mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
增加力控夹爪、三指夹爪模型文件
This commit is contained in:
wangWking
parent
02e2544007
commit
9463fbcf73
8 changed files with 484 additions and 0 deletions
11
mycobot_320/new_mycobot_320/launch/force_gripper.launch
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11
mycobot_320/new_mycobot_320/launch/force_gripper.launch
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<launch>
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<arg name="model" default="$(find mycobot_description)/urdf/force_control_gripper/mycobot_pro_force_gripper.urdf"/>
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<arg name="rvizconfig" default="$(find mycobot_description)/urdf/force_control_gripper/force_gripper.rviz" />
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<!-- <node pkg="tf2_ros" type="static_transform_publisher" name="static_transform_publisher" args="0 0 0 0 0 0 world gripper_base"/> -->
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<!-- 使用 RViz 显示 -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true"/>
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</launch>
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11
mycobot_320/new_mycobot_320/launch/three_gripper.launch
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11
mycobot_320/new_mycobot_320/launch/three_gripper.launch
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<launch>
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<arg name="model" default="$(find mycobot_description)/urdf/three_gripper/mycobot_pro_three_gripper.urdf"/>
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<arg name="rvizconfig" default="$(find mycobot_description)/urdf/three_gripper/three_gripper.rviz" />
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<!-- <node pkg="tf2_ros" type="static_transform_publisher" name="static_transform_publisher" args="0 0 0 0 0 0 world gripper_base"/> -->
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<!-- 使用 RViz 显示 -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true"/>
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</launch>
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File diff suppressed because one or more lines are too long
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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /RobotModel1
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- /RobotModel1/Links1
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- /Axes1
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Splitter Ratio: 0.5
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Tree Height: 609
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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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- /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: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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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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Name: Time
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SyncMode: 0
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SyncSource: ""
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Preferences:
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PromptSaveOnExit: true
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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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- Alpha: 0.5
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Cell Size: 1
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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: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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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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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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gripper_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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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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- Alpha: 1
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Class: rviz/Axes
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Enabled: true
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Length: 1
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Name: Axes
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Radius: 0.004999999888241291
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Reference Frame: <Fixed Frame>
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Show Trail: false
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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: gripper_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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Theta std deviation: 0.2617993950843811
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Topic: /initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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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: 2.352400302886963
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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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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Field of View: 0.7853981852531433
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Focal Point:
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X: 0
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Y: 0
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Z: 0
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.4347953796386719
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Target Frame: <Fixed Frame>
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Yaw: 3.4385883808135986
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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: 906
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd000000040000000000000156000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c7000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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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: 1848
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X: 72
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Y: 27
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter1" >
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<xacro:property name="width" value=".2" />
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<link name="gripper_base">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/force_control_gripper/force_control_gripper.dae"/>
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</geometry>
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<origin xyz = "-0.01 0.1 0.1 " rpy = " -1.5708 -1.5708 3.14"/>
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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/force_control_gripper/force_control_gripper.dae"/>
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</geometry>
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<origin xyz = "-0.01 0 0.1 " rpy = " -1.5708 -1.5708 3.14"/>
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</collision>
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</link>
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</robot>
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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="gripper_base">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/three_gripper/myhand.dae"/>
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</geometry>
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<origin xyz = "-0.01 0 0.1 " rpy = " 1.5708 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/three_gripper/myhand.dae"/>
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</geometry>
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<origin xyz = "-0.01 0 0.05 " rpy = " 0 0 0"/>
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</collision>
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</link>
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</robot>
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56
mycobot_description/urdf/three_gripper/myhand.dae
Normal file
56
mycobot_description/urdf/three_gripper/myhand.dae
Normal file
File diff suppressed because one or more lines are too long
152
mycobot_description/urdf/three_gripper/three_gripper.rviz
Normal file
152
mycobot_description/urdf/three_gripper/three_gripper.rviz
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@ -0,0 +1,152 @@
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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /RobotModel1
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- /RobotModel1/Links1
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- /Axes1
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Splitter Ratio: 0.5
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Tree Height: 609
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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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- /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: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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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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Name: Time
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SyncMode: 0
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SyncSource: ""
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Preferences:
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PromptSaveOnExit: true
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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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- Alpha: 0.5
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Cell Size: 1
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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: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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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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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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gripper_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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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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- Alpha: 1
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Class: rviz/Axes
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Enabled: true
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Length: 1
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Name: Axes
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Radius: 0.004999999888241291
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Reference Frame: <Fixed Frame>
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Show Trail: false
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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: gripper_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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Theta std deviation: 0.2617993950843811
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Topic: /initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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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: 1.3348150253295898
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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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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Field of View: 0.7853981852531433
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Focal Point:
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X: 0
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Y: 0
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Z: 0
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.42979568243026733
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Target Frame: <Fixed Frame>
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Yaw: 3.5735878944396973
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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: 906
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd000000040000000000000156000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c7000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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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: 1848
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X: 72
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Y: 27
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