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优化600带夹爪实现moveit

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Tenero-Jz 2024-09-18 19:06:49 +08:00
parent e68e9aced6
commit 4ebcf02d6e
16 changed files with 1846 additions and 144 deletions
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mycobot_description/urdf/mycobot_pro_600/J1-W.dae Executable file
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mycobot_description/urdf/mycobot_pro_600/J2-W.dae Executable file
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mycobot_description/urdf/mycobot_pro_600/J3-W.dae Executable file
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mycobot_description/urdf/mycobot_pro_600/J4-W.dae Executable file
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mycobot_description/urdf/mycobot_pro_600/J5-W.dae Executable file
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mycobot_description/urdf/mycobot_pro_600/J6-W.dae Executable file
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mycobot_description/urdf/mycobot_pro_600/J7-W.dae Executable file
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mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600_gripper.urdf
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@ -8,31 +8,31 @@
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159--> <!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J1-mm.dae"/> <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J1-W.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/> <origin xyz = "0 0 0 " rpy = " 1.5706 0 0"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159--> <!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J1-mm.dae"/> <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J1-W.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/> <origin xyz = "0 0 0 " rpy = " 1.5706 0 0"/>
</collision> </collision>
</link> </link>
<link name="link1"> <link name="link1">
<visual> <visual>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-mm.dae"/> <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-W.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 0 " rpy = "0 0 0"/> <origin xyz = "0 0.05 -0.08 " rpy = "0 0 3.14159"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-mm.dae"/> <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-W.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/> <origin xyz = "0 0.05 -0.08 " rpy = " 0 0 3.14159"/>
</collision> </collision>
</link> </link>
@ -40,15 +40,15 @@
<link name="link2"> <link name="link2">
<visual> <visual>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-mm.dae"/> <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-W.dae"/>
</geometry> </geometry>
<origin xyz = "0 0.0 0.0 " rpy = " 3.1415926 0 3.1415926"/> <origin xyz = "0 -0.092 0.044 " rpy = " 0 -1.5706 0"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-mm.dae"/> <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-W.dae"/>
</geometry> </geometry>
<origin xyz = "0 0.0 0.0 " rpy = " 3.1415926 0 3.1415926"/> <origin xyz = "0 -0.092 0.044 " rpy = " 0 -1.5706 0"/>
</collision> </collision>
</link> </link>
@ -57,16 +57,16 @@
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-mm.dae"/> <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-W.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 0.0 " rpy = " 3.1415926 3.14159 3.1415926"/> <origin xyz = "0 -0.09 -0.01 " rpy = " 0 1.5706 0"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-mm.dae"/> <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-W.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 0.0 " rpy = "3.1415926 03.14159 3.1415926"/> <origin xyz = "0 -0.09 -0.01 " rpy = "0 1.5706 0"/>
</collision> </collision>
</link> </link>
@ -76,16 +76,16 @@
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-mm.dae"/> <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-W.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/> <origin xyz = "0 -0.6987 0 " rpy = " 0 0 0"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-mm.dae"/> <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-W.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/> <origin xyz = "0 -0.6987 0 " rpy = " 0 0 0"/>
</collision> </collision>
</link> </link>
@ -94,16 +94,16 @@
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-mm.dae"/> <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-W.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 -1.5706"/> <origin xyz = "0 0 0.048 " rpy = " 1.5706 0 3.14159"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-mm.dae"/> <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-W.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 -1.5706"/> <origin xyz = "0 0 0.048 " rpy = " 1.5706 0 3.14159"/>
</collision> </collision>
</link> </link>
@ -111,26 +111,27 @@
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-tool-mm.dae"/> <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J7-W.dae"/>
</geometry> </geometry>
<material name = "grey"> <material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/> <color rgba = "0.5 0.5 0.5 1"/>
</material> </material>
<origin xyz = "0.02 0 0" rpy = " 0 -1.5707 0"/> <origin xyz = "0.06 0 0" rpy = " 3.14159 3.14159 0"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-tool-mm.dae"/> <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J7-W.dae"/>
</geometry> </geometry>
<material name = "grey"> <material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/> <color rgba = "0.5 0.5 0.5 1"/>
</material> </material>
<origin xyz = "0.02 0 0" rpy = " 0 -1.5707 0"/> <origin xyz = "0.06 0 0" rpy = " 3.14159 3.14159 0"/>
</collision> </collision>
</link> </link>
<link name="tool1">
<!-- <link name="tool1">
<visual> <visual>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/tool1-mm.dae" /> <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/tool1-mm.dae" />
@ -143,7 +144,7 @@
</geometry> </geometry>
<origin xyz="0.0 0 0" rpy=" -1.5706 0 0" /> <origin xyz="0.0 0 0" rpy=" -1.5706 0 0" />
</collision> </collision>
</link> </link> -->
<link name="tool2"> <link name="tool2">
<visual> <visual>
@ -291,8 +292,8 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<!-- <origin xyz= "0 0 0" rpy = "1.5708 0 0"/> --> <!-- <origin xyz= "0 0 0" rpy = "1.5708 -1.5708 0"/> -->
<origin xyz= "0 0.04 0.085" rpy = "1.5706 1.5706 0"/> <origin xyz= "0 0.042 0.072" rpy = "1.5708 1.5706 0"/>
</joint> </joint>
@ -301,7 +302,7 @@
<limit effort = "1000.0" lower = "-2.61" upper = "2.618" velocity = "0"/> <limit effort = "1000.0" lower = "-2.61" upper = "2.618" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.0 0.25 0 " rpy = "0 0 0"/> <origin xyz= "0.0 0.25 0.005 " rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint5_to_joint4" type="revolute"> <joint name="joint5_to_joint4" type="revolute">
@ -310,7 +311,7 @@
<limit effort = "1000.0" lower = "-2.97" upper = "2.97" velocity = "0"/> <limit effort = "1000.0" lower = "-2.97" upper = "2.97" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<!-- <origin xyz= "0.25 0 -0.1091" rpy = "0 0 0"/> --> <!-- <origin xyz= "0.25 0 -0.1091" rpy = "0 0 1.5708"/> -->
<origin xyz= "0 0.25 0.025" rpy = "0 0 -1.5706"/> <origin xyz= "0 0.25 0.025" rpy = "0 0 -1.5706"/>
</joint> </joint>
@ -319,7 +320,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.9321" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.9321" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= "0 0.058 -0.05" rpy = "1.57080 -1.57080 3.14159"/> <origin xyz= "0 0.058 -0.052" rpy = "1.57080 -1.57080 3.14159"/>
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6output_to_joint6" type="revolute">
@ -327,31 +328,31 @@
<limit effort = "1000.0" lower = "-3.03" upper = "3.0368" velocity = "0"/> <limit effort = "1000.0" lower = "-3.03" upper = "3.0368" velocity = "0"/>
<parent link="link5"/> <parent link="link5"/>
<child link="link6"/> <child link="link6"/>
<origin xyz= "-0.076 0 0.05" rpy = "-1.57080 0 0 "/> <origin xyz= "-0.06 0 0.048" rpy = "-1.57080 0 0 "/>
</joint> </joint>
<joint name="joint6output_to_tool1" type="fixed"> <joint name="joint6output_to_tool2" type="fixed">
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/> <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
<parent link="link6" /> <parent link="link6" />
<child link="tool1" /> <child link="tool2" />
<origin xyz="0.0079 0.0 0.0" rpy="1.5708 -1.5706 0" /> <origin xyz="-0.016 0.0 0.0" rpy="-1.5706 0 1.5706" />
</joint> </joint>
<joint name="tool1_to_tool2" type="fixed"> <!-- <joint name="tool1_to_tool2" type="fixed">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/> <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
<parent link="tool1" /> <parent link="tool1" />
<child link="tool2" /> <child link="tool2" />
<origin xyz="0.0 0.008 0.00" rpy="1.5708 -1.5706 3.14159" /> <origin xyz="0.0 0.008 0.00" rpy="1.5708 -1.5706 3.14159" />
</joint> </joint> -->
<joint name="tool2_to_gripper_base" type="fixed"> <joint name="tool2_to_gripper_base" type="fixed">
<axis xyz="0 0 -1"/> <axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/> <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
<parent link="tool2" /> <parent link="tool2" />
<child link="gripper_base" /> <child link="gripper_base" />
<origin xyz="0.0 0.0 0.04" rpy="1.5706 0 1.5706" /> <origin xyz="0.005 0.0 0.047" rpy="1.5706 0 1.5706" />
</joint> </joint>
<joint name="gripper_controller" type="revolute"> <joint name="gripper_controller" type="revolute">

192
mycobot_description/urdf/mycobot_pro_600/new_mycobot_pro_600_moveit.urdf Normal file
View file

@ -0,0 +1,192 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
<xacro:property name="width" value=".2" />
<link name="base">
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J1-W.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 1.5706 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J1-W.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 1.5706 0 0"/>
</collision>
</link>
<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-W.dae"/>
</geometry>
<origin xyz = "0 0.05 -0.08 " rpy = "0 0 3.14159"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-W.dae"/>
</geometry>
<origin xyz = "0 0.05 -0.08 " rpy = " 0 0 3.14159"/>
</collision>
</link>
<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-W.dae"/>
</geometry>
<origin xyz = "0 -0.092 0.044 " rpy = " 0 -1.5706 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-W.dae"/>
</geometry>
<origin xyz = "0 -0.092 0.044 " rpy = " 0 -1.5706 0"/>
</collision>
</link>
<link name="link3">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-W.dae"/>
</geometry>
<origin xyz = "0 -0.09 -0.01 " rpy = " 0 1.5706 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-W.dae"/>
</geometry>
<origin xyz = "0 -0.09 -0.01 " rpy = "0 1.5706 0"/>
</collision>
</link>
<link name="link4">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-W.dae"/>
</geometry>
<origin xyz = "0 -0.6987 0 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-W.dae"/>
</geometry>
<origin xyz = "0 -0.6987 0 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="link5">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<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"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<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>

52
mycobot_pro/mycobot_600/config/mycobot_600.rviz
View file

@ -10,7 +10,7 @@ Panels:
- /TF1 - /TF1
- /TF1/Frames1 - /TF1/Frames1
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Tree Height: 719 Tree Height: 637
- Class: rviz/Selection - Class: rviz/Selection
Name: Selection Name: Selection
- Class: rviz/Tool Properties - Class: rviz/Tool Properties
@ -134,11 +134,6 @@ Visualization Manager:
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
tool1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tool2: tool2:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
@ -160,7 +155,7 @@ Visualization Manager:
base: base:
Value: false Value: false
gripper_base: gripper_base:
Value: false Value: true
gripper_left1: gripper_left1:
Value: false Value: false
gripper_left2: gripper_left2:
@ -185,10 +180,8 @@ Visualization Manager:
Value: false Value: false
link6: link6:
Value: false Value: false
tool1:
Value: false
tool2: tool2:
Value: false Value: true
Marker Alpha: 1 Marker Alpha: 1
Marker Scale: 0.5 Marker Scale: 0.5
Name: TF Name: TF
@ -203,19 +196,18 @@ Visualization Manager:
link4: link4:
link5: link5:
link6: link6:
tool1: tool2:
tool2: gripper_base:
gripper_base: gripper_left2:
gripper_left2: {}
gripper_left3:
gripper_left1:
{} {}
gripper_left3: gripper_right2:
gripper_left1: {}
{} gripper_right3:
gripper_right2: gripper_right1:
{} {}
gripper_right3:
gripper_right1:
{}
Update Interval: 0 Update Interval: 0
Value: true Value: true
Enabled: true Enabled: true
@ -246,7 +238,7 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/Orbit Class: rviz/Orbit
Distance: 1.742307186126709 Distance: 0.438984215259552
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
@ -254,25 +246,25 @@ Visualization Manager:
Value: false Value: false
Field of View: 0.7853981852531433 Field of View: 0.7853981852531433
Focal Point: Focal Point:
X: -0.07060671597719193 X: 0.38291746377944946
Y: 0.09759367257356644 Y: 0.10844527930021286
Z: 0.5344932079315186 Z: 0.08980736136436462
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.009999999776482582 Near Clip Distance: 0.009999999776482582
Pitch: 0.4803977310657501 Pitch: 0.31039875745773315
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Yaw: 3.7303872108459473 Yaw: 0.29537367820739746
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 1016 Height: 934
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003930000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd00000004000000000000016a00000308fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000308000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000304fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000304000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d0065010000000000000736000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005c60000030800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Time: Time:
@ -281,6 +273,6 @@ Window Geometry:
collapsed: false collapsed: false
Views: Views:
collapsed: false collapsed: false
Width: 1848 Width: 1846
X: 72 X: 72
Y: 27 Y: 27

1
mycobot_pro/mycobot_600/launch/test.launch
View file

@ -2,6 +2,7 @@
<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 --> <!-- 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.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/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="rvizconfig" default="$(find mycobot_600)/config/mycobot_600.rviz" />
<arg name="gui" default="true" /> <arg name="gui" default="true" />

71
mycobot_pro/mycobot_600_gripper_moveit/config/firefighter.srdf
View file

@ -132,13 +132,22 @@
<disable_collisions link1="base" link2="link1" reason="Adjacent"/> <disable_collisions link1="base" link2="link1" reason="Adjacent"/>
<disable_collisions link1="base" link2="link2" reason="Never"/> <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_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_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_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_left1" reason="Never"/>
<disable_collisions link1="gripper_base" link2="gripper_left2" reason="Adjacent"/> <disable_collisions link1="gripper_base" link2="gripper_left2" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="gripper_left3" 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_right2" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="gripper_right3" 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="link5" reason="Never"/>
<disable_collisions link1="gripper_base" link2="link6" 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="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_base" link2="tool2" reason="Adjacent"/>
<disable_collisions link1="gripper_left1" link2="gripper_left2" reason="Adjacent"/> <disable_collisions link1="gripper_left1" link2="gripper_left2" reason="Adjacent"/>
<disable_collisions link1="gripper_left1" link2="gripper_left3" 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="gripper_right3" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="link5" 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="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_left1" link2="tool2" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="gripper_left3" reason="Default"/> <disable_collisions link1="gripper_left2" link2="gripper_left3" reason="Default"/>
<disable_collisions link1="gripper_left2" link2="gripper_right1" reason="Never"/> <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="gripper_right3" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="link5" 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="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_left2" link2="tool2" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="gripper_right1" 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_right2" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="gripper_right3" 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="link5" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="link6" 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_left3" link2="tool2" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="gripper_right2" reason="Adjacent"/> <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="gripper_right3" reason="Adjacent"/>
<disable_collisions link1="gripper_right1" link2="link5" reason="Never"/> <disable_collisions link1="gripper_right1" link2="link5" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="link6" 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="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_right1" link2="tool2" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="gripper_right3" reason="Default"/> <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="link5" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="link6" 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="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_right2" link2="tool2" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="link5" 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="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="gripper_right3" link2="tool2" reason="Never"/>
<disable_collisions link1="link1" link2="link2" reason="Adjacent"/> <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="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="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="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="link6" reason="Adjacent"/>
<disable_collisions link1="link5" link2="tool2" reason="Never"/> <disable_collisions link1="link5" link2="tool2" reason="Never"/>
<disable_collisions link1="link6" link2="tool1" reason="Adjacent"/> <!-- <disable_collisions link1="link6" link2="tool1" reason="Adjacent"/> -->
<disable_collisions link1="link6" link2="tool2" reason="Never"/> <disable_collisions link1="link6" link2="tool2" reason="Adjacent"/>
<disable_collisions link1="tool1" link2="tool2" reason="Adjacent"/> <!-- <disable_collisions link1="tool1" link2="tool2" reason="Adjacent"/> -->
</robot> </robot>

54
mycobot_pro/mycobot_600_gripper_moveit/launch/moveit.rviz
View file

@ -9,7 +9,7 @@ Panels:
- /MotionPlanning1/Planning Request1 - /MotionPlanning1/Planning Request1
- /MotionPlanning1/Planned Path1 - /MotionPlanning1/Planned Path1
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Tree Height: 200 Tree Height: 245
- Class: rviz/Help - Class: rviz/Help
Name: Help Name: Help
- Class: rviz/Views - Class: rviz/Views
@ -53,7 +53,7 @@ Visualization Manager:
MoveIt_Allow_Sensor_Positioning: false MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10 MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5 MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: true MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: true MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Workspace: MoveIt_Workspace:
Center: Center:
@ -114,37 +114,32 @@ Visualization Manager:
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
joint1: link1:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
joint2: link2:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
joint3: link3:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
joint4: link4:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
joint5: link5:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
joint6: link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tool1:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
@ -240,37 +235,32 @@ Visualization Manager:
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
joint1: link1:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
joint2: link2:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
joint3: link3:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
joint4: link4:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
joint5: link5:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
joint6: link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tool1:
Alpha: 1 Alpha: 1
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
@ -335,17 +325,17 @@ Visualization Manager:
Value: false Value: false
Field of View: 0.75 Field of View: 0.75
Focal Point: Focal Point:
X: -0.07944566011428833 X: 0.4045429229736328
Y: 0.29104751348495483 Y: 0.17718593776226044
Z: 0.29134249687194824 Z: 0.2918968200683594
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.009999999776482582 Near Clip Distance: 0.009999999776482582
Pitch: 1.0449998378753662 Pitch: 0.20500031113624573
Target Frame: base Target Frame: base
Yaw: 6.149951934814453 Yaw: 2.056767225265503
Saved: Saved:
- Class: rviz/Orbit - Class: rviz/Orbit
Distance: 2 Distance: 2
@ -370,7 +360,7 @@ Visualization Manager:
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 820 Height: 934
Help: Help:
collapsed: false collapsed: false
Hide Left Dock: false Hide Left Dock: false
@ -379,9 +369,9 @@ Window Geometry:
collapsed: false collapsed: false
MotionPlanning - Trajectory Slider: MotionPlanning - Trajectory Slider:
collapsed: false collapsed: false
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Width: 1842 Width: 1846
X: 72 X: 72
Y: 27 Y: 27

2
mycobot_pro/mycobot_600_gripper_moveit/scripts/sync_plan.py
View file

@ -70,8 +70,6 @@ def callback(data):
num2 = num2[1] num2 = num2[1]
mc.set_gripper_value(num2,100) mc.set_gripper_value(num2,100)
rospy.loginfo(num2) rospy.loginfo(num2)
def listener(): def listener():

27
mycobot_pro/mycobot_600_moveit/config/firefighter.srdf
View file

@ -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: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<!-- <disable_collisions link1="base" link2="link1" reason="Adjacent" /> <!-- <disable_collisions link1="base" link2="link1" reason="Adjacent" />
<disable_collisions link1="base" link2="link2" reason="Never" /> <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="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="link1" link2="link6" reason="Never" />
<disable_collisions link1="link2" link2="link3" reason="Adjacent" /> <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="link2" link2="link6" reason="Never" />
<disable_collisions link1="link3" link2="link4" reason="Adjacent" /> <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="link3" link2="link6" reason="Never" />
<disable_collisions link1="link4" link2="link5" reason="Adjacent" /> <disable_collisions link1="link4" link2="link5" reason="Adjacent" />
<disable_collisions link1="link4" link2="link6" reason="Never" /> <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="link1" reason="Adjacent" />
<disable_collisions link1="base" link2="link2" reason="Never" /> <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="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="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="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="link5" reason="Adjacent" />
<disable_collisions link1="link4" link2="link6" reason="Never" /> <disable_collisions link1="link4" link2="link6" reason="Never" />
<disable_collisions link1="link5" link2="link6" reason="Adjacent" /> <disable_collisions link1="link5" link2="link6" reason="Adjacent" />

3
mycobot_pro/mycobot_600_moveit/launch/planning_context.launch
View file

@ -7,7 +7,8 @@
<!-- Load universal robot description format (URDF) --> <!-- Load universal robot description format (URDF) -->
<!-- <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600.urdf"/> --> <!-- <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600.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="$(find mycobot_description)/urdf/mycobot_pro_600/new_mycobot_pro_600_moveit.urdf"/>
<!-- The semantic description that corresponds to the URDF --> <!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find mycobot_600_moveit)/config/firefighter.srdf" /> <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_600_moveit)/config/firefighter.srdf" />