update 2022 version 320 ROS1 urdf model file

elephantrobotics · Sep 18, 2023 · 5cdb177 · 5cdb177
1 parent 58554e7
commit 5cdb177
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Showing 27 changed files with 2,563 additions and 188,213 deletions.
diff --git a/mycobot_320/new_mycobot_320/config/new_mycobot_320.rviz b/mycobot_320/new_mycobot_320/config/new_mycobot_320.rviz
@@ -6,10 +6,14 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
+        - /RobotModel1
+        - /RobotModel1/Links1
+        - /RobotModel1/Links1/link61
+        - /RobotModel1/Links1/link61/Position1
         - /TF1
         - /TF1/Tree1
       Splitter Ratio: 0.5
-    Tree Height: 617
+    Tree Height: 657
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -18,17 +22,18 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.588679016
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
     Expanded:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
   - Class: rviz/Time
-    Experimental: false
     Name: Time
     SyncMode: 0
     SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
 Toolbars:
   toolButtonStyle: 2
 Visualization Manager:
@@ -40,7 +45,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.0299999993
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -105,6 +110,8 @@ Visualization Manager:
       Visual Enabled: true
     - Class: rviz/TF
       Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
       Frame Timeout: 15
       Frames:
         All Enabled: true
@@ -122,7 +129,8 @@ Visualization Manager:
           Value: true
         link6:
           Value: true
-      Marker Scale: 0.400000006
+      Marker Alpha: 1
+      Marker Scale: 0.20000000298023224
       Name: TF
       Show Arrows: true
       Show Axes: true
@@ -153,7 +161,10 @@ Visualization Manager:
     - 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
@@ -163,33 +174,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.50890648
+      Distance: 1.5947151184082031
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        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: 0.0500000007
+      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.309796393
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.3447963297367096
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 3.153584
+      Yaw: 3.158583402633667
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 898
+  Height: 954
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002f8fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002f8000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002f8000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba000002f800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000031c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000031cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000031c000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004b30000031c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -198,6 +209,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1855
-  X: 65
-  Y: 24
+  Width: 1848
+  X: 72
+  Y: 27
diff --git a/mycobot_320/new_mycobot_320/config/new_mycobot_320_gripper.rviz b/mycobot_320/new_mycobot_320/config/new_mycobot_320_gripper.rviz
@@ -8,11 +8,12 @@ Panels:
         - /Status1
         - /RobotModel1
         - /RobotModel1/Links1
+        - /RobotModel1/Links1/link61/Position1
         - /TF1
         - /TF1/Frames1
         - /TF1/Tree1
       Splitter Ratio: 0.5
-    Tree Height: 591
+    Tree Height: 657
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -144,6 +145,8 @@ Visualization Manager:
       Visual Enabled: true
     - Class: rviz/TF
       Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
       Frame Timeout: 15
       Frames:
         All Enabled: false
@@ -246,17 +249,17 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.23479582369327545
+      Pitch: 0.3197958171367645
       Target Frame: <Fixed Frame>
-      Yaw: 3.0435850620269775
+      Yaw: 3.108586549758911
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 888
+  Height: 954
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002dafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002da000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002da000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005c8000002da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000031c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002da000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005c80000031c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:

diff --git a/mycobot_320/new_mycobot_320_moveit/launch/moveit.rviz b/mycobot_320/new_mycobot_320_moveit/launch/moveit.rviz
@@ -10,15 +10,17 @@ Panels:
         - /MotionPlanning1/Planning Request1
         - /MotionPlanning1/Planned Path1
         - /TF1
-      Splitter Ratio: 0.742560029
-    Tree Height: 118
+      Splitter Ratio: 0.7425600290298462
+    Tree Height: 134
   - Class: rviz/Help
     Name: Help
   - Class: rviz/Views
     Expanded:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
+Preferences:
+  PromptSaveOnExit: true
 Toolbars:
   toolButtonStyle: 2
 Visualization Manager:
@@ -30,7 +32,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.0299999993
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -50,12 +52,10 @@ Visualization Manager:
       MoveIt_Allow_External_Program: false
       MoveIt_Allow_Replanning: false
       MoveIt_Allow_Sensor_Positioning: false
-      MoveIt_Goal_Tolerance: 0
       MoveIt_Planning_Attempts: 10
       MoveIt_Planning_Time: 5
+      MoveIt_Use_Cartesian_Path: false
       MoveIt_Use_Constraint_Aware_IK: true
-      MoveIt_Warehouse_Host: 127.0.0.1
-      MoveIt_Warehouse_Port: 33829
       MoveIt_Workspace:
         Center:
           X: 0
@@ -119,13 +119,14 @@ Visualization Manager:
         State Display Time: 0.05 s
         Trail Step Size: 1
         Trajectory Topic: move_group/display_planned_path
+        Use Sim Time: false
       Planning Metrics:
         Payload: 1
         Show Joint Torques: false
         Show Manipulability: false
         Show Manipulability Index: false
         Show Weight Limit: false
-        TextHeight: 0.0799999982
+        TextHeight: 0.07999999821186066
       Planning Request:
         Colliding Link Color: 255; 0; 0
         Goal State Alpha: 1
@@ -143,7 +144,7 @@ Visualization Manager:
       Scene Geometry:
         Scene Alpha: 1
         Scene Color: 50; 230; 50
-        Scene Display Time: 0.200000003
+        Scene Display Time: 0.20000000298023224
         Show Scene Geometry: true
         Voxel Coloring: Z-Axis
         Voxel Rendering: Occupied Voxels
@@ -197,10 +198,13 @@ Visualization Manager:
       Velocity_Scaling_Factor: 1
     - Class: rviz/TF
       Enabled: false
+      Filter (blacklist): ""
+      Filter (whitelist): ""
       Frame Timeout: 15
       Frames:
         All Enabled: true
-      Marker Scale: 0.800000012
+      Marker Alpha: 1
+      Marker Scale: 0.800000011920929
       Name: TF
       Show Arrows: true
       Show Axes: true
@@ -225,30 +229,30 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/XYOrbit
-      Distance: 1.55857718
+      Distance: 1.7456064224243164
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
-        X: 0.113567002
-        Y: 0.105920002
-        Z: 2.23518001e-07
+        X: 0.11356700211763382
+        Y: 0.10592000186443329
+        Z: 2.2351800055275817e-07
       Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
+      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.0447968468
+      Near Clip Distance: 0.009999999776482582
+      Pitch: -0.025203147903084755
       Target Frame: base
-      Value: XYOrbit (rviz)
-      Yaw: 3.43494892
+      Yaw: 3.0749499797821045
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 898
+  Height: 954
   Help:
     collapsed: false
   Hide Left Dock: false
@@ -257,9 +261,9 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000002ad0000033cfc0200000007fb000000100044006900730070006c00610079007301000000280000010b000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007200000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001390000022b0000018300ffffff0000048c0000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000002ad00000360fc0200000007fb000000100044006900730070006c006100790073010000003d00000117000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007200000001860000004a0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000015a000002430000017d00ffffff000004850000036000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
-  Width: 1855
-  X: 65
-  Y: 24
+  Width: 1848
+  X: 72
+  Y: 27
diff --git a/mycobot_320/new_mycobot_320_moveit/scripts/sync_plan.py b/mycobot_320/new_mycobot_320_moveit/scripts/sync_plan.py
@@ -25,10 +25,8 @@ def callback(data):
 def listener():
     global mc
     rospy.init_node("mycobot_reciver", anonymous=True)
-    port = subprocess.check_output(['echo -n /dev/ttyUSB*'], 
-                                    shell=True)
 
-    port = rospy.get_param("~port", port)
+    port = rospy.get_param("~port", "/dev/ttyUSB0")
     baud = rospy.get_param("~baud", 115200)
     # 1000000
     mc = MyCobot(port, baud)