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Merge pull request '1-robot-learning-scene' (#3) from 1-robot-learning-scene into main

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Reviewed-on: #3
This commit is contained in:
Ilya Uraev 2025-06-03 21:26:25 +03:00
commit 42721571fc
5 changed files with 144 additions and 18 deletions
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7
config/gz_bridge.yaml
View file

@ -3,7 +3,12 @@
gz_type_name: "gz.msgs.Clock" gz_type_name: "gz.msgs.Clock"
direction: GZ_TO_ROS direction: GZ_TO_ROS
- topic_name: "/rgbd_camera/image" - topic_name: "/inner_rgbd_camera/image"
ros_type_name: "sensor_msgs/msg/Image"
gz_type_name: "gz.msgs.Image"
direction: GZ_TO_ROS
- topic_name: "/outer_rgbd_camera/image"
ros_type_name: "sensor_msgs/msg/Image" ros_type_name: "sensor_msgs/msg/Image"
gz_type_name: "gz.msgs.Image" gz_type_name: "gz.msgs.Image"
direction: GZ_TO_ROS direction: GZ_TO_ROS

20
urdf/aubo_i5.urdf.xacro
View file

@ -11,6 +11,7 @@
<xacro:include filename="$(find dh_ag95_description)/urdf/dh_ag95_macro.urdf.xacro" /> <xacro:include filename="$(find dh_ag95_description)/urdf/dh_ag95_macro.urdf.xacro" />
<xacro:include filename="$(find dh_ag145_description)/urdf/dh_ag145_macro.urdf.xacro" /> <xacro:include filename="$(find dh_ag145_description)/urdf/dh_ag145_macro.urdf.xacro" />
<xacro:include filename="$(find aubo_description)/urdf/sensors.xacro" /> <xacro:include filename="$(find aubo_description)/urdf/sensors.xacro" />
<xacro:include filename="$(find simple_gz_gripper)/urdf/simple_gripper_macro.xacro"/>
<xacro:property name="hardware" value="$(arg hardware)"/> <xacro:property name="hardware" value="$(arg hardware)"/>
<xacro:property name="robot_ip" value="$(arg robot_ip)"/> <xacro:property name="robot_ip" value="$(arg robot_ip)"/>
@ -242,15 +243,20 @@
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /> <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint> </joint>
<!-- <xacro:if value="${with_gripper=='true'}"> --> <!-- <xacro:dh_ag145_gripper prefix="" parent="wrist3_Link"> -->
<xacro:dh_ag145_gripper prefix="" parent="wrist3_Link"> <!-- <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /> -->
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /> <!-- </xacro:dh_ag145_gripper> -->
</xacro:dh_ag145_gripper> <xacro:simple_parallel_gripper prefix="" parent="wrist3_Link">
<!-- </xacro:if> --> <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=""> <xacro:rgbd parent="wrist3_Link" tf_prefix="inner_">
<origin xyz="0.0 0.05 0.04" rpy="0.0 -1.47 -1.57" /> <origin xyz="0.0 0.05 0.0" rpy="0.0 -1.47 -1.57" />
</xacro:rgbd>
<xacro:rgbd parent="base_link" tf_prefix="outer_">
<origin xyz="0.62179261445999146 -0.83430188894271851 0.85204130411148071" rpy="0.00 0.608 1.934" />
</xacro:rgbd> </xacro:rgbd>
<xacro:aubo_ros2_control hardware="${hardware}" robot_ip="${robot_ip}" /> <xacro:aubo_ros2_control hardware="${hardware}" robot_ip="${robot_ip}" />

51
urdf/ros2_control.xacro
View file

@ -4,7 +4,7 @@
<ros2_control name="aubo_hardware_interface" type="system"> <ros2_control name="aubo_hardware_interface" type="system">
<hardware> <hardware>
<xacro:if value="${hardware=='gazebo'}"> <xacro:if value="${hardware=='gazebo'}">
<plugin>gz_ros2_control/GazeboSimSystem</plugin> <plugin>gz_ros2_control/GazeboSimSystem</plugin>
</xacro:if> </xacro:if>
<xacro:if value="${hardware=='mock'}"> <xacro:if value="${hardware=='mock'}">
<plugin>mock_components/GenericSystem</plugin> <plugin>mock_components/GenericSystem</plugin>
@ -19,7 +19,9 @@
<command_interface name="position" /> <command_interface name="position" />
<command_interface name="velocity" /> <command_interface name="velocity" />
<state_interface name="position" /> <state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity" /> <state_interface name="velocity" />
</joint> </joint>
@ -28,7 +30,14 @@
<command_interface name="position" /> <command_interface name="position" />
<command_interface name="velocity" /> <command_interface name="velocity" />
<state_interface name="position" /> <xacro:if value="${hardware=='gazebo'}">
<state_interface name="position">
<param name="initial_value">0.5</param>
</state_interface>
</xacro:if>
<xacro:if value="${hardware=='real' or hardware=='mock'}">
<state_interface name="position" />
</xacro:if>
<state_interface name="velocity" /> <state_interface name="velocity" />
</joint> </joint>
@ -37,7 +46,14 @@
<command_interface name="position" /> <command_interface name="position" />
<command_interface name="velocity" /> <command_interface name="velocity" />
<state_interface name="position" /> <xacro:if value="${hardware=='gazebo'}">
<state_interface name="position">
<param name="initial_value">1.75</param>
</state_interface>
</xacro:if>
<xacro:if value="${hardware=='real' or hardware=='mock'}">
<state_interface name="position" />
</xacro:if>
<state_interface name="velocity" /> <state_interface name="velocity" />
</joint> </joint>
@ -45,7 +61,14 @@
<command_interface name="position" /> <command_interface name="position" />
<command_interface name="velocity" /> <command_interface name="velocity" />
<state_interface name="position" /> <xacro:if value="${hardware=='gazebo'}">
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
</xacro:if>
<xacro:if value="${hardware=='real' or hardware=='mock'}">
<state_interface name="position" />
</xacro:if>
<state_interface name="velocity" /> <state_interface name="velocity" />
</joint> </joint>
@ -53,7 +76,14 @@
<command_interface name="position" /> <command_interface name="position" />
<command_interface name="velocity" /> <command_interface name="velocity" />
<state_interface name="position" /> <xacro:if value="${hardware=='gazebo'}">
<state_interface name="position">
<param name="initial_value">1.57</param>
</state_interface>
</xacro:if>
<xacro:if value="${hardware=='real' or hardware=='mock'}">
<state_interface name="position" />
</xacro:if>
<state_interface name="velocity" /> <state_interface name="velocity" />
</joint> </joint>
@ -61,7 +91,14 @@
<command_interface name="position" /> <command_interface name="position" />
<command_interface name="velocity" /> <command_interface name="velocity" />
<state_interface name="position" /> <xacro:if value="${hardware=='gazebo'}">
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
</xacro:if>
<xacro:if value="${hardware=='real' or hardware=='mock'}">
<state_interface name="position" />
</xacro:if>
<state_interface name="velocity" /> <state_interface name="velocity" />
</joint> </joint>

4
urdf/sensors.xacro
View file

@ -30,8 +30,8 @@
<camera> <camera>
<horizontal_fov>1.047</horizontal_fov> <horizontal_fov>1.047</horizontal_fov>
<image> <image>
<width>1920</width> <width>640</width>
<height>1080</height> <height>480</height>
</image> </image>
<clip> <clip>
<near>0.1</near> <near>0.1</near>

80
world/world.sdf
View file

@ -1,4 +1,4 @@
<?xml version="1.0" ?> <?xml version="1.0"?>
<sdf version="1.6"> <sdf version="1.6">
<world name="aubo-world"> <world name="aubo-world">
<physics name="1ms" type="dart"> <physics name="1ms" type="dart">
@ -66,5 +66,83 @@
</link> </link>
</model> </model>
<model name="table">
<static>true</static>
<pose>0.5 0 0.1 0 0 0</pose>
<link name="cylinder_link">
<inertial auto="true" />
<collision name="table_collision">
<geometry>
<box>
<size>0.3 0.3 0.2</size>
</box>
</geometry>
</collision>
<visual name="table_visual">
<geometry>
<box>
<size>0.3 0.3 0.2</size>
</box>
</geometry>
<material>
<ambient>0.6 0.3 0.3 1</ambient>
<diffuse>0.6 0.3 0.3 1</diffuse>
</material>
</visual>
</link>
</model>
<model name="simple_cylinder">
<pose>0.5 0 0.252 0 0 0</pose>
<link name="cylinder_link">
<inertial>
<mass>0.05</mass>
<pose>0 0 0 0 0 0</pose>
<inertia>
<ixx>3.2083e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>3.2083e-05</iyy>
<iyz>0</iyz>
<izz>1.0e-05</izz>
</inertia>
</inertial>
<collision name="cylinder_collision">
<geometry>
<cylinder>
<radius>0.01</radius>
<length>0.05</length>
</cylinder>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0.01</max_vel>
</ode>
</contact>
<friction>
<ode>
<mu>10.0</mu>
<mu2>10.0</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="cylinder_visual">
<geometry>
<cylinder>
<radius>0.01</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<ambient>0.3 0.3 0.6 1</ambient>
<diffuse>0.3 0.3 0.6 1</diffuse>
</material>
</visual>
</link>
</model>
</world> </world>
</sdf> </sdf>