improved iisy_config module
This commit is contained in:
Bastian Hofmann
@@ -13,8 +13,6 @@ find_package(ament_cmake REQUIRED)
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install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY world DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY stl DESTINATION share/${PROJECT_NAME})
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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@@ -4,7 +4,7 @@ from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable, UnsetEnvironmentVariable
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from launch_ros.substitutions import FindPackageShare
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from launch.substitutions import Command
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from launch.substitutions import Command, LaunchConfiguration
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from ament_index_python.packages import get_package_share_directory
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@@ -118,18 +118,15 @@ def generate_launch_description():
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output='screen'
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),
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Node(
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package='gazebo_ros',
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executable='spawn_entity.py',
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arguments=['-entity', robot_name,
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'-topic', 'robot_description',
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'-x', '-1',
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'-y', '-1',
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'-z', '1',
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'-Y', '0'], # Yaw
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output='screen'
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),
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#Node(
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# package="gazebo_ros",
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# executable="spawn_entity.py",
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# arguments=[
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# "-topic", "robot_description",
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# "-entity", LaunchConfiguration("iisy")
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# ],
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# output="screen"
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#),
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#Node(
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# package='robot_state_publisher',
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@@ -159,21 +156,30 @@ def generate_launch_description():
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# arguments=["test.xml"]
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# )
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Node(
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package='controller_manager',
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name='gazebo_controller_spawner',
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executable='spawner',
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output='screen',
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parameters=[
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controllers_yaml,
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]
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),
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#Node(package='moveit_ros_move_group',
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# executable='move_group',
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# #prefix='xterm -fs 10 -e gdb --ex run --args',
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# output='screen',
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# parameters=[
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# robot_description,
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# robot_description_semantic,
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# kinematics_yaml,
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# ompl_planning_pipeline_config,
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# trajectory_execution,
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# moveit_controllers,
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# planning_scene_monitor_parameters,
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# #octomap_config,
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# #octomap_updater_config
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# ]
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#)
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Node(package='moveit_ros_move_group',
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executable='move_group',
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#prefix='xterm -fs 10 -e gdb --ex run --args',
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output='screen',
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parameters=[
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robot_description,
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robot_description_semantic,
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kinematics_yaml,
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ompl_planning_pipeline_config,
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trajectory_execution,
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moveit_controllers,
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planning_scene_monitor_parameters,
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#octomap_config,
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#octomap_updater_config
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]
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),
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])
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@@ -1,258 +0,0 @@
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<?xml version="1.0" ?>
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<robot name="iisy">
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<link name="world"/>
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<link name="base_link"/>
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<link name="base">
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<collision>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/base_bottom_coll.stl"/>
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</geometry>
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</collision>
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<visual>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/base_bottom_low.stl"/>
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</geometry>
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</visual>
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<inertial>
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<origin xyz="0.025 0 0.05" rpy="0 0 0"/>
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<mass value="6"/>
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<inertia ixx="0.0032666666666667" ixy="0.0" ixz="0.0" iyy="0.0032666666666667" iyz="0.0" izz="0.0025"/>
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</inertial>
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</link>
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<link name="base_top">
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<collision>
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<origin xyz="0 -0.005 0.08"/>
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<geometry>
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<box size="0.14 0.15 0.16"/>
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</geometry>
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</collision>
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<visual>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/base_top_low.stl"/>
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</geometry>
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</visual>
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<inertial>
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<origin xyz="0 0 0.155" rpy="0 0 0"/>
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<mass value="2"/>
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<inertia ixx="0.0032666666666667" ixy="0.0" ixz="0.0" iyy="0.0032666666666667" iyz="0.0" izz="0.0025"/>
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</inertial>
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</link>
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<link name="link1_full">
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<collision>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/link_1_full_coll.stl"/>
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</geometry>
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</collision>
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<visual>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/link_1_full_low.stl"/>
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</geometry>
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</visual>
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<inertial>
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<origin xyz="0 0 0.36" rpy="0 0 0"/>
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<mass value="4"/>
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<inertia ixx="0.0325" ixy="0.0" ixz="0.0" iyy="0.0325" iyz="0.0" izz="0.005"/>
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</inertial>
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</link>
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<link name="link2_bottom">
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<collision>
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<origin xyz="0 0.07 0.025"/>
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<geometry>
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<box size="0.14 0.14 0.19"/>
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</geometry>
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</collision>
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<visual>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/link_2_bottom_low.stl"/>
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</geometry>
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</visual>
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<inertial>
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<origin xyz="0 0 0.585" rpy="0 0 0"/>
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<mass value="2"/>
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.0025"/>
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</inertial>
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</link>
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<link name="link2_top">
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<collision>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/link_2_top_coll.stl"/>
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</geometry>
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</collision>
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<visual>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/link_2_top_low.stl"/>
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</geometry>
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</visual>
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<inertial>
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<origin xyz="0 0 0.735" rpy="0 0 0"/>
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<mass value="2"/>
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.0025"/>
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</inertial>
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</link>
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<link name="link3_bottom">
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<collision>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/link_3_bottom_coll.stl"/>
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</geometry>
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</collision>
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<visual>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/link_3_bottom_low.stl"/>
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</geometry>
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</visual>
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<inertial>
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<origin xyz="0 0 0.86" rpy="0 0 0"/>
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<mass value="2"/>
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<inertia ixx="0.0029166666666667" ixy="0.0" ixz="0.0" iyy="0.0029166666666667" iyz="0.0" izz="0.0025"/>
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</inertial>
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</link>
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<link name="link3_top">
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<collision>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/link_3_top_coll.stl"/>
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</geometry>
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</collision>
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<visual>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/link_3_top_low.stl"/>
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</geometry>
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</visual>
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<inertial>
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<origin xyz="0 0 0.94025" rpy="0 0 0"/>
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<mass value="0.8"/>
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<inertia ixx="0.00074401666666667" ixy="0.0" ixz="0.0" iyy="0.00074401666666667" iyz="0.0" izz="0.001"/>
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</inertial>
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</link>
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<joint type="fixed" name="world_base_link_fixed">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<parent link="world"/>
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<child link="base_link"/>
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</joint>
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<joint type="fixed" name="base_base_link_fixed">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="base"/>
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</joint>
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<joint type="continuous" name="base_rot">
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<origin xyz="0 0 0.1205" rpy="0 0 0"/>
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<parent link="base"/>
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<child link="base_top"/>
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<axis xyz="0 0 1"/>
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<limit effort="30" velocity="1.7453292519943"/>
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</joint>
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<joint type="revolute" name="base_link1_joint">
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<origin xyz="0 -0.080499 0.092997" rpy="0 0 0"/>
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<parent link="base_top"/>
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<child link="link1_full"/>
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<axis xyz="0 1 0"/>
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<limit effort="30" velocity="1.7453292519943" lower="-2.2689280275926" upper="2.4434609527921"/>
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</joint>
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<joint type="revolute" name="link1_link2_joint">
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<origin xyz="0 0 0.3" rpy="0 0 0"/>
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<parent link="link1_full"/>
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<child link="link2_bottom"/>
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<axis xyz="0 1 0"/>
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<limit effort="30" velocity="1.7453292519943" lower="-2.6179938779915" upper="2.6179938779915"/>
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</joint>
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<joint type="continuous" name="link2_rot">
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<origin xyz="0 0.080501 0.120502" rpy="0 0 0"/>
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<parent link="link2_bottom"/>
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<child link="link2_top"/>
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<axis xyz="0 0 1"/>
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<limit effort="30" velocity="1.7453292519943"/>
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</joint>
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<joint type="continuous" name="link2_link3_joint">
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<origin xyz="0 0.0565 0.178003" rpy="0 0 0"/>
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<parent link="link2_top"/>
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<child link="link3_bottom"/>
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<axis xyz="0 1 0"/>
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<limit effort="30" velocity="1.7453292519943"/>
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</joint>
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<joint type="continuous" name="link3_rot">
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<origin xyz="0 -0.055001 0.085501" rpy="0 0 0"/>
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<parent link="link3_bottom"/>
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<child link="link3_top"/>
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<axis xyz="0 0 1"/>
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<limit effort="30" velocity="1.7453292519943"/>
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</joint>
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<transmission name="trans_base_rot">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="base_rot">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="base_rot_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="trans_base_link1_joint">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="base_link1_joint">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="base_link1_joint_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="trans_link1_link2_joint">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="link1_link2_joint">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="link1_link2_joint_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="trans_link2_rot">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="link2_rot">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="link2_rot_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="trans_link2_link3_joint">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="link2_link3_joint">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="link2_link3_joint_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="trans_link3_rot">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="link3_rot">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="link3_rot_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<gazebo>
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<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
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<robotNamespace>/iisy</robotNamespace>
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</plugin>
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</gazebo>
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</robot>
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