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add mycobot600 moveit config

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wangWking 2022-05-11 18:20:38 +08:00
parent 2a48f8ecb2
commit eaaf7f78fa
8 changed files with 36 additions and 36 deletions
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8
mycobot_pro/mycobot_600_moveit/.setup_assistant
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@ -1,11 +1,11 @@
moveit_setup_assistant_config:
URDF:
package: mycobot_description
relative_path: urdf/mycobot/mycobot_urdf.urdf
relative_path: urdf/600_urdf/mycobot_600_urdf.urdf
xacro_args: "--inorder "
SRDF:
relative_path: config/firefighter.srdf
CONFIG:
author_name: zachary
author_email: lijun.zhang@elephantrobotics.com
generated_timestamp: 1626074107
author_name: wangweijian
author_email: weijian.wang@elephantrobotics.com
generated_timestamp: 1652250059

14
mycobot_pro/mycobot_600_moveit/config/firefighter.srdf
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@ -27,16 +27,26 @@
<joint name="joint6output_to_joint6" value="0" />
</group_state>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<!-- <virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="joint1" /> -->
<virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="base" />
<virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="base" />
<!--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="link1" reason="Adjacent" />
<disable_collisions link1="base" link2="link2" reason="Never" />
<disable_collisions link1="base" link2="link3" reason="Never" />
<disable_collisions link1="base" link2="link4" reason="Never" />
<disable_collisions link1="base" link2="link5" reason="Never" />
<disable_collisions link1="base" link2="link6" reason="Never" />
<disable_collisions link1="link1" link2="link2" reason="Adjacent" />
<disable_collisions link1="link1" link2="link3" reason="Never" />
<disable_collisions link1="link1" link2="link4" reason="Never" />
<disable_collisions link1="link1" link2="link5" reason="Never" />
<disable_collisions link1="link1" link2="link6" reason="Never" />
<disable_collisions link1="link2" link2="link3" reason="Adjacent" />
<disable_collisions link1="link2" link2="link4" reason="Never" />
<disable_collisions link1="link2" link2="link5" reason="Never" />
<disable_collisions link1="link2" link2="link6" reason="Never" />
<disable_collisions link1="link3" link2="link4" reason="Adjacent" />
<disable_collisions link1="link3" link2="link5" reason="Never" />
<disable_collisions link1="link3" link2="link6" reason="Never" />
<disable_collisions link1="link4" link2="link5" reason="Adjacent" />
<disable_collisions link1="link4" link2="link6" reason="Never" />
<disable_collisions link1="link5" link2="link6" reason="Adjacent" />

7
mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml
View file

@ -23,4 +23,9 @@ joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
controller_list:
[]
[]
# - name: arm_controller
# action_ns: follow_joint_trajectory
# type: FollowJointTrajectory
# allowed_execution_duration_scaling: 1.2
# allowed_goal_duration_margin: 0.5

9
mycobot_pro/mycobot_600_moveit/launch/demo.launch
View file

@ -1,14 +1,11 @@
<launch>
<!-- By default, we do not start a database (it can be large) -->
<!-- 默认情况下，我们不启动数据库（它可能很大） -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<!-- 允许用户指定数据库位置 -->
<arg name="db_path" default="$(find mycobot_600_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<!-- 默认情况下，我们不处于调试模式 -->
<arg name="debug" default="false" />
<!--
@ -22,7 +19,6 @@
<arg name="use_gui" default="false" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
<include file="$(find mycobot_600_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
@ -31,18 +27,15 @@
<!-- We do not have a robot connected, so publish fake joint states -->
<!-- 我们没有连接机器人，所以发布假关节状态 -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(arg use_gui)"/>
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<!-- 给定已发布的关节状态，为机器人链接发布 tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
<!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）-->
<include file="$(find mycobot_600_moveit)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
@ -51,14 +44,12 @@
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 -->
<include file="$(find mycobot_600_moveit)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<!-- 如果启用了数据库加载，也启动 mongodb -->
<include file="$(find mycobot_600_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>

2
mycobot_pro/mycobot_600_moveit/launch/gazebo.launch
View file

@ -2,7 +2,7 @@
<launch>
<arg name="paused" default="false"/>
<arg name="gazebo_gui" default="true"/>
<arg name="urdf_path" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
<arg name="urdf_path" default="$(find mycobot_description)/urdf/600_urdf/mycobot_600_urdf.urdf"/>
<!-- startup simulated world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">

24
mycobot_pro/mycobot_600_moveit/launch/moveit.rviz
View file

@ -5,13 +5,9 @@ Panels:
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Grid1
- /MotionPlanning1
- /MotionPlanning1/Scene Geometry1
- /MotionPlanning1/Scene Robot1
- /MotionPlanning1/Planning Request1
- /MotionPlanning1/Planned Path1
Splitter Ratio: 0.44475922
Splitter Ratio: 0.742560029
Tree Height: 195
- Class: rviz/Help
Name: Help
@ -111,7 +107,7 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
Loop Animation: false
Loop Animation: true
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
@ -135,7 +131,7 @@ Visualization Manager:
Joint Violation Color: 255; 0; 255
Planning Group: arm_group
Query Goal State: true
Query Start State: true
Query Start State: false
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
@ -193,7 +189,7 @@ Visualization Manager:
Value: true
Robot Alpha: 0.5
Show Robot Collision: false
Show Robot Visual: false
Show Robot Visual: true
Value: true
Velocity_Scaling_Factor: 1
Enabled: true
@ -212,7 +208,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/XYOrbit
Distance: 1.39158678
Distance: 2.99650002
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
@ -227,10 +223,10 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: -0.770203352
Target Frame: joint1
Pitch: -0.340202928
Target Frame: base
Value: XYOrbit (rviz)
Yaw: 3.0317657
Yaw: 3.98176312
Saved: ~
Window Geometry:
Displays:
@ -244,7 +240,7 @@ Window Geometry:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002d10000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff0000044d0000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000100000000000002ad0000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff000004710000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1828

3
mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch
View file

@ -12,7 +12,6 @@
<!--
By default, hide joint_state_publisher's GUI
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
@ -62,4 +61,4 @@
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>
</launch>

5
mycobot_pro/mycobot_600_moveit/package.xml
View file

@ -5,8 +5,8 @@
<description>
An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt! Motion Planning Framework
</description>
<author email="lijun.zhang@elephantrobotics.com">zachary</author>
<maintainer email="lijun.zhang@elephantrobotics.com">zachary</maintainer>
<author email="weijian.wang@elephantrobotics.com">wangweijian</author>
<maintainer email="weijian.wang@elephantrobotics.com">wangweijian</maintainer>
<license>BSD</license>
@ -33,7 +33,6 @@
<build_depend>actionlib</build_depend>
<build_depend>moveit_msgs</build_depend>
<build_depend>mycobot_description</build_depend>
<run_depend>mycobot_description</run_depend>