add pro630 ros1

elephantrobotics · Mar 5, 2024 · 14c38b9 · 14c38b9
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diff --git a/mycobot_description/urdf/mycobot_630/base.dae b/mycobot_description/urdf/mycobot_630/base.dae
diff --git a/mycobot_description/urdf/mycobot_630/link1.dae b/mycobot_description/urdf/mycobot_630/link1.dae
diff --git a/mycobot_description/urdf/mycobot_630/link2.dae b/mycobot_description/urdf/mycobot_630/link2.dae
diff --git a/mycobot_description/urdf/mycobot_630/link3.dae b/mycobot_description/urdf/mycobot_630/link3.dae
diff --git a/mycobot_description/urdf/mycobot_630/link4.dae b/mycobot_description/urdf/mycobot_630/link4.dae
diff --git a/mycobot_description/urdf/mycobot_630/link5.dae b/mycobot_description/urdf/mycobot_630/link5.dae
diff --git a/mycobot_description/urdf/mycobot_630/link6.dae b/mycobot_description/urdf/mycobot_630/link6.dae
diff --git a/mycobot_description/urdf/mycobot_630/mycobot_630.urdf b/mycobot_description/urdf/mycobot_630/mycobot_630.urdf
@@ -0,0 +1,192 @@
+<?xml version="1.0"?>
+<robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
+
+<xacro:property name="width" value=".2" />
+
+
+  <link name="base">
+    <visual>
+      <geometry>
+	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
+       <mesh filename="package://mycobot_description/urdf/600_urdf/base.dae"/>
+      </geometry>
+    <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
+    </visual>
+    <collision>
+    <geometry>
+	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
+       <mesh filename="package://mycobot_description/urdf/600_urdf/base.dae"/>
+      </geometry>
+    <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+  <link name="link1">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/600_urdf/link1.dae"/>
+      </geometry>
+    <origin xyz = "0 0 0 " rpy = "0 0 3.1415926"/>
+    </visual>
+     <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/600_urdf/link1.dae"/>
+      </geometry>
+    <origin xyz = "0 0 0 " rpy = " 0 0 3.1415926"/>
+    </collision>
+  </link>
+
+
+  <link name="link2">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/600_urdf/link2.dae"/>
+      </geometry>
+    <origin xyz = "0 0 -0.080 " rpy = " 3.1415926 0 3.1415926"/>
+    </visual>
+     <collision>
+     <geometry>
+       <mesh filename="package://mycobot_description/urdf/600_urdf/link2.dae"/>
+      </geometry>
+    <origin xyz = "0 0 -0.080 " rpy = " 3.1415926 0 3.1415926"/>
+    </collision>
+  </link>
+
+
+  <link name="link3">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/600_urdf/link3.dae"/>
+      </geometry>
+    <origin xyz = "0 0 -0.0855 " rpy = " 3.1415926 0 3.1415926"/>
+    </visual>
+     <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/600_urdf/link3.dae"/>
+      </geometry>
+    <origin xyz = "0 0 -0.0855 " rpy = "3.1415926 0 3.1415926"/>
+    </collision>
+  </link>
+
+
+
+<link name="link4">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/600_urdf/link4.dae"/>
+      </geometry>
+    <origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/>
+    </visual>
+     <collision>
+     <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/600_urdf/link4.dae"/>
+      </geometry>
+    <origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/>
+    </collision>
+  </link>
+
+
+  <link name="link5">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/600_urdf/link5.dae"/>
+      </geometry>
+    <origin xyz = "0 0  0 " rpy = " 0  0 1.5707"/>
+    </visual>
+     <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/600_urdf/link5.dae"/>
+      </geometry>
+    <origin xyz = "0 0  0 " rpy = " 0  0 1.5707"/>
+    </collision>
+  </link>
+
+  <link name="link6">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/600_urdf/link6.dae"/>
+      </geometry>
+      <material name = "grey">
+        <color rgba = "0.5 0.5 0.5 1"/>
+      </material>
+    <origin xyz = "0.03 0 0" rpy = " 0 -1.5707  0"/>
+    </visual>
+     <collision>
+     <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/600_urdf/link6.dae"/>
+      </geometry>
+      <material name = "grey">
+        <color rgba = "0.5 0.5 0.5 1"/>
+      </material>
+    <origin xyz = "0.03 0 0" rpy = " 0 -1.5707  0"/>
+    </collision>
+  </link>
+
+
+
+    <joint name="joint2_to_joint1" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="base"/>
+    <child link="link1"/>
+    <origin xyz= "0 0 0.19934" rpy = "0 0 0"/>  
+  </joint>
+
+
+  <joint name="joint3_to_joint2" type="revolute">
+    <axis xyz="0 0 -1"/>
+    <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/>
+    <!-- <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/> -->
+    <parent link="link1"/>
+    <child link="link2"/>
+    <!-- <origin xyz= "0 0  0" rpy = "1.5708 -1.5708 0"/>   -->
+    <origin xyz= "0 0  0" rpy = "1.5708 0 0"/>
+  </joint>
+
+
+  <joint name="joint4_to_joint3" type="revolute">
+    <axis xyz=" 0 0 -1"/>
+    <limit effort = "1000.0" lower = "-2.61" upper = "2.618" velocity = "0"/>
+    <parent link="link2"/>
+    <child link="link3"/>
+    <origin xyz= "0.25 0 0   " rpy = "0 0 0"/>  
+  </joint>
+
+  <joint name="joint5_to_joint4" type="revolute">
+    <axis xyz=" 0 0 -1"/>
+    <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/>
+    <!-- <limit effort = "1000.0" lower = "-2.96" upper = "2.97" velocity = "0"/> -->
+    <parent link="link3"/>
+    <child link="link4"/>
+    <!-- <origin xyz= "0.25 0  -0.1091" rpy = "0 0 1.5708"/>   -->
+    <origin xyz= "0.25 0  -0.1091" rpy = "0 0 0"/>  
+  </joint>
+
+  <joint name="joint6_to_joint5" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.93" upper = "2.9321" velocity = "0"/>
+    <parent link="link4"/>
+    <child link="link5"/>
+    <origin xyz= "0 -0.108 0" rpy = "1.57080 -1.57080 0"/>  
+  </joint>
+
+  <joint name="joint6output_to_joint6" type="revolute">
+    <axis xyz="-1 0 0"/>
+    <limit effort = "1000.0" lower = "-3.03" upper = "3.0368" velocity = "0"/>
+    <parent link="link5"/>
+    <child link="link6"/>
+    <origin xyz= "-0.07586 0 0" rpy = "-1.57080 0 0 "/>  
+  </joint>
+
+
+
+</robot>
+
diff --git a/mycobot_pro/mycobot_630/CMakeLists.txt b/mycobot_pro/mycobot_630/CMakeLists.txt
@@ -0,0 +1,204 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(mycobot_630)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  mycobot_description
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES mycobot_630
+#  CATKIN_DEPENDS mycobot_description
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/mycobot_630.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/mycobot_630_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_mycobot_630.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)