mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
Merge branch 'noetic' of github.com:elephantrobotics/mycobot_ros into cobotx_b450
This commit is contained in:
wangWking
commit
406ab9d77e
46 changed files with 4398 additions and 138 deletions
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|
@ -32,6 +32,7 @@ catkin_install_python(PROGRAMS
|
|||
scripts/simple_gui.py
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scripts/follow_display_gripper.py
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scripts/slider_control_gripper.py
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scripts/listen_real_gripper.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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||||
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|
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@ -8,9 +8,10 @@ Panels:
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- /Status1
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- /RobotModel1
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- /TF1
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- /Marker1
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- /TF1/Frames1
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- /TF1/Tree1
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Splitter Ratio: 0.5
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Tree Height: 657
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Tree Height: 609
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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||||
|
|
@ -64,46 +65,16 @@ Visualization Manager:
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|||
Expand Link Details: false
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||||
Expand Tree: false
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||||
Link Tree Style: Links in Alphabetic Order
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camera_flange:
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Alpha: 1
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Show Axes: false
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||||
Show Trail: false
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Value: true
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||||
g_base:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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gripper_base:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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||||
gripper_left1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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||||
gripper_left2:
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Alpha: 1
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||||
Show Axes: false
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Show Trail: false
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Value: true
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gripper_left3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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||||
gripper_right1:
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Alpha: 1
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||||
Show Axes: false
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||||
Show Trail: false
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||||
Value: true
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||||
gripper_right2:
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||||
Alpha: 1
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||||
Show Axes: false
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Show Trail: false
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||||
Value: true
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||||
gripper_right3:
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Alpha: 1
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||||
Show Axes: false
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||||
Show Trail: false
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Value: true
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||||
joint1:
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Alpha: 1
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||||
Show Axes: false
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||||
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@ -139,6 +110,16 @@ Visualization Manager:
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|||
Show Axes: false
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||||
Show Trail: false
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Value: true
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pump_box:
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Alpha: 1
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||||
Show Axes: false
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||||
Show Trail: false
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||||
Value: true
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||||
pump_head:
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Alpha: 1
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||||
Show Axes: false
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||||
Show Trail: false
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Value: true
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Name: RobotModel
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Robot Description: robot_description
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TF Prefix: ""
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@ -152,22 +133,10 @@ Visualization Manager:
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Frame Timeout: 15
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Frames:
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All Enabled: true
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camera_flange:
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Value: true
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g_base:
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Value: true
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gripper_base:
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Value: true
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gripper_left1:
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Value: true
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gripper_left2:
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Value: true
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gripper_left3:
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Value: true
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gripper_right1:
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Value: true
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gripper_right2:
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Value: true
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||||
gripper_right3:
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Value: true
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||||
joint1:
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Value: true
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joint2:
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@ -182,6 +151,10 @@ Visualization Manager:
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Value: true
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joint6_flange:
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Value: true
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pump_box:
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Value: true
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pump_head:
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Value: true
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||||
Marker Alpha: 1
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Marker Scale: 0.10000000149011612
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Name: TF
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@ -197,17 +170,11 @@ Visualization Manager:
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joint5:
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joint6:
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joint6_flange:
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gripper_base:
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gripper_left2:
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camera_flange:
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pump_head:
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{}
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gripper_left3:
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gripper_left1:
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{}
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gripper_right2:
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{}
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gripper_right3:
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gripper_right1:
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{}
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pump_box:
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{}
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Update Interval: 0
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Value: true
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- Class: rviz/Marker
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@ -246,7 +213,7 @@ Visualization Manager:
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 1.2028908729553223
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Distance: 1.0996487140655518
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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@ -262,17 +229,17 @@ Visualization Manager:
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|||
Invert Z Axis: false
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Name: Current View
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||||
Near Clip Distance: 0.009999999776482582
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||||
Pitch: 0.32539835572242737
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Pitch: 0.5753980875015259
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Target Frame: <Fixed Frame>
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Yaw: 3.0853891372680664
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Yaw: 3.950380325317383
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 954
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Height: 906
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000031c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c20000031cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000031c000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004000000031c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c2000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000400000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
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||||
Time:
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||||
|
|
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@ -20,6 +20,10 @@
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<arg name="port" value="$(arg port)" />
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<arg name="baud" value="$(arg baud)" />
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</include>
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<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
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<!-- <node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" /> -->
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<node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" output="screen">
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<param name="port" value="$(arg port)" />
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<param name="baud" value="$(arg baud)" />
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</node>
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<node name="simple_gui" pkg="mycobot_280" type="simple_gui.py" />
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</launch>
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|
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23
mycobot_280/mycobot_280/launch/simple_gui_pump.launch
Normal file
23
mycobot_280/mycobot_280/launch/simple_gui_pump.launch
Normal file
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@ -0,0 +1,23 @@
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<launch>
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<!-- Select connecting device and serial port ，选择连接设备及串口-->
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<arg name="port" default="/dev/ttyUSB0" />
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<arg name="baud" default="115200" />
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<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_pump.urdf"/>
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<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
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<arg name="gui" default="false" />
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<!-- Combinejoin values to TF ,将值合并到TF-->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<!-- Show in Rviz ，显示在Rviz-->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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<include file="$(find mycobot_communication)/launch/communication_service.launch">
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<arg name="port" value="$(arg port)" />
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<arg name="baud" value="$(arg baud)" />
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</include>
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<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
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<node name="simple_gui" pkg="mycobot_280" type="simple_gui.py" />
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</launch>
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@ -0,0 +1,25 @@
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|||
<launch>
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<!-- <arg name="port" default="/dev/ttyUSB0" />
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<arg name="baud" default="115200" /> -->
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<!-- Load file model ，加载文件模型-->
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<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_camera_flange.urdf"/>
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||||
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||||
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
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||||
<arg name="gui" default="true" />
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||||
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<!-- Combinejoin values to TF，将值合并到TF -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
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||||
<!-- <param name="use_gui" value="$(arg gui)" /> -->
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<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
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</node>
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||||
<!-- Open control script -->
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||||
<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
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<param name="port" type="string" value="$(arg port)" />
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||||
<param name="baud" type="int" value="$(arg baud)" />
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||||
</node> -->
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||||
<!-- Show in Rviz ，显示在Rviz-->
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||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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</launch>
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||||
24
mycobot_280/mycobot_280/launch/slider_control_pump.launch
Normal file
24
mycobot_280/mycobot_280/launch/slider_control_pump.launch
Normal file
|
|
@ -0,0 +1,24 @@
|
|||
<launch>
|
||||
<!-- <arg name="port" default="/dev/ttyUSB0" />
|
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<arg name="baud" default="115200" /> -->
|
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<!-- Load file model ，加载文件模型-->
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<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_pump.urdf"/>
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<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
|
||||
<arg name="gui" default="true" />
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||||
|
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF，将值合并到TF -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
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<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
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||||
<!-- <param name="use_gui" value="$(arg gui)" /> -->
|
||||
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
|
||||
</node>
|
||||
<!-- Open control script -->
|
||||
<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
|
||||
<param name="port" type="string" value="$(arg port)" />
|
||||
<param name="baud" type="int" value="$(arg baud)" />
|
||||
</node> -->
|
||||
<!-- Show in Rviz ，显示在Rviz-->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
|
|
@ -21,5 +21,9 @@
|
|||
<arg name="baud" value="$(arg baud)" />
|
||||
</include>
|
||||
<!-- listen and pub the real angles ，监听并发布真实角度-->
|
||||
<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
|
||||
<!-- <node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" /> -->
|
||||
<node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" output="screen">
|
||||
<param name="port" value="$(arg port)" />
|
||||
<param name="baud" value="$(arg baud)" />
|
||||
</node>
|
||||
</launch>
|
||||
|
|
|
|||
23
mycobot_280/mycobot_280/launch/teleop_keyboard_pump.launch
Normal file
23
mycobot_280/mycobot_280/launch/teleop_keyboard_pump.launch
Normal file
|
|
@ -0,0 +1,23 @@
|
|||
<launch>
|
||||
<!-- Select connecting device and serial port ，选择连接设备及串口-->
|
||||
<arg name="port" default="/dev/ttyUSB0" />
|
||||
<arg name="baud" default="115200" />
|
||||
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_pump.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
|
||||
<arg name="gui" default="false" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF ，将值合并到TF-->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<!-- Show in Rviz ，显示在Rviz-->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
|
||||
<include file="$(find mycobot_communication)/launch/communication_service.launch">
|
||||
<arg name="port" value="$(arg port)" />
|
||||
<arg name="baud" value="$(arg baud)" />
|
||||
</include>
|
||||
<!-- listen and pub the real angles ，监听并发布真实角度-->
|
||||
<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
|
||||
</launch>
|
||||
|
|
@ -1,5 +1,5 @@
|
|||
<launch>
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_vision.urdf"/>
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
|
|
|
|||
25
mycobot_280/mycobot_280/launch/test_camera_flange.launch
Normal file
25
mycobot_280/mycobot_280/launch/test_camera_flange.launch
Normal file
|
|
@ -0,0 +1,25 @@
|
|||
<launch>
|
||||
<!-- <arg name="port" default="/dev/ttyUSB0" />
|
||||
<arg name="baud" default="115200" /> -->
|
||||
<!-- Load file model ，加载文件模型-->
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_camera_flange.urdf"/>
|
||||
|
||||
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF，将值合并到TF -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
|
||||
<!-- <param name="use_gui" value="$(arg gui)" /> -->
|
||||
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
|
||||
</node>
|
||||
<!-- Open control script -->
|
||||
<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
|
||||
<param name="port" type="string" value="$(arg port)" />
|
||||
<param name="baud" type="int" value="$(arg baud)" />
|
||||
</node> -->
|
||||
<!-- Show in Rviz ，显示在Rviz-->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,25 @@
|
|||
<launch>
|
||||
<!-- <arg name="port" default="/dev/ttyUSB0" />
|
||||
<arg name="baud" default="115200" /> -->
|
||||
<!-- Load file model ，加载文件模型-->
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_camera_flange_pump.urdf"/>
|
||||
|
||||
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF，将值合并到TF -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
|
||||
<!-- <param name="use_gui" value="$(arg gui)" /> -->
|
||||
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
|
||||
</node>
|
||||
<!-- Open control script -->
|
||||
<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
|
||||
<param name="port" type="string" value="$(arg port)" />
|
||||
<param name="baud" type="int" value="$(arg baud)" />
|
||||
</node> -->
|
||||
<!-- Show in Rviz ，显示在Rviz-->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
16
mycobot_280/mycobot_280/launch/test_gripper.launch
Normal file
16
mycobot_280/mycobot_280/launch/test_gripper.launch
Normal file
|
|
@ -0,0 +1,16 @@
|
|||
<launch>
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_parallel.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
|
||||
<param name="use_gui" value="$(arg gui)" />
|
||||
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
|
||||
</node>
|
||||
<!-- Show in Rviz ，显示在Rviz-->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
25
mycobot_280/mycobot_280/launch/test_pump.launch
Normal file
25
mycobot_280/mycobot_280/launch/test_pump.launch
Normal file
|
|
@ -0,0 +1,25 @@
|
|||
<launch>
|
||||
<!-- <arg name="port" default="/dev/ttyUSB0" />
|
||||
<arg name="baud" default="115200" /> -->
|
||||
<!-- Load file model ，加载文件模型-->
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_pump.urdf"/>
|
||||
|
||||
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF，将值合并到TF -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
|
||||
<!-- <param name="use_gui" value="$(arg gui)" /> -->
|
||||
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
|
||||
</node>
|
||||
<!-- Open control script -->
|
||||
<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
|
||||
<param name="port" type="string" value="$(arg port)" />
|
||||
<param name="baud" type="int" value="$(arg baud)" />
|
||||
</node> -->
|
||||
<!-- Show in Rviz ，显示在Rviz-->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
0
mycobot_280/mycobot_280/scripts/detect_marker.py
Normal file → Executable file
0
mycobot_280/mycobot_280/scripts/detect_marker.py
Normal file → Executable file
0
mycobot_280/mycobot_280/scripts/follow_and_pump.py
Normal file → Executable file
0
mycobot_280/mycobot_280/scripts/follow_and_pump.py
Normal file → Executable file
0
mycobot_280/mycobot_280/scripts/follow_display.py
Normal file → Executable file
0
mycobot_280/mycobot_280/scripts/follow_display.py
Normal file → Executable file
0
mycobot_280/mycobot_280/scripts/follow_display_gripper.py
Normal file → Executable file
0
mycobot_280/mycobot_280/scripts/follow_display_gripper.py
Normal file → Executable file
0
mycobot_280/mycobot_280/scripts/following_marker.py
Normal file → Executable file
0
mycobot_280/mycobot_280/scripts/following_marker.py
Normal file → Executable file
132
mycobot_280/mycobot_280/scripts/listen_real_gripper.py
Executable file
132
mycobot_280/mycobot_280/scripts/listen_real_gripper.py
Executable file
|
|
@ -0,0 +1,132 @@
|
|||
#!/usr/bin/env python3
|
||||
# encoding:utf-8
|
||||
# license removed for brevity
|
||||
from distutils.log import error
|
||||
import time
|
||||
import math
|
||||
import os
|
||||
import fcntl
|
||||
|
||||
import rospy
|
||||
from sensor_msgs.msg import JointState
|
||||
from std_msgs.msg import Header
|
||||
from mycobot_communication.srv import GetAngles
|
||||
from pymycobot.mycobot import MyCobot
|
||||
from rospy import ServiceException
|
||||
|
||||
mc = None
|
||||
|
||||
# Avoid serial port conflicts and need to be locked
|
||||
def acquire(lock_file):
|
||||
open_mode = os.O_RDWR | os.O_CREAT | os.O_TRUNC
|
||||
fd = os.open(lock_file, open_mode)
|
||||
|
||||
pid = os.getpid()
|
||||
lock_file_fd = None
|
||||
|
||||
timeout = 50.0
|
||||
start_time = current_time = time.time()
|
||||
while current_time < start_time + timeout:
|
||||
try:
|
||||
# The LOCK_EX means that only one process can hold the lock
|
||||
# The LOCK_NB means that the fcntl.flock() is not blocking
|
||||
# and we are able to implement termination of while loop,
|
||||
# when timeout is reached.
|
||||
fcntl.flock(fd, fcntl.LOCK_EX | fcntl.LOCK_NB)
|
||||
except (IOError, OSError):
|
||||
pass
|
||||
else:
|
||||
lock_file_fd = fd
|
||||
break
|
||||
|
||||
# print('pid waiting for lock:%d'% pid)
|
||||
|
||||
|
||||
time.sleep(1.0)
|
||||
current_time = time.time()
|
||||
if lock_file_fd is None:
|
||||
os.close(fd)
|
||||
return lock_file_fd
|
||||
|
||||
|
||||
def release(lock_file_fd):
|
||||
# Do not remove the lockfile:
|
||||
fcntl.flock(lock_file_fd, fcntl.LOCK_UN)
|
||||
os.close(lock_file_fd)
|
||||
return None
|
||||
|
||||
def talker():
|
||||
rospy.loginfo("start ...")
|
||||
|
||||
rospy.init_node("real_listener_gripper", anonymous=True)
|
||||
pub = rospy.Publisher("joint_states", JointState, queue_size=10)
|
||||
port = rospy.get_param("~port", "/dev/ttyUSB0")
|
||||
baud = rospy.get_param("~baud", 115200)
|
||||
mc = MyCobot(port, baud)
|
||||
rate = rospy.Rate(30) # 30hz
|
||||
|
||||
# pub joint state，发布关节状态
|
||||
joint_state_send = JointState()
|
||||
joint_state_send.header = Header()
|
||||
|
||||
joint_state_send.name = [
|
||||
"joint2_to_joint1",
|
||||
"joint3_to_joint2",
|
||||
"joint4_to_joint3",
|
||||
"joint5_to_joint4",
|
||||
"joint6_to_joint5",
|
||||
"joint6output_to_joint6",
|
||||
"gripper_controller",
|
||||
]
|
||||
joint_state_send.velocity = [0]
|
||||
joint_state_send.effort = []
|
||||
|
||||
# waiting util server `get_joint_angles` enable.等待'get_joint_angles'服务启用
|
||||
rospy.loginfo("wait service")
|
||||
rospy.wait_for_service("get_joint_angles")
|
||||
|
||||
while True:
|
||||
try:
|
||||
func = rospy.ServiceProxy("get_joint_angles", GetAngles)
|
||||
break
|
||||
except ServiceException as e:
|
||||
# pass
|
||||
# print(f'error:{e}')
|
||||
print("--------------error",e)
|
||||
|
||||
# rospy.loginfo("start loop ...")
|
||||
while not rospy.is_shutdown():
|
||||
# get real angles from server.从服务器获得真实的角度。
|
||||
res = func()
|
||||
if res.joint_1 == res.joint_2 == res.joint_3 == 0.0:
|
||||
continue
|
||||
if mc:
|
||||
lock = acquire("/tmp/mycobot_lock")
|
||||
gripper_value = mc.get_gripper_value()
|
||||
release(lock)
|
||||
if gripper_value != -1:
|
||||
gripper_value = -0.78 + round(gripper_value / 117.0, 2)
|
||||
# print(gripper_value)
|
||||
radians_list = [
|
||||
res.joint_1 * (math.pi / 180),
|
||||
res.joint_2 * (math.pi / 180),
|
||||
res.joint_3 * (math.pi / 180),
|
||||
res.joint_4 * (math.pi / 180),
|
||||
res.joint_5 * (math.pi / 180),
|
||||
res.joint_6 * (math.pi / 180),
|
||||
]
|
||||
radians_list.append(gripper_value)
|
||||
# rospy.loginfo("res: {}".format(radians_list))
|
||||
|
||||
# publish angles.发布角度
|
||||
joint_state_send.header.stamp = rospy.Time.now()
|
||||
joint_state_send.position = radians_list
|
||||
pub.publish(joint_state_send)
|
||||
rate.sleep()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
try:
|
||||
talker()
|
||||
except rospy.ROSInterruptException:
|
||||
pass
|
||||
31
mycobot_280/mycobot_280/scripts/simple_gui.py
Normal file → Executable file
31
mycobot_280/mycobot_280/scripts/simple_gui.py
Normal file → Executable file
|
|
@ -4,7 +4,7 @@ try:
|
|||
import tkinter as tk
|
||||
except ImportError:
|
||||
import Tkinter as tk
|
||||
from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
|
||||
from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus, PumpStatus
|
||||
import rospy
|
||||
import time
|
||||
from rospy import ServiceException
|
||||
|
|
@ -36,7 +36,7 @@ class Window:
|
|||
# 计算 Tk 根窗口的 x 和 y 坐标
|
||||
x = int((self.ws / 2) - 190)
|
||||
y = int((self.hs / 2) - 250)
|
||||
self.win.geometry("430x400+{}+{}".format(x, y))
|
||||
self.win.geometry("440x440+{}+{}".format(x, y))
|
||||
# layout,布局
|
||||
self.set_layout()
|
||||
# input section,输入部分
|
||||
|
|
@ -56,11 +56,18 @@ class Window:
|
|||
|
||||
# Gripper switch button,夹爪开关按钮
|
||||
tk.Button(self.frmLB, text="夹爪(开)", command=self.gripper_open, width=5).grid(
|
||||
row=1, column=0, sticky="w", padx=3, pady=50
|
||||
row=1, column=0, sticky="w", padx=3, pady=20
|
||||
)
|
||||
tk.Button(self.frmLB, text="夹爪(关)", command=self.gripper_close, width=5).grid(
|
||||
row=1, column=1, sticky="w", padx=3, pady=2
|
||||
)
|
||||
|
||||
tk.Button(self.frmLB, text=" 吸泵(开)", command=self.pump_open, width=5).grid(
|
||||
row=2, column=0, sticky="w", padx=3, pady=20
|
||||
)
|
||||
tk.Button(self.frmLB, text="吸泵(关)", command=self.pump_close, width=5).grid(
|
||||
row=2, column=1, sticky="w", padx=3, pady=2
|
||||
)
|
||||
|
||||
def connect_ser(self):
|
||||
rospy.init_node("simple_gui", anonymous=True, disable_signals=True)
|
||||
|
|
@ -70,6 +77,7 @@ class Window:
|
|||
rospy.wait_for_service("get_joint_coords")
|
||||
rospy.wait_for_service("set_joint_coords")
|
||||
rospy.wait_for_service("switch_gripper_status")
|
||||
rospy.wait_for_service("switch_pump_status")
|
||||
try:
|
||||
self.get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords)
|
||||
self.set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords)
|
||||
|
|
@ -78,6 +86,9 @@ class Window:
|
|||
self.switch_gripper = rospy.ServiceProxy(
|
||||
"switch_gripper_status", GripperStatus
|
||||
)
|
||||
self.switch_pump = rospy.ServiceProxy(
|
||||
"switch_pump_status", PumpStatus
|
||||
)
|
||||
except:
|
||||
print("start error ...")
|
||||
exit(1)
|
||||
|
|
@ -372,6 +383,20 @@ class Window:
|
|||
self.switch_gripper(False)
|
||||
except ServiceException:
|
||||
pass
|
||||
|
||||
def pump_open(self):
|
||||
try:
|
||||
self.switch_pump(True,2, 5)
|
||||
except ServiceException:
|
||||
# Probably because the method has no return value, the service throws an unhandled error
|
||||
# 可能由于该方法没有返回值，服务抛出无法处理的错误
|
||||
pass
|
||||
|
||||
def pump_close(self):
|
||||
try:
|
||||
self.switch_pump(False, 2, 5)
|
||||
except ServiceException:
|
||||
pass
|
||||
|
||||
def get_coord_input(self):
|
||||
# Get the data input by coord and send it to the robotic arm
|
||||
|
|
|
|||
0
mycobot_280/mycobot_280/scripts/slider_control.py
Normal file → Executable file
0
mycobot_280/mycobot_280/scripts/slider_control.py
Normal file → Executable file
2
mycobot_280/mycobot_280/scripts/slider_control_gripper.py
Normal file → Executable file
2
mycobot_280/mycobot_280/scripts/slider_control_gripper.py
Normal file → Executable file
|
|
@ -30,7 +30,7 @@ def callback(data):
|
|||
mc.send_radians(data_list[:6], 80)
|
||||
gripper_value = int(abs(-0.7-data_list[6])* 117)
|
||||
print("gripper_value:%s"%gripper_value)
|
||||
mc.set_gripper_value(gripper_value, 80)
|
||||
mc.set_gripper_value(gripper_value, 80, 1)
|
||||
|
||||
|
||||
def listener():
|
||||
|
|
|
|||
13
mycobot_280/mycobot_280/scripts/teleop_keyboard.py
Normal file → Executable file
13
mycobot_280/mycobot_280/scripts/teleop_keyboard.py
Normal file → Executable file
|
|
@ -1,6 +1,6 @@
|
|||
#!/usr/bin/env python3
|
||||
from __future__ import print_function
|
||||
from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
|
||||
from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus, PumpStatus
|
||||
import rospy
|
||||
import sys
|
||||
import select
|
||||
|
|
@ -28,6 +28,10 @@ Gripper control:
|
|||
g - open
|
||||
h - close
|
||||
|
||||
Pump control:
|
||||
b - open
|
||||
m - close
|
||||
|
||||
Other:
|
||||
1 - Go to init pose
|
||||
2 - Go to home pose
|
||||
|
|
@ -68,6 +72,7 @@ def teleop_keyboard():
|
|||
rospy.wait_for_service("get_joint_coords")
|
||||
rospy.wait_for_service("set_joint_coords")
|
||||
rospy.wait_for_service("switch_gripper_status")
|
||||
rospy.wait_for_service("switch_pump_status")
|
||||
print("service ready.")
|
||||
try:
|
||||
get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords)
|
||||
|
|
@ -76,6 +81,8 @@ def teleop_keyboard():
|
|||
set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles)
|
||||
switch_gripper = rospy.ServiceProxy(
|
||||
"switch_gripper_status", GripperStatus)
|
||||
switch_pump = rospy.ServiceProxy(
|
||||
"switch_pump_status", PumpStatus)
|
||||
except:
|
||||
print("start error ...")
|
||||
exit(1)
|
||||
|
|
@ -145,6 +152,10 @@ def teleop_keyboard():
|
|||
switch_gripper(True)
|
||||
elif key in ["h", "H"]:
|
||||
switch_gripper(False)
|
||||
elif key in ["b", "B"]:
|
||||
switch_pump(True, 2, 5)
|
||||
elif key in ["m", "M"]:
|
||||
switch_pump(False, 2, 5)
|
||||
elif key == "1":
|
||||
rsp = set_angles(*init_pose)
|
||||
elif key in "2":
|
||||
|
|
|
|||
|
|
@ -9,7 +9,7 @@ Panels:
|
|||
- /RobotModel1
|
||||
- /TF1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 642
|
||||
Tree Height: 609
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
|
|
@ -18,17 +18,18 @@ Panels:
|
|||
- /2D Nav Goal1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.588679016
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
Preferences:
|
||||
PromptSaveOnExit: true
|
||||
Toolbars:
|
||||
toolButtonStyle: 2
|
||||
Visualization Manager:
|
||||
|
|
@ -40,7 +41,7 @@ Visualization Manager:
|
|||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.0299999993
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
|
|
@ -62,6 +63,16 @@ Visualization Manager:
|
|||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
camera_flange:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
g_base:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
|
|
@ -105,9 +116,15 @@ Visualization Manager:
|
|||
Visual Enabled: true
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Filter (blacklist): ""
|
||||
Filter (whitelist): ""
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
camera_flange:
|
||||
Value: true
|
||||
g_base:
|
||||
Value: true
|
||||
joint1:
|
||||
Value: true
|
||||
joint2:
|
||||
|
|
@ -122,20 +139,23 @@ Visualization Manager:
|
|||
Value: true
|
||||
joint6_flange:
|
||||
Value: true
|
||||
Marker Scale: 0.300000012
|
||||
Marker Alpha: 1
|
||||
Marker Scale: 0.10000000149011612
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
joint1:
|
||||
joint2:
|
||||
joint3:
|
||||
joint4:
|
||||
joint5:
|
||||
joint6:
|
||||
joint6_flange:
|
||||
{}
|
||||
g_base:
|
||||
joint1:
|
||||
joint2:
|
||||
joint3:
|
||||
joint4:
|
||||
joint5:
|
||||
joint6:
|
||||
joint6_flange:
|
||||
camera_flange:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Enabled: true
|
||||
|
|
@ -153,7 +173,10 @@ Visualization Manager:
|
|||
- 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
|
||||
|
|
@ -163,33 +186,33 @@ Visualization Manager:
|
|||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 1.20289087
|
||||
Distance: 1.0585439205169678
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.0599999987
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Field of View: 0.7853981852531433
|
||||
Focal Point:
|
||||
X: -0.0706475973
|
||||
Y: -0.0814988762
|
||||
Z: 0.107583851
|
||||
X: -0.07064759731292725
|
||||
Y: -0.0814988762140274
|
||||
Z: 0.10758385062217712
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.0500000007
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.00999999978
|
||||
Pitch: 0.085398227
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.48539817333221436
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 3.08857274
|
||||
Yaw: 4.103571891784668
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 923
|
||||
Height: 906
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000311fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000311000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000311fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000311000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073b0000003efc0100000002fb0000000800540069006d006501000000000000073b0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003960000031100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000018c000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000436000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
|
|
@ -198,6 +221,6 @@ Window Geometry:
|
|||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1851
|
||||
X: 65
|
||||
Y: 24
|
||||
Width: 1848
|
||||
X: 72
|
||||
Y: 27
|
||||
|
|
|
|||
|
|
@ -0,0 +1,25 @@
|
|||
<launch>
|
||||
<!-- <arg name="port" default="/dev/ttyUSB0" />
|
||||
<arg name="baud" default="115200" /> -->
|
||||
<!-- Load file model ，加载文件模型-->
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pi/mycobot_with_camera_flange.urdf"/>
|
||||
|
||||
<arg name="rvizconfig" default="$(find mycobot_280pi)/config/mycobot.rviz" />
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF，将值合并到TF -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
|
||||
<!-- <param name="use_gui" value="$(arg gui)" /> -->
|
||||
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
|
||||
</node>
|
||||
<!-- Open control script -->
|
||||
<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
|
||||
<param name="port" type="string" value="$(arg port)" />
|
||||
<param name="baud" type="int" value="$(arg baud)" />
|
||||
</node> -->
|
||||
<!-- Show in Rviz ，显示在Rviz-->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
24
mycobot_280/mycobot_280pi/launch/slider_control_pump.launch
Normal file
24
mycobot_280/mycobot_280pi/launch/slider_control_pump.launch
Normal file
|
|
@ -0,0 +1,24 @@
|
|||
<launch>
|
||||
<!-- <arg name="port" default="/dev/ttyUSB0" />
|
||||
<arg name="baud" default="115200" /> -->
|
||||
<!-- Load file model ，加载文件模型-->
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pi/mycobot_with_pump.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find mycobot_280pi)/config/mycobot.rviz" />
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF，将值合并到TF -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
|
||||
<!-- <param name="use_gui" value="$(arg gui)" /> -->
|
||||
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
|
||||
</node>
|
||||
<!-- Open control script -->
|
||||
<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
|
||||
<param name="port" type="string" value="$(arg port)" />
|
||||
<param name="baud" type="int" value="$(arg baud)" />
|
||||
</node> -->
|
||||
<!-- Show in Rviz ，显示在Rviz-->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
25
mycobot_280/mycobot_280pi/launch/test_camera_flange.launch
Normal file
25
mycobot_280/mycobot_280pi/launch/test_camera_flange.launch
Normal file
|
|
@ -0,0 +1,25 @@
|
|||
<launch>
|
||||
<!-- <arg name="port" default="/dev/ttyUSB0" />
|
||||
<arg name="baud" default="115200" /> -->
|
||||
<!-- Load file model ，加载文件模型-->
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pi/mycobot_with_camera_flange.urdf"/>
|
||||
|
||||
<arg name="rvizconfig" default="$(find mycobot_280pi)/config/mycobot.rviz" />
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF，将值合并到TF -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
|
||||
<!-- <param name="use_gui" value="$(arg gui)" /> -->
|
||||
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
|
||||
</node>
|
||||
<!-- Open control script -->
|
||||
<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
|
||||
<param name="port" type="string" value="$(arg port)" />
|
||||
<param name="baud" type="int" value="$(arg baud)" />
|
||||
</node> -->
|
||||
<!-- Show in Rviz ，显示在Rviz-->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,25 @@
|
|||
<launch>
|
||||
<!-- <arg name="port" default="/dev/ttyUSB0" />
|
||||
<arg name="baud" default="115200" /> -->
|
||||
<!-- Load file model ，加载文件模型-->
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pi/mycobot_with_camera_flange_pump.urdf"/>
|
||||
|
||||
<arg name="rvizconfig" default="$(find mycobot_280pi)/config/mycobot.rviz" />
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF，将值合并到TF -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
|
||||
<!-- <param name="use_gui" value="$(arg gui)" /> -->
|
||||
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
|
||||
</node>
|
||||
<!-- Open control script -->
|
||||
<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
|
||||
<param name="port" type="string" value="$(arg port)" />
|
||||
<param name="baud" type="int" value="$(arg baud)" />
|
||||
</node> -->
|
||||
<!-- Show in Rviz ，显示在Rviz-->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
25
mycobot_280/mycobot_280pi/launch/test_pump.launch
Normal file
25
mycobot_280/mycobot_280pi/launch/test_pump.launch
Normal file
|
|
@ -0,0 +1,25 @@
|
|||
<launch>
|
||||
<!-- <arg name="port" default="/dev/ttyUSB0" />
|
||||
<arg name="baud" default="115200" /> -->
|
||||
<!-- Load file model ，加载文件模型-->
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pi/mycobot_with_pump.urdf"/>
|
||||
|
||||
<arg name="rvizconfig" default="$(find mycobot_280pi)/config/mycobot.rviz" />
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF，将值合并到TF -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
|
||||
<!-- <param name="use_gui" value="$(arg gui)" /> -->
|
||||
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
|
||||
</node>
|
||||
<!-- Open control script -->
|
||||
<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
|
||||
<param name="port" type="string" value="$(arg port)" />
|
||||
<param name="baud" type="int" value="$(arg baud)" />
|
||||
</node> -->
|
||||
<!-- Show in Rviz ，显示在Rviz-->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
|
|
@ -145,11 +145,11 @@ def toggle_pump(req):
|
|||
if mc:
|
||||
lock = acquire("/tmp/mycobot_lock")
|
||||
if req.Status:
|
||||
mc.set_basic_output(req.Pin1, 0)
|
||||
mc.set_basic_output(req.Pin2, 0)
|
||||
mc.set_basic_output(2, 0)
|
||||
mc.set_basic_output(5, 0)
|
||||
else:
|
||||
mc.set_basic_output(req.Pin1, 1)
|
||||
mc.set_basic_output(req.Pin2, 1)
|
||||
mc.set_basic_output(2, 1)
|
||||
mc.set_basic_output(5, 1)
|
||||
release(lock)
|
||||
|
||||
|
||||
|
|
|
|||
308
mycobot_description/urdf/mycobot/camera_flange.dae
Executable file
308
mycobot_description/urdf/mycobot/camera_flange.dae
Executable file
File diff suppressed because one or more lines are too long
|
|
@ -4,6 +4,21 @@
|
|||
<xacro:property name="width" value=".2" />
|
||||
|
||||
|
||||
<link name="g_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/G_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/G_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint1">
|
||||
<visual>
|
||||
<geometry>
|
||||
|
|
@ -125,7 +140,13 @@
|
|||
</link>
|
||||
|
||||
|
||||
|
||||
<joint name="g_base_to_joint1" type="fixed">
|
||||
<axis xyz="0 0 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="g_base"/>
|
||||
<child link="joint1"/>
|
||||
<origin xyz= "0 0 0" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
|
|
|
|||
222
mycobot_description/urdf/mycobot/mycobot_with_camera_flange.urdf
Normal file
222
mycobot_description/urdf/mycobot/mycobot_with_camera_flange.urdf
Normal file
|
|
@ -0,0 +1,222 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
|
||||
|
||||
<xacro:property name="width" value=".2" />
|
||||
|
||||
|
||||
<link name="g_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/G_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/G_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint6_flange">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="camera_flange">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/camera_flange.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.024 -0.008 0.0 " rpy = " 0 3.14159 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/camera_flange.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.024 -0.008 0.0 " rpy = " 0 3.14159 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="g_base_to_joint1" type="fixed">
|
||||
<axis xyz="0 0 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="g_base"/>
|
||||
<child link="joint1"/>
|
||||
<origin xyz= "0 0 0" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
|
||||
<parent link="joint1"/>
|
||||
<child link="joint2"/>
|
||||
<origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
|
||||
<parent link="joint2"/>
|
||||
<child link="joint3"/>
|
||||
<origin xyz= "0 0 0" rpy = "0 1.5708 -1.5708"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
|
||||
<parent link="joint3"/>
|
||||
<child link="joint4"/>
|
||||
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
|
||||
<parent link="joint4"/>
|
||||
<child link="joint5"/>
|
||||
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
|
||||
<parent link="joint5"/>
|
||||
<child link="joint6"/>
|
||||
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_joint6" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
|
||||
<parent link="joint6"/>
|
||||
<child link="joint6_flange"/>
|
||||
<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_camera_flange" type="fixed">
|
||||
<!-- <axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
|
||||
<parent link="joint6_flange"/>
|
||||
<child link="camera_flange"/>
|
||||
<!-- <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/> -->
|
||||
<origin xyz= "0 0 0.01" rpy = "1.579 0 0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
|
|
@ -0,0 +1,269 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
|
||||
|
||||
<xacro:property name="width" value=".2" />
|
||||
|
||||
|
||||
<link name="g_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/G_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/G_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="pump_box">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/pump_box.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 -0.15 -0.0" rpy = "1.5708 3.14159 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/pump_box.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint6_flange">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="camera_flange">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/camera_flange.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.024 -0.008 0.0 " rpy = " 0 3.14159 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/camera_flange.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.024 -0.008 0.0 " rpy = " 0 3.14159 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="pump_head">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/pump_head.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.008 0.009 " rpy = " 1.5708 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/pump_head.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.008 0.009 " rpy = " 1.5708 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="g_base_to_joint1" type="fixed">
|
||||
<axis xyz="0 0 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="g_base"/>
|
||||
<child link="joint1"/>
|
||||
<origin xyz= "0 0 0" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="g_base_to_pump_box" type="fixed">
|
||||
<axis xyz="0 0 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="g_base"/>
|
||||
<child link="pump_box"/>
|
||||
<origin xyz= "0 0 0" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
|
||||
<parent link="joint1"/>
|
||||
<child link="joint2"/>
|
||||
<origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
|
||||
<parent link="joint2"/>
|
||||
<child link="joint3"/>
|
||||
<origin xyz= "0 0 0" rpy = "0 1.5708 -1.5708"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
|
||||
<parent link="joint3"/>
|
||||
<child link="joint4"/>
|
||||
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
|
||||
<parent link="joint4"/>
|
||||
<child link="joint5"/>
|
||||
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
|
||||
<parent link="joint5"/>
|
||||
<child link="joint6"/>
|
||||
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_joint6" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
|
||||
<parent link="joint6"/>
|
||||
<child link="joint6_flange"/>
|
||||
<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_camera_flange" type="fixed">
|
||||
<!-- <axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
|
||||
<parent link="joint6_flange"/>
|
||||
<child link="camera_flange"/>
|
||||
<!-- <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/> -->
|
||||
<origin xyz= "0 0 0.01" rpy = "1.579 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_pump_head" type="fixed">
|
||||
<!-- <axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
|
||||
<parent link="camera_flange"/>
|
||||
<child link="pump_head"/>
|
||||
<!-- <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/> -->
|
||||
<origin xyz= "0 0 0.01" rpy = "-1.579 0 0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
250
mycobot_description/urdf/mycobot/mycobot_with_pump.urdf
Normal file
250
mycobot_description/urdf/mycobot/mycobot_with_pump.urdf
Normal file
|
|
@ -0,0 +1,250 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
|
||||
|
||||
<xacro:property name="width" value=".2" />
|
||||
|
||||
|
||||
<link name="g_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/G_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/G_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="pump_box">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/pump_box.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 -0.15 -0.0" rpy = "1.5708 3.14159 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/pump_box.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint6_flange">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="pump_head">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/pump_head.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 -0.008 0.0 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/pump_head.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 -0.008 0.0 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="g_base_to_joint1" type="fixed">
|
||||
<axis xyz="0 0 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="g_base"/>
|
||||
<child link="joint1"/>
|
||||
<origin xyz= "0 0 0" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="g_base_to_pump_box" type="fixed">
|
||||
<axis xyz="0 0 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="g_base"/>
|
||||
<child link="pump_box"/>
|
||||
<origin xyz= "0 0 0" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
|
||||
<parent link="joint1"/>
|
||||
<child link="joint2"/>
|
||||
<origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
|
||||
<parent link="joint2"/>
|
||||
<child link="joint3"/>
|
||||
<origin xyz= "0 0 0" rpy = "0 1.5708 -1.5708"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
|
||||
<parent link="joint3"/>
|
||||
<child link="joint4"/>
|
||||
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
|
||||
<parent link="joint4"/>
|
||||
<child link="joint5"/>
|
||||
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
|
||||
<parent link="joint5"/>
|
||||
<child link="joint6"/>
|
||||
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_joint6" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
|
||||
<parent link="joint6"/>
|
||||
<child link="joint6_flange"/>
|
||||
<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_pump_head" type="fixed">
|
||||
<!-- <axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
|
||||
<parent link="joint6_flange"/>
|
||||
<child link="pump_head"/>
|
||||
<!-- <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/> -->
|
||||
<origin xyz= "0 0 0.01" rpy = "1.579 0 0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
|
|
@ -1,29 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mycobot_ai" >
|
||||
|
||||
<xacro:property name="width" value=".2" />
|
||||
<xacro:include filename="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf" />
|
||||
|
||||
|
||||
<link name="env">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot/suit_env.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 -0.02 " rpy = "1.5708 0 -1.5708"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
|
||||
|
||||
<joint name="vision_joint" type="fixed">
|
||||
<axis xyz="0 0 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="joint1"/>
|
||||
<child link="env"/>
|
||||
<origin xyz= "0 0 0" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
374
mycobot_description/urdf/mycobot/pump_box.dae
Executable file
374
mycobot_description/urdf/mycobot/pump_box.dae
Executable file
File diff suppressed because one or more lines are too long
317
mycobot_description/urdf/mycobot/pump_head.dae
Executable file
317
mycobot_description/urdf/mycobot/pump_head.dae
Executable file
File diff suppressed because one or more lines are too long
260
mycobot_description/urdf/mycobot_pi/G_base.dae
Normal file
260
mycobot_description/urdf/mycobot_pi/G_base.dae
Normal file
File diff suppressed because one or more lines are too long
308
mycobot_description/urdf/mycobot_pi/camera_flange.dae
Executable file
308
mycobot_description/urdf/mycobot_pi/camera_flange.dae
Executable file
File diff suppressed because one or more lines are too long
|
|
@ -4,6 +4,21 @@
|
|||
<xacro:property name="width" value=".2" />
|
||||
|
||||
|
||||
<link name="g_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/G_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/G_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint1">
|
||||
<visual>
|
||||
<geometry>
|
||||
|
|
@ -128,10 +143,16 @@
|
|||
</link>
|
||||
|
||||
|
||||
<joint name="g_base_to_joint1" type="fixed">
|
||||
<axis xyz="0 0 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="g_base"/>
|
||||
<child link="joint1"/>
|
||||
<origin xyz= "0 0 0" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<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="joint1"/>
|
||||
|
|
|
|||
|
|
@ -0,0 +1,234 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
|
||||
|
||||
<xacro:property name="width" value=".2" />
|
||||
|
||||
|
||||
<link name="g_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/G_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/G_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint1_pi.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint1_pi.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint3">
|
||||
<visual>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="joint5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint6_flange">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="camera_flange">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/camera_flange.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.024 -0.008 0.0 " rpy = " 0 3.14159 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/camera_flange.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.024 -0.008 0.0 " rpy = " 0 3.14159 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
|
||||
<joint name="g_base_to_joint1" type="fixed">
|
||||
<axis xyz="0 0 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="g_base"/>
|
||||
<child link="joint1"/>
|
||||
<origin xyz= "0 0 0" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<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="joint1"/>
|
||||
<child link="joint2"/>
|
||||
<origin xyz= "0 0 0.13956" 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="joint2"/>
|
||||
<child link="joint3"/>
|
||||
<origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>
|
||||
</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="joint3"/>
|
||||
<child link="joint4"/>
|
||||
<origin xyz= " -0.1104 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="joint4"/>
|
||||
<child link="joint5"/>
|
||||
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
|
||||
</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="joint5"/>
|
||||
<child link="joint6"/>
|
||||
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 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="joint6"/>
|
||||
<child link="joint6_flange"/>
|
||||
<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_camera_flange" type="fixed">
|
||||
<!-- <axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
|
||||
<parent link="joint6_flange"/>
|
||||
<child link="camera_flange"/>
|
||||
<!-- <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/> -->
|
||||
<origin xyz= "0 0 0.01" rpy = "1.579 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
</robot>
|
||||
|
||||
|
|
@ -0,0 +1,278 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
|
||||
|
||||
<xacro:property name="width" value=".2" />
|
||||
|
||||
|
||||
<link name="g_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/G_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/G_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="pump_box">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/pump_box.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 -0.15 -0.0" rpy = "1.5708 3.14159 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/pump_box.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint1_pi.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint1_pi.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint3">
|
||||
<visual>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="joint5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint6_flange">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="camera_flange">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/camera_flange.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.024 -0.008 0.0 " rpy = " 0 3.14159 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/camera_flange.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.024 -0.008 0.0 " rpy = " 0 3.14159 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="pump_head">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/pump_head.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.008 0.009 " rpy = " 1.5708 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/pump_head.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.008 0.009 " rpy = " 1.5708 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
|
||||
<joint name="g_base_to_joint1" type="fixed">
|
||||
<axis xyz="0 0 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="g_base"/>
|
||||
<child link="joint1"/>
|
||||
<origin xyz= "0 0 0" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="g_base_to_pump_box" type="fixed">
|
||||
<axis xyz="0 0 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="g_base"/>
|
||||
<child link="pump_box"/>
|
||||
<origin xyz= "0 0 0" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<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="joint1"/>
|
||||
<child link="joint2"/>
|
||||
<origin xyz= "0 0 0.13956" 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="joint2"/>
|
||||
<child link="joint3"/>
|
||||
<origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>
|
||||
</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="joint3"/>
|
||||
<child link="joint4"/>
|
||||
<origin xyz= " -0.1104 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="joint4"/>
|
||||
<child link="joint5"/>
|
||||
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
|
||||
</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="joint5"/>
|
||||
<child link="joint6"/>
|
||||
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 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="joint6"/>
|
||||
<child link="joint6_flange"/>
|
||||
<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_camera_flange" type="fixed">
|
||||
<!-- <axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
|
||||
<parent link="joint6_flange"/>
|
||||
<child link="camera_flange"/>
|
||||
<!-- <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/> -->
|
||||
<origin xyz= "0 0 0.01" rpy = "1.579 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_pump_head" type="fixed">
|
||||
<!-- <axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
|
||||
<parent link="camera_flange"/>
|
||||
<child link="pump_head"/>
|
||||
<!-- <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/> -->
|
||||
<origin xyz= "0 0 0.01" rpy = "-1.579 0 0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
259
mycobot_description/urdf/mycobot_pi/mycobot_with_pump.urdf
Normal file
259
mycobot_description/urdf/mycobot_pi/mycobot_with_pump.urdf
Normal file
|
|
@ -0,0 +1,259 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
|
||||
|
||||
<xacro:property name="width" value=".2" />
|
||||
|
||||
|
||||
<link name="g_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/G_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/G_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="pump_box">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/pump_box.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 -0.15 -0.0" rpy = "1.5708 3.14159 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/pump_box.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint1_pi.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint1_pi.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="joint2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint3">
|
||||
<visual>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="joint5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="joint6_flange">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/joint7.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="pump_head">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/pump_head.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 -0.008 0.0 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pi/pump_head.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 -0.008 0.0 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
|
||||
<joint name="g_base_to_joint1" type="fixed">
|
||||
<axis xyz="0 0 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="g_base"/>
|
||||
<child link="joint1"/>
|
||||
<origin xyz= "0 0 0" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="g_base_to_pump_box" type="fixed">
|
||||
<axis xyz="0 0 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="g_base"/>
|
||||
<child link="pump_box"/>
|
||||
<origin xyz= "0 0 0" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<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="joint1"/>
|
||||
<child link="joint2"/>
|
||||
<origin xyz= "0 0 0.13956" 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="joint2"/>
|
||||
<child link="joint3"/>
|
||||
<origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>
|
||||
</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="joint3"/>
|
||||
<child link="joint4"/>
|
||||
<origin xyz= " -0.1104 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="joint4"/>
|
||||
<child link="joint5"/>
|
||||
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
|
||||
</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="joint5"/>
|
||||
<child link="joint6"/>
|
||||
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 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="joint6"/>
|
||||
<child link="joint6_flange"/>
|
||||
<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_pump_head" type="fixed">
|
||||
<!-- <axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
|
||||
<parent link="joint6_flange"/>
|
||||
<child link="pump_head"/>
|
||||
<!-- <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/> -->
|
||||
<origin xyz= "0 0 0.01" rpy = "1.579 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
</robot>
|
||||
|
||||
374
mycobot_description/urdf/mycobot_pi/pump_box.dae
Executable file
374
mycobot_description/urdf/mycobot_pi/pump_box.dae
Executable file
File diff suppressed because one or more lines are too long
317
mycobot_description/urdf/mycobot_pi/pump_head.dae
Executable file
317
mycobot_description/urdf/mycobot_pi/pump_head.dae
Executable file
File diff suppressed because one or more lines are too long
Loading…
Add table
Reference in a new issue