fix: urdf for gazebo simulation
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5 changed files with 130 additions and 11 deletions
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@ -22,5 +22,6 @@
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<export>
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<build_type>ament_cmake</build_type>
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<gazebo_ros gazebo_model_path="${prefix}/../"/>
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</export>
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</package>
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89
dh_ag95_description/urdf/dh_ag95.ros2_control.xacro
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89
dh_ag95_description/urdf/dh_ag95.ros2_control.xacro
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@ -0,0 +1,89 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="dh_ag95_gripper_ros2_control"
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params="name prefix com_port:=/dev/ttyUSB0 hardware mock_sensor_commands:=false">
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<ros2_control name="${name}" type="system">
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<hardware>
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<xacro:if value="${hardware=='mock'}">
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<!-- Mock hardware -->
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<plugin>mock_components/GenericSystem</plugin>
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<param name="mock_sensor_commands">${mock_sensor_commands}</param>
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<param name="state_following_offset">0.0</param>
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</xacro:if>
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<xacro:if value="${hardware=='real'}">
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<!-- Real hardware -->
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<plugin>dh_gripper_driver/DHGripperHardwareInterface</plugin>
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<!-- Parameters for the DHGripperHardwareInterface -->
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<!-- <param name="gripper_closed_position">0.93</param>
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<param name="gripper_connect_port">${com_port}</param>
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<param name="gripper_id">1</param>
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<param name="gripper_model">AG95_MB</param>
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<param name="gripper_baudrate">115200</param>
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<param name="gripper_speed_multiplier">1.0</param>
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<param name="gripper_force_multiplier">0.5</param> -->
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<param name="gripper_closed_position">0.93</param>
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<param name="COM_port">${com_port}</param>
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<param name="gripper_speed_multiplier">1.0</param>
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<param name="gripper_force_multiplier">0.5</param>
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</xacro:if>
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<xacro:if value="${hardware=='gazebo'}">
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<plugin>gz_ros2_control/GazeboSimSystem</plugin>
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</xacro:if>
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</hardware>
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<!-- Joint interfaces -->
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<joint name="${prefix}left_outer_knuckle_joint">
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<command_interface name="position">
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<param name="min">0</param>
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<param name="max">0.93</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">0</param>
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</state_interface>
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<state_interface name="velocity" />
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</joint>
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<xacro:if value="${hardware=='gazebo' or hardware=='real'}">
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<joint name="${prefix}right_outer_knuckle_joint">
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<param name="mimic">${prefix}left_outer_knuckle_joint</param>
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<param name="multiplier">1</param>
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<!-- <command_interface name="position" /> -->
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<state_interface name="position" />
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<state_interface name="velocity" />
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</joint>
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<joint name="${prefix}left_inner_knuckle_joint">
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<param name="mimic">${prefix}left_outer_knuckle_joint</param>
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<param name="multiplier">1</param>
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<!-- <command_interface name="position" /> -->
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<state_interface name="position" />
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<state_interface name="velocity" />
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</joint>
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<joint name="${prefix}right_inner_knuckle_joint">
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<param name="mimic">${prefix}left_outer_knuckle_joint</param>
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<param name="multiplier">1</param>
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<!-- <command_interface name="position" /> -->
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<state_interface name="position" />
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<state_interface name="velocity" />
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</joint>
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<joint name="${prefix}left_finger_joint">
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<param name="mimic">${prefix}left_outer_knuckle_joint</param>
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<param name="multiplier">1</param>
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<!-- <command_interface name="position" /> -->
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<state_interface name="position" />
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<state_interface name="velocity" />
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</joint>
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<joint name="${prefix}right_finger_joint">
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<param name="mimic">${prefix}left_outer_knuckle_joint</param>
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<param name="multiplier">1</param>
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<!-- <command_interface name="position" /> -->
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<state_interface name="position" />
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<state_interface name="velocity" />
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</joint>
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</xacro:if>
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</ros2_control>
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</xacro:macro>
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</robot>
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@ -4,18 +4,16 @@
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<!-- parameters -->
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<xacro:arg name="prefix" default=""/>
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<xacro:arg name="com_port" default="/dev/ttyUSB0"/>
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<xacro:arg name="use_mock_hardware" default="false"/>
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<xacro:arg name="hardware" default="gazebo"/>
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<xacro:arg name="mock_sensor_commands" default="false"/>
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<!-- import main macro -->
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<xacro:include filename="$(find dh_ag95_description)/urdf/dh_ag95_macro.xacro" />
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<xacro:include filename="$(find dh_gripper_driver)/urdf/dh_ag95.ros2_control.xacro" />
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<xacro:include filename="$(find dh_ag95_description)/urdf/dh_ag95.ros2_control.xacro" />
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<!-- gripper -->
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<xacro:dh_ag95_gripper
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prefix=""
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parent="world">
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<origin xyz="0 0 0.1" rpy="0 0 0" />
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<xacro:dh_ag95_gripper prefix="$(arg prefix)" parent="world">
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<origin xyz="0 0 0.0" rpy="0 0 0" />
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</xacro:dh_ag95_gripper>
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<!-- ros2_control -->
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@ -23,10 +21,10 @@
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name="dh_ag95_gripper"
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prefix="$(arg prefix)"
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com_port="$(arg com_port)"
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use_mock_hardware="$(arg use_mock_hardware)"
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hardware="$(arg hardware)"
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mock_sensor_commands="$(arg mock_sensor_commands)"
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/>
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<link name="world" />
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</robot>
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</robot>
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31
dh_ag95_description/urdf/dh_ag95_macro.urdf.xacro
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31
dh_ag95_description/urdf/dh_ag95_macro.urdf.xacro
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@ -0,0 +1,31 @@
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<?xml version="1.0"?>
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<robot name="dh_ag95_gripper" xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="dh_ag95_gripper" params="prefix parent *origin com_port:='/dev/ttyUSB0' hardware:=^ mock_sensor_commands:=false">
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<!-- parameters -->
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<!-- <xacro:arg name="prefix" default=""/> -->
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<!-- <xacro:arg name="com_port" default="/dev/ttyUSB0"/> -->
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<!-- <xacro:arg name="hardware" default="gazebo"/> -->
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<!-- <xacro:property name="mock_sensor_commands" value="false" /> -->
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<!-- import main macro -->
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<xacro:include filename="$(find dh_ag95_description)/urdf/dh_ag95_macro.xacro" />
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<xacro:include filename="$(find dh_ag95_description)/urdf/dh_ag95.ros2_control.xacro" />
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<!-- gripper -->
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<xacro:dh_ag95_gripper prefix="${prefix}" parent="${parent}">
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<xacro:insert_block name="origin" />
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</xacro:dh_ag95_gripper>
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<!-- ros2_control -->
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<xacro:dh_ag95_gripper_ros2_control
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name="dh_ag95_gripper"
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prefix="${prefix}"
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com_port="${com_port}"
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hardware="${hardware}"
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mock_sensor_commands="${mock_sensor_commands}"
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/>
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</xacro:macro>
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</robot>
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@ -190,7 +190,7 @@
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<pose> -0.020673 0 0.007524 0 0 0</pose>
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<axis>
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<xyz>0 1 0</xyz>
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<use_parent_model_frame>false</use_parent_model_frame>
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<!-- <use_parent_model_frame>false</use_parent_model_frame> -->
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</axis>
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<parent>${prefix}${fingerprefix}_inner_knuckle</parent>
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<child>${prefix}${fingerprefix}_finger</child>
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@ -210,7 +210,7 @@
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<xacro:finger_joint prefix="${prefix}" fingerprefix="${fingerprefix}" />
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<xacro:inner_knuckle_joint prefix="${prefix}" fingerprefix="${fingerprefix}"
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reflect="${reflect}" />
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<xacro:inner_knuckle_to_finger_joint prefix="${prefix}" fingerprefix="${fingerprefix}" />
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<!-- <xacro:inner_knuckle_to_finger_joint prefix="${prefix}" fingerprefix="${fingerprefix}" /> -->
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<xacro:finger_pad_joint prefix="${prefix}" fingerprefix="${fingerprefix}" />
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</xacro:macro>
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@ -327,4 +327,4 @@
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</xacro:macro>
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</robot>
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</robot>
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