add flange_camera.urdf

mycobot_280/mycobot_280/config/mycobot.rviz

@@ -11,7 +11,7 @@ Panels:
         - /TF1/Frames1
         - /TF1/Tree1
       Splitter Ratio: 0.5
-    Tree Height: 568
+    Tree Height: 637
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -65,77 +65,7 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        g_base:
+        base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_left1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_left2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_left3:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_right1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_right2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_right3:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint3:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint4:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint5:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint6:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint6_flange:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -153,36 +83,6 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: false
-        g_base:
-          Value: false
-        gripper_base:
-          Value: false
-        gripper_left1:
-          Value: false
-        gripper_left2:
-          Value: false
-        gripper_left3:
-          Value: true
-        gripper_right1:
-          Value: false
-        gripper_right2:
-          Value: false
-        gripper_right3:
-          Value: false
-        joint1:
-          Value: false
-        joint2:
-          Value: false
-        joint3:
-          Value: false
-        joint4:
-          Value: false
-        joint5:
-          Value: false
-        joint6:
-          Value: false
-        joint6_flange:
-          Value: false
       Marker Alpha: 1
       Marker Scale: 0.30000001192092896
       Name: TF
@@ -190,25 +90,7 @@ Visualization Manager:
       Show Axes: true
       Show Names: true
       Tree:
-        g_base:
+        {}
-          joint1:
-            joint2:
-              joint3:
-                joint4:
-                  joint5:
-                    joint6:
-                      joint6_flange:
-                        gripper_base:
-                          gripper_left2:
-                            {}
-                          gripper_left3:
-                            gripper_left1:
-                              {}
-                          gripper_right2:
-                            {}
-                          gripper_right3:
-                            gripper_right1:
-                              {}
       Update Interval: 0
       Value: true
     - Class: rviz/Marker
@@ -223,7 +105,7 @@ Visualization Manager:
   Global Options:
     Background Color: 48; 48; 48
     Default Light: true
-    Fixed Frame: joint1
+    Fixed Frame: base
     Frame Rate: 30
   Name: root
   Tools:
@@ -247,7 +129,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 0.31271597743034363
+      Distance: 1.204347848892212
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -255,25 +137,25 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: 0.08619801700115204
+        X: -0.021931247785687447
-        Y: -0.10585817694664001
+        Y: -0.011295657604932785
-        Z: 0.4004986882209778
+        Z: -0.008990013971924782
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7803980112075806
+      Pitch: 0.6003984808921814
       Target Frame: <Fixed Frame>
-      Yaw: 0.005366181954741478
+      Yaw: 1.0435491800308228
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 865
+  Height: 934
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c3fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002c3000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c2000002c3fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002c3000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d0065010000000000000736000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003fe000002c300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000308fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000308000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c200000308fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000308000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d0065010000000000000736000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003fe0000030800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:

mycobot_280/mycobot_280/launch/test.launch

@@ -1,5 +1,6 @@
 <launch>
 	<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_m5/mycobot_280_m5.urdf"/>
+	<!-- <arg name="model" default="$(find mycobot_description)/urdf/flange/flange.urdf"/> -->
 	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
 	<arg name="gui" default="true" />
 

mycobot_description/urdf/flange/flange.urdf

@@ -0,0 +1,19 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
+    <xacro:property name="width" value=".2" />
+    <link name="base">
+        <visual>
+            <geometry>
+                <mesh filename="package://mycobot_description/urdf/flange/v1.dae" />
+            </geometry>
+            <origin xyz="0 0 0 " rpy=" 1.5706 0 0" />
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://mycobot_description/urdf/flange/v1.dae" />
+            </geometry>
+            <origin xyz="0 0 0 " rpy=" 1.5706 0 0" />
+        </collision>
+    </link>
+  
+</robot>

mycobot_description/urdf/mycobot_pro_630/my630.urdf

@@ -4,150 +4,152 @@
     <link name="base">
         <visual>
             <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base.dae" />
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J1-W.dae" />
             </geometry>
-            <origin xyz="0 0 0 " rpy=" 0 0 0" />
+            <origin xyz="0 0 0 " rpy=" 1.5706 0 0" />
         </visual>
         <collision>
             <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base.dae" />
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J1-W.dae" />
             </geometry>
-            <origin xyz="0 0 0 " rpy=" 0 0 0" />
+            <origin xyz="0 0 0 " rpy=" 1.5706 0 0" />
         </collision>
         
     </link>
     <link name="joint1">
         <visual>
             <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J1-J2.dae" />
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J2-W.dae" />
             </geometry>
-            <origin xyz="0 0 0 " rpy="0 0 3.1415926" />
+            <origin xyz="0 0.05 -0.07 " rpy="0 0 3.14159" />
         </visual>
         <collision>
             <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J1-J2.dae" />
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J2-W.dae" />
             </geometry>
-            <origin xyz="0 0 0 " rpy=" 0 0 3.1415926" />
+            <origin xyz="0 0.05 -0.07 " rpy=" 0 0 3.14159" />
         </collision>
         
     </link>
     <link name="joint2">
         <visual>
             <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J2-J3.dae" />
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J3-W.dae" />
             </geometry>
-            <origin xyz="0 0 0 " rpy=" 0 0 3.14159" />
+            <origin xyz="0 -0.0925 -0.053 " rpy=" 0 1.5706 0" />
         </visual>
         <collision>
             <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J2-J3.dae" />
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J3-W.dae" />
             </geometry>
-            <origin xyz="0 0 0 " rpy=" 0 0 3.14159" />
+            <origin xyz="0 -0.0925 -0.053 " rpy=" 0 1.5706 0" />
         </collision>
         
     </link>
     <link name="joint3">
         <visual>
             <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link3.dae" />
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J4-W.dae" />
             </geometry>
-            <origin xyz="0 0 0.0015 " rpy=" 0 -1.5706 0" />
+            <origin xyz="0 -0.091 0.0 " rpy=" 0 -1.5706 0" />
         </visual>
         <collision>
             <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link3.dae" />
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J4-W.dae" />
             </geometry>
-            <origin xyz="0 0 0.0015 " rpy="0 -1.5706 0" />
+            <origin xyz="0 -0.091 0.0 " rpy=" 0 -1.5706 0" />
         </collision>
         
     </link>
-    <!-- <link name="joint4">
+    <link name="joint4">
         <visual>
             <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J4-J5.dae" />
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J5-W.dae" />
             </geometry>
-            <origin xyz="0 0 -0.005 " rpy=" 0 0 0" />
+            <origin xyz="0 -0.7 0.003 " rpy=" 0 3.14159 0" />
         </visual>
         <collision>
             <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J4-J5.dae" />
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J5-W.dae" />
             </geometry>
-            <origin xyz="0 0 -0.005 " rpy=" 0 0 0" />
+            <origin xyz="0 -0.7 0.003 " rpy=" 0 3.14159 0" />
         </collision>
         
     </link>
     <link name="joint5">
         <visual>
             <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J5-J6.dae" />
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6W.dae" />
             </geometry>
-            <origin xyz="-0.002 0  0 " rpy=" 0  3.14159 -3.14159" />
+            <origin xyz="0.05 0 -0.04 " rpy=" 3.14159 1.5706 0" />
         </visual>
         <collision>
             <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J5-J6.dae" />
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6W.dae" />
             </geometry>
-            <origin xyz="-0.002 0  0 " rpy=" 0  3.14159 -3.14159" />
+            <origin xyz="0.05 0 -0.04 " rpy=" 3.14159 1.5706 0" />
         </collision>
         
     </link>
     <link name="joint6">
         <visual>
             <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6.dae" />
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6-W.dae" />
             </geometry>
-            <origin xyz="0 0.0 0" rpy=" 0 3.14159  0" />
+            <origin xyz="0.0 0 0" rpy=" 0 3.14159  -1.5706" />
         </visual>
         <collision>
             <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6.dae" />
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6-W.dae" />
             </geometry>
-            <origin xyz="0 0.0 0" rpy=" 0 3.14159  0" />
+            <origin xyz="0.0 0 0" rpy=" 0 3.14159  -1.5706" />
         </collision>
         
-    </link> -->
+    </link>
+    
+
     <joint name="joint1_to_base" type="revolute">
         <axis xyz="0 0 1" />
         <limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
         <parent link="base" />
         <child link="joint1" />
-        <origin xyz="0 0 0.16034" rpy="0 0 0" />
+        <origin xyz="0 0 0.156" rpy="0 0 0" />
     </joint>
     <joint name="joint2_to_joint1" type="revolute">
-        <axis xyz="0 0 -1" />
+        <axis xyz="0 0 1" />
-        <limit effort="1000.0" lower="-2.26" upper="2.26" velocity="0" />
+        <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
         <parent link="joint1" />
         <child link="joint2" />
-        <origin xyz="0 -0.035  0.09" rpy="1.5707 0 0" />
+        <origin xyz="0 0.05  0.083 " rpy="1.5707 0 3.14159" />
     </joint>
     <joint name="joint3_to_joint2" type="revolute">
-        <axis xyz=" 0 0 -1" />
+        <axis xyz=" 0 0 1" />
-        <limit effort="1000.0" lower="-2.61" upper="2.618" velocity="0" />
+        <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
         <parent link="joint2" />
         <child link="joint3" />
         <origin xyz="0 0.25 0   " rpy="0 0 0" />
     </joint>
-    <!-- <joint name="joint4_to_joint3" type="revolute">
+    <joint name="joint4_to_joint3" type="revolute">
-        <axis xyz=" 0 0 -1" />
+        <axis xyz=" 0 0 1" />
-        <limit effort="1000.0" lower="-3" upper="3" velocity="0" />
+        <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
         <parent link="joint3" />
         <child link="joint4" />
-        <origin xyz="0 0.267  -0.008" rpy="0 0 0" />
+        <origin xyz="0 0.25 -0.03   " rpy="0 0 0" />
     </joint>
     <joint name="joint5_to_joint4" type="revolute">
-        <axis xyz="0 0 1" />
+        <axis xyz="0 0 -1" />
         <limit effort="1000.0" lower="-2.99" upper="2.99" velocity="0" />
         <parent link="joint4" />
         <child link="joint5" />
-        <origin xyz="0 0.055 0.049" rpy="1.5707 -1.5707 0" />
+        <origin xyz="0 0.055 0.055" rpy="1.5707 -1.5707 0" />
     </joint>
     <joint name="joint6_to_joint5" type="revolute">
         <axis xyz="0 0 1" />
         <limit effort="1000.0" lower="-3.03" upper="3.0368" velocity="0" />
         <parent link="joint5" />
         <child link="joint6" />
-        <origin xyz="-0.004 -0.046 -0.0545" rpy="-1.5707 0 0 " />
+        <origin xyz="0.0495 0 -0.0405" rpy="-1.5707 0 -1.5706 " />
-    </joint> -->
+    </joint>
     
-</robot>
+    
-
+</robot>

mycobot_description/urdf/mycobot_pro_630/mycobot_630_gripper.urdf

@@ -138,129 +138,6 @@
         
     </link>
 
-    <!-- <link name="gripper_base">
-        <visual>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/gp-base-mm.dae" />
-            </geometry>
-            <origin xyz="-0.02 0.0 0.05 " rpy=" 0 -1.5706 3.14159" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/gp-base-mm.dae" />
-            </geometry>
-            <origin xyz="-0.02 0.0 0.05 " rpy=" 0 -1.5706 3.14159" />
-        </collision>
-        <inertial>
-            <mass value="0.1" />
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
-        </inertial>
-    </link>
-    <link name="gripper_left1">
-        <visual>
-            <geometry>
-               
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L1-mm.dae" />
-            </geometry>
-            <origin xyz="0.0 0.0 0.0 " rpy=" 0 0 -0.5708" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L1-mm.dae" />
-            </geometry>
-            <origin xyz="0.0 0.0 0.0 " rpy=" 0 0 -0.5708" />
-        </collision>
-        
-    </link>
-    <link name="gripper_left2">
-        <visual>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L2-mm.dae" />
-            </geometry>
-            <origin xyz="0.0 0.0 0.0 " rpy=" 0 -1.5706 3.14159" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L2-mm.dae" />
-            </geometry>
-            <origin xyz="0.0 0.0 0.0 " rpy=" 0 -1.5706 3.14159" />
-        </collision>
-        
-    </link>
-    <link name="gripper_left3">
-        <visual>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L3-mm.dae" />
-            </geometry>
-            <origin xyz="0.0 -0.0025 -0.0045 " rpy=" 0 3.14159 -1.9408" />
-            
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L3-mm.dae" />
-            </geometry>
-            <origin xyz="0.0 -0.0025 -0.0045 " rpy=" 0 3.14159 -1.9408" />
-        </collision>
-        
-    </link> -->
-    <!-- <link name="gripper_right1">
-        <visual>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R1-mm.dae" />
-            </geometry>
-            <origin xyz="-0.072 -0.05 0.0 " rpy=" 0 0 1.5708" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R1-mm.dae" />
-            </geometry>
-            <origin xyz="-0.036 -0.052 0.0 " rpy=" 0 0 1.5708" />
-        </collision>
-        <inertial>
-            <mass value="0.1" />
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
-        </inertial>
-    </link>
-    <link name="gripper_right2">
-        <visual>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R2-mm.dae" />
-            </geometry>
-            <origin xyz="-0.066 0.023 -0.018 " rpy=" 0 0 1.5708" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R2-mm.dae" />
-            </geometry>
-            <origin xyz="-0.03 0.024 -0.018 " rpy=" 0 0 1.5708" />
-        </collision>
-        <inertial>
-            <mass value="0.1" />
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
-        </inertial>
-    </link>
-    <link name="gripper_right3">
-        <visual>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R3-mm.dae" />
-            </geometry>
-            <origin xyz="0 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R3-mm.dae" />
-            </geometry>
-            <origin xyz="-0.034 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
-        </collision>
-        <inertial>
-            <mass value="0.1" />
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
-        </inertial>
-    </link> -->
     <link name="gripper_base">
     <visual>
       <geometry>

mycobot_pro/mycobot_630/config/mycobot_630.rviz

@@ -10,7 +10,7 @@ Panels:
         - /TF1
         - /TF1/Frames1
       Splitter Ratio: 0.5
-    Tree Height: 719
+    Tree Height: 637
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -69,81 +69,6 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        gripper_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_left1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_left2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_left3:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_right1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_right2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_right3:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint3:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint4:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint5:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint6:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        tool1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        tool2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
       Name: RobotModel
       Robot Description: robot_description
       TF Prefix: ""
@@ -157,38 +82,6 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: false
-        base:
-          Value: false
-        gripper_base:
-          Value: false
-        gripper_left1:
-          Value: false
-        gripper_left2:
-          Value: false
-        gripper_left3:
-          Value: false
-        gripper_right1:
-          Value: false
-        gripper_right2:
-          Value: false
-        gripper_right3:
-          Value: false
-        joint1:
-          Value: false
-        joint2:
-          Value: false
-        joint3:
-          Value: false
-        joint4:
-          Value: false
-        joint5:
-          Value: false
-        joint6:
-          Value: false
-        tool1:
-          Value: false
-        tool2:
-          Value: false
       Marker Alpha: 1
       Marker Scale: 0.5
       Name: TF
@@ -196,26 +89,7 @@ Visualization Manager:
       Show Axes: true
       Show Names: true
       Tree:
-        base:
+        {}
-          joint1:
-            joint2:
-              joint3:
-                joint4:
-                  joint5:
-                    joint6:
-                      tool1:
-                        tool2:
-                          gripper_base:
-                            gripper_left2:
-                              {}
-                            gripper_left3:
-                              gripper_left1:
-                                {}
-                            gripper_right2:
-                              {}
-                            gripper_right3:
-                              gripper_right1:
-                                {}
       Update Interval: 0
       Value: true
     - Alpha: 1
@@ -255,7 +129,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.1596055030822754
+      Distance: 0.5902186632156372
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -263,25 +137,25 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: 0.10261097550392151
+        X: -0.004918896127492189
-        Y: 0.12852436304092407
+        Y: -0.028790872544050217
-        Z: 0.8127317428588867
+        Z: -0.0053014024160802364
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.5402033925056458
+      Pitch: 0.25520408153533936
       Target Frame: <Fixed Frame>
-      Yaw: 5.734956741333008
+      Yaw: 0.2468089461326599
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1016
+  Height: 934
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001000000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c20000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000308fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000308000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010000000308fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000308000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d0065010000000000000736000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c00000030800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -290,6 +164,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1848
+  Width: 1846
   X: 72
   Y: 27

mycobot_pro/mycobot_630/launch/flange_camera.launch

@@ -0,0 +1,16 @@
+<launch>
+	<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
+	<arg name="model" default="$(find mycobot_description)/urdf/flange/flange.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_630)/config/mycobot_630.rviz" />
+	<arg name="gui" default="true" />
+	
+	
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF -->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<!-- <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" /> -->
+
+	<!-- Show in Rviz -->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>

mycobot_pro/mycobot_630/launch/test.launch

@@ -1,7 +1,7 @@
 <launch>
 	<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
-	<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_630.urdf"/> -->
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_630/my630.urdf"/>
-	<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_pro_630.urdf"/>
+	<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_pro_630.urdf"/> -->
 	<arg name="rvizconfig" default="$(find mycobot_630)/config/mycobot_630.rviz" />
 	<arg name="gui" default="true" />
 	

mycobot_pro/mycobot_630_gripper_moveit/config/ompl_planning.yaml

@@ -166,7 +166,7 @@ planner_configs:
     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:
-  default_planner_config: RRTstar
+  default_planner_config: RRTConnect
   planner_configs:
     - AnytimePathShortening
     - SBL
@@ -198,6 +198,7 @@ arm:
   projection_evaluator: joints(joint1_to_base,joint2_to_joint1)
   longest_valid_segment_fraction: 0.005
 gripper:
+  default_planner_config: RRTConnect
   planner_configs:
     - AnytimePathShortening
     - SBL

mycobot_pro/mycobot_630_moveit/config/firefighter.srdf

@@ -22,9 +22,9 @@
     <!--GROUP -1.5708 STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
     <group_state name="init_pose" group="arm_group">
         <joint name="joint1_to_base" value="0" />
-        <joint name="joint2_to_joint1" value="-1.5706" />
+        <joint name="joint2_to_joint1" value="0" />
         <joint name="joint3_to_joint2" value="0" />
-        <joint name="joint4_to_joint3" value="-1.5706" />
+        <joint name="joint4_to_joint3" value="0" />
         <joint name="joint5_to_joint4" value="0" />
         <joint name="joint6_to_joint5" value="0" />
 
@@ -40,12 +40,24 @@
     <!--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. -->
     <disable_collisions link1="base" link2="joint1" reason="Adjacent" />
     <disable_collisions link1="base" link2="joint2" reason="Never" />
+
+    <disable_collisions link1="base" link2="joint3" reason="Never" />
+    <disable_collisions link1="base" link2="joint4" reason="Never" />
+    <disable_collisions link1="base" link2="joint5" reason="Never" />
+    <disable_collisions link1="base" link2="joint6" reason="Never" />
+
     <disable_collisions link1="joint1" link2="joint2" reason="Adjacent" />
-    <disable_collisions link1="joint1" link2="joint6" reason="Never" />
+    <disable_collisions link1="joint1" link2="joint3" reason="Never" />
+    <!-- <disable_collisions link1="joint1" link2="joint4" reason="Never" /> -->
+    <!-- <disable_collisions link1="joint1" link2="joint5" reason="Never" />
+    <disable_collisions link1="joint1" link2="joint6" reason="Never" /> -->
     <disable_collisions link1="joint2" link2="joint3" reason="Adjacent" />
-    <disable_collisions link1="joint2" link2="joint6" reason="Never" />
+    <disable_collisions link1="joint2" link2="joint4" reason="Never" />
+    <!-- <disable_collisions link1="joint2" link2="joint5" reason="Never" /> -->
+    <!-- <disable_collisions link1="joint2" link2="joint6" reason="Never" /> -->
     <disable_collisions link1="joint3" link2="joint4" reason="Adjacent" />
-    <disable_collisions link1="joint3" link2="joint6" reason="Never" />
+    <disable_collisions link1="joint3" link2="joint5" reason="Never" />
+    <!-- <disable_collisions link1="joint3" link2="joint6" reason="Never" /> -->
     <disable_collisions link1="joint4" link2="joint5" reason="Adjacent" />
     <disable_collisions link1="joint4" link2="joint6" reason="Never" />
     <disable_collisions link1="joint5" link2="joint6" reason="Adjacent" />

mycobot_pro/mycobot_630_moveit/launch/planning_context.launch

@@ -6,8 +6,9 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_630.urdf"/>
+  <!-- <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_630.urdf"/> -->
   <!-- <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_630_gripper.urdf"/> -->
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_630/my630.urdf"/>
 
 
 

mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py

@@ -29,26 +29,28 @@ def callback(data):
 
 def listener():
     global mc
-    rospy.init_node("control_slider", anonymous=True)
+    try:
+        rospy.init_node("control_slider", anonymous=True)
 
-    ip = rospy.get_param("~ip", "192.168.1.161")
+        ip = rospy.get_param("~ip", "192.168.1.17")
-    port = rospy.get_param("~port", 5001)
+        port = rospy.get_param("~port", 5001)
-    print (ip, port)
+        print (ip, port)
-    mc = ElephantRobot(ip, int(port))
+        mc = ElephantRobot(ip, int(port))
-    # START CLIENT,启动客户端
+        # START CLIENT,启动客户端
-    res = mc.start_client()
+        res = mc.start_client()
-    if res != "":
+        if res != "":
-        sys.exit(1)
+            sys.exit(1)
 
-    mc.set_speed(90)
+        mc.set_speed(90)
 
-    rospy.Subscriber("joint_states", JointState, callback)
+        rospy.Subscriber("joint_states", JointState, callback)
-
-    # spin() simply keeps python from exiting until this node is stopped
-    # spin()只是阻止python退出，直到该节点停止
-    print ("sping ...")
-    rospy.spin()
 
+        # spin() simply keeps python from exiting until this node is stopped
+        # spin()只是阻止python退出，直到该节点停止
+        print ("sping ...")
+        rospy.spin()
+    except Exception as e:
+        print(e)
 
 if __name__ == "__main__":
     listener()