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update mycobot 630 urdf

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This commit is contained in:
wangWking 2024-03-06 10:39:53 +08:00
parent df7a68e648
commit 64bb5d8e83
16 changed files with 2022 additions and 209822 deletions
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mycobot_description/urdf/mycobot_630/base.dae Normal file → Executable file
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mycobot_description/urdf/mycobot_630/link1.dae Normal file → Executable file
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mycobot_description/urdf/mycobot_630/link2.dae Normal file → Executable file
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mycobot_description/urdf/mycobot_630/link3.dae Normal file → Executable file
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mycobot_description/urdf/mycobot_630/link4.dae Normal file → Executable file
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mycobot_description/urdf/mycobot_630/link5.dae Normal file → Executable file
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mycobot_description/urdf/mycobot_630/link6.dae Normal file → Executable file
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126
mycobot_description/urdf/mycobot_630/mycobot_630.urdf
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@ -7,32 +7,30 @@
<link name="base"> <link name="base">
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159--> <mesh filename="package://mycobot_description/urdf/mycobot_630/base.dae"/>
<mesh filename="package://mycobot_description/urdf/600_urdf/base.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/> <origin xyz = "0 0 0 " rpy = " 1.5707 0 0"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159--> <mesh filename="package://mycobot_description/urdf/mycobot_630/base.dae"/>
<mesh filename="package://mycobot_description/urdf/600_urdf/base.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/> <origin xyz = "0 0 0 " rpy = " 1.5707 0 0"/>
</collision> </collision>
</link> </link>
<link name="link1"> <link name="link1">
<visual> <visual>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/600_urdf/link1.dae"/> <mesh filename="package://mycobot_description/urdf/mycobot_630/link1.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 0 " rpy = "0 0 3.1415926"/> <origin xyz = "0 0 -0.06 " rpy = "0 0 3.1415926"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/600_urdf/link1.dae"/> <mesh filename="package://mycobot_description/urdf/mycobot_630/link1.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 3.1415926"/> <origin xyz = "0 0 -0.06 " rpy = " 0 0 3.1415926"/>
</collision> </collision>
</link> </link>
@ -40,15 +38,15 @@
<link name="link2"> <link name="link2">
<visual> <visual>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/600_urdf/link2.dae"/> <mesh filename="package://mycobot_description/urdf/mycobot_630/link2.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 -0.080 " rpy = " 3.1415926 0 3.1415926"/> <origin xyz = "0 0 -0.0446 " rpy = " 0 -1.5707 -1.5707"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/600_urdf/link2.dae"/> <mesh filename="package://mycobot_description/urdf/mycobot_630/link2.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 -0.080 " rpy = " 3.1415926 0 3.1415926"/> <origin xyz = "0 0 -0.0446 " rpy = " 0 -1.5707 -1.5707"/>
</collision> </collision>
</link> </link>
@ -56,36 +54,31 @@
<link name="link3"> <link name="link3">
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <mesh filename="package://mycobot_description/urdf/mycobot_630/link3.dae"/>
<mesh filename="package://mycobot_description/urdf/600_urdf/link3.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 -0.0855 " rpy = " 3.1415926 0 3.1415926"/> <origin xyz = "0 0 -0.0444 " rpy = " 0 1.5707 -1.5707"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <mesh filename="package://mycobot_description/urdf/mycobot_630/link3.dae"/>
<mesh filename="package://mycobot_description/urdf/600_urdf/link3.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 -0.0855 " rpy = "3.1415926 0 3.1415926"/> <origin xyz = "0 0 -0.0444 " rpy = "0 1.5707 -1.5707"/>
</collision> </collision>
</link> </link>
<link name="link4"> <link name="link4">
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <mesh filename="package://mycobot_description/urdf/mycobot_630/link4.dae"/>
<mesh filename="package://mycobot_description/urdf/600_urdf/link4.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/> <origin xyz = "0 0 0.041 " rpy = " -1.5707 0 1.5707"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <mesh filename="package://mycobot_description/urdf/mycobot_630/link4.dae"/>
<mesh filename="package://mycobot_description/urdf/600_urdf/link4.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/> <origin xyz = "0 0 0.041 " rpy = " -1.5707 0 1.5707"/>
</collision> </collision>
</link> </link>
@ -93,97 +86,88 @@
<link name="link5"> <link name="link5">
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <mesh filename="package://mycobot_description/urdf/mycobot_630/link5.dae"/>
<mesh filename="package://mycobot_description/urdf/600_urdf/link5.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 1.5707"/> <origin xyz = "-0.043 0 0 " rpy = " 0 -1.5707 3.1415926"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <mesh filename="package://mycobot_description/urdf/mycobot_630/link5.dae"/>
<mesh filename="package://mycobot_description/urdf/600_urdf/link5.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 1.5707"/> <origin xyz = "-0.043 0 0 " rpy = " 0 -1.5707 3.1415926"/>
</collision> </collision>
</link> </link>
<link name="link6"> <link name="link6">
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <mesh filename="package://mycobot_description/urdf/mycobot_630/link6.dae"/>
<mesh filename="package://mycobot_description/urdf/600_urdf/link6.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 = "0.03 0 0" rpy = " 0 -1.5707 0"/> <origin xyz = "0.01 0 0" rpy = " 0 1.5707 0"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<!--- 0.0 0 -0.04 --> <mesh filename="package://mycobot_description/urdf/mycobot_630/link6.dae"/>
<mesh filename="package://mycobot_description/urdf/600_urdf/link6.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 = "0.03 0 0" rpy = " 0 -1.5707 0"/> <origin xyz = "0.01 0 0" rpy = " 0 1.5707 0"/>
</collision> </collision>
</link> </link>
<joint name="joint1_to_base" type="revolute">
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/> <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 = "3.14159" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.19934" rpy = "0 0 0"/> <origin xyz= "0 0 0.22934" rpy = "0 0 0"/>
</joint>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "-4.71" upper = "1.5707" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0 0 0" rpy = "1.5707 0 0"/>
</joint> </joint>
<joint name="joint3_to_joint2" type="revolute"> <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 0" rpy = "1.5708 0 0"/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 -1"/> <axis xyz=" 0 0 -1"/>
<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= "0.25 0 0 " rpy = "0 0 0"/> <origin xyz= "0.27 0 0 " rpy = "0 0 0"/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 -1"/>
<limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "0.267 0 -0.0745" rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint5_to_joint4" type="revolute"> <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 = "-2.96" 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= "0.25 0 -0.1091" rpy = "0 0 0"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<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 -0.108 0" rpy = "1.57080 -1.57080 0"/> <origin xyz= "0 -0.095 0.002" rpy = "1.5707 -1.5707 0"/>
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6_to_joint5" type="revolute">
<axis xyz="-1 0 0"/> <axis xyz="-1 0 0"/>
<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= "-0.07586 0 0" rpy = "-1.57080 0 0 "/> <origin xyz= "-0.054 0 0" rpy = "-1.5707 0 0 "/>
</joint> </joint>

61
mycobot_pro/mycobot_630/config/mycobot_630.rviz
View file

@ -8,8 +8,9 @@ Panels:
- /Status1 - /Status1
- /RobotModel1 - /RobotModel1
- /TF1 - /TF1
- /TF1/Frames1
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Tree Height: 775 Tree Height: 609
- Class: rviz/Selection - Class: rviz/Selection
Name: Selection Name: Selection
- Class: rviz/Tool Properties - Class: rviz/Tool Properties
@ -18,17 +19,18 @@ Panels:
- /2D Nav Goal1 - /2D Nav Goal1
- /Publish Point1 - /Publish Point1
Name: Tool Properties Name: Tool Properties
Splitter Ratio: 0.588679016 Splitter Ratio: 0.5886790156364441
- Class: rviz/Views - Class: rviz/Views
Expanded: Expanded:
- /Current View1 - /Current View1
Name: Views Name: Views
Splitter Ratio: 0.5 Splitter Ratio: 0.5
- Class: rviz/Time - Class: rviz/Time
Experimental: false
Name: Time Name: Time
SyncMode: 0 SyncMode: 0
SyncSource: "" SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars: Toolbars:
toolButtonStyle: 2 toolButtonStyle: 2
Visualization Manager: Visualization Manager:
@ -40,7 +42,7 @@ Visualization Manager:
Color: 160; 160; 164 Color: 160; 160; 164
Enabled: true Enabled: true
Line Style: Line Style:
Line Width: 0.0299999993 Line Width: 0.029999999329447746
Value: Lines Value: Lines
Name: Grid Name: Grid
Normal Cell Count: 0 Normal Cell Count: 0
@ -105,13 +107,15 @@ Visualization Manager:
Visual Enabled: true Visual Enabled: true
- Class: rviz/TF - Class: rviz/TF
Enabled: true Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15 Frame Timeout: 15
Frames: Frames:
All Enabled: true All Enabled: false
base: base:
Value: true Value: true
link1: link1:
Value: true Value: false
link2: link2:
Value: true Value: true
link3: link3:
@ -122,7 +126,8 @@ Visualization Manager:
Value: true Value: true
link6: link6:
Value: true Value: true
Marker Scale: 0.300000012 Marker Alpha: 1
Marker Scale: 0.20000000298023224
Name: TF Name: TF
Show Arrows: true Show Arrows: true
Show Axes: true Show Axes: true
@ -138,6 +143,15 @@ Visualization Manager:
{} {}
Update Interval: 0 Update Interval: 0
Value: true Value: true
- Alpha: 1
Class: rviz/Axes
Enabled: true
Length: 0.20000000298023224
Name: Axes
Radius: 0.004999999888241291
Reference Frame: <Fixed Frame>
Show Trail: false
Value: true
Enabled: true Enabled: true
Global Options: Global Options:
Background Color: 48; 48; 48 Background Color: 48; 48; 48
@ -153,7 +167,10 @@ Visualization Manager:
- Class: rviz/FocusCamera - Class: rviz/FocusCamera
- Class: rviz/Measure - Class: rviz/Measure
- Class: rviz/SetInitialPose - Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal - Class: rviz/SetGoal
Topic: /move_base_simple/goal Topic: /move_base_simple/goal
- Class: rviz/PublishPoint - Class: rviz/PublishPoint
@ -163,33 +180,33 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/Orbit Class: rviz/Orbit
Distance: 2.0593462 Distance: 1.5878180265426636
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Field of View: 0.7853981852531433
Focal Point: Focal Point:
X: -0.0706475973 X: -0.07064759731292725
Y: -0.0814988762 Y: -0.0814988762140274
Z: 0.107583851 Z: 0.10758385062217712
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.00999999978 Near Clip Distance: 0.009999999776482582
Pitch: 0.660398126 Pitch: 0.5947973132133484
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Value: Orbit (rviz) Yaw: 2.5353903770446777
Yaw: 3.10539246
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 1056 Height: 906
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001d0000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003f2000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Time: Time:
@ -198,6 +215,6 @@ Window Geometry:
collapsed: false collapsed: false
Views: Views:
collapsed: false collapsed: false
Width: 1855 Width: 1848
X: 65 X: 72
Y: 24 Y: 27

4
mycobot_pro/mycobot_630_moveit/config/fake_controllers.yaml
View file

@ -1,9 +1,9 @@
controller_list: controller_list:
- name: fake_arm_group_controller - name: fake_arm_group_controller
joints: joints:
- joint1_to_base
- joint2_to_joint1 - joint2_to_joint1
- joint3_to_joint2 - joint3_to_joint2
- joint4_to_joint3 - joint4_to_joint3
- joint5_to_joint4 - joint5_to_joint4
- joint6_to_joint5 - joint6_to_joint5
- joint6output_to_joint6

12
mycobot_pro/mycobot_630_moveit/config/firefighter.srdf
View file

@ -10,21 +10,21 @@
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group--> <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names--> <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="arm_group"> <group name="arm_group">
<joint name="joint1_to_base" />
<joint name="joint2_to_joint1" /> <joint name="joint2_to_joint1" />
<joint name="joint3_to_joint2" /> <joint name="joint3_to_joint2" />
<joint name="joint4_to_joint3" /> <joint name="joint4_to_joint3" />
<joint name="joint5_to_joint4" /> <joint name="joint5_to_joint4" />
<joint name="joint6_to_joint5" /> <joint name="joint6_to_joint5" />
<joint name="joint6output_to_joint6" />
</group> </group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'--> <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="init_pose" group="arm_group"> <group_state name="init_pose" group="arm_group">
<joint name="joint2_to_joint1" value="0" /> <joint name="joint1_to_base" value="0" />
<joint name="joint3_to_joint2" value="-1.5708" /> <joint name="joint2_to_joint1" value="-1.5708" />
<joint name="joint4_to_joint3" value="0" /> <joint name="joint3_to_joint2" value="0" />
<joint name="joint5_to_joint4" value="-1.5708" /> <joint name="joint4_to_joint3" value="-1.5708" />
<joint name="joint5_to_joint4" value="0" />
<joint name="joint6_to_joint5" value="0" /> <joint name="joint6_to_joint5" value="0" />
<joint name="joint6output_to_joint6" value="0" />
</group_state> </group_state>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)--> <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->

10
mycobot_pro/mycobot_630_moveit/config/joint_limits.yaml
View file

@ -2,6 +2,11 @@
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits: joint_limits:
joint1_to_base:
has_velocity_limits: true
max_velocity: 3.14
has_acceleration_limits: false
max_acceleration: 30
joint2_to_joint1: joint2_to_joint1:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 3.14 max_velocity: 3.14
@ -23,11 +28,6 @@ joint_limits:
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 30 max_acceleration: 30
joint6_to_joint5: joint6_to_joint5:
has_velocity_limits: true
max_velocity: 3.14
has_acceleration_limits: false
max_acceleration: 30
joint6output_to_joint6:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 3.14 max_velocity: 3.14
has_acceleration_limits: false has_acceleration_limits: false

2
mycobot_pro/mycobot_630_moveit/config/ros_controllers.yaml
View file

@ -10,12 +10,12 @@ generic_hw_control_loop:
hardware_interface: hardware_interface:
joints: joints:
- vitual_joint - vitual_joint
- joint1_to_base
- joint2_to_joint1 - joint2_to_joint1
- joint3_to_joint2 - joint3_to_joint2
- joint4_to_joint3 - joint4_to_joint3
- joint5_to_joint4 - joint5_to_joint4
- joint6_to_joint5 - joint6_to_joint5
- joint6output_to_joint6
sim_control_mode: 1 # 0: position, 1: velocity sim_control_mode: 1 # 0: position, 1: velocity
# Publish all joint states # Publish all joint states
# Creates the /joint_states topic necessary in ROS # Creates the /joint_states topic necessary in ROS

2
mycobot_pro/mycobot_630_moveit/launch/demo_gazebo.launch
View file

@ -22,7 +22,7 @@
<arg name="gazebo_gui" default="true"/> <arg name="gazebo_gui" default="true"/>
<arg name="paused" default="false"/> <arg name="paused" default="false"/>
<!-- By default, use the urdf location provided from the package --> <!-- By default, use the urdf location provided from the package -->
<arg name="urdf_path" default="$(find mycobot_description)/urdf/600_urdf/mycobot_630_urdf.urdf"/> <arg name="urdf_path" default="$(find mycobot_description)/urdf/mycobot_630/mycobot_630.urdf"/>
<!-- launch the gazebo simulator and spawn the robot --> <!-- launch the gazebo simulator and spawn the robot -->
<include file="$(find mycobot_630_moveit)/launch/gazebo.launch" > <include file="$(find mycobot_630_moveit)/launch/gazebo.launch" >

49
mycobot_pro/mycobot_630_moveit/launch/moveit.rviz
View file

@ -9,8 +9,8 @@ Panels:
- /MotionPlanning1/Scene Robot1 - /MotionPlanning1/Scene Robot1
- /MotionPlanning1/Planning Request1 - /MotionPlanning1/Planning Request1
- /MotionPlanning1/Planned Path1 - /MotionPlanning1/Planned Path1
Splitter Ratio: 0.742560029 Splitter Ratio: 0.7425600290298462
Tree Height: 195 Tree Height: 197
- Class: rviz/Help - Class: rviz/Help
Name: Help Name: Help
- Class: rviz/Views - Class: rviz/Views
@ -18,6 +18,8 @@ Panels:
- /Current View1 - /Current View1
Name: Views Name: Views
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Preferences:
PromptSaveOnExit: true
Toolbars: Toolbars:
toolButtonStyle: 2 toolButtonStyle: 2
Visualization Manager: Visualization Manager:
@ -29,7 +31,7 @@ Visualization Manager:
Color: 160; 160; 164 Color: 160; 160; 164
Enabled: true Enabled: true
Line Style: Line Style:
Line Width: 0.0299999993 Line Width: 0.029999999329447746
Value: Lines Value: Lines
Name: Grid Name: Grid
Normal Cell Count: 0 Normal Cell Count: 0
@ -49,12 +51,10 @@ Visualization Manager:
MoveIt_Allow_External_Program: false MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false MoveIt_Allow_Sensor_Positioning: false
MoveIt_Goal_Tolerance: 0
MoveIt_Planning_Attempts: 10 MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5 MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: true MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Warehouse_Host: 127.0.0.1
MoveIt_Warehouse_Port: 33829
MoveIt_Workspace: MoveIt_Workspace:
Center: Center:
X: 0 X: 0
@ -118,18 +118,19 @@ Visualization Manager:
State Display Time: 0.05 s State Display Time: 0.05 s
Trail Step Size: 1 Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path Trajectory Topic: move_group/display_planned_path
Use Sim Time: false
Planning Metrics: Planning Metrics:
Payload: 1 Payload: 1
Show Joint Torques: false Show Joint Torques: false
Show Manipulability: false Show Manipulability: false
Show Manipulability Index: false Show Manipulability Index: false
Show Weight Limit: false Show Weight Limit: false
TextHeight: 0.0799999982 TextHeight: 0.07999999821186066
Planning Request: Planning Request:
Colliding Link Color: 255; 0; 0 Colliding Link Color: 255; 0; 0
Goal State Alpha: 1 Goal State Alpha: 1
Goal State Color: 250; 128; 0 Goal State Color: 250; 128; 0
Interactive Marker Size: 0.109999999 Interactive Marker Size: 0.10999999940395355
Joint Violation Color: 255; 0; 255 Joint Violation Color: 255; 0; 255
Planning Group: arm_group Planning Group: arm_group
Query Goal State: true Query Goal State: true
@ -142,7 +143,7 @@ Visualization Manager:
Scene Geometry: Scene Geometry:
Scene Alpha: 1 Scene Alpha: 1
Scene Color: 50; 230; 50 Scene Color: 50; 230; 50
Scene Display Time: 0.200000003 Scene Display Time: 0.20000000298023224
Show Scene Geometry: true Show Scene Geometry: true
Voxel Coloring: Z-Axis Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels Voxel Rendering: Occupied Voxels
@ -210,30 +211,30 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/XYOrbit Class: rviz/XYOrbit
Distance: 1.39158678 Distance: 1.3915867805480957
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Field of View: 0.7853981852531433
Focal Point: Focal Point:
X: 0.113567002 X: 0.11356700211763382
Y: 0.105920002 Y: 0.10592000186443329
Z: 2.23518001e-07 Z: 2.2351800055275817e-07
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.00999999978 Near Clip Distance: 0.009999999776482582
Pitch: 0.354796648 Pitch: 0.3547966480255127
Target Frame: base Target Frame: base
Value: XYOrbit (rviz) Yaw: 2.0267655849456787
Yaw: 2.02676558
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 898 Height: 906
Help: Help:
collapsed: false collapsed: false
Hide Left Dock: false Hide Left Dock: false
@ -242,9 +243,9 @@ Window Geometry:
collapsed: false collapsed: false
MotionPlanning - Trajectory Slider: MotionPlanning - Trajectory Slider:
collapsed: false collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002ad0000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff000004710000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd0000000100000000000001f300000330fc0200000007fb000000100044006900730070006c006100790073010000003d00000156000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000199000000420000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001e10000018c0000017d00ffffff0000053f0000033000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views: Views:
collapsed: false collapsed: false
Width: 1828 Width: 1848
X: 60 X: 72
Y: 15 Y: 27

2
mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py
View file

@ -24,7 +24,7 @@ def callback(data):
data_list.append(radians_to_angles) data_list.append(radians_to_angles)
rospy.loginfo(rospy.get_caller_id() + "%s", data_list) rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
mc.write_angles(data_list, 1000) mc.write_angles(data_list, 800)
def listener(): def listener():