mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
更新280JN moveit
This commit is contained in:
wangWking
parent
f4434066c2
commit
70e59b5650
41 changed files with 807 additions and 444 deletions
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@ -8,4 +8,4 @@ moveit_setup_assistant_config:
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CONFIG:
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author_name: zachary
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author_email: lijun.zhang@elephantrobotics.com
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generated_timestamp: 1626074107
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generated_timestamp: 1726131211
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@ -1,22 +1,10 @@
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cmake_minimum_required(VERSION 2.8.3)
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cmake_minimum_required(VERSION 3.1.3)
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project(mycobot_280jn_moveit)
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find_package(catkin REQUIRED
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rospy
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std_msgs
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moveit_msgs
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)
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find_package(catkin REQUIRED)
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catkin_package()
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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catkin_install_python(PROGRAMS
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scripts/sync_plan.py
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scripts/path_planning_and_obstacle_avoidance_demo.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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PATTERN "setup_assistant.launch" EXCLUDE)
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install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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@ -0,0 +1,5 @@
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cartesian_limits:
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max_trans_vel: 1
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max_trans_acc: 2.25
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max_trans_dec: -5
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max_rot_vel: 1.57
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@ -7,12 +7,12 @@ learning_rate: 0.01
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smoothness_cost_velocity: 0.0
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smoothness_cost_acceleration: 1.0
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smoothness_cost_jerk: 0.0
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ridge_factor: 0.01
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ridge_factor: 0.0
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use_pseudo_inverse: false
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pseudo_inverse_ridge_factor: 1e-4
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joint_update_limit: 0.1
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collision_clearence: 0.2
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collision_clearance: 0.2
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collision_threshold: 0.07
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use_stochastic_descent: true
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enable_failure_recovery: true
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max_recovery_attempts: 5
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enable_failure_recovery: false
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max_recovery_attempts: 5
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@ -1,9 +1,13 @@
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controller_list:
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- name: fake_arm_group_controller
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type: $(arg fake_execution_type)
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joints:
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- joint2_to_joint1
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- joint3_to_joint2
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- joint4_to_joint3
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- joint5_to_joint4
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- joint6_to_joint5
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- joint6output_to_joint6
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- joint6output_to_joint6
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initial: # Define initial robot poses per group
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- group: arm_group
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pose: init_pose
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@ -1,4 +1,4 @@
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<?xml version="1.0" ?>
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<?xml version="1.0" encoding="UTF-8"?>
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<!--This does not replace URDF, and is not an extension of URDF.
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This is a format for representing semantic information about the robot structure.
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A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
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@ -10,33 +10,45 @@
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<!--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-->
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<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
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<group name="arm_group">
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<joint name="joint2_to_joint1" />
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<joint name="joint3_to_joint2" />
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<joint name="joint4_to_joint3" />
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<joint name="joint5_to_joint4" />
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<joint name="joint6_to_joint5" />
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<joint name="joint6output_to_joint6" />
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<joint name="joint2_to_joint1"/>
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<joint name="joint3_to_joint2"/>
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<joint name="joint4_to_joint3"/>
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<joint name="joint5_to_joint4"/>
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<joint name="joint6_to_joint5"/>
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<joint name="joint6output_to_joint6"/>
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</group>
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<!--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'-->
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<group_state name="init_pose" group="arm_group">
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<joint name="joint2_to_joint1" value="0" />
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<joint name="joint3_to_joint2" value="0" />
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<joint name="joint4_to_joint3" value="0" />
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<joint name="joint5_to_joint4" value="0" />
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<joint name="joint6_to_joint5" value="0" />
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<joint name="joint6output_to_joint6" value="0" />
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<joint name="joint2_to_joint1" value="0"/>
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<joint name="joint3_to_joint2" value="0"/>
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<joint name="joint4_to_joint3" value="0"/>
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<joint name="joint5_to_joint4" value="0"/>
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<joint name="joint6_to_joint5" value="0"/>
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<joint name="joint6output_to_joint6" value="0"/>
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</group_state>
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<!--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)-->
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<virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="joint1" />
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<virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="g_base"/>
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<!--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. -->
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<disable_collisions link1="joint1" link2="joint2" reason="Adjacent" />
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<disable_collisions link1="joint1" link2="joint5" reason="Never" />
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<disable_collisions link1="joint2" link2="joint3" reason="Adjacent" />
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<disable_collisions link1="joint2" link2="joint5" reason="Never" />
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<disable_collisions link1="joint3" link2="joint4" reason="Adjacent" />
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<disable_collisions link1="joint3" link2="joint5" reason="Never" />
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<disable_collisions link1="joint4" link2="joint5" reason="Adjacent" />
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<disable_collisions link1="joint5" link2="joint6" reason="Adjacent" />
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<disable_collisions link1="joint5" link2="joint6_flange" reason="Never" />
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<disable_collisions link1="joint6" link2="joint6_flange" reason="Adjacent" />
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<disable_collisions link1="g_base" link2="joint1" reason="Adjacent"/>
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<disable_collisions link1="g_base" link2="joint2" reason="Never"/>
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<disable_collisions link1="g_base" link2="joint3" reason="Never"/>
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<disable_collisions link1="g_base" link2="joint4" reason="Never"/>
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<disable_collisions link1="g_base" link2="joint5" reason="Default"/>
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<disable_collisions link1="g_base" link2="joint6" reason="Never"/>
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<disable_collisions link1="g_base" link2="joint6_flange" reason="Never"/>
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<disable_collisions link1="joint1" link2="joint2" reason="Adjacent"/>
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<disable_collisions link1="joint1" link2="joint3" reason="Never"/>
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<disable_collisions link1="joint1" link2="joint4" reason="Never"/>
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<disable_collisions link1="joint1" link2="joint5" reason="Default"/>
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<disable_collisions link1="joint1" link2="joint6" reason="Never"/>
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<disable_collisions link1="joint1" link2="joint6_flange" reason="Never"/>
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<disable_collisions link1="joint2" link2="joint3" reason="Adjacent"/>
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<disable_collisions link1="joint2" link2="joint5" reason="Never"/>
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<disable_collisions link1="joint3" link2="joint4" reason="Adjacent"/>
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<disable_collisions link1="joint3" link2="joint5" reason="Never"/>
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<disable_collisions link1="joint4" link2="joint5" reason="Adjacent"/>
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<disable_collisions link1="joint4" link2="joint6" reason="Never"/>
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<disable_collisions link1="joint5" link2="joint6" reason="Adjacent"/>
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<disable_collisions link1="joint5" link2="joint6_flange" reason="Never"/>
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<disable_collisions link1="joint6" link2="joint6_flange" reason="Adjacent"/>
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</robot>
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@ -0,0 +1,4 @@
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# Publish joint_states
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 50
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276
mycobot_280/mycobot_280jn_moveit/config/gazebo_firefighter.urdf
Normal file
276
mycobot_280/mycobot_280jn_moveit/config/gazebo_firefighter.urdf
Normal file
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@ -0,0 +1,276 @@
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<?xml version="1.0" ?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
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<xacro:property name="width" value=".2" />
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<link name="g_base">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/G_base.dae" />
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</geometry>
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<origin xyz="0.0 0 -0.032" rpy="0 0 1.5708" />
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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_280_jn/G_base.dae" />
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</geometry>
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<origin xyz="0.0 0 -0.032" rpy="0 0 1.5708" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="joint1">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 1.5708 3.14159-->
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<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint1_jet.dae" />
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</geometry>
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<origin xyz="0.0 0 0 " rpy=" 0 0 3.14159" />
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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_280_jn/joint1_jet.dae" />
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</geometry>
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<origin xyz="0.0 0 0" rpy="0 0 3.14159" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="joint2">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint2.dae" />
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</geometry>
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<origin xyz="0.0 0 -0.06096 " rpy=" 0 0 -1.5708" />
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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_280_jn/joint2.dae" />
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</geometry>
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<origin xyz="0.0 0 -0.06096" rpy="0 0 -1.5708" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="joint3">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint3.dae" />
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</geometry>
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<origin xyz="0.0 0 0.03256 " rpy=" 0 -1.5708 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_280_jn/joint3.dae" />
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</geometry>
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<origin xyz="0.0 0 0.03256" rpy="0 -1.5708 0" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="joint4">
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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_280_jn/joint4.dae" />
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</geometry>
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<origin xyz="0.0 0 0.03056 " rpy=" 0 -1.5708 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_280_jn/joint4.dae" />
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</geometry>
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<origin xyz="0.0 0 0.03056" rpy="0 -1.5708 0" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="joint5">
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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_280_jn/joint5.dae" />
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</geometry>
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<origin xyz="0.0 0 -0.03356 " rpy=" 0 -1.5708 1.5708" />
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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_280_jn/joint5.dae" />
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</geometry>
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<origin xyz="0.0 0 -0.03356" rpy="0 -1.5708 1.5708" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="joint6">
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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_280_jn/joint6.dae" />
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</geometry>
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<origin xyz="0 0.00 -0.038 " rpy=" 0 0 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_280_jn/joint6.dae" />
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</geometry>
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<origin xyz="0 0.00 -0.038" rpy="0 0 0" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="joint6_flange">
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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_280_jn/joint7.dae" />
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</geometry>
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<origin xyz="0.0 0 -0.012 " rpy=" 0 0 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_280_jn/joint7.dae" />
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</geometry>
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<origin xyz="0.0 0 -0.012" rpy="0 0 0" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<joint name="g_base_to_joint1" type="fixed">
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<axis xyz="0 0 0" />
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<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
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<parent link="g_base" />
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<child link="joint1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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</joint>
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<joint name="joint2_to_joint1" type="revolute">
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<axis xyz="0 0 1" />
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<limit effort="1000.0" lower="-2.9321" upper="2.9321" velocity="0" />
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<parent link="joint1" />
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<child link="joint2" />
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<origin xyz="0 0 0.15756" rpy="0 0 0" />
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</joint>
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<joint name="joint3_to_joint2" type="revolute">
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<axis xyz="0 0 1" />
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<limit effort="1000.0" lower="-2.0943" upper="2.0943" velocity="0" />
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<parent link="joint2" />
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<child link="joint3" />
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<origin xyz="0 0 -0.001" rpy="0 1.5708 -1.5708" />
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</joint>
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<joint name="joint4_to_joint3" type="revolute">
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<axis xyz=" 0 0 1" />
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<limit effort="1000.0" lower="-2.6179" upper="2.6179" velocity="0" />
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<parent link="joint3" />
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<child link="joint4" />
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<origin xyz=" -0.1104 0 0 " rpy="0 0 0" />
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</joint>
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<joint name="joint5_to_joint4" type="revolute">
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<axis xyz=" 0 0 1" />
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<limit effort="1000.0" lower="-2.5307" upper="2.5307" velocity="0" />
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<parent link="joint4" />
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<child link="joint5" />
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<origin xyz="-0.096 0 0.06462" rpy="0 0 -1.5708" />
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</joint>
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<joint name="joint6_to_joint5" type="revolute">
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<axis xyz="0 0 1" />
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<limit effort="1000.0" lower="-2.8797" upper="2.8797" velocity="0" />
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<parent link="joint5" />
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<child link="joint6" />
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<origin xyz="0 -0.07318 0" rpy="1.5708 -1.5708 0" />
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</joint>
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<joint name="joint6output_to_joint6" type="revolute">
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<axis xyz="0 0 1" />
|
||||
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
|
||||
<parent link="joint6" />
|
||||
<child link="joint6_flange" />
|
||||
<origin xyz="0 0.0456 0" rpy="-1.5708 0 0" />
|
||||
</joint>
|
||||
<transmission name="trans_joint2_to_joint1">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint2_to_joint1">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint2_to_joint1_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_joint3_to_joint2">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint3_to_joint2">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint3_to_joint2_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_joint4_to_joint3">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint4_to_joint3">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint4_to_joint3_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_joint5_to_joint4">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint5_to_joint4">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint5_to_joint4_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_joint6_to_joint5">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint6_to_joint5">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint6_to_joint5_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_joint6output_to_joint6">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint6output_to_joint6">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="joint6output_to_joint6_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<gazebo>
|
||||
<plugin name="gazebo_ros_control">
|
||||
<robotNamespace>/</robotNamespace>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
</robot>
|
||||
|
||||
|
|
@ -1,4 +1,10 @@
|
|||
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
|
||||
|
||||
# For beginners, we downscale velocity and acceleration limits.
|
||||
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
|
||||
default_velocity_scaling_factor: 0.1
|
||||
default_acceleration_scaling_factor: 0.1
|
||||
|
||||
# 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:
|
||||
|
|
|
|||
|
|
@ -2,4 +2,6 @@ arm_group:
|
|||
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
|
||||
kinematics_solver_search_resolution: 0.005
|
||||
kinematics_solver_timeout: 0.005
|
||||
kinematics_solver_attempts: 3
|
||||
goal_joint_tolerance: 0.0001
|
||||
goal_position_tolerance: 0.0001
|
||||
goal_orientation_tolerance: 0.001
|
||||
|
|
@ -1,4 +1,11 @@
|
|||
planner_configs:
|
||||
AnytimePathShortening:
|
||||
type: geometric::AnytimePathShortening
|
||||
shortcut: true # Attempt to shortcut all new solution paths
|
||||
hybridize: true # Compute hybrid solution trajectories
|
||||
max_hybrid_paths: 24 # Number of hybrid paths generated per iteration
|
||||
num_planners: 4 # The number of default planners to use for planning
|
||||
planners: "" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
|
||||
SBL:
|
||||
type: geometric::SBL
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
|
|
@ -44,8 +51,8 @@ planner_configs:
|
|||
temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
|
||||
min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
|
||||
init_temperature: 10e-6 # initial temperature. default: 10e-6
|
||||
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
|
||||
frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
|
||||
frontier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
|
||||
frontier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
|
||||
k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()
|
||||
PRM:
|
||||
type: geometric::PRM
|
||||
|
|
@ -88,8 +95,8 @@ planner_configs:
|
|||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1
|
||||
init_temperature: 100 # initial temperature. default: 100
|
||||
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
|
||||
frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
|
||||
frontier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
|
||||
frontier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
|
||||
cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
|
||||
LBTRRT:
|
||||
type: geometric::LBTRRT
|
||||
|
|
@ -120,9 +127,46 @@ 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: None
|
||||
planner_configs:
|
||||
- AnytimePathShortening
|
||||
- SBL
|
||||
- EST
|
||||
- LBKPIECE
|
||||
|
|
@ -146,5 +190,8 @@ arm_group:
|
|||
- LazyPRMstar
|
||||
- SPARS
|
||||
- SPARStwo
|
||||
- AITstar
|
||||
- ABITstar
|
||||
- BITstar
|
||||
projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2)
|
||||
longest_valid_segment_fraction: 0.005
|
||||
longest_valid_segment_fraction: 0.005
|
||||
|
|
|
|||
|
|
@ -1,26 +1,40 @@
|
|||
# Simulation settings for using moveit_sim_controllers
|
||||
moveit_sim_hw_interface:
|
||||
joint_model_group: arm_group
|
||||
joint_model_group_pose: init_pose
|
||||
# Settings for ros_control_boilerplate control loop
|
||||
generic_hw_control_loop:
|
||||
loop_hz: 300
|
||||
cycle_time_error_threshold: 0.01
|
||||
# Settings for ros_control hardware interface
|
||||
hardware_interface:
|
||||
arm_group_controller:
|
||||
type: effort_controllers/JointTrajectoryController
|
||||
joints:
|
||||
- vitual_joint
|
||||
- joint2_to_joint1
|
||||
- joint3_to_joint2
|
||||
- joint4_to_joint3
|
||||
- joint5_to_joint4
|
||||
- joint6_to_joint5
|
||||
- joint6output_to_joint6
|
||||
sim_control_mode: 1 # 0: position, 1: velocity
|
||||
# Publish all joint states
|
||||
# Creates the /joint_states topic necessary in ROS
|
||||
joint_state_controller:
|
||||
type: joint_state_controller/JointStateController
|
||||
publish_rate: 50
|
||||
controller_list:
|
||||
[]
|
||||
gains:
|
||||
joint2_to_joint1:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint3_to_joint2:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint4_to_joint3:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint5_to_joint4:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint6_to_joint5:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
joint6output_to_joint6:
|
||||
p: 100
|
||||
d: 1
|
||||
i: 1
|
||||
i_clamp: 1
|
||||
|
|
@ -1,4 +1,3 @@
|
|||
# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
|
||||
sensors:
|
||||
- filtered_cloud_topic: filtered_cloud
|
||||
max_range: 5.0
|
||||
|
|
|
|||
|
|
@ -0,0 +1,12 @@
|
|||
controller_list:
|
||||
- name: arm_group_controller
|
||||
action_ns: follow_joint_trajectory
|
||||
type: FollowJointTrajectory
|
||||
default: True
|
||||
joints:
|
||||
- joint2_to_joint1
|
||||
- joint3_to_joint2
|
||||
- joint4_to_joint3
|
||||
- joint5_to_joint4
|
||||
- joint6_to_joint5
|
||||
- joint6output_to_joint6
|
||||
39
mycobot_280/mycobot_280jn_moveit/config/stomp_planning.yaml
Normal file
39
mycobot_280/mycobot_280jn_moveit/config/stomp_planning.yaml
Normal file
|
|
@ -0,0 +1,39 @@
|
|||
stomp/arm_group:
|
||||
group_name: arm_group
|
||||
optimization:
|
||||
num_timesteps: 60
|
||||
num_iterations: 40
|
||||
num_iterations_after_valid: 0
|
||||
num_rollouts: 30
|
||||
max_rollouts: 30
|
||||
initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
|
||||
control_cost_weight: 0.0
|
||||
task:
|
||||
noise_generator:
|
||||
- class: stomp_moveit/NormalDistributionSampling
|
||||
stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
|
||||
cost_functions:
|
||||
- class: stomp_moveit/CollisionCheck
|
||||
collision_penalty: 1.0
|
||||
cost_weight: 1.0
|
||||
kernel_window_percentage: 0.2
|
||||
longest_valid_joint_move: 0.05
|
||||
noisy_filters:
|
||||
- class: stomp_moveit/JointLimits
|
||||
lock_start: True
|
||||
lock_goal: True
|
||||
- class: stomp_moveit/MultiTrajectoryVisualization
|
||||
line_width: 0.02
|
||||
rgb: [255, 255, 0]
|
||||
marker_array_topic: stomp_trajectories
|
||||
marker_namespace: noisy
|
||||
update_filters:
|
||||
- class: stomp_moveit/PolynomialSmoother
|
||||
poly_order: 6
|
||||
- class: stomp_moveit/TrajectoryVisualization
|
||||
line_width: 0.05
|
||||
rgb: [0, 191, 255]
|
||||
error_rgb: [255, 0, 0]
|
||||
publish_intermediate: True
|
||||
marker_topic: stomp_trajectory
|
||||
marker_namespace: optimized
|
||||
|
|
@ -1,10 +1,21 @@
|
|||
<launch>
|
||||
<!-- CHOMP Plugin for MoveIt! -->
|
||||
<arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
|
||||
<arg name="start_state_max_bounds_error" value="0.1" />
|
||||
<arg name="start_state_max_bounds_error" default="0.1" />
|
||||
<arg name="jiggle_fraction" default="0.05" />
|
||||
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
|
||||
<arg name="planning_adapters"
|
||||
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
|
||||
default_planner_request_adapters/AddTimeParameterization
|
||||
default_planner_request_adapters/ResolveConstraintFrames
|
||||
default_planner_request_adapters/FixWorkspaceBounds
|
||||
default_planner_request_adapters/FixStartStateBounds
|
||||
default_planner_request_adapters/FixStartStateCollision
|
||||
default_planner_request_adapters/FixStartStatePathConstraints"
|
||||
/>
|
||||
|
||||
<param name="planning_plugin" value="$(arg planning_plugin)" />
|
||||
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
|
||||
<param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
|
||||
<param name="request_adapters" value="$(arg planning_adapters)" />
|
||||
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
|
||||
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
|
||||
|
||||
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/chomp_planning.yaml" />
|
||||
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/chomp_planning.yaml" />
|
||||
</launch>
|
||||
|
|
|
|||
|
|
@ -5,7 +5,7 @@
|
|||
<arg name="moveit_warehouse_database_path" default="$(find mycobot_280jn_moveit)/default_warehouse_mongo_db" />
|
||||
|
||||
<!-- Launch the warehouse with the configured database location -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/warehouse.launch">
|
||||
<include file="$(dirname)/warehouse.launch">
|
||||
<arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
|
||||
</include>
|
||||
|
||||
|
|
|
|||
|
|
@ -1,65 +1,66 @@
|
|||
<launch>
|
||||
|
||||
<!-- specify the planning pipeline -->
|
||||
<arg name="pipeline" default="ompl" />
|
||||
|
||||
<!-- By default, we do not start a database (it can be large) -->
|
||||
<!-- 默认情况下，我们不启动数据库（它可能很大） -->
|
||||
<arg name="db" default="false" />
|
||||
<!-- Allow user to specify database location -->
|
||||
<!-- 允许用户指定数据库位置 -->
|
||||
<arg name="db_path" default="$(find mycobot_280jn_moveit)/default_warehouse_mongo_db" />
|
||||
|
||||
<!-- By default, we are not in debug mode -->
|
||||
<!-- 默认情况下，我们不处于调试模式 -->
|
||||
<arg name="debug" default="false" />
|
||||
|
||||
<!--
|
||||
By default, hide joint_state_publisher's GUI
|
||||
<!-- By default, we will load or override the robot_description -->
|
||||
<arg name="load_robot_description" default="true"/>
|
||||
|
||||
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
|
||||
The latter one maintains and publishes the current joint configuration of the simulated robot.
|
||||
It also provides a GUI to move the simulated robot around "manually".
|
||||
This corresponds to moving around the real robot without the use of MoveIt.
|
||||
-->
|
||||
<!-- Choose controller manager: fake, simple, or ros_control -->
|
||||
<arg name="moveit_controller_manager" default="fake" />
|
||||
<!-- Set execution mode for fake execution controllers -->
|
||||
<arg name="fake_execution_type" default="interpolate" />
|
||||
|
||||
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
|
||||
<arg name="use_gui" default="false" />
|
||||
|
||||
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
|
||||
<!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/planning_context.launch">
|
||||
<arg name="load_robot_description" value="true"/>
|
||||
</include>
|
||||
<arg name="use_rviz" default="true" />
|
||||
|
||||
<!-- If needed, broadcast static tf for robot root -->
|
||||
|
||||
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 basic g_base" />
|
||||
|
||||
<!-- We do not have a robot connected, so publish fake joint states -->
|
||||
<!-- 我们没有连接机器人，所以发布假关节状态 -->
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
|
||||
<param name="use_gui" value="$(arg use_gui)"/>
|
||||
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
|
||||
</node>
|
||||
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
|
||||
<!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
|
||||
MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
|
||||
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
|
||||
</node>
|
||||
<!-- If desired, a GUI version is available allowing to move the simulated robot around manually
|
||||
This corresponds to moving around the real robot without the use of MoveIt. -->
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
|
||||
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
|
||||
</node>
|
||||
|
||||
<!-- Given the published joint states, publish tf for the robot links -->
|
||||
<!-- 给定已发布的关节状态，为机器人链接发布 tf -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
|
||||
<!-- Given the published joint states, publish tf for the robot links -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
|
||||
</group>
|
||||
|
||||
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
|
||||
<!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）-->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/move_group.launch">
|
||||
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
|
||||
<include file="$(dirname)/move_group.launch">
|
||||
<arg name="allow_trajectory_execution" value="true"/>
|
||||
<arg name="fake_execution" value="true"/>
|
||||
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
|
||||
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
|
||||
<arg name="info" value="true"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
<arg name="pipeline" value="$(arg pipeline)"/>
|
||||
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
|
||||
</include>
|
||||
|
||||
<!-- Run Rviz and load the default config to see the state of the move_group node -->
|
||||
<!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/moveit_rviz.launch">
|
||||
<arg name="config" value="true"/>
|
||||
<include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
|
||||
<arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
</include>
|
||||
|
||||
<!-- If database loading was enabled, start mongodb as well -->
|
||||
<!-- 如果启用了数据库加载，也启动 mongodb -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
|
||||
<include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
|
||||
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
|
||||
</include>
|
||||
|
||||
|
|
|
|||
|
|
@ -1,70 +1,21 @@
|
|||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
<!-- MoveIt options -->
|
||||
<arg name="pipeline" default="ompl" doc="Planning pipeline to use with MoveIt"/>
|
||||
|
||||
<!-- By default, we do not start a database (it can be large) -->
|
||||
<arg name="db" default="false" />
|
||||
<!-- Allow user to specify database location -->
|
||||
<arg name="db_path" default="$(find mycobot_280jn_moveit)/default_warehouse_mongo_db" />
|
||||
<!-- Gazebo options -->
|
||||
<arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
|
||||
<arg name="paused" default="false" doc="Start Gazebo paused"/>
|
||||
<arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
|
||||
<arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
|
||||
|
||||
<!-- By default, we are not in debug mode -->
|
||||
<arg name="debug" default="false" />
|
||||
<!-- Launch Gazebo and spawn the robot -->
|
||||
<include file="$(dirname)/gazebo.launch" pass_all_args="true"/>
|
||||
|
||||
<!--
|
||||
By default, hide joint_state_publisher's GUI
|
||||
|
||||
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
|
||||
The latter one maintains and publishes the current joint configuration of the simulated robot.
|
||||
It also provides a GUI to move the simulated robot around "manually".
|
||||
This corresponds to moving around the real robot without the use of MoveIt.
|
||||
-->
|
||||
<arg name="use_gui" default="false" />
|
||||
|
||||
<!-- Gazebo specific options -->
|
||||
<arg name="gazebo_gui" default="true"/>
|
||||
<arg name="paused" default="false"/>
|
||||
<!-- By default, use the urdf location provided from the package -->
|
||||
<arg name="urdf_path" default="$(find mycobot_description)/urdf/jetsonNano/mycobot_urdf.urdf"/>
|
||||
|
||||
<!-- launch the gazebo simulator and spawn the robot -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/gazebo.launch" >
|
||||
<arg name="paused" value="$(arg paused)"/>
|
||||
<arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
|
||||
<arg name="urdf_path" value="$(arg urdf_path)"/>
|
||||
<!-- Launch MoveIt -->
|
||||
<include file="$(dirname)/demo.launch" pass_all_args="true">
|
||||
<!-- robot_description is loaded by gazebo.launch, to enable Gazebo features -->
|
||||
<arg name="load_robot_description" value="false" />
|
||||
<arg name="moveit_controller_manager" value="ros_control" />
|
||||
</include>
|
||||
|
||||
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/planning_context.launch">
|
||||
<arg name="load_robot_description" value="false"/>
|
||||
</include>
|
||||
|
||||
<!-- If needed, broadcast static tf for robot root -->
|
||||
|
||||
|
||||
<!-- We do not have a robot connected, so publish fake joint states -->
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
|
||||
<param name="use_gui" value="$(arg use_gui)"/>
|
||||
<rosparam param="source_list">[/joint_states]</rosparam>
|
||||
</node>
|
||||
|
||||
<!-- Given the published joint states, publish tf for the robot links -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
|
||||
|
||||
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/move_group.launch">
|
||||
<arg name="allow_trajectory_execution" value="true"/>
|
||||
<arg name="fake_execution" value="false"/>
|
||||
<arg name="info" value="true"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
</include>
|
||||
|
||||
<!-- Run Rviz and load the default config to see the state of the move_group node -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/moveit_rviz.launch">
|
||||
<arg name="config" value="true"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
</include>
|
||||
|
||||
<!-- If database loading was enabled, start mongodb as well -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
|
||||
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
|
||||
</include>
|
||||
|
||||
</launch>
|
||||
|
|
|
|||
|
|
@ -1,9 +1,12 @@
|
|||
<launch>
|
||||
|
||||
<!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
|
||||
<arg name="fake_execution_type" default="interpolate" />
|
||||
|
||||
<!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
|
||||
<param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
|
||||
|
||||
<!-- The rest of the params are specific to this plugin -->
|
||||
<rosparam file="$(find mycobot_280jn_moveit)/config/fake_controllers.yaml"/>
|
||||
<rosparam subst_value="true" file="$(find mycobot_280jn_moveit)/config/fake_controllers.yaml"/>
|
||||
|
||||
</launch>
|
||||
|
|
|
|||
|
|
@ -1,23 +1,34 @@
|
|||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
<arg name="paused" default="false"/>
|
||||
<arg name="gazebo_gui" default="true"/>
|
||||
<arg name="urdf_path" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn.urdf"/>
|
||||
<!-- Gazebo options -->
|
||||
<arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
|
||||
<arg name="paused" default="false" doc="Start Gazebo paused"/>
|
||||
<arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
|
||||
<arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
|
||||
<arg name="initial_joint_positions" default=" -J joint2_to_joint1 0 -J joint3_to_joint2 0 -J joint4_to_joint3 0 -J joint5_to_joint4 0 -J joint6_to_joint5 0 -J joint6output_to_joint6 0" doc="Initial joint configuration of the robot"/>
|
||||
|
||||
<!-- startup simulated world -->
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" default="worlds/empty.world"/>
|
||||
<arg name="paused" value="$(arg paused)"/>
|
||||
<arg name="gui" value="$(arg gazebo_gui)"/>
|
||||
<!-- Start Gazebo paused to allow the controllers to pickup the initial pose -->
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch" pass_all_args="true">
|
||||
<arg name="paused" value="true"/>
|
||||
</include>
|
||||
|
||||
<!-- send robot urdf to param server -->
|
||||
<param name="robot_description" textfile="$(arg urdf_path)" />
|
||||
<!-- Set the robot urdf on the parameter server -->
|
||||
<param name="robot_description" textfile="$(find mycobot_280jn_moveit)/config/gazebo_firefighter.urdf" />
|
||||
|
||||
<!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
|
||||
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -x 0 -y 0 -z 0"
|
||||
<!-- Unpause the simulation after loading the robot model -->
|
||||
<arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
|
||||
|
||||
<!-- Spawn the robot in Gazebo -->
|
||||
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
|
||||
respawn="false" output="screen" />
|
||||
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/ros_controllers.launch"/>
|
||||
<!-- Load the controller parameters onto the parameter server -->
|
||||
<rosparam file="$(find mycobot_280jn_moveit)/config/gazebo_controllers.yaml" />
|
||||
<include file="$(dirname)/ros_controllers.launch"/>
|
||||
|
||||
<!-- Spawn the Gazebo ROS controllers -->
|
||||
<node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
|
||||
|
||||
<!-- Given the published joint states, publish tf for the robot links -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
|
||||
</launch>
|
||||
|
|
|
|||
|
|
@ -1,12 +1,10 @@
|
|||
<launch>
|
||||
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/planning_context.launch" />
|
||||
|
||||
<!-- GDB Debug Option -->
|
||||
<arg name="debug" default="false" />
|
||||
<arg unless="$(arg debug)" name="launch_prefix" value="" />
|
||||
<arg if="$(arg debug)" name="launch_prefix"
|
||||
value="gdb -x $(find mycobot_280jn_moveit)/launch/gdb_settings.gdb --ex run --args" />
|
||||
value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
|
||||
|
||||
<!-- Verbose Mode Option -->
|
||||
<arg name="info" default="$(arg debug)" />
|
||||
|
|
@ -14,10 +12,11 @@
|
|||
<arg if="$(arg info)" name="command_args" value="--debug" />
|
||||
|
||||
<!-- move_group settings -->
|
||||
<arg name="pipeline" default="ompl" />
|
||||
<arg name="allow_trajectory_execution" default="true"/>
|
||||
<arg name="fake_execution" default="false"/>
|
||||
<arg name="moveit_controller_manager" default="simple" />
|
||||
<arg name="fake_execution_type" default="interpolate"/>
|
||||
<arg name="max_safe_path_cost" default="1"/>
|
||||
<arg name="jiggle_fraction" default="0.05" />
|
||||
<arg name="publish_monitored_planning_scene" default="true"/>
|
||||
|
||||
<arg name="capabilities" default=""/>
|
||||
|
|
@ -38,20 +37,46 @@
|
|||
" />
|
||||
-->
|
||||
|
||||
<!-- Planning Functionality -->
|
||||
<include ns="move_group" file="$(find mycobot_280jn_moveit)/launch/planning_pipeline.launch.xml">
|
||||
<arg name="pipeline" value="ompl" />
|
||||
<arg name="load_robot_description" default="false" />
|
||||
<!-- load URDF, SRDF and joint_limits configuration -->
|
||||
<include file="$(dirname)/planning_context.launch">
|
||||
<arg name="load_robot_description" value="$(arg load_robot_description)" />
|
||||
</include>
|
||||
|
||||
<!-- Planning Pipelines -->
|
||||
<group ns="move_group/planning_pipelines">
|
||||
|
||||
<!-- OMPL -->
|
||||
<include file="$(dirname)/planning_pipeline.launch.xml">
|
||||
<arg name="pipeline" value="ompl" />
|
||||
</include>
|
||||
|
||||
<!-- CHOMP -->
|
||||
<include file="$(dirname)/planning_pipeline.launch.xml">
|
||||
<arg name="pipeline" value="chomp" />
|
||||
</include>
|
||||
|
||||
<!-- Pilz Industrial Motion -->
|
||||
<include file="$(dirname)/planning_pipeline.launch.xml">
|
||||
<arg name="pipeline" value="pilz_industrial_motion_planner" />
|
||||
</include>
|
||||
|
||||
<!-- Support custom planning pipeline -->
|
||||
<include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
|
||||
file="$(dirname)/planning_pipeline.launch.xml">
|
||||
<arg name="pipeline" value="$(arg pipeline)" />
|
||||
</include>
|
||||
</group>
|
||||
|
||||
<!-- Trajectory Execution Functionality -->
|
||||
<include ns="move_group" file="$(find mycobot_280jn_moveit)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
|
||||
<include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
|
||||
<arg name="moveit_manage_controllers" value="true" />
|
||||
<arg name="moveit_controller_manager" value="firefighter" unless="$(arg fake_execution)"/>
|
||||
<arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
|
||||
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
|
||||
<arg name="fake_execution_type" value="$(arg fake_execution_type)" />
|
||||
</include>
|
||||
|
||||
<!-- Sensors Functionality -->
|
||||
<include ns="move_group" file="$(find mycobot_280jn_moveit)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
|
||||
<include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
|
||||
<arg name="moveit_sensor_manager" value="firefighter" />
|
||||
</include>
|
||||
|
||||
|
|
@ -61,11 +86,14 @@
|
|||
<env name="DISPLAY" value="$(optenv DISPLAY :0)" />
|
||||
|
||||
<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
|
||||
<param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
|
||||
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
|
||||
<param name="capabilities" value="$(arg capabilities)"/>
|
||||
<param name="disable_capabilities" value="$(arg disable_capabilities)"/>
|
||||
<param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
|
||||
<param name="default_planning_pipeline" value="$(arg pipeline)" />
|
||||
<param name="capabilities" value="$(arg capabilities)" />
|
||||
<param name="disable_capabilities" value="$(arg disable_capabilities)" />
|
||||
|
||||
<!-- do not copy dynamics information from /joint_states to internal robot monitoring
|
||||
default to false, because almost nothing in move_group relies on this information -->
|
||||
<param name="monitor_dynamics" value="false" />
|
||||
|
||||
<!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
|
||||
<param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
|
||||
|
|
|
|||
|
|
@ -5,12 +5,10 @@ Panels:
|
|||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /MotionPlanning1
|
||||
- /MotionPlanning1/Scene Geometry1
|
||||
- /MotionPlanning1/Scene Robot1
|
||||
- /MotionPlanning1/Planning Request1
|
||||
- /MotionPlanning1/Planned Path1
|
||||
Splitter Ratio: 0.7425600290298462
|
||||
Tree Height: 172
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 209
|
||||
- Class: rviz/Help
|
||||
Name: Help
|
||||
- Class: rviz/Views
|
||||
|
|
@ -43,18 +41,18 @@ Visualization Manager:
|
|||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Acceleration_Scaling_Factor: 0.5
|
||||
- Acceleration_Scaling_Factor: 0.1
|
||||
Class: moveit_rviz_plugin/MotionPlanning
|
||||
Enabled: true
|
||||
Move Group Namespace: ""
|
||||
MoveIt_Allow_Approximate_IK: true
|
||||
MoveIt_Allow_Approximate_IK: false
|
||||
MoveIt_Allow_External_Program: false
|
||||
MoveIt_Allow_Replanning: false
|
||||
MoveIt_Allow_Sensor_Positioning: false
|
||||
MoveIt_Planning_Attempts: 10
|
||||
MoveIt_Planning_Time: 5
|
||||
MoveIt_Use_Cartesian_Path: false
|
||||
MoveIt_Use_Constraint_Aware_IK: true
|
||||
MoveIt_Use_Constraint_Aware_IK: false
|
||||
MoveIt_Workspace:
|
||||
Center:
|
||||
X: 0
|
||||
|
|
@ -74,6 +72,11 @@ Visualization Manager:
|
|||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
g_base:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
|
|
@ -130,11 +133,11 @@ Visualization Manager:
|
|||
Colliding Link Color: 255; 0; 0
|
||||
Goal State Alpha: 1
|
||||
Goal State Color: 250; 128; 0
|
||||
Interactive Marker Size: 0.12999999523162842
|
||||
Interactive Marker Size: 0
|
||||
Joint Violation Color: 255; 0; 255
|
||||
Planning Group: arm_group
|
||||
Query Goal State: true
|
||||
Query Start State: true
|
||||
Query Start State: false
|
||||
Show Workspace: false
|
||||
Start State Alpha: 1
|
||||
Start State Color: 0; 255; 0
|
||||
|
|
@ -143,7 +146,7 @@ Visualization Manager:
|
|||
Scene Geometry:
|
||||
Scene Alpha: 1
|
||||
Scene Color: 50; 230; 50
|
||||
Scene Display Time: 0.20000000298023224
|
||||
Scene Display Time: 0.009999999776482582
|
||||
Show Scene Geometry: true
|
||||
Voxel Coloring: Z-Axis
|
||||
Voxel Rendering: Occupied Voxels
|
||||
|
|
@ -155,6 +158,11 @@ Visualization Manager:
|
|||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
g_base:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
joint1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
|
|
@ -192,14 +200,14 @@ Visualization Manager:
|
|||
Value: true
|
||||
Robot Alpha: 0.5
|
||||
Show Robot Collision: false
|
||||
Show Robot Visual: false
|
||||
Show Robot Visual: true
|
||||
Value: true
|
||||
Velocity_Scaling_Factor: 0.5
|
||||
Velocity_Scaling_Factor: 0.1
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Default Light: true
|
||||
Fixed Frame: joint1
|
||||
Fixed Frame: g_base
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
|
|
@ -210,31 +218,31 @@ Visualization Manager:
|
|||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/XYOrbit
|
||||
Distance: 1.3915867805480957
|
||||
Class: rviz/Orbit
|
||||
Distance: 1.1993907690048218
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Field of View: 0.7853981852531433
|
||||
Field of View: 0.75
|
||||
Focal Point:
|
||||
X: 0.11356700211763382
|
||||
Y: 0.10592000186443329
|
||||
Z: 2.2351800055275817e-07
|
||||
X: -0.10000000149011612
|
||||
Y: 0.25
|
||||
Z: 0.30000001192092896
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.0647968053817749
|
||||
Target Frame: joint1
|
||||
Yaw: 3.026766300201416
|
||||
Pitch: 0.7100000381469727
|
||||
Target Frame: g_base
|
||||
Yaw: 2.124948024749756
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 876
|
||||
Height: 906
|
||||
Help:
|
||||
collapsed: false
|
||||
Hide Left Dock: false
|
||||
|
|
@ -243,7 +251,7 @@ Window Geometry:
|
|||
collapsed: false
|
||||
MotionPlanning - Trajectory Slider:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd0000000100000000000001f300000312fc0200000007fb000000100044006900730070006c006100790073010000003d0000013d000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000180000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001c7000001880000017d00ffffff0000053f0000031200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
QMainWindow State: 000000ff00000000fd0000000100000000000001f300000330fc0200000007fb000000100044006900730070006c006100790073010000003d00000162000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001a5000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001ec000001810000017d00ffffff0000053f0000033000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1848
|
||||
|
|
|
|||
|
|
@ -4,13 +4,12 @@
|
|||
<arg unless="$(arg debug)" name="launch_prefix" value="" />
|
||||
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
|
||||
|
||||
<arg name="config" default="false" />
|
||||
<arg unless="$(arg config)" name="command_args" value="" />
|
||||
<arg if="$(arg config)" name="command_args" value="-d $(find mycobot_280jn_moveit)/launch/moveit.rviz" />
|
||||
<arg name="rviz_config" default="" />
|
||||
<arg if="$(eval rviz_config=='')" name="command_args" value="" />
|
||||
<arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
|
||||
|
||||
<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
|
||||
args="$(arg command_args)" output="screen">
|
||||
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/kinematics.yaml"/>
|
||||
args="$(arg command_args)" output="screen">
|
||||
</node>
|
||||
|
||||
</launch>
|
||||
|
|
|
|||
|
|
@ -1,64 +1,66 @@
|
|||
<launch>
|
||||
|
||||
<!-- specify the planning pipeline -->
|
||||
<arg name="pipeline" default="ompl" />
|
||||
|
||||
<!-- By default, we do not start a database (it can be large) -->
|
||||
<!-- 默认情况下，我们不启动数据库（它可能很大） -->
|
||||
<arg name="db" default="false" />
|
||||
<!-- Allow user to specify database location -->
|
||||
<!-- 允许用户指定数据库位置 -->
|
||||
<arg name="db_path" default="$(find mycobot_280jn_moveit)/default_warehouse_mongo_db" />
|
||||
|
||||
<!-- By default, we are not in debug mode --> <!-- 默认情况下，我们不处于调试模式 -->
|
||||
<!-- By default, we are not in debug mode -->
|
||||
<arg name="debug" default="false" />
|
||||
|
||||
<!--
|
||||
By default, hide joint_state_publisher's GUI
|
||||
<!-- By default, we will load or override the robot_description -->
|
||||
<arg name="load_robot_description" default="true"/>
|
||||
|
||||
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
|
||||
The latter one maintains and publishes the current joint configuration of the simulated robot.
|
||||
It also provides a GUI to move the simulated robot around "manually".
|
||||
This corresponds to moving around the real robot without the use of MoveIt.
|
||||
-->
|
||||
<!-- Choose controller manager: fake, simple, or ros_control -->
|
||||
<arg name="moveit_controller_manager" default="fake" />
|
||||
<!-- Set execution mode for fake execution controllers -->
|
||||
<arg name="fake_execution_type" default="interpolate" />
|
||||
|
||||
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
|
||||
<arg name="use_gui" default="false" />
|
||||
|
||||
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
|
||||
<!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/planning_context.launch">
|
||||
<arg name="load_robot_description" value="true"/>
|
||||
</include>
|
||||
<arg name="use_rviz" default="true" />
|
||||
|
||||
<!-- If needed, broadcast static tf for robot root -->
|
||||
|
||||
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 basic g_base" />
|
||||
|
||||
<!-- We do not have a robot connected, so publish fake joint states -->
|
||||
<!-- 我们没有连接机器人，所以发布假关节状态 -->
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
|
||||
<param name="use_gui" value="$(arg use_gui)"/>
|
||||
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
|
||||
</node>
|
||||
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
|
||||
<!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
|
||||
MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
|
||||
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
|
||||
</node>
|
||||
<!-- If desired, a GUI version is available allowing to move the simulated robot around manually
|
||||
This corresponds to moving around the real robot without the use of MoveIt. -->
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
|
||||
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
|
||||
</node>
|
||||
|
||||
<!-- Given the published joint states, publish tf for the robot links -->
|
||||
<!-- 给定已发布的关节状态，为机器人链接发布 tf -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
|
||||
<!-- Given the published joint states, publish tf for the robot links -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
|
||||
</group>
|
||||
|
||||
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
|
||||
<!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）-->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/move_group.launch">
|
||||
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
|
||||
<include file="$(dirname)/move_group.launch">
|
||||
<arg name="allow_trajectory_execution" value="true"/>
|
||||
<arg name="fake_execution" value="true"/>
|
||||
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
|
||||
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
|
||||
<arg name="info" value="true"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
<arg name="pipeline" value="$(arg pipeline)"/>
|
||||
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
|
||||
</include>
|
||||
|
||||
<!-- Run Rviz and load the default config to see the state of the move_group node -->
|
||||
<!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/moveit_rviz.launch">
|
||||
<arg name="config" value="true"/>
|
||||
<include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
|
||||
<arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
</include>
|
||||
|
||||
<!-- If database loading was enabled, start mongodb as well -->
|
||||
<!-- 如果启用了数据库加载，也启动 mongodb -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
|
||||
<include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
|
||||
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
|
||||
</include>
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,20 @@
|
|||
<launch>
|
||||
<!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/ompl_planning_pipeline.launch.xml">
|
||||
<arg name="planning_adapters"
|
||||
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
|
||||
default_planner_request_adapters/AddTimeParameterization
|
||||
default_planner_request_adapters/FixWorkspaceBounds
|
||||
default_planner_request_adapters/FixStartStateBounds
|
||||
default_planner_request_adapters/FixStartStateCollision
|
||||
default_planner_request_adapters/FixStartStatePathConstraints
|
||||
chomp/OptimizerAdapter"
|
||||
/>
|
||||
</include>
|
||||
|
||||
<!-- load chomp config -->
|
||||
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/chomp_planning.yaml" />
|
||||
|
||||
<!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
|
||||
<param name="trajectory_initialization_method" value="fillTrajectory"/>
|
||||
</launch>
|
||||
|
|
@ -1,21 +1,23 @@
|
|||
<launch>
|
||||
|
||||
<!-- OMPL Plugin for MoveIt! -->
|
||||
<arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
|
||||
<!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
|
||||
<arg name="planning_adapters"
|
||||
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
|
||||
default_planner_request_adapters/AddTimeParameterization
|
||||
default_planner_request_adapters/ResolveConstraintFrames
|
||||
default_planner_request_adapters/FixWorkspaceBounds
|
||||
default_planner_request_adapters/FixStartStateBounds
|
||||
default_planner_request_adapters/FixStartStateCollision
|
||||
default_planner_request_adapters/FixStartStatePathConstraints"
|
||||
/>
|
||||
|
||||
<!-- The request adapters (plugins) used when planning with OMPL.
|
||||
ORDER MATTERS -->
|
||||
<arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
|
||||
default_planner_request_adapters/FixWorkspaceBounds
|
||||
default_planner_request_adapters/FixStartStateBounds
|
||||
default_planner_request_adapters/FixStartStateCollision
|
||||
default_planner_request_adapters/FixStartStatePathConstraints" />
|
||||
<arg name="start_state_max_bounds_error" default="0.1" />
|
||||
<arg name="jiggle_fraction" default="0.05" />
|
||||
|
||||
<arg name="start_state_max_bounds_error" value="0.1" />
|
||||
|
||||
<param name="planning_plugin" value="$(arg planning_plugin)" />
|
||||
<param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
|
||||
<param name="request_adapters" value="$(arg planning_adapters)" />
|
||||
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
|
||||
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
|
||||
|
||||
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/ompl_planning.yaml"/>
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,15 @@
|
|||
<launch>
|
||||
|
||||
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
|
||||
<arg name="planning_adapters" default="" />
|
||||
|
||||
<param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
|
||||
<param name="request_adapters" value="$(arg planning_adapters)" />
|
||||
|
||||
<!-- Define default planner (for all groups) -->
|
||||
<param name="default_planner_config" value="PTP" />
|
||||
|
||||
<!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
|
||||
<param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
|
||||
pilz_industrial_motion_planner/MoveGroupSequenceService" />
|
||||
</launch>
|
||||
|
|
@ -14,11 +14,13 @@
|
|||
<!-- Load updated joint limits (override information from URDF) -->
|
||||
<group ns="$(arg robot_description)_planning">
|
||||
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/joint_limits.yaml"/>
|
||||
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/cartesian_limits.yaml"/>
|
||||
</group>
|
||||
|
||||
<!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
|
||||
<group ns="$(arg robot_description)_kinematics">
|
||||
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/kinematics.yaml"/>
|
||||
|
||||
</group>
|
||||
|
||||
</launch>
|
||||
|
|
|
|||
|
|
@ -5,6 +5,6 @@
|
|||
|
||||
<arg name="pipeline" default="ompl" />
|
||||
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
|
||||
<include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
|
||||
|
||||
</launch>
|
||||
|
|
|
|||
|
|
@ -0,0 +1,4 @@
|
|||
<launch>
|
||||
<!-- Define MoveIt controller manager plugin -->
|
||||
<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
|
||||
</launch>
|
||||
|
|
@ -6,6 +6,6 @@
|
|||
|
||||
<!-- Load the controllers -->
|
||||
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
|
||||
output="screen" args=""/>
|
||||
output="screen" args="arm_group_controller "/>
|
||||
|
||||
</launch>
|
||||
|
|
|
|||
|
|
@ -4,18 +4,17 @@
|
|||
<arg name="cfg" />
|
||||
|
||||
<!-- Load URDF -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/planning_context.launch">
|
||||
<include file="$(dirname)/planning_context.launch">
|
||||
<arg name="load_robot_description" value="true"/>
|
||||
</include>
|
||||
|
||||
<!-- Start the database -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/warehouse.launch">
|
||||
<include file="$(dirname)/warehouse.launch">
|
||||
<arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
|
||||
</include>
|
||||
|
||||
<!-- Start Benchmark Executable -->
|
||||
<node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
|
||||
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/kinematics.yaml"/>
|
||||
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/ompl_planning.yaml"/>
|
||||
</node>
|
||||
|
||||
|
|
|
|||
|
|
@ -12,6 +12,6 @@
|
|||
|
||||
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
|
||||
<arg name="moveit_sensor_manager" default="firefighter" />
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
|
||||
<include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
|
||||
|
||||
</launch>
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
<!-- Re-launch the MoveIt! Setup Assistant with this configuration package already loaded -->
|
||||
<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
|
||||
<launch>
|
||||
|
||||
<!-- Debug Info -->
|
||||
|
|
@ -8,8 +8,9 @@
|
|||
|
||||
<!-- Run -->
|
||||
<node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
|
||||
args="--config_pkg=mycobot_280jn_moveit"
|
||||
launch-prefix="$(arg launch_prefix)"
|
||||
args="--config_pkg=mycobot_280jn_moveit"
|
||||
launch-prefix="$(arg launch_prefix)"
|
||||
required="true"
|
||||
output="screen" />
|
||||
|
||||
</launch>
|
||||
|
|
|
|||
|
|
@ -0,0 +1,8 @@
|
|||
<launch>
|
||||
<!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
|
||||
<param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
|
||||
|
||||
<!-- Load controller list to the parameter server -->
|
||||
<rosparam file="$(find mycobot_280jn_moveit)/config/simple_moveit_controllers.yaml" />
|
||||
<rosparam file="$(find mycobot_280jn_moveit)/config/ros_controllers.yaml" />
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
<launch>
|
||||
<!-- Stomp Plugin for MoveIt -->
|
||||
<arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
|
||||
|
||||
<arg name="start_state_max_bounds_error" value="0.1" />
|
||||
<arg name="jiggle_fraction" value="0.05" />
|
||||
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
|
||||
<arg name="planning_adapters"
|
||||
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
|
||||
default_planner_request_adapters/AddTimeParameterization
|
||||
default_planner_request_adapters/FixWorkspaceBounds
|
||||
default_planner_request_adapters/FixStartStateBounds
|
||||
default_planner_request_adapters/FixStartStateCollision
|
||||
default_planner_request_adapters/FixStartStatePathConstraints" />
|
||||
|
||||
|
||||
<param name="planning_plugin" value="$(arg planning_plugin)" />
|
||||
<param name="request_adapters" value="$(arg planning_adapters)" />
|
||||
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
|
||||
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
|
||||
|
||||
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/stomp_planning.yaml"/>
|
||||
</launch>
|
||||
|
|
@ -1,8 +1,11 @@
|
|||
<launch>
|
||||
<!-- This file summarizes all settings required for trajectory execution -->
|
||||
|
||||
<!-- This file makes it easy to include the settings for trajectory execution -->
|
||||
<!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
|
||||
<arg name="moveit_controller_manager" />
|
||||
<arg name="fake_execution_type" default="interpolate" />
|
||||
|
||||
<!-- Flag indicating whether MoveIt! is allowed to load/unload or switch controllers -->
|
||||
<!-- Flag indicating whether MoveIt is allowed to load/unload or switch controllers -->
|
||||
<arg name="moveit_manage_controllers" default="true"/>
|
||||
<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
|
||||
|
||||
|
|
@ -13,8 +16,8 @@
|
|||
<!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
|
||||
<param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
|
||||
|
||||
<!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
|
||||
<arg name="moveit_controller_manager" default="firefighter" />
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
|
||||
<!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
|
||||
As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
|
||||
<include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
|
||||
|
||||
</launch>
|
||||
|
|
|
|||
|
|
@ -4,7 +4,7 @@
|
|||
<arg name="moveit_warehouse_database_path" />
|
||||
|
||||
<!-- Load warehouse parameters -->
|
||||
<include file="$(find mycobot_280jn_moveit)/launch/warehouse_settings.launch.xml" />
|
||||
<include file="$(dirname)/warehouse_settings.launch.xml" />
|
||||
|
||||
<!-- Run the DB server -->
|
||||
<node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
|
||||
|
|
|
|||
|
|
@ -3,7 +3,7 @@
|
|||
<name>mycobot_280jn_moveit</name>
|
||||
<version>0.3.0</version>
|
||||
<description>
|
||||
An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt! Motion Planning Framework
|
||||
An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt Motion Planning Framework
|
||||
</description>
|
||||
<author email="lijun.zhang@elephantrobotics.com">zachary</author>
|
||||
<maintainer email="lijun.zhang@elephantrobotics.com">zachary</maintainer>
|
||||
|
|
@ -19,21 +19,22 @@
|
|||
<run_depend>moveit_ros_move_group</run_depend>
|
||||
<run_depend>moveit_fake_controller_manager</run_depend>
|
||||
<run_depend>moveit_kinematics</run_depend>
|
||||
<run_depend>moveit_planners_ompl</run_depend>
|
||||
<run_depend>moveit_planners</run_depend>
|
||||
<run_depend>moveit_ros_visualization</run_depend>
|
||||
<run_depend>moveit_setup_assistant</run_depend>
|
||||
<run_depend>moveit_simple_controller_manager</run_depend>
|
||||
<run_depend>joint_state_publisher</run_depend>
|
||||
<run_depend>joint_state_publisher_gui</run_depend>
|
||||
<run_depend>robot_state_publisher</run_depend>
|
||||
<run_depend>rviz</run_depend>
|
||||
<run_depend>tf2_ros</run_depend>
|
||||
<run_depend>xacro</run_depend>
|
||||
<!-- The next 2 packages are required for the gazebo simulation.
|
||||
We don't include them by default to prevent installing gazebo and all its dependencies. -->
|
||||
<!-- <run_depend>joint_trajectory_controller</run_depend> -->
|
||||
<!-- <run_depend>gazebo_ros_control</run_depend> -->
|
||||
<!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
|
||||
<!-- <run_depend>warehouse_ros_mongo</run_depend> -->
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>rospy</build_depend>
|
||||
<build_depend>std_msgs</build_depend>
|
||||
<build_depend>actionlib</build_depend>
|
||||
<build_depend>moveit_msgs</build_depend>
|
||||
<build_depend>mycobot_description</build_depend>
|
||||
|
||||
<run_depend>mycobot_description</run_depend>
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,137 +0,0 @@
|
|||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
|
||||
import rospy, roslib, sys
|
||||
import moveit_commander
|
||||
from moveit_msgs.msg import RobotTrajectory
|
||||
from trajectory_msgs.msg import JointTrajectoryPoint
|
||||
|
||||
from geometry_msgs.msg import PoseStamped, Pose
|
||||
from tf.transformations import euler_from_quaternion, quaternion_from_euler
|
||||
|
||||
|
||||
class MoveItPlanningDemo:
|
||||
def __init__(self):
|
||||
# API to initialize move_group,初始化move_group的API
|
||||
moveit_commander.roscpp_initialize(sys.argv)
|
||||
|
||||
# Initialize the ROS node,初始化ROS节点
|
||||
rospy.init_node("moveit_ik_demo")
|
||||
|
||||
# Initialize the scene object to monitor changes in the external environment
|
||||
# 初始化场景对象，用来监听外部环境的变化
|
||||
self.scene = moveit_commander.PlanningSceneInterface()
|
||||
rospy.sleep(1)
|
||||
|
||||
# Initialize self.arm group in the robotic arm that needs to be controlled by move group
|
||||
# 初始化需要使用move group控制的机械臂中的self.arm group
|
||||
self.arm = moveit_commander.MoveGroupCommander("arm_group")
|
||||
|
||||
# Get the name of the terminal link,获取终端link的名称
|
||||
self.end_effector_link = self.arm.get_end_effector_link()
|
||||
|
||||
# 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.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
|
||||
self.arm.allow_replanning(True)
|
||||
|
||||
# Set the allowable error of position (unit: meter) and attitude (unit: radian)
|
||||
# 设置位置(单位：米)和姿态（单位：弧度）的允许误差
|
||||
self.arm.set_goal_position_tolerance(0.01)
|
||||
self.arm.set_goal_orientation_tolerance(0.05)
|
||||
|
||||
def moving(self):
|
||||
# # Control the robotic arm to return to the initialization position first
|
||||
# 控制机械臂先回到初始化位置
|
||||
self.arm.set_named_target("init_pose")
|
||||
self.arm.go()
|
||||
rospy.sleep(2)
|
||||
|
||||
# Set the target pose in the robotic arm workspace, the position is described by x, y, z coordinates,
|
||||
# 设置机械臂工作空间中的目标位姿，位置使用x、y、z坐标描述，
|
||||
# Pose is described by quaternion, based on base_link coordinate system
|
||||
# 姿态使用四元数描述，基于base_link坐标系
|
||||
target_pose = PoseStamped()
|
||||
target_pose.header.frame_id = self.reference_frame
|
||||
target_pose.header.stamp = rospy.Time.now()
|
||||
target_pose.pose.position.x = 0.132
|
||||
target_pose.pose.position.y = -0.150
|
||||
target_pose.pose.position.z = 0.075
|
||||
target_pose.pose.orientation.x = 0.026
|
||||
target_pose.pose.orientation.y = 1.0
|
||||
target_pose.pose.orientation.z = 0.0
|
||||
target_pose.pose.orientation.w = 0.014
|
||||
|
||||
# Set the current state of the robot arm as the initial state of motion
|
||||
# 设置机器臂当前的状态作为运动初始状态
|
||||
self.arm.set_start_state_to_current_state()
|
||||
|
||||
# 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()
|
||||
|
||||
# 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)
|
||||
rospy.sleep(1)
|
||||
|
||||
# Control the terminal of the robotic arm to move 5cm to the right. Parameter 1 represents y, 0,1,2,3,4,5 represents xyzrpy
|
||||
# 控制机械臂终端向右移动5cm 參數1是代表y， 0,1,2,3,4,5 代表xyzrpy
|
||||
self.arm.shift_pose_target(1, 0.12, self.end_effector_link)
|
||||
self.arm.go()
|
||||
rospy.sleep(1)
|
||||
|
||||
self.arm.shift_pose_target(1, 0.1, self.end_effector_link)
|
||||
self.arm.go()
|
||||
rospy.sleep(1)
|
||||
|
||||
# Control the terminal of the robotic arm to rotate 90 degrees in the opposite direction. 0,1,2,3,4,5 represent xyzrpy
|
||||
# 控制机械臂终端反向旋转90度 0,1,2,3,4,5 代表xyzrpy
|
||||
# self.arm.shift_pose_target(3, -1.57, end_effector_link)
|
||||
# self.arm.go()
|
||||
# rospy.sleep(1)
|
||||
|
||||
def run(self):
|
||||
self.scene.remove_world_object("suit")
|
||||
|
||||
# Run once without obstacles,没有障碍物运行一次
|
||||
self.moving()
|
||||
|
||||
# Add environment,添加环境
|
||||
quat = quaternion_from_euler(3.1415, 0, -1.57)
|
||||
|
||||
suit_post = PoseStamped()
|
||||
suit_post.header.frame_id = self.reference_frame
|
||||
suit_post.pose.position.x = 0.0
|
||||
suit_post.pose.position.y = 0.0
|
||||
suit_post.pose.position.z = -0.02
|
||||
suit_post.pose.orientation.x = quat[0]
|
||||
suit_post.pose.orientation.y = quat[1]
|
||||
suit_post.pose.orientation.z = quat[2]
|
||||
suit_post.pose.orientation.w = quat[3]
|
||||
|
||||
suit_path = (
|
||||
roslib.packages.get_pkg_dir("mycobot_description")
|
||||
+ "/urdf/mycobot/suit_env.dae"
|
||||
)
|
||||
# need `pyassimp==3.3`
|
||||
self.scene.add_mesh("suit", suit_post, suit_path)
|
||||
rospy.sleep(2)
|
||||
|
||||
# Run it again if there is an environmental impact,有环境影响后再运行一次
|
||||
self.moving()
|
||||
|
||||
# close and exit moveit，关闭并退出moveit
|
||||
moveit_commander.roscpp_shutdown()
|
||||
moveit_commander.os._exit(0)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
o = MoveItPlanningDemo()
|
||||
o.run()
|
||||
Loading…
Add table
Reference in a new issue