mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-14 09:00:53 +00:00
added mycobot-600 urdf.
This commit is contained in:
张立军
parent
162022ca12
commit
874a83be5c
12 changed files with 211395 additions and 19 deletions
203
config/mycobot_600.rviz
Normal file
203
config/mycobot_600.rviz
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@ -0,0 +1,203 @@
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||||||
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Panels:
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||||||
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- Class: rviz/Displays
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||||||
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Help Height: 78
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||||||
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Name: Displays
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||||||
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Property Tree Widget:
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||||||
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Expanded:
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||||||
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- /Global Options1
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- /Status1
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- /RobotModel1
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- /TF1
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Splitter Ratio: 0.5
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Tree Height: 775
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||||||
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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||||||
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.588679016
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||||||
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- Class: rviz/Views
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Expanded:
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||||||
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: ""
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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||||||
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- Alpha: 0.5
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||||||
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Cell Size: 1
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||||||
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.0299999993
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||||||
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Value: Lines
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||||||
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Name: Grid
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||||||
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Normal Cell Count: 0
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||||||
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Class: rviz/RobotModel
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||||||
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Collision Enabled: false
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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base:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Name: RobotModel
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Robot Description: robot_description
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Class: rviz/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: true
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base:
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Value: true
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link1:
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Value: true
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link2:
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Value: true
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link3:
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Value: true
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link4:
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Value: true
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link5:
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Value: true
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link6:
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Value: true
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Marker Scale: 0.300000012
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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base:
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link1:
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link2:
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link3:
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link4:
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link5:
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link6:
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{}
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Update Interval: 0
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Default Light: true
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Fixed Frame: base
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Topic: /initialpose
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 2.58317447
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.0599999987
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: -0.0706475973
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Y: -0.0814988762
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Z: 0.107583851
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.0500000007
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.00999999978
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Pitch: 0.440398335
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 0.430389732
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1056
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1855
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X: 65
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Y: 24
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11
launch/mycobot_600/mycobot_600_slider.launch
Normal file
11
launch/mycobot_600/mycobot_600_slider.launch
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<launch>
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<arg name="model" default="$(find mycobot_ros)/urdf/600_urdf/mycobot_600_urdf.urdf"/>
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<arg name="rvizconfig" default="$(find mycobot_ros)/config/mycobot_600.rviz" />
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<arg name="gui" default="true" />
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<include file="$(find mycobot_ros)/launch/mycobot_slider.launch">
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<arg name="model" value="$(arg model)" />
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<arg name="rvizconfig" value="$(arg rvizconfig)" />
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<arg name="gui" value="$(arg gui)" />
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</include>
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</launch>
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@ -68,7 +68,7 @@
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<link name="link4">
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<link name="link4">
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<visual>
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<visual>
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<geometry>
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<geometry>
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<mesh filename="package://mycobot_ros/urdf/320_urdf/link4.dae"/>
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<mesh filename="package://mycobot_ros/urdf/320_urdf/link4.dae"/>
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25664
urdf/600_urdf/base.dae
Normal file
25664
urdf/600_urdf/base.dae
Normal file
File diff suppressed because one or more lines are too long
12553
urdf/600_urdf/link1.dae
Normal file
12553
urdf/600_urdf/link1.dae
Normal file
File diff suppressed because one or more lines are too long
45039
urdf/600_urdf/link2.dae
Normal file
45039
urdf/600_urdf/link2.dae
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File diff suppressed because one or more lines are too long
39809
urdf/600_urdf/link3.dae
Normal file
39809
urdf/600_urdf/link3.dae
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File diff suppressed because one or more lines are too long
28273
urdf/600_urdf/link4.dae
Normal file
28273
urdf/600_urdf/link4.dae
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File diff suppressed because one or more lines are too long
43509
urdf/600_urdf/link5.dae
Normal file
43509
urdf/600_urdf/link5.dae
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File diff suppressed because one or more lines are too long
16123
urdf/600_urdf/link6.dae
Normal file
16123
urdf/600_urdf/link6.dae
Normal file
File diff suppressed because one or more lines are too long
188
urdf/600_urdf/mycobot_600_urdf.urdf
Executable file
188
urdf/600_urdf/mycobot_600_urdf.urdf
Executable file
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@ -0,0 +1,188 @@
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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="base">
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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_ros/urdf/600_urdf/base.dae"/>
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</geometry>
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<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 1.5708 3.14159-->
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<mesh filename="package://mycobot_ros/urdf/600_urdf/base.dae"/>
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</geometry>
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<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
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</collision>
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</link>
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<link name="link1">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_ros/urdf/600_urdf/link1.dae"/>
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</geometry>
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<origin xyz = "0 0 0 " 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_ros/urdf/600_urdf/link1.dae"/>
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</geometry>
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<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
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</collision>
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</link>
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<link name="link2">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_ros/urdf/600_urdf/link2.dae"/>
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</geometry>
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<origin xyz = "0 0 0.080 " rpy = " 0 0 3.1415926"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_ros/urdf/600_urdf/link2.dae"/>
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</geometry>
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<origin xyz = "0 0 0.080 " rpy = " 0 0 3.1415926"/>
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</collision>
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</link>
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<link name="link3">
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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_ros/urdf/600_urdf/link3.dae"/>
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</geometry>
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<origin xyz = "0 0 0.0855 " rpy = " 0 0 3.1415926"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_ros/urdf/600_urdf/link3.dae"/>
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</geometry>
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<origin xyz = "0 0 0.0855 " rpy = " 0 0 3.1415926"/>
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</collision>
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</link>
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<link name="link4">
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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_ros/urdf/600_urdf/link4.dae"/>
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</geometry>
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<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_ros/urdf/600_urdf/link4.dae"/>
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</geometry>
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<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
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</collision>
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</link>
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<link name="link5">
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<visual>
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<geometry>
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||||||
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_ros/urdf/600_urdf/link5.dae"/>
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||||||
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</geometry>
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||||||
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<origin xyz = "0 0 0 " rpy = " 0 0 -1.5707"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_ros/urdf/600_urdf/link5.dae"/>
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</geometry>
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||||||
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<origin xyz = "0 0 0 " rpy = " 0 0 -1.5707"/>
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</collision>
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</link>
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<link name="link6">
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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_ros/urdf/600_urdf/link6.dae"/>
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</geometry>
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<material name = "grey">
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||||||
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<color rgba = "0.5 0.5 0.5 1"/>
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</material>
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||||||
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<origin xyz = "-0.03 0 0" rpy = " 0 1.5707 0"/>
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</visual>
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<collision>
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||||||
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<geometry>
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||||||
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<!--- 0.0 0 -0.04 -->
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<mesh filename="package://mycobot_ros/urdf/600_urdf/link6.dae"/>
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</geometry>
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<material name = "grey">
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<color rgba = "0.5 0.5 0.5 1"/>
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</material>
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<origin xyz = "-0.03 0 0" rpy = " 0 1.5707 0"/>
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</collision>
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</link>
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|
<joint name="joint2_to_joint1" type="revolute">
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||||
|
<parent link="base"/>
|
||||||
|
<child link="link1"/>
|
||||||
|
<origin xyz= "0 0 0.19934" rpy = "0 0 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
|
||||||
|
<joint name="joint3_to_joint2" type="revolute">
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||||
|
<parent link="link1"/>
|
||||||
|
<child link="link2"/>
|
||||||
|
<origin xyz= "0 0 0" rpy = "0 -1.57080 1.57080"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
|
||||||
|
<joint name="joint4_to_joint3" type="revolute">
|
||||||
|
<axis xyz=" 0 0 1"/>
|
||||||
|
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||||
|
<parent link="link2"/>
|
||||||
|
<child link="link3"/>
|
||||||
|
<origin xyz= "0.25 0 0 " rpy = "0 0 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="joint5_to_joint4" type="revolute">
|
||||||
|
<axis xyz=" 0 0 1"/>
|
||||||
|
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||||
|
<parent link="link3"/>
|
||||||
|
<child link="link4"/>
|
||||||
|
<origin xyz= "0.25 0 0.1091" rpy = "0 0 1.57080"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="joint6_to_joint5" type="revolute">
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||||
|
<parent link="link4"/>
|
||||||
|
<child link="link5"/>
|
||||||
|
<origin xyz= "0 -0.108 0" rpy = "1.57080 -1.57080 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="joint6output_to_joint6" type="revolute">
|
||||||
|
<axis xyz="1 0 0"/>
|
||||||
|
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||||
|
<parent link="link5"/>
|
||||||
|
<child link="link6"/>
|
||||||
|
<origin xyz= "0.07586 0 0" rpy = "-1.57080 0 0 "/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
</robot>
|
||||||
|
|
||||||
|
|
@ -13,10 +13,11 @@
|
||||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
|
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin xyz="0 0 0.036" rpy="0 0 0" />
|
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.065" radius="0.045" />
|
<!--- 0.0 0 -0.04 1.5708 3.14159-->
|
||||||
</geometry>
|
<mesh filename="package://mycobot_ros/urdf/joint1.dae"/>
|
||||||
|
</geometry>
|
||||||
|
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
|
|
||||||
|
|
@ -28,10 +29,10 @@
|
||||||
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
|
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin xyz="0 0 -0.023" rpy="0 0 -1.5708" />
|
<geometry>
|
||||||
<geometry>
|
<mesh filename="package://mycobot_ros/urdf/joint2.dae"/>
|
||||||
<cylinder length="0.075" radius="0.024" />
|
|
||||||
</geometry>
|
</geometry>
|
||||||
|
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
|
|
||||||
|
|
@ -39,16 +40,15 @@
|
||||||
<link name="joint3">
|
<link name="joint3">
|
||||||
<visual>
|
<visual>
|
||||||
<geometry>
|
<geometry>
|
||||||
|
|
||||||
<mesh filename="package://mycobot_ros/urdf/joint3.dae"/>
|
<mesh filename="package://mycobot_ros/urdf/joint3.dae"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
|
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin xyz="-0.05 0 0.064" rpy="0 -1.5708 0" />
|
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.146" radius="0.024" />
|
<mesh filename="package://mycobot_ros/urdf/joint3.dae"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
|
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
|
|
||||||
|
|
@ -62,10 +62,11 @@
|
||||||
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin xyz="-0.05 0 0.0" rpy="0 -1.5708 0" />
|
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.128" radius="0.024" />
|
<!--- 0.0 0 -0.04 -->
|
||||||
|
<mesh filename="package://mycobot_ros/urdf/joint4.dae"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
|
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
|
|
||||||
|
|
@ -79,10 +80,11 @@
|
||||||
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
|
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin xyz="0 -0.007 0" rpy="0 -1.5708 1.5708 " />
|
<geometry>
|
||||||
<geometry>
|
<!--- 0.0 0 -0.04 -->
|
||||||
<cylinder length="0.05" radius="0.024" />
|
<mesh filename="package://mycobot_ros/urdf/joint5.dae"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
|
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
|
|
||||||
|
|
@ -96,10 +98,11 @@
|
||||||
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
|
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin xyz="0 0.005 0" rpy="1.57 0 0" />
|
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.058" radius="0.02" />
|
<!--- 0.0 0 -0.04 -->
|
||||||
|
<mesh filename="package://mycobot_ros/urdf/joint6.dae"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
|
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
|
|
||||||
|
|
@ -113,10 +116,11 @@
|
||||||
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin xyz="0 0 -0.004" rpy="0 0 0" />
|
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.01" radius="0.02" />
|
<!--- 0.0 0 -0.04 -->
|
||||||
|
<mesh filename="package://mycobot_ros/urdf/joint7.dae"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
|
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
|
||||||
</collision>
|
</collision>
|
||||||
</link>
|
</link>
|
||||||
|
|
||||||
|
|
|
||||||
Loading…
Add table
Reference in a new issue