Merge pull request '1-robot-learning-scene' (#3) from 1-robot-learning-scene into main
Reviewed-on: #3
This commit is contained in:
commit
42721571fc
5 changed files with 144 additions and 18 deletions
|
|
@ -3,7 +3,12 @@
|
|||
gz_type_name: "gz.msgs.Clock"
|
||||
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"
|
||||
gz_type_name: "gz.msgs.Image"
|
||||
direction: GZ_TO_ROS
|
||||
|
|
|
|||
|
|
@ -11,6 +11,7 @@
|
|||
<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="$(find aubo_description)/urdf/sensors.xacro" />
|
||||
<xacro:include filename="$(find simple_gz_gripper)/urdf/simple_gripper_macro.xacro"/>
|
||||
|
||||
<xacro:property name="hardware" value="$(arg hardware)"/>
|
||||
<xacro:property name="robot_ip" value="$(arg robot_ip)"/>
|
||||
|
|
@ -242,15 +243,20 @@
|
|||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
|
||||
</joint>
|
||||
|
||||
<!-- <xacro:if value="${with_gripper=='true'}"> -->
|
||||
<xacro:dh_ag145_gripper prefix="" parent="wrist3_Link">
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
|
||||
</xacro:dh_ag145_gripper>
|
||||
<!-- </xacro:if> -->
|
||||
<!-- <xacro:dh_ag145_gripper prefix="" parent="wrist3_Link"> -->
|
||||
<!-- <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /> -->
|
||||
<!-- </xacro:dh_ag145_gripper> -->
|
||||
<xacro:simple_parallel_gripper prefix="" parent="wrist3_Link">
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.57" />
|
||||
</xacro:simple_parallel_gripper>
|
||||
|
||||
|
||||
<xacro:rgbd parent="wrist3_Link" tf_prefix="">
|
||||
<origin xyz="0.0 0.05 0.04" rpy="0.0 -1.47 -1.57" />
|
||||
<xacro:rgbd parent="wrist3_Link" tf_prefix="inner_">
|
||||
<origin xyz="0.0 0.05 0.0" rpy="0.0 -1.47 -1.57" />
|
||||
</xacro:rgbd>
|
||||
|
||||
<xacro:rgbd parent="base_link" tf_prefix="outer_">
|
||||
<origin xyz="0.62179261445999146 -0.83430188894271851 0.85204130411148071" rpy="0.00 0.608 1.934" />
|
||||
</xacro:rgbd>
|
||||
|
||||
<xacro:aubo_ros2_control hardware="${hardware}" robot_ip="${robot_ip}" />
|
||||
|
|
|
|||
|
|
@ -19,7 +19,9 @@
|
|||
<command_interface name="position" />
|
||||
<command_interface name="velocity" />
|
||||
|
||||
<state_interface name="position" />
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">0.0</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity" />
|
||||
</joint>
|
||||
|
||||
|
|
@ -28,7 +30,14 @@
|
|||
<command_interface name="position" />
|
||||
<command_interface name="velocity" />
|
||||
|
||||
<xacro:if value="${hardware=='gazebo'}">
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">0.5</param>
|
||||
</state_interface>
|
||||
</xacro:if>
|
||||
<xacro:if value="${hardware=='real' or hardware=='mock'}">
|
||||
<state_interface name="position" />
|
||||
</xacro:if>
|
||||
<state_interface name="velocity" />
|
||||
</joint>
|
||||
|
||||
|
|
@ -37,7 +46,14 @@
|
|||
<command_interface name="position" />
|
||||
<command_interface name="velocity" />
|
||||
|
||||
<xacro:if value="${hardware=='gazebo'}">
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">1.75</param>
|
||||
</state_interface>
|
||||
</xacro:if>
|
||||
<xacro:if value="${hardware=='real' or hardware=='mock'}">
|
||||
<state_interface name="position" />
|
||||
</xacro:if>
|
||||
<state_interface name="velocity" />
|
||||
</joint>
|
||||
|
||||
|
|
@ -45,7 +61,14 @@
|
|||
<command_interface name="position" />
|
||||
<command_interface name="velocity" />
|
||||
|
||||
<xacro:if value="${hardware=='gazebo'}">
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">0.0</param>
|
||||
</state_interface>
|
||||
</xacro:if>
|
||||
<xacro:if value="${hardware=='real' or hardware=='mock'}">
|
||||
<state_interface name="position" />
|
||||
</xacro:if>
|
||||
<state_interface name="velocity" />
|
||||
</joint>
|
||||
|
||||
|
|
@ -53,7 +76,14 @@
|
|||
<command_interface name="position" />
|
||||
<command_interface name="velocity" />
|
||||
|
||||
<xacro:if value="${hardware=='gazebo'}">
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">1.57</param>
|
||||
</state_interface>
|
||||
</xacro:if>
|
||||
<xacro:if value="${hardware=='real' or hardware=='mock'}">
|
||||
<state_interface name="position" />
|
||||
</xacro:if>
|
||||
<state_interface name="velocity" />
|
||||
</joint>
|
||||
|
||||
|
|
@ -61,7 +91,14 @@
|
|||
<command_interface name="position" />
|
||||
<command_interface name="velocity" />
|
||||
|
||||
<xacro:if value="${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" />
|
||||
</joint>
|
||||
|
||||
|
|
|
|||
|
|
@ -30,8 +30,8 @@
|
|||
<camera>
|
||||
<horizontal_fov>1.047</horizontal_fov>
|
||||
<image>
|
||||
<width>1920</width>
|
||||
<height>1080</height>
|
||||
<width>640</width>
|
||||
<height>480</height>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.1</near>
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
<?xml version="1.0" ?>
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.6">
|
||||
<world name="aubo-world">
|
||||
<physics name="1ms" type="dart">
|
||||
|
|
@ -66,5 +66,83 @@
|
|||
</link>
|
||||
</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>
|
||||
</sdf>
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue