add flange_camera.urdf

elephantrobotics · Sep 11, 2024 · e68e9ac · e68e9ac
1 parent 4388a63
commit e68e9ac
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Showing 20 changed files with 2,600 additions and 465 deletions.
diff --git a/mycobot_280/mycobot_280/config/mycobot.rviz b/mycobot_280/mycobot_280/config/mycobot.rviz
@@ -11,7 +11,7 @@ Panels:
         - /TF1/Frames1
         - /TF1/Tree1
       Splitter Ratio: 0.5
-    Tree Height: 568
+    Tree Height: 637
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -65,77 +65,7 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        g_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_left1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_left2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_left3:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_right1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_right2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_right3:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint3:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint4:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint5:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint6:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint6_flange:
+        base:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -153,62 +83,14 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: false
-        g_base:
-          Value: false
-        gripper_base:
-          Value: false
-        gripper_left1:
-          Value: false
-        gripper_left2:
-          Value: false
-        gripper_left3:
-          Value: true
-        gripper_right1:
-          Value: false
-        gripper_right2:
-          Value: false
-        gripper_right3:
-          Value: false
-        joint1:
-          Value: false
-        joint2:
-          Value: false
-        joint3:
-          Value: false
-        joint4:
-          Value: false
-        joint5:
-          Value: false
-        joint6:
-          Value: false
-        joint6_flange:
-          Value: false
       Marker Alpha: 1
       Marker Scale: 0.30000001192092896
       Name: TF
       Show Arrows: true
       Show Axes: true
       Show Names: true
       Tree:
-        g_base:
-          joint1:
-            joint2:
-              joint3:
-                joint4:
-                  joint5:
-                    joint6:
-                      joint6_flange:
-                        gripper_base:
-                          gripper_left2:
-                            {}
-                          gripper_left3:
-                            gripper_left1:
-                              {}
-                          gripper_right2:
-                            {}
-                          gripper_right3:
-                            gripper_right1:
-                              {}
+        {}
       Update Interval: 0
       Value: true
     - Class: rviz/Marker
@@ -223,7 +105,7 @@ Visualization Manager:
   Global Options:
     Background Color: 48; 48; 48
     Default Light: true
-    Fixed Frame: joint1
+    Fixed Frame: base
     Frame Rate: 30
   Name: root
   Tools:
@@ -247,33 +129,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 0.31271597743034363
+      Distance: 1.204347848892212
       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: 0.08619801700115204
-        Y: -0.10585817694664001
-        Z: 0.4004986882209778
+        X: -0.021931247785687447
+        Y: -0.011295657604932785
+        Z: -0.008990013971924782
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7803980112075806
+      Pitch: 0.6003984808921814
       Target Frame: <Fixed Frame>
-      Yaw: 0.005366181954741478
+      Yaw: 1.0435491800308228
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 865
+  Height: 934
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c3fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002c3000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c2000002c3fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002c3000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d0065010000000000000736000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003fe000002c300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000308fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000308000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c200000308fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000308000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d0065010000000000000736000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003fe0000030800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:

diff --git a/mycobot_280/mycobot_280/launch/test.launch b/mycobot_280/mycobot_280/launch/test.launch
@@ -1,5 +1,6 @@
 <launch>
 	<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_m5/mycobot_280_m5.urdf"/>
+	<!-- <arg name="model" default="$(find mycobot_description)/urdf/flange/flange.urdf"/> -->
 	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
 	<arg name="gui" default="true" />
 

diff --git a/mycobot_description/urdf/flange/flange.urdf b/mycobot_description/urdf/flange/flange.urdf
@@ -0,0 +1,19 @@
+<?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>
+                <mesh filename="package://mycobot_description/urdf/flange/v1.dae" />
+            </geometry>
+            <origin xyz="0 0 0 " rpy=" 1.5706 0 0" />
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://mycobot_description/urdf/flange/v1.dae" />
+            </geometry>
+            <origin xyz="0 0 0 " rpy=" 1.5706 0 0" />
+        </collision>
+    </link>
+
+</robot>
diff --git a/mycobot_description/urdf/flange/v1.dae b/mycobot_description/urdf/flange/v1.dae
diff --git a/mycobot_description/urdf/mycobot_pro_630/J1-W.dae b/mycobot_description/urdf/mycobot_pro_630/J1-W.dae
diff --git a/mycobot_description/urdf/mycobot_pro_630/J2-W.dae b/mycobot_description/urdf/mycobot_pro_630/J2-W.dae
diff --git a/mycobot_description/urdf/mycobot_pro_630/J3-W.dae b/mycobot_description/urdf/mycobot_pro_630/J3-W.dae
diff --git a/mycobot_description/urdf/mycobot_pro_630/J4-W.dae b/mycobot_description/urdf/mycobot_pro_630/J4-W.dae
diff --git a/mycobot_description/urdf/mycobot_pro_630/J5-W.dae b/mycobot_description/urdf/mycobot_pro_630/J5-W.dae
diff --git a/mycobot_description/urdf/mycobot_pro_630/J6-W.dae b/mycobot_description/urdf/mycobot_pro_630/J6-W.dae
diff --git a/mycobot_description/urdf/mycobot_pro_630/J6W.dae b/mycobot_description/urdf/mycobot_pro_630/J6W.dae