From: Erik Andresen <erik@vontaene.de> Date: Sun, 9 Jun 2019 07:19:20 +0000 (+0200) Subject: Added xtion to urdf X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=HEAD;p=arm_ros_conn.git Added xtion to urdf --- diff --git a/urdf/arm.urdf b/urdf/arm.urdf deleted file mode 100644 index 37a9b0c..0000000 --- a/urdf/arm.urdf +++ /dev/null @@ -1,232 +0,0 @@ -<?xml version="1.0"?> - -<!-- -For IKFast: -- All rotation about Z-Axis -- Gripper base at offset from last link -- Gripper base points to Z-Direction ---> - -<robot name="arm"> - <link name="base_link"> - </link> - - <link name="plate"> - <visual> - <geometry> - <mesh filename="package://arm_ros_conn/meshes/32985.stl"/> - </geometry> - <material name="black"> - <color rgba="0 0 0 1"/> - </material> - </visual> - </link> - - <link name="arm_base"> - </link> - - <link name="link1"> - <visual> - <geometry> - <mesh filename="package://arm_ros_conn/meshes/link1.stl"/> - </geometry> - <origin xyz="0 0 0.0615"/> - <material name="grey"> - <color rgba="0.5 0.5 0.5 1"/> - </material> - </visual> - </link> - - <link name="link2"> - <visual> - <geometry> - <mesh filename="package://arm_ros_conn/meshes/link2.stl"/> - </geometry> - <origin xyz="0.120 0 0" rpy="1.5708 0 1.5708"/> - <material name="grey"> - <color rgba="0.5 0.5 0.5 1"/> - </material> - </visual> - </link> - - <link name="link3"> - <visual> - <geometry> - <mesh filename="package://arm_ros_conn/meshes/link3.stl"/> - </geometry> - <origin xyz="0 0.0675 0" rpy="1.5708 0 0"/> - <material name="grey"> - <color rgba="0.5 0.5 0.5 1"/> - </material> - </visual> - </link> - - <link name="link4"> - <visual> - <geometry> - <mesh filename="package://arm_ros_conn/meshes/link4.stl"/> - </geometry> - <origin xyz="0 0 0.015" rpy="0 0 0"/> - <material name="black"> - <color rgba="0 0 0 1"/> - </material> - </visual> - </link> - - <link name="link5"> - <visual> - <geometry> - <mesh filename="package://arm_ros_conn/meshes/31019.stl"/> - </geometry> - <origin xyz="0.0 0 0" rpy="0 0 0"/> - <material name="red"> - <color rgba="1 0 0 1"/> - </material> - </visual> - </link> - - <link name="gripper_pole"> - </link> - - <link name="gripper_center"> - </link> - - <link name="left_gripper"> - <visual> - <origin xyz="0.025 0 0" rpy="-1.5708 3.1416 0"/> - <geometry> - <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/> - </geometry> - <material name="red"> - <color rgba="1 0 0 1"/> - </material> - </visual> - </link> - - <link name="right_gripper"> - <visual> - <origin xyz="0.025 0 0" rpy="-1.5708 3.1416 0"/> - <geometry> - <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/> - </geometry> - <material name="red"> - <color rgba="1 0 0 1"/> - </material> - </visual> - </link> - - <link name="link2_motor_extension"> - <visual> - <geometry> - <box size="0.015 0.015 0.10"/> - </geometry> - <origin xyz="0 0 0.05" rpy="0 0 0"/> - <material name="grey"> - <color rgba="0.5 0.5 0.5 1"/> - </material> - </visual> - </link> - - <link name="plate_box"> - <visual> - <geometry> - <box size="0.08 0.185 0.035"/> - </geometry> - <origin xyz="0 0 0.0175" rpy="0 0 0"/> - <material name="black"> - <color rgba="0 0 0 1"/> - </material> - </visual> - </link> - - <joint name="plate_joint" type="fixed"> - <parent link="base_link"/> - <child link="plate"/> - <origin xyz="0 0 0.00375"/> - </joint> - - <joint name="arm_base_joint" type="fixed"> - <parent link="plate"/> - <child link="arm_base"/> - <origin xyz="0 0.099 0"/> - </joint> - - <joint name="link1_joint" type="revolute"> - <parent link="arm_base"/> - <child link="link1"/> - <axis xyz="0 0 -1"/> - <limit effort="1.0" lower="0.0" upper="5.672320068981571" velocity="0.2"/> - </joint> - - <joint name="link2_joint" type="revolute"> - <parent link="link1"/> - <child link="link2"/> - <axis xyz="0 0 1"/> - <origin xyz="0.0 0.0 0.123" rpy="1.5708 0 0"/> - <limit effort="1.0" lower="0.1505" upper="3.611" velocity="0.1"/> - </joint> - - <joint name="link3_joint" type="revolute"> - <parent link="link2"/> - <child link="link3"/> - <axis xyz="0 0 -1"/> - <origin xyz="0.240 0 0" rpy="0 0 0"/> - <limit effort="1.0" lower="0" upper="3.1416" velocity="0.2"/> - </joint> - - <joint name="link4_joint" type="revolute"> - <parent link="link3"/> - <child link="link4"/> - <axis xyz="0 0 -1"/> - <origin xyz="0 0.135 0" rpy="-1.5708 0 0"/> - <limit effort="1.0" lower="-0.15708" upper="5.4978" velocity="0.5"/> - </joint> - - <joint name="link5_joint" type="revolute"> - <parent link="link4"/> - <child link="link5"/> - <axis xyz="0 0 1"/> - <origin xyz="0 0 0.06" rpy="1.5708 0 0"/> - <limit effort="1.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/> - </joint> - - <joint name="gripper_pole_joint" type="fixed"> - <parent link="link5"/> - <child link="gripper_pole"/> - <origin xyz="0 0.02275 0" rpy="1.5708 0 1.5708"/> - </joint> - - <joint name="gripper_center_joint" type="fixed"> - <parent link="gripper_pole"/> - <child link="gripper_center"/> - <origin xyz="0.08 0 0" rpy="0 0 0"/> - </joint> - - <joint name="left_gripper_joint" type="revolute"> - <parent link="gripper_pole"/> - <child link="left_gripper"/> - <axis xyz="0 0 1"/> - <origin xyz="0 0.015 0" rpy="0 0 0"/> - <limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/> - </joint> - - <joint name="right_gripper_joint" type="revolute"> - <parent link="gripper_pole"/> - <child link="right_gripper"/> - <axis xyz="0 0 1"/> - <origin xyz="0 -0.015 0" rpy="3.1416 0 0"/> - <limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/> - </joint> - - <joint name="link2_motor_extension_joint" type="fixed"> - <parent link="link2"/> - <child link="link2_motor_extension"/> - <origin xyz="0.165 -0.03 0" rpy="1.5708 0 0"/> - </joint> - - <joint name="plate_box_joint" type="fixed"> - <parent link="plate"/> - <child link="plate_box"/> - <origin xyz="-0.04 -0.035 0" rpy="0 0 0"/> - </joint> -</robot> diff --git a/urdf/arm.urdf.xacro b/urdf/arm.urdf.xacro new file mode 100644 index 0000000..f531de7 --- /dev/null +++ b/urdf/arm.urdf.xacro @@ -0,0 +1,238 @@ +<?xml version="1.0"?> + +<!-- +For IKFast: +- All rotation about Z-Axis +- Gripper base at offset from last link +- Gripper base points to Z-Direction +--> + +<robot name="arm" xmlns:xacro="http://ros.org/wiki/xacro"> + <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" /> + + <link name="base_link"> + </link> + + <link name="plate"> + <visual> + <geometry> + <mesh filename="package://arm_ros_conn/meshes/32985.stl"/> + </geometry> + <material name="black"> + <color rgba="0 0 0 1"/> + </material> + </visual> + </link> + + <link name="arm_base"> + </link> + + <link name="link1"> + <visual> + <geometry> + <mesh filename="package://arm_ros_conn/meshes/link1.stl"/> + </geometry> + <origin xyz="0 0 0.0615"/> + <material name="grey"> + <color rgba="0.5 0.5 0.5 1"/> + </material> + </visual> + </link> + + <link name="link2"> + <visual> + <geometry> + <mesh filename="package://arm_ros_conn/meshes/link2.stl"/> + </geometry> + <origin xyz="0.120 0 0" rpy="1.5708 0 1.5708"/> + <material name="grey"> + <color rgba="0.5 0.5 0.5 1"/> + </material> + </visual> + </link> + + <link name="link3"> + <visual> + <geometry> + <mesh filename="package://arm_ros_conn/meshes/link3.stl"/> + </geometry> + <origin xyz="0 0.0675 0" rpy="1.5708 0 0"/> + <material name="grey"> + <color rgba="0.5 0.5 0.5 1"/> + </material> + </visual> + </link> + + <link name="link4"> + <visual> + <geometry> + <mesh filename="package://arm_ros_conn/meshes/link4.stl"/> + </geometry> + <origin xyz="0 0 0.015" rpy="0 0 0"/> + <material name="black"> + <color rgba="0 0 0 1"/> + </material> + </visual> + </link> + + <link name="link5"> + <visual> + <geometry> + <mesh filename="package://arm_ros_conn/meshes/31019.stl"/> + </geometry> + <origin xyz="0.0 0 0" rpy="0 0 0"/> + <material name="red"> + <color rgba="1 0 0 1"/> + </material> + </visual> + </link> + + <link name="gripper_pole"> + </link> + + <link name="gripper_center"> + </link> + + <link name="left_gripper"> + <visual> + <origin xyz="0.025 0 0" rpy="-1.5708 3.1416 0"/> + <geometry> + <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/> + </geometry> + <material name="red"> + <color rgba="1 0 0 1"/> + </material> + </visual> + </link> + + <link name="right_gripper"> + <visual> + <origin xyz="0.025 0 0" rpy="-1.5708 3.1416 0"/> + <geometry> + <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/> + </geometry> + <material name="red"> + <color rgba="1 0 0 1"/> + </material> + </visual> + </link> + + <link name="link2_motor_extension"> + <visual> + <geometry> + <box size="0.015 0.015 0.10"/> + </geometry> + <origin xyz="0 0 0.05" rpy="0 0 0"/> + <material name="grey"> + <color rgba="0.5 0.5 0.5 1"/> + </material> + </visual> + </link> + + <link name="plate_box"> + <visual> + <geometry> + <box size="0.08 0.185 0.035"/> + </geometry> + <origin xyz="0 0 0.0175" rpy="0 0 0"/> + <material name="black"> + <color rgba="0 0 0 1"/> + </material> + </visual> + </link> + + <joint name="plate_joint" type="fixed"> + <parent link="base_link"/> + <child link="plate"/> + <origin xyz="0 0 0.00375"/> + </joint> + + <joint name="arm_base_joint" type="fixed"> + <parent link="plate"/> + <child link="arm_base"/> + <origin xyz="0 0.099 0"/> + </joint> + + <joint name="link1_joint" type="revolute"> + <parent link="arm_base"/> + <child link="link1"/> + <axis xyz="0 0 -1"/> + <limit effort="1.0" lower="0.0" upper="5.672320068981571" velocity="0.2"/> + </joint> + + <joint name="link2_joint" type="revolute"> + <parent link="link1"/> + <child link="link2"/> + <axis xyz="0 0 1"/> + <origin xyz="0.0 0.0 0.123" rpy="1.5708 0 0"/> + <limit effort="1.0" lower="0.1505" upper="3.611" velocity="0.1"/> + </joint> + + <joint name="link3_joint" type="revolute"> + <parent link="link2"/> + <child link="link3"/> + <axis xyz="0 0 -1"/> + <origin xyz="0.240 0 0" rpy="0 0 0"/> + <limit effort="1.0" lower="0" upper="3.1416" velocity="0.2"/> + </joint> + + <joint name="link4_joint" type="revolute"> + <parent link="link3"/> + <child link="link4"/> + <axis xyz="0 0 -1"/> + <origin xyz="0 0.135 0" rpy="-1.5708 0 0"/> + <limit effort="1.0" lower="-0.15708" upper="5.4978" velocity="0.5"/> + </joint> + + <joint name="link5_joint" type="revolute"> + <parent link="link4"/> + <child link="link5"/> + <axis xyz="0 0 1"/> + <origin xyz="0 0 0.06" rpy="1.5708 0 0"/> + <limit effort="1.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/> + </joint> + + <joint name="gripper_pole_joint" type="fixed"> + <parent link="link5"/> + <child link="gripper_pole"/> + <origin xyz="0 0.02275 0" rpy="1.5708 0 1.5708"/> + </joint> + + <joint name="gripper_center_joint" type="fixed"> + <parent link="gripper_pole"/> + <child link="gripper_center"/> + <origin xyz="0.08 0 0" rpy="0 0 0"/> + </joint> + + <joint name="left_gripper_joint" type="revolute"> + <parent link="gripper_pole"/> + <child link="left_gripper"/> + <axis xyz="0 0 1"/> + <origin xyz="0 0.015 0" rpy="0 0 0"/> + <limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/> + </joint> + + <joint name="right_gripper_joint" type="revolute"> + <parent link="gripper_pole"/> + <child link="right_gripper"/> + <axis xyz="0 0 1"/> + <origin xyz="0 -0.015 0" rpy="3.1416 0 0"/> + <limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/> + </joint> + + <joint name="link2_motor_extension_joint" type="fixed"> + <parent link="link2"/> + <child link="link2_motor_extension"/> + <origin xyz="0.165 -0.03 0" rpy="1.5708 0 0"/> + </joint> + + <joint name="plate_box_joint" type="fixed"> + <parent link="plate"/> + <child link="plate_box"/> + <origin xyz="-0.04 -0.035 0" rpy="0 0 0"/> + </joint> + + <xacro:asus_camera name="camera" parent="link2"> + <origin xyz="0.18 -0.03 -0.05" rpy="0 3.1416 -1.5708"/> + </xacro:asus_camera> +</robot>