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增加280JN自适应夹爪URDF模型

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This commit is contained in:
wangWking 2024-09-12 09:58:02 +08:00
parent f23363f4a8
commit f4434066c2
25 changed files with 3402 additions and 433 deletions
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4
mycobot_280/mycobot_280jn/CMakeLists.txt
View file

@ -26,9 +26,7 @@ catkin_install_python(PROGRAMS
scripts/teleop_keyboard.py
scripts/listen_real.py
scripts/listen_real_of_topic.py
scripts/detect_marker.py
scripts/following_marker.py
scripts/follow_and_pump.py
scripts/slider_control_gripper.py
scripts/simple_gui.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

97
mycobot_280/mycobot_280jn/config/mycobot_jn.rviz
View file

@ -9,7 +9,7 @@ Panels:
- /RobotModel1
- /TF1
Splitter Ratio: 0.5
Tree Height: 579
Tree Height: 609
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@ -63,6 +63,46 @@ 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
@ -106,9 +146,27 @@ Visualization Manager:
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: true
g_base:
Value: true
gripper_base:
Value: true
gripper_left1:
Value: true
gripper_left2:
Value: true
gripper_left3:
Value: true
gripper_right1:
Value: true
gripper_right2:
Value: true
gripper_right3:
Value: true
joint1:
Value: true
joint2:
@ -124,20 +182,31 @@ Visualization Manager:
joint6_flange:
Value: true
Marker Alpha: 1
Marker Scale: 0.30000001192092896
Marker Scale: 0.10000000149011612
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
joint1:
joint2:
joint3:
joint4:
joint5:
joint6:
joint6_flange:
{}
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
Enabled: true
@ -184,17 +253,17 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.44039833545684814
Pitch: 0.7653981447219849
Target Frame: <Fixed Frame>
Yaw: 0.43038973212242126
Yaw: 3.990389108657837
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 876
Height: 906
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002cefc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ce000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f000002cefc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ce000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000393000002ce00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000393000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:

18
mycobot_280/mycobot_280jn/launch/detect_marker.launch
View file

@ -1,18 +0,0 @@
<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="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot_with_marker.rviz" />
<arg name="gui" default="true" />
<arg name="num" default="0" />
<!-- Add model control,添加模型控制 -->
<include file="$(find mycobot_280jn)/launch/slider_control.launch">
<arg name="model" value="$(arg model)" />
<arg name="rvizconfig" value="$(arg rvizconfig)" />
<arg name="gui" value="$(arg gui)" />
</include>
<!-- vision node -->
<node name="opencv_camera" pkg="mycobot_280jn" type="opencv_camera" args="$(arg num)"/>
<node name="detect_marker" pkg="mycobot_280jn" type="detect_marker.py" />
<node name="following_marker" pkg="mycobot_280jn" type="following_marker.py" />
</launch>

18
mycobot_280/mycobot_280jn/launch/detect_marker_with_topic.launch → mycobot_280/mycobot_280jn/launch/simple_gui_gripper.launch
View file

@ -3,28 +3,22 @@
<arg name="port" default="/dev/ttyTHS1" />
<arg name="baud" default="1000000" />
<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot_with_marker.rviz" />
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_parallel.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.rviz" />
<arg name="gui" default="false" />
<arg name="num" default="0" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF ，将值合并到TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<!-- Show in Rviz，显示在Rviz -->
<!-- Show in Rviz ，显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
<!-- mycobot-topics， mycobot-话题-->
<include file="$(find mycobot_communication)/launch/communication_topic.launch">
<include file="$(find mycobot_communication)/launch/communication_jsnn.launch">
<arg name="port" value="$(arg port)" />
<arg name="baud" value="$(arg baud)" />
</include>
<!-- listen and pub the real angles ，监听并发布真实的角度-->
<node name="real_listener" pkg="mycobot_280jn" type="listen_real_of_topic.py" />
<!-- vision node -->
<node name="opencv_camera" pkg="mycobot_280jn" type="opencv_camera" args="$(arg num)"/>
<node name="detect_marker" pkg="mycobot_280jn" type="detect_marker.py" />
<node name="following_marker" pkg="mycobot_280jn" type="following_marker.py" />
<node name="real_listener" pkg="mycobot_280jn" type="listen_real.py" />
<node name="simple_gui" pkg="mycobot_280jn" type="simple_gui.py" />
</launch>

20
mycobot_280/mycobot_280jn/launch/slider_control_gripper.launch Executable file
View file

@ -0,0 +1,20 @@
<launch>
<!-- <arg name="port" default="/dev/ttyTHS1" />
<arg name="baud" default="1000000" /> -->
<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_parallel.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF. 将值合并到TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
<!-- <param name="use_gui" value="$(arg gui)" /> -->
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Show in Rviz .显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

23
mycobot_280/mycobot_280jn/launch/teleop_keyboard_gripper.launch Executable file
View file

@ -0,0 +1,23 @@
<launch>
<!-- Select connecting device and serial port ，选择连接设备及串口-->
<arg name="port" default="/dev/ttyTHS1" />
<arg name="baud" default="1000000" />
<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_parallel.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.rviz" />
<arg name="gui" default="false" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF ，将值合并到TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<!-- Show in Rviz ，显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
<include file="$(find mycobot_communication)/launch/communication_jsnn.launch">
<arg name="port" value="$(arg port)" />
<arg name="baud" value="$(arg baud)" />
</include>
<!-- listen and pub the real angles ，监听并发布真实的角度-->
<node name="real_listener" pkg="mycobot_280jn" type="listen_real.py" />
</launch>

18
mycobot_280/mycobot_280jn/launch/test_adaptive_gripper.launch Executable file
View file

@ -0,0 +1,18 @@
<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="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_parallel.urdf"/>
<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_vertical.urdf"/> -->
<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF ,将值合并到TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
<param name="use_gui" value="$(arg gui)" />
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Show in Rviz ，显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

17
mycobot_280/mycobot_280jn/launch/test_camera_flange.launch Executable file
View file

@ -0,0 +1,17 @@
<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="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn_camera_flange.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF ,将值合并到TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
<param name="use_gui" value="$(arg gui)" />
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Show in Rviz ，显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

123
mycobot_280/mycobot_280jn/scripts/detect_marker.py
View file

@ -1,123 +0,0 @@
#!/usr/bin/env python
import rospy
import cv2 as cv
import numpy as np
from cv_bridge import CvBridge, CvBridgeError
from sensor_msgs.msg import Image
import tf
from tf.broadcaster import TransformBroadcaster
import tf_conversions
from mycobot_communication.srv import (
GetCoords,
SetCoords,
GetAngles,
SetAngles,
GripperStatus,
)
class ImageConverter:
def __init__(self):
self.br = TransformBroadcaster()
self.bridge = CvBridge()
self.aruco_dict = cv.aruco.Dictionary_get(cv.aruco.DICT_6X6_250)
self.aruo_params = cv.aruco.DetectorParameters_create()
calibrationParams = cv.FileStorage(
"calibrationFileName.xml", cv.FILE_STORAGE_READ
)
self.dist_coeffs = calibrationParams.getNode("distCoeffs").mat()
self.camera_matrix = None
# subscriber, listen wether has img come in. 订阅者，监听是否有img
self.image_sub = rospy.Subscriber("/camera/image", Image, self.callback)
def callback(self, data):
"""Callback function.
Process image with OpenCV, detect Mark to get the pose. Then acccording the
pose to transforming.
"""
try:
# trans `rgb` to `gbr` for opencv. 将 `rgb` 转换为 opencv 的 `gbr`。
cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
except CvBridgeError as e:
print(e)
size = cv_image.shape
focal_length = size[1]
center = [size[1] / 2, size[0] / 2]
if self.camera_matrix is None:
# calc the camera matrix, if don't have.如果没有，则计算相机矩阵
self.camera_matrix = np.array(
[
[focal_length, 0, center[0]],
[0, focal_length, center[1]],
[0, 0, 1],
],
dtype=np.float32,
)
gray = cv.cvtColor(cv_image, cv.COLOR_BGR2GRAY)
# detect aruco marker.检测 aruco 标记
ret = cv.aruco.detectMarkers(gray, self.aruco_dict, parameters=self.aruo_params)
corners, ids = ret[0], ret[1]
# process marker data.处理标记数据
if len(corners) > 0:
if ids is not None:
# print('corners:', corners, 'ids:', ids)
# detect marker pose. 检测marker位姿。
# argument:
# marker corners,标记角
# marker size (meter),标记尺寸（米）
ret = cv.aruco.estimatePoseSingleMarkers(
corners, 0.05, self.camera_matrix, self.dist_coeffs
)
(rvec, tvec) = (ret[0], ret[1])
(rvec - tvec).any()
print("rvec:", rvec, "tvec:", tvec)
# just select first one detected marker.只需选择第一个检测到的标记。
for i in range(rvec.shape[0]):
cv.aruco.drawDetectedMarkers(cv_image, corners)
cv.aruco.drawAxis(
cv_image,
self.camera_matrix,
self.dist_coeffs,
rvec[i, :, :],
tvec[i, :, :],
0.03,
)
xyz = tvec[0, 0, :]
xyz = [xyz[0] - 0.045, xyz[1], xyz[2] - 0.03]
# get quaternion for ros. 为ros获取四元数
euler = rvec[0, 0, :]
tf_change = tf.transformations.quaternion_from_euler(
euler[0], euler[1], euler[2]
)
print("tf_change:", tf_change)
# trans pose according [joint1]，根据 [joint1] 变换姿势
self.br.sendTransform(
xyz, tf_change, rospy.Time.now(), "basic_shapes", "joint6_flange"
)
# [x, y, z, -172, 3, -46.8]
cv.imshow("Image", cv_image)
cv.waitKey(3)
try:
pass
except CvBridgeError as e:
print(e)
if __name__ == "__main__":
try:
rospy.init_node("detect_marker")
rospy.loginfo("Starting cv_bridge_test node")
ImageConverter()
rospy.spin()
except KeyboardInterrupt:
print("Shutting down cv_bridge_test node.")
cv.destroyAllWindows()

194
mycobot_280/mycobot_280jn/scripts/follow_and_pump.py
View file

@ -1,194 +0,0 @@
#!/usr/bin/env python2
# coding:utf-8
import rospy
from visualization_msgs.msg import Marker
import time
import os
# Type of message communicated with mycobot，与 mycobot 通信的消息类型
from mycobot_communication.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus
rospy.init_node("gipper_subscriber", anonymous=True)
# Control the topic of mycobot, followed by angle, coordinates, gripper
# 控制 mycobot 的 topic，依次是角度、坐标、夹爪
angle_pub = rospy.Publisher("mycobot/angles_goal",
MycobotSetAngles, queue_size=5)
coord_pub = rospy.Publisher("mycobot/coords_goal",
MycobotSetCoords, queue_size=5)
# 判断设备：ttyUSB*为M5；ttyACM*为wio，Judging equipment: ttyUSB* is M5；ttyACM* is wio
robot = os.popen("ls /dev/ttyUSB*").readline()
if "dev" in robot:
Pin = [2, 5]
else:
Pin = [20, 21]
pump_pub = rospy.Publisher("mycobot/pump_status",
MycobotPumpStatus, queue_size=5)
# instantiate the message object，实例化消息对象
angles = MycobotSetAngles()
coords = MycobotSetCoords()
pump = MycobotPumpStatus()
# Deviation value from mycobot's real position,与 mycobot 真实位置的偏差值
x_offset = -20
y_offset = 20
z_offset = 110
# With this variable limit, the fetching behavior is only done once
# 通过该变量限制，抓取行为只做一次
flag = False
# In order to compare whether the QR code moves later,为了后面比较二维码是否移动
temp_x = temp_y = temp_z = 0.0
temp_time = time.time()
def pub_coords(x, y, z, rx=-150, ry=10, rz=-90, sp=70, m=2):
"""Post coordinates,发布坐标"""
coords.x = x
coords.y = y
coords.z = z
coords.rx = rx
coords.ry = ry
coords.rz = rz
coords.speed = 70
coords.model = m
# print(coords)
coord_pub.publish(coords)
def pub_angles(a, b, c, d, e, f, sp):
"""Publishing angle,发布角度"""
angles.joint_1 = float(a)
angles.joint_2 = float(b)
angles.joint_3 = float(c)
angles.joint_4 = float(d)
angles.joint_5 = float(e)
angles.joint_6 = float(f)
angles.speed = sp
angle_pub.publish(angles)
def pub_pump(flag, Pin):
"""Publish gripper status,发布夹爪状态"""
pump.Status = flag
pump.Pin1 = Pin[0]
pump.Pin2 = Pin[1]
pump_pub.publish(pump)
def target_is_moving(x, y, z):
"""Determine whether the target moves"""
"""判断目标是否移动"""
count = 0
for o, n in zip((x, y, z), (temp_x, temp_y, temp_z)):
print(o, n)
if abs(o - n) < 2:
count += 1
print(count)
if count == 3:
return False
return True
def grippercallback(data):
"""callback function,回调函数"""
global flag, temp_x, temp_y, temp_z
# rospy.loginfo('gripper_subscriber get date :%s', data)
if flag:
return
# Parse out the coordinate value,解析出坐标值
# pump length: 88mm
x = float(format(data.pose.position.x * 1000, ".2f"))
y = float(format(data.pose.position.y * 1000, ".2f"))
z = float(format(data.pose.position.z * 1000, ".2f"))
# When the running time is less than 30s, or the target position is still changing, perform tracking behavior
# 当运行时间小于 30s，或目标位置还在改变时，进行追踪行为
if (
time.time() - temp_time < 30
or (temp_x == temp_y == temp_z == 0.0)
or target_is_moving(x - x_offset, y - y_offset, z)
):
x -= x_offset
y -= y_offset
pub_coords(x - 20, y, 280)
time.sleep(0.1)
temp_x, temp_y, temp_z = x, y, z
return
else: #Indicates that the target is stationary and can try to grab, 表示目标处于静止状态，可以尝试抓取
print(x, y, z)
# detect heigth + pump height + limit height + offset
x += x_offset
y += y_offset
z = z + 88 + z_offset
pub_coords(x, y, z)
time.sleep(2.5)
# down
for i in range(1, 17):
pub_coords(x, y, z - i * 5, rx=-160, sp=10)
time.sleep(0.1)
time.sleep(2)
pub_pump(True, Pin)
# pump on
pub_coords(x, y, z + 20, -165)
time.sleep(1.5)
pub_angles(0, 30, -50, -40, 0, 0, 50)
time.sleep(1.5)
put_z = 140
pub_coords(39.4, -174.7, put_z, -177.13, -4.13, -152.59, 70, 2)
time.sleep(1.5)
for i in range(1, 8):
pub_coords(39.4, -174.7, put_z - i * 5, -
177.13, -4.13, -152.59, 15, 2)
time.sleep(0.1)
pub_pump(False, Pin)
time.sleep(0.5)
pub_angles(0, 30, -50, -40, 0, 0, 50)
time.sleep(1.5)
# finally
flag = True
def main():
for _ in range(10):
# pub_coords(150, 20, 220, -175, 0, -90, 70, 2)
pub_angles(0, 30, -50, -40, 0, 0, 50)
# pub_angles(random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), 70)
time.sleep(0.5)
pub_pump(False, Pin)
# time.sleep(2.5)
# subscribers to mark information，mark 信息的订阅者
rospy.Subscriber("visualization_marker", Marker,
grippercallback, queue_size=1)
print("gripper test")
rospy.spin()
if __name__ == "__main__":
main()

64
mycobot_280/mycobot_280jn/scripts/following_marker.py
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@ -1,64 +0,0 @@
#!/usr/bin/env python2
import time
import rospy
from sensor_msgs.msg import JointState
from std_msgs.msg import Header
from visualization_msgs.msg import Marker
import tf
def talker():
rospy.init_node("following_marker", anonymous=True)
pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10)
rate = rospy.Rate(20)
listener = tf.TransformListener()
marker_ = Marker()
marker_.header.frame_id = "/joint1"
marker_.ns = "basic_cube"
print("publishing ...")
while not rospy.is_shutdown():
now = rospy.Time.now() - rospy.Duration(0.1)
try:
trans, rot = listener.lookupTransform("joint1", "basic_shapes", now)
except Exception as e:
print(e)
continue
print(type(trans), trans)
print(type(rot), rot)
# marker
marker_.header.stamp = now
marker_.type = marker_.CUBE
marker_.action = marker_.ADD
marker_.scale.x = 0.04
marker_.scale.y = 0.04
marker_.scale.z = 0.04
# marker position initial,标记位置初始化
marker_.pose.position.x = trans[0]
marker_.pose.position.y = trans[1]
marker_.pose.position.z = trans[2]
marker_.pose.orientation.x = rot[0]
marker_.pose.orientation.y = rot[1]
marker_.pose.orientation.z = rot[2]
marker_.pose.orientation.w = rot[3]
marker_.color.a = 1.0
marker_.color.g = 1.0
pub_marker.publish(marker_)
rate.sleep()
if __name__ == "__main__":
try:
talker()
except rospy.ROSInterruptException:
pass

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mycobot_280/mycobot_280jn/scripts/slider_control_gripper.py Executable file
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@ -0,0 +1,57 @@
#!/usr/bin/env python3
# encoding:utf-8
"""[summary]
This file obtains the joint angle of the manipulator in ROS,
and then sends it directly to the real manipulator using `pymycobot` API.
This file is [slider_control.launch] related script.
Passable parameters:
port: serial prot string. Defaults is '/dev/ttyTHS1'
baud: serial prot baudrate. Defaults is 1000000.
"""
import time
import math
import rospy
from sensor_msgs.msg import JointState
from pymycobot.mycobot import MyCobot
mc = None
def callback(data):
# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
data_list = []
for index, value in enumerate(data.position):
data_list.append(round(value,3))
# print(data_list[6:])
data_list = data_list[:7]
print("radians:%s"%data_list[:6])
mc.send_radians(data_list[:6], 25)
gripper_value = int(abs(-0.7-data_list[6])* 117)
print("gripper_value:%s"%gripper_value)
mc.set_gripper_value(gripper_value, 80, 1)
def listener():
global mc
rospy.init_node("control_slider", anonymous=True)
rospy.Subscriber("joint_states", JointState, callback)
port = rospy.get_param("~port", "/dev/ttyTHS1")
baud = rospy.get_param("~baud", 1000000)
print(port, baud)
mc = MyCobot(port, baud)
time.sleep(0.05)
mc.set_fresh_mode(1)
time.sleep(0.05)
# 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("spin ...")
rospy.spin()
if __name__ == "__main__":
listener()

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mycobot_description/urdf/mycobot_280_jn/camera_flange.dae Executable file
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mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn.urdf
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@ -3,6 +3,20 @@
<xacro:property name="width" value=".2" />
<link name="g_base">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/G_base.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.032" rpy = "0 0 1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/G_base.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.032" rpy = "0 0 1.5708"/>
</collision>
</link>
<link name="joint1">
<visual>
@ -123,9 +137,18 @@
</link>
<joint name="g_base_to_joint1" type="fixed">
<axis xyz="0 0 0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="g_base"/>
<child link="joint1"/>
<origin xyz= "0 0 0" rpy = "0 0 0"/>
</joint>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<origin xyz= "0 0 0.15756" rpy = "0 0 0"/>
@ -134,7 +157,7 @@
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.0943" upper = "2.0943" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>
@ -143,7 +166,7 @@
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
@ -153,7 +176,7 @@
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
@ -161,7 +184,7 @@
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>

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mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_parallel.urdf Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
<xacro:property name="width" value=".2" />
<link name="g_base">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/G_base.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.032" rpy = "0 0 1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/G_base.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.032" rpy = "0 0 1.5708"/>
</collision>
</link>
<link name="joint1">
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint1_jet.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 3.14159"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint1_jet.dae"/>
</geometry>
<origin xyz = "0.0 0 0" rpy = "0 0 3.14159"/>
</collision>
</link>
<link name="joint2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint2.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint2.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.06096" rpy = "0 0 -1.5708"/>
</collision>
</link>
<link name="joint3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint3.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint3.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03256" rpy = "0 -1.5708 0"/>
</collision>
</link>
<link name="joint4">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint4.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint4.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03056" rpy = "0 -1.5708 0"/>
</collision>
</link>
<link name="joint5">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356" rpy = "0 -1.5708 1.5708"/>
</collision>
</link>
<link name="joint6">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint6.dae"/>
</geometry>
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint6.dae"/>
</geometry>
<origin xyz = "0 0.00 -0.038" rpy = "0 0 0"/>
</collision>
</link>
<link name="joint6_flange">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint7.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint7.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012" rpy = "0 0 0"/>
</collision>
</link>
<link name="gripper_base">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_base.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_base.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_left1">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_left1.dae"/>
</geometry>
<origin xyz = "0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
<!-- <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/> -->
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_left1.dae"/>
</geometry>
<origin xyz = "0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_left2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_left2.dae"/>
</geometry>
<origin xyz = "0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_left2.dae"/>
</geometry>
<origin xyz = "0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_left3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_left3.dae"/>
</geometry>
<origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_left3.dae"/>
</geometry>
<origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_right1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_right1.dae"/>
</geometry>
<origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_right1.dae"/>
</geometry>
<origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_right2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_right2.dae"/>
</geometry>
<origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_right2.dae"/>
</geometry>
<origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_right3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_right3.dae"/>
</geometry>
<origin xyz = "-0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_right3.dae"/>
</geometry>
<origin xyz = "-0.012 0.0025 -0.012" rpy = " 0 0 0"/>
</collision>
</link>
<joint name="g_base_to_joint1" type="fixed">
<axis xyz="0 0 0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="g_base"/>
<child link="joint1"/>
<origin xyz= "0 0 0" rpy = "0 0 0"/>
</joint>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<origin xyz= "0 0 0.15756" rpy = "0 0 0"/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.0943" upper = "2.0943" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
</joint>
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="joint6"/>
<child link="joint6_flange"/>
<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>
</joint>
<joint name="joint6output_to_gripper_base" type="fixed">
<!-- <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
<parent link="joint6_flange"/>
<child link="gripper_base"/>
<origin xyz= "0 0 0.034" rpy = "1.579 0 0"/>
</joint>
<joint name="gripper_controller" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.7" upper = "0.15" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_left3"/>
<origin xyz= "-0.012 0.005 0" rpy = "0 0 0"/>
</joint>
<joint name="gripper_base_to_gripper_left2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.8" upper = "0.5" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_left2"/>
<origin xyz= "-0.005 0.027 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint>
<joint name="gripper_left3_to_gripper_left1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
<parent link="gripper_left3"/>
<child link="gripper_left1"/>
<origin xyz= "-0.027 0.016 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_base_to_gripper_right3" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.15" upper = "0.7" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_right3"/>
<origin xyz= "0.012 0.005 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_base_to_gripper_right2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.5" upper = "0.8" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_right2"/>
<origin xyz= "0.005 0.027 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_right3_to_gripper_right1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
<parent link="gripper_right3"/>
<child link="gripper_right1"/>
<origin xyz= "0.027 0.016 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint>
</robot>

372
mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_vertical.urdf Normal file
View file

@ -0,0 +1,372 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
<xacro:property name="width" value=".2" />
<link name="g_base">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/G_base.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.032" rpy = "0 0 1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/G_base.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.032" rpy = "0 0 1.5708"/>
</collision>
</link>
<link name="joint1">
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint1_jet.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 3.14159"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint1_jet.dae"/>
</geometry>
<origin xyz = "0.0 0 0" rpy = "0 0 3.14159"/>
</collision>
</link>
<link name="joint2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint2.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint2.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.06096" rpy = "0 0 -1.5708"/>
</collision>
</link>
<link name="joint3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint3.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint3.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03256" rpy = "0 -1.5708 0"/>
</collision>
</link>
<link name="joint4">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint4.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint4.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03056" rpy = "0 -1.5708 0"/>
</collision>
</link>
<link name="joint5">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356" rpy = "0 -1.5708 1.5708"/>
</collision>
</link>
<link name="joint6">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint6.dae"/>
</geometry>
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint6.dae"/>
</geometry>
<origin xyz = "0 0.00 -0.038" rpy = "0 0 0"/>
</collision>
</link>
<link name="joint6_flange">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint7.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint7.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012" rpy = "0 0 0"/>
</collision>
</link>
<link name="gripper_base">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_base.dae"/>
</geometry>
<origin xyz = "0.0 0.0077 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_base.dae"/>
</geometry>
<origin xyz = "0.0 0.0077 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_left1">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_left1.dae"/>
</geometry>
<origin xyz = "0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_left1.dae"/>
</geometry>
<origin xyz = "0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_left2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_left2.dae"/>
</geometry>
<origin xyz = "0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_left2.dae"/>
</geometry>
<origin xyz = "0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_left3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_left3.dae"/>
</geometry>
<origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_left3.dae"/>
</geometry>
<origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_right1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_right1.dae"/>
</geometry>
<origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_right1.dae"/>
</geometry>
<origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_right2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_right2.dae"/>
</geometry>
<origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_right2.dae"/>
</geometry>
<origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_right3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_right3.dae"/>
</geometry>
<origin xyz = "-0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_right3.dae"/>
</geometry>
<origin xyz = "-0.012 0.0025 -0.012" rpy = " 0 0 0"/>
</collision>
</link>
<joint name="g_base_to_joint1" type="fixed">
<axis xyz="0 0 0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="g_base"/>
<child link="joint1"/>
<origin xyz= "0 0 0" rpy = "0 0 0"/>
</joint>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "1.0"/>
<parent link="joint1"/>
<child link="joint2"/>
<origin xyz= "0 0 0.15756" rpy = "0 0 0"/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.0943" upper = "2.0943" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
</joint>
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="joint6"/>
<child link="joint6_flange"/>
<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>
</joint>
<joint name="joint6output_to_gripper_base" type="fixed">
<!-- <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
<parent link="joint6_flange"/>
<child link="gripper_base"/>
<origin xyz= "0 0 0.0139" rpy = "0 0 3.14159"/>
</joint>
<joint name="gripper_controller" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.7" upper = "0.15" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_left3"/>
<origin xyz= "-0.012 0.005 0" rpy = "0 0 0"/>
</joint>
<joint name="gripper_base_to_gripper_left2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.8" upper = "0.5" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_left2"/>
<origin xyz= "-0.005 0.027 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint>
<joint name="gripper_left3_to_gripper_left1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
<parent link="gripper_left3"/>
<child link="gripper_left1"/>
<origin xyz= "-0.027 0.016 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_base_to_gripper_right3" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.15" upper = "0.7" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_right3"/>
<origin xyz= "0.012 0.005 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_base_to_gripper_right2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.5" upper = "0.8" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_right2"/>
<origin xyz= "0.005 0.027 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_right3_to_gripper_right1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
<parent link="gripper_right3"/>
<child link="gripper_right1"/>
<origin xyz= "0.027 0.016 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint>
</robot>

227
mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn_camera_flange.urdf Normal file
View file

@ -0,0 +1,227 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
<xacro:property name="width" value=".2" />
<link name="g_base">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/G_base.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.032" rpy = "0 0 1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/G_base.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.032" rpy = "0 0 1.5708"/>
</collision>
</link>
<link name="joint1">
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint1_jet.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 3.14159"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint1_jet.dae"/>
</geometry>
<origin xyz = "0.0 0 0" rpy = "0 0 3.14159"/>
</collision>
</link>
<link name="joint2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint2.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint2.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.06096" rpy = "0 0 -1.5708"/>
</collision>
</link>
<link name="joint3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint3.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint3.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03256" rpy = "0 -1.5708 0"/>
</collision>
</link>
<link name="joint4">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint4.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint4.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03056" rpy = "0 -1.5708 0"/>
</collision>
</link>
<link name="joint5">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356" rpy = "0 -1.5708 1.5708"/>
</collision>
</link>
<link name="joint6">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint6.dae"/>
</geometry>
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint6.dae"/>
</geometry>
<origin xyz = "0 0.00 -0.038" rpy = "0 0 0"/>
</collision>
</link>
<link name="joint6_flange">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint7.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint7.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012" rpy = "0 0 0"/>
</collision>
</link>
<link name="camera_flange">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/camera_flange.dae"/>
</geometry>
<origin xyz = "0.024 -0.008 0.0 " rpy = " 0 3.14159 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/camera_flange.dae"/>
</geometry>
<origin xyz = "0.024 -0.008 0.0 " rpy = " 0 3.14159 0"/>
</collision>
</link>
<joint name="g_base_to_joint1" type="fixed">
<axis xyz="0 0 0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="g_base"/>
<child link="joint1"/>
<origin xyz= "0 0 0" rpy = "0 0 0"/>
</joint>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<origin xyz= "0 0 0.15756" rpy = "0 0 0"/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.0943" upper = "2.0943" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
</joint>
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="joint6"/>
<child link="joint6_flange"/>
<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>
</joint>
<joint name="joint6output_to_camera_flange" type="fixed">
<!-- <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
<parent link="joint6_flange"/>
<child link="camera_flange"/>
<!-- <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/> -->
<origin xyz= "0 0 0.01" rpy = "1.579 0 0"/>
</joint>
</robot>