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fix and opt urdf

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This commit is contained in:
weijian 2023-06-13 18:53:12 +08:00
parent e05e3bf154
commit 3b386343c2
2 changed files with 4 additions and 5 deletions
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1
myArm/myarm/scripts/listen_real.py
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@ -57,7 +57,6 @@ def talker():
# publish angles.发布角度 # publish angles.发布角度
joint_state_send.header.stamp = rospy.Time.now() joint_state_send.header.stamp = rospy.Time.now()
joint_state_send.position = radians_list joint_state_send.position = radians_list
print('radius:', radians_list)
rate.sleep() rate.sleep()

8
mycobot_description/urdf/myarm/myarm_urdf.urdf
View file

@ -107,14 +107,14 @@
<mesh filename="package://mycobot_description/urdf/myarm/j6.dae"/> <mesh filename="package://mycobot_description/urdf/myarm/j6.dae"/>
</geometry> </geometry>
<origin xyz = "0.0 0 -0.0 " rpy = " 0 0 1.5708"/> <origin xyz = "0.0 0 -0.0 " rpy = " 0 0 -1.5708"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/myarm/j6.dae"/> <mesh filename="package://mycobot_description/urdf/myarm/j6.dae"/>
</geometry> </geometry>
<origin xyz = "0.0 0 -0.0 " rpy = " 0 0 1.5708"/> <origin xyz = "0.0 0 -0.0 " rpy = " 0 0 -1.5708"/>
</collision> </collision>
</link> </link>
@ -188,7 +188,7 @@
<limit effort = "1000.0" lower = "-1.5708" upper = "1.5708" velocity = "0"/> <limit effort = "1000.0" lower = "-1.5708" upper = "1.5708" velocity = "0"/>
<parent link="joint5"/> <parent link="joint5"/>
<child link="joint6"/> <child link="joint6"/>
<origin xyz= "0 0.0 0" rpy = "-1.5708 3.14 0"/> <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/>
</joint> </joint>
<joint name="joint7_to_joint6" type="revolute"> <joint name="joint7_to_joint6" type="revolute">
@ -196,7 +196,7 @@
<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="joint7"/> <child link="joint7"/>
<origin xyz= "0 0.056 0" rpy = "-1.5708 1.5708 0"/> <origin xyz= "0 -0.056 0" rpy = "1.5708 0 0"/>
</joint> </joint>