new urdf for arm

diff --git a/arm.launch b/arm.launch
deleted file mode 100644 (file)
index 9e120c7..0000000
--- a/arm.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-       <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" /> 
-</launch>

diff --git a/launch/arm.launch b/launch/arm.launch
new file mode 100644 (file)
index 0000000..3be44ff
--- /dev/null
+++ b/launch/arm.launch
@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+<launch>
+       <param name="robot_description" textfile="$(find arm)/urdf/arm.urdf" />
+
+       <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+       <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+</launch>

diff --git a/scripts/arm_ros_conn.py b/scripts/arm_ros_conn.py
index ff06cdf8264a28c5c0f749162e01cbf0d91176ab..9ca59f268c147b55cec9168b1b6ef49a448126c7 100755 (executable)
--- a/scripts/arm_ros_conn.py
+++ b/scripts/arm_ros_conn.py
@@ -2,24 +2,15 @@
 # -*- coding: iso-8859-15 -*-
 
 import rospy
-import tf
-from nav_msgs.msg import Odometry
 
 class ARMRosConn():
        def __init__(self):
                rospy.init_node('arm')
 
-               rospy.Subscriber("odom", Odometry, self.odom_received)
-               self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
-
                rate = rospy.Rate(10)
                while not rospy.is_shutdown():
                        rate.sleep()
 
-       def odom_received(self, msg):
-               pos = (msg.pose.pose.position.x, msg.pose.pose.position.y, msg.pose.pose.position.z)
-               orientation = (msg.pose.pose.orientation.x, msg.pose.pose.orientation.y, msg.pose.pose.orientation.z, msg.pose.pose.orientation.w)
-               self.tf_broadcaster.sendTransform(pos, orientation, rospy.Time.now(), "base_link", "odom")
 
 if __name__ == '__main__':
        ARMRosConn()

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
new file mode 100644 (file)
index 0000000..24587c0
--- /dev/null
+++ b/urdf/arm.urdf
@@ -0,0 +1,135 @@
+<?xml version="1.0"?>
+<robot name="wild_thumper">
+       <link name="base_link">
+       </link>
+
+       <link name="link1">
+               <visual>
+                       <geometry>
+                               <box size="0.06 0.03 0.135"/>
+                       </geometry>
+                       <origin xyz="0 0 0.0675"/>
+                       <material name="grey">
+                               <color rgba="0.5 0.5 0.5 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="link2">
+               <visual>
+                       <geometry>
+                               <box size="0.240 0.06 0.03"/>
+                       </geometry>
+                       <origin xyz="0.120 0 0.0" rpy="0 0 0"/>
+                       <material name="grey">
+                               <color rgba="0.5 0.5 0.5 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="link3">
+               <visual>
+                       <geometry>
+                               <box size="0.06 0.135 0.03"/>
+                       </geometry>
+                       <origin xyz="0.0 0.0675 0.0" rpy="0 0 0"/>
+                       <material name="grey">
+                               <color rgba="0.5 0.5 0.5 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="gripper_pole1">
+               <visual>
+                       <geometry>
+                               <cylinder radius="0.04" length="0.055"/>
+                       </geometry>
+                       <origin xyz="0.0275 0 0" rpy="0 1.57075 0"/>
+                       <material name="black">
+                               <color rgba="0 0 0 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="gripper_pole2">
+               <visual>
+                       <geometry>
+                               <cylinder radius="0.0" length="0.0"/>
+                       </geometry>
+                       <origin xyz="0.0 0 0" rpy="0 0 0"/>
+               </visual>
+       </link>
+
+       <link name="left_gripper">
+               <visual>
+                       <origin rpy="0.0 0 0" xyz="0 0 0"/>
+                       <geometry>
+                               <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
+                       </geometry>
+               </visual>
+       </link>
+
+       <link name="right_gripper">
+               <visual>
+                       <origin rpy="-3.1415 0 0" xyz="0 0 0"/>
+                       <geometry>
+                               <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
+                       </geometry>
+               </visual>
+       </link>
+
+       <joint name="base_to_link1" type="continuous">
+               <parent link="base_link"/>
+               <child link="link1"/>
+               <axis xyz="0 0 1"/>
+               <limit effort="1000.0" lower="0.0" upper="5.672320068981571" velocity="1.0"/>
+       </joint>
+
+       <joint name="link_1_2_joint" type="continuous">
+               <parent link="link1"/>
+               <child link="link2"/>
+               <axis xyz="0 0 1"/>
+               <origin xyz="0.0 0.0 0.135" rpy="1.57075 0 0"/>
+               <limit effort="1000.0" lower="0.15045941827537324" upper="3.6110260386089577" velocity="1.0"/>
+       </joint>
+
+       <joint name="link_2_3_joint" type="continuous">
+               <parent link="link2"/>
+               <child link="link3"/>
+               <axis xyz="0 0 1"/>
+               <origin xyz="0.240 0.0 0.0" rpy="0 0 0"/>
+               <limit effort="1000.0" lower="0.0" upper="3.141592653589793" velocity="1.0"/>
+       </joint>
+
+       <joint name="gripper_joint_1" type="continuous">
+               <parent link="link3"/>
+               <child link="gripper_pole1"/>
+               <axis xyz="1 0 0"/>
+               <origin xyz="0 0.135 0.0" rpy="1.57075 0 1.57075"/>
+               <limit effort="1000.0" lower="-0.6981317007977319" upper="7.679448708775051" velocity="1.0"/>
+       </joint>
+
+       <joint name="gripper_joint_2" type="continuous">
+               <parent link="gripper_pole1"/>
+               <child link="gripper_pole2"/>
+               <axis xyz="0 1 0"/>
+               <origin xyz="0.055 0.0 0.0" rpy="0 0 0"/>
+               <limit effort="1000.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
+       </joint>
+
+       <joint name="right_gripper_joint" type="revolute">
+               <parent link="gripper_pole2"/>
+               <child link="right_gripper"/>
+               <axis xyz="0 0 -1"/>
+               <origin xyz="0 -0.01 0" rpy="0 0 0"/>
+               <limit effort="1000.0" lower="0.0" upper="0.548" velocity="1.0"/>
+       </joint>
+
+       <joint name="left_gripper_joint" type="revolute">
+               <parent link="gripper_pole2"/>
+               <child link="left_gripper"/>
+               <axis xyz="0 0 1"/>
+               <origin xyz="0 0.01 0" rpy="0 0 0" />
+               <limit effort="1000.0" lower="0.0" upper="0.548" velocity="1.0"/>
+       </joint>
+</robot>