initial commit
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1ef9d67af2
5 changed files with 203 additions and 0 deletions
31
CMakeLists.txt
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31
CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
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project(simple_gz_gripper)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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# uncomment the following section in order to fill in
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# further dependencies manually.
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# find_package(<dependency> REQUIRED)
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install(
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DIRECTORY config urdf
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DESTINATION share/${PROJECT_NAME}/
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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0
README.md
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0
README.md
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18
package.xml
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18
package.xml
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>simple_gz_gripper</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<maintainer email="ur.narmak@gmail.com">narenmak</maintainer>
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<license>TODO: License declaration</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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26
urdf/simple_gripper_macro.ros2_control.xacro
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26
urdf/simple_gripper_macro.ros2_control.xacro
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<?xml version="1.0" encoding="UTF-8"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="simple_gz_gripper_ros2_control" params="prefix">
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<ros2_control name="GazeboSystem" type="system">
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<hardware>
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<plugin>gz_ros2_control/GazeboSimSystem</plugin>
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</hardware>
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<joint name="${prefix}right_finger_joint">
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<command_interface name="position" />
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<state_interface name="position">
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<param name="initial_value">0.00</param>
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</state_interface>
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<!-- <state_interface name="position" /> -->
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
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<joint name="${prefix}left_finger_joint">
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<!-- <param name="mimic">${prefix}right_finger_joint</param> -->
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<!-- <param name="multiplier">1</param> -->
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<state_interface name="position" />
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<state_interface name="velocity" />
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<!-- <state_interface name="effort" /> -->
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</joint>
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</ros2_control>
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</xacro:macro>
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</robot>
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128
urdf/simple_gripper_macro.xacro
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128
urdf/simple_gripper_macro.xacro
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<?xml version="1.0" encoding="UTF-8"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gripper_scaled_up_macro">
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<xacro:macro name="simple_parallel_gripper" params="prefix parent *origin">
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<xacro:include filename="$(find simple_gz_gripper)/urdf/simple_gripper_macro.ros2_control.xacro" />
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<!-- gripper base -->
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<link name="${prefix}gripper_base">
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<visual>
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<geometry>
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<box size="0.03334 0.06666 0.06666" />
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</geometry>
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<origin xyz="0 0 0.03334" />
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<material name="violet">
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<color rgba="0.4 0.18 0.57 1.0" />
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</material>
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</visual>
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<collision>
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<geometry>
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<box size="0.03334 0.06666 0.06666" />
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</geometry>
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<origin xyz="0 0 0.03334" />
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</collision>
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<inertial>
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<origin xyz="0 0 0.03334" />
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<mass value="0.02" />
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<inertia
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ixx="1.679e-05" ixy="0.0" ixz="0.0"
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iyy="7.437e-06" iyz="0.0"
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izz="7.437e-06" />
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</inertial>
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</link>
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<!-- finger right -->
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<link name="${prefix}finger_right">
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<visual>
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<geometry>
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<box size="0.02666 0.00666 0.06666" />
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</geometry>
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<origin xyz="0 -0.00334 0.03334" />
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1" />
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</material>
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</visual>
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<collision>
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<geometry>
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<box size="0.02666 0.00666 0.06666" />
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</geometry>
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<origin xyz="0 -0.00334 0.03334" />
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1" />
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</material>
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</collision>
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<inertial>
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<origin xyz="0 0.00334 0.03334" />
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<mass value="0.009876" />
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<inertia
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ixx="3.694e-06" ixy="0.0" ixz="0.0"
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iyy="4.241e-06" iyz="0.0"
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izz="6.213e-07" />
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</inertial>
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</link>
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<!-- finger left -->
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<link name="${prefix}finger_left">
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<visual>
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<geometry>
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<box size="0.02666 0.00666 0.06666" />
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</geometry>
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<origin xyz="0 -0.00334 0.03334" />
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1" />
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</material>
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</visual>
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<collision>
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<geometry>
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<box size="0.02666 0.00666 0.06666" />
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</geometry>
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<origin xyz="0 -0.00334 0.03334" />
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1" />
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</material>
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</collision>
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<inertial>
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<origin xyz="0 0.00334 0.03334" />
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<mass value="0.009876" />
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<inertia
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ixx="3.694e-06" ixy="0.0" ixz="0.0"
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iyy="4.241e-06" iyz="0.0"
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izz="6.213e-07" />
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</inertial>
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</link>
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<!-- joint from parent -->
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<joint name="${prefix}base_fixed_joint" type="fixed">
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<xacro:insert_block name="origin" />
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<parent link="${parent}" />
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<child link="${prefix}gripper_base" />
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</joint>
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<!-- finger joints -->
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<joint name="${prefix}right_finger_joint" type="prismatic">
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<axis xyz="0 1 0" />
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<origin xyz="0.0 0.0 0.06666" rpy="0.0 0.0 0.0" />
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<parent link="${prefix}gripper_base" />
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<child link="${prefix}finger_right" />
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<limit effort="10.0" lower="0" upper="0.02534" velocity="1.0" />
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<!-- <dynamics damping="2.0" friction="1.0"/> -->
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</joint>
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<joint name="${prefix}left_finger_joint" type="prismatic">
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<mimic joint="${prefix}right_finger_joint"/>
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<axis xyz="0 1 0" />
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<origin xyz="0.0 0.0 0.06666" rpy="0.0 0.0 3.1415926535" />
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<parent link="${prefix}gripper_base" />
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<child link="${prefix}finger_left" />
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<limit effort="10.0" lower="0" upper="0.02534" velocity="1.0" />
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<!-- <dynamics damping="2.0" friction="1.0"/> -->
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</joint>
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<xacro:simple_gz_gripper_ros2_control prefix="${prefix}"/>
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</xacro:macro>
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</robot>
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