kenaug74/mycobot_ros
1
0
Fork 0
mirror of https://github.com/elephantrobotics/mycobot_ros.git synced 2026-07-05 19:47:04 +00:00
Code Issues Projects Releases Packages Wiki Activity Actions

Merge pull request #127 from elephantrobotics/pro630

Browse source 
Pro630
This commit is contained in:
wangWking 2024-03-06 10:52:49 +08:00 • committed by GitHub
commit 38f3acdca0
No known key found for this signature in database
GPG key ID: B5690EEEBB952194
52 changed files with 5200 additions and 0 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

341
mycobot_description/urdf/mycobot_630/base.dae Executable file
View file

File diff suppressed because one or more lines are too long

186
mycobot_description/urdf/mycobot_630/link1.dae Executable file
View file

File diff suppressed because one or more lines are too long

255
mycobot_description/urdf/mycobot_630/link2.dae Executable file
View file

File diff suppressed because one or more lines are too long

1214
mycobot_description/urdf/mycobot_630/link3.dae Executable file
View file

File diff suppressed because one or more lines are too long

250
mycobot_description/urdf/mycobot_630/link4.dae Executable file
View file

File diff suppressed because one or more lines are too long

459
mycobot_description/urdf/mycobot_630/link5.dae Executable file
View file

File diff suppressed because one or more lines are too long

449
mycobot_description/urdf/mycobot_630/link6.dae Executable file
View file

File diff suppressed because one or more lines are too long

176
mycobot_description/urdf/mycobot_630/mycobot_630.urdf Executable file
View file

@ -0,0 +1,176 @@
<?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/mycobot_630/base.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 1.5707 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_630/base.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 1.5707 0 0"/>
</collision>
</link>
<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link1.dae"/>
</geometry>
<origin xyz = "0 0 -0.06 " rpy = "0 0 3.1415926"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link1.dae"/>
</geometry>
<origin xyz = "0 0 -0.06 " rpy = " 0 0 3.1415926"/>
</collision>
</link>
<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link2.dae"/>
</geometry>
<origin xyz = "0 0 -0.0446 " rpy = " 0 -1.5707 -1.5707"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link2.dae"/>
</geometry>
<origin xyz = "0 0 -0.0446 " rpy = " 0 -1.5707 -1.5707"/>
</collision>
</link>
<link name="link3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link3.dae"/>
</geometry>
<origin xyz = "0 0 -0.0444 " rpy = " 0 1.5707 -1.5707"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link3.dae"/>
</geometry>
<origin xyz = "0 0 -0.0444 " rpy = "0 1.5707 -1.5707"/>
</collision>
</link>
<link name="link4">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link4.dae"/>
</geometry>
<origin xyz = "0 0 0.041 " rpy = " -1.5707 0 1.5707"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link4.dae"/>
</geometry>
<origin xyz = "0 0 0.041 " rpy = " -1.5707 0 1.5707"/>
</collision>
</link>
<link name="link5">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link5.dae"/>
</geometry>
<origin xyz = "-0.043 0 0 " rpy = " 0 -1.5707 3.1415926"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link5.dae"/>
</geometry>
<origin xyz = "-0.043 0 0 " rpy = " 0 -1.5707 3.1415926"/>
</collision>
</link>
<link name="link6">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link6.dae"/>
</geometry>
<!-- <material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/>
</material> -->
<origin xyz = "0.01 0 0" rpy = " 0 1.5707 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link6.dae"/>
</geometry>
<!-- <material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/>
</material> -->
<origin xyz = "0.01 0 0" rpy = " 0 1.5707 0"/>
</collision>
</link>
<joint name="joint1_to_base" 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 0.22934" rpy = "0 0 0"/>
</joint>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "-4.71" upper = "1.5707" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0 0 0" rpy = "1.5707 0 0"/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz=" 0 0 -1"/>
<limit effort = "1000.0" lower = "-2.61" upper = "2.618" velocity = "0"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "0.27 0 0 " rpy = "0 0 0"/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 -1"/>
<limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "0.267 0 -0.0745" rpy = "0 0 0"/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.93" upper = "2.9321" velocity = "0"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= "0 -0.095 0.002" rpy = "1.5707 -1.5707 0"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="-1 0 0"/>
<limit effort = "1000.0" lower = "-3.03" upper = "3.0368" velocity = "0"/>
<parent link="link5"/>
<child link="link6"/>
<origin xyz= "-0.054 0 0" rpy = "-1.5707 0 0 "/>
</joint>
</robot>

204
mycobot_pro/mycobot_630/CMakeLists.txt Normal file
View file

@ -0,0 +1,204 @@
cmake_minimum_required(VERSION 3.0.2)
project(mycobot_630)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
mycobot_description
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES mycobot_630
# CATKIN_DEPENDS mycobot_description
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/mycobot_630.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/mycobot_630_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_mycobot_630.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

25
mycobot_pro/mycobot_630/LICENSE Normal file
View file

@ -0,0 +1,25 @@
BSD 2-Clause License
Copyright (c) 2020, Elephant Robotics
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

220
mycobot_pro/mycobot_630/config/mycobot_630.rviz Normal file
View file

@ -0,0 +1,220 @@
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
- /TF1
- /TF1/Frames1
Splitter Ratio: 0.5
Tree Height: 609
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: false
base:
Value: true
link1:
Value: false
link2:
Value: true
link3:
Value: true
link4:
Value: true
link5:
Value: true
link6:
Value: true
Marker Alpha: 1
Marker Scale: 0.20000000298023224
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
base:
link1:
link2:
link3:
link4:
link5:
link6:
{}
Update Interval: 0
Value: true
- Alpha: 1
Class: rviz/Axes
Enabled: true
Length: 0.20000000298023224
Name: Axes
Radius: 0.004999999888241291
Reference Frame: <Fixed Frame>
Show Trail: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 1.5878180265426636
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: -0.07064759731292725
Y: -0.0814988762140274
Z: 0.10758385062217712
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.5947973132133484
Target Frame: <Fixed Frame>
Yaw: 2.5353903770446777
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 906
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001d0000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003f2000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1848
X: 72
Y: 27

16
mycobot_pro/mycobot_630/launch/mycobot_630_slider.launch Normal file
View file

@ -0,0 +1,16 @@
<launch>
<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
<arg name="model" default="$(find mycobot_description)/urdf/600_urdf/mycobot_600_urdf.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_600)/config/mycobot_600.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
<!-- Show in Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

16
mycobot_pro/mycobot_630/launch/test.launch Executable file
View file

@ -0,0 +1,16 @@
<launch>
<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_630/mycobot_630.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_630)/config/mycobot_630.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
<!-- Show in Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

62
mycobot_pro/mycobot_630/package.xml Normal file
View file

@ -0,0 +1,62 @@
<?xml version="1.0"?>
<package format="2">
<name>mycobot_630</name>
<version>0.0.0</version>
<description>The mycobot_630 package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="ubuntu@todo.todo">ubuntu</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/mycobot_630</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>mycobot_description</build_depend>
<build_export_depend>mycobot_description</build_export_depend>
<exec_depend>mycobot_description</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>

52
mycobot_pro/mycobot_630/scripts/mycobot_630_slider.py Executable file
View file

@ -0,0 +1,52 @@
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
from socket import *
import math
import sys
import time
from multiprocessing import Lock
import rospy
from sensor_msgs.msg import JointState
from pymycobot.elephantrobot import ElephantRobot
global mc
def callback(data):
"""callback function,回调函数"""
# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
data_list = []
for index, value in enumerate(data.position):
radians_to_angles = round(math.degrees(value), 2)
data_list.append(radians_to_angles)
rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
mc.write_angles(data_list, 800)
def listener():
global mc
rospy.init_node("control_slider", anonymous=True)
ip = rospy.get_param("~ip", "192.168.1.159")
port = rospy.get_param("~port", 5001)
print (ip, port)
mc = ElephantRobot(ip, int(port))
# START CLIENT,启动客户端
res = mc.start_client()
if res != "":
sys.exit(1)
mc.set_speed(90)
rospy.Subscriber("joint_states", JointState, callback)
# spin() simply keeps python from exiting until this node is stopped
# spin()只是阻止python退出，直到该节点停止
print ("sping ...")
rospy.spin()
if __name__ == "__main__":
listener()

13
mycobot_pro/mycobot_630/scripts/test.py Normal file
View file

@ -0,0 +1,13 @@
import time
import sys
from pymycobot.elephantrobot import ElephantRobot
mc = ElephantRobot('192.168.1.159', 5001, debug=True)
res = mc.start_client()
if res != "":
print('quit')
sys.exit(1)
print(mc.get_angles())
# mc.write_angle(0, 0, 1000)

11
mycobot_pro/mycobot_630_moveit/.setup_assistant Normal file
View file

@ -0,0 +1,11 @@
moveit_setup_assistant_config:
URDF:
package: mycobot_description
relative_path: urdf/mycobot_630/mycobot_630.urdf
xacro_args: "--inorder "
SRDF:
relative_path: config/firefighter.srdf
CONFIG:
author_name: wangweijian
author_email: weijian.wang@elephantrobotics.com
generated_timestamp: 1652406964

21
mycobot_pro/mycobot_630_moveit/CMakeLists.txt Normal file
View file

@ -0,0 +1,21 @@
cmake_minimum_required(VERSION 2.8.3)
project(mycobot_630_moveit)
find_package(catkin REQUIRED
rospy
std_msgs
moveit_msgs
)
catkin_package()
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
catkin_install_python(PROGRAMS
scripts/sync_plan.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
PATTERN "setup_assistant.launch" EXCLUDE)
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

25
mycobot_pro/mycobot_630_moveit/LICENSE Normal file
View file

@ -0,0 +1,25 @@
BSD 2-Clause License
Copyright (c) 2020, Elephant Robotics
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

18
mycobot_pro/mycobot_630_moveit/config/chomp_planning.yaml Normal file
View file

@ -0,0 +1,18 @@
planning_time_limit: 10.0
max_iterations: 200
max_iterations_after_collision_free: 5
smoothness_cost_weight: 0.1
obstacle_cost_weight: 1.0
learning_rate: 0.01
smoothness_cost_velocity: 0.0
smoothness_cost_acceleration: 1.0
smoothness_cost_jerk: 0.0
ridge_factor: 0.01
use_pseudo_inverse: false
pseudo_inverse_ridge_factor: 1e-4
joint_update_limit: 0.1
collision_clearence: 0.2
collision_threshold: 0.07
use_stochastic_descent: true
enable_failure_recovery: true
max_recovery_attempts: 5

9
mycobot_pro/mycobot_630_moveit/config/fake_controllers.yaml Normal file
View file

@ -0,0 +1,9 @@
controller_list:
- name: fake_arm_group_controller
joints:
- joint1_to_base
- joint2_to_joint1
- joint3_to_joint2
- joint4_to_joint3
- joint5_to_joint4
- joint6_to_joint5

56
mycobot_pro/mycobot_630_moveit/config/firefighter.srdf Normal file
View file

@ -0,0 +1,56 @@
<?xml version="1.0" ?>
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot name="firefighter">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="arm_group">
<joint name="joint1_to_base" />
<joint name="joint2_to_joint1" />
<joint name="joint3_to_joint2" />
<joint name="joint4_to_joint3" />
<joint name="joint5_to_joint4" />
<joint name="joint6_to_joint5" />
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="init_pose" group="arm_group">
<joint name="joint1_to_base" value="0" />
<joint name="joint2_to_joint1" value="-1.5708" />
<joint name="joint3_to_joint2" value="0" />
<joint name="joint4_to_joint3" value="-1.5708" />
<joint name="joint5_to_joint4" value="0" />
<joint name="joint6_to_joint5" value="0" />
</group_state>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<!-- <virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="joint1" /> -->
<virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="base" />
<!--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="link2" reason="Never" />
<disable_collisions link1="base" link2="link3" reason="Never" />
<disable_collisions link1="base" link2="link4" reason="Never" />
<disable_collisions link1="base" link2="link5" reason="Never" />
<disable_collisions link1="base" link2="link6" reason="Never" />
<disable_collisions link1="link1" link2="link2" reason="Adjacent" />
<disable_collisions link1="link1" link2="link3" reason="Never" />
<disable_collisions link1="link1" link2="link4" reason="Never" />
<disable_collisions link1="link1" link2="link5" reason="Never" />
<disable_collisions link1="link1" link2="link6" reason="Never" />
<disable_collisions link1="link2" link2="link3" reason="Adjacent" />
<disable_collisions link1="link2" link2="link4" reason="Never" />
<disable_collisions link1="link2" link2="link5" reason="Never" />
<disable_collisions link1="link2" link2="link6" reason="Never" />
<disable_collisions link1="link3" link2="link4" reason="Adjacent" />
<disable_collisions link1="link3" link2="link5" reason="Never" />
<disable_collisions link1="link3" link2="link6" reason="Never" />
<disable_collisions link1="link4" link2="link5" reason="Adjacent" />
<disable_collisions link1="link4" link2="link6" reason="Never" />
<disable_collisions link1="link5" link2="link6" reason="Adjacent" />
</robot>

34
mycobot_pro/mycobot_630_moveit/config/joint_limits.yaml Normal file
View file

@ -0,0 +1,34 @@
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits:
joint1_to_base:
has_velocity_limits: true
max_velocity: 3.14
has_acceleration_limits: false
max_acceleration: 30
joint2_to_joint1:
has_velocity_limits: true
max_velocity: 3.14
has_acceleration_limits: false
max_acceleration: 30
joint3_to_joint2:
has_velocity_limits: true
max_velocity: 3.14
has_acceleration_limits: false
max_acceleration: 30
joint4_to_joint3:
has_velocity_limits: true
max_velocity: 3.14
has_acceleration_limits: false
max_acceleration: 30
joint5_to_joint4:
has_velocity_limits: true
max_velocity: 3.14
has_acceleration_limits: false
max_acceleration: 30
joint6_to_joint5:
has_velocity_limits: true
max_velocity: 3.14
has_acceleration_limits: false
max_acceleration: 30

5
mycobot_pro/mycobot_630_moveit/config/kinematics.yaml Normal file
View file

@ -0,0 +1,5 @@
arm_group:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3

150
mycobot_pro/mycobot_630_moveit/config/ompl_planning.yaml Normal file
View file

@ -0,0 +1,150 @@
planner_configs:
SBL:
type: geometric::SBL
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
EST:
type: geometric::EST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
LBKPIECE:
type: geometric::LBKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
BKPIECE:
type: geometric::BKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
KPIECE:
type: geometric::KPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
RRT:
type: geometric::RRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
RRTConnect:
type: geometric::RRTConnect
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
RRTstar:
type: geometric::RRTstar
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
TRRT:
type: geometric::TRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
max_states_failed: 10 # when to start increasing temp. default: 10
temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
init_temperature: 10e-6 # initial temperature. default: 10e-6
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()
PRM:
type: geometric::PRM
max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
PRMstar:
type: geometric::PRMstar
FMT:
type: geometric::FMT
num_samples: 1000 # number of states that the planner should sample. default: 1000
radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1
nearest_k: 1 # use Knearest strategy. default: 1
cache_cc: 1 # use collision checking cache. default: 1
heuristics: 0 # activate cost to go heuristics. default: 0
extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
BFMT:
type: geometric::BFMT
num_samples: 1000 # number of states that the planner should sample. default: 1000
radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0
nearest_k: 1 # use the Knearest strategy. default: 1
balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
heuristics: 1 # activates cost to go heuristics. default: 1
cache_cc: 1 # use the collision checking cache. default: 1
extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
PDST:
type: geometric::PDST
STRIDE:
type: geometric::STRIDE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
max_degree: 18 # max degree of a node in the GNAT. default: 12
min_degree: 12 # min degree of a node in the GNAT. default: 12
max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6
estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0
min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2
BiTRRT:
type: geometric::BiTRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1
init_temperature: 100 # initial temperature. default: 100
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
LBTRRT:
type: geometric::LBTRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
epsilon: 0.4 # optimality approximation factor. default: 0.4
BiEST:
type: geometric::BiEST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
ProjEST:
type: geometric::ProjEST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
LazyPRM:
type: geometric::LazyPRM
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
LazyPRMstar:
type: geometric::LazyPRMstar
SPARS:
type: geometric::SPARS
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
max_failures: 1000 # maximum consecutive failure limit. default: 1000
SPARStwo:
type: geometric::SPARStwo
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
max_failures: 5000 # maximum consecutive failure limit. default: 5000
arm_group:
default_planner_config: RRTConnect
planner_configs:
- SBL
- EST
- LBKPIECE
- BKPIECE
- KPIECE
- RRT
- RRTConnect
- RRTstar
- TRRT
- PRM
- PRMstar
- FMT
- BFMT
- PDST
- STRIDE
- BiTRRT
- LBTRRT
- BiEST
- ProjEST
- LazyPRM
- LazyPRMstar
- SPARS
- SPARStwo
projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2)
longest_valid_segment_fraction: 0.005

26
mycobot_pro/mycobot_630_moveit/config/ros_controllers.yaml Normal file
View file

@ -0,0 +1,26 @@
# Simulation settings for using moveit_sim_controllers
moveit_sim_hw_interface:
joint_model_group: arm_group
joint_model_group_pose: init_pose
# Settings for ros_control_boilerplate control loop
generic_hw_control_loop:
loop_hz: 300
cycle_time_error_threshold: 0.01
# Settings for ros_control hardware interface
hardware_interface:
joints:
- vitual_joint
- joint1_to_base
- joint2_to_joint1
- joint3_to_joint2
- joint4_to_joint3
- joint5_to_joint4
- joint6_to_joint5
sim_control_mode: 1 # 0: position, 1: velocity
# Publish all joint states
# Creates the /joint_states topic necessary in ROS
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
controller_list:
[]

10
mycobot_pro/mycobot_630_moveit/config/sensors_3d.yaml Normal file
View file

@ -0,0 +1,10 @@
# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
sensors:
- filtered_cloud_topic: filtered_cloud
max_range: 5.0
max_update_rate: 1.0
padding_offset: 0.1
padding_scale: 1.0
point_cloud_topic: /head_mount_kinect/depth_registered/points
point_subsample: 1
sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater

10
mycobot_pro/mycobot_630_moveit/launch/chomp_planning_pipeline.launch.xml Normal file
View file

@ -0,0 +1,10 @@
<launch>
<!-- CHOMP Plugin for MoveIt! -->
<arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
<arg name="start_state_max_bounds_error" value="0.1" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<rosparam command="load" file="$(find mycobot_630_moveit)/config/chomp_planning.yaml" />
</launch>

15
mycobot_pro/mycobot_630_moveit/launch/default_warehouse_db.launch Normal file
View file

@ -0,0 +1,15 @@
<launch>
<arg name="reset" default="false"/>
<!-- If not specified, we'll use a default database location -->
<arg name="moveit_warehouse_database_path" default="$(find mycobot_630_moveit)/default_warehouse_mongo_db" />
<!-- Launch the warehouse with the configured database location -->
<include file="$(find mycobot_630_moveit)/launch/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
</include>
<!-- If we want to reset the database, run this node -->
<node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
</launch>

66
mycobot_pro/mycobot_630_moveit/launch/demo.launch Normal file
View file

@ -0,0 +1,66 @@
<launch>
<!-- By default, we do not start a database (it can be large) -->
<!-- 默认情况下，我们不启动数据库（它可能很大） -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<!-- 允许用户指定数据库位置 -->
<arg name="db_path" default="$(find mycobot_630_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<!-- 默认情况下，我们不处于调试模式 -->
<arg name="debug" default="false" />
<!--
By default, hide joint_state_publisher's GUI
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<arg name="use_gui" default="false" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
<include file="$(find mycobot_630_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- If needed, broadcast static tf for robot root -->
<!-- We do not have a robot connected, so publish fake joint states -->
<!-- 我们没有连接机器人，所以发布假关节状态 -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(arg use_gui)"/>
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<!-- 给定已发布的关节状态，为机器人链接发布 tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
<!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）-->
<include file="$(find mycobot_630_moveit)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 -->
<include file="$(find mycobot_630_moveit)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<!-- 如果启用了数据库加载，也启动 mongodb -->
<include file="$(find mycobot_630_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>

70
mycobot_pro/mycobot_630_moveit/launch/demo_gazebo.launch Normal file
View file

@ -0,0 +1,70 @@
<launch>
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find mycobot_630_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!--
By default, hide joint_state_publisher's GUI
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<arg name="use_gui" default="false" />
<!-- Gazebo specific options -->
<arg name="gazebo_gui" default="true"/>
<arg name="paused" default="false"/>
<!-- By default, use the urdf location provided from the package -->
<arg name="urdf_path" default="$(find mycobot_description)/urdf/mycobot_630/mycobot_630.urdf"/>
<!-- launch the gazebo simulator and spawn the robot -->
<include file="$(find mycobot_630_moveit)/launch/gazebo.launch" >
<arg name="paused" value="$(arg paused)"/>
<arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
<arg name="urdf_path" value="$(arg urdf_path)"/>
</include>
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find mycobot_630_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="false"/>
</include>
<!-- If needed, broadcast static tf for robot root -->
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(arg use_gui)"/>
<rosparam param="source_list">[/joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find mycobot_630_moveit)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="false"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find mycobot_630_moveit)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(find mycobot_630_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>

9
mycobot_pro/mycobot_630_moveit/launch/fake_moveit_controller_manager.launch.xml Normal file
View file

@ -0,0 +1,9 @@
<launch>
<!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
<param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
<!-- The rest of the params are specific to this plugin -->
<rosparam file="$(find mycobot_630_moveit)/config/fake_controllers.yaml"/>
</launch>

10
mycobot_pro/mycobot_630_moveit/launch/firefighter_moveit_controller_manager.launch.xml Normal file
View file

@ -0,0 +1,10 @@
<launch>
<!-- loads moveit_controller_manager on the parameter server which is taken as argument
if no argument is passed, moveit_simple_controller_manager will be set -->
<arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
<param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<!-- loads ros_controllers to the param server -->
<rosparam file="$(find mycobot_630_moveit)/config/ros_controllers.yaml"/>
</launch>

3
mycobot_pro/mycobot_630_moveit/launch/firefighter_moveit_sensor_manager.launch.xml Normal file
View file

@ -0,0 +1,3 @@
<launch>
</launch>

23
mycobot_pro/mycobot_630_moveit/launch/gazebo.launch Normal file
View file

@ -0,0 +1,23 @@
<?xml version="1.0"?>
<launch>
<arg name="paused" default="false"/>
<arg name="gazebo_gui" default="true"/>
<arg name="urdf_path" default="$(find mycobot_description)/urdf/mycobot_630/mycobot_630.urdf"/>
<!-- startup simulated world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" default="worlds/empty.world"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="gui" value="$(arg gazebo_gui)"/>
</include>
<!-- send robot urdf to param server -->
<param name="robot_description" textfile="$(arg urdf_path)" />
<!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -x 0 -y 0 -z 0"
respawn="false" output="screen" />
<include file="$(find mycobot_630_moveit)/launch/ros_controllers.launch"/>
</launch>

17
mycobot_pro/mycobot_630_moveit/launch/joystick_control.launch Normal file
View file

@ -0,0 +1,17 @@
<launch>
<!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
<arg name="dev" default="/dev/input/js0" />
<!-- Launch joy node -->
<node pkg="joy" type="joy_node" name="joy">
<param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
<param name="deadzone" value="0.2" />
<param name="autorepeat_rate" value="40" />
<param name="coalesce_interval" value="0.025" />
</node>
<!-- Launch python interface -->
<node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
</launch>

77
mycobot_pro/mycobot_630_moveit/launch/move_group.launch Normal file
View file

@ -0,0 +1,77 @@
<launch>
<include file="$(find mycobot_630_moveit)/launch/planning_context.launch" />
<!-- GDB Debug Option -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix"
value="gdb -x $(find mycobot_630_moveit)/launch/gdb_settings.gdb --ex run --args" />
<!-- Verbose Mode Option -->
<arg name="info" default="$(arg debug)" />
<arg unless="$(arg info)" name="command_args" value="" />
<arg if="$(arg info)" name="command_args" value="--debug" />
<!-- move_group settings -->
<arg name="allow_trajectory_execution" default="true"/>
<arg name="fake_execution" default="false"/>
<arg name="max_safe_path_cost" default="1"/>
<arg name="jiggle_fraction" default="0.05" />
<arg name="publish_monitored_planning_scene" default="true"/>
<arg name="capabilities" default=""/>
<arg name="disable_capabilities" default=""/>
<!-- load these non-default MoveGroup capabilities (space seperated) -->
<!--
<arg name="capabilities" value="
a_package/AwsomeMotionPlanningCapability
another_package/GraspPlanningPipeline
" />
-->
<!-- inhibit these default MoveGroup capabilities (space seperated) -->
<!--
<arg name="disable_capabilities" value="
move_group/MoveGroupKinematicsService
move_group/ClearOctomapService
" />
-->
<!-- Planning Functionality -->
<include ns="move_group" file="$(find mycobot_630_moveit)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="ompl" />
</include>
<!-- Trajectory Execution Functionality -->
<include ns="move_group" file="$(find mycobot_630_moveit)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_manage_controllers" value="true" />
<arg name="moveit_controller_manager" value="firefighter" unless="$(arg fake_execution)"/>
<arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
</include>
<!-- Sensors Functionality -->
<include ns="move_group" file="$(find mycobot_630_moveit)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_sensor_manager" value="firefighter" />
</include>
<!-- Start the actual move_group node/action server -->
<node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
<!-- Set the display variable, in case OpenGL code is used internally -->
<env name="DISPLAY" value="$(optenv DISPLAY :0)" />
<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
<param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<param name="capabilities" value="$(arg capabilities)"/>
<param name="disable_capabilities" value="$(arg disable_capabilities)"/>
<!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
<param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
</node>
</launch>

251
mycobot_pro/mycobot_630_moveit/launch/moveit.rviz Normal file
View file

@ -0,0 +1,251 @@
Panels:
- Class: rviz/Displays
Help Height: 84
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1
- /MotionPlanning1/Scene Geometry1
- /MotionPlanning1/Scene Robot1
- /MotionPlanning1/Planning Request1
- /MotionPlanning1/Planned Path1
Splitter Ratio: 0.7425600290298462
Tree Height: 197
- Class: rviz/Help
Name: Help
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Acceleration_Scaling_Factor: 1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 2
Y: 2
Z: 2
Name: MotionPlanning
Planned Path:
Color Enabled: false
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Loop Animation: false
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 0.05 s
Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path
Use Sim Time: false
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.07999999821186066
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0.10999999940395355
Joint Violation Color: 255; 0; 255
Planning Group: arm_group
Query Goal State: true
Query Start State: true
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
Planning Scene Topic: move_group/monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 1
Scene Color: 50; 230; 50
Scene Display Time: 0.20000000298023224
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 0.5
Show Robot Collision: false
Show Robot Visual: false
Value: true
Velocity_Scaling_Factor: 1
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
Value: true
Views:
Current:
Class: rviz/XYOrbit
Distance: 1.3915867805480957
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0.11356700211763382
Y: 0.10592000186443329
Z: 2.2351800055275817e-07
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.3547966480255127
Target Frame: base
Yaw: 2.0267655849456787
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 906
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000001f300000330fc0200000007fb000000100044006900730070006c006100790073010000003d00000156000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000199000000420000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001e10000018c0000017d00ffffff0000053f0000033000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1848
X: 72
Y: 27

16
mycobot_pro/mycobot_630_moveit/launch/moveit_rviz.launch Normal file
View file

@ -0,0 +1,16 @@
<launch>
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="config" default="false" />
<arg unless="$(arg config)" name="command_args" value="" />
<arg if="$(arg config)" name="command_args" value="-d $(find mycobot_630_moveit)/launch/moveit.rviz" />
<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
args="$(arg command_args)" output="screen">
<rosparam command="load" file="$(find mycobot_630_moveit)/config/kinematics.yaml"/>
</node>
</launch>

65
mycobot_pro/mycobot_630_moveit/launch/mycobot630_moveit.launch Normal file
View file

@ -0,0 +1,65 @@
<launch>
<!-- By default, we do not start a database (it can be large) -->
<!-- 默认情况下，我们不启动数据库（它可能很大） -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<!-- 允许用户指定数据库位置 -->
<arg name="db_path" default="$(find mycobot_630_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode --> <!-- 默认情况下，我们不处于调试模式 -->
<arg name="debug" default="false" />
<!--
By default, hide joint_state_publisher's GUI
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<arg name="use_gui" default="false" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
<include file="$(find mycobot_630_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- If needed, broadcast static tf for robot root -->
<!-- We do not have a robot connected, so publish fake joint states -->
<!-- 我们没有连接机器人，所以发布假关节状态 -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(arg use_gui)"/>
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<!-- 给定已发布的关节状态，为机器人链接发布 tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
<!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）-->
<include file="$(find mycobot_630_moveit)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 -->
<include file="$(find mycobot_630_moveit)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<!-- 如果启用了数据库加载，也启动 mongodb -->
<include file="$(find mycobot_630_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>

22
mycobot_pro/mycobot_630_moveit/launch/ompl_planning_pipeline.launch.xml Normal file
View file

@ -0,0 +1,22 @@
<launch>
<!-- OMPL Plugin for MoveIt! -->
<arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
<!-- The request adapters (plugins) used when planning with OMPL.
ORDER MATTERS -->
<arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints" />
<arg name="start_state_max_bounds_error" value="0.1" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<rosparam command="load" file="$(find mycobot_630_moveit)/config/ompl_planning.yaml"/>
</launch>

24
mycobot_pro/mycobot_630_moveit/launch/planning_context.launch Normal file
View file

@ -0,0 +1,24 @@
<launch>
<!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
<arg name="load_robot_description" default="false"/>
<!-- The name of the parameter under which the URDF is loaded -->
<arg name="robot_description" default="robot_description"/>
<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_630/mycobot_630.urdf"/>
<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find mycobot_630_moveit)/config/firefighter.srdf" />
<!-- Load updated joint limits (override information from URDF) -->
<group ns="$(arg robot_description)_planning">
<rosparam command="load" file="$(find mycobot_630_moveit)/config/joint_limits.yaml"/>
</group>
<!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
<group ns="$(arg robot_description)_kinematics">
<rosparam command="load" file="$(find mycobot_630_moveit)/config/kinematics.yaml"/>
</group>
</launch>

10
mycobot_pro/mycobot_630_moveit/launch/planning_pipeline.launch.xml Normal file
View file

@ -0,0 +1,10 @@
<launch>
<!-- This file makes it easy to include different planning pipelines;
It is assumed that all planning pipelines are named XXX_planning_pipeline.launch -->
<arg name="pipeline" default="ompl" />
<include file="$(find mycobot_630_moveit)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
</launch>

11
mycobot_pro/mycobot_630_moveit/launch/ros_controllers.launch Normal file
View file

@ -0,0 +1,11 @@
<?xml version="1.0"?>
<launch>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find mycobot_630_moveit)/config/ros_controllers.yaml" command="load"/>
<!-- Load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args=""/>
</launch>

22
mycobot_pro/mycobot_630_moveit/launch/run_benchmark_ompl.launch Normal file
View file

@ -0,0 +1,22 @@
<launch>
<!-- This argument must specify the list of .cfg files to process for benchmarking -->
<arg name="cfg" />
<!-- Load URDF -->
<include file="$(find mycobot_630_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- Start the database -->
<include file="$(find mycobot_630_moveit)/launch/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
</include>
<!-- Start Benchmark Executable -->
<node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
<rosparam command="load" file="$(find mycobot_630_moveit)/config/kinematics.yaml"/>
<rosparam command="load" file="$(find mycobot_630_moveit)/config/ompl_planning.yaml"/>
</node>
</launch>

17
mycobot_pro/mycobot_630_moveit/launch/sensor_manager.launch.xml Normal file
View file

@ -0,0 +1,17 @@
<launch>
<!-- This file makes it easy to include the settings for sensor managers -->
<!-- Params for 3D sensors config -->
<rosparam command="load" file="$(find mycobot_630_moveit)/config/sensors_3d.yaml" />
<!-- Params for the octomap monitor -->
<!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
<param name="octomap_resolution" type="double" value="0.025" />
<param name="max_range" type="double" value="5.0" />
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
<arg name="moveit_sensor_manager" default="firefighter" />
<include file="$(find mycobot_630_moveit)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
</launch>

15
mycobot_pro/mycobot_630_moveit/launch/setup_assistant.launch Normal file
View file

@ -0,0 +1,15 @@
<!-- Re-launch the MoveIt! Setup Assistant with this configuration package already loaded -->
<launch>
<!-- Debug Info -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<!-- Run -->
<node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
args="--config_pkg=mycobot_630_moveit"
launch-prefix="$(arg launch_prefix)"
output="screen" />
</launch>

20
mycobot_pro/mycobot_630_moveit/launch/trajectory_execution.launch.xml Normal file
View file

@ -0,0 +1,20 @@
<launch>
<!-- This file makes it easy to include the settings for trajectory execution -->
<!-- Flag indicating whether MoveIt! is allowed to load/unload or switch controllers -->
<arg name="moveit_manage_controllers" default="true"/>
<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
<!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
<param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
<!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
<param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
<!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
<param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
<!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
<arg name="moveit_controller_manager" default="firefighter" />
<include file="$(find mycobot_630_moveit)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
</launch>

15
mycobot_pro/mycobot_630_moveit/launch/warehouse.launch Normal file
View file

@ -0,0 +1,15 @@
<launch>
<!-- The path to the database must be specified -->
<arg name="moveit_warehouse_database_path" />
<!-- Load warehouse parameters -->
<include file="$(find mycobot_630_moveit)/launch/warehouse_settings.launch.xml" />
<!-- Run the DB server -->
<node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
<param name="overwrite" value="false"/>
<param name="database_path" value="$(arg moveit_warehouse_database_path)" />
</node>
</launch>

16
mycobot_pro/mycobot_630_moveit/launch/warehouse_settings.launch.xml Normal file
View file

@ -0,0 +1,16 @@
<launch>
<!-- Set the parameters for the warehouse and run the mongodb server. -->
<!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
<arg name="moveit_warehouse_port" default="33829" />
<!-- The default DB host for moveit -->
<arg name="moveit_warehouse_host" default="localhost" />
<!-- Set parameters for the warehouse -->
<param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
<param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
<param name="warehouse_exec" value="mongod" />
<param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
</launch>

39
mycobot_pro/mycobot_630_moveit/package.xml Normal file
View file

@ -0,0 +1,39 @@
<package>
<name>mycobot_630_moveit</name>
<version>0.3.0</version>
<description>
An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt! Motion Planning Framework
</description>
<author email="weijian.wang@elephantrobotics.com">wangweijian</author>
<maintainer email="weijian.wang@elephantrobotics.com">wangweijian</maintainer>
<license>BSD</license>
<url type="website">http://moveit.ros.org/</url>
<url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
<url type="repository">https://github.com/ros-planning/moveit</url>
<buildtool_depend>catkin</buildtool_depend>
<run_depend>moveit_ros_move_group</run_depend>
<run_depend>moveit_fake_controller_manager</run_depend>
<run_depend>moveit_kinematics</run_depend>
<run_depend>moveit_planners_ompl</run_depend>
<run_depend>moveit_ros_visualization</run_depend>
<run_depend>moveit_setup_assistant</run_depend>
<run_depend>joint_state_publisher</run_depend>
<run_depend>robot_state_publisher</run_depend>
<run_depend>xacro</run_depend>
<!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
<!-- <run_depend>warehouse_ros_mongo</run_depend> -->
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>actionlib</build_depend>
<build_depend>moveit_msgs</build_depend>
<build_depend>mycobot_description</build_depend>
<run_depend>mycobot_description</run_depend>
</package>

54
mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py Executable file
View file

@ -0,0 +1,54 @@
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
from socket import *
import math
import sys
import time
from multiprocessing import Lock
import rospy
from sensor_msgs.msg import JointState
from pymycobot.elephantrobot import ElephantRobot
global mc
def callback(data):
"""callback function,回调函数"""
# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
data_list = []
for index, value in enumerate(data.position):
radians_to_angles = round(math.degrees(value), 2)
data_list.append(radians_to_angles)
rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
mc.write_angles(data_list, 800)
def listener():
global mc
rospy.init_node("control_slider", anonymous=True)
ip = rospy.get_param("~ip", "192.168.1.159")
port = rospy.get_param("~port", 5001)
print (ip, port)
mc = ElephantRobot(ip, int(port))
# START CLIENT,启动客户端
res = mc.start_client()
if res != "":
sys.exit(1)
mc.set_speed(90)
rospy.Subscriber("joint_states", JointState, callback)
# spin() simply keeps python from exiting until this node is stopped
# spin()只是阻止python退出，直到该节点停止
print ("sping ...")
rospy.spin()
if __name__ == "__main__":
listener()