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feat: add dh_ag145 gripper

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This commit is contained in:
Ilya Uraev 2025-05-27 21:14:07 +03:00
parent 804c32bba4
commit c82466ed4a
3 changed files with 260 additions and 1 deletions
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241
config/config.rviz Normal file
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@ -0,0 +1,241 @@
Panels:
- Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
- /TF1
- /TF1/Frames1
Splitter Ratio: 0.5
Tree Height: 1075
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz_common/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- 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
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
foreArm_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
shoulder_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
upperArm_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
Show Trail: false
wrist1_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist2_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wrist3_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz_default_plugins/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: false
base_link:
Value: false
foreArm_Link:
Value: false
shoulder_Link:
Value: false
upperArm_Link:
Value: false
world:
Value: false
wrist1_Link:
Value: false
wrist2_Link:
Value: false
wrist3_Link:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
world:
base_link:
shoulder_Link:
upperArm_Link:
foreArm_Link:
wrist1_Link:
wrist2_Link:
wrist3_Link:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: world
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 4.086756229400635
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.45825716853141785
Y: 0.3474913537502289
Z: 0.03773466497659683
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.5703981518745422
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 5.863582134246826
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1379
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000004c1fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000004c1000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000004c1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f000004c1000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000003efc0100000002fb0000000800540069006d0065010000000000000a000000026f00fffffffb0000000800540069006d006501000000000000045000000000000000000000078f000004c100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 2560
X: 1920
Y: 24

19
urdf/aubo_i5.urdf.xacro
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@ -8,9 +8,15 @@
<xacro:include filename="$(find aubo_description)/urdf/aubo.transmission.xacro" />
<xacro:include filename="$(find aubo_description)/urdf/materials.xacro" />
<xacro:include filename="$(find aubo_description)/urdf/ros2_control.xacro" />
<xacro:include filename="$(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 aubo_description)/urdf/sensors.xacro" />
<xacro:property name="hardware" value="$(arg hardware)"/>
<xacro:property name="robot_ip" value="$(arg robot_ip)"/>
<xacro:property name="with_gripper" value="$(arg with_gripper)"/>
<xacro:property name="simulation_controllers" value="$(arg simulation_controllers)"/>
<link name="base_link">
<inertial>
@ -236,11 +242,22 @@
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>
<!-- <xacro:if value="${with_gripper=='true'}"> -->
<xacro:dh_ag145_gripper prefix="" parent="wrist3_Link">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</xacro:dh_ag145_gripper>
<!-- </xacro:if> -->
<xacro:rgbd parent="wrist3_Link" tf_prefix="">
<origin xyz="0.0 0.05 0.04" rpy="0.0 -1.47 -1.57" />
</xacro:rgbd>
<xacro:aubo_ros2_control hardware="${hardware}" robot_ip="${robot_ip}" />
<xacro:if value="${hardware=='gazebo'}">
<gazebo>
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(arg simulation_controllers)</parameters>
<parameters>${simulation_controllers}</parameters>
<!-- <ros> -->
<!-- <namespace>${namespace}</namespace> -->
<!-- </ros> -->

1
urdf/xacro_args.yaml
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@ -1,3 +1,4 @@
simulation_controllers: !variable controllers_file
robot_ip: 192.168.0.106
hardware: gazebo
with_gripper: "true"