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add flange_camera.urdf

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This commit is contained in:
Tenero-Jz 2024-09-11 11:38:21 +08:00
parent 4388a637b4
commit e68e9aced6
20 changed files with 2596 additions and 461 deletions
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142
mycobot_280/mycobot_280/config/mycobot.rviz
View file

@ -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:
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:
base:
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
Y: -0.10585817694664001
Z: 0.4004986882209778
X: -0.021931247785687447
Y: -0.011295657604932785
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:

1
mycobot_280/mycobot_280/launch/test.launch
View file

@ -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" />

19
mycobot_description/urdf/flange/flange.urdf Normal file
View file

@ -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>

649
mycobot_description/urdf/flange/v1.dae Executable file
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245
mycobot_description/urdf/mycobot_pro_630/J1-W.dae Executable file
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188
mycobot_description/urdf/mycobot_pro_630/J2-W.dae Executable file
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mycobot_description/urdf/mycobot_pro_630/J3-W.dae Executable file
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188
mycobot_description/urdf/mycobot_pro_630/J4-W.dae Executable file
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mycobot_description/urdf/mycobot_pro_630/J5-W.dae Executable file
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mycobot_description/urdf/mycobot_pro_630/J6-W.dae Executable file
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mycobot_description/urdf/mycobot_pro_630/J6W.dae Executable file
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94
mycobot_description/urdf/mycobot_pro_630/my630.urdf
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@ -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" />
<limit effort="1000.0" lower="-2.26" upper="2.26" velocity="0" />
<axis xyz="0 0 1" />
<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" />
<limit effort="1000.0" lower="-2.61" upper="2.618" velocity="0" />
<axis xyz=" 0 0 1" />
<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">
<axis xyz=" 0 0 -1" />
<limit effort="1000.0" lower="-3" upper="3" velocity="0" />
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1" />
<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 " />
</joint> -->
<origin xyz="0.0495 0 -0.0405" rpy="-1.5707 0 -1.5706 " />
</joint>
</robot>
</robot>

123
mycobot_description/urdf/mycobot_pro_630/mycobot_630_gripper.urdf
View file

@ -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>

148
mycobot_pro/mycobot_630/config/mycobot_630.rviz
View file

@ -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
Y: 0.12852436304092407
Z: 0.8127317428588867
X: -0.004918896127492189
Y: -0.028790872544050217
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

16
mycobot_pro/mycobot_630/launch/flange_camera.launch Normal file
View file

@ -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>

4
mycobot_pro/mycobot_630/launch/test.launch
View file

@ -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/mycobot_pro_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="rvizconfig" default="$(find mycobot_630)/config/mycobot_630.rviz" />
<arg name="gui" default="true" />

3
mycobot_pro/mycobot_630_gripper_moveit/config/ompl_planning.yaml
View file

@ -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

22
mycobot_pro/mycobot_630_moveit/config/firefighter.srdf
View file

@ -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" />

3
mycobot_pro/mycobot_630_moveit/launch/planning_context.launch
View file

@ -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"/>

34
mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py
View file

@ -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")
port = rospy.get_param("~port", 5001)
print (ip, port)
mc = ElephantRobot(ip, int(port))
# START CLIENT,启动客户端
res = mc.start_client()
if res != "":
sys.exit(1)
ip = rospy.get_param("~ip", "192.168.1.17")
port = rospy.get_param("~port", 5001)
print (ip, port)
mc = ElephantRobot(ip, int(port))
# START CLIENT,启动客户端
res = mc.start_client()
if res != "":
sys.exit(1)
mc.set_speed(90)
mc.set_speed(90)
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()
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()
except Exception as e:
print(e)
if __name__ == "__main__":
listener()