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Add cameraD455 mesh file to iiwa_description resources

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Даниил Грабарь
2026-04-10 17:15:16 +10:00
parent 2eb87077dd
commit 6d8d15ba5d
16 changed files with 7068 additions and 188 deletions
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src/iiwa_description/urdf/iiwa7.urdf.xacro
+19 -1
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@@ -18,11 +18,29 @@
<xacro:include filename="$(find iiwa_description)/urdf/tools/patron.xacro"/>
<xacro:if value="$(arg simulate)">
<webots>
<plugin type="webots_ros2_control::Ros2Control"/>
<device reference="camera_rgb" type="Camera">
<ros>
<topicName>/camera/color</topicName>
<updateRate>30</updateRate>
<alwaysOn>True</alwaysOn>
<frameName>camera_optical_frame</frameName>
</ros>
</device>
<device reference="camera_depth" type="RangeFinder">
<ros>
<topicName>/camera/depth</topicName>
<updateRate>30</updateRate>
<alwaysOn>True</alwaysOn>
<frameName>camera_optical_frame</frameName>
</ros>
</device>
</webots>
<ros2_control name="iiwaGazeboControl" type="system">
src/iiwa_description/urdf/tools/patron.xacro
+124 -9
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@@ -1,31 +1,146 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="tool_patron">
<link name="camera_holder">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<mass value="0.09"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0"
iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
<visual name="">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<!-- <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/tools/CameraHolder.dae" /> -->
<mesh filename="package://iiwa_description/resource/meshes/tools/CameraHolder.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.015" rpy="0.0 0.0 0.0"/>
<geometry>
<cylinder radius="0.035" length="0.03"/>
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.08 0.015" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.03 0.1 0.03"/>
</geometry>
</collision>
</link>
<link name="camera_hand">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<mass value="0.0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
<visual>
<origin xyz="-0.06 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<!-- <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/tools/cameraD455.dae" /> -->
<mesh filename="package://iiwa_description/resource/meshes/tools/cameraD455.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.014 0.0125" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.12 0.025 0.025"/>
</geometry>
</collision>
</link>
<link name="patron">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<mass value="0.69"/>
<inertia ixx="0.000483150" ixy="0.0" ixz="0.0"
iyy="0.000483150" iyz="0.0" izz="0.000241750"/>
<mass value="0.03"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0"
iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
<visual>
<visual name="">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<!-- <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/tools/patron.dae" /> -->
<mesh filename="package://iiwa_description/resource/meshes/tools/patron.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0354" rpy="0.0 0.0 0.0"/>
<origin xyz="0.0 0.0 0.027" rpy="0.0 0.0 0.0"/>
<geometry>
<cylinder radius="0.0315" length="0.071"/>
<cylinder radius="0.021" length="0.055"/>
</geometry>
</collision>
</link>
<joint name="tool" type="fixed">
<parent link="link_ee"/>
<child link="patron"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<child link="camera_holder"/>
<origin xyz="0 0 0" rpy="0 0 1.5708"/>
</joint>
<joint name="cameraHolder_patron" type="fixed">
<origin xyz="0.0 0.0 0.03" rpy="0.0 0.0 0.0"/>
<parent link="camera_holder"/>
<child link="patron"/>
</joint>
<joint name="cameraHolder_cameraD455" type="fixed">
<origin xyz="0.0 0.1 0.014" rpy="0.0 0.0 0.0"/>
<parent link="camera_holder"/>
<child link="camera_hand"/>
</joint>
<link name="camera_optical_frame"/>
<joint name="camera_hand_to_optical" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 3.14159"/>
<parent link="camera_hand"/>
<child link="camera_optical_frame"/>
</joint>
<gazebo reference="camera_optical_frame">
<sensor type="camera" name="camera_rgb">
<camera>
<horizontal_fov>1.5708</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.1</near>
<far>10.0</far>
</clip>
<noise>
<type>gaussian</type>
<stddev>0.005</stddev>
</noise>
</camera>
</sensor>
<sensor type="depth" name="camera_depth">
<camera>
<horizontal_fov>1.5184</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.52</near>
<far>6.0</far>
</clip>
</camera>
<range>
<min>0.52</min>
<max>6.0</max>
<resolution>0.001</resolution>
</range>
<noise>
<type>gaussian</type>
<stddev>0.02</stddev>
</noise>
</sensor>
</gazebo>
</robot>