diff --git a/urdf_test_ws/src/urdf_tutorial b/urdf_test_ws/src/urdf_tutorial deleted file mode 160000 index d19800467bd64aecce668fc293fda654a5b898d5..0000000000000000000000000000000000000000 --- a/urdf_test_ws/src/urdf_tutorial +++ /dev/null @@ -1 +0,0 @@ -Subproject commit d19800467bd64aecce668fc293fda654a5b898d5 diff --git a/urdf_test_ws/src/urdf_tutorial/CHANGELOG.rst b/urdf_test_ws/src/urdf_tutorial/CHANGELOG.rst new file mode 100644 index 0000000000000000000000000000000000000000..4b09eae3ce5cc1c93d86f261c9bc15ffe857d9a3 --- /dev/null +++ b/urdf_test_ws/src/urdf_tutorial/CHANGELOG.rst @@ -0,0 +1,75 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package urdf_tutorial +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.0.0 (2021-12-06) +------------------ +* Fixing a problem that failed the startup of launch file of this package on my ROS2 Galactic installation (`#53 <https://github.com/ros/urdf_tutorial/issues/53>`_) +* Rebasing Commits from ROS 1 Branch (`#51 <https://github.com/ros/urdf_tutorial/issues/51>`_) +* Updated launch file (`#50 <https://github.com/ros/urdf_tutorial/issues/50>`_) +* Updated rviz to rviz2 in package.xml (`#49 <https://github.com/ros/urdf_tutorial/issues/49>`_) +* Port over to ROS2 foxy (`#45 <https://github.com/ros/urdf_tutorial/issues/45>`_) +* Contributors: Arturs Elksnis, David V. Lu!!, Kuni Natsuki, Leo Stanislas + +0.2.5 (2017-04-28) +------------------ +* New ROS Control Tutorial +* Remove dependency on pr2_description (uses local meshes instead) +* General cleanup, bug fixes and reorganization +* Contributors: David V. Lu!!, Felix Duvallet, Paul Bovbel, Thibault Kruse + +0.2.4 (2015-04-24) +------------------ +* Maintainer list changes +* Add .rviz as an arg +* fix gazebo.launch for indigo, update to new package name +* Add run depends +* Contributors: David V. Lu, Ioan A Sucan, Isaac IY Saito, Kei Okada + +0.2.3 (2014-01-09) +------------------ +* Merge pull request `#7 <https://github.com/ros/urdf_tutorial/issues/7>`_ from gavanderhoorn/issue6_source_vs_devel_vs_install + Fix issue `#6 <https://github.com/ros/urdf_tutorial/issues/6>`_: No robot model when using display.launch (again) +* Setup new directory structure and move files around. +* Contributors: Ioan A Sucan, gavanderhoorn + +0.2.2 (2013-12-16) +------------------ +* Merge pull request `#5 <https://github.com/ros/urdf_tutorial/issues/5>`_ from gavanderhoorn/issue4_missing_robot_model_display + Fix issue `#4 <https://github.com/ros/urdf_tutorial/issues/4>`_: missing RobotModel display +* Make roslaunch stop all nodes on RViz exit. +* Update path to RViz config in display.launch. Fix `#4 <https://github.com/ros/urdf_tutorial/issues/4>`_. + Seems xacrodisplay.launch was already fixed, but somehow display.launch was not updated. See `#3 <https://github.com/ros/urdf_tutorial/issues/3>`_. +* fix `#3 <https://github.com/ros/urdf_tutorial/issues/3>`_ +* Contributors: Ioan Sucan, gavanderhoorn + +0.2.1 (2013-05-28 14:04) +------------------------ +* update package name and install location for compatibility with previous build system +* Contributors: Ioan Sucan + +0.2.0 (2013-05-28 13:47) +------------------------ +* catkinizing package +* Merge pull request `#1 <https://github.com/ros/urdf_tutorial/issues/1>`_ from ros-industrial/master + Rviz config file update +* Ported rviz config file to new groovy format. Updated launch files to use new config file +* Added tag unstable for changeset bd8da58ba34e +* Added tag robot_model_tutorials-0.1.2 for changeset 6ac373f839e0 +* getting ready for 0.1.2 release +* Added tag unstable for changeset dcec5b1f8ed8 +* Added tag robot_model_tutorials-0.1.1 for changeset e023b0707337 +* getting ready for 0.1.1 release +* Automated merge with https://kforge.ros.org/robotmodel/tutorials +* update stack dependencies +* Added tag unstable for changeset b22bbf7d7850 +* Added tag robot_model_tutorials-0.1.0 for changeset a0b3b46efc95 +* initial copy +* Updated meta-data, JointStatePublisher with merging ability +* Cleaning up some manifests +* URDF Tutorial +* Bug Fix 3101648 +* Joint Controller renamed and reworked as Joint_state_publisher +* Screenshot for Joint controller +* Initial URDF Tools Package +* Contributors: Ioan Sucan, Shaun Edwards, Wim Meeussen, isucan, probablydavid diff --git a/urdf_test_ws/src/urdf_tutorial/CMakeLists.txt b/urdf_test_ws/src/urdf_tutorial/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..d92f0a0793af053911fc0c4606ecea51d95fb23e --- /dev/null +++ b/urdf_test_ws/src/urdf_tutorial/CMakeLists.txt @@ -0,0 +1,32 @@ +cmake_minimum_required(VERSION 3.5) +project(urdf_tutorial) + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(ament_cmake_python REQUIRED) +find_package(rclcpp REQUIRED) +find_package(rclpy REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package(<dependency> REQUIRED) + +install( + DIRECTORY images launch meshes mesh rviz urdf scripts urdf_tutorial + DESTINATION share/${PROJECT_NAME} +) + +# Install Python modules +ament_python_install_package(${PROJECT_NAME}) + +# Install Python executables +install(PROGRAMS + scripts/my_state_publisher.py + DESTINATION lib/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() \ No newline at end of file diff --git a/urdf_test_ws/src/urdf_tutorial/LICENSE b/urdf_test_ws/src/urdf_tutorial/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..0d049d5b6b0bf5ab818c38729a4974a2984c18d7 --- /dev/null +++ b/urdf_test_ws/src/urdf_tutorial/LICENSE @@ -0,0 +1,28 @@ + Software License Agreement (BSD License) + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions + are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above + copyright notice, this list of conditions and the following + disclaimer in the documentation and/or other materials provided + with the distribution. + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. diff --git a/urdf_test_ws/src/urdf_tutorial/README.md b/urdf_test_ws/src/urdf_tutorial/README.md new file mode 100644 index 0000000000000000000000000000000000000000..ecf8ec13fbf4a666d31d6e945dca2d4b8694c74c --- /dev/null +++ b/urdf_test_ws/src/urdf_tutorial/README.md @@ -0,0 +1,11 @@ +# urdf_tutorial: Learning URDF Step by Step + + 1. [Building a Visual Robot Model with URDF from Scratch](https://docs.ros.org/en/rolling/Tutorials/URDF/Building-a-Visual-Robot-Model-with-URDF-from-Scratch.html) - Learn how to build a visual model of a robot that you can view in Rviz + + 1. [Building a Movable Robot Model with URDF](https://docs.ros.org/en/rolling/Tutorials/URDF/Building-a-Movable-Robot-Model-with-URDF.html) - Learn how to define movable joints in URDF + + 1. [Adding Physical and Collision Properties to a URDF Model](https://docs.ros.org/en/rolling/Tutorials/URDF/Adding-Physical-and-Collision-Properties-to-a-URDF-Model.html) - Learn how to add collision and inertial properties to links, and how to add joint dynamics to joints. + + 1. [Using Xacro to Clean Up a URDF File](https://docs.ros.org/en/rolling/Tutorials/URDF/Using-Xacro-to-Clean-Up-a-URDF-File.html) - Learn some tricks to reduce the amount of code in a URDF file using Xacro + +See also [urdf_sim_tutorial](https://github.com/ros/urdf_sim_tutorial) for the final tutorial: [Using a URDF in Gazebo](https://wiki.ros.org/urdf/Tutorials/Using%20a%20URDF%20in%20Gazebo) - Preliminary tutorial on how to spawn and control your robot in Gazebo. diff --git a/urdf_test_ws/src/urdf_tutorial/images/flexible.png b/urdf_test_ws/src/urdf_tutorial/images/flexible.png new file mode 100644 index 0000000000000000000000000000000000000000..ecd34fa872ad97c2b0ccbd14fa3f5956dc9e2b3f Binary files /dev/null and b/urdf_test_ws/src/urdf_tutorial/images/flexible.png differ diff --git a/urdf_test_ws/src/urdf_tutorial/images/materials.png b/urdf_test_ws/src/urdf_tutorial/images/materials.png new file mode 100644 index 0000000000000000000000000000000000000000..4769159b178f0d6a33131174a869fae35d3fa591 Binary files /dev/null and b/urdf_test_ws/src/urdf_tutorial/images/materials.png differ diff --git a/urdf_test_ws/src/urdf_tutorial/images/multipleshapes.png b/urdf_test_ws/src/urdf_tutorial/images/multipleshapes.png new file mode 100644 index 0000000000000000000000000000000000000000..b244e37149af6355c83c6e3dd49eb28e0f216322 Binary files /dev/null and b/urdf_test_ws/src/urdf_tutorial/images/multipleshapes.png differ diff --git a/urdf_test_ws/src/urdf_tutorial/images/myfirst.png b/urdf_test_ws/src/urdf_tutorial/images/myfirst.png new file mode 100644 index 0000000000000000000000000000000000000000..91ace05fb1ae6bd302a53a7342c5fb45a9f38ffe Binary files /dev/null and b/urdf_test_ws/src/urdf_tutorial/images/myfirst.png differ diff --git a/urdf_test_ws/src/urdf_tutorial/images/origins.png b/urdf_test_ws/src/urdf_tutorial/images/origins.png new file mode 100644 index 0000000000000000000000000000000000000000..01e54df142a02b94217c72babfe783b12807c873 Binary files /dev/null and b/urdf_test_ws/src/urdf_tutorial/images/origins.png differ diff --git a/urdf_test_ws/src/urdf_tutorial/images/visual.png b/urdf_test_ws/src/urdf_tutorial/images/visual.png new file mode 100644 index 0000000000000000000000000000000000000000..bafcbe0d0b30a82d7af3051610362711199a5b0e Binary files /dev/null and b/urdf_test_ws/src/urdf_tutorial/images/visual.png differ diff --git a/urdf_test_ws/src/urdf_tutorial/launch/display.launch.py b/urdf_test_ws/src/urdf_tutorial/launch/display.launch.py new file mode 100644 index 0000000000000000000000000000000000000000..a38f025fb273e1fde75977a9080113c387e8c1fc --- /dev/null +++ b/urdf_test_ws/src/urdf_tutorial/launch/display.launch.py @@ -0,0 +1,74 @@ +from ament_index_python.packages import get_package_share_path + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition, UnlessCondition +from launch.substitutions import Command, LaunchConfiguration + +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterValue + +def generate_launch_description(): + urdf_tutorial_path = get_package_share_path('urdf_tutorial') + default_model_path = urdf_tutorial_path / 'urdf/main.urdf.xacro' + default_rviz_config_path = urdf_tutorial_path / 'rviz/urdf.rviz' + + gui_arg = DeclareLaunchArgument(name='gui', default_value='true', choices=['true', 'false'], + description='Flag to enable joint_state_publisher_gui') + model_arg = DeclareLaunchArgument(name='model', default_value=str(default_model_path), + description='Absolute path to robot urdf file') + rviz_arg = DeclareLaunchArgument(name='rvizconfig', default_value=str(default_rviz_config_path), + description='Absolute path to rviz config file') + + robot_description = ParameterValue(Command(['xacro ', LaunchConfiguration('model')]), + value_type=str) + + robot_state_publisher_node = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + parameters=[{'robot_description': robot_description}] + ) + + # Depending on gui parameter, either launch joint_state_publisher or joint_state_publisher_gui + joint_state_publisher_node = Node( + package='joint_state_publisher', + executable='joint_state_publisher', + condition=UnlessCondition(LaunchConfiguration('gui')) + ) + + # joint_state_publisher_gui_node = Node( + # package='joint_state_publisher_gui', + # executable='joint_state_publisher_gui', + # condition=IfCondition(LaunchConfiguration('gui')) + # ) + joint_state_publisher_gui_node = Node( + package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', + condition=UnlessCondition(LaunchConfiguration('gui')) + ) + + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz2', + output='screen', + arguments=['-d', LaunchConfiguration('rvizconfig')], + ) + + my_state_publisher_node = Node( + package='urdf_tutorial', + executable='my_state_publisher.py', + name='my_state_publisher', + output='screen', + ) + + return LaunchDescription([ + gui_arg, + model_arg, + rviz_arg, + joint_state_publisher_node, + joint_state_publisher_gui_node, + robot_state_publisher_node, + rviz_node, + my_state_publisher_node, + ]) diff --git a/urdf_test_ws/src/urdf_tutorial/mesh/base.stl b/urdf_test_ws/src/urdf_tutorial/mesh/base.stl new file mode 100644 index 0000000000000000000000000000000000000000..75e4b4f525d471b67ab17a363d5a2689fc387731 Binary files /dev/null and b/urdf_test_ws/src/urdf_tutorial/mesh/base.stl differ diff --git a/urdf_test_ws/src/urdf_tutorial/mesh/rim.stl b/urdf_test_ws/src/urdf_tutorial/mesh/rim.stl new file mode 100644 index 0000000000000000000000000000000000000000..cdf28650cd501856c263331c2c4bd48e5d76f01e Binary files /dev/null and b/urdf_test_ws/src/urdf_tutorial/mesh/rim.stl differ diff --git a/urdf_test_ws/src/urdf_tutorial/mesh/roller.stl b/urdf_test_ws/src/urdf_tutorial/mesh/roller.stl new file mode 100644 index 0000000000000000000000000000000000000000..71c3591c7e9f89a49f5fdd3944463b0f3bac5897 Binary files /dev/null and b/urdf_test_ws/src/urdf_tutorial/mesh/roller.stl differ diff --git a/urdf_test_ws/src/urdf_tutorial/meshes/l_finger.dae b/urdf_test_ws/src/urdf_tutorial/meshes/l_finger.dae new file mode 100644 index 0000000000000000000000000000000000000000..4496fe88b63b78d8753ba213e677d1976b406c6c --- /dev/null +++ b/urdf_test_ws/src/urdf_tutorial/meshes/l_finger.dae @@ -0,0 +1,197 @@ +<?xml version="1.0" encoding="utf-8"?> +<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> + <asset> + <contributor> + <author>WakiMudi</author> + <authoring_tool>OpenCOLLADA2009 x64</authoring_tool> + <comments> + ColladaMaya export options: + bakeTransforms=0;relativePaths=0;copyTextures=0;exportTriangles=0;exportCgfxFileReferences=1; + 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85 618 87 638 79 796 411 750 406 801 383 865 1317 855 1318 864 1320 155 1089 152 1099 157 1095 669 898 696 894 701 897 696 894 716 882 701 897 813 1091 795 1085 799 1078 484 207 489 182 437 194 916 1363 913 1364 920 1365 920 606 913 622 889 634 523 453 512 460 496 466 115 557 126 550 111 542 100 1125 114 1120 113 1116 131 756 114 786 118 772 112 1104 115 1110 99 1115 277 498 185 511 252 503 939 851 929 820 932 832 801 383 869 403 796 411 509 765 542 737 495 749 301 301 256 288 264 313 295 532 264 546 246 538 244 287 234 312 256 288 234 312 244 287 222 300 234 312 222 300 215 328 241 268 272 258 247 279 167 327 139 340 215 328 167 327 215 328 191 299 241 268 247 279 229 289 220 290 229 289 186 316 341 356 351 335 338 345 141 319 186 316 148 342 190 826 214 798 135 815 228 816 235 799 214 798 84 1238 94 1242 82 1240 567 442 522 454 514 459 432 468 372 478 440 467 375 680 386 678 429 677 543 444 668 436 544 455 308 1366 301 1367 309 1368 788 762 785 776 841 791 613 22 640 12 616 13 623 2 648 1 625 4 332 1164 328 1160 327 1162 368 479 372 478 432 468 522 454 432 468 440 467</p> + </triangles> + </mesh> + <extra> + <technique profile="OpenCOLLADAMaya"> + <originalMayaNodeId>finger_M2K_modShape</originalMayaNodeId> + <double_sided>1</double_sided> + </technique> + </extra> + </geometry> + </library_geometries> + <library_visual_scenes> + <visual_scene id="VisualSceneNode" name="finger1c_med2"> + <node id="finger_M2K_mod" name="finger_M2K_mod" type="NODE"> + <translate sid="translate">0 0 0</translate> + <rotate sid="rotateZ">0 0 1 0</rotate> + <rotate sid="rotateY">0 1 0 0</rotate> + <rotate sid="rotateX">1 0 0 0</rotate> + <scale sid="scale">0.1 0.1 0.10125</scale> + <instance_geometry url="#finger_M2K_modShape"> + <bind_material> + <technique_common> + <instance_material symbol="lambert3SG" target="#lambert3"> + <bind_vertex_input semantic="TEX0" input_semantic="TEXCOORD" input_set="0"/> + <bind_vertex_input semantic="TEX1" input_semantic="TEXCOORD" input_set="0"/> + 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136 497 136 497 142 506 156 507 142 506 163 514 156 507 163 514 182 519 156 507 156 507 182 519 173 515 173 746 182 744 190 742 182 744 208 736 190 742 190 742 208 736 211 738 372 239 363 245 365 242 363 757 344 758 365 759 363 245 350 255 344 260 350 72 337 75 344 77 337 662 307 659 344 661 337 75 321 71 307 74 307 74 321 71 296 67 296 67 160 70 307 74 130 660 161 654 129 658 129 658 161 654 160 656 298 155 161 152 299 149 127 486 133 495 126 491 132 500 133 495 127 486 148 503 133 495 132 500 148 503 150 509 133 495 172 511 150 509 148 503 176 516 150 509 172 511 206 619 200 633 195 626 195 626 200 633 172 637 200 633 176 636 172 637 222 343 311 348 219 354 311 348 306 360 219 354 306 360 331 373 214 361 219 354 306 360 214 361 212 621 326 602 221 618 319 627 326 602 212 621 218 374 319 386 212 395 331 373 319 386 218 374 214 361 331 373 218 374 304 613 344 607 206 619 221 618 304 613 206 619 326 602 304 613 221 618 381 724 383 733 390 728 383 623 351 620 404 615 404 615 351 620 400 609 351 620 382 610 400 609 382 610 324 616 380 604 373 605 324 616 338 617 380 604 324 616 373 605 352 727 349 732 381 724 381 724 349 732 383 733 349 629 351 620 383 623 351 620 324 616 382 610 308 731 349 732 352 727 314 740 349 732 308 731 314 630 351 620 349 629 314 630 305 624 351 620 351 620 305 624 324 616 315 726 208 736 308 731 211 738 208 736 315 726 210 625 176 636 200 633 210 625 177 635 176 636 150 509 176 516 177 517 164 512 150 509 177 517 157 518 143 505 164 512 126 491 133 495 128 496 133 495 143 505 128 496 133 495 150 509 143 505 216 639 187 640 220 631 187 640 203 632 220 631 164 643 178 646 157 647 187 640 178 646 164 643 187 640 198 645 178 646 178 747 198 743 182 744 198 743 208 736 182 744 198 743 223 739 208 736 163 514 154 513 182 519 142 506 154 513 163 514 178 520 182 519 154 513 157 518 178 520 154 513 223 739 198 743 216 745 210 625 203 632 177 635 143 505 150 509 164 512 143 505 142 506 128 496 143 505 154 513 142 506 157 518 154 513 143 505 177 635 187 640 164 643 177 635 203 632 187 640 187 640 216 639 198 645 161 654 338 648 200 655 298 653 338 648 161 654 161 654 200 655 160 656 160 656 200 655 206 657 307 659 160 656 206 657 344 661 307 659 206 657 308 731 208 736 223 739 308 731 223 739 314 740 223 642 216 639 314 630 314 630 216 639 220 631 314 630 220 631 305 624 305 624 220 631 324 616 324 616 220 631 203 632 203 632 210 625 324 616 324 616 210 625 338 617 210 625 200 633 338 617 102 101 94 98 81 97 110 104 102 101 83 99 94 98 102 101 183 105 110 196 231 201 192 204 230 111 192 107 231 115 102 101 192 107 230 111 102 760 230 761 188 762 235 763 188 762 230 761 102 764 188 765 235 766 102 767 235 768 183 769 228 108 183 105 235 112 94 98 183 105 228 108</p> + </triangles> + </mesh> + <extra> + <technique profile="OpenCOLLADAMaya"> + <originalMayaNodeId>finger_tip_MShape</originalMayaNodeId> + <double_sided>1</double_sided> + </technique> + </extra> + </geometry> + </library_geometries> + <library_visual_scenes> + <visual_scene id="VisualSceneNode" name="finger_tip1c_med2"> + <node id="finger_tip_M" name="finger_tip_M" type="NODE"> + <translate sid="translate">0 0 0</translate> + <rotate sid="rotateZ">0 0 1 0</rotate> + <rotate sid="rotateY">0 1 0 0</rotate> + <rotate sid="rotateX">1 0 0 0</rotate> + <scale sid="scale">0.1 0.1 0.1</scale> + <instance_geometry url="#finger_tip_MShape"> + <bind_material> + <technique_common> + <instance_material symbol="lambert3SG" target="#lambert3"> + <bind_vertex_input semantic="TEX0" input_semantic="TEXCOORD" input_set="0"/> + <bind_vertex_input semantic="TEX1" input_semantic="TEXCOORD" input_set="0"/> + </instance_material> + </technique_common> + </bind_material> + </instance_geometry> + <extra> + <technique profile="OpenCOLLADAMaya"> + <originalMayaNodeId>finger_tip_M</originalMayaNodeId> + </technique> + </extra> + </node> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#VisualSceneNode"/> + </scene> +</COLLADA> diff --git a/urdf_test_ws/src/urdf_tutorial/meshes/l_finger_tip_color.png b/urdf_test_ws/src/urdf_tutorial/meshes/l_finger_tip_color.png new file mode 100644 index 0000000000000000000000000000000000000000..a4cb89b9764a60479d3aae98816992c478916c82 Binary files /dev/null and b/urdf_test_ws/src/urdf_tutorial/meshes/l_finger_tip_color.png differ diff --git a/urdf_test_ws/src/urdf_tutorial/package.xml b/urdf_test_ws/src/urdf_tutorial/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..eb318a33a15169bc63f1b5f3a26e1122c3ad3302 --- /dev/null +++ b/urdf_test_ws/src/urdf_tutorial/package.xml @@ -0,0 +1,31 @@ +<?xml version="1.0"?> +<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> +<package format="3"> + <name>urdf_tutorial</name> + <version>1.0.0</version> + + <description>This package contains a number of URDF tutorials.</description> + <author email="davidvlu@gmail.com">David V. Lu!!</author> + + <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer> + + <license>BSD</license> + <url>http://ros.org/wiki/urdf_tutorial</url> + + <buildtool_depend>ament_cmake</buildtool_depend> + <buildtool_depend>ament_cmake_python</buildtool_depend> + + <exec_depend>rclcpp</exec_depend> + <exec_depend>rclpy</exec_depend> + <exec_depend>joint_state_publisher</exec_depend> + <exec_depend>joint_state_publisher_gui</exec_depend> + <exec_depend>robot_state_publisher</exec_depend> + <exec_depend>rviz2</exec_depend> + <exec_depend>xacro</exec_depend> + + <test_depend>ament_lint_auto</test_depend> + + <export> + <build_type>ament_cmake</build_type> + </export> +</package> diff --git a/urdf_test_ws/src/urdf_tutorial/rviz/urdf.rviz b/urdf_test_ws/src/urdf_tutorial/rviz/urdf.rviz new file mode 100644 index 0000000000000000000000000000000000000000..deddb488f8ba64c26d41660e3d7967bc6e57fd08 --- /dev/null +++ b/urdf_test_ws/src/urdf_tutorial/rviz/urdf.rviz @@ -0,0 +1,40 @@ +Panels: + - Class: rviz_common/Displays + Name: Displays + - Class: rviz_common/Views + Name: Views +Visualization Manager: + Class: "" + Displays: + - Class: rviz_default_plugins/Grid + Name: Grid + Value: true + - Alpha: 0.8 + Class: rviz_default_plugins/RobotModel + Description Source: Topic + Description Topic: + Value: /robot_description + Enabled: true + Name: RobotModel + Value: true + - Class: rviz_default_plugins/TF + Name: TF + Value: true + Global Options: + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/MoveCamera + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 1.7 + Name: Current View + Pitch: 0.33 + Value: Orbit (rviz) + Yaw: 5.5 +Window Geometry: + Height: 800 + Width: 1200 diff --git a/urdf_test_ws/src/urdf_tutorial/scripts/my_state_publisher.py b/urdf_test_ws/src/urdf_tutorial/scripts/my_state_publisher.py new file mode 100755 index 0000000000000000000000000000000000000000..1f505f58fdd56645da983d08b9dd351831f6d00c --- /dev/null +++ b/urdf_test_ws/src/urdf_tutorial/scripts/my_state_publisher.py @@ -0,0 +1,128 @@ +#!/usr/bin/env python3 +from math import sin, cos, pi +import rclpy +from rclpy.node import Node +from rclpy.qos import QoSProfile +from geometry_msgs.msg import Quaternion +from sensor_msgs.msg import JointState +from tf2_ros import TransformBroadcaster, TransformStamped + +class StatePublisher(Node): + + def __init__(self): + rclpy.init() + super().__init__('state_publisher') + + qos_profile = QoSProfile(depth=10) + self.joint_pub = self.create_publisher(JointState, 'joint_states', qos_profile) + # self.broadcaster = TransformBroadcaster(self, qos=qos_profile) + self.nodeName = self.get_name() + self.get_logger().info("{0} started".format(self.nodeName)) + + degree = pi / 180.0 + loop_rate = self.create_rate(30) + + # robot state + back_wheel_angle = 0.0 + left_wheel_angle = 0. + # right_wheel_angle = 0.0 + + # message declarations + # odom_trans = TransformStamped() + # odom_trans.header.frame_id = 'odom' + # odom_trans.child_frame_id = 'axis' + joint_state = JointState() + + try: + while rclpy.ok(): + rclpy.spin_once(self) + + # update joint_state + now = self.get_clock().now() + joint_state.header.stamp = now.to_msg() + joint_state.name = [ + 'rim_back_joint', + 'roller_n_rim_back_link', + 'roller_nw_rim_back_link', + 'roller_w_rim_back_link', + 'roller_sw_rim_back_link', + 'roller_s_rim_back_link', + 'roller_se_rim_back_link', + 'roller_e_rim_back_link', + 'roller_ne_rim_back_link', + # + 'rim_left_joint', + 'roller_n_rim_left_link', + 'roller_nw_rim_left_link', + 'roller_w_rim_left_link', + 'roller_sw_rim_left_link', + 'roller_s_rim_left_link', + 'roller_se_rim_left_link', + 'roller_e_rim_left_link', + 'roller_ne_rim_left_link', + # + 'rim_right_joint', + 'roller_n_rim_right_link', + 'roller_nw_rim_right_link', + 'roller_w_rim_right_link', + 'roller_sw_rim_right_link', + 'roller_s_rim_right_link', + 'roller_se_rim_right_link', + 'roller_e_rim_right_link', + 'roller_ne_rim_right_link',] + joint_state.position =[ + back_wheel_angle, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + left_wheel_angle, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + right_wheel_angle, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + ] + + # update transform + # (moving in a circle with radius=2) + # odom_trans.header.stamp = now.to_msg() + # odom_trans.transform.translation.x = 0. + # odom_trans.transform.translation.y = 0. + # odom_trans.transform.translation.z = 0. + # odom_trans.transform.rotation = 0. + + # send the joint state and transform + self.joint_pub.publish(joint_state) + # self.broadcaster.sendTransform(odom_trans) + + # Create new robot state + back_wheel_angle += degree/4 + + # This will adjust as needed per iteration + loop_rate.sleep() + + except KeyboardInterrupt: + pass + +def main(): + node = StatePublisher() + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/urdf_test_ws/src/urdf_tutorial/urdf/01-myfirst.urdf b/urdf_test_ws/src/urdf_tutorial/urdf/01-myfirst.urdf new file mode 100644 index 0000000000000000000000000000000000000000..4180a5ced90f04cac0b4fb92a9f161f2b33930ee --- /dev/null +++ b/urdf_test_ws/src/urdf_tutorial/urdf/01-myfirst.urdf @@ -0,0 +1,10 @@ +<?xml version="1.0"?> +<robot name="myfirst"> + <link name="base_link"> + <visual> + <geometry> + <cylinder length="0.6" radius="0.2"/> + </geometry> + </visual> + </link> +</robot> diff --git a/urdf_test_ws/src/urdf_tutorial/urdf/02-multipleshapes.urdf b/urdf_test_ws/src/urdf_tutorial/urdf/02-multipleshapes.urdf new file mode 100644 index 0000000000000000000000000000000000000000..377ba624fd840cb31e168555395a770fcb81c238 --- /dev/null +++ b/urdf_test_ws/src/urdf_tutorial/urdf/02-multipleshapes.urdf @@ -0,0 +1,24 @@ +<?xml version="1.0"?> +<robot name="multipleshapes"> + <link name="base_link"> + <visual> + <geometry> + <cylinder length="0.6" radius="0.2"/> + </geometry> + </visual> + </link> + + <link name="right_leg"> + <visual> + <geometry> + <box size="0.6 0.1 0.2"/> + </geometry> + </visual> + </link> + + <joint name="base_to_right_leg" type="fixed"> + <parent link="base_link"/> + <child link="right_leg"/> + </joint> + +</robot> diff --git a/urdf_test_ws/src/urdf_tutorial/urdf/03-origins.urdf b/urdf_test_ws/src/urdf_tutorial/urdf/03-origins.urdf new file mode 100644 index 0000000000000000000000000000000000000000..789480929a2191054fbb3043e7f626d3c8167860 --- /dev/null +++ b/urdf_test_ws/src/urdf_tutorial/urdf/03-origins.urdf @@ -0,0 +1,26 @@ +<?xml version="1.0"?> +<robot name="origins"> + <link name="base_link"> + <visual> + <geometry> + <cylinder length="0.6" radius="0.2"/> + </geometry> + </visual> + </link> + + <link name="right_leg"> + <visual> + <geometry> + <box size="0.6 0.1 0.2"/> + </geometry> + <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/> + </visual> + </link> + + <joint name="base_to_right_leg" type="fixed"> + <parent link="base_link"/> + <child link="right_leg"/> + <origin xyz="0 -0.22 0.25"/> + </joint> + +</robot> diff --git a/urdf_test_ws/src/urdf_tutorial/urdf/04-materials.urdf b/urdf_test_ws/src/urdf_tutorial/urdf/04-materials.urdf new file mode 100644 index 0000000000000000000000000000000000000000..f8ee6fff7f414f7ae295d63e07be615bb3d14559 --- /dev/null +++ b/urdf_test_ws/src/urdf_tutorial/urdf/04-materials.urdf @@ -0,0 +1,54 @@ +<?xml version="1.0"?> +<robot name="materials"> + + <material name="blue"> + <color rgba="0 0 0.8 1"/> + </material> + + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + + + <link name="base_link"> + <visual> + <geometry> + <cylinder length="0.6" radius="0.2"/> + </geometry> + <material name="blue"/> + </visual> + </link> + + <link name="right_leg"> + <visual> + <geometry> + <box size="0.6 0.1 0.2"/> + </geometry> + <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/> + <material name="white"/> + </visual> + </link> + + <joint name="base_to_right_leg" type="fixed"> + <parent link="base_link"/> + <child link="right_leg"/> + <origin xyz="0 -0.22 0.25"/> + </joint> + + <link name="left_leg"> + <visual> + <geometry> + <box size="0.6 0.1 0.2"/> + </geometry> + <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/> + <material name="white"/> + </visual> + </link> + + <joint name="base_to_left_leg" type="fixed"> + <parent link="base_link"/> + <child link="left_leg"/> + <origin xyz="0 0.22 0.25"/> + </joint> + +</robot> diff --git a/urdf_test_ws/src/urdf_tutorial/urdf/05-visual.urdf b/urdf_test_ws/src/urdf_tutorial/urdf/05-visual.urdf new file mode 100644 index 0000000000000000000000000000000000000000..784316dd0b478d4ddb352d83959d4d6b14e58fe0 --- /dev/null +++ b/urdf_test_ws/src/urdf_tutorial/urdf/05-visual.urdf @@ -0,0 +1,245 @@ +<?xml version="1.0"?> +<robot name="visual"> + +<material name="blue"> + <color rgba="0 0 0.8 1"/> + </material> + <material name="black"> + <color rgba="0 0 0 1"/> + </material> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + + <link name="base_link"> + <visual> + <geometry> + <cylinder length="0.6" radius="0.2"/> + </geometry> + <material name="blue"/> + </visual> + </link> + + <link name="right_leg"> + <visual> + <geometry> + <box size="0.6 0.1 0.2"/> + </geometry> + <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/> + <material name="white"/> + </visual> + </link> + + <joint name="base_to_right_leg" type="fixed"> + <parent link="base_link"/> + <child link="right_leg"/> + <origin xyz="0 -0.22 0.25"/> + </joint> + + <link name="right_base"> + <visual> + <geometry> + <box size="0.4 0.1 0.1"/> + </geometry> + <material name="white"/> + </visual> + </link> + + <joint name="right_base_joint" type="fixed"> + <parent link="right_leg"/> + <child link="right_base"/> + <origin xyz="0 0 -0.6"/> + </joint> + + <link name="right_front_wheel"> + <visual> + <origin rpy="1.57075 0 0" xyz="0 0 0"/> + <geometry> + <cylinder length="0.1" radius="0.035"/> + </geometry> + <material name="black"/> + </visual> + </link> + <joint name="right_front_wheel_joint" type="fixed"> + <parent link="right_base"/> + <child link="right_front_wheel"/> + <origin rpy="0 0 0" xyz="0.133333333333 0 -0.085"/> + </joint> + + <link name="right_back_wheel"> + <visual> + <origin rpy="1.57075 0 0" xyz="0 0 0"/> + <geometry> + <cylinder length="0.1" radius="0.035"/> + </geometry> + <material name="black"/> + </visual> + </link> + <joint name="right_back_wheel_joint" type="fixed"> + <parent link="right_base"/> + <child link="right_back_wheel"/> + <origin rpy="0 0 0" xyz="-0.133333333333 0 -0.085"/> + </joint> + + <link name="left_leg"> + <visual> + <geometry> + <box size="0.6 0.1 0.2"/> + </geometry> + <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/> + <material name="white"/> + </visual> + </link> + + <joint name="base_to_left_leg" type="fixed"> + <parent link="base_link"/> + <child link="left_leg"/> + <origin xyz="0 0.22 0.25"/> + </joint> + + <link name="left_base"> + <visual> + <geometry> + <box size="0.4 0.1 0.1"/> + </geometry> + <material name="white"/> + </visual> + </link> + + <joint name="left_base_joint" type="fixed"> + <parent link="left_leg"/> + <child link="left_base"/> + <origin xyz="0 0 -0.6"/> + </joint> + + <link name="left_front_wheel"> + <visual> + <origin rpy="1.57075 0 0" xyz="0 0 0"/> + <geometry> + <cylinder length="0.1" radius="0.035"/> + </geometry> + <material name="black"/> + </visual> + </link> + <joint name="left_front_wheel_joint" type="fixed"> + <parent link="left_base"/> + <child link="left_front_wheel"/> + <origin rpy="0 0 0" xyz="0.133333333333 0 -0.085"/> + </joint> + + <link name="left_back_wheel"> + <visual> + <origin rpy="1.57075 0 0" xyz="0 0 0"/> + <geometry> + <cylinder length="0.1" radius="0.035"/> + </geometry> + <material name="black"/> + </visual> + </link> + <joint name="left_back_wheel_joint" type="fixed"> + <parent link="left_base"/> + <child link="left_back_wheel"/> + <origin rpy="0 0 0" xyz="-0.133333333333 0 -0.085"/> + </joint> + + <joint name="gripper_extension" type="fixed"> + <parent link="base_link"/> + <child link="gripper_pole"/> + <origin rpy="0 0 0" xyz="0.19 0 0.2"/> + </joint> + + <link name="gripper_pole"> + <visual> + <geometry> + <cylinder length="0.2" radius="0.01"/> + </geometry> + <origin rpy="0 1.57075 0 " xyz="0.1 0 0"/> + </visual> + </link> + + <joint name="left_gripper_joint" type="fixed"> + <origin rpy="0 0 0" xyz="0.2 0.01 0"/> + <parent link="gripper_pole"/> + <child link="left_gripper"/> + </joint> + + <link name="left_gripper"> + <visual> + <origin rpy="0.0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/> + </geometry> + </visual> + </link> + + <joint name="left_tip_joint" type="fixed"> + <parent link="left_gripper"/> + <child link="left_tip"/> + </joint> + + <link name="left_tip"> + <visual> + <origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/> + <geometry> + <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/> + </geometry> + </visual> + </link> + <joint name="right_gripper_joint" type="fixed"> + <origin rpy="0 0 0" xyz="0.2 -0.01 0"/> + <parent link="gripper_pole"/> + <child link="right_gripper"/> + </joint> + + <link name="right_gripper"> + <visual> + <origin rpy="-3.1415 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/> + </geometry> + </visual> + </link> + + <joint name="right_tip_joint" type="fixed"> + <parent link="right_gripper"/> + <child link="right_tip"/> + </joint> + + <link name="right_tip"> + <visual> + <origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/> + <geometry> + <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/> + </geometry> + </visual> + </link> + + <link name="head"> + <visual> + <geometry> + <sphere radius="0.2"/> + </geometry> + <material name="white"/> + </visual> + </link> + <joint name="head_swivel" type="fixed"> + <parent link="base_link"/> + <child link="head"/> + <origin xyz="0 0 0.3"/> + </joint> + + <link name="box"> + <visual> + <geometry> + <box size="0.08 0.08 0.08"/> + </geometry> + <material name="blue"/> + </visual> + </link> + + <joint name="tobox" type="fixed"> + <parent link="head"/> + <child link="box"/> + <origin xyz="0.1814 0 0.1414"/> + </joint> +</robot> diff --git a/urdf_test_ws/src/urdf_tutorial/urdf/06-flexible.urdf b/urdf_test_ws/src/urdf_tutorial/urdf/06-flexible.urdf new file mode 100644 index 0000000000000000000000000000000000000000..b525a2599227335f3cfd40ff21ff76391e1a5b43 --- /dev/null +++ b/urdf_test_ws/src/urdf_tutorial/urdf/06-flexible.urdf @@ -0,0 +1,255 @@ +<?xml version="1.0"?> +<robot name="visual"> + +<material name="blue"> + <color rgba="0 0 0.8 1"/> + </material> + <material name="black"> + <color rgba="0 0 0 1"/> + </material> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + + <link name="base_link"> + <visual> + <geometry> + <cylinder length="0.6" radius="0.2"/> + </geometry> + <material name="blue"/> + </visual> + </link> + + <link name="right_leg"> + <visual> + <geometry> + <box size="0.6 0.1 0.2"/> + </geometry> + <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/> + <material name="white"/> + </visual> + </link> + + <joint name="base_to_right_leg" type="fixed"> + <parent link="base_link"/> + <child link="right_leg"/> + <origin xyz="0 -0.22 0.25"/> + </joint> + + <link name="right_base"> + <visual> + <geometry> + <box size="0.4 0.1 0.1"/> + </geometry> + <material name="white"/> + </visual> + </link> + + <joint name="right_base_joint" type="fixed"> + <parent link="right_leg"/> + <child link="right_base"/> + <origin xyz="0 0 -0.6"/> + </joint> + + <link name="right_front_wheel"> + <visual> + <origin rpy="1.57075 0 0" xyz="0 0 0"/> + <geometry> + <cylinder length="0.1" radius="0.035"/> + </geometry> + <material name="black"/> + </visual> + </link> + <joint name="right_front_wheel_joint" type="continuous"> + <axis rpy="0 0 0" xyz="0 1 0"/> + <parent link="right_base"/> + <child link="right_front_wheel"/> + <origin rpy="0 0 0" xyz="0.133333333333 0 -0.085"/> + </joint> + + <link name="right_back_wheel"> + <visual> + <origin rpy="1.57075 0 0" xyz="0 0 0"/> + <geometry> + <cylinder length="0.1" radius="0.035"/> + </geometry> + <material name="black"/> + </visual> + </link> + <joint name="right_back_wheel_joint" type="continuous"> + <axis rpy="0 0 0" xyz="0 1 0"/> + <parent link="right_base"/> + <child link="right_back_wheel"/> + <origin rpy="0 0 0" xyz="-0.133333333333 0 -0.085"/> + </joint> + + <link name="left_leg"> + <visual> + <geometry> + <box size="0.6 0.1 0.2"/> + </geometry> + <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/> + <material name="white"/> + </visual> + </link> + + <joint name="base_to_left_leg" type="fixed"> + <parent link="base_link"/> + <child link="left_leg"/> + <origin xyz="0 0.22 0.25"/> + </joint> + + <link name="left_base"> + <visual> + <geometry> + <box size="0.4 0.1 0.1"/> + </geometry> + <material name="white"/> + </visual> + </link> + + <joint name="left_base_joint" type="fixed"> + <parent link="left_leg"/> + <child link="left_base"/> + <origin xyz="0 0 -0.6"/> + </joint> + + <link name="left_front_wheel"> + <visual> + <origin rpy="1.57075 0 0" xyz="0 0 0"/> + <geometry> + <cylinder length="0.1" radius="0.035"/> + </geometry> + <material name="black"/> + </visual> + </link> + <joint name="left_front_wheel_joint" type="continuous"> + <axis rpy="0 0 0" xyz="0 1 0"/> + <parent link="left_base"/> + <child link="left_front_wheel"/> + <origin rpy="0 0 0" xyz="0.133333333333 0 -0.085"/> + </joint> + + <link name="left_back_wheel"> + <visual> + <origin rpy="1.57075 0 0" xyz="0 0 0"/> + <geometry> + <cylinder length="0.1" radius="0.035"/> + </geometry> + <material name="black"/> + </visual> + </link> + <joint name="left_back_wheel_joint" type="continuous"> + <axis rpy="0 0 0" xyz="0 1 0"/> + <parent link="left_base"/> + <child link="left_back_wheel"/> + <origin rpy="0 0 0" xyz="-0.133333333333 0 -0.085"/> + </joint> + + <joint name="gripper_extension" type="prismatic"> + <parent link="base_link"/> + <child link="gripper_pole"/> + <limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/> + <origin rpy="0 0 0" xyz="0.19 0 0.2"/> + </joint> + + <link name="gripper_pole"> + <visual> + <geometry> + <cylinder length="0.2" radius="0.01"/> + </geometry> + <origin rpy="0 1.57075 0 " xyz="0.1 0 0"/> + </visual> + </link> + + <joint name="left_gripper_joint" type="revolute"> + <axis xyz="0 0 1"/> + <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/> + <origin rpy="0 0 0" xyz="0.2 0.01 0"/> + <parent link="gripper_pole"/> + <child link="left_gripper"/> + </joint> + + <link name="left_gripper"> + <visual> + <origin rpy="0.0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/> + </geometry> + </visual> + </link> + + <joint name="left_tip_joint" type="fixed"> + <parent link="left_gripper"/> + <child link="left_tip"/> + </joint> + + <link name="left_tip"> + <visual> + <origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/> + <geometry> + <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/> + </geometry> + </visual> + </link> + <joint name="right_gripper_joint" type="revolute"> + <axis xyz="0 0 -1"/> + <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/> + <origin rpy="0 0 0" xyz="0.2 -0.01 0"/> + <parent link="gripper_pole"/> + <child link="right_gripper"/> + </joint> + + <link name="right_gripper"> + <visual> + <origin rpy="-3.1415 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/> + </geometry> + </visual> + </link> + + <joint name="right_tip_joint" type="fixed"> + <parent link="right_gripper"/> + <child link="right_tip"/> + </joint> + + <link name="right_tip"> + <visual> + <origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/> + <geometry> + <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/> + </geometry> + </visual> + </link> + + <link name="head"> + <visual> + <geometry> + <sphere radius="0.2"/> + </geometry> + <material name="white"/> + </visual> + </link> + <joint name="head_swivel" type="continuous"> + <parent link="base_link"/> + <child link="head"/> + <axis xyz="0 0 1"/> + <origin xyz="0 0 0.3"/> + </joint> + + <link name="box"> + <visual> + <geometry> + <box size="0.08 0.08 0.08"/> + </geometry> + <material name="blue"/> + </visual> + </link> + + <joint name="tobox" type="fixed"> + <parent link="head"/> + <child link="box"/> + <origin xyz="0.1814 0 0.1414"/> + </joint> +</robot> diff --git a/urdf_test_ws/src/urdf_tutorial/urdf/07-physics.urdf b/urdf_test_ws/src/urdf_tutorial/urdf/07-physics.urdf new file mode 100644 index 0000000000000000000000000000000000000000..ebb7b740a5c82c378b88507e8d6c3169acf48176 --- /dev/null +++ b/urdf_test_ws/src/urdf_tutorial/urdf/07-physics.urdf @@ -0,0 +1,417 @@ +<?xml version="1.0"?> +<robot name="physics"> + +<material name="blue"> + <color rgba="0 0 0.8 1"/> + </material> + <material name="black"> + <color rgba="0 0 0 1"/> + </material> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + + <link name="base_link"> + <visual> + <geometry> + <cylinder length="0.6" radius="0.2"/> + </geometry> + <material name="blue"/> + </visual> + <collision> + <geometry> + <cylinder length="0.6" radius="0.2"/> + </geometry> + </collision> + <inertial> + <mass value="10"/> + <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/> + </inertial> + </link> + + <link name="right_leg"> + <visual> + <geometry> + <box size="0.6 0.1 0.2"/> + </geometry> + <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/> + <material name="white"/> + </visual> + <collision> + <geometry> + <box size="0.6 0.1 0.2"/> + </geometry> + <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/> + </collision> + <inertial> + <mass value="10"/> + <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/> + </inertial> + </link> + <joint name="base_to_right_leg" type="fixed"> + <parent link="base_link"/> + <child link="right_leg"/> + <origin xyz="0 -0.22 0.25"/> + </joint> + + <link name="right_base"> + <visual> + <geometry> + <box size="0.4 0.1 0.1"/> + </geometry> + <material name="white"/> + </visual> + <collision> + <geometry> + <box size="0.4 0.1 0.1"/> + </geometry> + </collision> + <inertial> + <mass value="10"/> + <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/> + </inertial> + </link> + + <joint name="right_base_joint" type="fixed"> + <parent link="right_leg"/> + <child link="right_base"/> + <origin xyz="0 0 -0.6"/> + </joint> + + <link name="right_front_wheel"> + <visual> + <origin rpy="1.57075 0 0" xyz="0 0 0"/> + <geometry> + <cylinder length="0.1" radius="0.035"/> + </geometry> + <material name="black"/> + </visual> + <collision> + <origin rpy="1.57075 0 0" xyz="0 0 0"/> + <geometry> + <cylinder length="0.1" radius="0.035"/> + </geometry> + </collision> + <inertial> + <mass value="1"/> + <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/> + </inertial> + </link> + + <joint name="right_front_wheel_joint" type="continuous"> + <axis rpy="0 0 0" xyz="0 1 0"/> + <parent link="right_base"/> + <child link="right_front_wheel"/> + <origin rpy="0 0 0" xyz="0.133333333333 0 -0.085"/> + </joint> + + <link name="right_back_wheel"> + <visual> + <origin rpy="1.57075 0 0" xyz="0 0 0"/> + <geometry> + <cylinder length="0.1" radius="0.035"/> + </geometry> + <material name="black"/> + </visual> + <collision> + <origin rpy="1.57075 0 0" xyz="0 0 0"/> + <geometry> + <cylinder length="0.1" radius="0.035"/> + </geometry> + </collision> + <inertial> + <mass value="1"/> + <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/> + </inertial> + </link> + + <joint name="right_back_wheel_joint" type="continuous"> + <axis rpy="0 0 0" xyz="0 1 0"/> + <parent link="right_base"/> + <child link="right_back_wheel"/> + <origin rpy="0 0 0" xyz="-0.133333333333 0 -0.085"/> + </joint> + + <link name="left_leg"> + <visual> + <geometry> + <box size="0.6 0.1 0.2"/> + </geometry> + <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/> + <material name="white"/> + </visual> + <collision> + <geometry> + <box size="0.6 0.1 0.2"/> + </geometry> + <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/> + </collision> + <inertial> + <mass value="10"/> + <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/> + </inertial> + </link> + + <joint name="base_to_left_leg" type="fixed"> + <parent link="base_link"/> + <child link="left_leg"/> + <origin xyz="0 0.22 0.25"/> + </joint> + + <link name="left_base"> + <visual> + <geometry> + <box size="0.4 0.1 0.1"/> + </geometry> + <material name="white"/> + </visual> + <collision> + <geometry> + <box size="0.4 0.1 0.1"/> + </geometry> + </collision> + <inertial> + <mass value="10"/> + <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/> + </inertial> + </link> + + <joint name="left_base_joint" type="fixed"> + <parent link="left_leg"/> + <child link="left_base"/> + <origin xyz="0 0 -0.6"/> + </joint> + + <link name="left_front_wheel"> + <visual> + <origin rpy="1.57075 0 0" xyz="0 0 0"/> + <geometry> + <cylinder length="0.1" radius="0.035"/> + </geometry> + <material name="black"/> + </visual> + <collision> + <origin rpy="1.57075 0 0" xyz="0 0 0"/> + <geometry> + <cylinder length="0.1" radius="0.035"/> + </geometry> + </collision> + <inertial> + <mass value="1"/> + <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/> + </inertial> + </link> + + <joint name="left_front_wheel_joint" type="continuous"> + <axis rpy="0 0 0" xyz="0 1 0"/> + <parent link="left_base"/> + <child link="left_front_wheel"/> + <origin rpy="0 0 0" xyz="0.133333333333 0 -0.085"/> + </joint> + + <link name="left_back_wheel"> + <visual> + <origin rpy="1.57075 0 0" xyz="0 0 0"/> + <geometry> + <cylinder length="0.1" radius="0.035"/> + </geometry> + <material name="black"/> + </visual> + <collision> + <origin rpy="1.57075 0 0" xyz="0 0 0"/> + <geometry> + <cylinder length="0.1" radius="0.035"/> + </geometry> + </collision> + <inertial> + <mass value="1"/> + <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/> + </inertial> + </link> + + <joint name="left_back_wheel_joint" type="continuous"> + <axis rpy="0 0 0" xyz="0 1 0"/> + <parent link="left_base"/> + <child link="left_back_wheel"/> + <origin rpy="0 0 0" xyz="-0.133333333333 0 -0.085"/> + </joint> + + <joint name="gripper_extension" type="prismatic"> + <parent link="base_link"/> + <child link="gripper_pole"/> + <limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/> + <origin rpy="0 0 0" xyz="0.19 0 0.2"/> + </joint> + + <link name="gripper_pole"> + <visual> + <geometry> + <cylinder length="0.2" radius="0.01"/> + </geometry> + <origin rpy="0 1.57075 0 " xyz="0.1 0 0"/> + </visual> + <collision> + <geometry> + <cylinder length="0.2" radius="0.01"/> + </geometry> + <origin rpy="0 1.57075 0 " xyz="0.1 0 0"/> + </collision> + <inertial> + <mass value="0.05"/> + <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/> + </inertial> + </link> + + <joint name="left_gripper_joint" type="revolute"> + <axis xyz="0 0 1"/> + <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/> + <origin rpy="0 0 0" xyz="0.2 0.01 0"/> + <parent link="gripper_pole"/> + <child link="left_gripper"/> + </joint> + + <link name="left_gripper"> + <visual> + <origin rpy="0.0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/> + </geometry> + </visual> + <collision> + <geometry> + <mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/> + </geometry> + <origin rpy="0.0 0 0" xyz="0 0 0"/> + </collision> + <inertial> + <mass value="0.05"/> + <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/> + </inertial> + </link> + + <joint name="left_tip_joint" type="fixed"> + <parent link="left_gripper"/> + <child link="left_tip"/> + </joint> + + <link name="left_tip"> + <visual> + <origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/> + <geometry> + <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/> + </geometry> + </visual> + <collision> + <geometry> + <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/> + </geometry> + <origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/> + </collision> + <inertial> + <mass value="0.05"/> + <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/> + </inertial> + </link> + + <joint name="right_gripper_joint" type="revolute"> + <axis xyz="0 0 -1"/> + <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/> + <origin rpy="0 0 0" xyz="0.2 -0.01 0"/> + <parent link="gripper_pole"/> + <child link="right_gripper"/> + </joint> + + <link name="right_gripper"> + <visual> + <origin rpy="-3.1415 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/> + </geometry> + </visual> + <collision> + <geometry> + <mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/> + </geometry> + <origin rpy="-3.1415 0 0" xyz="0 0 0"/> + </collision> + <inertial> + <mass value="0.05"/> + <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/> + </inertial> + </link> + + <joint name="right_tip_joint" type="fixed"> + <parent link="right_gripper"/> + <child link="right_tip"/> + </joint> + + <link name="right_tip"> + <visual> + <origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/> + <geometry> + <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/> + </geometry> + </visual> + <collision> + <geometry> + <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/> + </geometry> + <origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/> + </collision> + <inertial> + <mass value="0.05"/> + <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/> + </inertial> + </link> + + <link name="head"> + <visual> + <geometry> + <sphere radius="0.2"/> + </geometry> + <material name="white"/> + </visual> + <collision> + <geometry> + <sphere radius="0.2"/> + </geometry> + </collision> + <inertial> + <mass value="2"/> + <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/> + </inertial> + </link> + + <joint name="head_swivel" type="continuous"> + <parent link="base_link"/> + <child link="head"/> + <axis xyz="0 0 1"/> + <origin xyz="0 0 0.3"/> + </joint> + + <link name="box"> + <visual> + <geometry> + <box size="0.08 0.08 0.08"/> + </geometry> + <material name="blue"/> + <origin xyz="-0.04 0 0"/> + </visual> + <collision> + <geometry> + <box size="0.08 0.08 0.08"/> + </geometry> + </collision> + <inertial> + <mass value="1"/> + <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3"/> + </inertial> + </link> + + <joint name="tobox" type="fixed"> + <parent link="head"/> + <child link="box"/> + <origin xyz="0.1814 0 0.1414"/> + </joint> + +</robot> diff --git a/urdf_test_ws/src/urdf_tutorial/urdf/08-macroed.urdf.xacro b/urdf_test_ws/src/urdf_tutorial/urdf/08-macroed.urdf.xacro new file mode 100644 index 0000000000000000000000000000000000000000..c417e9cec4ae9811a57ed1dec0d8459310729eb3 --- /dev/null +++ b/urdf_test_ws/src/urdf_tutorial/urdf/08-macroed.urdf.xacro @@ -0,0 +1,237 @@ +<?xml version="1.0"?> +<robot name="macroed" xmlns:xacro="http://ros.org/wiki/xacro"> + + <xacro:property name="width" value="0.2" /> + <xacro:property name="leglen" value="0.6" /> + <xacro:property name="polelen" value="0.2" /> + <xacro:property name="bodylen" value="0.6" /> + <xacro:property name="baselen" value="0.4" /> + <xacro:property name="wheeldiam" value="0.07" /> + + <material name="blue"> + <color rgba="0 0 0.8 1"/> + </material> + + <material name="black"> + <color rgba="0 0 0 1"/> + </material> + + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + + <xacro:macro name="default_inertial" params="mass"> + <inertial> + <mass value="${mass}" /> + <inertia ixx="1e-3" ixy="0.0" ixz="0.0" iyy="1e-3" iyz="0.0" izz="1e-3" /> + </inertial> + </xacro:macro> + + <link name="base_link"> + <visual> + <geometry> + <cylinder radius="${width}" length="${bodylen}"/> + </geometry> + <material name="blue"/> + </visual> + <collision> + <geometry> + <cylinder radius="${width}" length="${bodylen}"/> + </geometry> + </collision> + <xacro:default_inertial mass="10"/> + </link> + + <xacro:macro name="wheel" params="prefix suffix reflect"> + + <link name="${prefix}_${suffix}_wheel"> + <visual> + <origin xyz="0 0 0" rpy="${pi/2} 0 0" /> + <geometry> + <cylinder radius="${wheeldiam/2}" length="0.1"/> + </geometry> + <material name="black"/> + </visual> + <collision> + <origin xyz="0 0 0" rpy="${pi/2} 0 0" /> + <geometry> + <cylinder radius="${wheeldiam/2}" length="0.1"/> + </geometry> + </collision> + <xacro:default_inertial mass="1"/> + </link> + <joint name="${prefix}_${suffix}_wheel_joint" type="continuous"> + <axis xyz="0 1 0" rpy="0 0 0" /> + <parent link="${prefix}_base"/> + <child link="${prefix}_${suffix}_wheel"/> + <origin xyz="${baselen*reflect/3} 0 -${wheeldiam/2+.05}" rpy="0 0 0"/> + </joint> + + </xacro:macro> + + <xacro:macro name="leg" params="prefix reflect"> + <link name="${prefix}_leg"> + <visual> + <geometry> + <box size="${leglen} 0.1 0.2"/> + </geometry> + <origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/> + <material name="white"/> + </visual> + <collision> + <geometry> + <box size="${leglen} 0.1 0.2"/> + </geometry> + <origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/> + </collision> + <xacro:default_inertial mass="10"/> + </link> + + <joint name="base_to_${prefix}_leg" type="fixed"> + <parent link="base_link"/> + <child link="${prefix}_leg"/> + <origin xyz="0 ${reflect*(width+.02)} 0.25" /> + </joint> + + <link name="${prefix}_base"> + <visual> + <geometry> + <box size="${baselen} 0.1 0.1"/> + </geometry> + <material name="white"/> + </visual> + <collision> + <geometry> + <box size="${baselen} 0.1 0.1"/> + </geometry> + </collision> + <xacro:default_inertial mass="10"/> + </link> + + <joint name="${prefix}_base_joint" type="fixed"> + <parent link="${prefix}_leg"/> + <child link="${prefix}_base"/> + <origin xyz="0 0 ${-leglen}" /> + </joint> + <xacro:wheel prefix="${prefix}" suffix="front" reflect="1"/> + <xacro:wheel prefix="${prefix}" suffix="back" reflect="-1"/> + </xacro:macro> + <xacro:leg prefix="right" reflect="-1" /> + <xacro:leg prefix="left" reflect="1" /> + + <joint name="gripper_extension" type="prismatic"> + <parent link="base_link"/> + <child link="gripper_pole"/> + <limit effort="1000.0" lower="-${width*2-.02}" upper="0" velocity="0.5"/> + <origin rpy="0 0 0" xyz="${width-.01} 0 0.2"/> + </joint> + + <link name="gripper_pole"> + <visual> + <geometry> + <cylinder length="${polelen}" radius="0.01"/> + </geometry> + <origin xyz="${polelen/2} 0 0" rpy="0 ${pi/2} 0 "/> + </visual> + <collision> + <geometry> + <cylinder length="${polelen}" radius="0.01"/> + </geometry> + <origin xyz="${polelen/2} 0 0" rpy="0 ${pi/2} 0 "/> + </collision> + <xacro:default_inertial mass="0.05"/> + </link> + + <xacro:macro name="gripper" params="prefix reflect"> + <joint name="${prefix}_gripper_joint" type="revolute"> + <axis xyz="0 0 ${reflect}"/> + <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/> + <origin rpy="0 0 0" xyz="${polelen} ${reflect*0.01} 0"/> + <parent link="gripper_pole"/> + <child link="${prefix}_gripper"/> + </joint> + <link name="${prefix}_gripper"> + <visual> + <origin rpy="${(reflect-1)/2*pi} 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/> + </geometry> + </visual> + <collision> + <geometry> + <mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/> + </geometry> + <origin rpy="${(reflect-1)/2*pi} 0 0" xyz="0 0 0"/> + </collision> + <xacro:default_inertial mass="0.05"/> + </link> + + <joint name="${prefix}_tip_joint" type="fixed"> + <parent link="${prefix}_gripper"/> + <child link="${prefix}_tip"/> + </joint> + <link name="${prefix}_tip"> + <visual> + <origin rpy="${(reflect-1)/2*pi} 0 0" xyz="0.09137 0.00495 0"/> + <geometry> + <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/> + </geometry> + </visual> + <collision> + <geometry> + <mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/> + </geometry> + <origin rpy="${(reflect-1)/2*pi} 0 0" xyz="0.09137 0.00495 0"/> + </collision> + <xacro:default_inertial mass="0.05"/> + </link> + </xacro:macro> + + <xacro:gripper prefix="left" reflect="1" /> + <xacro:gripper prefix="right" reflect="-1" /> + + <link name="head"> + <visual> + <geometry> + <sphere radius="${width}"/> + </geometry> + <material name="white"/> + </visual> + <collision> + <geometry> + <sphere radius="${width}"/> + </geometry> + </collision> + <xacro:default_inertial mass="2"/> + </link> + + <joint name="head_swivel" type="continuous"> + <parent link="base_link"/> + <child link="head"/> + <axis xyz="0 0 1"/> + <origin xyz="0 0 ${bodylen/2}"/> + </joint> + + <link name="box"> + <visual> + <geometry> + <box size="0.08 0.08 0.08"/> + </geometry> + <material name="blue"/> + <origin xyz="-0.04 0 0"/> + </visual> + <collision> + <geometry> + <box size="0.08 0.08 0.08"/> + </geometry> + </collision> + <xacro:default_inertial mass="1"/> + </link> + + <joint name="tobox" type="fixed"> + <parent link="head"/> + <child link="box"/> + <origin xyz="${.707*width+0.04} 0 ${.707*width}"/> + </joint> + +</robot> diff --git a/urdf_test_ws/src/urdf_tutorial/urdf/main.urdf.xacro b/urdf_test_ws/src/urdf_tutorial/urdf/main.urdf.xacro new file mode 100644 index 0000000000000000000000000000000000000000..bd3d5b21aa9bc2efb4b258781b1d856b6705c561 --- /dev/null +++ b/urdf_test_ws/src/urdf_tutorial/urdf/main.urdf.xacro @@ -0,0 +1,78 @@ +<?xml version="1.0"?> +<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="open_base"> + + <xacro:include filename="$(find urdf_tutorial)/urdf/rim.urdf.xacro"/> + + <link name="origin_link"/> + <link name="base_link"> + + <inertial> + <mass value="0.07862944645"/> + <inertia + ixx="0.00002035985530754" + ixy="0" + ixz="0" + iyy="0.00002035985530754" + iyz="0" + izz="0.00003945961663220"/> + </inertial> + <visual> + <geometry> + <mesh filename="package://urdf_tutorial/mesh/base.stl"/> + + </geometry> + <material name="base_material"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <geometry> + <mesh filename="package://urdf_tutorial/mesh/base.stl"/> + </geometry> + </collision> + + </link> + <joint name="base_joint" type="fixed"> + <parent link="origin_link" /> + <child link="base_link" /> + <origin xyz="0 0 0.01905"/> + </joint> + + <xacro:rim_macro + name="left" + color="0.3 0 0" + xyz="-0.03464101615 0.02 0" + rpy="1.570796326794896 0 1.047197551196597"/> + <xacro:rim_macro + name="back" + color="0 0.3 0" + xyz="0 -0.04 0" + rpy="1.570796326794896 0 3.141592653589793"/> + <xacro:rim_macro + name="right" + color="0 0 0.3" + xyz="0.03464101615 0.02 0" + rpy="1.570796326794896 0 -1.047197551196597"/> + + <gazebo reference="base_link"> + <material>Gazebo/White</material> + </gazebo> + + <gazebo reference="rim_left_link"> + <material>Gazebo/Red</material> + </gazebo> + + <gazebo reference="rim_back_link"> + <material>Gazebo/Green</material> + </gazebo> + + <gazebo reference="rim_right_link"> + <material>Gazebo/Blue</material> + </gazebo> + <gazebo> + <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> + <robotNamespace>/open_base</robotNamespace> + </plugin> + </gazebo> + +</robot> diff --git a/urdf_test_ws/src/urdf_tutorial/urdf/rim.urdf.xacro b/urdf_test_ws/src/urdf_tutorial/urdf/rim.urdf.xacro new file mode 100644 index 0000000000000000000000000000000000000000..e88ac544e6068b842374d105472d632c5143d9df --- /dev/null +++ b/urdf_test_ws/src/urdf_tutorial/urdf/rim.urdf.xacro @@ -0,0 +1,112 @@ +<?xml version="1.0" ?> +<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> + +<xacro:include filename="$(find urdf_tutorial)/urdf/roller.urdf.xacro"/> + +<xacro:macro + name="rim_macro" + params="name color xyz rpy"> + + <link name="rim_${name}_link"> + <inertial> + <origin xyz="0 0 -0.000343"/> + <mass value="0.00835758"/> + <inertia + ixx="6.63684e-07" + ixy="0" + ixz="0" + iyy="6.63684e-07" + iyz="0" + izz="9.40333e-07"/> + + </inertial> + <visual> + <geometry> + + <mesh filename="package://urdf_tutorial/mesh/rim.stl"/> + </geometry> + <material name="rim_${name}_material"> + <color rgba="${color} 1"/> + </material> + </visual> + <collision> + <geometry> + <mesh filename="package://urdf_tutorial/mesh/rim.stl"/> + </geometry> + </collision> + + </link> + + <joint + name="rim_${name}_joint" + type="continuous"> + + <parent link="base_link" /> + <child link="rim_${name}_link" /> + <axis xyz="0 0 1"/> + <origin xyz="${xyz}" rpy="${rpy}"/> + + </joint> + <xacro:roller_macro + parent="${name}" + name="e" + xyz="0.01355 0 0.0055" + rpy="-1.570796326794896 0 0" + /> + <xacro:roller_macro + parent="${name}" + name="ne" + xyz="0.00958129689 0.00958129689 -0.0055" + rpy="-1.570796326794896 0 0.7853981633974483" + /> + <xacro:roller_macro + parent="${name}" + name="n" + xyz="0 0.01355 0.0055" + rpy="-1.570796326794896 0 1.570796326794896" + /> + <xacro:roller_macro + parent="${name}" + name="nw" + xyz="-0.00958129689 0.00958129689 -0.0055" + rpy="-1.570796326794896 0 2.356194490192345" + /> + <xacro:roller_macro + parent="${name}" + name="w" + xyz="-0.01355 0 0.0055" + rpy="-1.570796326794896 0 3.141592653589793" + /> + <xacro:roller_macro + parent="${name}" + name="sw" + xyz="-0.00958129689 -0.00958129689 -0.0055" + rpy="-1.570796326794896 0 -2.356194490192345" + /> + <xacro:roller_macro + parent="${name}" + name="s" + xyz="0 -0.01355 0.0055" + rpy="-1.570796326794896 0 -1.570796326794896" + /> + <xacro:roller_macro + parent="${name}" + name="se" + xyz="0.00958129689 -0.00958129689 -0.0055" + rpy="-1.570796326794896 0 -0.7853981633974483" + /> + + <transmission name="rim_${name}_transmission"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="rim_${name}_joint"> + <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface> + </joint> + <actuator name="rim_${name}_motor"> + <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> + </transmission> + + </xacro:macro> + +</robot> diff --git a/urdf_test_ws/src/urdf_tutorial/urdf/roller.urdf.xacro b/urdf_test_ws/src/urdf_tutorial/urdf/roller.urdf.xacro new file mode 100644 index 0000000000000000000000000000000000000000..17f940be0b8d054b2bed051f64a40e2fcb6ed9b0 --- /dev/null +++ b/urdf_test_ws/src/urdf_tutorial/urdf/roller.urdf.xacro @@ -0,0 +1,45 @@ +<?xml version="1.0" ?> +<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> + +<xacro:macro + name="roller_macro" + params="parent name xyz rpy"> + + <link name="roller_${name}_rim_${parent}_link"> + <inertial> + <mass value="0.00113845"/> + <inertia + ixx="2.53776e-08" + ixy="0" + ixz="0" + iyy="2.53776e-08" + iyz="0" + izz="1.47666e-08"/> + </inertial> + <visual> + <geometry> + <mesh filename="package://urdf_tutorial/mesh/roller.stl"/> + </geometry> + <material name="roller_material"> + <color rgba="0.1 0.1 0.1 1"/> + </material> + </visual> + <collision> + <geometry> + <mesh filename="package://urdf_tutorial/mesh/roller.stl"/> + </geometry> + </collision> + </link> + <gazebo reference="roller_${name}_rim_${parent}_link"> + <material>Gazebo/Black</material> + </gazebo> + <joint name="roller_${name}_rim_${parent}_joint" type="continuous"> + <parent link="rim_${parent}_link"/> + <child link="roller_${name}_rim_${parent}_link"/> + <axis xyz="0 0 1"/> + <origin xyz="${xyz}" rpy="${rpy}"/> + + </joint> + </xacro:macro> + +</robot> diff --git a/urdf_test_ws/src/urdf_tutorial/urdf_tutorial/__init__.py b/urdf_test_ws/src/urdf_tutorial/urdf_tutorial/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391