initial copy
This commit is contained in:
Wim Meeussen
parent
a3c35dc515
commit
e1d5756fac
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cmake_minimum_required(VERSION 2.4.6)
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include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
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# Set the build type. Options are:
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# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
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# Debug : w/ debug symbols, w/o optimization
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# Release : w/o debug symbols, w/ optimization
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# RelWithDebInfo : w/ debug symbols, w/ optimization
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# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
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#set(ROS_BUILD_TYPE RelWithDebInfo)
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rosbuild_init()
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#set the default path for built executables to the "bin" directory
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set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
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#set the default path for built libraries to the "lib" directory
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set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
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rosbuild_add_executable(arm_kinematics arm_kinematics.cpp)
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include $(shell rospack find mk)/cmake.mk
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// bsd license blah blah
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#include <cstring>
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#include <ros/ros.h>
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#include <tf/transform_listener.h>
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#include <tf_conversions/tf_kdl.h>
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#include <tf/transform_datatypes.h>
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#include <kdl_parser/kdl_parser.hpp>
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#include <kdl/jntarray.hpp>
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#include <kdl/chainiksolverpos_nr_jl.hpp>
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#include <kdl/chainiksolvervel_pinv.hpp>
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#include <kdl/chainfksolverpos_recursive.hpp>
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#include <kinematics_msgs/GetPositionFK.h>
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#include <kinematics_msgs/GetPositionIK.h>
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#include <kinematics_msgs/GetKinematicSolverInfo.h>
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#include <kinematics_msgs/KinematicSolverInfo.h>
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using std::string;
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static const std::string IK_SERVICE = "get_ik";
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static const std::string FK_SERVICE = "get_fk";
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static const std::string IK_INFO_SERVICE = "get_ik_solver_info";
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static const std::string FK_INFO_SERVICE = "get_fk_solver_info";
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class Kinematics {
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public:
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Kinematics();
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bool init();
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private:
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ros::NodeHandle nh, nh_private;
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std::string root_name, tip_name;
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KDL::JntArray joint_min, joint_max;
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KDL::Chain chain;
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unsigned int num_joints;
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KDL::ChainFkSolverPos_recursive* fk_solver;
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KDL::ChainIkSolverPos_NR_JL *ik_solver_pos;
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KDL::ChainIkSolverVel_pinv* ik_solver_vel;
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ros::ServiceServer ik_service,ik_solver_info_service;
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ros::ServiceServer fk_service,fk_solver_info_service;
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tf::TransformListener tf_listener;
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kinematics_msgs::KinematicSolverInfo info;
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bool loadModel(const std::string xml);
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bool readJoints(urdf::Model &robot_model);
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int getJointIndex(const std::string &name);
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int getKDLSegmentIndex(const std::string &name);
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/**
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* @brief This is the basic IK service method that will compute and return an IK solution.
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* @param A request message. See service definition for GetPositionIK for more information on this message.
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* @param The response message. See service definition for GetPositionIK for more information on this message.
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*/
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bool getPositionIK(kinematics_msgs::GetPositionIK::Request &request,
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kinematics_msgs::GetPositionIK::Response &response);
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/**
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* @brief This is the basic kinematics info service that will return information about the kinematics node.
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* @param A request message. See service definition for GetKinematicSolverInfo for more information on this message.
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* @param The response message. See service definition for GetKinematicSolverInfo for more information on this message.
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*/
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bool getIKSolverInfo(kinematics_msgs::GetKinematicSolverInfo::Request &request,
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kinematics_msgs::GetKinematicSolverInfo::Response &response);
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/**
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* @brief This is the basic kinematics info service that will return information about the kinematics node.
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* @param A request message. See service definition for GetKinematicSolverInfo for more information on this message.
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* @param The response message. See service definition for GetKinematicSolverInfo for more information on this message.
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*/
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bool getFKSolverInfo(kinematics_msgs::GetKinematicSolverInfo::Request &request,
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kinematics_msgs::GetKinematicSolverInfo::Response &response);
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/**
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* @brief This is the basic forward kinematics service that will return information about the kinematics node.
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* @param A request message. See service definition for GetPositionFK for more information on this message.
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* @param The response message. See service definition for GetPositionFK for more information on this message.
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*/
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bool getPositionFK(kinematics_msgs::GetPositionFK::Request &request,
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kinematics_msgs::GetPositionFK::Response &response);
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};
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Kinematics::Kinematics(): nh_private ("~") {
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}
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bool Kinematics::init() {
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// Get URDF XML
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std::string urdf_xml, full_urdf_xml;
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nh.param("urdf_xml",urdf_xml,std::string("robot_description"));
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nh.searchParam(urdf_xml,full_urdf_xml);
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ROS_DEBUG("Reading xml file from parameter server");
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std::string result;
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if (!nh.getParam(full_urdf_xml, result)) {
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ROS_FATAL("Could not load the xml from parameter server: %s", urdf_xml.c_str());
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return false;
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}
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// Get Root and Tip From Parameter Service
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if (!nh_private.getParam("root_name", root_name)) {
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ROS_FATAL("GenericIK: No root name found on parameter server");
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return false;
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}
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if (!nh_private.getParam("tip_name", tip_name)) {
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ROS_FATAL("GenericIK: No tip name found on parameter server");
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return false;
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}
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// Load and Read Models
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if (!loadModel(result)) {
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ROS_FATAL("Could not load models!");
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return false;
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}
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// Get Solver Parameters
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int maxIterations;
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double epsilon;
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nh_private.param("maxIterations", maxIterations, 1000);
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nh_private.param("epsilon", epsilon, 1e-2);
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// Build Solvers
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fk_solver = new KDL::ChainFkSolverPos_recursive(chain);
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ik_solver_vel = new KDL::ChainIkSolverVel_pinv(chain);
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ik_solver_pos = new KDL::ChainIkSolverPos_NR_JL(chain, joint_min, joint_max,
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*fk_solver, *ik_solver_vel, maxIterations, epsilon);
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ROS_INFO("Advertising services");
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fk_service = nh_private.advertiseService(FK_SERVICE,&Kinematics::getPositionFK,this);
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ik_service = nh_private.advertiseService(IK_SERVICE,&Kinematics::getPositionIK,this);
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ik_solver_info_service = nh_private.advertiseService(IK_INFO_SERVICE,&Kinematics::getIKSolverInfo,this);
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fk_solver_info_service = nh_private.advertiseService(FK_INFO_SERVICE,&Kinematics::getFKSolverInfo,this);
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return true;
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}
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bool Kinematics::loadModel(const std::string xml) {
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urdf::Model robot_model;
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KDL::Tree tree;
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if (!robot_model.initString(xml)) {
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ROS_FATAL("Could not initialize robot model");
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return -1;
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}
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if (!kdl_parser::treeFromString(xml, tree)) {
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ROS_ERROR("Could not initialize tree object");
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return false;
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}
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if (!tree.getChain(root_name, tip_name, chain)) {
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ROS_ERROR("Could not initialize chain object");
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return false;
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}
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if (!readJoints(robot_model)) {
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ROS_FATAL("Could not read information about the joints");
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return false;
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}
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return true;
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}
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bool Kinematics::readJoints(urdf::Model &robot_model) {
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num_joints = 0;
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// get joint maxs and mins
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boost::shared_ptr<const urdf::Link> link = robot_model.getLink(tip_name);
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boost::shared_ptr<const urdf::Joint> joint;
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while (link && link->name != root_name) {
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joint = robot_model.getJoint(link->parent_joint->name);
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if (!joint) {
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ROS_ERROR("Could not find joint: %s",link->parent_joint->name.c_str());
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return false;
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}
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if (joint->type != urdf::Joint::UNKNOWN && joint->type != urdf::Joint::FIXED) {
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ROS_INFO( "adding joint: [%s]", joint->name.c_str() );
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num_joints++;
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}
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link = robot_model.getLink(link->getParent()->name);
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}
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joint_min.resize(num_joints);
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joint_max.resize(num_joints);
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info.joint_names.resize(num_joints);
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info.limits.resize(num_joints);
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link = robot_model.getLink(tip_name);
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unsigned int i = 0;
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while (link && i < num_joints) {
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joint = robot_model.getJoint(link->parent_joint->name);
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if (joint->type != urdf::Joint::UNKNOWN && joint->type != urdf::Joint::FIXED) {
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ROS_INFO( "getting bounds for joint: [%s]", joint->name.c_str() );
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float lower, upper;
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int hasLimits;
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if ( joint->type != urdf::Joint::CONTINUOUS ) {
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lower = joint->limits->lower;
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upper = joint->limits->upper;
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hasLimits = 1;
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} else {
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lower = -M_PI;
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upper = M_PI;
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hasLimits = 0;
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}
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int index = num_joints - i -1;
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joint_min.data[index] = lower;
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joint_max.data[index] = upper;
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info.joint_names[index] = joint->name;
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info.limits[index].joint_name = joint->name;
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info.limits[index].has_position_limits = hasLimits;
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info.limits[index].min_position = lower;
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info.limits[index].max_position = upper;
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i++;
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}
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link = robot_model.getLink(link->getParent()->name);
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}
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return true;
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}
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int Kinematics::getJointIndex(const std::string &name) {
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for (unsigned int i=0; i < info.joint_names.size(); i++) {
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if (info.joint_names[i] == name)
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return i;
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}
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return -1;
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}
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int Kinematics::getKDLSegmentIndex(const std::string &name) {
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int i=0;
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while (i < (int)chain.getNrOfSegments()) {
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if (chain.getSegment(i).getName() == name) {
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return i+1;
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}
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i++;
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}
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return -1;
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}
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bool Kinematics::getPositionIK(kinematics_msgs::GetPositionIK::Request &request,
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kinematics_msgs::GetPositionIK::Response &response) {
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geometry_msgs::PoseStamped pose_msg_in = request.ik_request.pose_stamped;
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tf::Stamped<tf::Pose> transform;
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tf::Stamped<tf::Pose> transform_root;
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tf::poseStampedMsgToTF( pose_msg_in, transform );
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//Do the IK
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KDL::JntArray jnt_pos_in;
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KDL::JntArray jnt_pos_out;
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jnt_pos_in.resize(num_joints);
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for (unsigned int i=0; i < num_joints; i++) {
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int tmp_index = getJointIndex(request.ik_request.ik_seed_state.joint_state.name[i]);
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if (tmp_index >=0) {
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jnt_pos_in(tmp_index) = request.ik_request.ik_seed_state.joint_state.position[i];
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} else {
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ROS_ERROR("i: %d, No joint index for %s",i,request.ik_request.ik_seed_state.joint_state.name[i].c_str());
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}
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}
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//Convert F to our root_frame
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try {
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tf_listener.transformPose(root_name, transform, transform_root);
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} catch (...) {
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ROS_ERROR("Could not transform IK pose to frame: %s", root_name.c_str());
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response.error_code.val = response.error_code.FRAME_TRANSFORM_FAILURE;
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return false;
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}
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KDL::Frame F_dest;
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tf::TransformTFToKDL(transform_root, F_dest);
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int ik_valid = ik_solver_pos->CartToJnt(jnt_pos_in, F_dest, jnt_pos_out);
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if (ik_valid >= 0) {
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response.solution.joint_state.name = info.joint_names;
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response.solution.joint_state.position.resize(num_joints);
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for (unsigned int i=0; i < num_joints; i++) {
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response.solution.joint_state.position[i] = jnt_pos_out(i);
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ROS_DEBUG("IK Solution: %s %d: %f",response.solution.joint_state.name[i].c_str(),i,jnt_pos_out(i));
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}
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response.error_code.val = response.error_code.SUCCESS;
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return true;
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} else {
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ROS_DEBUG("An IK solution could not be found");
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response.error_code.val = response.error_code.NO_IK_SOLUTION;
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return true;
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}
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}
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bool Kinematics::getIKSolverInfo(kinematics_msgs::GetKinematicSolverInfo::Request &request,
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kinematics_msgs::GetKinematicSolverInfo::Response &response) {
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response.kinematic_solver_info = info;
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return true;
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}
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bool Kinematics::getFKSolverInfo(kinematics_msgs::GetKinematicSolverInfo::Request &request,
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kinematics_msgs::GetKinematicSolverInfo::Response &response) {
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response.kinematic_solver_info = info;
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return true;
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}
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bool Kinematics::getPositionFK(kinematics_msgs::GetPositionFK::Request &request,
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kinematics_msgs::GetPositionFK::Response &response) {
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KDL::Frame p_out;
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KDL::JntArray jnt_pos_in;
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geometry_msgs::PoseStamped pose;
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tf::Stamped<tf::Pose> tf_pose;
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jnt_pos_in.resize(num_joints);
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for (unsigned int i=0; i < num_joints; i++) {
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int tmp_index = getJointIndex(request.robot_state.joint_state.name[i]);
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if (tmp_index >=0)
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jnt_pos_in(tmp_index) = request.robot_state.joint_state.position[i];
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}
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response.pose_stamped.resize(request.fk_link_names.size());
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response.fk_link_names.resize(request.fk_link_names.size());
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bool valid = true;
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for (unsigned int i=0; i < request.fk_link_names.size(); i++) {
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int segmentIndex = getKDLSegmentIndex(request.fk_link_names[i]);
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ROS_DEBUG("End effector index: %d",segmentIndex);
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ROS_DEBUG("Chain indices: %d",chain.getNrOfSegments());
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if (fk_solver->JntToCart(jnt_pos_in,p_out,segmentIndex) >=0) {
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tf_pose.frame_id_ = root_name;
|
|
||||||
tf_pose.stamp_ = ros::Time();
|
|
||||||
tf::PoseKDLToTF(p_out,tf_pose);
|
|
||||||
try {
|
|
||||||
tf_listener.transformPose(request.header.frame_id,tf_pose,tf_pose);
|
|
||||||
} catch (...) {
|
|
||||||
ROS_ERROR("Could not transform FK pose to frame: %s",request.header.frame_id.c_str());
|
|
||||||
response.error_code.val = response.error_code.FRAME_TRANSFORM_FAILURE;
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
tf::poseStampedTFToMsg(tf_pose,pose);
|
|
||||||
response.pose_stamped[i] = pose;
|
|
||||||
response.fk_link_names[i] = request.fk_link_names[i];
|
|
||||||
response.error_code.val = response.error_code.SUCCESS;
|
|
||||||
} else {
|
|
||||||
ROS_ERROR("Could not compute FK for %s",request.fk_link_names[i].c_str());
|
|
||||||
response.error_code.val = response.error_code.NO_FK_SOLUTION;
|
|
||||||
valid = false;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
|
|
||||||
int main(int argc, char **argv) {
|
|
||||||
ros::init(argc, argv, "arm_kinematics");
|
|
||||||
Kinematics k;
|
|
||||||
if (k.init()<0) {
|
|
||||||
ROS_ERROR("Could not initialize kinematics node");
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
ros::spin();
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
@ -1,26 +0,0 @@
|
||||||
/**
|
|
||||||
\mainpage
|
|
||||||
\htmlinclude manifest.html
|
|
||||||
|
|
||||||
\b arm_kinematics 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.
|
|
||||||
-->
|
|
||||||
|
|
||||||
|
|
||||||
*/
|
|
||||||
|
|
@ -1,19 +0,0 @@
|
||||||
<package>
|
|
||||||
<description brief="A generic package for computing Arm Kinematics">
|
|
||||||
A generic package for computing both forward and backward kinematics for arms.
|
|
||||||
Developed as an alternative to pr2_arm_kinematics for people not using the PR2.
|
|
||||||
</description>
|
|
||||||
<author>David Lu!!</author>
|
|
||||||
<license>BSD</license>
|
|
||||||
<review status="unreviewed" notes=""/>
|
|
||||||
<url>http://ros.org/wiki/arm_kinematics</url>
|
|
||||||
<depend package="roscpp"/>
|
|
||||||
<depend package="tf"/>
|
|
||||||
<depend package="sensor_msgs"/>
|
|
||||||
<depend package="tf_conversions"/>
|
|
||||||
<depend package="kdl_parser"/>
|
|
||||||
<depend package="kinematics_msgs"/>
|
|
||||||
|
|
||||||
</package>
|
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -1,30 +0,0 @@
|
||||||
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})
|
|
||||||
|
|
@ -1 +0,0 @@
|
||||||
include $(shell rospack find mk)/cmake.mk
|
|
||||||
|
|
@ -1,732 +0,0 @@
|
||||||
#!/usr/bin/python
|
|
||||||
|
|
||||||
import roslib; roslib.load_manifest('simmechanics_to_urdf')
|
|
||||||
import rospy
|
|
||||||
import sys
|
|
||||||
import tf
|
|
||||||
from tf.transformations import euler_from_quaternion, quaternion_from_matrix
|
|
||||||
import xml.dom.minidom
|
|
||||||
from xml.dom.minidom import Document
|
|
||||||
import threading
|
|
||||||
import math
|
|
||||||
import numpy
|
|
||||||
import yaml
|
|
||||||
|
|
||||||
# Conversion Factors
|
|
||||||
INCH2METER = 0.0254
|
|
||||||
SLUG2KG = 14.5939029
|
|
||||||
SLUGININ2KGMM = .009415402
|
|
||||||
MM2M = .001
|
|
||||||
|
|
||||||
# Special Reference Frame(s)
|
|
||||||
WORLD = "WORLD"
|
|
||||||
|
|
||||||
# Arbitrary List of colors to give pieces different looks
|
|
||||||
COLORS =[("green", "0 1 0 1"), ("black", "0 0 0 1"), ("red", "1 0 0 1"),
|
|
||||||
("blue", "0 0 1 1"), ("yellow", "1 1 0 1"), ("pink", "1 0 1 1"),
|
|
||||||
("cyan", "0 1 1 1"), ("green", "0 1 0 1"), ("white", "1 1 1 1"),
|
|
||||||
("dblue", "0 0 .8 1"), ("dgreen", ".1 .8 .1 1"), ("gray", ".5 .5 .5 1")]
|
|
||||||
|
|
||||||
class Converter:
|
|
||||||
def __init__(self):
|
|
||||||
# initialize member variables
|
|
||||||
self.links = {}
|
|
||||||
self.frames = {}
|
|
||||||
self.joints = {}
|
|
||||||
self.names = {}
|
|
||||||
self.colormap = {}
|
|
||||||
self.colorindex = 0
|
|
||||||
self.usedcolors = {}
|
|
||||||
|
|
||||||
# Start the Transform Manager
|
|
||||||
self.tfman = TransformManager()
|
|
||||||
self.tfman.start()
|
|
||||||
|
|
||||||
# Extra Transforms for Debugging
|
|
||||||
self.tfman.add([0,0,0], [0.70682518,0,0,0.70682518], "ROOT", WORLD) # rotate so Z axis is up
|
|
||||||
|
|
||||||
def convert(self, filename, configfile, mode):
|
|
||||||
self.mode = mode
|
|
||||||
|
|
||||||
# Parse the configuration file
|
|
||||||
self.parseConfig(configfile)
|
|
||||||
|
|
||||||
# Parse the input file
|
|
||||||
self.parse(xml.dom.minidom.parse(filename))
|
|
||||||
self.buildTree(self.root)
|
|
||||||
|
|
||||||
# Create the output
|
|
||||||
self.result = Document()
|
|
||||||
self.output(self.root)
|
|
||||||
|
|
||||||
# output the output
|
|
||||||
if mode == "xml":
|
|
||||||
print self.result.toprettyxml()
|
|
||||||
if mode == "graph":
|
|
||||||
print self.graph()
|
|
||||||
if mode == "groups":
|
|
||||||
print self.groups(root)
|
|
||||||
|
|
||||||
def parseConfig(self, configFile):
|
|
||||||
"""Parse the Configuration File, if it exists.
|
|
||||||
Set the fields the default if the config does
|
|
||||||
not set them """
|
|
||||||
if configFile == None:
|
|
||||||
configuration = {}
|
|
||||||
else:
|
|
||||||
configuration = yaml.load(file(configFile, 'r'))
|
|
||||||
if configuration == None:
|
|
||||||
configuration = {}
|
|
||||||
|
|
||||||
self.freezeList = []
|
|
||||||
self.redefinedjoints = {}
|
|
||||||
|
|
||||||
self.root = configuration.get('root', None)
|
|
||||||
self.extrajoints = configuration.get('extrajoints', {})
|
|
||||||
self.filenameformat = configuration.get('filenameformat', "%s")
|
|
||||||
self.forcelowercase = configuration.get('forcelowercase', False)
|
|
||||||
self.scale = configuration.get('scale', None)
|
|
||||||
self.freezeAll = configuration.get('freezeAll', False)
|
|
||||||
self.baseframe = configuration.get('baseframe', WORLD)
|
|
||||||
|
|
||||||
# Get lists converted to strings
|
|
||||||
self.removeList = [ str(e) for e in configuration.get('remove', []) ]
|
|
||||||
self.freezeList = [ str(e) for e in configuration.get('freeze', []) ]
|
|
||||||
|
|
||||||
# Get map with key converted to strings
|
|
||||||
jointmap = configuration.get('redefinedjoints', {})
|
|
||||||
for x in jointmap.keys():
|
|
||||||
self.redefinedjoints[str(x)] = jointmap[x]
|
|
||||||
|
|
||||||
# Add Extra Frames
|
|
||||||
for frame in configuration.get('moreframes', []):
|
|
||||||
self.tfman.add(frame['offset'], frame['orientation'], frame['parent'], frame['child'])
|
|
||||||
|
|
||||||
|
|
||||||
def parse(self, element):
|
|
||||||
"""Recursively goes through all XML elements
|
|
||||||
and branches off for important elements"""
|
|
||||||
name = element.localName
|
|
||||||
# Grab name from root element AND recursively parse
|
|
||||||
if name == "PhysicalModelingXMLFile":
|
|
||||||
dict = getDictionary(element)
|
|
||||||
self.name = dict['name']
|
|
||||||
|
|
||||||
if name == "Body":
|
|
||||||
self.parseLink(element)
|
|
||||||
elif name == "SimpleJoint":
|
|
||||||
self.parseJoint(element)
|
|
||||||
elif name == "Ground":
|
|
||||||
dict = getDictionary(element)
|
|
||||||
self.parseFrames(dict['frame'], "GROUND")
|
|
||||||
else:
|
|
||||||
for child in element.childNodes:
|
|
||||||
self.parse(child)
|
|
||||||
|
|
||||||
def parseLink(self, link):
|
|
||||||
"""Parse the important bits of a link element"""
|
|
||||||
linkdict = getDictionary(link)
|
|
||||||
uid = self.getName(linkdict['name'])
|
|
||||||
linkdict['neighbors'] = []
|
|
||||||
linkdict['children'] = []
|
|
||||||
linkdict['jointmap'] = {}
|
|
||||||
|
|
||||||
# Save the frames for separate parsing
|
|
||||||
frames = linkdict['frames']
|
|
||||||
linkdict['frames'] = None
|
|
||||||
|
|
||||||
# Save the color if it exists
|
|
||||||
if 'MaterialProp' in linkdict:
|
|
||||||
colorelement = linkdict['MaterialProp'][1]
|
|
||||||
color = colorelement.childNodes[0].data
|
|
||||||
linkdict['MaterialProp'] = None
|
|
||||||
linkdict['color'] = color.replace(",", " ") + " 1"
|
|
||||||
|
|
||||||
|
|
||||||
self.links[uid] = linkdict
|
|
||||||
self.parseFrames(frames, uid)
|
|
||||||
|
|
||||||
# Save First Actual Element as Root, if not defined already
|
|
||||||
if self.root == None and "geometryFileName" in linkdict:
|
|
||||||
self.root = uid
|
|
||||||
|
|
||||||
def parseFrames(self, frames, parent):
|
|
||||||
"""Parse the frames from xml"""
|
|
||||||
for frame in frames:
|
|
||||||
if frame.nodeType is frame.TEXT_NODE:
|
|
||||||
continue
|
|
||||||
fdict = getDictionary(frame)
|
|
||||||
fid = str(frame.getAttribute("ref"))
|
|
||||||
fdict['parent'] = parent
|
|
||||||
|
|
||||||
offset = getlist(fdict['position'])
|
|
||||||
units = fdict['positionUnits']
|
|
||||||
for i in range(0, len(offset)):
|
|
||||||
offset[i] = convert(offset[i], units)
|
|
||||||
|
|
||||||
orientation = getlist(fdict['orientation'])
|
|
||||||
quat = matrixToQuaternion(orientation)
|
|
||||||
|
|
||||||
# If the frame does not have a reference number,
|
|
||||||
# use the name plus a suffix (for CG or CS1...
|
|
||||||
# otherwise ignore the frame
|
|
||||||
if fid == "":
|
|
||||||
name = fdict['name']
|
|
||||||
if name == "CG":
|
|
||||||
fid = parent + "CG"
|
|
||||||
elif name == "CS1":
|
|
||||||
fid = parent + "CS1"
|
|
||||||
else:
|
|
||||||
continue
|
|
||||||
|
|
||||||
self.tfman.add(offset, quat, WORLD, fid)
|
|
||||||
self.frames[fid] = fdict
|
|
||||||
|
|
||||||
def parseJoint(self, element):
|
|
||||||
"""Parse the joint from xml"""
|
|
||||||
dict = getDictionary(element)
|
|
||||||
joint = {}
|
|
||||||
joint['name'] = dict['name']
|
|
||||||
uid = self.getName(joint['name'])
|
|
||||||
|
|
||||||
frames = element.getElementsByTagName("Frame")
|
|
||||||
joint['parent'] = str(frames[0].getAttribute("ref"))
|
|
||||||
joint['child'] = str(frames[1].getAttribute("ref"))
|
|
||||||
type = element.getElementsByTagName("Primitive")
|
|
||||||
|
|
||||||
# If there multiple elements, assume a fixed joint
|
|
||||||
if len(type)==1:
|
|
||||||
pdict = getDictionary(type[0])
|
|
||||||
joint['type'] = pdict['name']
|
|
||||||
joint['axis'] = pdict['axis']
|
|
||||||
if joint['type'] == 'weld':
|
|
||||||
joint['type'] = 'fixed'
|
|
||||||
else:
|
|
||||||
joint['type'] = 'fixed'
|
|
||||||
|
|
||||||
# Ignore joints on the remove list
|
|
||||||
if joint['parent'] in self.removeList:
|
|
||||||
return
|
|
||||||
|
|
||||||
# Force joints to be fixed on the freezeList
|
|
||||||
if joint['parent'] in self.freezeList or self.freezeAll:
|
|
||||||
joint['type'] = 'fixed'
|
|
||||||
|
|
||||||
# Redefine specified joints on redefined list
|
|
||||||
if joint['parent'] in self.redefinedjoints.keys():
|
|
||||||
jdict = self.redefinedjoints[joint['parent']]
|
|
||||||
if 'name' in jdict:
|
|
||||||
uid = jdict['name']
|
|
||||||
|
|
||||||
# Default to continuous joints
|
|
||||||
joint['type'] = jdict.get('type', 'continuous')
|
|
||||||
|
|
||||||
if 'axis' in jdict:
|
|
||||||
joint['axis'] = jdict['axis']
|
|
||||||
if 'limits' in jdict:
|
|
||||||
joint['limits'] = jdict['limits']
|
|
||||||
|
|
||||||
self.joints[uid] = joint
|
|
||||||
|
|
||||||
def buildTree(self, root):
|
|
||||||
"""Reduce the graph structure of links and joints to a tree
|
|
||||||
by breadth first search. Then construct new coordinate frames
|
|
||||||
from new tree structure"""
|
|
||||||
|
|
||||||
# Create a list of all neighboring links at each link
|
|
||||||
for jid in self.joints:
|
|
||||||
jointdict = self.joints[jid]
|
|
||||||
if "Root" in jointdict['name']:
|
|
||||||
continue
|
|
||||||
pid = self.getLinkNameByFrame(jointdict['parent'])
|
|
||||||
cid = self.getLinkNameByFrame(jointdict['child'])
|
|
||||||
parent = self.links[pid]
|
|
||||||
child = self.links[cid]
|
|
||||||
|
|
||||||
parent['neighbors'].append(cid)
|
|
||||||
parent['jointmap'][cid] = jid
|
|
||||||
child['neighbors'].append(pid)
|
|
||||||
child['jointmap'][pid] = jid
|
|
||||||
|
|
||||||
# Add necessary information for any user-defined joints
|
|
||||||
for (name, extrajoint) in self.extrajoints.items():
|
|
||||||
pid = extrajoint['pid']
|
|
||||||
cid = extrajoint['cid']
|
|
||||||
jorigin = extrajoint['jorigin']
|
|
||||||
newframe = name + "_frame"
|
|
||||||
|
|
||||||
self.links[pid]['neighbors'].append(cid)
|
|
||||||
self.links[pid]['jointmap'][cid] = name
|
|
||||||
self.links[cid]['neighbors'].append(pid)
|
|
||||||
self.links[cid]['jointmap'][pid] = name
|
|
||||||
self.joints[name] = {'name': name, 'parent': jorigin, 'child': newframe}
|
|
||||||
for (k,v) in extrajoint['attributes'].items():
|
|
||||||
self.joints[name][k] = v
|
|
||||||
self.frames[jorigin] = {'parent': pid}
|
|
||||||
self.frames[newframe] = {'parent': cid}
|
|
||||||
|
|
||||||
# Starting with designated root node, perform BFS to
|
|
||||||
# create the tree
|
|
||||||
queue = [ root ]
|
|
||||||
self.links[root]['parent'] = "GROUND"
|
|
||||||
while len(queue) > 0:
|
|
||||||
id = queue.pop(0)
|
|
||||||
link = self.links[id]
|
|
||||||
for n in link['neighbors']:
|
|
||||||
nbor = self.links[n]
|
|
||||||
# if a neighbor has not been visited yet,
|
|
||||||
# add it as a child node
|
|
||||||
if not 'parent' in nbor:
|
|
||||||
nbor['parent'] = id
|
|
||||||
queue.append(n)
|
|
||||||
link['children'].append(n)
|
|
||||||
|
|
||||||
# build new coordinate frames
|
|
||||||
for id in self.links:
|
|
||||||
link = self.links[id]
|
|
||||||
if not 'parent' in link:
|
|
||||||
continue
|
|
||||||
parentid = link['parent']
|
|
||||||
if parentid == "GROUND":
|
|
||||||
ref = self.baseframe
|
|
||||||
else:
|
|
||||||
joint = self.joints[link['jointmap'][parentid]]
|
|
||||||
ref = joint['parent']
|
|
||||||
# The root of each link is the offset to the joint
|
|
||||||
# and the rotation of the CS1 frame
|
|
||||||
(off1, rot1) = self.tfman.get(WORLD, ref)
|
|
||||||
(off2, rot2) = self.tfman.get(WORLD, id + "CS1")
|
|
||||||
self.tfman.add(off1, rot2, WORLD, "X" + id)
|
|
||||||
|
|
||||||
|
|
||||||
def output(self, rootid):
|
|
||||||
"""Creates the URDF from the parsed document.
|
|
||||||
Makes the document and starts the recursive build process"""
|
|
||||||
doc = self.result;
|
|
||||||
self.root = doc.createElement("robot")
|
|
||||||
doc.appendChild(self.root)
|
|
||||||
self.root.setAttribute("name", self.name)
|
|
||||||
self.outputLink(rootid)
|
|
||||||
self.processLink(rootid)
|
|
||||||
|
|
||||||
def processLink(self, id):
|
|
||||||
""" Creates the output for the specified node's
|
|
||||||
child links, the connecting joints, then
|
|
||||||
recursively processes each child """
|
|
||||||
link = self.links[id]
|
|
||||||
for cid in link['children']:
|
|
||||||
jid = link['jointmap'][cid]
|
|
||||||
|
|
||||||
self.outputLink(cid)
|
|
||||||
self.outputJoint(jid, id)
|
|
||||||
self.processLink(cid)
|
|
||||||
|
|
||||||
def outputLink(self, id):
|
|
||||||
""" Creates the URDF output for a single link """
|
|
||||||
doc = self.result
|
|
||||||
linkdict = self.links[id]
|
|
||||||
if linkdict['name'] == "RootPart":
|
|
||||||
return
|
|
||||||
|
|
||||||
link = doc.createElement("link")
|
|
||||||
link.setAttribute("name", id)
|
|
||||||
|
|
||||||
visual = doc.createElement("visual")
|
|
||||||
inertial = doc.createElement("inertial")
|
|
||||||
collision = doc.createElement("collision")
|
|
||||||
link.appendChild(visual)
|
|
||||||
link.appendChild(inertial)
|
|
||||||
link.appendChild(collision)
|
|
||||||
|
|
||||||
# Define Geometry
|
|
||||||
geometry = doc.createElement("geometry")
|
|
||||||
mesh = doc.createElement("mesh")
|
|
||||||
filename = linkdict['geometryFileName']
|
|
||||||
if self.forcelowercase:
|
|
||||||
filename = filename.lower()
|
|
||||||
|
|
||||||
mesh.setAttribute("filename", self.filenameformat % filename)
|
|
||||||
if self.scale != None:
|
|
||||||
mesh.setAttribute("scale", self.scale)
|
|
||||||
geometry.appendChild(mesh)
|
|
||||||
visual.appendChild(geometry)
|
|
||||||
collision.appendChild(geometry.cloneNode(1))
|
|
||||||
|
|
||||||
# Define Inertial Frame
|
|
||||||
mass = doc.createElement("mass")
|
|
||||||
units = linkdict['massUnits']
|
|
||||||
massval = convert(float(linkdict['mass']), units)
|
|
||||||
mass.setAttribute("value", str(massval))
|
|
||||||
inertial.appendChild(mass)
|
|
||||||
|
|
||||||
inertia = doc.createElement("inertia")
|
|
||||||
matrix = getlist(linkdict["inertia"])
|
|
||||||
units = linkdict['inertiaUnits']
|
|
||||||
|
|
||||||
for i in range(0,len(matrix)):
|
|
||||||
matrix[i] = convert(matrix[i], units)
|
|
||||||
|
|
||||||
inertia.setAttribute("ixx", str(matrix[0]))
|
|
||||||
inertia.setAttribute("ixy", str(matrix[1]))
|
|
||||||
inertia.setAttribute("ixz", str(matrix[2]))
|
|
||||||
inertia.setAttribute("iyy", str(matrix[4]))
|
|
||||||
inertia.setAttribute("iyz", str(matrix[5]))
|
|
||||||
inertia.setAttribute("izz", str(matrix[8]))
|
|
||||||
inertial.appendChild(inertia)
|
|
||||||
|
|
||||||
# Inertial origin is the center of gravity
|
|
||||||
iorigin = doc.createElement("origin")
|
|
||||||
(off, rot) = self.tfman.get("X" + id, id+"CG")
|
|
||||||
rpy = list(euler_from_quaternion(rot))
|
|
||||||
iorigin.setAttribute("xyz", " ".join(map(str,zero(off))))
|
|
||||||
iorigin.setAttribute("rpy", " ".join(map(str,zero(rpy))))
|
|
||||||
inertial.appendChild(iorigin)
|
|
||||||
|
|
||||||
# Create link's origin
|
|
||||||
origin = doc.createElement("origin")
|
|
||||||
|
|
||||||
# Visual offset is difference between origin and CS1
|
|
||||||
(off, rot) = self.tfman.get("X" + id, id+"CS1")
|
|
||||||
rpy = list(euler_from_quaternion(rot))
|
|
||||||
origin.setAttribute("xyz", " ".join(map(str,zero(off))))
|
|
||||||
origin.setAttribute("rpy", " ".join(map(str,zero(rpy))))
|
|
||||||
visual.appendChild(origin)
|
|
||||||
collision.appendChild(origin.cloneNode(1))
|
|
||||||
|
|
||||||
# Define Material
|
|
||||||
material = doc.createElement("material")
|
|
||||||
|
|
||||||
# Use specified color, if exists. Otherwise, get random color
|
|
||||||
if 'color' in linkdict:
|
|
||||||
cname = "%s_color"%id
|
|
||||||
rgba = linkdict['color']
|
|
||||||
else:
|
|
||||||
(cname, rgba) = self.getColor(linkdict['name'])
|
|
||||||
material.setAttribute("name", cname)
|
|
||||||
visual.appendChild(material)
|
|
||||||
|
|
||||||
# If color has already been output, only output name
|
|
||||||
if not cname in self.usedcolors:
|
|
||||||
color = doc.createElement("color")
|
|
||||||
color.setAttribute("rgba", rgba)
|
|
||||||
material.appendChild(color)
|
|
||||||
self.usedcolors[cname] = True
|
|
||||||
|
|
||||||
self.root.appendChild(link)
|
|
||||||
|
|
||||||
def getColor(self, s):
|
|
||||||
""" Gets a two element list containing a color name,
|
|
||||||
and it's rgba. The color selected is based on the mesh name.
|
|
||||||
If already seen, returns the saved color
|
|
||||||
Otherwise, returns the next available color"""
|
|
||||||
if s in self.colormap:
|
|
||||||
return self.colormap[s]
|
|
||||||
color = COLORS[self.colorindex]
|
|
||||||
self.colormap[s] = color
|
|
||||||
self.colorindex = (self.colorindex + 1) % len(COLORS)
|
|
||||||
return color
|
|
||||||
|
|
||||||
def outputJoint(self, id, parentname):
|
|
||||||
""" Outputs URDF for a single joint """
|
|
||||||
doc = self.result
|
|
||||||
jointdict = self.joints[id]
|
|
||||||
|
|
||||||
if "Root" in jointdict['name']:
|
|
||||||
return
|
|
||||||
|
|
||||||
joint = doc.createElement("joint")
|
|
||||||
joint.setAttribute('name', id)
|
|
||||||
|
|
||||||
# Define the parent and child
|
|
||||||
pid = self.getLinkNameByFrame(jointdict['parent'])
|
|
||||||
cid = self.getLinkNameByFrame(jointdict['child'])
|
|
||||||
|
|
||||||
# If the original joint was reversed while building the tree,
|
|
||||||
# swap the two ids
|
|
||||||
if parentname != pid:
|
|
||||||
cid = pid
|
|
||||||
pid = parentname
|
|
||||||
|
|
||||||
parent = doc.createElement("parent")
|
|
||||||
child = doc.createElement("child")
|
|
||||||
parent.setAttribute('link', pid)
|
|
||||||
child.setAttribute('link', cid)
|
|
||||||
joint.appendChild(parent)
|
|
||||||
joint.appendChild(child)
|
|
||||||
|
|
||||||
# Define joint type
|
|
||||||
jtype = jointdict['type']
|
|
||||||
joint.setAttribute('type', jtype)
|
|
||||||
if 'limits' in jointdict:
|
|
||||||
limit = doc.createElement("limit")
|
|
||||||
for (k,v) in jointdict['limits'].items():
|
|
||||||
limit.setAttribute(str(k), str(v))
|
|
||||||
joint.appendChild(limit)
|
|
||||||
if 'axis' in jointdict and jtype != 'fixed':
|
|
||||||
axis = doc.createElement("axis")
|
|
||||||
xyz = jointdict['axis'].replace(',', ' ')
|
|
||||||
axis.setAttribute('xyz', xyz)
|
|
||||||
joint.appendChild(axis)
|
|
||||||
|
|
||||||
# Define the origin
|
|
||||||
origin = doc.createElement("origin")
|
|
||||||
(off, rot) = self.tfman.get("X" + pid, "X" + cid)
|
|
||||||
rpy = list(euler_from_quaternion(rot))
|
|
||||||
off = zero(off)
|
|
||||||
rpy = zero(rpy)
|
|
||||||
origin.setAttribute("xyz", " ".join(map(str,off)))
|
|
||||||
origin.setAttribute("rpy", " ".join(map(str,rpy)))
|
|
||||||
joint.appendChild(origin)
|
|
||||||
|
|
||||||
self.root.appendChild(joint)
|
|
||||||
|
|
||||||
def getName(self, basename):
|
|
||||||
"""Return a unique name of the format
|
|
||||||
basenameD where D is the lowest number
|
|
||||||
to make the name unique"""
|
|
||||||
index = 1
|
|
||||||
name = basename + str(index)
|
|
||||||
while name in self.names:
|
|
||||||
index = index + 1
|
|
||||||
name = basename + str(index)
|
|
||||||
self.names[name] = 1
|
|
||||||
return name
|
|
||||||
|
|
||||||
def getLinkNameByFrame(self, key):
|
|
||||||
"""Gets the link name from the frame object"""
|
|
||||||
return self.frames[key]['parent']
|
|
||||||
|
|
||||||
def graph(self):
|
|
||||||
"""For debugging purposes, output a graphviz
|
|
||||||
representation of the tree structure, noting
|
|
||||||
which joints have been reversed and which have
|
|
||||||
been removed"""
|
|
||||||
graph = "digraph proe {\n"
|
|
||||||
for jkey in self.joints:
|
|
||||||
joint = self.joints[jkey]
|
|
||||||
pref = joint['parent']
|
|
||||||
cref = joint['child']
|
|
||||||
label = pref + ":" + cref
|
|
||||||
pkey = self.getLinkNameByFrame(pref)
|
|
||||||
ckey = self.getLinkNameByFrame(cref)
|
|
||||||
case = 'std'
|
|
||||||
if pkey != "GROUND":
|
|
||||||
parent = self.links[pkey]
|
|
||||||
if not ckey in parent['children']:
|
|
||||||
child = self.links[ckey]
|
|
||||||
if pkey in child['children']:
|
|
||||||
case = 'rev'
|
|
||||||
else:
|
|
||||||
case = 'not'
|
|
||||||
pkey = pkey.replace("-", "_")
|
|
||||||
ckey = ckey.replace("-", "_")
|
|
||||||
|
|
||||||
if (case == 'std' or case == 'rev') and (joint['type'] != "fixed"):
|
|
||||||
style = " penwidth=\"5\""
|
|
||||||
else:
|
|
||||||
style = "";
|
|
||||||
|
|
||||||
if case == 'std':
|
|
||||||
s = pkey + " -> " + ckey + " [ label = \""+label+"\"";
|
|
||||||
elif case == 'not':
|
|
||||||
s = pkey + " -> " + ckey + " [ label = \""+label+"\" color=\"yellow\""
|
|
||||||
elif case == 'rev':
|
|
||||||
s = ckey + " -> " + pkey + " [ label = \""+label+"\" color=\"blue\""
|
|
||||||
s = s + style + "];"
|
|
||||||
|
|
||||||
if not "Root" in s and "-> SCR_" not in s:
|
|
||||||
graph = graph + s + "\n"
|
|
||||||
return graph + "}\n"
|
|
||||||
|
|
||||||
def groups(self, root):
|
|
||||||
""" For planning purposes, print out lists of
|
|
||||||
all the links between the different joints"""
|
|
||||||
self.groups = {}
|
|
||||||
self.makeGroup(root, "BASE")
|
|
||||||
s = ""
|
|
||||||
for key in self.groups.keys():
|
|
||||||
s = s + key + ":\n\t"
|
|
||||||
ids = self.groups[key]
|
|
||||||
for id in ids:
|
|
||||||
s = s+id + " "
|
|
||||||
s = s + "\n\n"
|
|
||||||
return s
|
|
||||||
|
|
||||||
def makeGroup(self, id, gid):
|
|
||||||
""" Helper function for recursively gathering
|
|
||||||
groups of joints. """
|
|
||||||
if gid in self.groups:
|
|
||||||
idlist = self.groups[gid]
|
|
||||||
idlist.append(id)
|
|
||||||
else:
|
|
||||||
idlist = [id]
|
|
||||||
self.groups[gid] = idlist
|
|
||||||
link = self.links[id]
|
|
||||||
for child in link['children']:
|
|
||||||
jid = link['jointmap'][child]
|
|
||||||
joint = self.joints[jid]
|
|
||||||
if joint['type'] == 'weld':
|
|
||||||
ngid = gid
|
|
||||||
else:
|
|
||||||
ngid = jid
|
|
||||||
|
|
||||||
self.makeGroup(child, ngid)
|
|
||||||
|
|
||||||
def getDictionary(tag):
|
|
||||||
"""Builds a dictionary from the specified xml tag
|
|
||||||
where each child of the tag is entered into the dictionary
|
|
||||||
with the name of the child tag as the key, and the contents
|
|
||||||
as the value. Also removes quotes from quoted values"""
|
|
||||||
x = {}
|
|
||||||
for child in tag.childNodes:
|
|
||||||
if child.nodeType is child.TEXT_NODE:
|
|
||||||
continue
|
|
||||||
key = str(child.localName)
|
|
||||||
if len(child.childNodes) == 1:
|
|
||||||
data = str(child.childNodes[0].data)
|
|
||||||
if data[0] == '"' and data[-1] == '"':
|
|
||||||
if len(data) != 2:
|
|
||||||
x[key] = data[1:-1]
|
|
||||||
else:
|
|
||||||
x[key] = data
|
|
||||||
else:
|
|
||||||
data = child.childNodes
|
|
||||||
x[key] = data
|
|
||||||
return x
|
|
||||||
|
|
||||||
def getlist(string):
|
|
||||||
"""Splits a string of comma delimited floats to
|
|
||||||
a list of floats"""
|
|
||||||
slist = string.split(",")
|
|
||||||
flist = []
|
|
||||||
for s in slist:
|
|
||||||
flist.append(float(s))
|
|
||||||
return flist
|
|
||||||
|
|
||||||
|
|
||||||
def convert(value, units):
|
|
||||||
"""Convert value from the specified units to mks units"""
|
|
||||||
if units == 'kg' or units == 'm' or units == 'kg*m^2':
|
|
||||||
return value
|
|
||||||
elif units == 'slug*in^2':
|
|
||||||
return value * SLUGININ2KGMM
|
|
||||||
elif units == 'slug':
|
|
||||||
return value * SLUG2KG
|
|
||||||
elif units == 'in':
|
|
||||||
return value * INCH2METER
|
|
||||||
elif units == 'mm':
|
|
||||||
return value * MM2M
|
|
||||||
else:
|
|
||||||
raise Exception("unsupported mass unit: %s" % units)
|
|
||||||
|
|
||||||
def matrixToQuaternion(matrix):
|
|
||||||
"""Concert 3x3 rotation matrix into a quaternion"""
|
|
||||||
(R11, R12, R13, R21, R22, R23, R31, R32, R33) = matrix
|
|
||||||
# Build 4x4 matrix
|
|
||||||
M = [[R11, R21, R31, 0],
|
|
||||||
[R12, R22, R32, 0],
|
|
||||||
[R13, R23, R33, 0],
|
|
||||||
[0, 0, 0, 1]]
|
|
||||||
A = numpy.array(M)
|
|
||||||
[w,x,y,z] = quaternion_from_matrix(A)
|
|
||||||
return [w,x,y,z]
|
|
||||||
|
|
||||||
def quaternion_to_rpy(quat):
|
|
||||||
"""Convert quaternion into roll pitch yaw list (in degrees)"""
|
|
||||||
rpy = list(euler_from_quaternion(quat))
|
|
||||||
for i in range(0, len(rpy)):
|
|
||||||
rpy[i] = rpy[i]*180/math.pi
|
|
||||||
return rpy
|
|
||||||
|
|
||||||
def zero(arr):
|
|
||||||
"""Converts any numbers less than 1e-7 to 0 in the array"""
|
|
||||||
for i in range(0,len(arr)):
|
|
||||||
if math.fabs(arr[i]) < 1e-7:
|
|
||||||
arr[i] = 0
|
|
||||||
return arr
|
|
||||||
|
|
||||||
|
|
||||||
class TransformManager(threading.Thread):
|
|
||||||
"""Bridge to the ROS tf package. Constantly broadcasts
|
|
||||||
all tfs, and retrieves them on demand."""
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
threading.Thread.__init__(self)
|
|
||||||
self.running = True
|
|
||||||
self.tfs = []
|
|
||||||
self.listener = tf.TransformListener()
|
|
||||||
|
|
||||||
def run(self):
|
|
||||||
"""Broadcasts tfs until shutdown"""
|
|
||||||
rate = rospy.Rate(10.0)
|
|
||||||
br = tf.TransformBroadcaster()
|
|
||||||
while self.running:
|
|
||||||
for transform in self.tfs:
|
|
||||||
br.sendTransform(transform['trans'],
|
|
||||||
transform['rot'],
|
|
||||||
rospy.Time.now(),
|
|
||||||
transform['child'],
|
|
||||||
transform['parent'])
|
|
||||||
rate.sleep()
|
|
||||||
|
|
||||||
def add(self, trans, rot, parent, child):
|
|
||||||
"""Adds a new transform to the set"""
|
|
||||||
tf = {'trans':trans, 'rot':rot, 'child':child, 'parent':parent}
|
|
||||||
self.tfs.append(tf)
|
|
||||||
|
|
||||||
def get(self, parent, child):
|
|
||||||
"""Attempts to retrieve a transform"""
|
|
||||||
attempts = 0
|
|
||||||
rate = rospy.Rate(10.0)
|
|
||||||
while attempts < 50:
|
|
||||||
try:
|
|
||||||
(off,rpy) = self.listener.lookupTransform(parent, child, rospy.Time(0))
|
|
||||||
return [list(off), list(rpy)]
|
|
||||||
except (tf.LookupException, tf.ConnectivityException):
|
|
||||||
attempts+=1
|
|
||||||
rate.sleep()
|
|
||||||
continue
|
|
||||||
|
|
||||||
raise Exception("Attempt to transform %s exceeded attempt limit" % (parent + "/" + child))
|
|
||||||
|
|
||||||
def printTransform(self, parent, child):
|
|
||||||
"""Attempts to print the specified transform"""
|
|
||||||
(off, rot) = self.get(parent, child)
|
|
||||||
rpy = quaternion_to_rpy(rot)
|
|
||||||
|
|
||||||
s = parent + "-->" + child
|
|
||||||
l = (30 - len(s))*" "
|
|
||||||
print "%s%s[%+.5f %+.5f %+.5f] \t [%+3.3f %+.3f %+.3f] \t [%+.6f %+.6f %+.6f %+.6f] " \
|
|
||||||
% (s, l, off[0], off[1], off[2], rpy[0], rpy[1], rpy[2], rot[0], rot[1], rot[2], rot[3])
|
|
||||||
|
|
||||||
def kill(self):
|
|
||||||
"""Stops thread from running"""
|
|
||||||
self.running = False
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
argc = len(sys.argv)
|
|
||||||
if argc == 3:
|
|
||||||
filename = sys.argv[1]
|
|
||||||
config = None
|
|
||||||
mode = sys.argv[2]
|
|
||||||
elif argc == 4:
|
|
||||||
filename = sys.argv[1]
|
|
||||||
config = sys.argv[2]
|
|
||||||
mode = sys.argv[3]
|
|
||||||
else:
|
|
||||||
print "Usage: " + sys.argv[0] + " {XML filename} [configfile] {tf|xml|graph|groups|none}"
|
|
||||||
sys.exit(-1)
|
|
||||||
try:
|
|
||||||
rospy.init_node('convert')
|
|
||||||
con = Converter()
|
|
||||||
try:
|
|
||||||
con.convert(filename, config, mode)
|
|
||||||
while mode == "tf" and not rospy.is_shutdown():
|
|
||||||
None
|
|
||||||
except Exception:
|
|
||||||
raise
|
|
||||||
finally:
|
|
||||||
con.tfman.kill()
|
|
||||||
|
|
||||||
except rospy.ROSInterruptException: pass
|
|
||||||
|
|
||||||
|
|
@ -1,18 +0,0 @@
|
||||||
#!/usr/bin/python
|
|
||||||
import os
|
|
||||||
import sys
|
|
||||||
import subprocess
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
if len(sys.argv) != 2:
|
|
||||||
print "Usage: " + sys.argv[0] + " [directory]"
|
|
||||||
sys.exit(-1)
|
|
||||||
path= sys.argv[1]
|
|
||||||
dirList=os.listdir(path)
|
|
||||||
for fname in dirList:
|
|
||||||
path1 = path + fname
|
|
||||||
path2 = path + fname + "b"
|
|
||||||
cmd = "rosrun ivcon ivcon " + path1 + " " + path2
|
|
||||||
proc = subprocess.Popen([cmd], stdout=subprocess.PIPE, shell=True)
|
|
||||||
(out, err) = proc.communicate()
|
|
||||||
print err
|
|
||||||
|
|
@ -1,26 +0,0 @@
|
||||||
/**
|
|
||||||
\mainpage
|
|
||||||
\htmlinclude manifest.html
|
|
||||||
|
|
||||||
\b simmechanics_to_urdf 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.
|
|
||||||
-->
|
|
||||||
|
|
||||||
|
|
||||||
*/
|
|
||||||
|
|
@ -1,15 +0,0 @@
|
||||||
<package>
|
|
||||||
<description brief="Converts SimMechanics XML to URDF">
|
|
||||||
Converts SimMechanics XML to URDF
|
|
||||||
</description>
|
|
||||||
<author>David Lu!!</author>
|
|
||||||
<license>BSD</license>
|
|
||||||
<review status="unreviewed" notes=""/>
|
|
||||||
<url>http://ros.org/wiki/simmechanics_to_urdf</url>
|
|
||||||
<depend package="rospy"/>
|
|
||||||
<depend package="sensor_msgs"/>
|
|
||||||
<depend package="tf"/>
|
|
||||||
<rosdep name="python-yaml"/>
|
|
||||||
</package>
|
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -1,10 +0,0 @@
|
||||||
<?xml version="1.0"?>
|
|
||||||
<robot name="myfirst">
|
|
||||||
<link name="base_link">
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<cylinder length="0.6" radius="0.2"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
</robot>
|
|
||||||
|
|
@ -1,25 +0,0 @@
|
||||||
<?xml version="1.0"?>
|
|
||||||
<robot name="multipleshapes">
|
|
||||||
<link name="base_link">
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<cylinder length="0.6" radius="0.2"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<link name="right_leg">
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<box size="0.6 .2 .1"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<joint name="base_to_right_leg" type="fixed">
|
|
||||||
<parent link="base_link"/>
|
|
||||||
<child link="right_leg"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
</robot>
|
|
||||||
|
|
||||||
|
|
@ -1,27 +0,0 @@
|
||||||
<?xml version="1.0"?>
|
|
||||||
<robot name="origins">
|
|
||||||
<link name="base_link">
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<cylinder length="0.6" radius="0.2"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<link name="right_leg">
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<box size="0.6 .2 .1"/>
|
|
||||||
</geometry>
|
|
||||||
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<joint name="base_to_right_leg" type="fixed">
|
|
||||||
<parent link="base_link"/>
|
|
||||||
<child link="right_leg"/>
|
|
||||||
<origin xyz="0.22 0 .25"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
</robot>
|
|
||||||
|
|
||||||
|
|
@ -1,49 +0,0 @@
|
||||||
<?xml version="1.0"?>
|
|
||||||
<robot name="materials">
|
|
||||||
<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>
|
|
||||||
</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>
|
|
||||||
</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="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>
|
|
||||||
|
|
||||||
</robot>
|
|
||||||
|
|
||||||
|
|
@ -1,247 +0,0 @@
|
||||||
<?xml version="1.0"?>
|
|
||||||
<robot name="visual">
|
|
||||||
<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>
|
|
||||||
</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>
|
|
||||||
</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>
|
|
||||||
</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>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<joint name="right_front_wheel_joint" type="fixed">
|
|
||||||
<parent link="right_base"/>
|
|
||||||
<child link="right_front_wheel"/>
|
|
||||||
<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<link name="right_back_wheel">
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<cylinder length=".1" radius="0.035"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="black"/>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<joint name="right_back_wheel_joint" type="fixed">
|
|
||||||
<parent link="right_base"/>
|
|
||||||
<child link="right_back_wheel"/>
|
|
||||||
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
|
|
||||||
</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>
|
|
||||||
</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>
|
|
||||||
|
|
||||||
<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>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<joint name="left_front_wheel_joint" type="fixed">
|
|
||||||
<parent link="left_base"/>
|
|
||||||
<child link="left_front_wheel"/>
|
|
||||||
<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<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="fixed">
|
|
||||||
<parent link="left_base"/>
|
|
||||||
<child link="left_back_wheel"/>
|
|
||||||
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<joint name="gripper_extension" type="fixed">
|
|
||||||
<parent link="base_link"/>
|
|
||||||
<child link="gripper_pole"/>
|
|
||||||
<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="fixed">
|
|
||||||
<origin rpy="0 0 0" xyz="0.2 0.01 0"/>
|
|
||||||
<parent link="gripper_pole"/>
|
|
||||||
<child link="left_gripper"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<link name="left_gripper">
|
|
||||||
<visual>
|
|
||||||
<origin rpy="0.0 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="package://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="fixed">
|
|
||||||
<origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
|
|
||||||
<parent link="gripper_pole"/>
|
|
||||||
<child link="right_gripper"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<link name="right_gripper">
|
|
||||||
<visual>
|
|
||||||
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="package://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="fixed">
|
|
||||||
<parent link="base_link"/>
|
|
||||||
<child link="head"/>
|
|
||||||
<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>
|
|
||||||
|
|
||||||
|
|
@ -1,264 +0,0 @@
|
||||||
<?xml version="1.0"?>
|
|
||||||
<robot name="flexible">
|
|
||||||
<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>
|
|
||||||
</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>
|
|
||||||
</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>
|
|
||||||
</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>
|
|
||||||
</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>
|
|
||||||
</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>
|
|
||||||
</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>
|
|
||||||
|
|
||||||
<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>
|
|
||||||
</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>
|
|
||||||
</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>
|
|
||||||
|
|
||||||
|
|
@ -1,415 +0,0 @@
|
||||||
<?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>
|
|
||||||
|
|
||||||
|
|
@ -1,236 +0,0 @@
|
||||||
<?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} ${.707*width}"/>
|
|
||||||
</joint>
|
|
||||||
</robot>
|
|
||||||
|
|
||||||
|
|
@ -1,30 +0,0 @@
|
||||||
cmake_minimum_required(VERSION 2.4.6)
|
|
||||||
include($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})
|
|
||||||
|
|
@ -1 +0,0 @@
|
||||||
include $(shell rospack find mk)/cmake.mk
|
|
||||||
|
|
@ -1,9 +0,0 @@
|
||||||
<launch>
|
|
||||||
<arg name="model" />
|
|
||||||
<arg name="gui" default="False" />
|
|
||||||
<param name="robot_description" textfile="$(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 $(find urdf_tutorial)/urdf.vcg" />
|
|
||||||
</launch>
|
|
||||||
|
|
@ -1,24 +0,0 @@
|
||||||
<launch>
|
|
||||||
<!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/pr2/erratic_defs/robots for full erratic -->
|
|
||||||
<!-- start up wg world -->
|
|
||||||
<include file="$(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.
|
Before Width: | Height: | Size: 125 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 90 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 89 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 89 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 89 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 94 KiB |
|
|
@ -1,26 +0,0 @@
|
||||||
/**
|
|
||||||
\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.
|
|
||||||
-->
|
|
||||||
|
|
||||||
|
|
||||||
*/
|
|
||||||
|
|
@ -1,12 +0,0 @@
|
||||||
<package>
|
|
||||||
<description brief="Code for some URDF Tutorials">
|
|
||||||
Support code for the step by step URDF tutorials on ROS.org
|
|
||||||
</description>
|
|
||||||
<author>David Lu!!</author>
|
|
||||||
<license>BSD</license>
|
|
||||||
<review status="unreviewed" notes=""/>
|
|
||||||
<url>http://ros.org/wiki/urdf_tutorial</url>
|
|
||||||
|
|
||||||
</package>
|
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -1,277 +0,0 @@
|
||||||
<?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>
|
|
||||||
|
|
||||||
|
|
@ -1,44 +0,0 @@
|
||||||
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
|
|
||||||
|
|
@ -1,9 +0,0 @@
|
||||||
<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