добавлена поддержка moveit
This commit is contained in:
Даниил Грабарь
@@ -1,280 +0,0 @@
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from ./src/iiwa_description/urdf/iiwa7.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="iiwa7">
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<link name="world"/>
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<link name="base_link">
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<inertial>
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<origin rpy="0 0 0" xyz="-0.012856764088336 7.05371084939836E-07 0.0679655592591469"/>
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<mass value="30.2763517543289"/>
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<inertia ixx="0.111239565538359" ixy="-3.81097437253422e-07" ixz="0.00486659750522703" iyy="0.139017104291389" iyz="7.87871531503135e-07" izz="0.133028621926226"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://iiwa_description/resource/meshes/visual/base_link.DAE"/>
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</geometry>
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<material name="iiwa_material">
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<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://iiwa_description/resource/meshes/collision/base_link.STL"/>
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</geometry>
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</collision>
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</link>
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<link name="link1">
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<inertial>
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<origin rpy="0 0 0" xyz="-4.78790441849064E-07 -0.0348192058752328 -0.0692021315991948"/>
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<mass value="21.1627406257303"/>
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<inertia ixx="0.133321610552378" ixy="-5.3830316300325e-07" ixz="9.16989471201082e-07" iyy="0.127213841326705" iyz="0.0236704924620788" izz="0.047155320135412"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://iiwa_description/resource/meshes/visual/link1.DAE"/>
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</geometry>
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<material name="iiwa_material">
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<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://iiwa_description/resource/meshes/collision/link1.STL"/>
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</geometry>
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</collision>
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</link>
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<link name="link2">
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<inertial>
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<origin rpy="0 0 0" xyz="-5.2906167189587E-07 -0.0869460684741495 0.0287906957294968"/>
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<mass value="25.1403147192251"/>
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<inertia ixx="0.197631241693207" ixy="9.50708464039702e-08" ixz="-3.51963818841194e-07" iyy="0.0602720613821397" iyz="-0.0367196702125505" izz="0.187557269753206"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://iiwa_description/resource/meshes/visual/link2.DAE"/>
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</geometry>
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<material name="iiwa_material">
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<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://iiwa_description/resource/meshes/collision/link2.STL"/>
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</geometry>
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</collision>
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</link>
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<link name="link3">
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<inertial>
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<origin rpy="0 0 0" xyz="8.94264666317923E-07 0.0343188244798595 -0.0692020521907963"/>
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<mass value="21.1627874292289"/>
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<inertia ixx="0.133322417523041" ixy="-2.72387851582384e-07" ixz="-2.31579646685682e-07" iyy="0.127213838333813" iyz="-0.0236710393468367" izz="0.0471557500559207"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://iiwa_description/resource/meshes/visual/link3.DAE"/>
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</geometry>
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<material name="iiwa_material">
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<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://iiwa_description/resource/meshes/collision/link3.STL"/>
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</geometry>
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</collision>
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</link>
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<link name="link4">
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<inertial>
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<origin rpy="0 0 0" xyz="9.9343785475714E-08 -0.0869462342636022 -0.0292907044657978"/>
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<mass value="25.140328983289"/>
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<inertia ixx="0.197630839812683" ixy="-3.9082887807781e-07" ixz="-3.24564289064112e-07" iyy="0.0602723071447973" iyz="0.0367195588674331" izz="0.187556898167347"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://iiwa_description/resource/meshes/visual/link4.DAE"/>
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</geometry>
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<material name="iiwa_material">
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<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://iiwa_description/resource/meshes/collision/link4.STL"/>
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</geometry>
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</collision>
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</link>
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<link name="link5">
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<inertial>
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<origin rpy="0 0 0" xyz="-1.5059645121912E-07 -0.0298223596156005 -0.116233672352317"/>
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<mass value="9.53466992761605"/>
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<inertia ixx="0.0529038960536523" ixy="6.86274869084724e-08" ixz="3.57472026918582e-07" iyy="0.0444942713885967" iyz="0.0174914068345989" izz="0.0239916848880951"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://iiwa_description/resource/meshes/visual/link5.DAE"/>
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</geometry>
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<material name="iiwa_material">
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<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://iiwa_description/resource/meshes/collision/link5.STL"/>
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</geometry>
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</collision>
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</link>
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<link name="link6">
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<inertial>
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<origin rpy="0 0 0" xyz="3.09820422451923E-06 -0.000588422963829549 0.000348569863276505"/>
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<mass value="14.2007599322815"/>
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<inertia ixx="0.0384515762635731" ixy="-6.70279497724119e-08" ixz="2.19173188415509e-06" iyy="0.0280010940276735" iyz="-0.00192249677468735" izz="0.0368124806983828"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://iiwa_description/resource/meshes/visual/link6.DAE"/>
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</geometry>
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<material name="iiwa_material">
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<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://iiwa_description/resource/meshes/collision/link6.STL"/>
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</geometry>
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</collision>
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</link>
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<link name="link7">
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<inertial>
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<origin rpy="0 0 0" xyz="5.28878934317328E-07 3.37199922245852E-07 -0.0274928177649973"/>
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<mass value="2.47156969383589"/>
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<inertia ixx="0.00177365937026673" ixy="-1.2410521430667e-07" ixz="-2.95409038849194e-08" iyy="0.00177328722902027" iyz="-1.57567641084958e-08" izz="0.00272748710623445"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://iiwa_description/resource/meshes/visual/link7.DAE"/>
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</geometry>
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<material name="iiwa_material">
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<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://iiwa_description/resource/meshes/collision/link7.STL"/>
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</geometry>
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</collision>
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</link>
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<link name="link_ee"/>
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<joint name="world_base_joint" type="fixed">
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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<parent link="world"/>
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<child link="base_link"/>
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</joint>
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<joint name="joint1" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.3375"/>
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<parent link="base_link"/>
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<child link="link1"/>
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<axis xyz="0 0 -1"/>
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<limit effort="176" lower="-2.97" upper="2.97" velocity="1.71"/>
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</joint>
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<joint name="joint2" type="revolute">
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<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
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<parent link="link1"/>
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<child link="link2"/>
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<axis xyz="0 0 1"/>
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<limit effort="176" lower="-2.09" upper="2.09" velocity="1.71"/>
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</joint>
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<joint name="joint3" type="revolute">
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<origin rpy="1.5708 0 0" xyz="0 -0.3993 0"/>
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<parent link="link2"/>
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<child link="link3"/>
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<axis xyz="0 0 -1"/>
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<limit effort="110" lower="-2.97" upper="2.97" velocity="1.75"/>
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</joint>
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<joint name="joint4" type="revolute">
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<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
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<parent link="link3"/>
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<child link="link4"/>
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<axis xyz="0 0 -1"/>
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<limit effort="110" lower="-2.09" upper="2.09" velocity="2.27"/>
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</joint>
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<joint name="joint5" type="revolute">
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<origin rpy="1.5708 0 0" xyz="0 -0.3993 0"/>
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<parent link="link4"/>
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<child link="link5"/>
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<axis xyz="0 0 -1"/>
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<limit effort="110" lower="-2.97" upper="2.97" velocity="2.44"/>
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</joint>
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<joint name="joint6" type="revolute">
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<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
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<parent link="link5"/>
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<child link="link6"/>
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<axis xyz="0 0 1"/>
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<limit effort="40" lower="-2.09" upper="2.09" velocity="3.14"/>
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</joint>
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<joint name="joint7" type="revolute">
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<origin rpy="1.5708 0 0" xyz="0 -0.126 0"/>
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<parent link="link6"/>
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<child link="link7"/>
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<axis xyz="0 0 1"/>
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<limit effort="40" lower="-3.05" upper="3.05" velocity="3.14"/>
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</joint>
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<joint name="tools_joint" type="fixed">
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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<parent link="link7"/>
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<child link="link_ee"/>
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</joint>
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<webots>
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<plugin type="webots_ros2_control::Ros2Control"/>
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</webots>
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<ros2_control name="iiwaWebotsControl" type="system">
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<hardware>
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<plugin>webots_ros2_control::Ros2ControlSystem</plugin>
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</hardware>
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<joint name="joint1">
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<state_interface name="position"/>
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<command_interface name="position"/>
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</joint>
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<joint name="joint2">
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<state_interface name="position"/>
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<command_interface name="position"/>
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</joint>
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<joint name="joint3">
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<state_interface name="position"/>
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<command_interface name="position"/>
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</joint>
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<joint name="joint4">
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<state_interface name="position"/>
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<command_interface name="position"/>
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</joint>
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<joint name="joint5">
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<state_interface name="position"/>
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<command_interface name="position"/>
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</joint>
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<joint name="joint6">
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<state_interface name="position"/>
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<command_interface name="position"/>
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</joint>
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<joint name="joint7">
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<state_interface name="position"/>
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<command_interface name="position"/>
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</joint>
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</ros2_control>
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</robot>
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@@ -1,6 +1,14 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="iiwa7">
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<!-- Аргукменты -->
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<xacro:arg name="initial_positions_file"
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default="$(find iiwa_bringup)/config/initial_positions.yaml"/>
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<xacro:property name="initial_positions"
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value="${xacro.load_yaml('$(arg initial_positions_file)')['initial_positions']}"/>
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<xacro:include filename="$(find iiwa_description)/urdf/params.xacro"/>
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<xacro:include filename="$(find iiwa_description)/urdf/macros.xacro"/>
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<xacro:include filename="$(find iiwa_description)/urdf/links.xacro"/>
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@@ -13,41 +21,50 @@
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<ros2_control name="iiwaWebotsControl" type="system">
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<hardware>
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<plugin>webots_ros2_control::Ros2ControlSystem</plugin>
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<!-- <plugin>mock_components/GenericSystem</plugin> -->
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</hardware>
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<joint name="joint1">
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<state_interface name="position"/>
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<joint name="joint1">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint1']}</param>
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</state_interface>
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</joint>
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<joint name="joint2">
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<state_interface name="position"/>
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint2']}</param>
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</state_interface>
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</joint>
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<joint name="joint3">
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<state_interface name="position"/>
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint3']}</param>
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</state_interface>
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</joint>
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<joint name="joint4">
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<state_interface name="position"/>
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint4']}</param>
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</state_interface>
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</joint>
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<joint name="joint5">
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<state_interface name="position"/>
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint5']}</param>
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</state_interface>
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</joint>
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<joint name="joint6">
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<state_interface name="position"/>
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint6']}</param>
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</state_interface>
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</joint>
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<joint name="joint7">
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<state_interface name="position"/>
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint7']}</param>
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</state_interface>
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</joint>
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</ros2_control>
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@@ -1,6 +1,6 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" xacro:version="1.0">
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<!-- Массы звеньев -->
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<xacro:property name="mass_base" value="30.2763517543289"/>
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<xacro:property name="mass_link1" value="21.1627406257303"/>
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Reference in New Issue
Block a user