Copied urdf from open_manipulator_description

diff --git a/launch/open_manipulator.launch b/launch/open_manipulator.launch
index dcb2e7b5ab684c74792de6ceec650d2799a9a775..f6ccaf59dabd44fbcd94841159d5e7d6ff65de13 100644 (file)
--- a/launch/open_manipulator.launch
+++ b/launch/open_manipulator.launch
@@ -1,10 +1,12 @@
 <?xml version="1.0"?>
 <launch>
+       <param name="robot_description" command="$(find xacro)/xacro.py $(find wt_open_manipulator)/urdf/wild_thumper_with_manipulator.urdf.xacro"/>
+
        <!-- Load controller configurations from YAML file to parameter server -->
        <rosparam file="$(find wt_open_manipulator)/config/control.yaml" command="load" />
 
        <node pkg="wt_open_manipulator" type="wt_open_manipulator_node" name="wt_open_manipulator" output="screen" required="true"/>
 
        <!-- load the controllers -->
-       <node name="arm_controller_spawner" pkg="controller_manager" type="spawner" output="screen" args="arm_joint_state_controller arm_controller"/>
+       <node name="arm_controller_spawner" pkg="controller_manager" type="spawner" output="screen" args="arm_joint_state_controller arm_controller gripper_controller"/>
 </launch>

diff --git a/urdf/open_manipulator.urdf.xacro b/urdf/open_manipulator.urdf.xacro
new file mode 100644 (file)
index 0000000..f1a5529
--- /dev/null
+++ b/urdf/open_manipulator.urdf.xacro
@@ -0,0 +1,359 @@
+<?xml version="1.0"?>
+<!-- Open_Manipulator Chain -->
+<robot name="open_manipulator" xmlns:xacro="http://ros.org/wiki/xacro">
+
+       <!-- Import all Gazebo-customization elements, including Gazebo colors -->
+       <xacro:include filename="$(find open_manipulator_description)/urdf/open_manipulator.gazebo.xacro" />
+       <!-- Import Rviz colors -->
+       <xacro:include filename="$(find open_manipulator_description)/urdf/materials.xacro" />
+
+       <!-- Transmission macro -->
+       <xacro:macro name="SimpleTransmission" params="joint n">
+               <transmission name="tran${n}">
+                       <type>transmission_interface/SimpleTransmission</type>
+                       <joint name="${joint}">
+                               <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                       </joint>
+                       <actuator name="motor${n}">
+                               <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                               <mechanicalReduction>1</mechanicalReduction>
+                       </actuator>
+               </transmission>
+       </xacro:macro>
+
+       <!-- Link 1 -->
+       <link name="link1">
+               <visual>
+                       <origin xyz="0 0 0" rpy="0 0 0"/>
+                       <geometry>
+                               <mesh filename="package://open_manipulator_description/meshes/chain_link1.stl" scale="0.001 0.001 0.001"/>
+                       </geometry>
+                       <material name="grey"/>
+               </visual>
+
+               <collision>
+                       <origin xyz="0 0 0" rpy="0 0 0"/>
+                       <geometry>
+                               <mesh filename="package://open_manipulator_description/meshes/chain_link1.stl" scale="0.001 0.001 0.001"/>
+                       </geometry>
+               </collision>
+
+<!--    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="0.082" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0"
+              iyy="0.1" iyz="0.0"
+              izz="0.1" />
+    </inertial>-->
+
+     <inertial>
+            <origin xyz="3.0876154e-04 0.0000000e+00 -1.2176461e-04" />
+            <mass value="7.9119962e-02" />
+            <inertia ixx="1.2505234e-05" ixy="0.0" ixz="-1.7855208e-07"
+                    iyy="2.1898364e-05" iyz="0.0"
+                    izz="1.9267361e-05" />
+     </inertial>
+  </link>
+
+  <!-- Joint 1 -->
+  <joint name="joint1" type="revolute">
+         <parent link="link1"/>
+         <child link="link2"/>
+         <origin xyz="0.012 0.0 0.017" rpy="0 0 0"/>
+         <axis xyz="0 0 1"/>
+         <limit velocity="4.8" effort="1" lower="${-pi}" upper="${pi}" />
+  </joint>
+
+  <!-- Transmission 1 -->
+  <xacro:SimpleTransmission n="1" joint="joint1" />
+
+  <!--  Link 2 -->
+  <link name="link2">
+         <visual>
+                 <origin xyz="0 0 0.019" rpy="0 0 0"/>
+                 <geometry>
+                         <mesh filename="package://open_manipulator_description/meshes/chain_link2.stl" scale="0.001 0.001 0.001"/>
+                 </geometry>
+                 <material name="grey"/>
+         </visual>
+
+         <collision>
+                 <origin xyz="0 0 0.019" rpy="0 0 0"/>
+                 <geometry>
+                         <mesh filename="package://open_manipulator_description/meshes/chain_link2.stl" scale="0.001 0.001 0.001"/>
+                 </geometry>
+         </collision>
+
+<!--    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="0.098" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0"
+              iyy="0.1" iyz="0.0"
+              izz="0.1" />
+    </inertial>-->
+
+     <inertial>
+            <origin xyz="-3.0184870e-04 5.4043684e-04 ${0.018 + 2.9433464e-02}" />
+            <mass value="9.8406837e-02" />
+            <inertia ixx="3.4543422e-05" ixy="-1.6031095e-08" ixz="-3.8375155e-07"
+                    iyy="3.2689329e-05" iyz="2.8511935e-08"
+                    izz="1.8850320e-05" />
+     </inertial>
+  </link>
+
+  <!--  Joint 2 -->
+  <joint name="joint2" type="revolute">
+         <parent link="link2"/>
+         <child link="link3"/>
+         <origin xyz="0.0 0.0 0.0595" rpy="0 0 0"/>
+         <axis xyz="0 1 0"/>
+         <limit velocity="4.8" effort="1" lower="${-pi*0.64}" upper="${pi*0.64}" />
+  </joint>
+
+  <!-- Transmission 2 -->
+  <xacro:SimpleTransmission n="2" joint="joint2" />
+
+  <!--  Link 3 -->
+  <link name="link3">
+         <visual>
+                 <origin xyz="0 0 0" rpy="0 0 0"/>
+                 <geometry>
+                         <mesh filename="package://open_manipulator_description/meshes/chain_link3.stl" scale="0.001 0.001 0.001"/>
+                 </geometry>
+                 <material name="grey"/>
+         </visual>
+
+         <collision>
+                 <origin xyz="0 0 0" rpy="0 0 0"/>
+                 <geometry>
+                         <mesh filename="package://open_manipulator_description/meshes/chain_link3.stl" scale="0.001 0.001 0.001"/>
+                 </geometry>
+         </collision>
+
+<!--    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="0.136" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0"
+              iyy="0.1" iyz="0.0"
+              izz="0.1" />
+    </inertial>-->
+
+     <inertial>
+            <origin xyz="1.0308393e-02 3.7743363e-04 1.0170197e-01" />
+            <mass value="1.3850917e-01" />
+            <inertia ixx="3.3055381e-04" ixy="-9.7940978e-08" ixz="-3.8505711e-05"
+                    iyy="3.4290447e-04" iyz="-1.5717516e-06"
+                    izz="6.0346498e-05" />
+     </inertial>
+  </link>
+
+  <!--  Joint 3 -->
+  <joint name="joint3" type="revolute">
+         <parent link="link3"/>
+         <child link="link4"/>
+         <origin xyz="0.024 0 0.128" rpy="0 0 0"/>
+         <axis xyz="0 1 0"/>
+         <limit velocity="4.8" effort="1" lower="${-pi*0.64}" upper="${pi*0.48}" />
+  </joint>
+
+  <!-- Transmission 3 -->
+  <xacro:SimpleTransmission n="3" joint="joint3" />
+
+  <!--  Link 4 -->
+  <link name="link4">
+         <visual>
+                 <origin xyz="0 0 0" rpy="0 0 0"/>
+                 <geometry>
+                         <mesh filename="package://open_manipulator_description/meshes/chain_link4.stl" scale="0.001 0.001 0.001"/>
+                 </geometry>
+                 <material name="grey"/>
+         </visual>
+
+         <collision>
+                 <origin xyz="0 0 0" rpy="0 0 0"/>
+                 <geometry>
+                         <mesh filename="package://open_manipulator_description/meshes/chain_link4.stl" scale="0.001 0.001 0.001"/>
+                 </geometry>
+         </collision>
+
+<!--    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="0.131" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0"
+              iyy="0.1" iyz="0.0"
+              izz="0.1" />
+    </inertial>-->
+
+     <inertial>
+            <origin xyz="9.0909590e-02 3.8929816e-04 2.2413279e-04" />
+            <mass value="1.3274562e-01" />
+            <inertia ixx="3.0654178e-05" ixy="-1.2764155e-06" ixz="-2.6874417e-07"
+                    iyy="2.4230292e-04" iyz="1.1559550e-08"
+                    izz="2.5155057e-04" />
+     </inertial>
+  </link>
+
+  <!--  Joint 4 -->
+  <joint name="joint4" type="revolute">
+         <parent link="link4"/>
+         <child link="link5"/>
+         <origin xyz="0.124 0.0 0.0" rpy="0 0 0"/>
+         <axis xyz="0 1 0"/>
+         <limit velocity="4.8" effort="1" lower="${-pi*0.57}" upper="${pi*0.65}" />
+  </joint>
+
+  <!-- Transmission 4 -->
+  <xacro:SimpleTransmission n="4" joint="joint4" />
+
+  <!--  Link 5 -->
+  <link name="link5">
+         <visual>
+                 <origin xyz="0 0 0" rpy="0 0 0"/>
+                 <geometry>
+                         <mesh filename="package://open_manipulator_description/meshes/chain_link5.stl" scale="0.001 0.001 0.001"/>
+                 </geometry>
+                 <material name="grey"/>
+         </visual>
+
+         <collision>
+                 <origin xyz="0 0 0" rpy="0 0 0"/>
+                 <geometry>
+                         <mesh filename="package://open_manipulator_description/meshes/chain_link5.stl" scale="0.001 0.001 0.001"/>
+                 </geometry>
+         </collision>
+
+<!--    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="0.141" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0"
+              iyy="0.1" iyz="0.0"
+              izz="0.1" />
+    </inertial>-->
+
+     <inertial>
+            <origin xyz="4.4206755e-02 3.6839985e-07 8.9142216e-03" />
+            <mass value="1.4327573e-01" />
+            <inertia ixx="8.0870749e-05" ixy="0.0" ixz="-1.0157896e-06"
+                    iyy="7.5980465e-05" iyz="0.0"
+                    izz="9.3127351e-05" />
+     </inertial>
+  </link>
+
+  <!--  Gripper link -->
+  <link name="gripper_link">
+         <visual>
+                 <origin xyz="0.0 0.0 0" rpy="0 0 0"/>
+                 <geometry>
+                         <mesh filename="package://open_manipulator_description/meshes/chain_link_grip_l.stl" scale="0.001 0.001 0.001"/>
+                 </geometry>
+                 <material name="grey"/>
+         </visual>
+
+         <collision>
+                 <origin xyz="0.0 0.0 0" rpy="0 0 0"/>
+                 <geometry>
+                         <mesh filename="package://open_manipulator_description/meshes/chain_link_grip_l.stl" scale="0.001 0.001 0.001"/>
+                 </geometry>
+         </collision>
+
+         <inertial>
+                 <origin xyz="0 0 0" />
+                 <mass value="0.017" />
+                 <inertia ixx="1.0e-03" ixy="0.0" ixz="0.0"
+                         iyy="1.0e-03" iyz="0.0"
+                         izz="1.0e-03" />
+         </inertial>
+
+<!--     <inertial>
+      <origin xyz="${0.028 + 8.3720668e-03} ${0.0246 + 9.9696160e-03} -4.2836895e-07" />
+      <mass value="3.2218127e-02" />
+      <inertia ixx="9.5568826e-06" ixy="2.8424644e-06" ixz="-3.2829197e-10"
+              iyy="2.2552871e-05" iyz="-3.1463634e-10"
+              izz="1.7605306e-05" />
+    </inertial>-->
+  </link>
+
+  <!--  Gripper joint -->
+  <joint name="gripper" type="prismatic">
+         <parent link="link5"/>
+         <child link="gripper_link"/>
+         <origin xyz="0.0817 0.021 0.0" rpy="0 0 0"/>
+         <axis xyz="0 1 0"/>
+         <limit velocity="4.8" effort="1" lower="-0.010" upper="0.019" />
+  </joint>
+
+  <!-- Transmission 5 -->
+  <xacro:SimpleTransmission n="5" joint="gripper" />
+
+  <!--  Gripper link sub -->
+  <link name="gripper_link_sub">
+         <visual>
+                 <origin xyz="0.0 -0.0 0" rpy="0 0 0"/>
+                 <geometry>
+                         <mesh filename="package://open_manipulator_description/meshes/chain_link_grip_r.stl" scale="0.001 0.001 0.001"/>
+                 </geometry>
+                 <material name="grey"/>
+         </visual>
+
+         <collision>
+                 <origin xyz="0.0 -0.0 0" rpy="0 0 0"/>
+                 <geometry>
+                         <mesh filename="package://open_manipulator_description/meshes/chain_link_grip_r.stl" scale="0.001 0.001 0.001"/>
+                 </geometry>
+         </collision>
+
+         <inertial>
+                 <origin xyz="0 0 0" />
+                 <mass value="0.017" />
+                 <inertia ixx="1.0e-03" ixy="0.0" ixz="0.0"
+                         iyy="1.0e-03" iyz="0.0"
+                         izz="1.0e-03" />
+         </inertial>
+
+<!--     <inertial>
+      <origin xyz="${0.028 + 8.3720668e-03} ${-0.0246 - 9.9696160e-03} -4.2836895e-07" />
+      <mass value="3.2218127e-02" />
+      <inertia ixx="9.5568826e-06" ixy="2.8424644e-06" ixz="-3.2829197e-10"
+              iyy="2.2552871e-05" iyz="-3.1463634e-10"
+              izz="1.7605306e-05" />
+    </inertial>-->
+  </link>
+
+  <!--  Gripper joint sub -->
+  <joint name="gripper_sub" type="prismatic">
+         <parent link="link5"/>
+         <child link="gripper_link_sub"/>
+         <origin xyz="0.0817 -0.021 0" rpy="0 0 0"/>
+         <axis xyz="0 -1 0"/>
+         <limit velocity="4.8" effort="1" lower="-0.010" upper="0.019" />
+         <mimic joint="gripper" multiplier="1"/>
+  </joint>
+
+  <!-- Transmission 6 -->
+  <xacro:SimpleTransmission n="6" joint="gripper_sub" />
+
+  <!-- end effector joint -->
+  <joint name="end_effector_joint" type="fixed">
+         <origin xyz="0.126 0.0 0.0" rpy="0 0 0"/>
+         <parent link="link5"/>
+         <child link="end_effector_link"/>
+  </joint>
+
+  <!-- end effector link -->
+  <link name="end_effector_link">
+         <visual>
+                 <origin xyz="0 0 0" rpy="0 0 0"/>
+                 <geometry>
+                         <box size="0.01 0.01 0.01" />
+                 </geometry>
+                 <material name="red"/>
+         </visual>
+
+         <inertial>
+                 <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+                 <mass value="0.001"/>
+                 <inertia ixx="1.0e-06" ixy="0.0" ixz="0.0" iyy="1.0e-06" iyz="0.0" izz="1.0e-06" />
+         </inertial>
+  </link>
+
+</robot>

diff --git a/urdf/wild_thumper_with_manipulator.urdf.xacro b/urdf/wild_thumper_with_manipulator.urdf.xacro
new file mode 100644 (file)
index 0000000..3144258
--- /dev/null
+++ b/urdf/wild_thumper_with_manipulator.urdf.xacro
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<robot name="wild_thumper_with_manipulator" xmlns:xacro="http://ros.org/wiki/xacro">
+       <xacro:property name="PI" value="3.1415926535897931" />
+       <xacro:include filename="$(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
+       <xacro:include filename="$(find wt_open_manipulator)/urdf/open_manipulator.urdf.xacro"/>
+
+       <joint name="open_manipulator_joint" type="fixed">
+               <parent link="mounting_plate"/>
+               <child link="link1"/>
+               <origin xyz="-0.075 0.0 0.045" rpy="0 0 ${PI}"/>
+       </joint>
+</robot>