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fix: urdf fixed.

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This commit is contained in:
zachary 2021-04-08 15:50:32 +08:00
parent 51d7f01120
commit 2d783c4345
5 changed files with 723555 additions and 85872 deletions
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Screenshot-1.png
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76
config/mycobot.rviz
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@ -6,8 +6,10 @@ Panels:
Expanded: Expanded:
- /Global Options1 - /Global Options1
- /Status1 - /Status1
- /RobotModel1
- /TF1
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Tree Height: 591 Tree Height: 775
- Class: rviz/Selection - Class: rviz/Selection
Name: Selection Name: Selection
- Class: rviz/Tool Properties - Class: rviz/Tool Properties
@ -16,7 +18,7 @@ Panels:
- /2D Nav Goal1 - /2D Nav Goal1
- /Publish Point1 - /Publish Point1
Name: Tool Properties Name: Tool Properties
Splitter Ratio: 0.5886790156364441 Splitter Ratio: 0.588679016
- Class: rviz/Views - Class: rviz/Views
Expanded: Expanded:
- /Current View1 - /Current View1
@ -27,8 +29,6 @@ Panels:
Name: Time Name: Time
SyncMode: 0 SyncMode: 0
SyncSource: "" SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars: Toolbars:
toolButtonStyle: 2 toolButtonStyle: 2
Visualization Manager: Visualization Manager:
@ -40,7 +40,7 @@ Visualization Manager:
Color: 160; 160; 164 Color: 160; 160; 164
Enabled: true Enabled: true
Line Style: Line Style:
Line Width: 0.029999999329447746 Line Width: 0.0299999993
Value: Lines Value: Lines
Name: Grid Name: Grid
Normal Cell Count: 0 Normal Cell Count: 0
@ -103,6 +103,41 @@ Visualization Manager:
Update Interval: 0 Update Interval: 0
Value: true Value: true
Visual Enabled: true Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
joint1:
Value: true
joint2:
Value: true
joint3:
Value: true
joint4:
Value: true
joint5:
Value: true
joint6:
Value: true
joint6_flange:
Value: true
Marker Scale: 0.300000012
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
joint1:
joint2:
joint3:
joint4:
joint5:
joint6:
joint6_flange:
{}
Update Interval: 0
Value: true
Enabled: true Enabled: true
Global Options: Global Options:
Background Color: 48; 48; 48 Background Color: 48; 48; 48
@ -118,10 +153,7 @@ Visualization Manager:
- Class: rviz/FocusCamera - Class: rviz/FocusCamera
- Class: rviz/Measure - Class: rviz/Measure
- Class: rviz/SetInitialPose - Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal - Class: rviz/SetGoal
Topic: /move_base_simple/goal Topic: /move_base_simple/goal
- Class: rviz/PublishPoint - Class: rviz/PublishPoint
@ -131,33 +163,33 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/Orbit Class: rviz/Orbit
Distance: 1.2028908729553223 Distance: 1.20289087
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549 Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Focal Point: Focal Point:
X: -0.07064759731292725 X: -0.0706475973
Y: -0.0814988762140274 Y: -0.0814988762
Z: 0.10758385062217712 Z: 0.107583851
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806 Focal Shape Size: 0.0500000007
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.009999999776482582 Near Clip Distance: 0.00999999978
Pitch: 0.35539841651916504 Pitch: 0.440398335
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Value: Orbit (rviz) Value: Orbit (rviz)
Yaw: 0.7703980207443237 Yaw: 0.430389732
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 885 Height: 1056
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000002d9fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003c000002d9000000c800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002d9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003c000002d9000000a200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005240000003efc0100000002fb0000000800540069006d00650100000000000005240000029800fffffffb0000000800540069006d00650100000000000004500000000000000000000002b3000002d900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Time: Time:
@ -166,6 +198,6 @@ Window Geometry:
collapsed: false collapsed: false
Views: Views:
collapsed: false collapsed: false
Width: 1316 Width: 1855
X: 349 X: 65
Y: 42 Y: 24

18215
urdf/joint5.dae
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790903
urdf/mycobot_step.STEP
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41
urdf/mycobot_urdf.urdf
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@ -7,20 +7,19 @@
<link name="joint1"> <link name="joint1">
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://myCobotROS/urdf/joint1.dae"/> <mesh filename="package://myCobotROS/urdf/joint1.dae"/>
</geometry> </geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
</visual> </visual>
</link> </link>
<link name="joint2"> <link name="joint2">
<visual> <visual>
<geometry> <geometry>
<mesh filename="package://myCobotROS/urdf/joint2.dae"/> <mesh filename="package://myCobotROS/urdf/joint2.dae"/>
</geometry> </geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
</visual> </visual>
</link> </link>
@ -31,7 +30,7 @@
<mesh filename="package://myCobotROS/urdf/joint3.dae"/> <mesh filename="package://myCobotROS/urdf/joint3.dae"/>
</geometry> </geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
</visual> </visual>
</link> </link>
@ -42,7 +41,7 @@
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://myCobotROS/urdf/joint4.dae"/> <mesh filename="package://myCobotROS/urdf/joint4.dae"/>
</geometry> </geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
</visual> </visual>
</link> </link>
@ -55,7 +54,7 @@
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://myCobotROS/urdf/joint5.dae"/> <mesh filename="package://myCobotROS/urdf/joint5.dae"/>
</geometry> </geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> <origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
</visual> </visual>
</link> </link>
@ -66,7 +65,7 @@
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://myCobotROS/urdf/joint6.dae"/> <mesh filename="package://myCobotROS/urdf/joint6.dae"/>
</geometry> </geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
</visual> </visual>
</link> </link>
@ -77,42 +76,48 @@
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://myCobotROS/urdf/joint7.dae"/> <mesh filename="package://myCobotROS/urdf/joint7.dae"/>
</geometry> </geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
</visual> </visual>
</link> </link>
<joint name="joint2_to_joint1" type="revolute"> <joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="joint1"/> <parent link="joint1"/>
<child link="joint2"/> <child link="joint2"/>
<origin xyz= "0 0 0.0706" rpy = "0 0 0"/> <origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint3_to_joint2" type="revolute"> <joint name="joint3_to_joint2" type="revolute">
<axis xyz="1 0 0"/> <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="joint2"/> <parent link="joint2"/>
<child link="joint3"/> <child link="joint3"/>
<origin xyz= "0.03256 0 0.05976" rpy = "0 0 0"/> <origin xyz= "0 0 0" rpy = "0 1.5708 -1.5708"/>
</joint> </joint>
<joint name="joint4_to_joint3" type="revolute"> <joint name="joint4_to_joint3" type="revolute">
<axis xyz="1 0 0"/> <axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="joint3"/> <parent link="joint3"/>
<child link="joint4"/> <child link="joint4"/>
<origin xyz= " 0.00272 0 0.1104 " rpy = "0 0 0"/> <origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint5_to_joint4" type="revolute"> <joint name="joint5_to_joint4" type="revolute">
<axis xyz="1 0 0"/> <axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="joint4"/> <parent link="joint4"/>
<child link="joint5"/> <child link="joint5"/>
<origin xyz= "-0.00164 0 0.096" rpy = "0 0 0"/> <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
</joint> </joint>
<joint name="joint6_to_joint5" type="revolute"> <joint name="joint6_to_joint5" type="revolute">
@ -120,7 +125,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="joint5"/> <parent link="joint5"/>
<child link="joint6"/> <child link="joint6"/>
<origin xyz= "0.0298 0 0.02876" rpy = "0 0 0"/> <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6output_to_joint6" type="revolute">
@ -128,7 +133,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="joint6"/> <parent link="joint6"/>
<child link="joint6_flange"/> <child link="joint6_flange"/>
<origin xyz= "0 0.0351 0.03792" rpy = "-1.570795 0 0"/> <origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>
</joint> </joint>