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add mercury A1、B1 gazebo model in ubuntu 18.04 ros1 melodic
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@wangWking
wangWking committed Dec 4, 2023
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290 changes: 290 additions & 0 deletions Mercury/mercury_a1_moveit/config/mercury_a1.urdf
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<?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/mercury_a1/base.dae" />
</geometry>
<origin xyz="0.0 0 0 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mercury_a1/base.dae" />
</geometry>
<origin xyz="0.0 0 0 " rpy=" 0 0 0" />
</collision>

<inertial>
<mass value="0.1" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>

</link>
<link name="joint1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mercury_a1/joint1.dae" />
</geometry>
<origin xyz="0.0 0 -0.08 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mercury_a1/joint1.dae" />
</geometry>
<origin xyz="0.0 0 -0.08 " rpy=" 0 0 0" />
</collision>

<inertial>
<mass value="0.1" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>

</link>
<link name="joint2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mercury_a1/joint2.dae" />
</geometry>
<origin xyz="0.0 0 0.0 " rpy=" 3.14159 0 -1.5708 " />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mercury_a1/joint2.dae" />
</geometry>
<origin xyz="0.0 0 0.0 " rpy=" 3.14159 0 -1.5708" />
</collision>

<inertial>
<mass value="0.1" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>

</link>
<link name="joint3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mercury_a1/joint3.dae" />
</geometry>
<origin xyz="0.0 0 0.038 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mercury_a1/joint3.dae" />
</geometry>
<origin xyz="0.0 0 0.038" rpy=" 0 0 0" />
</collision>

<inertial>
<mass value="0.1" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>

</link>
<link name="joint4">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mercury_a1/joint4.dae" />
</geometry>
<origin xyz="0.0 0 0 " rpy=" 0 0 -1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mercury_a1/joint4.dae" />
</geometry>
<origin xyz="0.0 0 0 " rpy=" 0 0 -1.5708" />
</collision>

<inertial>
<mass value="0.1" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>

</link>
<link name="joint5">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mercury_a1/joint5.dae" />
</geometry>
<origin xyz="0 0 -0.069 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mercury_a1/joint5.dae" />
</geometry>
<origin xyz="0 0 -0.069 " rpy=" 0 0 0" />
</collision>

<inertial>
<mass value="0.1" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>

</link>
<link name="joint6">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mercury_a1/joint6.dae" />
</geometry>
<origin xyz="0.0 0 -0.025 " rpy=" 0 0 -1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mercury_a1/joint6.dae" />
</geometry>
<origin xyz="0.0 0 -0.025 " rpy=" 0 0 -1.5708" />
</collision>

<inertial>
<mass value="0.1" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>

</link>
<link name="joint7">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mercury_a1/joint7.dae" />
</geometry>
<origin xyz="0.0 0 -0.002 " rpy=" 0 0 -1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mercury_a1/joint7.dae" />
</geometry>
<origin xyz="0.0 0 -0.002 " rpy=" 0 0 -1.5708" />
</collision>

<inertial>
<mass value="0.1" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>

</link>
<joint name="joint1_to_base" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-2.8797" upper="2.8797" velocity="0" />
<parent link="base" />
<child link="joint1" />
<origin xyz="0 0 0.175" rpy="0 0 0" />
</joint>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-1.7453" upper="1.7453" velocity="0" />
<parent link="joint1" />
<child link="joint2" />
<!-- <origin xyz= "0 0 0" rpy = "1.5708 3.14159 0"/> -->
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz=" 0 0 1" />
<limit effort="1000.0" lower="-2.8797" upper="2.8797" velocity="0" />
<parent link="joint2" />
<child link="joint3" />
<origin xyz="0 -0.11 0 " rpy="1.5708 0 0" />
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1" />
<limit effort="1000.0" lower="-3.0543" upper="0.0174" velocity="0" />
<parent link="joint3" />
<child link="joint4" />
<origin xyz="0.03 0 0.095" rpy="-1.5708 0 3.14159" />
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-2.8797" upper="2.8797" velocity="0" />
<parent link="joint4" />
<child link="joint5" />
<origin xyz="0.03 -0.126 0" rpy="1.5708 3.14159 0" />
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.0174" upper="3.14159" velocity="0" />
<parent link="joint5" />
<child link="joint6" />
<origin xyz="0 0.0 0.08" rpy="1.5708 0 0" />
</joint>
<joint name="joint7_to_joint6" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-2.8797" upper="2.8797" velocity="0" />
<parent link="joint6" />
<child link="joint7" />
<origin xyz="0.038 -0.046 0" rpy="1.5708 0 0" />
</joint>

<transmission name="trans_joint1_to_base">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint1_to_base">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint1_to_base_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint2_to_joint1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint2_to_joint1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint2_to_joint1_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint3_to_joint2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint3_to_joint2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint3_to_joint2_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint4_to_joint3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint4_to_joint3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint4_to_joint3_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint5_to_joint4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint5_to_joint4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint5_to_joint4_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint6_to_joint5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6_to_joint5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint6_to_joint5_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint7_to_joint6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint7_to_joint6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint7_to_joint6_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/</robotNamespace>
</plugin>
</gazebo>
</robot>
2 changes: 1 addition & 1 deletion Mercury/mercury_a1_moveit/launch/gazebo.launch
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</include>

<!-- Set the robot urdf on the parameter server -->
<param name="robot_description" textfile="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf" />
<param name="robot_description" textfile="$(find mercury_a1_moveit)/config/mercury_a1.urdf" />

<!-- Unpause the simulation after loading the robot model -->
<arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
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14 changes: 5 additions & 9 deletions Mercury/mercury_a1_moveit/package.xml
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Expand Up @@ -3,10 +3,10 @@
<name>mercury_a1_moveit</name>
<version>0.3.0</version>
<description>
An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt Motion Planning Framework
An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt! Motion Planning Framework
</description>
<author email="weijian.wang@elephantrobotics.com">wangweijian</author>
<maintainer email="weijian.wang@elephantrobotics.com">wangweijian</maintainer>
<author email="lijun.zhang@elephantrobotics.com">zachary</author>
<maintainer email="lijun.zhang@elephantrobotics.com">zachary</maintainer>

<license>BSD</license>

Expand All @@ -19,7 +19,7 @@
<run_depend>moveit_ros_move_group</run_depend>
<run_depend>moveit_fake_controller_manager</run_depend>
<run_depend>moveit_kinematics</run_depend>
<run_depend>moveit_planners</run_depend>
<run_depend>moveit_planners_ompl</run_depend>
<run_depend>moveit_ros_visualization</run_depend>
<run_depend>moveit_setup_assistant</run_depend>
<run_depend>moveit_simple_controller_manager</run_depend>
Expand All @@ -29,13 +29,9 @@
<run_depend>rviz</run_depend>
<run_depend>tf2_ros</run_depend>
<run_depend>xacro</run_depend>
<!-- The next 2 packages are required for the gazebo simulation.
We don't include them by default to prevent installing gazebo and all its dependencies. -->
<!-- <run_depend>joint_trajectory_controller</run_depend> -->
<!-- <run_depend>gazebo_ros_control</run_depend> -->
<!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
<!-- <run_depend>warehouse_ros_mongo</run_depend> -->
<run_depend>mycobot_description</run_depend>
<run_depend>mycobot_description</run_depend>


</package>
25 changes: 25 additions & 0 deletions Mercury/mercury_b1_moveit/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.
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