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update arduino urdf

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This commit is contained in:
weijian 2023-04-12 11:54:03 +08:00
parent 9a123dc830
commit f29d7e1b72
3 changed files with 28 additions and 27 deletions
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2
mycobot_280/mycobot_280arduino/launch/test.launch
View file

@ -1,5 +1,5 @@
<launch> <launch>
<arg name="model" default="$(find mycobot_description)/urdf/280_arduino/mycobot_with_vision.urdf"/> <arg name="model" default="$(find mycobot_description)/urdf/280_arduino/mycobot_urdf.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280arduino)/config/mycobot.rviz" /> <arg name="rvizconfig" default="$(find mycobot_280arduino)/config/mycobot.rviz" />
<arg name="gui" default="true" /> <arg name="gui" default="true" />

51
mycobot_280/mycobot_280arduino_moveit/launch/moveit.rviz
View file

@ -9,8 +9,8 @@ Panels:
- /MotionPlanning1/Scene Robot1 - /MotionPlanning1/Scene Robot1
- /MotionPlanning1/Planning Request1 - /MotionPlanning1/Planning Request1
- /MotionPlanning1/Planned Path1 - /MotionPlanning1/Planned Path1
Splitter Ratio: 0.742560029 Splitter Ratio: 0.7425600290298462
Tree Height: 325 Tree Height: 184
- Class: rviz/Help - Class: rviz/Help
Name: Help Name: Help
- Class: rviz/Views - Class: rviz/Views
@ -18,6 +18,8 @@ Panels:
- /Current View1 - /Current View1
Name: Views Name: Views
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Preferences:
PromptSaveOnExit: true
Toolbars: Toolbars:
toolButtonStyle: 2 toolButtonStyle: 2
Visualization Manager: Visualization Manager:
@ -29,7 +31,7 @@ Visualization Manager:
Color: 160; 160; 164 Color: 160; 160; 164
Enabled: true Enabled: true
Line Style: Line Style:
Line Width: 0.0299999993 Line Width: 0.029999999329447746
Value: Lines Value: Lines
Name: Grid Name: Grid
Normal Cell Count: 0 Normal Cell Count: 0
@ -45,16 +47,14 @@ Visualization Manager:
Class: moveit_rviz_plugin/MotionPlanning Class: moveit_rviz_plugin/MotionPlanning
Enabled: true Enabled: true
Move Group Namespace: "" Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false MoveIt_Allow_Approximate_IK: true
MoveIt_Allow_External_Program: false MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false MoveIt_Allow_Sensor_Positioning: false
MoveIt_Goal_Tolerance: 0
MoveIt_Planning_Attempts: 10 MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5 MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: true MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Warehouse_Host: 127.0.0.1
MoveIt_Warehouse_Port: 33829
MoveIt_Workspace: MoveIt_Workspace:
Center: Center:
X: 0 X: 0
@ -118,20 +118,21 @@ Visualization Manager:
State Display Time: 0.05 s State Display Time: 0.05 s
Trail Step Size: 1 Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path Trajectory Topic: move_group/display_planned_path
Use Sim Time: false
Planning Metrics: Planning Metrics:
Payload: 1 Payload: 1
Show Joint Torques: false Show Joint Torques: false
Show Manipulability: false Show Manipulability: false
Show Manipulability Index: false Show Manipulability Index: false
Show Weight Limit: false Show Weight Limit: false
TextHeight: 0.0799999982 TextHeight: 0.07999999821186066
Planning Request: Planning Request:
Colliding Link Color: 255; 0; 0 Colliding Link Color: 255; 0; 0
Goal State Alpha: 1 Goal State Alpha: 1
Goal State Color: 250; 128; 0 Goal State Color: 250; 128; 0
Interactive Marker Size: 0 Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255 Joint Violation Color: 255; 0; 255
Planning Group: mycobot_arm Planning Group: arm_group
Query Goal State: true Query Goal State: true
Query Start State: true Query Start State: true
Show Workspace: false Show Workspace: false
@ -142,7 +143,7 @@ Visualization Manager:
Scene Geometry: Scene Geometry:
Scene Alpha: 1 Scene Alpha: 1
Scene Color: 50; 230; 50 Scene Color: 50; 230; 50
Scene Display Time: 0.200000003 Scene Display Time: 0.20000000298023224
Show Scene Geometry: true Show Scene Geometry: true
Voxel Coloring: Z-Axis Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels Voxel Rendering: Occupied Voxels
@ -210,30 +211,30 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/XYOrbit Class: rviz/XYOrbit
Distance: 1.39158678 Distance: 1.3915867805480957
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Field of View: 0.7853981852531433
Focal Point: Focal Point:
X: 0.113567002 X: 0.11356700211763382
Y: 0.105920002 Y: 0.10592000186443329
Z: 2.23518001e-07 Z: 2.2351800055275817e-07
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.00999999978 Near Clip Distance: 0.009999999776482582
Pitch: 0.439796686 Pitch: 0.34979674220085144
Target Frame: joint1 Target Frame: joint1
Value: XYOrbit (rviz) Yaw: 4.516765594482422
Yaw: 2.5317657
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 1028 Height: 888
Help: Help:
collapsed: false collapsed: false
Hide Left Dock: false Hide Left Dock: false
@ -242,9 +243,9 @@ Window Geometry:
collapsed: false collapsed: false
MotionPlanning - Trajectory Slider: MotionPlanning - Trajectory Slider:
collapsed: false collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002ad000003befc0200000007fb000000100044006900730070006c0061007900730100000028000001da000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000002080000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002580000018e0000018300ffffff00000471000003be00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd0000000100000000000001f30000031efc0200000007fb000000100044006900730070006c006100790073010000003d00000149000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c0069006400650072010000018c000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d3000001880000017d00ffffff0000053f0000031e00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views: Views:
collapsed: false collapsed: false
Width: 1828 Width: 1848
X: 92 X: 72
Y: 24 Y: 27

2
mycobot_description/urdf/280_arduino/mycobot_urdf.urdf
View file

@ -133,7 +133,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="joint1"/> <parent link="joint1"/>
<child link="joint2"/> <child link="joint2"/>
<origin xyz= "0 0 0.13156" rpy = "0 0 0"/> <origin xyz= "0 0 0.13156" rpy = "0 0 1.5708"/>
</joint> </joint>