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fix launch file error.

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This commit is contained in:
Zachary 2021-07-08 15:09:21 +08:00
parent 93c932fa1b
commit e95dd6ac10
3 changed files with 15 additions and 17 deletions
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6
launch/mycobot_320/mycobot_320_slider.launch
View file

@ -3,9 +3,9 @@
<arg name="rvizconfig" default="$(find mycobot_ros)/config/mycobot_320.rviz" />
<arg name="gui" default="true" />
<include file="$(find mycobot_ros)/launch/mycobot_slider.launch">
<arg name="model" value="$(arg model)" />
<arg name="rvizconfig" value="$(arg rvizconfig)" />
<include file="$(find mycobot_ros)/launch/mycobot/mycobot_slider.launch">
<arg name="model" value="$(arg model)" />
<arg name="rvizconfig" value="$(arg rvizconfig)" />
<arg name="gui" value="$(arg gui)" />
</include>
</launch>

6
launch/mycobot_600/mycobot_600_slider.launch
View file

@ -3,9 +3,9 @@
<arg name="rvizconfig" default="$(find mycobot_ros)/config/mycobot_600.rviz" />
<arg name="gui" default="true" />
<include file="$(find mycobot_ros)/launch/mycobot_slider.launch">
<arg name="model" value="$(arg model)" />
<arg name="rvizconfig" value="$(arg rvizconfig)" />
<include file="$(find mycobot_ros)/launch/mycobot/mycobot_slider.launch">
<arg name="model" value="$(arg model)" />
<arg name="rvizconfig" value="$(arg rvizconfig)" />
<arg name="gui" value="$(arg gui)" />
</include>
</launch>

20
urdf/320_urdf/mycobot_pro_320.urdf
View file

@ -1,6 +1,6 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
<xacro:property name="width" value=".2" />
@ -120,21 +120,19 @@
<link name="gripper">
<visual>
<geometry>
<mesh filename="package://mycobot_ros/urdf/320_urdf/gripper_ag.dae"/>
<mesh filename="package://mycobot_ros/urdf/320_urdf/gripper.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
</visual>
</link>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="base"/>
<child link="link1"/>
<origin xyz= "0 0 0.17846" rpy = "0 0 0"/>
<origin xyz= "0 0 0.17846" rpy = "0 0 0"/>
</joint>
@ -143,7 +141,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0 0 0" rpy = "0 -1.57080 1.57080"/>
<origin xyz= "0 0 0" rpy = "0 -1.57080 1.57080"/>
</joint>
@ -152,7 +150,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "0.13635 0 0 " rpy = "0 0 0"/>
<origin xyz= "0.13635 0 0 " rpy = "0 0 0"/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
@ -160,7 +158,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "0.1 0 0.090" rpy = "0 0 1.57080"/>
<origin xyz= "0.1 0 0.090" rpy = "0 0 1.57080"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">
@ -168,7 +166,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= "0 -0.08515 0" rpy = "1.57080 -1.57080 0"/>
<origin xyz= "0 -0.08515 0" rpy = "1.57080 -1.57080 0"/>
</joint>
<joint name="joint6output_to_joint6" type="revolute">
@ -176,7 +174,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link5"/>
<child link="link6"/>
<origin xyz= "0 0.06 0" rpy = "-1.57080 0 0 "/>
<origin xyz= "0 0.06 0" rpy = "-1.57080 0 0 "/>
</joint>
@ -185,7 +183,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link6"/>
<child link="gripper"/>
<origin xyz= "0 0 0" rpy = "0 0 0 "/>
<origin xyz= "0 0 0" rpy = "0 0 0 "/>
</joint>