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

update urdf

Browse source
This commit is contained in:
wangWking 2023-06-20 10:27:24 +08:00
parent 7e295f76cc
commit 58fc23276b
6 changed files with 58 additions and 24 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

2
myArm/myarm_moveit/.setup_assistant
View file

@ -8,4 +8,4 @@ moveit_setup_assistant_config:
CONFIG:
author_name: zachary
author_email: lijun.zhang@elephantrobotics.com
generated_timestamp: 1686548761
generated_timestamp: 1687147323

5
myArm/myarm_moveit/config/kinematics.yaml
View file

@ -1,4 +1,7 @@
arm_group:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_timeout: 0.005
goal_joint_tolerance: 0.0001
goal_position_tolerance: 0.0001
goal_orientation_tolerance: 0.001

40
myArm/myarm_moveit/config/ompl_planning.yaml
View file

@ -127,6 +127,43 @@ planner_configs:
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
max_failures: 5000 # maximum consecutive failure limit. default: 5000
AITstar:
type: geometric::AITstar
use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100
use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1
find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0
set_max_num_goals: 1 # maximum number of goals sampled from sampleable goal regions. Valid values: [1:1:1000]. Default: 1
ABITstar:
type: geometric::ABITstar
use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100
use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1
prune_threshold_as_fractional_cost_change: 0.1 # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
delay_rewiring_to_first_solution: 0 # delay (1) or not (0) rewiring until a solution is found. Default: 0
use_just_in_time_sampling: 0 # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
drop_unconnected_samples_on_prune: 0 # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
stop_on_each_solution_improvement: 0 # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0
initial_inflation_factor: 1000000 # inflation factor for the initial search. Valid values: [1.0:0.01:1000000.0]. Default: 1000000
inflation_scaling_parameter: 10 # scaling parameter for the inflation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
truncation_scaling_parameter: 5.0 # scaling parameter for the truncation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
BITstar:
type: geometric::BITstar
use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100
use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1
prune_threshold_as_fractional_cost_change: 0.1 # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
delay_rewiring_to_first_solution: 0 # delay (1) or not (0) rewiring until a solution is found. Default: 0
use_just_in_time_sampling: 0 # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
drop_unconnected_samples_on_prune: 0 # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
stop_on_each_solution_improvement: 0 # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0
arm_group:
default_planner_config: RRTConnect
planner_configs:
@ -154,5 +191,8 @@ arm_group:
- LazyPRMstar
- SPARS
- SPARStwo
- AITstar
- ABITstar
- BITstar
projection_evaluator: joints(joint1_to_base,joint2_to_joint1)
longest_valid_segment_fraction: 0.005

9
myArm/myarm_moveit/config/sensors_3d.yaml
View file

@ -1,9 +1,2 @@
sensors:
- filtered_cloud_topic: filtered_cloud
max_range: 5.0
max_update_rate: 1.0
padding_offset: 0.1
padding_scale: 1.0
point_cloud_topic: /head_mount_kinect/depth_registered/points
point_subsample: 1
sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
[]

7
myArm/myarm_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py
View file

@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
import rospy, roslib, sys
@ -32,7 +32,7 @@ class MoveItPlanningDemo:
# Set the reference coordinate system used for the target position
# 设置目标位置所使用的参考坐标系
self.reference_frame = "joint1"
self.reference_frame = "base"
self.arm.set_pose_reference_frame(self.reference_frame)
# Allow replanning when motion planning fails,当运动规划失败后，允许重新规划
@ -72,10 +72,9 @@ class MoveItPlanningDemo:
# Set the target pose of the terminal motion of the robotic arm
# 设置机械臂终端运动的目标位姿
self.arm.set_pose_target(target_pose, self.end_effector_link)
# Plan the movement path,规划运动路径
traj = self.arm.plan()
print('traj:', traj)
# Control the motion of the robotic arm according to the planned motion path
# 按照规划的运动路径控制机械臂运动
self.arm.execute(traj)

19
mycobot_description/urdf/myarm/myarm_urdf.urdf
View file

@ -30,7 +30,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm/j1.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 0"/>
<origin xyz = "0.0 0 -0.085 " rpy = " 0 0 0"/>
</collision>
</link>
@ -59,10 +59,9 @@
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm/j3.dae"/>
</geometry>
<origin xyz = "0.0 0 0.054" rpy = " 0 0 3.14159"/>
<origin xyz = "0.0 0 -0.054" rpy = " 0 0 3.14159"/>
</collision>
</link>
@ -78,7 +77,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm/j4.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 0 -1.5708"/>
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
</collision>
</link>
@ -96,7 +95,7 @@
<mesh filename="package://mycobot_description/urdf/myarm/j5.dae"/>
</geometry>
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 3.14159"/>
<origin xyz = "0 0.00 -0.051 " rpy = " 0 0 3.14159"/>
</collision>
</link>
@ -131,7 +130,7 @@
<mesh filename="package://mycobot_description/urdf/myarm/j7.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.0 " rpy = " 0 0 -1.5708"/>
<origin xyz = "0.0 0 -0.009 " rpy = " 0 0 -1.5708"/>
</collision>
</link>
@ -139,7 +138,7 @@
<joint name="joint1_to_base" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="base"/>
<child link="joint1"/>
<origin xyz= "0 0 0.165" rpy = "0 0 0"/>
@ -157,7 +156,7 @@
<joint name="joint3_to_joint2" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 -0.11 0 " rpy = "1.5708 0 0"/>
@ -176,7 +175,7 @@
<joint name="joint5_to_joint4" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "0 -0.126 0" rpy = "1.5708 0 0"/>
@ -193,7 +192,7 @@
<joint name="joint7_to_joint6" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="joint6"/>
<child link="joint7"/>
<origin xyz= "0 -0.056 0" rpy = "1.5708 0 0"/>