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Fix the problem that moveit cannot be used in ubuntu20.04

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This commit is contained in:
weiquan 2021-12-13 18:57:10 +08:00
parent a22eb3a236
commit 2e8c8a71af
11 changed files with 1669 additions and 78674 deletions
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3
mycobot_320_moveit/config/firefighter.srdf
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@ -28,9 +28,6 @@
</group_state> </group_state>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. --> <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base" link2="link1" reason="Adjacent" /> <disable_collisions link1="base" link2="link1" reason="Adjacent" />
<disable_collisions link1="gripper" link2="link4" reason="Never" />
<disable_collisions link1="gripper" link2="link5" reason="Never" />
<disable_collisions link1="gripper" link2="link6" reason="Adjacent" />
<disable_collisions link1="link1" link2="link2" reason="Adjacent" /> <disable_collisions link1="link1" link2="link2" reason="Adjacent" />
<disable_collisions link1="link1" link2="link4" reason="Never" /> <disable_collisions link1="link1" link2="link4" reason="Never" />
<disable_collisions link1="link2" link2="link3" reason="Adjacent" /> <disable_collisions link1="link2" link2="link3" reason="Adjacent" />

10
mycobot_320_moveit/launch/moveit.rviz
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@ -79,11 +79,6 @@ Visualization Manager:
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
gripper:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1: link1:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
@ -164,11 +159,6 @@ Visualization Manager:
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
gripper:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1: link1:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false

2
mycobot_320_moveit/launch/planning_context.launch
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@ -6,7 +6,7 @@
<arg name="robot_description" default="robot_description"/> <arg name="robot_description" default="robot_description"/>
<!-- Load universal robot description format (URDF) --> <!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/320_urdf/mycobot_pro_320.urdf"/> <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/320_urdf/mycobot_pro_320moveit.urdf"/>
<!-- The semantic description that corresponds to the URDF --> <!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find mycobot_320_moveit)/config/firefighter.srdf" /> <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_320_moveit)/config/firefighter.srdf" />

15216
mycobot_description/urdf/320_urdf/base.dae
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9064
mycobot_description/urdf/320_urdf/link1.dae
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17560
mycobot_description/urdf/320_urdf/link2.dae
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17985
mycobot_description/urdf/320_urdf/link3.dae
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11089
mycobot_description/urdf/320_urdf/link4.dae
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9222
mycobot_description/urdf/320_urdf/link5.dae
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21
mycobot_description/urdf/320_urdf/mycobot_pro_320.urdf
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@ -117,6 +117,16 @@
</collision> </collision>
</link> </link>
<link name="gripper">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/gripper.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
</visual>
</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"/>
@ -167,5 +177,14 @@
<origin xyz= "0 0.06 0" rpy = "-1.57080 0 0 "/> <origin xyz= "0 0.06 0" rpy = "-1.57080 0 0 "/>
</joint> </joint>
</robot>
<joint name="gitpper_to_joint6output" type="fixed">
<axis xyz="0 0 0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link6"/>
<child link="gripper"/>
<origin xyz= "0 0 0" rpy = "0 0 0 "/>
</joint>
</robot>

171
mycobot_description/urdf/320_urdf/mycobot_pro_320moveit.urdf Normal file
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@ -0,0 +1,171 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
<xacro:property name="width" value=".2" />
<link name="base">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/base.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz = "0 0 0.05 " rpy = " 0 0 0"/>
<geometry>
<cylinder length="0.102" radius="0.0725"/>
</geometry>
</collision>
</link>
<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/link1.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz = "0 0 -0.02 " rpy = " 0 0 0"/>
<geometry>
<cylinder length="0.106" radius="0.043"/>
</geometry>
</collision>
</link>
<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/link2.dae"/>
</geometry>
<origin xyz = "0 0 0.0587 " rpy = " 0 0 3.1415926"/>
</visual>
<collision>
<origin xyz = "0.07 0 0.095 " rpy = " 0 -1.5708 0"/>
<geometry>
<cylinder length="0.18" radius="0.036"/>
</geometry>
</collision>
</link>
<link name="link3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/link3.dae"/>
</geometry>
<origin xyz = "0 0 0.038 " rpy = " 0 0 3.1415926"/>
</visual>
<collision>
<origin xyz = "0.044 0 0 " rpy = " 0 -1.5708 0"/>
<geometry>
<cylinder length="0.14" radius="0.0305"/>
</geometry>
</collision>
</link>
<link name="link4">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/link4.dae"/>
</geometry>
<origin xyz = "0 -0.001 0 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz = "0.0 -0.014 0 " rpy = " 0 -1.5708 1.5708"/>
<geometry>
<cylinder length="0.083" radius="0.029"/>
</geometry>
</collision>
</link>
<link name="link5">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/link5.dae"/>
</geometry>
<origin xyz = "0 0.002 0 " rpy = " 0 0 3.1415926"/>
</visual>
<collision>
<origin xyz = "0 -0.01 0 " rpy = " 1.5708 1.5708 0"/>
<geometry>
<cylinder length="0.0849" radius="0.029"/>
</geometry>
</collision>
</link>
<link name="link6">
<visual>
<geometry>
<cylinder length="0.02" radius="0.026"/>
</geometry>
<material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/>
</material>
<origin xyz = "0 0 -0.01 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz = "0.0 0 -0.01 " rpy = " 0 0 0"/>
<geometry>
<cylinder length="0.0225" radius="0.026"/>
</geometry>
</collision>
</link>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="base"/>
<child link="link1"/>
<origin xyz= "0 0 0.17846" rpy = "0 0 0"/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0 0 0" rpy = "0 -1.57080 1.57080"/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "0.13635 0 0 " rpy = "0 0 0"/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "0.1 0 0.090" rpy = "0 0 1.57080"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= "0 -0.08515 0" rpy = "1.57080 -1.57080 0"/>
</joint>
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link5"/>
<child link="link6"/>
<origin xyz= "0 0.06 0" rpy = "-1.57080 0 0 "/>
</joint>
</robot>