From c27db5191b1c7890929c1dafaa046251a9dc5dcb Mon Sep 17 00:00:00 2001 From: Walter Fetter Lages Date: Wed, 28 Nov 2018 19:08:06 -0200 Subject: [PATCH] Change wam_description to comply with Denavit-Hartemberg Convetions. Change intertia parameters according to Barrett Wam Documentation. Change launch files. --- ufrgs_bhand_description/CMakeLists.txt | 195 +++++++++++++++++++++ ufrgs_bhand_description/launch/bhand.launch | 6 + ufrgs_bhand_description/launch/display.launch | 11 ++ ufrgs_bhand_description/launch/gazebo.launch | 19 ++ ufrgs_bhand_description/meshes/bh_base.stl | Bin 0 -> 143884 bytes ufrgs_bhand_description/meshes/bh_link1.stl | Bin 0 -> 41384 bytes ufrgs_bhand_description/meshes/bh_link2.stl | Bin 0 -> 48584 bytes ufrgs_bhand_description/meshes/bh_link3.stl | Bin 0 -> 183584 bytes ufrgs_bhand_description/package.xml | 60 +++++++ ufrgs_bhand_description/rviz/urdf.rviz | 180 +++++++++++++++++++ ufrgs_bhand_description/xacro/bhand.urdf.xacro | 103 +++++++++++ ufrgs_bhand_description/xacro/bhand0.urdf.xacro | 14 ++ .../xacro/bhand_base.urdf.xacro | 48 +++++ .../xacro/bhand_finger.urdf.xacro | 72 ++++++++ wam_controllers/launch/display.launch | 4 + wam_controllers/launch/gazebo.launch | 9 + wam_controllers/wam_controllers_plugins.xml | 8 +- wam_description/launch/display.launch | 2 + wam_description/launch/gazebo.launch | 7 + wam_description/launch/wam.launch | 16 +- wam_description/package.xml | 11 +- wam_description/rviz/urdf.rviz | 166 +++++++++++++++--- wam_description/rviz/urdf.rviz.bkp | 175 ++++++++++++++++++ wam_description/xacro/wam.urdf.xacro | 2 +- wam_description/xacro/wam_base.urdf.xacro | 57 ++++-- wam_description/xacro/wam_bhand.urdf.xacro | 17 ++ wam_description/xacro/wam_bhand_table.urdf.xacro | 26 +++ wam_description/xacro/wam_bhand_world.urdf.xacro | 15 ++ wam_description/xacro/wam_j1.urdf.xacro | 19 +- wam_description/xacro/wam_j2.urdf.xacro | 13 +- wam_description/xacro/wam_j3.urdf.xacro | 31 +++- wam_description/xacro/wam_j4.urdf.xacro | 36 ++-- wam_description/xacro/wam_j5.urdf.xacro | 18 +- wam_description/xacro/wam_j6.urdf.xacro | 19 +- wam_description/xacro/wam_j7.urdf.xacro | 15 +- wam_description/xacro/wam_tool_plate.urdf.xacro | 30 +--- 36 files changed, 1282 insertions(+), 122 deletions(-) create mode 100644 ufrgs_bhand_description/CMakeLists.txt create mode 100644 ufrgs_bhand_description/launch/bhand.launch create mode 100644 ufrgs_bhand_description/launch/display.launch create mode 100644 ufrgs_bhand_description/launch/gazebo.launch create mode 100644 ufrgs_bhand_description/meshes/bh_base.stl create mode 100644 ufrgs_bhand_description/meshes/bh_link1.stl create mode 100644 ufrgs_bhand_description/meshes/bh_link2.stl create mode 100644 ufrgs_bhand_description/meshes/bh_link3.stl create mode 100644 ufrgs_bhand_description/package.xml create mode 100644 ufrgs_bhand_description/rviz/urdf.rviz create mode 100644 ufrgs_bhand_description/xacro/bhand.urdf.xacro create mode 100644 ufrgs_bhand_description/xacro/bhand0.urdf.xacro create mode 100644 ufrgs_bhand_description/xacro/bhand_base.urdf.xacro create mode 100644 ufrgs_bhand_description/xacro/bhand_finger.urdf.xacro create mode 100644 wam_description/rviz/urdf.rviz.bkp create mode 100644 wam_description/xacro/wam_bhand.urdf.xacro create mode 100644 wam_description/xacro/wam_bhand_table.urdf.xacro create mode 100644 wam_description/xacro/wam_bhand_world.urdf.xacro diff --git a/ufrgs_bhand_description/CMakeLists.txt b/ufrgs_bhand_description/CMakeLists.txt new file mode 100644 index 0000000..b5575a6 --- /dev/null +++ b/ufrgs_bhand_description/CMakeLists.txt @@ -0,0 +1,195 @@ +cmake_minimum_required(VERSION 2.8.3) +project(ufrgs_bhand_description) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES ufrgs_bhand_description +# CATKIN_DEPENDS other_catkin_pkg +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include +# ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/ufrgs_bhand_description.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/ufrgs_bhand_description_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_ufrgs_bhand_description.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/ufrgs_bhand_description/launch/bhand.launch b/ufrgs_bhand_description/launch/bhand.launch new file mode 100644 index 0000000..5d4f5b1 --- /dev/null +++ b/ufrgs_bhand_description/launch/bhand.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/ufrgs_bhand_description/launch/display.launch b/ufrgs_bhand_description/launch/display.launch new file mode 100644 index 0000000..95f1f44 --- /dev/null +++ b/ufrgs_bhand_description/launch/display.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/ufrgs_bhand_description/launch/gazebo.launch 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z)$L#AzgoN6>c^tGd8Cf&dtY~CzlVO(qwM@UbS{&yd&V<@Dn_+bTT-p_Rcic{isPOuoh6w?AUln zU0)?^W$A$LR&+T66XPOP&i~X){-TSe)pk+yYK;oa5YNhU=(#%Gm5ekfpZNqfirCarHRX>?~L#>e! z#Zp+)yf#Q5^Lsuix8cQd;eiT_q|~ahWB&5OO1oqGgTe#jVome?C??Mwb;k6Wk6a(l z8SvYlCC?mnHeHpk9phCTjQ8bF<#|{NztlVzW%A5XXH1_74^&{JEP3XrGp5h9 + + ufrgs_bhand_description + 2.0.0 +

The ufrgs_bhand_description package

+ +

This package contains xacro files for the Barrett Hand gripper. + It is based on the iri_wam_description package developed by the IRI + Robotics Lab but with gripper parameters (mainly inertia parameters) + adapted to the Barrett Hand available at UFRGS. +

+ + + + + + fetter@ece.ufrgs.br + + + + + + BSD + + + + + + + http://www.ece.ufrgs.br/~fetter/ufrgs_wam + http://wiki.ros.org/iri_bhand_description + + + + + + Walter Fetter Lages + IRI Robotics Lab, Ivan Rojas (irojas@iri.upc.edu) + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/ufrgs_bhand_description/rviz/urdf.rviz b/ufrgs_bhand_description/rviz/urdf.rviz new file mode 100644 index 0000000..f2c716b --- /dev/null +++ b/ufrgs_bhand_description/rviz/urdf.rviz @@ -0,0 +1,180 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /RobotModel1 + - /RobotModel1/Links1 + - /RobotModel1/Links1/bhand_origin1 + Splitter Ratio: 0.588816 + Tree Height: 559 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: "" + bhand_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bhand_finger1_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bhand_finger1_link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bhand_finger1_link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bhand_finger2_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bhand_finger2_link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bhand_finger2_link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bhand_finger3_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bhand_finger3_link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bhand_finger3_link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bhand_origin: + Alpha: 1 + Show Axes: true + Show Trail: false + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: bhand_origin + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 0.651721 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.635399 + Target Frame: + Value: Orbit (rviz) + Yaw: 1.25857 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd000000040000000000000185000002bafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000036000002ba000000b700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002bafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000036000002ba0000009b00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024700fffffffb0000000800540069006d0065010000000000000450000000000000000000000210000002ba00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 312 + Y: 0 diff --git a/ufrgs_bhand_description/xacro/bhand.urdf.xacro b/ufrgs_bhand_description/xacro/bhand.urdf.xacro new file mode 100644 index 0000000..d71d447 --- /dev/null +++ b/ufrgs_bhand_description/xacro/bhand.urdf.xacro @@ -0,0 +1,103 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ufrgs_bhand_description/xacro/bhand0.urdf.xacro b/ufrgs_bhand_description/xacro/bhand0.urdf.xacro new file mode 100644 index 0000000..1722201 --- /dev/null +++ b/ufrgs_bhand_description/xacro/bhand0.urdf.xacro @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/ufrgs_bhand_description/xacro/bhand_base.urdf.xacro b/ufrgs_bhand_description/xacro/bhand_base.urdf.xacro new file mode 100644 index 0000000..5548aa2 --- /dev/null +++ b/ufrgs_bhand_description/xacro/bhand_base.urdf.xacro @@ -0,0 +1,48 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + Gazebo/Blue + + + + + + + + + + + + + + diff --git a/ufrgs_bhand_description/xacro/bhand_finger.urdf.xacro b/ufrgs_bhand_description/xacro/bhand_finger.urdf.xacro new file mode 100644 index 0000000..e9d9fc2 --- /dev/null +++ b/ufrgs_bhand_description/xacro/bhand_finger.urdf.xacro @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Grey + true + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + PositionJointInterface + 1 + + + + + + diff --git a/wam_controllers/launch/display.launch b/wam_controllers/launch/display.launch index 42fc09d..e9c9698 100644 --- a/wam_controllers/launch/display.launch +++ b/wam_controllers/launch/display.launch @@ -1,15 +1,19 @@ + + + + diff --git a/wam_controllers/launch/gazebo.launch b/wam_controllers/launch/gazebo.launch index a968552..0b3a777 100644 --- a/wam_controllers/launch/gazebo.launch +++ b/wam_controllers/launch/gazebo.launch @@ -1,8 +1,17 @@ + + + + + + + + + diff --git a/wam_controllers/wam_controllers_plugins.xml b/wam_controllers/wam_controllers_plugins.xml index 55b3dd3..cc65b0d 100644 --- a/wam_controllers/wam_controllers_plugins.xml +++ b/wam_controllers/wam_controllers_plugins.xml @@ -4,9 +4,11 @@ type="wam_controllers::ComputedTorqueController" base_class_type="controller_interface::ControllerBase"> - The ComputedTorqueControllers linearizes the Barrett WAM dynamic - model. The linearized inputs are joint accelerations. - It expects an EffortJointInterface type of hardware interface. + The ComputedTorqueController implements a computed torque controller + in joint space for the Barrett WAM dynamic model. The reference + inputs (command in the ROS nomenclature) are joint positions, + velocities and accelerations. This typf of controller expects an + EffortJointInterface type of hardware interface. diff --git a/wam_description/launch/display.launch b/wam_description/launch/display.launch index fd1973b..144351b 100644 --- a/wam_description/launch/display.launch +++ b/wam_description/launch/display.launch @@ -1,9 +1,11 @@ + + diff --git a/wam_description/launch/gazebo.launch b/wam_description/launch/gazebo.launch index d042323..e2f5062 100644 --- a/wam_description/launch/gazebo.launch +++ b/wam_description/launch/gazebo.launch @@ -1,14 +1,21 @@ + + + + + + + diff --git a/wam_description/launch/wam.launch b/wam_description/launch/wam.launch index 4933667..0e37b66 100644 --- a/wam_description/launch/wam.launch +++ b/wam_description/launch/wam.launch @@ -1,12 +1,22 @@ + - - + + + + + + + + - + + + + diff --git a/wam_description/package.xml b/wam_description/package.xml index f4d4f2a..9534e40 100644 --- a/wam_description/package.xml +++ b/wam_description/package.xml @@ -3,10 +3,13 @@ wam_description 2.1.0

The wam_description package

-

This package contains xacro files for the Barrett WAM robot - arm. It is based on the iri_wam_description package developed by the - IRI Robotics Lab but with robot parameters (mainly inertia - parameters) adapted to the Barrett WAM available at UFRGS. +

This package contains xacro files for the Barrett WAM robot arm. + It is based on the iri_wam_description package developed by the IRI + Robotics Lab. However, coordinate frames were modified to follow + the Denavit-Hartenberg convention, as libBarrett is based on it, + and inertial parameters were included. Inertial parameters were + obtained from Barrett Technology, Inc, WAM Arm Inertial + Specifications, 2008, Document: D1005, Version: AC.02.

diff --git a/wam_description/rviz/urdf.rviz b/wam_description/rviz/urdf.rviz index 6ae11f5..f36a19b 100644 --- a/wam_description/rviz/urdf.rviz +++ b/wam_description/rviz/urdf.rviz @@ -7,8 +7,24 @@ Panels: - /Global Options1 - /Status1 - /Grid1 - Splitter Ratio: 0.5 - Tree Height: 553 + - /RobotModel1 + - /RobotModel1/Links1 + - /RobotModel1/Links1/bhand_base_link1 + - /RobotModel1/Links1/wam_link_01 + - /RobotModel1/Links1/wam_link_11 + - /RobotModel1/Links1/wam_link_21 + - /RobotModel1/Links1/wam_link_31 + - /RobotModel1/Links1/wam_link_41 + - /RobotModel1/Links1/wam_link_51 + - /RobotModel1/Links1/wam_link_61 + - /RobotModel1/Links1/wam_link_71 + - /RobotModel1/Links1/wam_link_base1 + - /RobotModel1/Links1/wam_link_footprint1 + - /RobotModel1/Links1/wam_origin1 + - /RobotModel1/Links1/wam_tool_plate1 + - /RobotModel1/Links1/world1 + Splitter Ratio: 0.721154 + Tree Height: 454 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -49,7 +65,7 @@ Visualization Manager: Plane Cell Count: 10 Reference Frame: Value: true - - Alpha: 1 + - Alpha: 0.3 Class: rviz/RobotModel Collision Enabled: false Enabled: true @@ -59,55 +75,153 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - wam_link_1: + bhand_base_link: + Alpha: 1 + Show Axes: true + Show Trail: false + Value: true + bhand_finger1_link_1: Alpha: 1 Show Axes: false Show Trail: false Value: true - wam_link_2: + bhand_finger1_link_2: Alpha: 1 Show Axes: false Show Trail: false Value: true - wam_link_3: + bhand_finger1_link_3: Alpha: 1 Show Axes: false Show Trail: false Value: true - wam_link_4: + bhand_finger2_link_1: Alpha: 1 Show Axes: false Show Trail: false Value: true - wam_link_5: + bhand_finger2_link_2: Alpha: 1 Show Axes: false Show Trail: false Value: true - wam_link_6: + bhand_finger2_link_3: Alpha: 1 Show Axes: false Show Trail: false Value: true - wam_link_7: + bhand_finger3_link_1: Alpha: 1 Show Axes: false Show Trail: false Value: true - wam_link_base: + bhand_finger3_link_2: Alpha: 1 Show Axes: false Show Trail: false Value: true - wam_origin: + bhand_finger3_link_3: Alpha: 1 Show Axes: false Show Trail: false - wam_tool_plate: + Value: true + bhand_origin: + Alpha: 1 + Show Axes: false + Show Trail: false + leg1_link: Alpha: 1 Show Axes: false Show Trail: false Value: true + leg2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + leg3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + leg4_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + table_top_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wam_link_0: + Alpha: 1 + Show Axes: true + Show Trail: false + Value: true + wam_link_1: + Alpha: 1 + Show Axes: true + Show Trail: false + Value: true + wam_link_2: + Alpha: 1 + Show Axes: true + Show Trail: false + Value: true + wam_link_3: + Alpha: 1 + Show Axes: true + Show Trail: false + Value: true + wam_link_3_virtual: + Alpha: 1 + Show Axes: false + Show Trail: false + wam_link_4: + Alpha: 1 + Show Axes: true + Show Trail: false + Value: true + wam_link_4_virtual: + Alpha: 1 + Show Axes: false + Show Trail: false + wam_link_5: + Alpha: 1 + Show Axes: true + Show Trail: false + Value: true + wam_link_6: + Alpha: 1 + Show Axes: true + Show Trail: false + Value: true + wam_link_7: + Alpha: 1 + Show Axes: true + Show Trail: false + Value: true + wam_link_base: + Alpha: 1 + Show Axes: true + Show Trail: false + wam_link_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + wam_origin: + Alpha: 1 + Show Axes: false + Show Trail: false + wam_tool_plate: + Alpha: 1 + Show Axes: true + Show Trail: false + world: + Alpha: 1 + Show Axes: true + Show Trail: false Name: RobotModel Robot Description: robot_description TF Prefix: "" @@ -117,7 +231,7 @@ Visualization Manager: Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: wam_origin + Fixed Frame: world Frame Rate: 30 Name: root Tools: @@ -138,30 +252,30 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 10 + Distance: 0.776736 Enable Stereo Rendering: Stereo Eye Separation: 0.06 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0 - Y: 0 - Z: 0 + X: -0.948974 + Y: 0.396795 + Z: 1.84864 Name: Current View Near Clip Distance: 0.01 - Pitch: 0.785398 + Pitch: 0.0148 Target Frame: Value: Orbit (rviz) - Yaw: 0.785398 + Yaw: 2.54046 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 846 + Height: 741 Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000013c000002b6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000038000002b6000000b900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000038000002b60000009f00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025a00fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd00000004000000000000013c00000251fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003600000251000000b700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000251fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000036000002510000009b00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024700fffffffb0000000800540069006d006501000000000000045000000000000000000000036e0000025100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -169,7 +283,7 @@ Window Geometry: Tool Properties: collapsed: false Views: - collapsed: false + collapsed: true Width: 1200 - X: 476 - Y: 54 + X: 82 + Y: 0 diff --git a/wam_description/rviz/urdf.rviz.bkp b/wam_description/rviz/urdf.rviz.bkp new file mode 100644 index 0000000..6ae11f5 --- /dev/null +++ b/wam_description/rviz/urdf.rviz.bkp @@ -0,0 +1,175 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Grid1 + Splitter Ratio: 0.5 + Tree Height: 553 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + wam_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wam_link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wam_link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wam_link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wam_link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wam_link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wam_link_7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wam_link_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wam_origin: + Alpha: 1 + Show Axes: false + Show Trail: false + wam_tool_plate: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: wam_origin + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.785398 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.785398 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000013c000002b6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000038000002b6000000b900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000038000002b60000009f00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025a00fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 476 + Y: 54 diff --git a/wam_description/xacro/wam.urdf.xacro b/wam_description/xacro/wam.urdf.xacro index f559eea..7607a32 100644 --- a/wam_description/xacro/wam.urdf.xacro +++ b/wam_description/xacro/wam.urdf.xacro @@ -14,7 +14,7 @@ - + diff --git a/wam_description/xacro/wam_base.urdf.xacro b/wam_description/xacro/wam_base.urdf.xacro index 4d1f765..6de0675 100644 --- a/wam_description/xacro/wam_base.urdf.xacro +++ b/wam_description/xacro/wam_base.urdf.xacro @@ -2,19 +2,56 @@ + + - - + + + + + + + + + + + + + + + + + + + - - - + + + + - + @@ -30,17 +67,17 @@ - + true Gazebo/White - + - - + + diff --git a/wam_description/xacro/wam_bhand.urdf.xacro b/wam_description/xacro/wam_bhand.urdf.xacro new file mode 100644 index 0000000..7b07be7 --- /dev/null +++ b/wam_description/xacro/wam_bhand.urdf.xacro @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/wam_description/xacro/wam_bhand_table.urdf.xacro b/wam_description/xacro/wam_bhand_table.urdf.xacro new file mode 100644 index 0000000..45cfe16 --- /dev/null +++ b/wam_description/xacro/wam_bhand_table.urdf.xacro @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/wam_description/xacro/wam_bhand_world.urdf.xacro b/wam_description/xacro/wam_bhand_world.urdf.xacro new file mode 100644 index 0000000..91f0b41 --- /dev/null +++ b/wam_description/xacro/wam_bhand_world.urdf.xacro @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/wam_description/xacro/wam_j1.urdf.xacro b/wam_description/xacro/wam_j1.urdf.xacro index 10aafbb..bce4033 100644 --- a/wam_description/xacro/wam_j1.urdf.xacro +++ b/wam_description/xacro/wam_j1.urdf.xacro @@ -2,16 +2,23 @@ + + + + - + - + @@ -20,7 +27,7 @@ - + @@ -38,8 +45,8 @@ - - + + @@ -47,7 +54,7 @@ - transmission_interface/SimpleTransmission" + transmission_interface/SimpleTransmission EffortJointInterface diff --git a/wam_description/xacro/wam_j2.urdf.xacro b/wam_description/xacro/wam_j2.urdf.xacro index 47871f9..484214f 100644 --- a/wam_description/xacro/wam_j2.urdf.xacro +++ b/wam_description/xacro/wam_j2.urdf.xacro @@ -2,13 +2,20 @@ + + + - + @@ -36,7 +43,7 @@ - + @@ -44,7 +51,7 @@ - transmission_interface/SimpleTransmission" + transmission_interface/SimpleTransmission EffortJointInterface diff --git a/wam_description/xacro/wam_j3.urdf.xacro b/wam_description/xacro/wam_j3.urdf.xacro index 7a37d4c..f0e8d53 100644 --- a/wam_description/xacro/wam_j3.urdf.xacro +++ b/wam_description/xacro/wam_j3.urdf.xacro @@ -2,16 +2,22 @@ + + + - + - + @@ -20,7 +26,7 @@ - + @@ -33,18 +39,28 @@ true + + - - - + + + + + + + + + - transmission_interface/SimpleTransmission" + transmission_interface/SimpleTransmission EffortJointInterface @@ -57,4 +73,3 @@ - diff --git a/wam_description/xacro/wam_j4.urdf.xacro b/wam_description/xacro/wam_j4.urdf.xacro index 3b81011..1f8db90 100644 --- a/wam_description/xacro/wam_j4.urdf.xacro +++ b/wam_description/xacro/wam_j4.urdf.xacro @@ -2,16 +2,22 @@ + + - - - + + + + - + @@ -20,7 +26,7 @@ - + @@ -33,18 +39,29 @@ true + + - - - + + + + + + + + + + - transmission_interface/SimpleTransmission" + transmission_interface/SimpleTransmission EffortJointInterface @@ -57,4 +74,3 @@ - diff --git a/wam_description/xacro/wam_j5.urdf.xacro b/wam_description/xacro/wam_j5.urdf.xacro index 0c1a49a..4ee45de 100644 --- a/wam_description/xacro/wam_j5.urdf.xacro +++ b/wam_description/xacro/wam_j5.urdf.xacro @@ -2,16 +2,22 @@ + + + - + - + @@ -20,7 +26,7 @@ - + @@ -36,15 +42,15 @@ - - + + - transmission_interface/SimpleTransmission" + transmission_interface/SimpleTransmission EffortJointInterface diff --git a/wam_description/xacro/wam_j6.urdf.xacro b/wam_description/xacro/wam_j6.urdf.xacro index 87e5958..f8c9b21 100644 --- a/wam_description/xacro/wam_j6.urdf.xacro +++ b/wam_description/xacro/wam_j6.urdf.xacro @@ -2,16 +2,22 @@ + + + - + - + @@ -20,7 +26,7 @@ - + @@ -36,15 +42,15 @@ - - + + - transmission_interface/SimpleTransmission" + transmission_interface/SimpleTransmission EffortJointInterface @@ -57,4 +63,3 @@ - diff --git a/wam_description/xacro/wam_j7.urdf.xacro b/wam_description/xacro/wam_j7.urdf.xacro index 2695f23..b837171 100644 --- a/wam_description/xacro/wam_j7.urdf.xacro +++ b/wam_description/xacro/wam_j7.urdf.xacro @@ -6,12 +6,16 @@ + - + - + @@ -20,7 +24,7 @@ - + @@ -36,7 +40,7 @@ - + @@ -44,7 +48,7 @@ - transmission_interface/SimpleTransmission" + transmission_interface/SimpleTransmission EffortJointInterface @@ -57,4 +61,3 @@ - diff --git a/wam_description/xacro/wam_tool_plate.urdf.xacro b/wam_description/xacro/wam_tool_plate.urdf.xacro index 7b95484..140d680 100644 --- a/wam_description/xacro/wam_tool_plate.urdf.xacro +++ b/wam_description/xacro/wam_tool_plate.urdf.xacro @@ -2,41 +2,13 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/White - true - + - -- 2.12.0