||
iyz="1.6432E-06"
|
||||
izz="1.6355E-05" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasmt_support/meshes/collision/Grip_R.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.75294 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 1 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://rasmt_support/meshes/collision/Grip_R.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint
|
||||
name="${prefix}_Slide_2"
|
||||
type="prismatic">
|
||||
<origin
|
||||
xyz="0 0 -0.09305"
|
||||
rpy="3.1416 0 1.5708" />
|
||||
<parent
|
||||
link="${prefix}_Grip_Body" />
|
||||
<child
|
||||
link="${prefix}_Grip_R" />
|
||||
<axis
|
||||
xyz="1 0 0" />
|
||||
<limit
|
||||
effort="20"
|
||||
lower="-0.02"
|
||||
upper="0.04"
|
||||
velocity="0.2"/>
|
||||
<mimic joint="${prefix}_Slide_1"/>
|
||||
</joint>
|
||||
|
||||
<xacro:rasmt_hand_hi prefix="${prefix}" sim="${sim}"/>
|
||||
<xacro:rasmt_hand_gazebo prefix="${prefix}"/>
|
||||
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
Loading…
Add table
Add a link
Reference in a new issue