URDF Tutorial
This commit is contained in:
probablydavid
parent
a348db7dc9
commit
3fcad795c8
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<?xml version="1.0"?>
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<robot name="myfirst">
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<link name="base_link">
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<visual>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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</visual>
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</link>
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</robot>
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@ -0,0 +1,25 @@
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<?xml version="1.0"?>
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<robot name="multipleshapes">
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<link name="base_link">
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<visual>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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</visual>
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</link>
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<link name="right_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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</visual>
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</link>
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<joint name="base_to_right_leg" type="fixed">
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<parent link="base_link"/>
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<child link="right_leg"/>
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</joint>
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</robot>
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@ -0,0 +1,27 @@
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<?xml version="1.0"?>
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<robot name="origins">
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<link name="base_link">
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<visual>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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</visual>
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</link>
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<link name="right_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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</visual>
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</link>
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<joint name="base_to_right_leg" type="fixed">
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<parent link="base_link"/>
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<child link="right_leg"/>
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<origin xyz="0.22 0 .25"/>
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</joint>
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</robot>
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@ -0,0 +1,49 @@
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<?xml version="1.0"?>
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<robot name="materials">
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<link name="base_link">
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<visual>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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<material name="blue">
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<color rgba="0 0 .8 1"/>
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</material>
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</visual>
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</link>
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<link name="right_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="base_to_right_leg" type="fixed">
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<parent link="base_link"/>
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<child link="right_leg"/>
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<origin xyz="0.22 0 .25"/>
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</joint>
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<link name="left_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<material name="white"/>
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</visual>
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</link>
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<joint name="base_to_left_leg" type="fixed">
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<parent link="base_link"/>
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<child link="left_leg"/>
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<origin xyz="-0.22 0 .25"/>
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</joint>
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</robot>
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@ -0,0 +1,247 @@
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<?xml version="1.0"?>
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<robot name="visual">
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<link name="base_link">
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<visual>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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<material name="blue">
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<color rgba="0 0 .8 1"/>
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</material>
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</visual>
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</link>
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<link name="right_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="base_to_right_leg" type="fixed">
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<parent link="base_link"/>
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<child link="right_leg"/>
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<origin xyz="0.22 0 .25"/>
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</joint>
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<link name="right_base">
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<visual>
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<geometry>
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<box size=".1 0.4 .1"/>
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</geometry>
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<material name="white"/>
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</visual>
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</link>
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<joint name="right_base_joint" type="fixed">
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<parent link="right_leg"/>
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<child link="right_base"/>
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<origin xyz="0 0 -0.6"/>
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</joint>
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<link name="right_front_wheel">
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<visual>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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<material name="black">
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<color rgba="0 0 0 1"/>
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</material>
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</visual>
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</link>
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<joint name="right_front_wheel_joint" type="fixed">
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<parent link="right_base"/>
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<child link="right_front_wheel"/>
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<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
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</joint>
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<link name="right_back_wheel">
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<visual>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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<material name="black"/>
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</visual>
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</link>
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<joint name="right_back_wheel_joint" type="fixed">
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<parent link="right_base"/>
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<child link="right_back_wheel"/>
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<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
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</joint>
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<link name="left_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<material name="white"/>
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</visual>
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</link>
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<joint name="base_to_left_leg" type="fixed">
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<parent link="base_link"/>
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<child link="left_leg"/>
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<origin xyz="-0.22 0 .25"/>
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</joint>
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<link name="left_base">
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<visual>
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<geometry>
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<box size=".1 0.4 .1"/>
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</geometry>
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<material name="white"/>
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</visual>
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</link>
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<joint name="left_base_joint" type="fixed">
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<parent link="left_leg"/>
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<child link="left_base"/>
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<origin xyz="0 0 -0.6"/>
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</joint>
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<link name="left_front_wheel">
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<visual>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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<material name="black"/>
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</visual>
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</link>
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<joint name="left_front_wheel_joint" type="fixed">
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<parent link="left_base"/>
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<child link="left_front_wheel"/>
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<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
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</joint>
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<link name="left_back_wheel">
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<visual>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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<material name="black"/>
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</visual>
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</link>
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<joint name="left_back_wheel_joint" type="fixed">
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<parent link="left_base"/>
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<child link="left_back_wheel"/>
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<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
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</joint>
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<joint name="gripper_extension" type="fixed">
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<parent link="base_link"/>
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<child link="gripper_pole"/>
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<origin rpy="0 0 1.57075" xyz="0 0.19 .2"/>
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</joint>
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<link name="gripper_pole">
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<visual>
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<geometry>
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<cylinder length="0.2" radius=".01"/>
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</geometry>
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<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
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<material name="Gray">
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<color rgba=".7 .7 .7 1"/>
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</material>
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</visual>
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</link>
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<joint name="left_gripper_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0.2 0.01 0"/>
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<parent link="gripper_pole"/>
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<child link="left_gripper"/>
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</joint>
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<link name="left_gripper">
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<visual>
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<origin rpy="0.0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
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</geometry>
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</visual>
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</link>
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<joint name="left_tip_joint" type="fixed">
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<parent link="left_gripper"/>
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<child link="left_tip"/>
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</joint>
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<link name="left_tip">
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<visual>
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<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
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<geometry>
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<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
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</geometry>
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</visual>
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</link>
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<joint name="right_gripper_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
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<parent link="gripper_pole"/>
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<child link="right_gripper"/>
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</joint>
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<link name="right_gripper">
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<visual>
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<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
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</geometry>
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</visual>
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</link>
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<joint name="right_tip_joint" type="fixed">
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<parent link="right_gripper"/>
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<child link="right_tip"/>
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</joint>
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<link name="right_tip">
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<visual>
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<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
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<geometry>
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<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
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</geometry>
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</visual>
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</link>
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<link name="head">
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<visual>
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<geometry>
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<sphere radius="0.2"/>
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</geometry>
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<material name="white"/>
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</visual>
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</link>
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<joint name="head_swivel" type="fixed">
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<parent link="base_link"/>
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<child link="head"/>
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<origin xyz="0 0 0.3"/>
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</joint>
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<link name="box">
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<visual>
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<geometry>
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<box size=".08 .08 .08"/>
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</geometry>
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<material name="blue"/>
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</visual>
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</link>
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<joint name="tobox" type="fixed">
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<parent link="head"/>
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<child link="box"/>
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<origin xyz="0 0.1414 0.1414"/>
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</joint>
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</robot>
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@ -0,0 +1,264 @@
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<?xml version="1.0"?>
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<robot name="flexible">
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<link name="base_link">
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<visual>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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<material name="blue">
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<color rgba="0 0 .8 1"/>
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</material>
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</visual>
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</link>
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<link name="right_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="base_to_right_leg" type="fixed">
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<parent link="base_link"/>
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<child link="right_leg"/>
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<origin xyz="0.22 0 .25"/>
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</joint>
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<link name="right_base">
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<visual>
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<geometry>
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<box size=".1 0.4 .1"/>
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</geometry>
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<material name="white"/>
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</visual>
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</link>
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<joint name="right_base_joint" type="fixed">
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<parent link="right_leg"/>
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<child link="right_base"/>
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<origin xyz="0 0 -0.6"/>
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</joint>
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<link name="right_front_wheel">
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<visual>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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<material name="black">
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<color rgba="0 0 0 1"/>
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</material>
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</visual>
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</link>
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<joint name="right_front_wheel_joint" type="continuous">
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<axis xyz="0 0 1"/>
|
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<parent link="right_base"/>
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<child link="right_front_wheel"/>
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<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
|
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="right_back_wheel">
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<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
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</visual>
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</link>
|
||||
|
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<joint name="right_back_wheel_joint" type="continuous">
|
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<axis xyz="0 0 1"/>
|
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<parent link="right_base"/>
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<child link="right_back_wheel"/>
|
||||
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
|
||||
<limit effort="100" velocity="100"/>
|
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<joint_properties damping="0.0" friction="0.0"/>
|
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</joint>
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||||
|
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<link name="left_leg">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.6 .2 .1"/>
|
||||
</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="-0.22 0 .25"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".1 0.4 .1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
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<joint name="left_base_joint" type="fixed">
|
||||
<parent link="left_leg"/>
|
||||
<child link="left_base"/>
|
||||
<origin xyz="0 0 -0.6"/>
|
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</joint>
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|
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<link name="left_front_wheel">
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<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
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</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
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</link>
|
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|
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<joint name="left_front_wheel_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_base"/>
|
||||
<child link="left_front_wheel"/>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
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</joint>
|
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|
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<link name="left_back_wheel">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="left_back_wheel_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_base"/>
|
||||
<child link="left_back_wheel"/>
|
||||
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</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 1.57075" xyz="0 0.19 .2"/>
|
||||
</joint>
|
||||
|
||||
<link name="gripper_pole">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.2" radius=".01"/>
|
||||
</geometry>
|
||||
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
|
||||
<material name="Gray">
|
||||
<color rgba=".7 .7 .7 1"/>
|
||||
</material>
|
||||
</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://pr2_description/meshes/gripper_v0/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://pr2_description/meshes/gripper_v0/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://pr2_description/meshes/gripper_v0/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://pr2_description/meshes/gripper_v0/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=".08 .08 .08"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="tobox" type="fixed">
|
||||
<parent link="head"/>
|
||||
<child link="box"/>
|
||||
<origin xyz="0 0.1414 0.1414"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
|
|
@ -0,0 +1,415 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot name="physics">
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.6" radius="0.2"/>
|
||||
</geometry>
|
||||
<material name="blue">
|
||||
<color rgba="0 0 .8 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.6" radius="0.2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="right_leg">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.6 .2 .1"/>
|
||||
</geometry>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.6 .2 .1"/>
|
||||
</geometry>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="base_to_right_leg" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="right_leg"/>
|
||||
<origin xyz="0.22 0 .25"/>
|
||||
</joint>
|
||||
|
||||
<link name="right_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".1 0.4 .1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".1 0.4 .1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</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>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="right_front_wheel_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_base"/>
|
||||
<child link="right_front_wheel"/>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="right_back_wheel">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="right_back_wheel_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_base"/>
|
||||
<child link="right_back_wheel"/>
|
||||
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_leg">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.6 .2 .1"/>
|
||||
</geometry>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.6 .2 .1"/>
|
||||
</geometry>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="base_to_left_leg" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="left_leg"/>
|
||||
<origin xyz="-0.22 0 .25"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".1 0.4 .1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".1 0.4 .1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</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>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="left_front_wheel_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_base"/>
|
||||
<child link="left_front_wheel"/>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_back_wheel">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="left_back_wheel_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_base"/>
|
||||
<child link="left_back_wheel"/>
|
||||
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</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 1.57075" xyz="0 0.19 .2"/>
|
||||
</joint>
|
||||
|
||||
<link name="gripper_pole">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.2" radius=".01"/>
|
||||
</geometry>
|
||||
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
|
||||
<material name="Gray">
|
||||
<color rgba=".7 .7 .7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.2" radius=".01"/>
|
||||
</geometry>
|
||||
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</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://pr2_description/meshes/gripper_v0/l_finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
|
||||
</geometry>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</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://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://pr2_description/meshes/gripper_v0/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="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</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://pr2_description/meshes/gripper_v0/l_finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
|
||||
</geometry>
|
||||
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</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://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://pr2_description/meshes/gripper_v0/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="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</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="10"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</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=".08 .08 .08"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".08 .08 .08"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="tobox" type="fixed">
|
||||
<parent link="head"/>
|
||||
<child link="box"/>
|
||||
<origin xyz="0 0.1414 0.1414"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
|
|
@ -0,0 +1,236 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
|
||||
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
|
||||
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
|
||||
xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" name="macroed">
|
||||
|
||||
<xacro:property name="width" value=".2" />
|
||||
<xacro:property name="leglen" value=".6" />
|
||||
<xacro:property name="polelen" value=".2" />
|
||||
<xacro:property name="bodylen" value=".6" />
|
||||
<xacro:property name="baselen" value=".4" />
|
||||
<xacro:property name="wheeldiam" value=".07" />
|
||||
<xacro:property name="pi" value="3.1415" />
|
||||
|
||||
<xacro:macro name="default_inertial" params="mass">
|
||||
<inertial>
|
||||
<mass value="${mass}" />
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
|
||||
iyy="1.0" iyz="0.0"
|
||||
izz="1.0" />
|
||||
</inertial>
|
||||
</xacro:macro>
|
||||
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder radius="${width}" length="${bodylen}"/>
|
||||
</geometry>
|
||||
<material name="blue">
|
||||
<color rgba="0 0 .8 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder radius="${width}" length="${bodylen}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<xacro:default_inertial mass="10"/>
|
||||
</link>
|
||||
|
||||
<xacro:macro name="wheel" params="prefix suffix reflect">
|
||||
<link name="${prefix}_${suffix}_wheel">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder radius="${wheeldiam/2}" length=".1"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder radius="${wheeldiam/2}" length=".1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<xacro:default_inertial mass="1"/>
|
||||
</link>
|
||||
<joint name="${prefix}_${suffix}_wheel_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="${prefix}_base"/>
|
||||
<child link="${prefix}_${suffix}_wheel"/>
|
||||
<origin xyz="0 ${baselen*reflect/3} -${wheeldiam/2+.05}" rpy="0 ${pi/2} 0"/>
|
||||
<limit effort="100" velocity="100" />
|
||||
<joint_properties damping="0.0" friction="0.0" />
|
||||
|
||||
</joint>
|
||||
|
||||
</xacro:macro>
|
||||
|
||||
|
||||
|
||||
<xacro:macro name="leg" params="prefix reflect">
|
||||
<link name="${prefix}_leg">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="${leglen} .2 .1"/>
|
||||
</geometry>
|
||||
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="${leglen} .2 .1"/>
|
||||
</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="${prefix}_leg"/>
|
||||
<origin xyz="${reflect*(width+.02)} 0 .25" />
|
||||
</joint>
|
||||
|
||||
<link name="${prefix}_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".1 ${baselen} .1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".1 ${baselen} .1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<xacro:default_inertial mass="10"/>
|
||||
</link>
|
||||
|
||||
<joint name="${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 ${pi/2}" xyz="0 ${width-.01} .2"/>
|
||||
</joint>
|
||||
|
||||
<link name="gripper_pole">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="${polelen}" radius=".01"/>
|
||||
</geometry>
|
||||
<origin xyz="${polelen/2} 0 0" rpy="0 ${pi/2} 0 "/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="${polelen}" radius=".01"/>
|
||||
</geometry>
|
||||
<origin xyz="${polelen/2} 0 0" rpy="0 ${pi/2} 0 "/>
|
||||
</collision>
|
||||
<xacro:default_inertial mass=".05"/>
|
||||
</link>
|
||||
|
||||
<xacro:macro name="gripper" params="prefix reflect">
|
||||
<joint name="${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://pr2_description/meshes/gripper_v0/l_finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
|
||||
</geometry>
|
||||
<origin rpy="${(reflect-1)/2*pi} 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<xacro:default_inertial mass=".05"/>
|
||||
</link>
|
||||
<joint name="${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://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
|
||||
</geometry>
|
||||
<origin rpy="${(reflect-1)/2*pi} 0 0" xyz="0.09137 0.00495 0"/>
|
||||
</collision>
|
||||
<xacro:default_inertial mass=".05"/>
|
||||
</link>
|
||||
</xacro:macro>
|
||||
<xacro:gripper prefix="left" reflect="1" />
|
||||
<xacro:gripper prefix="right" reflect="-1" />
|
||||
|
||||
<link name="head">
|
||||
<visual>
|
||||
<geometry>
|
||||
<sphere radius="${width}"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<sphere radius="${width}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<xacro:default_inertial mass="10"/>
|
||||
</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=".08 .08 .08"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".08 .08 .08"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<xacro:default_inertial mass="1"/>
|
||||
</link>
|
||||
|
||||
<joint name="tobox" type="fixed">
|
||||
<parent link="head"/>
|
||||
<child link="box"/>
|
||||
<origin xyz="0 ${.707*width} ${.707*width}"/>
|
||||
</joint>
|
||||
</robot>
|
||||
|
||||
|
|
@ -0,0 +1,30 @@
|
|||
cmake_minimum_required(VERSION 2.4.6)
|
||||
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
|
||||
|
||||
# Set the build type. Options are:
|
||||
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
|
||||
# Debug : w/ debug symbols, w/o optimization
|
||||
# Release : w/o debug symbols, w/ optimization
|
||||
# RelWithDebInfo : w/ debug symbols, w/ optimization
|
||||
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
|
||||
#set(ROS_BUILD_TYPE RelWithDebInfo)
|
||||
|
||||
rosbuild_init()
|
||||
|
||||
#set the default path for built executables to the "bin" directory
|
||||
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
|
||||
#set the default path for built libraries to the "lib" directory
|
||||
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
|
||||
|
||||
#uncomment if you have defined messages
|
||||
#rosbuild_genmsg()
|
||||
#uncomment if you have defined services
|
||||
#rosbuild_gensrv()
|
||||
|
||||
#common commands for building c++ executables and libraries
|
||||
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
|
||||
#target_link_libraries(${PROJECT_NAME} another_library)
|
||||
#rosbuild_add_boost_directories()
|
||||
#rosbuild_link_boost(${PROJECT_NAME} thread)
|
||||
#rosbuild_add_executable(example examples/example.cpp)
|
||||
#target_link_libraries(example ${PROJECT_NAME})
|
||||
|
|
@ -0,0 +1 @@
|
|||
include $(shell rospack find mk)/cmake.mk
|
||||
|
|
@ -0,0 +1,9 @@
|
|||
<launch>
|
||||
<arg name="model" />
|
||||
<arg name="gui" default="False" />
|
||||
<param name="robot_description" textfile="$(arg model)" />
|
||||
<param name="use_gui" value="$(arg gui)"/>
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.vcg" />
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,24 @@
|
|||
<launch>
|
||||
<!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/pr2/erratic_defs/robots for full erratic -->
|
||||
<!-- start up wg world -->
|
||||
<include file="$(find gazebo_worlds)/launch/wg_world.launch"/>
|
||||
|
||||
<!-- Create a transform sender for linking these frames. -->
|
||||
<node name="tf_footprint_base" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 base_link base_footprint 40" />
|
||||
|
||||
<arg name="model" />
|
||||
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
|
||||
|
||||
<!-- push robot_description to factory and spawn robot in gazebo -->
|
||||
<node name="spawn_erratic" pkg="gazebo_tools" type="gazebo_model" args="-z 1.051 -p robot_description spawn robot_description" respawn="false" output="screen" />
|
||||
|
||||
<!-- Controller Manager -->
|
||||
<include file="$(find pr2_controller_manager)/controller_manager.launch" />
|
||||
|
||||
<!-- Fake Calibration -->
|
||||
<node pkg="rostopic" type="rostopic" name="fake_joint_calibration" args="pub /calibrated std_msgs/Bool true" />
|
||||
|
||||
<!-- load controllers -->
|
||||
<node name="diffdrive" pkg="gazebo_plugins" type="gazebo_ros_diffdrive" respawn="true" output="screen"/>
|
||||
</launch>
|
||||
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 125 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 90 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 89 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 89 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 89 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 94 KiB |
|
|
@ -0,0 +1,26 @@
|
|||
/**
|
||||
\mainpage
|
||||
\htmlinclude manifest.html
|
||||
|
||||
\b urdf_tutorial is ...
|
||||
|
||||
<!--
|
||||
Provide an overview of your package.
|
||||
-->
|
||||
|
||||
|
||||
\section codeapi Code API
|
||||
|
||||
<!--
|
||||
Provide links to specific auto-generated API documentation within your
|
||||
package that is of particular interest to a reader. Doxygen will
|
||||
document pretty much every part of your code, so do your best here to
|
||||
point the reader to the actual API.
|
||||
|
||||
If your codebase is fairly large or has different sets of APIs, you
|
||||
should use the doxygen 'group' tag to keep these APIs together. For
|
||||
example, the roscpp documentation has 'libros' group.
|
||||
-->
|
||||
|
||||
|
||||
*/
|
||||
|
|
@ -0,0 +1,14 @@
|
|||
<package>
|
||||
<description brief="urdf_tutorial">
|
||||
|
||||
urdf_tutorial
|
||||
|
||||
</description>
|
||||
<author>Lu David </author>
|
||||
<license>BSD</license>
|
||||
<review status="unreviewed" notes=""/>
|
||||
<url>http://ros.org/wiki/urdf_tutorial</url>
|
||||
|
||||
</package>
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,277 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
|
||||
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
|
||||
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
|
||||
xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
|
||||
name="r2d2">
|
||||
|
||||
<xacro:property name="width" value=".2" />
|
||||
<xacro:property name="leglen" value=".6" />
|
||||
<xacro:property name="polelen" value=".2" />
|
||||
<xacro:property name="bodylen" value=".6" />
|
||||
<xacro:property name="baselen" value=".4" />
|
||||
<xacro:property name="wheeldiam" value=".07" />
|
||||
<xacro:property name="pi" value="3.1415" />
|
||||
|
||||
<xacro:macro name="default_inertial" params="mass">
|
||||
<inertial>
|
||||
<mass value="${mass}" />
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
|
||||
iyy="1.0" iyz="0.0"
|
||||
izz="1.0" />
|
||||
</inertial>
|
||||
</xacro:macro>
|
||||
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder radius="${width}" length="${bodylen}"/>
|
||||
</geometry>
|
||||
<material name="blue">
|
||||
<color rgba="0 0 .8 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder radius="${width}" length="${bodylen}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<xacro:default_inertial mass="10"/>
|
||||
</link>
|
||||
|
||||
<xacro:macro name="wheel" params="prefix suffix reflect">
|
||||
<link name="${prefix}_${suffix}_wheel">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder radius="${wheeldiam/2}" length=".1"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder radius="${wheeldiam/2}" length=".1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<xacro:default_inertial mass="1"/>
|
||||
</link>
|
||||
<joint name="${prefix}_${suffix}_wheel_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="${prefix}_base"/>
|
||||
<child link="${prefix}_${suffix}_wheel"/>
|
||||
<origin xyz="0 ${baselen*reflect/3} -${wheeldiam/2+.05}" rpy="0 ${pi/2} 0"/>
|
||||
<limit effort="100" velocity="100" />
|
||||
<joint_properties damping="0.0" friction="0.0" />
|
||||
|
||||
</joint>
|
||||
<gazebo reference="${prefix}_${suffix}_wheel" >
|
||||
<mu1>50.0</mu1>
|
||||
<mu2>50.0</mu2>
|
||||
<kp>100000000.0</kp>
|
||||
<kd>1.0</kd>
|
||||
<material>Gazebo/Fish</material>
|
||||
</gazebo>
|
||||
|
||||
</xacro:macro>
|
||||
|
||||
|
||||
|
||||
<xacro:macro name="leg" params="prefix reflect">
|
||||
<link name="${prefix}_leg">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="${leglen} .2 .1"/>
|
||||
</geometry>
|
||||
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="${leglen} .2 .1"/>
|
||||
</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="${prefix}_leg"/>
|
||||
<origin xyz="${reflect*(width+.02)} 0 .25" />
|
||||
</joint>
|
||||
|
||||
<link name="${prefix}_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".1 ${baselen} .1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".1 ${baselen} .1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<xacro:default_inertial mass="10"/>
|
||||
</link>
|
||||
|
||||
<joint name="${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 ${pi/2}" xyz="0 ${width-.01} .2"/>
|
||||
</joint>
|
||||
|
||||
<link name="gripper_pole">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="${polelen}" radius=".01"/>
|
||||
</geometry>
|
||||
<origin xyz="${polelen/2} 0 0" rpy="0 ${pi/2} 0 "/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="${polelen}" radius=".01"/>
|
||||
</geometry>
|
||||
<origin xyz="${polelen/2} 0 0" rpy="0 ${pi/2} 0 "/>
|
||||
</collision>
|
||||
<xacro:default_inertial mass=".05"/>
|
||||
</link>
|
||||
|
||||
<xacro:macro name="gripper" params="prefix reflect">
|
||||
<joint name="${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://pr2_description/meshes/gripper_v0/l_finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
|
||||
</geometry>
|
||||
<origin rpy="${(reflect-1)/2*pi} 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<xacro:default_inertial mass=".05"/>
|
||||
</link>
|
||||
<joint name="${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://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
|
||||
</geometry>
|
||||
<origin rpy="${(reflect-1)/2*pi} 0 0" xyz="0.09137 0.00495 0"/>
|
||||
</collision>
|
||||
<xacro:default_inertial mass=".05"/>
|
||||
</link>
|
||||
</xacro:macro>
|
||||
<xacro:gripper prefix="left" reflect="1" />
|
||||
<xacro:gripper prefix="right" reflect="-1" />
|
||||
|
||||
<link name="head">
|
||||
<visual>
|
||||
<geometry>
|
||||
<sphere radius="${width}"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<sphere radius="${width}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<xacro:default_inertial mass="10"/>
|
||||
</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=".08 .08 .08"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".08 .08 .08"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<xacro:default_inertial mass="1"/>
|
||||
</link>
|
||||
|
||||
<joint name="tobox" type="fixed">
|
||||
<parent link="head"/>
|
||||
<child link="box"/>
|
||||
<origin xyz="0 ${.707*width} ${.707*width}"/>
|
||||
</joint>
|
||||
|
||||
<gazebo>
|
||||
<controller:differential_position2d name="controller1">
|
||||
<update>100</update>
|
||||
<leftJoint>left_back_wheel_joint</leftJoint>
|
||||
<rightJoint>right_back_wheel_joint</rightJoint>
|
||||
<wheelSeparation>${width}</wheelSeparation>
|
||||
<wheelDiameter>${wheeldiam}</wheelDiameter>
|
||||
<torque>5</torque>
|
||||
<interface:position name="position_iface_0"/>
|
||||
</controller:differential_position2d>
|
||||
|
||||
<controller:gazebo_ros_p3d name="p3d_base_controller" plugin="libgazebo_ros_p3d.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>100.0</updateRate>
|
||||
<bodyName>base_link</bodyName>
|
||||
<topicName>base_pose_ground_truth</topicName>
|
||||
<gaussianNoise>0.01</gaussianNoise>
|
||||
<frameName>map</frameName>
|
||||
<xyzOffsets>25.7 25.7 0</xyzOffsets> <!-- initialize odometry for fake localization-->
|
||||
<rpyOffsets>0 0 0</rpyOffsets>
|
||||
<interface:position name="p3d_base_position"/>
|
||||
</controller:gazebo_ros_p3d>
|
||||
|
||||
<!-- this publishes empty joint_states due to no transmission, but
|
||||
triggering robot_state_puublisher to publish tf between fixed joints in erratic,
|
||||
(e.g. base_laser_link for the base_scan frame) -->
|
||||
<controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>1000.0</updateRate>
|
||||
<interface:audio name="gazebo_ros_controller_manager_dummy_iface" />
|
||||
</controller:gazebo_ros_controller_manager>
|
||||
</gazebo>
|
||||
</robot>
|
||||
|
||||
|
|
@ -0,0 +1,44 @@
|
|||
Background\ ColorR=0.0941176
|
||||
Background\ ColorG=0
|
||||
Background\ ColorB=0.466667
|
||||
Fixed\ Frame=/base_link
|
||||
Target\ Frame=<Fixed Frame>
|
||||
Grid.Alpha=0.5
|
||||
Grid.Cell\ Size=0.5
|
||||
Grid.ColorR=0.898039
|
||||
Grid.ColorG=0.898039
|
||||
Grid.ColorB=0.898039
|
||||
Grid.Enabled=1
|
||||
Grid.Line\ Style=0
|
||||
Grid.Line\ Width=0.03
|
||||
Grid.Normal\ Cell\ Count=0
|
||||
Grid.OffsetX=0
|
||||
Grid.OffsetY=0
|
||||
Grid.OffsetZ=0
|
||||
Grid.Plane=0
|
||||
Grid.Plane\ Cell\ Count=10
|
||||
Grid.Reference\ Frame=<Fixed Frame>
|
||||
Robot\ Model.Alpha=1
|
||||
Robot\ Model.Collision\ Enabled=0
|
||||
Robot\ Model.Enabled=1
|
||||
Robot\ Model.Robot\ Description=robot_description
|
||||
Robot\ Model.TF\ Prefix=
|
||||
Robot\ Model.Update\ Interval=0
|
||||
Robot\ Model.Visual\ Enabled=1
|
||||
Robot\:\ Robot\ Model\ Link\ base_linkShow\ Axes=0
|
||||
Robot\:\ Robot\ Model\ Link\ base_linkShow\ Trail=0
|
||||
Robot\:\ Robot\ Model\ Link\ legShow\ Axes=0
|
||||
Robot\:\ Robot\ Model\ Link\ legShow\ Trail=0
|
||||
Tool\ 2D\ Nav\ GoalTopic=goal
|
||||
Tool\ 2D\ Pose\ EstimateTopic=initialpose
|
||||
Camera\ Type=rviz::OrbitViewController
|
||||
Camera\ Config=1.15779 3.76081 2.16475 0 0 0
|
||||
Property\ Grid\ State=selection=.Global StatusTopStatus;expanded=.Global Options,Grid.Enabled,Robot Model.Enabled;scrollpos=0,0;splitterpos=150,285;ispageselected=1
|
||||
[Display0]
|
||||
Name=Grid
|
||||
Package=rviz
|
||||
ClassName=rviz::GridDisplay
|
||||
[Display1]
|
||||
Name=Robot Model
|
||||
Package=rviz
|
||||
ClassName=rviz::RobotModelDisplay
|
||||
|
|
@ -0,0 +1,9 @@
|
|||
<launch>
|
||||
<arg name="model" />
|
||||
<arg name="gui" default="False" />
|
||||
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
|
||||
<param name="use_gui" value="$(arg gui)"/>
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.vcg" />
|
||||
</launch>
|
||||
Loading…
Reference in New Issue