-<?xml version="1.0"?>\r
-<robot name="q2d" xmlns:xacro="http://www.ros.org/wiki/xacro">\r
-\r
- <xacro:arg name="ignition" default="false"/>\r
- \r
- <link name="world"/>\r
- \r
- <link name="origin_link"/>\r
- \r
- <joint name="world_joint" type="fixed">\r
- <parent link="world"/>\r
- <child link="origin_link"/>\r
- </joint>\r
-\r
- <link name="base_link">\r
- <inertial>\r
- <origin xyz="0.074571214 -0.00008502114 0.039600060500000"/>\r
- <mass value="6.9621272394"/>\r
- <inertia ixx="0.12983348950453222" ixy="0.00004414079177225"\r
- ixz="-0.03019200341025967" iyy="0.17857934382693791"\r
- iyz="0.00000393635720902" izz="0.25812143874621400" />\r
- </inertial>\r
-\r
- <visual>\r
- <geometry>\r
- <mesh filename="package://q2d_description/meshes/base.STL"/>\r
- </geometry>\r
- <material name="base_material">\r
- <color rgba="0.55 0.45 0.45 1.0"/>\r
- </material>\r
- </visual>\r
-\r
- <collision>\r
- <geometry>\r
- <mesh filename="package://q2d_description/meshes/base.STL"/>\r
- </geometry>\r
- </collision>\r
- </link>\r
-\r
- <joint name="origin_joint" type="fixed">\r
- <parent link="origin_link"/>\r
- <child link="base_link"/>\r
- </joint>\r
-\r
- <link name="shoulder_active_link">\r
- <inertial>\r
- <origin xyz="0.0252456823 -0.00000002723 0.06470401873"/>\r
- <mass value="0.19730261508"/>\r
- <inertia ixx="0.00038685518702305" ixy="0.00000000055222416"\r
- ixz="-0.00000031340718614" iyy="0.00010241438913870"\r
- iyz="-0.00000000015426019" izz="0.00047879093657893" />\r
- </inertial>\r
-\r
- <visual>\r
- <geometry>\r
- <mesh filename="package://q2d_description/meshes/shoulder_active.STL"/>\r
- </geometry>\r
- <material name="shoulder_active_material">\r
- <color rgba="0.55 0.55 0.45 1.0"/>\r
- </material>\r
- </visual>\r
-\r
- <collision>\r
- <geometry>\r
- <mesh filename="package://q2d_description/meshes/collision/shoulder_active.STL"/>\r
- </geometry>\r
- </collision>\r
- </link>\r
-\r
- <joint name="shoulder_active_joint" type="revolute">\r
- <parent link="base_link"/>\r
- <child link="shoulder_active_link"/>\r
- <origin xyz="0 0 0.1477"/>\r
- <axis xyz="0 0 1"/>\r
- <limit lower="-1.570796326794897" upper="1.570796326794897"\r
- velocity="2.27" effort="27.94" /> \r
- <dynamics damping="29.7914" />\r
- </joint>\r
-\r
- <link name="shoulder_passive_link">\r
- <inertial>\r
- <mass value="1.26475817816"/>\r
- <origin xyz="0.16516344805 -0.00048428845 -0.00016382412"/>\r
- <inertia ixx="0.00346199967740929" ixy="-0.00010902049981923"\r
- ixz="-0.00401182173261703" iyy="0.03314904030482527"\r
- iyz="0.00005087359051462" izz="0.03113579694057124" />\r
- </inertial>\r
-\r
- <visual>\r
- <geometry>\r
- <mesh filename="package://q2d_description/meshes/shoulder_passive.STL"/>\r
- </geometry>\r
- <material name="shoulder_passive_material">\r
- <color rgba="0.45 0.55 0.45 1.0"/>\r
- </material>\r
- </visual>\r
-\r
- <collision>\r
- <geometry>\r
- <mesh filename="package://q2d_description/meshes/collision/shoulder_passive.STL"/>\r
- </geometry>\r
- </collision>\r
- </link>\r
-\r
- <joint name="shoulder_passive_joint" type="fixed">\r
- <parent link="shoulder_active_link"/>\r
- <child link="shoulder_passive_link"/>\r
- </joint>\r
-\r
- <link name="elbow_active_link">\r
- <inertial>\r
- <mass value="0.19712951877"/>\r
- <origin xyz="0.02548273493 -0.00000002263 0.05254513577"/>\r
- <inertia ixx="0.00038850510800265" ixy="0.00000000052121416"\r
- ixz="0.00000404728675587" iyy="0.00010146693248154"\r
- iyz="0.00000000002789435" izz="0.00048091942023028" />\r
- </inertial>\r
-\r
- <visual>\r
- <geometry>\r
- <mesh filename="package://q2d_description/meshes/elbow_active.STL"/>\r
- </geometry>\r
- <material name="elbow_active_material">\r
- <color rgba="0.45 0.55 0.55 1.0"/>\r
- </material>\r
- </visual>\r
-\r
- <collision>\r
- <geometry>\r
- <mesh filename="package://q2d_description/meshes/collision/elbow_active.STL"/>\r
- </geometry>\r
- </collision>\r
- </link>\r
-\r
- <joint name="elbow_active_joint" type="revolute">\r
- <parent link="shoulder_passive_link"/>\r
- <child link="elbow_active_link"/>\r
- <origin xyz="0.343 0 0"/>\r
- <axis xyz="0 0 1"/>\r
- <limit lower="-1.570796326794897" upper="1.570796326794897"\r
- velocity="23.08" effort="13.62" />\r
- <dynamics damping="2.6404" />\r
- </joint>\r
-\r
- <link name="elbow_passive_link">\r
- <inertial>\r
- <mass value="0.67529215765"/>\r
- <origin xyz="0.06204831581 0.00000013809 0.01489882531"/>\r
- <inertia ixx="0.00132247071698947" ixy="-0.00000000605403474"\r
- ixz="-0.00090893541574333" iyy="0.00774007102253750"\r
- iyz="0.00000000624688369" izz="0.00751638349361413" />\r
- </inertial>\r
-\r
- <visual>\r
- <geometry>\r
- <mesh filename="package://q2d_description/meshes/elbow_passive.STL"/>\r
- </geometry>\r
- <material name="elbow_passive_material">\r
- <color rgba="0.45 0.45 0.55 1.0"/>\r
- </material>\r
- </visual>\r
-\r
- <collision>\r
- <geometry>\r
- <mesh filename="package://q2d_description/meshes/collision/elbow_passive.STL"/>\r
- </geometry>\r
- </collision>\r
- </link>\r
-\r
- <joint name="elbow_passive_joint" type="fixed">\r
- <parent link="elbow_active_link"/>\r
- <child link="elbow_passive_link"/>\r
- </joint>\r
-\r
- <link name="tool_link"/>\r
-\r
- <joint name="end_joint" type="fixed">\r
- <parent link="elbow_passive_link"/>\r
- <child link="tool_link"/>\r
- <origin xyz="0.267 0 0"/>\r
- </joint>\r
-\r
- <transmission name="shoulder_active_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="shoulder_active_joint">\r
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="shoulder_motor">\r
- <mechanicalReduction>1</mechanicalReduction>\r
- </actuator>\r
- </transmission>\r
-\r
- <transmission name="elbow_active_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="elbow_active_joint">\r
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="elbow_motor">\r
- <mechanicalReduction>1</mechanicalReduction>\r
- </actuator>\r
- </transmission>\r
-\r
+<?xml version="1.0"?>
+<robot name="q2d" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <xacro:arg name="ignition" default="false"/>
+
+ <link name="world"/>
+
+ <link name="origin_link"/>
+
+ <joint name="world_joint" type="fixed">
+ <parent link="world"/>
+ <child link="origin_link"/>
+ </joint>
+
+ <link name="base_link">
+ <inertial>
+ <origin xyz="0.074571214 -0.00008502114 0.039600060500000"/>
+ <mass value="6.9621272394"/>
+ <inertia ixx="0.12983348950453222" ixy="0.00004414079177225"
+ ixz="-0.03019200341025967" iyy="0.17857934382693791"
+ iyz="0.00000393635720902" izz="0.25812143874621400" />
+ </inertial>
+
+ <visual>
+ <geometry>
+ <mesh filename="package://q2d_description/meshes/base.STL"/>
+ </geometry>
+ <material name="base_material">
+ <color rgba="0.55 0.45 0.45 1.0"/>
+ </material>
+ </visual>
+
+ <collision>
+ <geometry>
+ <mesh filename="package://q2d_description/meshes/base.STL"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="origin_joint" type="fixed">
+ <parent link="origin_link"/>
+ <child link="base_link"/>
+ </joint>
+
+ <link name="shoulder_active_link">
+ <inertial>
+ <origin xyz="0.0252456823 -0.00000002723 0.06470401873"/>
+ <mass value="0.19730261508"/>
+ <inertia ixx="0.00038685518702305" ixy="0.00000000055222416"
+ ixz="-0.00000031340718614" iyy="0.00010241438913870"
+ iyz="-0.00000000015426019" izz="0.00047879093657893" />
+ </inertial>
+
+ <visual>
+ <geometry>
+ <mesh filename="package://q2d_description/meshes/shoulder_active.STL"/>
+ </geometry>
+ <material name="shoulder_active_material">
+ <color rgba="0.55 0.55 0.45 1.0"/>
+ </material>
+ </visual>
+
+ <collision>
+ <geometry>
+ <mesh filename="package://q2d_description/meshes/collision/shoulder_active.STL"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="shoulder_active_joint" type="revolute">
+ <parent link="base_link"/>
+ <child link="shoulder_active_link"/>
+ <origin xyz="0 0 0.1477"/>
+ <axis xyz="0 0 1"/>
+ <limit lower="-1.570796326794897" upper="1.570796326794897"
+ velocity="2.27" effort="27.94" />
+ <dynamics damping="29.7914" />
+ </joint>
+
+ <link name="shoulder_passive_link">
+ <inertial>
+ <mass value="1.26475817816"/>
+ <origin xyz="0.16516344805 -0.00048428845 -0.00016382412"/>
+ <inertia ixx="0.00346199967740929" ixy="-0.00010902049981923"
+ ixz="-0.00401182173261703" iyy="0.03314904030482527"
+ iyz="0.00005087359051462" izz="0.03113579694057124" />
+ </inertial>
+
+ <visual>
+ <geometry>
+ <mesh filename="package://q2d_description/meshes/shoulder_passive.STL"/>
+ </geometry>
+ <material name="shoulder_passive_material">
+ <color rgba="0.45 0.55 0.45 1.0"/>
+ </material>
+ </visual>
+
+ <collision>
+ <geometry>
+ <mesh filename="package://q2d_description/meshes/collision/shoulder_passive.STL"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="shoulder_passive_joint" type="fixed">
+ <parent link="shoulder_active_link"/>
+ <child link="shoulder_passive_link"/>
+ </joint>
+
+ <link name="elbow_active_link">
+ <inertial>
+ <mass value="0.19712951877"/>
+ <origin xyz="0.02548273493 -0.00000002263 0.05254513577"/>
+ <inertia ixx="0.00038850510800265" ixy="0.00000000052121416"
+ ixz="0.00000404728675587" iyy="0.00010146693248154"
+ iyz="0.00000000002789435" izz="0.00048091942023028" />
+ </inertial>
+
+ <visual>
+ <geometry>
+ <mesh filename="package://q2d_description/meshes/elbow_active.STL"/>
+ </geometry>
+ <material name="elbow_active_material">
+ <color rgba="0.45 0.55 0.55 1.0"/>
+ </material>
+ </visual>
+
+ <collision>
+ <geometry>
+ <mesh filename="package://q2d_description/meshes/collision/elbow_active.STL"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="elbow_active_joint" type="revolute">
+ <parent link="shoulder_passive_link"/>
+ <child link="elbow_active_link"/>
+ <origin xyz="0.343 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit lower="-1.570796326794897" upper="1.570796326794897"
+ velocity="23.08" effort="13.62" />
+ <dynamics damping="2.6404" />
+ </joint>
+
+ <link name="elbow_passive_link">
+ <inertial>
+ <mass value="0.67529215765"/>
+ <origin xyz="0.06204831581 0.00000013809 0.01489882531"/>
+ <inertia ixx="0.00132247071698947" ixy="-0.00000000605403474"
+ ixz="-0.00090893541574333" iyy="0.00774007102253750"
+ iyz="0.00000000624688369" izz="0.00751638349361413" />
+ </inertial>
+
+ <visual>
+ <geometry>
+ <mesh filename="package://q2d_description/meshes/elbow_passive.STL"/>
+ </geometry>
+ <material name="elbow_passive_material">
+ <color rgba="0.45 0.45 0.55 1.0"/>
+ </material>
+ </visual>
+
+ <collision>
+ <geometry>
+ <mesh filename="package://q2d_description/meshes/collision/elbow_passive.STL"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="elbow_passive_joint" type="fixed">
+ <parent link="elbow_active_link"/>
+ <child link="elbow_passive_link"/>
+ </joint>
+
+ <link name="tool_link"/>
+
+ <joint name="end_joint" type="fixed">
+ <parent link="elbow_passive_link"/>
+ <child link="tool_link"/>
+ <origin xyz="0.267 0 0"/>
+ </joint>
+
+ <transmission name="shoulder_active_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="shoulder_active_joint">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="shoulder_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <transmission name="elbow_active_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="elbow_active_joint">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="elbow_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
<gazebo reference="base_link">
<visual>
<material>
<emissive>0.0 0.0 0.0 0.0</emissive>
</material>
</visual>
- </gazebo>\r
-\r
+ </gazebo>
+
<gazebo reference="shoulder_active_link">
<visual>
<material>
<emissive>0.0 0.0 0.0 0.0</emissive>
</material>
</visual>
- </gazebo>\r
-\r
+ </gazebo>
+
<gazebo reference="shoulder_passive_link">
<visual>
<material>
</material>
</visual>
</gazebo>
-\r
+
<gazebo reference="elbow_active_link">
<visual>
<material>
<emissive>0.0 0.0 0.0 0.0</emissive>
</material>
</visual>
- </gazebo>\r
-\r
+ </gazebo>
+
<gazebo reference="elbow_passive_link">
<visual>
<material>
<emissive>0.0 0.0 0.0 0.0</emissive>
</material>
</visual>
- </gazebo>\r
-\r
- <ros2_control name="GazeboSystem" type="system">\r
- <xacro:unless value="$(arg ignition)">\r
- <!-- Gazebo Classic -->\r
- <hardware>\r
- <plugin>gazebo_ros2_control/GazeboSystem</plugin>\r
- </hardware>\r
- </xacro:unless>\r
- <xacro:if value="$(arg ignition)">\r
- <!-- Gazebo Ignition -->\r
+ </gazebo>
+
+ <ros2_control name="GazeboSystem" type="system">
+ <xacro:unless value="$(arg ignition)">
+ <!-- Gazebo Classic -->
+ <hardware>
+ <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+ </hardware>
+ </xacro:unless>
+ <xacro:if value="$(arg ignition)">
+ <!-- Gazebo Ignition -->
<hardware>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
- </hardware>\r
- </xacro:if>\r
- \r
- <joint name="shoulder_active_joint">\r
- <command_interface name="effort">\r
- <param name="min">-27.94</param>\r
- <param name="max">27.94</param>\r
- </command_interface>\r
- <state_interface name="position"/>\r
- <state_interface name="velocity"/>\r
- <state_interface name="effort"/>\r
- </joint>\r
- \r
- <joint name="elbow_active_joint">\r
- <command_interface name="effort">\r
- <param name="min">-13.62</param>\r
- <param name="max">13.62</param>\r
- </command_interface>\r
- <state_interface name="position"/>\r
- <state_interface name="velocity"/>\r
- <state_interface name="effort"/>\r
- </joint>\r
- </ros2_control>\r
-\r
- <gazebo>\r
- <xacro:unless value="$(arg ignition)">\r
- <!-- Gazebo Classic -->\r
- <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">\r
- <robot_param>robot_description</robot_param>\r
- <robot_param_node>robot_state_publisher</robot_param_node>\r
- <parameters>$(find q2d_description)/config/controller_manager.yaml</parameters>\r
- </plugin>\r
- </xacro:unless>\r
- <xacro:if value="$(arg ignition)">\r
+ </hardware>
+ </xacro:if>
+
+ <joint name="shoulder_active_joint">
+ <command_interface name="effort">
+ <param name="min">-27.94</param>
+ <param name="max">27.94</param>
+ </command_interface>
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ <state_interface name="effort"/>
+ </joint>
+
+ <joint name="elbow_active_joint">
+ <command_interface name="effort">
+ <param name="min">-13.62</param>
+ <param name="max">13.62</param>
+ </command_interface>
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ <state_interface name="effort"/>
+ </joint>
+ </ros2_control>
+
+ <gazebo>
+ <xacro:unless value="$(arg ignition)">
+ <!-- Gazebo Classic -->
+ <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+ <robot_param>robot_description</robot_param>
+ <robot_param_node>robot_state_publisher</robot_param_node>
+ <parameters>$(find q2d_description)/config/controller_manager.yaml</parameters>
+ </plugin>
+ </xacro:unless>
+ <xacro:if value="$(arg ignition)">
<!-- Gazebo Ignition -->
<plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
<robot_param>robot_description</robot_param>
<robot_param_node>robot_state_publisher</robot_param_node>
<parameters>$(find q2d_description)/config/controller_manager.yaml</parameters>
- </plugin>\r
+ </plugin>
</xacro:if>
</gazebo>
-\r
-</robot>\r
+
+</robot>
projects / q2d.git / commitdiff