add cobotx_b450 ROS frame

CobotX/cobotx_b450/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(cobotx_b450)
+add_compile_options(-std=c++11)
+
+## Find catkin and any catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  actionlib
+  image_transport
+  cv_bridge
+)
+
+## Declare a catkin package
+catkin_package(
+  CATKIN_DEPENDS std_msgs actionlib
+)
+
+## Build talker and listener
+include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
+
+catkin_install_python(PROGRAMS
+  scripts/follow_display.py
+  scripts/slider_control.py
+  scripts/teleop_keyboard.py
+  scripts/listen_real.py
+  scripts/listen_real_of_topic.py
+  scripts/detect_marker.py
+  scripts/following_marker.py
+  scripts/follow_and_pump.py
+  scripts/simple_gui.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+# find_package(OpenCV REQUIRED)
+# add_executable(opencv_camera src/opencv_camera)
+# target_link_libraries(opencv_camera ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+# add_executable(camera_display src/camera_display)
+# target_link_libraries(camera_display ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

CobotX/cobotx_b450/LICENSE

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+BSD 2-Clause License
+
+Copyright (c) 2020, Elephant Robotics
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

CobotX/cobotx_b450/config/cobotx_b450.rviz

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+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+        - /RobotModel1/Links1/link1_L1
+        - /RobotModel1/Links1/link1_L1/Position1
+        - /Axes1
+        - /TF1
+      Splitter Ratio: 0.5
+    Tree Height: 584
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        body:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_eye:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link1_L:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link1_R:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link2_L:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link2_R:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link3_L:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link3_R:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link4_L:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link4_R:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link5_L:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link5_R:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link6_L:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link6_R:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link7_L:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link7_R:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Alpha: 1
+      Class: rviz/Axes
+      Enabled: true
+      Length: 0.20000000298023224
+      Name: Axes
+      Radius: 0.009999999776482582
+      Reference Frame: <Fixed Frame>
+      Show Trail: false
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        base:
+          Value: true
+        body:
+          Value: true
+        head:
+          Value: true
+        head_eye:
+          Value: true
+        link1_L:
+          Value: true
+        link1_R:
+          Value: true
+        link2_L:
+          Value: true
+        link2_R:
+          Value: true
+        link3_L:
+          Value: true
+        link3_R:
+          Value: true
+        link4_L:
+          Value: true
+        link4_R:
+          Value: true
+        link5_L:
+          Value: true
+        link5_R:
+          Value: true
+        link6_L:
+          Value: true
+        link6_R:
+          Value: true
+        link7_L:
+          Value: true
+        link7_R:
+          Value: true
+      Marker Alpha: 1
+      Marker Scale: 0.10000000149011612
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base:
+          body:
+            head:
+              head_eye:
+                {}
+            link1_L:
+              link2_L:
+                link3_L:
+                  link4_L:
+                    link5_L:
+                      link6_L:
+                        link7_L:
+                          {}
+            link1_R:
+              link2_R:
+                link3_R:
+                  link4_R:
+                    link5_R:
+                      link6_R:
+                        link7_R:
+                          {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.5918537378311157
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5247960090637207
+      Target Frame: <Fixed Frame>
+      Yaw: 6.275412082672119
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 906
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002d3fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002d3000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002d3fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002d3000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073800000057fc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c7000002d300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1848
+  X: 72
+  Y: 27

CobotX/cobotx_b450/launch/cobotx_b450_follow.launch

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+<launch>
+	<!-- Load URDF file,加载URDF文件 -->
+	<arg name="model" default="$(find mycobot_description)/urdf/cobotx_b450/cobotx_b450.urdf"/>
+	<arg name="rvizconfig" default="$(find cobotx_b450)/config/cobotx_b450.rviz" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+	<!-- Combinejoin values to TF ，将值合并到TF-->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
+		<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
+	</node>
+	<!-- show in Rviza,显示在Rviz -->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>