From e68e9aced6030ea8f4c9deca48d9a072a7e09d87 Mon Sep 17 00:00:00 2001 From: Tenero-Jz <2316126650@qq.com> Date: Wed, 11 Sep 2024 11:38:21 +0800 Subject: [PATCH] add flange_camera.urdf --- mycobot_280/mycobot_280/config/mycobot.rviz | 142 +--- mycobot_280/mycobot_280/launch/test.launch | 1 + mycobot_description/urdf/flange/flange.urdf | 19 + mycobot_description/urdf/flange/v1.dae | 649 ++++++++++++++++++ .../urdf/mycobot_pro_630/J1-W.dae | 245 +++++++ .../urdf/mycobot_pro_630/J2-W.dae | 188 +++++ .../urdf/mycobot_pro_630/J3-W.dae | 188 +++++ .../urdf/mycobot_pro_630/J4-W.dae | 188 +++++ .../urdf/mycobot_pro_630/J5-W.dae | 193 ++++++ .../urdf/mycobot_pro_630/J6-W.dae | 188 +++++ .../urdf/mycobot_pro_630/J6W.dae | 609 ++++++++++++++++ .../urdf/mycobot_pro_630/my630.urdf | 94 +-- .../mycobot_pro_630/mycobot_630_gripper.urdf | 123 ---- .../mycobot_630/config/mycobot_630.rviz | 148 +--- .../mycobot_630/launch/flange_camera.launch | 16 + mycobot_pro/mycobot_630/launch/test.launch | 4 +- .../config/ompl_planning.yaml | 3 +- .../config/firefighter.srdf | 22 +- .../launch/planning_context.launch | 3 +- .../mycobot_630_moveit/scripts/sync_plan.py | 42 +- 20 files changed, 2600 insertions(+), 465 deletions(-) create mode 100644 mycobot_description/urdf/flange/flange.urdf create mode 100755 mycobot_description/urdf/flange/v1.dae create mode 100755 mycobot_description/urdf/mycobot_pro_630/J1-W.dae create mode 100755 mycobot_description/urdf/mycobot_pro_630/J2-W.dae create mode 100755 mycobot_description/urdf/mycobot_pro_630/J3-W.dae create mode 100755 mycobot_description/urdf/mycobot_pro_630/J4-W.dae create mode 100755 mycobot_description/urdf/mycobot_pro_630/J5-W.dae create mode 100755 mycobot_description/urdf/mycobot_pro_630/J6-W.dae create mode 100755 mycobot_description/urdf/mycobot_pro_630/J6W.dae create mode 100644 mycobot_pro/mycobot_630/launch/flange_camera.launch diff --git a/mycobot_280/mycobot_280/config/mycobot.rviz b/mycobot_280/mycobot_280/config/mycobot.rviz index 7d3eab22..bcf08936 100644 --- 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 @@ -153,36 +83,6 @@ 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 @@ -190,25 +90,7 @@ Visualization Manager: 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: @@ -247,7 +129,7 @@ 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 @@ -255,25 +137,25 @@ Visualization Manager: 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: - 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: 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+ QMainWindow State: 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Selection: collapsed: false Time: diff --git a/mycobot_280/mycobot_280/launch/test.launch b/mycobot_280/mycobot_280/launch/test.launch index 657b7dd4..484d0de8 100644 --- a/mycobot_280/mycobot_280/launch/test.launch +++ b/mycobot_280/mycobot_280/launch/test.launch @@ -1,5 +1,6 @@ + diff --git a/mycobot_description/urdf/flange/flange.urdf b/mycobot_description/urdf/flange/flange.urdf new file mode 100644 index 00000000..fb7b4707 --- /dev/null +++ b/mycobot_description/urdf/flange/flange.urdf @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/mycobot_description/urdf/flange/v1.dae b/mycobot_description/urdf/flange/v1.dae new file mode 100755 index 00000000..0f09fc9b --- /dev/null +++ b/mycobot_description/urdf/flange/v1.dae @@ -0,0 +1,649 @@ + + + + + + Rhinoceros 7.0.20314.3001 + Output from Rhinoceros COLLADA Exporter + + + 2024-09-06T10:24:17Z + 2024-09-06T10:24:17Z + + Z_UP + + + + + + + 56.189974 + 2.224324 + 514.340039 + 767.079264 + + + 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4 4 4 8 8 8 12 12 12 9 9 9 12 12 12 10 10 10 15 15 15 9 9 9 3 3 3 13 13 13 4 4 4 9 9 9 29 29 29 16 16 16 0 0 0 40 40 40 17 17 17 16 16 16 29 29 29 40 40 40 16 16 16 17 17 17 40 40 40 41 41 41 17 17 17 41 41 41 18 18 18 28 28 28 40 40 40 29 29 29 2 2 2 43 43 43 42 42 42 19 19 19 42 42 42 20 20 20 21 21 21 10 10 10 11 11 11 20 20 20 10 10 10 21 21 21 18 18 18 41 41 41 2 2 2 44 44 44 10 10 10 20 20 20 1 1 1 37 37 37 40 40 40 40 40 40 37 37 37 41 41 41 43 43 43 41 41 41 36 36 36 40 40 40 28 28 28 1 1 1 35 35 35 42 42 42 43 43 43 35 35 35 44 44 44 42 42 42 10 10 10 44 44 44 3 3 3 14 14 14 3 3 3 44 44 44 34 34 34 14 14 14 35 35 35 44 44 44 35 35 35 14 14 14 34 34 34 15 15 15 14 14 14 8 8 8 23 23 23 22 22 22 45 45 45 23 23 23 4 4 4 8 8 8 22 22 22 11 11 11 23 23 23 8 8 8 4 4 4 24 24 24 23 23 23 45 45 45 25 25 25 47 47 47 46 46 46 26 26 26 46 46 46 5 5 5 38 38 38 6 6 6 27 27 27 5 5 5 48 48 48 27 27 27 24 24 24 45 45 45 25 25 25 49 49 49 38 38 38 27 27 27 45 45 45 4 4 4 13 13 13 45 45 45 32 32 32 47 47 47 32 32 32 13 13 13 33 33 33 15 15 15 33 33 33 13 13 13 45 45 45 13 13 13 32 32 32 34 34 34 33 33 33 15 15 15 30 30 30 48 48 48 46 46 46 30 30 30 49 49 49 48 48 48 30 30 30 46 46 46 31 31 31 49 49 49 30 30 30 7 7 7 49 49 49 7 7 7 39 39 39 39 39 39 38 38 38 49 49 49 47 47 47 31 31 31 46 46 46 109 109 109 50 50 50 60 60 60 108 108 108 60 60 60 61 61 61 62 62 62 63 63 63 106 106 106 105 105 105 64 64 64 65 65 65 63 63 63 64 64 64 106 106 106 107 107 107 61 61 61 62 62 62 66 66 66 67 67 67 103 103 103 102 102 102 68 68 68 69 69 69 67 67 67 68 68 68 103 103 103 70 70 70 71 71 71 100 100 100 99 99 99 72 72 72 73 73 73 71 71 71 72 72 72 100 100 100 101 101 101 69 69 69 70 70 70 104 104 104 65 65 65 66 66 66 51 51 51 109 109 109 108 108 108 108 108 108 109 109 109 60 60 60 107 107 107 108 108 108 61 61 61 65 65 65 104 104 104 105 105 105 102 102 102 69 69 69 101 101 101 54 54 54 98 98 98 52 52 52 98 98 98 99 99 99 73 73 73 97 97 97 55 55 55 74 74 74 96 96 96 74 74 74 75 75 75 76 76 76 77 77 77 95 95 95 93 93 93 78 78 78 79 79 79 94 94 94 77 77 77 78 78 78 75 75 75 76 76 76 95 95 95 80 80 80 81 81 81 56 56 56 91 91 91 82 82 82 83 83 83 92 92 92 81 81 81 82 82 82 84 84 84 85 85 85 57 57 57 89 89 89 86 86 86 87 87 87 90 90 90 85 85 85 86 86 86 83 83 83 84 84 84 57 57 57 79 79 79 80 80 80 56 56 56 97 97 97 54 54 54 55 55 55 96 96 96 97 97 97 74 74 74 94 94 94 78 78 78 93 93 93 91 91 91 92 92 92 82 82 82 89 89 89 87 87 87 88 88 88 88 88 88 59 59 59 89 89 89 90 90 90 86 86 86 89 89 89 58 58 58 88 88 88 87 87 87 116 116 116 111 111 111 110 110 110 117 117 117 112 112 112 111 111 111 118 118 118 113 113 113 112 112 112 121 121 121 115 115 115 120 120 120 122 122 122 116 116 116 121 121 121 123 123 123 117 117 117 116 116 116 124 124 124 118 118 118 117 117 117 125 125 125 119 119 119 124 124 124 127 127 127 121 121 121 120 120 120 128 128 128 122 122 122 121 121 121 129 129 129 123 123 123 128 128 128 130 130 130 124 124 124 129 129 129 131 131 131 125 125 125 124 124 124 133 133 133 127 127 127 132 132 132 134 134 134 128 128 128 133 133 133 135 135 135 129 129 129 134 134 134 136 136 136 130 130 130 135 135 135 137 137 137 131 131 131 136 136 136 139 139 139 134 134 134 133 133 133 140 140 140 135 135 135 134 134 134 141 141 141 136 136 136 135 135 135 110 110 110 168 168 168 169 169 169 170 170 170 110 110 110 169 169 169 111 111 111 168 168 168 110 110 110 111 111 111 166 166 166 167 167 167 168 168 168 111 111 111 167 167 167 112 112 112 166 166 166 111 111 111 172 172 172 114 114 114 171 171 171 173 173 173 120 120 120 172 172 172 115 115 115 170 170 170 114 114 114 171 171 171 114 114 114 170 170 170 120 120 120 114 114 114 172 172 172 110 110 110 170 170 170 115 115 115 120 120 120 173 173 173 142 142 142 164 164 164 165 165 165 112 112 112 166 166 166 112 112 112 165 165 165 113 113 113 164 164 164 112 112 112 162 162 162 163 163 163 113 113 113 164 164 164 113 113 113 163 163 163 113 113 113 118 118 118 162 162 162 160 160 160 119 119 119 125 125 125 162 162 162 119 119 119 161 161 161 160 160 160 161 161 161 119 119 119 125 125 125 159 159 159 160 160 160 125 125 125 158 158 158 159 159 159 131 131 131 158 158 158 125 125 125 118 118 118 119 119 119 162 162 162 143 143 143 126 126 126 142 142 142 144 144 144 126 126 126 143 143 143 144 144 144 132 132 132 126 126 126 146 146 146 133 133 133 132 132 132 132 132 132 144 144 144 145 145 145 138 138 138 133 133 133 146 146 146 147 147 147 138 138 138 146 146 146 148 148 148 139 139 139 138 138 138 139 139 139 148 148 148 149 149 149 148 148 148 138 138 138 147 147 147 150 150 150 139 139 139 149 149 149 146 146 146 132 132 132 145 145 145 154 154 154 155 155 155 137 137 137 156 156 156 131 131 131 137 137 137 157 157 157 131 131 131 156 156 156 155 155 155 156 156 156 137 137 137 154 154 154 137 137 137 136 136 136 158 158 158 131 131 131 157 157 157 151 151 151 140 140 140 150 150 150 139 139 139 150 150 150 140 140 140 152 152 152 140 140 140 151 151 151 153 153 153 154 154 154 141 141 141 141 141 141 154 154 154 136 136 136 141 141 141 152 152 152 153 153 153 152 152 152 141 141 141 140 140 140 142 142 142 126 126 126 120 120 120 204 204 204 203 203 203 184 184 184 205 205 205 204 204 204 185 185 185 206 206 206 205 205 205 186 186 186 207 207 207 206 206 206 187 187 187 208 208 208 207 207 207 189 189 189 209 209 209 208 208 208 190 190 190 210 210 210 209 209 209 191 191 191 211 211 211 210 210 210 192 192 192 212 212 212 211 211 211 193 193 193 213 213 213 212 212 212 194 194 194 214 214 214 213 213 213 195 195 195 215 215 215 214 214 214 196 196 196 216 216 216 215 215 215 197 197 197 217 217 217 216 216 216 198 198 198 218 218 218 217 217 217 199 199 199 219 219 219 218 218 218 200 200 200 220 220 220 219 219 219 201 201 201 221 221 221 220 220 220 202 202 202 223 223 223 222 222 222 203 203 203 224 224 224 223 223 223 204 204 204 225 225 225 224 224 224 205 205 205 226 226 226 225 225 225 206 206 206 227 227 227 226 226 226 208 208 208 228 228 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257 257 257 256 256 256 238 238 238 258 258 258 257 257 257 239 239 239 259 259 259 258 258 258 240 240 240 261 261 261 260 260 260 241 241 241 262 262 262 261 261 261 242 242 242 263 263 263 262 262 262 243 243 243 264 264 264 263 263 263 244 244 244 265 265 265 264 264 264 246 246 246 266 266 266 265 265 265 247 247 247 267 267 267 266 266 266 248 248 248 268 268 268 267 267 267 249 249 249 269 269 269 268 268 268 250 250 250 270 270 270 269 269 269 251 251 251 271 271 271 270 270 270 252 252 252 272 272 272 271 271 271 253 253 253 273 273 273 272 272 272 254 254 254 274 274 274 273 273 273 255 255 255 275 275 275 274 274 274 256 256 256 276 276 276 275 275 275 257 257 257 277 277 277 276 276 276 258 258 258 278 278 278 277 277 277 259 259 259 280 280 280 279 279 279 260 260 260 281 281 281 280 280 280 261 261 261 282 282 282 281 281 281 262 262 262 283 283 283 282 282 282 263 263 263 284 284 284 283 283 283 265 265 265 285 285 285 284 284 284 266 266 266 286 286 286 285 285 285 267 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3 126 126 126 125 125 125 125 125 125 124 124 124 4 4 4 124 124 124 123 123 123 5 5 5 6 6 6 123 123 123 122 122 122 7 7 7 122 122 122 121 121 121 121 121 121 120 120 120 8 8 8 120 120 120 119 119 119 128 128 128 118 118 118 128 128 128 119 119 119 128 128 128 118 118 118 117 117 117 117 117 117 116 116 116 128 128 128 115 115 115 128 128 128 116 116 116 128 128 128 114 114 114 113 113 113 113 113 113 112 112 112 128 128 128 114 114 114 128 128 128 115 115 115 109 109 109 128 128 128 110 110 110 108 108 108 128 128 128 109 109 109 128 128 128 111 111 111 110 110 110 105 105 105 129 129 129 106 106 106 29 29 29 129 129 129 130 130 130 129 129 129 107 107 107 106 106 106 99 99 99 130 130 130 129 129 129 108 108 108 129 129 129 128 128 128 111 111 111 128 128 128 112 112 112 104 104 104 129 129 129 105 105 105 103 103 103 129 129 129 104 104 104 129 129 129 103 103 103 102 102 102 102 102 102 101 101 101 129 129 129 100 100 100 129 129 129 101 101 101 129 129 129 100 100 100 99 99 99 130 130 130 99 99 99 98 98 98 98 98 98 97 97 97 130 130 130 97 97 97 96 96 96 130 130 130 107 107 107 129 129 129 108 108 108 130 130 130 33 33 33 32 32 32 35 35 35 34 34 34 130 130 130 131 131 131 35 35 35 130 130 130 131 131 131 36 36 36 35 35 35 38 38 38 37 37 37 131 131 131 131 131 131 39 39 39 38 38 38 131 131 131 37 37 37 36 36 36 131 131 131 40 40 40 39 39 39 132 132 132 42 42 42 41 41 41 88 88 88 132 132 132 131 131 131 132 132 132 40 40 40 131 131 131 132 132 132 43 43 43 42 42 42 41 41 41 40 40 40 132 132 132 44 44 44 132 132 132 45 45 45 45 45 45 132 132 132 46 46 46 43 43 43 132 132 132 44 44 44 47 47 47 46 46 46 132 132 132 130 130 130 93 93 93 131 131 131 47 47 47 133 133 133 48 48 48 49 49 49 48 48 48 133 133 133 133 133 133 50 50 50 49 49 49 52 52 52 51 51 51 133 133 133 133 133 133 53 53 53 52 52 52 133 133 133 51 51 51 50 50 50 54 54 54 53 53 53 133 133 133 55 55 55 133 133 133 56 56 56 57 57 57 56 56 56 72 72 72 71 71 71 58 58 58 57 57 57 60 60 60 59 59 59 69 69 69 62 62 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5 124 124 124 123 123 123 123 123 123 122 122 122 6 6 6 121 121 121 7 7 7 122 122 122 8 8 8 121 121 121 120 120 120 128 128 128 8 8 8 120 120 120 119 119 119 128 128 128 120 120 120 118 118 118 128 128 128 119 119 119 128 128 128 118 118 118 117 117 117 117 117 117 116 116 116 128 128 128 115 115 115 128 128 128 116 116 116 128 128 128 115 115 115 114 114 114 128 128 128 114 114 114 113 113 113 113 113 113 112 112 112 128 128 128 112 112 112 111 111 111 128 128 128 109 109 109 128 128 128 110 110 110 20 20 20 19 19 19 128 128 128 128 128 128 111 111 111 110 110 110 105 105 105 129 129 129 106 106 106 29 29 29 129 129 129 130 130 130 129 129 129 107 107 107 106 106 106 99 99 99 130 130 130 129 129 129 108 108 108 129 129 129 128 128 128 128 128 128 109 109 109 108 108 108 104 104 104 129 129 129 105 105 105 103 103 103 129 129 129 104 104 104 129 129 129 103 103 103 102 102 102 102 102 102 101 101 101 129 129 129 100 100 100 129 129 129 101 101 101 129 129 129 100 100 100 99 99 99 130 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.866032 -0.249996 0.433002 128.380868 0.499989 0.433018 -0.750004 -231.895260 0.000000 0.866024 0.500003 205.846845 0.000000 0.000000 0.000000 1.000000 + + + + 1.000000 0.000000 0.000000 -5.500000 0.000000 1.000000 0.000000 0.000008 0.000000 0.000000 1.000000 106.364746 0.000000 0.000000 0.000000 1.000000 + + + + 1.000000 0.000000 0.000000 -5.500000 0.000000 0.000000 -1.000000 -37.794745 0.000000 1.000000 0.000000 51.250000 0.000000 0.000000 0.000000 1.000000 + + + + 0.000000 0.000000 1.000000 39.221680 1.000000 0.000000 0.000000 0.000008 0.000000 1.000000 0.000000 51.250000 0.000000 0.000000 0.000000 1.000000 + + + + 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 + + + + + + + + \ No newline at end of file diff --git a/mycobot_description/urdf/mycobot_pro_630/my630.urdf b/mycobot_description/urdf/mycobot_pro_630/my630.urdf index 6f203001..cd66cd0f 100644 --- a/mycobot_description/urdf/mycobot_pro_630/my630.urdf +++ b/mycobot_description/urdf/mycobot_pro_630/my630.urdf @@ -4,150 +4,152 @@ - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + + + - + - - + + - + - - + + - + + - - + + \ No newline at end of file diff --git a/mycobot_description/urdf/mycobot_pro_630/mycobot_630_gripper.urdf b/mycobot_description/urdf/mycobot_pro_630/mycobot_630_gripper.urdf index b42144b1..9aad1def 100644 --- a/mycobot_description/urdf/mycobot_pro_630/mycobot_630_gripper.urdf +++ b/mycobot_description/urdf/mycobot_pro_630/mycobot_630_gripper.urdf @@ -138,129 +138,6 @@ - - diff --git a/mycobot_pro/mycobot_630/config/mycobot_630.rviz b/mycobot_pro/mycobot_630/config/mycobot_630.rviz index c8d417b8..2c248f13 100644 --- a/mycobot_pro/mycobot_630/config/mycobot_630.rviz +++ b/mycobot_pro/mycobot_630/config/mycobot_630.rviz @@ -10,7 +10,7 @@ Panels: - /TF1 - /TF1/Frames1 Splitter Ratio: 0.5 - Tree Height: 719 + Tree Height: 637 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -69,81 +69,6 @@ Visualization Manager: 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 - tool1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tool2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true Name: RobotModel Robot Description: robot_description TF Prefix: "" @@ -157,38 +82,6 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: false - base: - Value: false - gripper_base: - Value: false - gripper_left1: - Value: false - gripper_left2: - Value: false - gripper_left3: - Value: false - 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 - tool1: - Value: false - tool2: - Value: false Marker Alpha: 1 Marker Scale: 0.5 Name: TF @@ -196,26 +89,7 @@ Visualization Manager: Show Axes: true Show Names: true Tree: - base: - joint1: - joint2: - joint3: - joint4: - joint5: - joint6: - tool1: - tool2: - gripper_base: - gripper_left2: - {} - gripper_left3: - gripper_left1: - {} - gripper_right2: - {} - gripper_right3: - gripper_right1: - {} + {} Update Interval: 0 Value: true - Alpha: 1 @@ -255,7 +129,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 1.1596055030822754 + Distance: 0.5902186632156372 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -263,25 +137,25 @@ Visualization Manager: Value: false Field of View: 0.7853981852531433 Focal Point: - X: 0.10261097550392151 - Y: 0.12852436304092407 - Z: 0.8127317428588867 + X: -0.004918896127492189 + Y: -0.028790872544050217 + Z: -0.0053014024160802364 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.5402033925056458 + Pitch: 0.25520408153533936 Target Frame: - Yaw: 5.734956741333008 + Yaw: 0.2468089461326599 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1016 + Height: 934 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a0000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001000000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c20000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000016a00000308fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000308000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010000000308fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000308000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d0065010000000000000736000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c00000030800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -290,6 +164,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 1848 + Width: 1846 X: 72 Y: 27 diff --git a/mycobot_pro/mycobot_630/launch/flange_camera.launch b/mycobot_pro/mycobot_630/launch/flange_camera.launch new file mode 100644 index 00000000..28c79b21 --- /dev/null +++ b/mycobot_pro/mycobot_630/launch/flange_camera.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/mycobot_pro/mycobot_630/launch/test.launch b/mycobot_pro/mycobot_630/launch/test.launch index 5aea4499..19cec277 100755 --- a/mycobot_pro/mycobot_630/launch/test.launch +++ b/mycobot_pro/mycobot_630/launch/test.launch @@ -1,7 +1,7 @@ - - + + diff --git a/mycobot_pro/mycobot_630_gripper_moveit/config/ompl_planning.yaml b/mycobot_pro/mycobot_630_gripper_moveit/config/ompl_planning.yaml index be72f98f..5888db52 100644 --- a/mycobot_pro/mycobot_630_gripper_moveit/config/ompl_planning.yaml +++ b/mycobot_pro/mycobot_630_gripper_moveit/config/ompl_planning.yaml @@ -166,7 +166,7 @@ planner_configs: use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0 find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0 arm: - default_planner_config: RRTstar + default_planner_config: RRTConnect planner_configs: - AnytimePathShortening - SBL @@ -198,6 +198,7 @@ arm: projection_evaluator: joints(joint1_to_base,joint2_to_joint1) longest_valid_segment_fraction: 0.005 gripper: + default_planner_config: RRTConnect planner_configs: - AnytimePathShortening - SBL diff --git a/mycobot_pro/mycobot_630_moveit/config/firefighter.srdf b/mycobot_pro/mycobot_630_moveit/config/firefighter.srdf index 2a9d6db7..7a3a7cfa 100644 --- a/mycobot_pro/mycobot_630_moveit/config/firefighter.srdf +++ b/mycobot_pro/mycobot_630_moveit/config/firefighter.srdf @@ -22,9 +22,9 @@ - + - + @@ -40,12 +40,24 @@ + + + + + + - + + + - + + + - + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/planning_context.launch b/mycobot_pro/mycobot_630_moveit/launch/planning_context.launch index 99bf9874..a46d2e89 100644 --- a/mycobot_pro/mycobot_630_moveit/launch/planning_context.launch +++ b/mycobot_pro/mycobot_630_moveit/launch/planning_context.launch @@ -6,8 +6,9 @@ - + + diff --git a/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py b/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py index c9c7f13c..d528b2ef 100755 --- a/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py +++ b/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py @@ -29,26 +29,28 @@ def callback(data): def listener(): global mc - rospy.init_node("control_slider", anonymous=True) - - ip = rospy.get_param("~ip", "192.168.1.161") - port = rospy.get_param("~port", 5001) - print (ip, port) - mc = ElephantRobot(ip, int(port)) - # START CLIENT,启动客户端 - res = mc.start_client() - if res != "": - sys.exit(1) - - mc.set_speed(90) - - rospy.Subscriber("joint_states", JointState, callback) - - # spin() simply keeps python from exiting until this node is stopped - # spin()只是阻止python退出，直到该节点停止 - print ("sping ...") - rospy.spin() - + try: + rospy.init_node("control_slider", anonymous=True) + + ip = rospy.get_param("~ip", "192.168.1.17") + port = rospy.get_param("~port", 5001) + print (ip, port) + mc = ElephantRobot(ip, int(port)) + # START CLIENT,启动客户端 + res = mc.start_client() + if res != "": + sys.exit(1) + + mc.set_speed(90) + + rospy.Subscriber("joint_states", JointState, callback) + + # spin() simply keeps python from exiting until this node is stopped + # spin()只是阻止python退出，直到该节点停止 + print ("sping ...") + rospy.spin() + except Exception as e: + print(e) if __name__ == "__main__": listener()