feat: add webots integration
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a10ded747a
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7 changed files with 524 additions and 243 deletions
131
launch/robot_nodes_launch.py
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131
launch/robot_nodes_launch.py
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#!/usr/bin/env python
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# Copyright 1996-2023 Cyberbotics Ltd.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Launch Webots Universal Robot simulation nodes."""
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import os
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import launch
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from launch_ros.actions import Node
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from launch import LaunchDescription
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from ament_index_python.packages import get_package_share_directory
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from webots_ros2_driver.urdf_spawner import URDFSpawner, get_webots_driver_node
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from webots_ros2_driver.webots_controller import WebotsController
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from rbs_utils.launch import load_xacro_args
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from robot_builder.external.ros2_control import ControllerManager
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from robot_builder.parser.urdf import URDF_parser
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import xacro
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PACKAGE_NAME = 'aubo_description'
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def generate_launch_description():
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package_dir = get_package_share_directory(PACKAGE_NAME)
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robot_description_path = os.path.join(package_dir, 'urdf', 'aubo_i5.urdf.xacro')
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controllers_file = os.path.join(package_dir, 'config', 'controllers.yaml')
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mappings_data = load_xacro_args(robot_description_path, locals())
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robot_description_doc = xacro.process_file(
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robot_description_path, mappings={"robot_ip": "", "simulation_controllers": controllers_file, "hardware": "webots", "with_gripper": "false"}
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)
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robot_description_content = robot_description_doc.toprettyxml(indent=" ")
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# with open("current.urdf", "w") as file:
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# file.write(robot_description_content)
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# file.close()
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robot = URDF_parser.load_string(
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robot_description_content,
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base_link_name="base_link",
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ee_link_name="wrist3_Link",
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)
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ControllerManager.save_to_yaml(
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robot, package_dir, "controllers.yaml"
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)
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# Define your URDF robots here
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# The name of an URDF robot has to match the name of the robot of the driver node
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# You can specify the URDF file to use with "urdf_path"
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spawn_URDF_aubo = URDFSpawner(
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name='Aubo-i5',
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robot_description=robot_description_content,
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translation='0 0 0.6',
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rotation='0 0 1 -1.5708',
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)
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# Driver nodes
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# When having multiple robot it is mandatory to specify the robot name.
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aubo_robot_driver = WebotsController(
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robot_name='Aubo-i5',
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parameters=[
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{'robot_description': robot_description_content},
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{'use_sim_time': True},
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{'set_robot_state_publisher': True},
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controllers_file
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],
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)
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# Other ROS 2 nodes
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controller_manager_timeout = ['--controller-manager-timeout', '100']
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trajectory_controller_spawner = Node(
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package='controller_manager',
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executable='spawner',
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output='screen',
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arguments=['cartesian_motion_controller'] + controller_manager_timeout,
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)
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joint_state_broadcaster_spawner = Node(
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package='controller_manager',
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executable='spawner',
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output='screen',
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arguments=['joint_state_broadcaster'] + controller_manager_timeout,
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)
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robot_state_publisher = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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output='screen',
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parameters=[{
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'robot_description': '<robot name=""><link name=""/></robot>'
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}],
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)
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return LaunchDescription([
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# Request to spawn the URDF robot
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spawn_URDF_aubo,
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# Other ROS 2 nodes
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robot_state_publisher,
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trajectory_controller_spawner,
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joint_state_broadcaster_spawner,
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# Launch the driver node once the URDF robot is spawned
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launch.actions.RegisterEventHandler(
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event_handler=launch.event_handlers.OnProcessIO(
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target_action=spawn_URDF_aubo,
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on_stdout=lambda event: get_webots_driver_node(event, aubo_robot_driver),
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)
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),
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# Kill all the nodes when the driver node is shut down
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launch.actions.RegisterEventHandler(
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event_handler=launch.event_handlers.OnProcessExit(
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target_action=aubo_robot_driver,
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on_exit=[launch.actions.EmitEvent(event=launch.events.Shutdown())],
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)
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),
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])
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55
launch/robot_world_launch.py
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55
launch/robot_world_launch.py
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#!/usr/bin/env python
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# Copyright 1996-2023 Cyberbotics Ltd.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Launch Webots Universal Robot simulation world."""
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import launch
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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
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from launch.substitutions import LaunchConfiguration
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from launch.substitutions.path_join_substitution import PathJoinSubstitution
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from webots_ros2_driver.webots_launcher import WebotsLauncher
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PACKAGE_NAME = 'aubo_description'
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def generate_launch_description():
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package_dir = get_package_share_directory(PACKAGE_NAME)
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world = LaunchConfiguration('world')
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# Starts Webots
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webots = WebotsLauncher(
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world=PathJoinSubstitution([package_dir, 'world', world]),
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ros2_supervisor=True
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)
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return LaunchDescription([
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DeclareLaunchArgument(
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'world',
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default_value='aubo_robot.wbt',
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),
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webots,
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webots._supervisor,
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# This action will kill all nodes once the Webots simulation has exited
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launch.actions.RegisterEventHandler(
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event_handler=launch.event_handlers.OnProcessExit(
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target_action=webots,
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on_exit=[launch.actions.EmitEvent(event=launch.events.Shutdown())],
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)
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)
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])
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@ -1,220 +1,275 @@
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<?xml version="1.0"?>
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<robot name="aubo_i5">
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<link name="base_link">
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<inertial>
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<origin xyz="-1.4795E-13 0.0015384 0.020951" rpy="0 0 0" />
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<mass value="0.83419" />
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<inertia ixx="0.0014414" ixy="7.8809E-15" ixz="8.5328E-16" iyy="0.0013542" iyz="-1.4364E-05" izz="0.0024659" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5/visual/base_link.DAE" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5/collision/base_link.STL" />
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</geometry>
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</collision>
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</link>
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<link name="shoulder_Link">
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<inertial>
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<origin xyz="3.2508868974735E-07 0.00534955349296065 -0.00883689325611056" rpy="0 0 0" />
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<mass value="1.57658348693929" />
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<inertia ixx="0.0040640448663128" ixy="0" ixz="0" iyy="0.00392863238466817" iyz="-0.000160151642851425" izz="0.0030869857349184" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5/visual/shoulder_Link.DAE" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5/collision/shoulder_Link.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="shoulder_joint" type="revolute">
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<origin xyz="0 0 0.122" rpy="0 0 3.1416" />
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<parent link="base_link" />
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<child link="shoulder_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-3.04" upper="3.04" effort="0" velocity="0" />
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</joint>
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<link name="upperArm_Link">
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<inertial>
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<origin xyz="0.203996646979614 2.01304585036544E-10 0.0127641545395984" rpy="0 0 0" />
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<mass value="4.04175782265494" />
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<inertia ixx="0.00965399211106204" ixy="0" ixz="0" iyy="0.144993869035655" iyz="0" izz="0.142607184038966" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5/visual/upperArm_Link.DAE" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5/collision/upperArm_Link.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="upperArm_joint" type="revolute">
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<origin xyz="0 0.1215 0" rpy="-1.5708 -1.5708 0" />
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<parent link="shoulder_Link" />
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<child link="upperArm_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-3.04" upper="3.04" effort="0" velocity="0" />
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</joint>
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<link name="foreArm_Link">
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<inertial>
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<origin xyz="0.188922115560337 6.78882434739072E-07 0.0981026740461557" rpy="0 0 0" />
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<mass value="2.27145669098343" />
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<inertia ixx="0.00214322284946289" ixy="0" ixz="-0.00073120631553383" iyy="0.0443926090878205" iyz="0" izz="0.0441273797128365" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5/visual/foreArm_Link.DAE" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5/collision/foreArm_Link.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="foreArm_joint" type="revolute">
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<origin xyz="0.408 0 0" rpy="-3.1416 -5.1632E-18 -5.459E-16" />
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<parent link="upperArm_Link" />
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<child link="foreArm_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-3.04" upper="3.04" effort="0" velocity="0" />
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</joint>
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<link name="wrist1_Link">
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<inertial>
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<origin xyz="7.54205137428592E-07 0.0062481254331257 -0.00392367464072373" rpy="0 0 0" />
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<mass value="0.500477539188764" />
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<inertia ixx="0.00071194605962081" ixy="0" ixz="0" iyy="0.00040588242872958" iyz="-2.30808694377512E-05" izz="0.000685574004861334" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist1_Link.DAE" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist1_Link.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="wrist1_joint" type="revolute">
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<origin xyz="0.376 0 0" rpy="3.1416 -1.8323E-15 1.5708" />
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<parent link="foreArm_Link" />
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<child link="wrist1_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-3.04" upper="3.04" effort="0" velocity="0" />
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</joint>
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<link name="wrist2_Link">
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<inertial>
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<origin xyz="-7.54207620578635E-07 -0.00624812542617262 -0.00392367464115684" rpy="0 0 0" />
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<mass value="0.500477539245988" />
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<inertia ixx="0.00071194605981829" ixy="0" ixz="0" iyy="0.000405882428755442" iyz="2.30808694515886E-05" izz="0.000685574005112107" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist2_Link.DAE" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist2_Link.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="wrist2_joint" type="revolute">
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<origin xyz="0 0.1025 0" rpy="-1.5708 -1.8709E-15 -1.6653E-16" />
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<parent link="wrist1_Link" />
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<child link="wrist2_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-3.04" upper="3.04" effort="0" velocity="0" />
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</joint>
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<link name="wrist3_Link">
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<inertial>
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<origin xyz="3.92048778449938E-10 0.000175788057281467 -0.0213294490706684" rpy="0 0 0" />
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<mass value="0.158309554874285" />
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<inertia ixx="7.31376196034769E-05" ixy="0" ixz="0" iyy="7.19528188876563E-05" iyz="0" izz="0.000108772439051422" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist3_Link.DAE" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist3_Link.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="wrist3_joint" type="revolute">
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<origin xyz="0 -0.094 0" rpy="1.5708 0 1.7907E-15" />
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<parent link="wrist2_Link" />
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<child link="wrist3_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-3.04" upper="3.04" effort="0" velocity="0" />
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</joint>
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<link name="world" />
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<joint name="world_joint" type="fixed">
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<parent link="world" />
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<child link = "base_link" />
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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</joint>
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</robot>
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from /home/narenmak/rbs_ws/install/aubo_description/share/aubo_description/urdf/aubo_i5.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
|
||||
<robot name="aubo_i5">
|
||||
<material name="black">
|
||||
<color rgba="0.25098 0.25098 0.25098 1"/>
|
||||
</material>
|
||||
<material name="orange">
|
||||
<color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
|
||||
</material>
|
||||
<material name="white">
|
||||
<color rgba="0.68627 0.69804 0.67451 1"/>
|
||||
</material>
|
||||
<material name="grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
<link name="base_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-1.4795E-13 0.0015384 0.020951"/>
|
||||
<mass value="0.83419"/>
|
||||
<inertia ixx="0.0014414" ixy="7.8809E-15" ixz="8.5328E-16" iyy="0.0013542" iyz="-1.4364E-05" izz="0.0024659"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/base_link.DAE"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/base_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="shoulder_Link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="3.2508868974735E-07 0.00534955349296065 -0.00883689325611056"/>
|
||||
<mass value="1.57658348693929"/>
|
||||
<inertia ixx="0.0040640448663128" ixy="0" ixz="0" iyy="0.00392863238466817" iyz="-0.000160151642851425" izz="0.0030869857349184"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/shoulder_Link.DAE"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/shoulder_Link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="shoulder_joint" type="revolute">
|
||||
<origin rpy="0 0 3.1416" xyz="0 0 0.122"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="shoulder_Link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="150" lower="-6.28" upper="6.28" velocity="3.1416"/>
|
||||
</joint>
|
||||
<link name="upperArm_Link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.203996646979614 2.01304585036544E-10 0.0127641545395984"/>
|
||||
<mass value="4.04175782265494"/>
|
||||
<inertia ixx="0.00965399211106204" ixy="0" ixz="0" iyy="0.144993869035655" iyz="0" izz="0.142607184038966"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/upperArm_Link.DAE"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/upperArm_Link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="upperArm_joint" type="revolute">
|
||||
<origin rpy="-1.5708 -1.5708 0" xyz="0 0.1215 0"/>
|
||||
<parent link="shoulder_Link"/>
|
||||
<child link="upperArm_Link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="150" lower="-6.28" upper="6.28" velocity="3.1416"/>
|
||||
</joint>
|
||||
<link name="foreArm_Link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.188922115560337 6.78882434739072E-07 0.0981026740461557"/>
|
||||
<mass value="2.27145669098343"/>
|
||||
<inertia ixx="0.00214322284946289" ixy="0" ixz="-0.00073120631553383" iyy="0.0443926090878205" iyz="0" izz="0.0441273797128365"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/foreArm_Link.DAE"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/foreArm_Link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="foreArm_joint" type="revolute">
|
||||
<origin rpy="-3.1416 -5.1632E-18 -5.459E-16" xyz="0.408 0 0"/>
|
||||
<parent link="upperArm_Link"/>
|
||||
<child link="foreArm_Link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="150" lower="-6.28" upper="6.28" velocity="3.1416"/>
|
||||
</joint>
|
||||
<link name="wrist1_Link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="7.54205137428592E-07 0.0062481254331257 -0.00392367464072373"/>
|
||||
<mass value="0.500477539188764"/>
|
||||
<inertia ixx="0.00071194605962081" ixy="0" ixz="0" iyy="0.00040588242872958" iyz="-2.30808694377512E-05" izz="0.000685574004861334"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist1_Link.DAE"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist1_Link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="wrist1_joint" type="revolute">
|
||||
<origin rpy="3.1416 -1.8323E-15 1.5708" xyz="0.376 0 0"/>
|
||||
<parent link="foreArm_Link"/>
|
||||
<child link="wrist1_Link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="28" lower="-6.28" upper="6.28" velocity="3.1416"/>
|
||||
</joint>
|
||||
<link name="wrist2_Link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-7.54207620578635E-07 -0.00624812542617262 -0.00392367464115684"/>
|
||||
<mass value="0.500477539245988"/>
|
||||
<inertia ixx="0.00071194605981829" ixy="0" ixz="0" iyy="0.000405882428755442" iyz="2.30808694515886E-05" izz="0.000685574005112107"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist2_Link.DAE"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist2_Link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="wrist2_joint" type="revolute">
|
||||
<origin rpy="-1.5708 -1.8709E-15 -1.6653E-16" xyz="0 0.1025 0"/>
|
||||
<parent link="wrist1_Link"/>
|
||||
<child link="wrist2_Link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="28" lower="-6.28" upper="6.28" velocity="3.1416"/>
|
||||
</joint>
|
||||
<link name="wrist3_Link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="3.92048778449938E-10 0.000175788057281467 -0.0213294490706684"/>
|
||||
<mass value="0.158309554874285"/>
|
||||
<inertia ixx="7.31376196034769E-05" ixy="0" ixz="0" iyy="7.19528188876563E-05" iyz="0" izz="0.000108772439051422"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist3_Link.DAE"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist3_Link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="wrist3_joint" type="revolute">
|
||||
<origin rpy="1.5708 0 1.7907E-15" xyz="0 -0.094 0"/>
|
||||
<parent link="wrist2_Link"/>
|
||||
<child link="wrist3_Link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="28" lower="-6.28" upper="6.28" velocity="3.1416"/>
|
||||
</joint>
|
||||
<link name="world"/>
|
||||
<joint name="world_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="base_link"/>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
|
||||
</joint>
|
||||
<ros2_control name="aubo_hardware_interface" type="system">
|
||||
<hardware>
|
||||
<plugin>webots_ros2_control::Ros2ControlSystem</plugin>
|
||||
</hardware>
|
||||
<joint name="shoulder_joint">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">0.0</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="upperArm_joint">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="foreArm_joint">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="wrist1_joint">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="wrist2_joint">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="wrist3_joint">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">0.0</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
</ros2_control>
|
||||
<webots>
|
||||
<plugin type="webots_ros2_control::Ros2Control"/>
|
||||
</webots>
|
||||
</robot>
|
||||
|
|
|
|||
|
|
@ -1,9 +1,4 @@
|
|||
<?xml version="1.0"?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from aubo_i5L.urdf | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
|
||||
<robot name="aubo_i5" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<xacro:include filename="$(find aubo_description)/urdf/aubo.transmission.xacro" />
|
||||
<xacro:include filename="$(find aubo_description)/urdf/materials.xacro" />
|
||||
|
|
@ -243,19 +238,12 @@
|
|||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
|
||||
</joint>
|
||||
|
||||
<!-- <xacro:dh_ag145_gripper prefix="" parent="wrist3_Link"> -->
|
||||
<!-- <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /> -->
|
||||
<!-- </xacro:dh_ag145_gripper> -->
|
||||
<xacro:simple_parallel_gripper prefix="" parent="wrist3_Link">
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.57" />
|
||||
</xacro:simple_parallel_gripper>
|
||||
|
||||
|
||||
<xacro:rgbd parent="wrist3_Link" tf_prefix="">
|
||||
<origin xyz="0.0 0.05 0.04" rpy="0.0 -1.47 -1.57" />
|
||||
</xacro:rgbd>
|
||||
|
||||
<xacro:aubo_ros2_control hardware="${hardware}" robot_ip="${robot_ip}" />
|
||||
<xacro:if value="${hardware=='webots'}">
|
||||
<webots>
|
||||
<plugin type="webots_ros2_control::Ros2Control"/>
|
||||
</webots>
|
||||
</xacro:if>
|
||||
<xacro:if value="${hardware=='gazebo'}">
|
||||
<gazebo>
|
||||
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
|
||||
|
|
|
|||
|
|
@ -13,6 +13,9 @@
|
|||
<plugin>aubo_driver/AuboHardwareInterface</plugin>
|
||||
<param name="robot_ip">${robot_ip}</param>
|
||||
</xacro:if>
|
||||
<xacro:if value="${hardware=='webots'}">
|
||||
<plugin>webots_ros2_control::Ros2ControlSystem</plugin>
|
||||
</xacro:if>
|
||||
</hardware>
|
||||
|
||||
<joint name="shoulder_joint">
|
||||
|
|
@ -35,7 +38,7 @@
|
|||
<param name="initial_value">0.5</param>
|
||||
</state_interface>
|
||||
</xacro:if>
|
||||
<xacro:if value="${hardware=='real' or hardware=='mock'}">
|
||||
<xacro:if value="${hardware=='real' or hardware=='mock' or hardware=='webots'}">
|
||||
<state_interface name="position" />
|
||||
</xacro:if>
|
||||
<state_interface name="velocity" />
|
||||
|
|
@ -51,7 +54,7 @@
|
|||
<param name="initial_value">1.75</param>
|
||||
</state_interface>
|
||||
</xacro:if>
|
||||
<xacro:if value="${hardware=='real' or hardware=='mock'}">
|
||||
<xacro:if value="${hardware=='real' or hardware=='mock' or hardware=='webots'}">
|
||||
<state_interface name="position" />
|
||||
</xacro:if>
|
||||
<state_interface name="velocity" />
|
||||
|
|
@ -66,7 +69,7 @@
|
|||
<param name="initial_value">0.0</param>
|
||||
</state_interface>
|
||||
</xacro:if>
|
||||
<xacro:if value="${hardware=='real' or hardware=='mock'}">
|
||||
<xacro:if value="${hardware=='real' or hardware=='mock' or hardware=='webots'}">
|
||||
<state_interface name="position" />
|
||||
</xacro:if>
|
||||
<state_interface name="velocity" />
|
||||
|
|
@ -81,7 +84,7 @@
|
|||
<param name="initial_value">1.57</param>
|
||||
</state_interface>
|
||||
</xacro:if>
|
||||
<xacro:if value="${hardware=='real' or hardware=='mock'}">
|
||||
<xacro:if value="${hardware=='real' or hardware=='mock' or hardware=='webots'}">
|
||||
<state_interface name="position" />
|
||||
</xacro:if>
|
||||
<state_interface name="velocity" />
|
||||
|
|
@ -91,7 +94,7 @@
|
|||
<command_interface name="position" />
|
||||
<command_interface name="velocity" />
|
||||
|
||||
<xacro:if value="${hardware=='gazebo'}">
|
||||
<xacro:if value="${hardware=='real' or hardware=='mock' or hardware=='webots'}">
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">0.0</param>
|
||||
</state_interface>
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
simulation_controllers: !variable controllers_file
|
||||
robot_ip: 192.168.0.106
|
||||
hardware: gazebo
|
||||
hardware: webots
|
||||
with_gripper: "true"
|
||||
|
|
|
|||
49
world/aubo_robot.wbt
Normal file
49
world/aubo_robot.wbt
Normal file
|
|
@ -0,0 +1,49 @@
|
|||
#VRML_SIM R2023b utf8
|
||||
|
||||
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/backgrounds/protos/TexturedBackground.proto"
|
||||
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/floors/protos/Floor.proto"
|
||||
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/ThreadMetalPlate.proto"
|
||||
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/solids/protos/SolidBox.proto"
|
||||
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/GalvanizedMetal.proto"
|
||||
|
||||
WorldInfo {
|
||||
info [
|
||||
"Aubo i5 Robot"
|
||||
]
|
||||
title "Aubo Robot"
|
||||
basicTimeStep 16
|
||||
physicsDisableAngularThreshold 0.1
|
||||
contactProperties [
|
||||
ContactProperties {
|
||||
bounce 0.1
|
||||
}
|
||||
ContactProperties {
|
||||
material1 "slope"
|
||||
coulombFriction [
|
||||
0.5
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
Viewpoint {
|
||||
orientation 0.3118460054718159 0.06120895855528569 -0.9481590226664772 2.710827783218323
|
||||
position 2.9308358456729615 1.1235070287382412 2.814381048353761
|
||||
exposure 1.7
|
||||
}
|
||||
TexturedBackground {
|
||||
texture "factory"
|
||||
}
|
||||
Floor {
|
||||
size 20 20
|
||||
appearance ThreadMetalPlate {
|
||||
}
|
||||
}
|
||||
SolidBox {
|
||||
translation 0 0 0.3
|
||||
size 0.3 0.3 0.6
|
||||
appearance GalvanizedMetal {
|
||||
textureTransform TextureTransform {
|
||||
scale 2 2
|
||||
}
|
||||
}
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue