Даниил Грабарь
58f246e1f2
- Created iiwa7_gazebo.urdf to define the iiwa7 robot model with detailed links, joints, and Gazebo integration. - Introduced patron.xacro for the tool patron, including its inertial properties, visual representation, and collision geometry.
116 lines
4.4 KiB
XML
116 lines
4.4 KiB
XML
<?xml version="1.0"?>
|
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="iiwa7">
|
|
|
|
<!-- Аргукменты -->
|
|
<xacro:arg name="initial_positions_file"
|
|
default="$(find iiwa_config)/config/moveit/initial_positions.yaml"/>
|
|
|
|
<xacro:property name="initial_positions"
|
|
value="${xacro.load_yaml('$(arg initial_positions_file)')['initial_positions']}"/>
|
|
|
|
<xacro:include filename="$(find iiwa_description)/urdf/params.xacro"/>
|
|
<xacro:include filename="$(find iiwa_description)/urdf/macros.xacro"/>
|
|
<xacro:include filename="$(find iiwa_description)/urdf/links.xacro"/>
|
|
<xacro:include filename="$(find iiwa_description)/urdf/joints.xacro"/>
|
|
|
|
<!-- <xacro:include filename="$(find iiwa_description)/urdf/gripper/gripper.xacro"/> -->
|
|
<xacro:include filename="$(find iiwa_description)/urdf/tools/patron.xacro"/>
|
|
|
|
|
|
<webots>
|
|
<plugin type="webots_ros2_control::Ros2Control"/>
|
|
</webots>
|
|
|
|
<ros2_control name="iiwaGazeboControl" type="system">
|
|
|
|
<hardware>
|
|
<plugin>webots_ros2_control::Ros2ControlSystem</plugin>
|
|
</hardware>
|
|
|
|
<joint name="joint1">
|
|
<command_interface name="position">
|
|
<param name="min">-2.97</param>
|
|
<param name="max"> 2.97</param>
|
|
</command_interface>
|
|
<state_interface name="position">
|
|
<param name="initial_value">${initial_positions['joint1']}</param>
|
|
</state_interface>
|
|
<state_interface name="velocity"/>
|
|
<state_interface name="effort"/>
|
|
</joint>
|
|
|
|
<joint name="joint2">
|
|
<command_interface name="position">
|
|
<param name="min">-2.09</param>
|
|
<param name="max"> 2.09</param>
|
|
</command_interface>
|
|
<state_interface name="position">
|
|
<param name="initial_value">${initial_positions['joint2']}</param>
|
|
</state_interface>
|
|
<state_interface name="velocity"/>
|
|
<state_interface name="effort"/>
|
|
</joint>
|
|
|
|
<joint name="joint3">
|
|
<command_interface name="position">
|
|
<param name="min">-2.97</param>
|
|
<param name="max"> 2.97</param>
|
|
</command_interface>
|
|
<state_interface name="position">
|
|
<param name="initial_value">${initial_positions['joint3']}</param>
|
|
</state_interface>
|
|
<state_interface name="velocity"/>
|
|
<state_interface name="effort"/>
|
|
</joint>
|
|
|
|
<joint name="joint4">
|
|
<command_interface name="position">
|
|
<param name="min">-2.09</param>
|
|
<param name="max"> 2.09</param>
|
|
</command_interface>
|
|
<state_interface name="position">
|
|
<param name="initial_value">${initial_positions['joint4']}</param>
|
|
</state_interface>
|
|
<state_interface name="velocity"/>
|
|
<state_interface name="effort"/>
|
|
</joint>
|
|
|
|
<joint name="joint5">
|
|
<command_interface name="position">
|
|
<param name="min">-2.97</param>
|
|
<param name="max"> 2.97</param>
|
|
</command_interface>
|
|
<state_interface name="position">
|
|
<param name="initial_value">${initial_positions['joint5']}</param>
|
|
</state_interface>
|
|
<state_interface name="velocity"/>
|
|
<state_interface name="effort"/>
|
|
</joint>
|
|
|
|
<joint name="joint6">
|
|
<command_interface name="position">
|
|
<param name="min">-2.09</param>
|
|
<param name="max"> 2.09</param>
|
|
</command_interface>
|
|
<state_interface name="position">
|
|
<param name="initial_value">${initial_positions['joint6']}</param>
|
|
</state_interface>
|
|
<state_interface name="velocity"/>
|
|
<state_interface name="effort"/>
|
|
</joint>
|
|
|
|
<joint name="joint7">
|
|
<command_interface name="position">
|
|
<param name="min">-3.05</param>
|
|
<param name="max"> 3.05</param>
|
|
</command_interface>
|
|
<state_interface name="position">
|
|
<param name="initial_value">${initial_positions['joint7']}</param>
|
|
</state_interface>
|
|
<state_interface name="velocity"/>
|
|
<state_interface name="effort"/>
|
|
</joint>
|
|
|
|
</ros2_control>
|
|
|
|
</robot> |