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improved iisy_config module

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This commit is contained in:
Bastian Hofmann
2022-03-18 09:16:59 +01:00
parent 16816db994
commit 0403aba97b
55 changed files with 1203 additions and 608 deletions
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2
src/gaz_simulation/CMakeLists.txt
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@@ -13,8 +13,6 @@ find_package(ament_cmake REQUIRED)
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
install(DIRECTORY world DESTINATION share/${PROJECT_NAME})
install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME})
install(DIRECTORY stl DESTINATION share/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)

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src/gaz_simulation/launch/.moveit_launch.py.kate-swp
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64
src/gaz_simulation/launch/moveit_launch.py
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@@ -4,7 +4,7 @@ from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable, UnsetEnvironmentVariable
from launch_ros.substitutions import FindPackageShare
from launch.substitutions import Command
from launch.substitutions import Command, LaunchConfiguration
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory
@@ -118,18 +118,15 @@ def generate_launch_description():
output='screen'
),
Node(
package='gazebo_ros',
executable='spawn_entity.py',
arguments=['-entity', robot_name,
'-topic', 'robot_description',
'-x', '-1',
'-y', '-1',
'-z', '1',
'-Y', '0'], # Yaw
output='screen'
),
#Node(
# package="gazebo_ros",
# executable="spawn_entity.py",
# arguments=[
# "-topic", "robot_description",
# "-entity", LaunchConfiguration("iisy")
# ],
# output="screen"
#),
#Node(
# package='robot_state_publisher',
@@ -159,21 +156,30 @@ def generate_launch_description():
# arguments=["test.xml"]
# )
Node(
package='controller_manager',
name='gazebo_controller_spawner',
executable='spawner',
output='screen',
parameters=[
controllers_yaml,
]
),
#Node(package='moveit_ros_move_group',
# executable='move_group',
# #prefix='xterm -fs 10 -e gdb --ex run --args',
# output='screen',
# parameters=[
# robot_description,
# robot_description_semantic,
# kinematics_yaml,
# ompl_planning_pipeline_config,
# trajectory_execution,
# moveit_controllers,
# planning_scene_monitor_parameters,
# #octomap_config,
# #octomap_updater_config
# ]
#)
Node(package='moveit_ros_move_group',
executable='move_group',
#prefix='xterm -fs 10 -e gdb --ex run --args',
output='screen',
parameters=[
robot_description,
robot_description_semantic,
kinematics_yaml,
ompl_planning_pipeline_config,
trajectory_execution,
moveit_controllers,
planning_scene_monitor_parameters,
#octomap_config,
#octomap_updater_config
]
),
])

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src/gaz_simulation/stl/base_bottom_coll.stl
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src/gaz_simulation/stl/base_bottom_low.stl
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src/gaz_simulation/stl/base_top_low.stl
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src/gaz_simulation/stl/link_1_full_coll.stl
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src/gaz_simulation/stl/link_1_full_low.stl
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src/gaz_simulation/stl/link_2_bottom_low.stl
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src/gaz_simulation/stl/link_2_top_coll.stl
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src/gaz_simulation/stl/link_2_top_low.stl
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src/gaz_simulation/stl/link_3_bottom_coll.stl
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src/gaz_simulation/stl/link_3_bottom_low.stl
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src/gaz_simulation/stl/link_3_top_coll.stl
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src/gaz_simulation/stl/link_3_top_low.stl
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258
src/gaz_simulation/urdf/iisy.urdf
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@@ -1,258 +0,0 @@
<?xml version="1.0" ?>
<robot name="iisy">
<link name="world"/>
<link name="base_link"/>
<link name="base">
<collision>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/base_bottom_coll.stl"/>
</geometry>
</collision>
<visual>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/base_bottom_low.stl"/>
</geometry>
</visual>
<inertial>
<origin xyz="0.025 0 0.05" rpy="0 0 0"/>
<mass value="6"/>
<inertia ixx="0.0032666666666667" ixy="0.0" ixz="0.0" iyy="0.0032666666666667" iyz="0.0" izz="0.0025"/>
</inertial>
</link>
<link name="base_top">
<collision>
<origin xyz="0 -0.005 0.08"/>
<geometry>
<box size="0.14 0.15 0.16"/>
</geometry>
</collision>
<visual>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/base_top_low.stl"/>
</geometry>
</visual>
<inertial>
<origin xyz="0 0 0.155" rpy="0 0 0"/>
<mass value="2"/>
<inertia ixx="0.0032666666666667" ixy="0.0" ixz="0.0" iyy="0.0032666666666667" iyz="0.0" izz="0.0025"/>
</inertial>
</link>
<link name="link1_full">
<collision>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/link_1_full_coll.stl"/>
</geometry>
</collision>
<visual>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/link_1_full_low.stl"/>
</geometry>
</visual>
<inertial>
<origin xyz="0 0 0.36" rpy="0 0 0"/>
<mass value="4"/>
<inertia ixx="0.0325" ixy="0.0" ixz="0.0" iyy="0.0325" iyz="0.0" izz="0.005"/>
</inertial>
</link>
<link name="link2_bottom">
<collision>
<origin xyz="0 0.07 0.025"/>
<geometry>
<box size="0.14 0.14 0.19"/>
</geometry>
</collision>
<visual>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/link_2_bottom_low.stl"/>
</geometry>
</visual>
<inertial>
<origin xyz="0 0 0.585" rpy="0 0 0"/>
<mass value="2"/>
<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.0025"/>
</inertial>
</link>
<link name="link2_top">
<collision>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/link_2_top_coll.stl"/>
</geometry>
</collision>
<visual>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/link_2_top_low.stl"/>
</geometry>
</visual>
<inertial>
<origin xyz="0 0 0.735" rpy="0 0 0"/>
<mass value="2"/>
<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.0025"/>
</inertial>
</link>
<link name="link3_bottom">
<collision>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/link_3_bottom_coll.stl"/>
</geometry>
</collision>
<visual>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/link_3_bottom_low.stl"/>
</geometry>
</visual>
<inertial>
<origin xyz="0 0 0.86" rpy="0 0 0"/>
<mass value="2"/>
<inertia ixx="0.0029166666666667" ixy="0.0" ixz="0.0" iyy="0.0029166666666667" iyz="0.0" izz="0.0025"/>
</inertial>
</link>
<link name="link3_top">
<collision>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/link_3_top_coll.stl"/>
</geometry>
</collision>
<visual>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/link_3_top_low.stl"/>
</geometry>
</visual>
<inertial>
<origin xyz="0 0 0.94025" rpy="0 0 0"/>
<mass value="0.8"/>
<inertia ixx="0.00074401666666667" ixy="0.0" ixz="0.0" iyy="0.00074401666666667" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint type="fixed" name="world_base_link_fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="world"/>
<child link="base_link"/>
</joint>
<joint type="fixed" name="base_base_link_fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="base"/>
</joint>
<joint type="continuous" name="base_rot">
<origin xyz="0 0 0.1205" rpy="0 0 0"/>
<parent link="base"/>
<child link="base_top"/>
<axis xyz="0 0 1"/>
<limit effort="30" velocity="1.7453292519943"/>
</joint>
<joint type="revolute" name="base_link1_joint">
<origin xyz="0 -0.080499 0.092997" rpy="0 0 0"/>
<parent link="base_top"/>
<child link="link1_full"/>
<axis xyz="0 1 0"/>
<limit effort="30" velocity="1.7453292519943" lower="-2.2689280275926" upper="2.4434609527921"/>
</joint>
<joint type="revolute" name="link1_link2_joint">
<origin xyz="0 0 0.3" rpy="0 0 0"/>
<parent link="link1_full"/>
<child link="link2_bottom"/>
<axis xyz="0 1 0"/>
<limit effort="30" velocity="1.7453292519943" lower="-2.6179938779915" upper="2.6179938779915"/>
</joint>
<joint type="continuous" name="link2_rot">
<origin xyz="0 0.080501 0.120502" rpy="0 0 0"/>
<parent link="link2_bottom"/>
<child link="link2_top"/>
<axis xyz="0 0 1"/>
<limit effort="30" velocity="1.7453292519943"/>
</joint>
<joint type="continuous" name="link2_link3_joint">
<origin xyz="0 0.0565 0.178003" rpy="0 0 0"/>
<parent link="link2_top"/>
<child link="link3_bottom"/>
<axis xyz="0 1 0"/>
<limit effort="30" velocity="1.7453292519943"/>
</joint>
<joint type="continuous" name="link3_rot">
<origin xyz="0 -0.055001 0.085501" rpy="0 0 0"/>
<parent link="link3_bottom"/>
<child link="link3_top"/>
<axis xyz="0 0 1"/>
<limit effort="30" velocity="1.7453292519943"/>
</joint>
<transmission name="trans_base_rot">
<type>transmission_interface/SimpleTransmission</type>
<joint name="base_rot">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="base_rot_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_base_link1_joint">
<type>transmission_interface/SimpleTransmission</type>
<joint name="base_link1_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="base_link1_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_link1_link2_joint">
<type>transmission_interface/SimpleTransmission</type>
<joint name="link1_link2_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="link1_link2_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_link2_rot">
<type>transmission_interface/SimpleTransmission</type>
<joint name="link2_rot">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="link2_rot_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_link2_link3_joint">
<type>transmission_interface/SimpleTransmission</type>
<joint name="link2_link3_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="link2_link3_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_link3_rot">
<type>transmission_interface/SimpleTransmission</type>
<joint name="link3_rot">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="link3_rot_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/iisy</robotNamespace>
</plugin>
</gazebo>
</robot>