mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
优化600带夹爪实现moveit
This commit is contained in:
Tenero-Jz
parent
e68e9aced6
commit
4ebcf02d6e
16 changed files with 1846 additions and 144 deletions
249
mycobot_description/urdf/mycobot_pro_600/J1-W.dae
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mycobot_description/urdf/mycobot_pro_600/J1-W.dae
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mycobot_description/urdf/mycobot_pro_600/J2-W.dae
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mycobot_description/urdf/mycobot_pro_600/J2-W.dae
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mycobot_description/urdf/mycobot_pro_600/J3-W.dae
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mycobot_description/urdf/mycobot_pro_600/J3-W.dae
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mycobot_description/urdf/mycobot_pro_600/J4-W.dae
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mycobot_description/urdf/mycobot_pro_600/J4-W.dae
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mycobot_description/urdf/mycobot_pro_600/J5-W.dae
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mycobot_description/urdf/mycobot_pro_600/J5-W.dae
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mycobot_description/urdf/mycobot_pro_600/J6-W.dae
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mycobot_description/urdf/mycobot_pro_600/J6-W.dae
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mycobot_description/urdf/mycobot_pro_600/J7-W.dae
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mycobot_description/urdf/mycobot_pro_600/J7-W.dae
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@ -8,31 +8,31 @@
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<link name="link1">
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<origin xyz = "0 0.05 -0.08 " rpy = "0 0 3.14159"/>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-mm.dae"/>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-W.dae"/>
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@ -40,15 +40,15 @@
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-W.dae"/>
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<origin xyz = "0 0.0 0.0 " rpy = " 3.1415926 0 3.1415926"/>
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<origin xyz = "0 -0.092 0.044 " rpy = " 0 -1.5706 0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-mm.dae"/>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-W.dae"/>
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<origin xyz = "0 0.0 0.0 " rpy = " 3.1415926 0 3.1415926"/>
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@ -57,16 +57,16 @@
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<visual>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-mm.dae"/>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-W.dae"/>
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<origin xyz = "0 0 0.0 " rpy = " 3.1415926 3.14159 3.1415926"/>
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<origin xyz = "0 -0.09 -0.01 " rpy = " 0 1.5706 0"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-mm.dae"/>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-W.dae"/>
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<origin xyz = "0 -0.09 -0.01 " rpy = "0 1.5706 0"/>
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</collision>
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</link>
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@ -76,16 +76,16 @@
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-mm.dae"/>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-W.dae"/>
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<collision>
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<geometry>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-mm.dae"/>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-W.dae"/>
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@ -94,16 +94,16 @@
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<visual>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-mm.dae"/>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-W.dae"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-mm.dae"/>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-W.dae"/>
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</geometry>
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<origin xyz = "0 0 0 " rpy = " 0 0 -1.5706"/>
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<origin xyz = "0 0 0.048 " rpy = " 1.5706 0 3.14159"/>
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</collision>
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</link>
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@ -111,26 +111,27 @@
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-tool-mm.dae"/>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J7-W.dae"/>
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</geometry>
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<material name = "grey">
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<color rgba = "0.5 0.5 0.5 1"/>
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<origin xyz = "0.02 0 0" rpy = " 0 -1.5707 0"/>
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<collision>
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<geometry>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-tool-mm.dae"/>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J7-W.dae"/>
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</geometry>
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<material name = "grey">
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<color rgba = "0.5 0.5 0.5 1"/>
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</material>
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<origin xyz = "0.02 0 0" rpy = " 0 -1.5707 0"/>
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<origin xyz = "0.06 0 0" rpy = " 3.14159 3.14159 0"/>
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</collision>
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</link>
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<link name="tool1">
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<!-- <link name="tool1">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/tool1-mm.dae" />
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@ -143,7 +144,7 @@
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</geometry>
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<origin xyz="0.0 0 0" rpy=" -1.5706 0 0" />
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</link> -->
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<link name="tool2">
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<visual>
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@ -291,8 +292,8 @@
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<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
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<parent link="link1"/>
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<child link="link2"/>
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<!-- <origin xyz= "0 0 0" rpy = "1.5708 0 0"/> -->
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<origin xyz= "0 0.04 0.085" rpy = "1.5706 1.5706 0"/>
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<origin xyz= "0 0.042 0.072" rpy = "1.5708 1.5706 0"/>
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</joint>
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@ -301,7 +302,7 @@
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<limit effort = "1000.0" lower = "-2.61" upper = "2.618" velocity = "0"/>
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<parent link="link2"/>
|
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<child link="link3"/>
|
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<origin xyz= "0.0 0.25 0 " rpy = "0 0 0"/>
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<origin xyz= "0.0 0.25 0.005 " rpy = "0 0 0"/>
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</joint>
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<joint name="joint5_to_joint4" type="revolute">
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@ -310,7 +311,7 @@
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<limit effort = "1000.0" lower = "-2.97" upper = "2.97" velocity = "0"/>
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<parent link="link3"/>
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<child link="link4"/>
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<!-- <origin xyz= "0.25 0 -0.1091" rpy = "0 0 0"/> -->
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<!-- <origin xyz= "0.25 0 -0.1091" rpy = "0 0 1.5708"/> -->
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<origin xyz= "0 0.25 0.025" rpy = "0 0 -1.5706"/>
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</joint>
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||||
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@ -319,7 +320,7 @@
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<limit effort = "1000.0" lower = "-2.93" upper = "2.9321" velocity = "0"/>
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<parent link="link4"/>
|
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<child link="link5"/>
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<origin xyz= "0 0.058 -0.05" rpy = "1.57080 -1.57080 3.14159"/>
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<origin xyz= "0 0.058 -0.052" rpy = "1.57080 -1.57080 3.14159"/>
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</joint>
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<joint name="joint6output_to_joint6" type="revolute">
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@ -327,31 +328,31 @@
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<limit effort = "1000.0" lower = "-3.03" upper = "3.0368" velocity = "0"/>
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<parent link="link5"/>
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<child link="link6"/>
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<origin xyz= "-0.076 0 0.05" rpy = "-1.57080 0 0 "/>
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||||
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||||
<joint name="joint6output_to_tool1" type="fixed">
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||||
<joint name="joint6output_to_tool2" type="fixed">
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||||
<axis xyz="0 1 0"/>
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||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
|
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<parent link="link6" />
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<child link="tool1" />
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|
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<child link="tool2" />
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<origin xyz="-0.016 0.0 0.0" rpy="-1.5706 0 1.5706" />
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||||
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||||
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||||
<joint name="tool1_to_tool2" type="fixed">
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||||
<!-- <joint name="tool1_to_tool2" type="fixed">
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||||
<axis xyz="0 0 1"/>
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||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
|
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<parent link="tool1" />
|
||||
<child link="tool2" />
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||||
<origin xyz="0.0 0.008 0.00" rpy="1.5708 -1.5706 3.14159" />
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||||
</joint>
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||||
</joint> -->
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||||
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<joint name="tool2_to_gripper_base" type="fixed">
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<axis xyz="0 0 -1"/>
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<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
|
||||
<parent link="tool2" />
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||||
<child link="gripper_base" />
|
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<origin xyz="0.0 0.0 0.04" rpy="1.5706 0 1.5706" />
|
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<origin xyz="0.005 0.0 0.047" rpy="1.5706 0 1.5706" />
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</joint>
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||||
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<joint name="gripper_controller" type="revolute">
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|
|
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|||
|
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@ -0,0 +1,192 @@
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|||
<?xml version="1.0"?>
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||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
|
||||
|
||||
<xacro:property name="width" value=".2" />
|
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|
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|
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<link name="base">
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<visual>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J1-W.dae"/>
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|
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<link name="link1">
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|
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<link name="link2">
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|
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<visual>
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|
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|
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|
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|
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|
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<visual>
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|
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|
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|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-W.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0.048 " rpy = " 1.5706 0 3.14159"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J7-W.dae"/>
|
||||
</geometry>
|
||||
<material name = "grey">
|
||||
<color rgba = "0.5 0.5 0.5 1"/>
|
||||
</material>
|
||||
<origin xyz = "0.06 0 0" rpy = " 3.14159 3.14159 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J7-W.dae"/>
|
||||
</geometry>
|
||||
<material name = "grey">
|
||||
<color rgba = "0.5 0.5 0.5 1"/>
|
||||
</material>
|
||||
<origin xyz = "0.06 0 0" rpy = " 3.14159 3.14159 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="base"/>
|
||||
<child link="link1"/>
|
||||
<origin xyz= "0 0 0.1655" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz="0 0 -1"/>
|
||||
<!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/> -->
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
|
||||
<parent link="link1"/>
|
||||
<child link="link2"/>
|
||||
<!-- <origin xyz= "0 0 0" rpy = "1.5708 -1.5708 0"/> -->
|
||||
<origin xyz= "0 0.042 0.072" rpy = "1.5708 1.5706 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 -1"/>
|
||||
<limit effort = "1000.0" lower = "-2.61" upper = "2.618" velocity = "0"/>
|
||||
<parent link="link2"/>
|
||||
<child link="link3"/>
|
||||
<origin xyz= "0.0 0.25 0.005 " rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz=" 0 0 -1"/>
|
||||
<!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
|
||||
<limit effort = "1000.0" lower = "-2.97" upper = "2.97" velocity = "0"/>
|
||||
<parent link="link3"/>
|
||||
<child link="link4"/>
|
||||
<!-- <origin xyz= "0.25 0 -0.1091" rpy = "0 0 1.5708"/> -->
|
||||
<origin xyz= "0 0.25 0.025" rpy = "0 0 -1.5706"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.93" upper = "2.9321" velocity = "0"/>
|
||||
<parent link="link4"/>
|
||||
<child link="link5"/>
|
||||
<origin xyz= "0 0.058 -0.052" rpy = "1.57080 -1.57080 3.14159"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_joint6" type="revolute">
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort = "1000.0" lower = "-3.03" upper = "3.0368" velocity = "0"/>
|
||||
<parent link="link5"/>
|
||||
<child link="link6"/>
|
||||
<origin xyz= "-0.06 0 0.048" rpy = "-1.57080 0 0 "/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
</robot>
|
||||
|
||||
|
|
@ -10,7 +10,7 @@ Panels:
|
|||
- /TF1
|
||||
- /TF1/Frames1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 719
|
||||
Tree Height: 637
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
|
|
@ -134,11 +134,6 @@ Visualization Manager:
|
|||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
tool1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
tool2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
|
|
@ -160,7 +155,7 @@ Visualization Manager:
|
|||
base:
|
||||
Value: false
|
||||
gripper_base:
|
||||
Value: false
|
||||
Value: true
|
||||
gripper_left1:
|
||||
Value: false
|
||||
gripper_left2:
|
||||
|
|
@ -185,10 +180,8 @@ Visualization Manager:
|
|||
Value: false
|
||||
link6:
|
||||
Value: false
|
||||
tool1:
|
||||
Value: false
|
||||
tool2:
|
||||
Value: false
|
||||
Value: true
|
||||
Marker Alpha: 1
|
||||
Marker Scale: 0.5
|
||||
Name: TF
|
||||
|
|
@ -203,19 +196,18 @@ Visualization Manager:
|
|||
link4:
|
||||
link5:
|
||||
link6:
|
||||
tool1:
|
||||
tool2:
|
||||
gripper_base:
|
||||
gripper_left2:
|
||||
tool2:
|
||||
gripper_base:
|
||||
gripper_left2:
|
||||
{}
|
||||
gripper_left3:
|
||||
gripper_left1:
|
||||
{}
|
||||
gripper_left3:
|
||||
gripper_left1:
|
||||
{}
|
||||
gripper_right2:
|
||||
gripper_right2:
|
||||
{}
|
||||
gripper_right3:
|
||||
gripper_right1:
|
||||
{}
|
||||
gripper_right3:
|
||||
gripper_right1:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Enabled: true
|
||||
|
|
@ -246,7 +238,7 @@ Visualization Manager:
|
|||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 1.742307186126709
|
||||
Distance: 0.438984215259552
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
|
|
@ -254,25 +246,25 @@ Visualization Manager:
|
|||
Value: false
|
||||
Field of View: 0.7853981852531433
|
||||
Focal Point:
|
||||
X: -0.07060671597719193
|
||||
Y: 0.09759367257356644
|
||||
Z: 0.5344932079315186
|
||||
X: 0.38291746377944946
|
||||
Y: 0.10844527930021286
|
||||
Z: 0.08980736136436462
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.4803977310657501
|
||||
Pitch: 0.31039875745773315
|
||||
Target Frame: <Fixed Frame>
|
||||
Yaw: 3.7303872108459473
|
||||
Yaw: 0.29537367820739746
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1016
|
||||
Height: 934
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003930000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000308fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000308000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000304fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000304000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d0065010000000000000736000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005c60000030800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
|
|
@ -281,6 +273,6 @@ Window Geometry:
|
|||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1848
|
||||
Width: 1846
|
||||
X: 72
|
||||
Y: 27
|
||||
|
|
|
|||
|
|
@ -2,6 +2,7 @@
|
|||
<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
|
||||
<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600.urdf"/> -->
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf"/>
|
||||
<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_600/new_mycobot_pro_600_moveit.urdf"/> -->
|
||||
<arg name="rvizconfig" default="$(find mycobot_600)/config/mycobot_600.rviz" />
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
|
|
|
|||
|
|
@ -132,13 +132,22 @@
|
|||
|
||||
<disable_collisions link1="base" link2="link1" reason="Adjacent"/>
|
||||
<disable_collisions link1="base" link2="link2" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="link3" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="link4" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="link6" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="gripper_base" reason="Never"/>
|
||||
<!-- <disable_collisions link1="base" link2="gripper_left3" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="gripper_right3" reason="Never"/> -->
|
||||
<disable_collisions link1="base" link2="gripper_left1" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="gripper_left2" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="gripper_left3" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="gripper_right1" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="gripper_right2" reason="Never"/>
|
||||
<disable_collisions link1="base" link2="gripper_right3" reason="Never"/>
|
||||
<!-- <disable_collisions link1="base" link2="gripper_base" reason="Default"/>
|
||||
<disable_collisions link1="base" link2="gripper_base" reason="Default"/>
|
||||
<disable_collisions link1="base" link2="gripper_base" reason="Default"/>
|
||||
<disable_collisions link1="base" link2="gripper_base" reason="Default"/> -->
|
||||
|
||||
|
||||
<disable_collisions link1="gripper_base" link2="gripper_left1" reason="Never"/>
|
||||
<disable_collisions link1="gripper_base" link2="gripper_left2" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_base" link2="gripper_left3" reason="Adjacent"/>
|
||||
|
|
@ -146,8 +155,10 @@
|
|||
<disable_collisions link1="gripper_base" link2="gripper_right2" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_base" link2="gripper_right3" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_base" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="gripper_base" link2="link6" reason="Never"/>
|
||||
<disable_collisions link1="gripper_base" link2="tool1" reason="Never"/>
|
||||
<!-- <disable_collisions link1="gripper_base" link2="link6" reason="Never"/> -->
|
||||
<disable_collisions link1="gripper_base" link2="link3" reason="Never"/>
|
||||
<disable_collisions link1="gripper_base" link2="link2" reason="Never"/>
|
||||
<!-- <disable_collisions link1="gripper_base" link2="link4" reason="Never"/> -->
|
||||
<disable_collisions link1="gripper_base" link2="tool2" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_left1" link2="gripper_left2" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_left1" link2="gripper_left3" reason="Adjacent"/>
|
||||
|
|
@ -156,7 +167,8 @@
|
|||
<disable_collisions link1="gripper_left1" link2="gripper_right3" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left1" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left1" link2="link6" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left1" link2="tool1" reason="Never"/>
|
||||
|
||||
<!-- <disable_collisions link1="gripper_left1" link2="link4" reason="Never"/> -->
|
||||
<disable_collisions link1="gripper_left1" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left2" link2="gripper_left3" reason="Default"/>
|
||||
<disable_collisions link1="gripper_left2" link2="gripper_right1" reason="Never"/>
|
||||
|
|
@ -164,41 +176,58 @@
|
|||
<disable_collisions link1="gripper_left2" link2="gripper_right3" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left2" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left2" link2="link6" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left2" link2="tool1" reason="Never"/>
|
||||
|
||||
<!-- <disable_collisions link1="gripper_left2" link2="link4" reason="Never"/> -->
|
||||
<disable_collisions link1="gripper_left2" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left3" link2="gripper_right1" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left3" link2="gripper_right2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left3" link2="gripper_right3" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left3" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left3" link2="link6" reason="Never"/>
|
||||
<disable_collisions link1="gripper_left3" link2="tool1" reason="Never"/>
|
||||
|
||||
<!-- <disable_collisions link1="gripper_left3" link2="link4" reason="Never"/> -->
|
||||
<disable_collisions link1="gripper_left3" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right1" link2="gripper_right2" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_right1" link2="gripper_right3" reason="Adjacent"/>
|
||||
<disable_collisions link1="gripper_right1" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right1" link2="link6" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right1" link2="tool1" reason="Never"/>
|
||||
<!-- <disable_collisions link1="gripper_right1" link2="link6" reason="Never"/> -->
|
||||
<disable_collisions link1="gripper_right1" link2="link3" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right1" link2="link2" reason="Never"/>
|
||||
|
||||
<!-- <disable_collisions link1="gripper_right1" link2="link4" reason="Never"/> -->
|
||||
<disable_collisions link1="gripper_right1" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right2" link2="gripper_right3" reason="Default"/>
|
||||
<disable_collisions link1="gripper_right2" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right2" link2="link6" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right2" link2="tool1" reason="Never"/>
|
||||
<!-- <disable_collisions link1="gripper_right2" link2="link6" reason="Never"/> -->
|
||||
<disable_collisions link1="gripper_right2" link2="link3" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right2" link2="link2" reason="Never"/>
|
||||
<!-- <disable_collisions link1="gripper_right2" link2="link4" reason="Never"/> -->
|
||||
<disable_collisions link1="gripper_right2" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right3" link2="link5" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right3" link2="link6" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right3" link2="tool1" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right3" link2="link3" reason="Never"/>
|
||||
<disable_collisions link1="gripper_right3" link2="link2" reason="Never"/>
|
||||
<!-- <disable_collisions link1="gripper_right3" link2="link4" reason="Never"/> -->
|
||||
<disable_collisions link1="gripper_right3" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
|
||||
<disable_collisions link1="link1" link2="tool2" reason="Never"/>
|
||||
<!-- <disable_collisions link1="link1" link2="tool2" reason="Never"/> -->
|
||||
<disable_collisions link1="link1" link2="link3" reason="Never"/>
|
||||
|
||||
<disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
|
||||
<disable_collisions link1="link2" link2="tool2" reason="Never"/>
|
||||
<!-- <disable_collisions link1="link2" link2="tool2" reason="Never"/> -->
|
||||
<disable_collisions link1="link2" link2="link4" reason="Never"/>
|
||||
|
||||
<disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
|
||||
<disable_collisions link1="link3" link2="tool2" reason="Never"/>
|
||||
<!-- <disable_collisions link1="link3" link2="tool2" reason="Never"/> -->
|
||||
<disable_collisions link1="link3" link2="link5" reason="Never"/>
|
||||
|
||||
<disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
|
||||
<disable_collisions link1="link4" link2="tool2" reason="Never"/>
|
||||
<!-- <disable_collisions link1="link4" link2="tool2" reason="Never"/> -->
|
||||
<disable_collisions link1="link4" link2="link6" reason="Never"/>
|
||||
|
||||
<disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
|
||||
<disable_collisions link1="link5" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="link6" link2="tool1" reason="Adjacent"/>
|
||||
<disable_collisions link1="link6" link2="tool2" reason="Never"/>
|
||||
<disable_collisions link1="tool1" link2="tool2" reason="Adjacent"/>
|
||||
<!-- <disable_collisions link1="link6" link2="tool1" reason="Adjacent"/> -->
|
||||
<disable_collisions link1="link6" link2="tool2" reason="Adjacent"/>
|
||||
<!-- <disable_collisions link1="tool1" link2="tool2" reason="Adjacent"/> -->
|
||||
</robot>
|
||||
|
|
|
|||
|
|
@ -9,7 +9,7 @@ Panels:
|
|||
- /MotionPlanning1/Planning Request1
|
||||
- /MotionPlanning1/Planned Path1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 200
|
||||
Tree Height: 245
|
||||
- Class: rviz/Help
|
||||
Name: Help
|
||||
- Class: rviz/Views
|
||||
|
|
@ -53,7 +53,7 @@ Visualization Manager:
|
|||
MoveIt_Allow_Sensor_Positioning: false
|
||||
MoveIt_Planning_Attempts: 10
|
||||
MoveIt_Planning_Time: 5
|
||||
MoveIt_Use_Cartesian_Path: true
|
||||
MoveIt_Use_Cartesian_Path: false
|
||||
MoveIt_Use_Constraint_Aware_IK: true
|
||||
MoveIt_Workspace:
|
||||
Center:
|
||||
|
|
@ -114,37 +114,32 @@ Visualization Manager:
|
|||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint1:
|
||||
link1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint2:
|
||||
link2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint3:
|
||||
link3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint4:
|
||||
link4:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint5:
|
||||
link5:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint6:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
tool1:
|
||||
link6:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
|
|
@ -240,37 +235,32 @@ Visualization Manager:
|
|||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint1:
|
||||
link1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint2:
|
||||
link2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint3:
|
||||
link3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint4:
|
||||
link4:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint5:
|
||||
link5:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint6:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
tool1:
|
||||
link6:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
|
|
@ -335,17 +325,17 @@ Visualization Manager:
|
|||
Value: false
|
||||
Field of View: 0.75
|
||||
Focal Point:
|
||||
X: -0.07944566011428833
|
||||
Y: 0.29104751348495483
|
||||
Z: 0.29134249687194824
|
||||
X: 0.4045429229736328
|
||||
Y: 0.17718593776226044
|
||||
Z: 0.2918968200683594
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 1.0449998378753662
|
||||
Pitch: 0.20500031113624573
|
||||
Target Frame: base
|
||||
Yaw: 6.149951934814453
|
||||
Yaw: 2.056767225265503
|
||||
Saved:
|
||||
- Class: rviz/Orbit
|
||||
Distance: 2
|
||||
|
|
@ -370,7 +360,7 @@ Visualization Manager:
|
|||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 820
|
||||
Height: 934
|
||||
Help:
|
||||
collapsed: false
|
||||
Hide Left Dock: false
|
||||
|
|
@ -379,9 +369,9 @@ Window Geometry:
|
|||
collapsed: false
|
||||
MotionPlanning - Trajectory Slider:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002dafc0200000007fb000000100044006900730070006c006100790073010000003d00000105000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000148000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000018f000001880000017d00ffffff00000539000002da00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
QMainWindow State: 000000ff00000000fd0000000100000000000001f30000034cfc0200000007fb000000100044006900730070006c006100790073010000003d00000132000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000175000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001bc000001cd0000017d00ffffff0000053d0000034c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1842
|
||||
Width: 1846
|
||||
X: 72
|
||||
Y: 27
|
||||
|
|
|
|||
|
|
@ -70,8 +70,6 @@ def callback(data):
|
|||
num2 = num2[1]
|
||||
mc.set_gripper_value(num2,100)
|
||||
rospy.loginfo(num2)
|
||||
|
||||
|
||||
|
||||
|
||||
def listener():
|
||||
|
|
|
|||
|
|
@ -34,21 +34,11 @@
|
|||
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
|
||||
<!-- <disable_collisions link1="base" link2="link1" reason="Adjacent" />
|
||||
<disable_collisions link1="base" link2="link2" reason="Never" />
|
||||
<disable_collisions link1="base" link2="link3" reason="Never" />
|
||||
<disable_collisions link1="base" link2="link4" reason="Never" />
|
||||
<disable_collisions link1="base" link2="link5" reason="Never" />
|
||||
<disable_collisions link1="base" link2="link6" reason="Never" />
|
||||
<disable_collisions link1="link1" link2="link2" reason="Adjacent" />
|
||||
<disable_collisions link1="link1" link2="link3" reason="Never" />
|
||||
<disable_collisions link1="link1" link2="link4" reason="Never" />
|
||||
<disable_collisions link1="link1" link2="link5" reason="Never" />
|
||||
<disable_collisions link1="link1" link2="link6" reason="Never" />
|
||||
<disable_collisions link1="link2" link2="link3" reason="Adjacent" />
|
||||
<disable_collisions link1="link2" link2="link4" reason="Never" />
|
||||
<disable_collisions link1="link2" link2="link5" reason="Never" />
|
||||
<disable_collisions link1="link2" link2="link6" reason="Never" />
|
||||
<disable_collisions link1="link3" link2="link4" reason="Adjacent" />
|
||||
<disable_collisions link1="link3" link2="link5" reason="Never" />
|
||||
<disable_collisions link1="link3" link2="link6" reason="Never" />
|
||||
<disable_collisions link1="link4" link2="link5" reason="Adjacent" />
|
||||
<disable_collisions link1="link4" link2="link6" reason="Never" />
|
||||
|
|
@ -56,12 +46,23 @@
|
|||
|
||||
<disable_collisions link1="base" link2="link1" reason="Adjacent" />
|
||||
<disable_collisions link1="base" link2="link2" reason="Never" />
|
||||
<disable_collisions link1="base" link2="link3" reason="Never" />
|
||||
<disable_collisions link1="base" link2="link4" reason="Never" />
|
||||
<disable_collisions link1="base" link2="link5" reason="Never" />
|
||||
<disable_collisions link1="base" link2="link6" reason="Never" />
|
||||
|
||||
<disable_collisions link1="link1" link2="link2" reason="Adjacent" />
|
||||
<disable_collisions link1="link1" link2="link6" reason="Never" />
|
||||
<disable_collisions link1="link1" link2="link3" reason="Never" />
|
||||
<!-- <disable_collisions link1="joint1" link2="joint4" reason="Never" /> -->
|
||||
<!-- <disable_collisions link1="joint1" link2="joint5" reason="Never" />
|
||||
<disable_collisions link1="joint1" link2="joint6" reason="Never" /> -->
|
||||
<disable_collisions link1="link2" link2="link3" reason="Adjacent" />
|
||||
<disable_collisions link1="link2" link2="link6" reason="Never" />
|
||||
<disable_collisions link1="link2" link2="link4" reason="Never" />
|
||||
<!-- <disable_collisions link1="joint2" link2="joint5" reason="Never" /> -->
|
||||
<!-- <disable_collisions link1="joint2" link2="joint6" reason="Never" /> -->
|
||||
<disable_collisions link1="link3" link2="link4" reason="Adjacent" />
|
||||
<disable_collisions link1="link3" link2="link6" reason="Never" />
|
||||
<disable_collisions link1="link3" link2="link5" reason="Never" />
|
||||
<!-- <disable_collisions link1="joint3" link2="joint6" reason="Never" /> -->
|
||||
<disable_collisions link1="link4" link2="link5" reason="Adjacent" />
|
||||
<disable_collisions link1="link4" link2="link6" reason="Never" />
|
||||
<disable_collisions link1="link5" link2="link6" reason="Adjacent" />
|
||||
|
|
|
|||
|
|
@ -7,7 +7,8 @@
|
|||
|
||||
<!-- Load universal robot description format (URDF) -->
|
||||
<!-- <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600.urdf"/> -->
|
||||
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf"/>
|
||||
<!-- <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf"/> -->
|
||||
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_600/new_mycobot_pro_600_moveit.urdf"/>
|
||||
|
||||
<!-- The semantic description that corresponds to the URDF -->
|
||||
<param name="$(arg robot_description)_semantic" textfile="$(find mycobot_600_moveit)/config/firefighter.srdf" />
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue