mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
add 280 ros camera&pump urdf
This commit is contained in:
wangWking
parent
d298cfea4d
commit
1993b7bd15
3 changed files with 322 additions and 62 deletions
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@ -65,46 +65,16 @@ Visualization Manager:
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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camera_flange:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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g_base:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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gripper_base:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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gripper_left1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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gripper_left2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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gripper_left3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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gripper_right1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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gripper_right2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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gripper_right3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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joint1:
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Alpha: 1
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Show Axes: false
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@ -140,6 +110,16 @@ Visualization Manager:
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Show Axes: false
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Show Trail: false
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Value: true
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pump_box:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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pump_head:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Name: RobotModel
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Robot Description: robot_description
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TF Prefix: ""
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@ -153,22 +133,10 @@ Visualization Manager:
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Frame Timeout: 15
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Frames:
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All Enabled: true
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camera_flange:
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Value: true
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g_base:
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Value: true
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gripper_base:
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Value: true
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gripper_left1:
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Value: true
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gripper_left2:
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Value: true
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gripper_left3:
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Value: true
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gripper_right1:
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Value: true
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gripper_right2:
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Value: true
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gripper_right3:
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Value: true
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joint1:
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Value: true
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joint2:
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@ -183,6 +151,10 @@ Visualization Manager:
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Value: true
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joint6_flange:
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Value: true
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pump_box:
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Value: true
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pump_head:
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Value: true
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Marker Alpha: 1
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Marker Scale: 0.10000000149011612
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Name: TF
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@ -198,17 +170,11 @@ Visualization Manager:
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joint5:
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joint6:
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joint6_flange:
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gripper_base:
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gripper_left2:
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camera_flange:
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pump_head:
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{}
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gripper_left3:
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gripper_left1:
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{}
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gripper_right2:
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{}
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gripper_right3:
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gripper_right1:
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{}
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pump_box:
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{}
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Update Interval: 0
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Value: true
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- Class: rviz/Marker
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@ -247,7 +213,7 @@ Visualization Manager:
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 1.1026314496994019
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Distance: 1.0996487140655518
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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@ -263,9 +229,9 @@ Visualization Manager:
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.7153984904289246
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Pitch: 0.5753980875015259
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Target Frame: <Fixed Frame>
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Yaw: 3.8853836059570312
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Yaw: 3.950380325317383
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Saved: ~
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Window Geometry:
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Displays:
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@ -0,0 +1,25 @@
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<launch>
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<!-- <arg name="port" default="/dev/ttyUSB0" />
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<arg name="baud" default="115200" /> -->
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<!-- Load file model ，加载文件模型-->
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<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_camera_flange_pump.urdf"/>
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<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
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<arg name="gui" default="true" />
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<!-- Combinejoin values to TF，将值合并到TF -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
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<!-- <param name="use_gui" value="$(arg gui)" /> -->
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<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
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</node>
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<!-- Open control script -->
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<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
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<param name="port" type="string" value="$(arg port)" />
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<param name="baud" type="int" value="$(arg baud)" />
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</node> -->
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<!-- Show in Rviz ，显示在Rviz-->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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</launch>
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@ -0,0 +1,269 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
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<xacro:property name="width" value=".2" />
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<link name="g_base">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/G_base.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/G_base.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
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</collision>
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</link>
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<link name="pump_box">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/pump_box.dae"/>
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</geometry>
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<origin xyz = "0.0 -0.15 -0.0" rpy = "1.5708 3.14159 0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/pump_box.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
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</collision>
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</link>
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<link name="joint1">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 1.5708 3.14159-->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 1.5708 3.14159-->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
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</collision>
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</link>
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<link name="joint2">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
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</collision>
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</link>
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<link name="joint3">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
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</collision>
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</link>
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<link name="joint4">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
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</collision>
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</link>
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<link name="joint5">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
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</collision>
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</link>
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<link name="joint6">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
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</geometry>
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<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
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</geometry>
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<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
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</collision>
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</link>
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<link name="joint6_flange">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
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</geometry>
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<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
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</collision>
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</link>
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<link name="camera_flange">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/camera_flange.dae"/>
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</geometry>
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<origin xyz = "0.024 -0.008 0.0 " rpy = " 0 3.14159 0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/camera_flange.dae"/>
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</geometry>
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<origin xyz = "0.024 -0.008 0.0 " rpy = " 0 3.14159 0"/>
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</collision>
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</link>
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<link name="pump_head">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/pump_head.dae"/>
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</geometry>
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<origin xyz = "0.0 0.008 0.009 " rpy = " 1.5708 0 0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot/pump_head.dae"/>
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</geometry>
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<origin xyz = "0.0 0.008 0.009 " rpy = " 1.5708 0 0"/>
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</collision>
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</link>
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<joint name="g_base_to_joint1" type="fixed">
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<axis xyz="0 0 0"/>
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<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
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<parent link="g_base"/>
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<child link="joint1"/>
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<origin xyz= "0 0 0" rpy = "0 0 0"/>
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</joint>
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<joint name="g_base_to_pump_box" type="fixed">
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<axis xyz="0 0 0"/>
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<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
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<parent link="g_base"/>
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<child link="pump_box"/>
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<origin xyz= "0 0 0" rpy = "0 0 0"/>
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</joint>
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<joint name="joint2_to_joint1" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
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<parent link="joint1"/>
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<child link="joint2"/>
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<origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
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</joint>
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<joint name="joint3_to_joint2" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
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<parent link="joint2"/>
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<child link="joint3"/>
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<origin xyz= "0 0 0" rpy = "0 1.5708 -1.5708"/>
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</joint>
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<joint name="joint4_to_joint3" type="revolute">
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<axis xyz=" 0 0 1"/>
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<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
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<parent link="joint3"/>
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<child link="joint4"/>
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<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
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</joint>
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<joint name="joint5_to_joint4" type="revolute">
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<axis xyz=" 0 0 1"/>
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<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
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<parent link="joint4"/>
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<child link="joint5"/>
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<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
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</joint>
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<joint name="joint6_to_joint5" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
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<parent link="joint5"/>
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<child link="joint6"/>
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<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
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</joint>
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<joint name="joint6output_to_joint6" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
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<parent link="joint6"/>
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<child link="joint6_flange"/>
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<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>
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</joint>
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<joint name="joint6output_to_camera_flange" type="fixed">
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<!-- <axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
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<parent link="joint6_flange"/>
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<child link="camera_flange"/>
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<!-- <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/> -->
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<origin xyz= "0 0 0.01" rpy = "1.579 0 0"/>
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</joint>
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<joint name="joint6output_to_pump_head" type="fixed">
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<!-- <axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
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<parent link="camera_flange"/>
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<child link="pump_head"/>
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<!-- <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/> -->
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<origin xyz= "0 0 0.01" rpy = "-1.579 0 0"/>
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</joint>
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</robot>
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