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openarm:scy/add_gravity
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openarm:scy/add_gravity
openarm:main

2 Commits
main ... scy/add_gr

Author SHA1 Message Date
shen
d7161f2456 增加夹爪的重力补偿
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2026-03-31 14:25:39 +08:00
shen
93b2e23a27 增加重力补偿 2026-03-20 16:00:33 +08:00
4 changed files with 137 additions and 33 deletions
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42
rviz/bimanual.rviz
View File

@ -6,7 +6,7 @@ Panels:
Expanded:
- /Global Options1
Splitter Ratio: 0.5
Tree Height: 139
Tree Height: 409
- Class: rviz_common/Views
Expanded:
- /Current View1
@ -51,6 +51,11 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
openarm_body_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_hand:
Alpha: 1
Show Axes: false
@ -105,10 +110,6 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
openarm_left_link8:
Alpha: 1
Show Axes: false
Show Trail: false
openarm_left_right_finger:
Alpha: 1
Show Axes: false
@ -168,20 +169,11 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
openarm_right_link8:
Alpha: 1
Show Axes: false
Show Trail: false
openarm_right_right_finger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
v10_body_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
@ -223,35 +215,35 @@ Visualization Manager:
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 5
Distance: 2.3220205307006836
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
X: -0.07885967940092087
Y: 0.03267698734998703
Z: 0.2304663509130478
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.33000001311302185
Pitch: 0.2900000512599945
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 5.5
Yaw: 0.7618141174316406
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 826
Height: 1174
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000100000000000001da000002a8fc0200000002fb000000100044006900730070006c0061007900730100000069000001790000017800fffffffb0000000a0056006900650077007301000001ee000001230000012300ffffff000002ca000002a800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000100000000000001da0000043cfc0200000002fb000000100044006900730070006c006100790073010000003d00000260000000c900fffffffb0000000a0056006900650077007301000002a3000001d6000000a400ffffff000007d80000043c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1200
X: 42
Y: 64
Width: 2488
X: 70
Y: 27

38
urdf/robot/openarm_robot.xacro
View File

@ -32,11 +32,27 @@
left_arm_base_xyz='0 0 0'
right_arm_base_rpy='0 0 0'
left_arm_base_rpy='0 0 0'
left_can_interface:='can5'
right_can_interface:='can4'
left_can_interface:='can1'
right_can_interface:='can0'
left_arm_prefix:='left_'
right_arm_prefix:='right_'
can_fd:='false'
gravity_compensation_enabled:='false'
gravity_compensation_use_kdl:='true'
gravity_torque_mode:='false'
gravity_scale:='1.0'
gravity_tau_limit1:='2.0'
gravity_tau_limit2:='2.0'
gravity_tau_limit3:='2.0'
gravity_tau_limit4:='2.0'
gravity_tau_limit5:='2.0'
gravity_tau_limit6:='2.0'
gravity_tau_limit7:='2.0'
gripper_gravity_tau:='0.0'
gripper_gravity_tau_limit:='0.5'
kdl_urdf_path:='/tmp/openarm_bimanual_runtime.urdf'
kdl_base_link:='openarm_body_link0'
kdl_tip_link:=''
"
>
@ -110,7 +126,23 @@
fake_sensor_commands="${fake_sensor_commands}"
left_arm_prefix="${left_arm_prefix}"
right_arm_prefix="${right_arm_prefix}"
hand="${hand}"/>
hand="${hand}"
gravity_compensation_enabled="${gravity_compensation_enabled}"
gravity_compensation_use_kdl="${gravity_compensation_use_kdl}"
gravity_torque_mode="${gravity_torque_mode}"
gravity_scale="${gravity_scale}"
gravity_tau_limit1="${gravity_tau_limit1}"
gravity_tau_limit2="${gravity_tau_limit2}"
gravity_tau_limit3="${gravity_tau_limit3}"
gravity_tau_limit4="${gravity_tau_limit4}"
gravity_tau_limit5="${gravity_tau_limit5}"
gravity_tau_limit6="${gravity_tau_limit6}"
gravity_tau_limit7="${gravity_tau_limit7}"
gripper_gravity_tau="${gripper_gravity_tau}"
gripper_gravity_tau_limit="${gripper_gravity_tau_limit}"
kdl_urdf_path="${kdl_urdf_path}"
kdl_base_link="${kdl_base_link}"
kdl_tip_link="${kdl_tip_link}"/>
</xacro:if>
<xacro:if value="$(eval hand and ee_type == 'openarm_hand')">

36
urdf/robot/v10.urdf.xacro
View File

@ -25,11 +25,11 @@
<xacro:arg name="ros2_control" default="false" />
<xacro:arg name="can_interface" default="can4" />
<xacro:arg name="can_interface" default="can0" />
<xacro:arg name="left_can_interface" default="can1" />
<xacro:arg name="right_can_interface" default="can4" />
<xacro:arg name="right_can_interface" default="can0" />
<xacro:arg name="left_arm_prefix" default="left_" />
@ -48,6 +48,22 @@
<xacro:arg name="left_arm_base_rpy" default="-1.5708 0 0" />
<xacro:arg name="can_fd" default="false" />
<xacro:arg name="gravity_compensation_enabled" default="false" />
<xacro:arg name="gravity_compensation_use_kdl" default="true" />
<xacro:arg name="gravity_torque_mode" default="false" />
<xacro:arg name="gravity_scale" default="1.0" />
<xacro:arg name="gravity_tau_limit1" default="2.0" />
<xacro:arg name="gravity_tau_limit2" default="2.0" />
<xacro:arg name="gravity_tau_limit3" default="2.0" />
<xacro:arg name="gravity_tau_limit4" default="2.0" />
<xacro:arg name="gravity_tau_limit5" default="2.0" />
<xacro:arg name="gravity_tau_limit6" default="2.0" />
<xacro:arg name="gravity_tau_limit7" default="2.0" />
<xacro:arg name="gripper_gravity_tau" default="0.0" />
<xacro:arg name="gripper_gravity_tau_limit" default="0.5" />
<xacro:arg name="kdl_urdf_path" default="/tmp/openarm_bimanual_runtime.urdf" />
<xacro:arg name="kdl_base_link" default="openarm_body_link0" />
<xacro:arg name="kdl_tip_link" default="" />
<xacro:openarm_robot
arm_type="v10"
@ -83,6 +99,22 @@
right_arm_base_rpy="$(arg right_arm_base_rpy)"
left_arm_base_rpy="$(arg left_arm_base_rpy)"
can_fd="$(arg can_fd)"
gravity_compensation_enabled="$(arg gravity_compensation_enabled)"
gravity_compensation_use_kdl="$(arg gravity_compensation_use_kdl)"
gravity_torque_mode="$(arg gravity_torque_mode)"
gravity_scale="$(arg gravity_scale)"
gravity_tau_limit1="$(arg gravity_tau_limit1)"
gravity_tau_limit2="$(arg gravity_tau_limit2)"
gravity_tau_limit3="$(arg gravity_tau_limit3)"
gravity_tau_limit4="$(arg gravity_tau_limit4)"
gravity_tau_limit5="$(arg gravity_tau_limit5)"
gravity_tau_limit6="$(arg gravity_tau_limit6)"
gravity_tau_limit7="$(arg gravity_tau_limit7)"
gripper_gravity_tau="$(arg gripper_gravity_tau)"
gripper_gravity_tau_limit="$(arg gripper_gravity_tau_limit)"
kdl_urdf_path="$(arg kdl_urdf_path)"
kdl_base_link="$(arg kdl_base_link)"
kdl_tip_link="$(arg kdl_tip_link)"
/>
</robot>

54
urdf/ros2_control/openarm.bimanual.ros2_control.xacro
View File

@ -4,14 +4,30 @@
<xacro:macro name="openarm_bimanual_ros2_control"
params="arm_type
control_gains
left_can_interface:=^|can5
right_can_interface:=^|can4
left_can_interface:=^|can1
right_can_interface:=^|can0
use_fake_hardware:=^|false
fake_sensor_commands:=^|false
hand:=^|false
left_arm_prefix:=^|left_
right_arm_prefix:=^|right_
can_fd:=^|false">
can_fd:=^|false
gravity_compensation_enabled:=^|true
gravity_compensation_use_kdl:=^|true
gravity_torque_mode:=^|true
gravity_scale:=^|2.5
gravity_tau_limit1:=^|10.0
gravity_tau_limit2:=^|10.0
gravity_tau_limit3:=^|5.0
gravity_tau_limit4:=^|5.0
gravity_tau_limit5:=^|5.0
gravity_tau_limit6:=^|3.0
gravity_tau_limit7:=^|3.0
gripper_gravity_tau:=^|0.0
gripper_gravity_tau_limit:=^|0.5
kdl_urdf_path:=^|/tmp/openarm_bimanual_runtime.urdf
kdl_base_link:=^|openarm_body_link0
kdl_tip_link:=^|">
<!-- Left Arm Hardware Interface -->
<ros2_control name="openarm_left_hardware_interface" type="system">
@ -28,6 +44,22 @@
<param name="arm_prefix">${left_arm_prefix}</param>
<param name="hand">${hand}</param>
<param name="can_fd">${can_fd}</param>
<param name="gravity_compensation_enabled">${gravity_compensation_enabled}</param>
<param name="gravity_compensation_use_kdl">${gravity_compensation_use_kdl}</param>
<param name="gravity_torque_mode">${gravity_torque_mode}</param>
<param name="gravity_scale">${gravity_scale}</param>
<param name="gravity_tau_limit1">${gravity_tau_limit1}</param>
<param name="gravity_tau_limit2">${gravity_tau_limit2}</param>
<param name="gravity_tau_limit3">${gravity_tau_limit3}</param>
<param name="gravity_tau_limit4">${gravity_tau_limit4}</param>
<param name="gravity_tau_limit5">${gravity_tau_limit5}</param>
<param name="gravity_tau_limit6">${gravity_tau_limit6}</param>
<param name="gravity_tau_limit7">${gravity_tau_limit7}</param>
<param name="gripper_gravity_tau">${gripper_gravity_tau}</param>
<param name="gripper_gravity_tau_limit">${gripper_gravity_tau_limit}</param>
<param name="kdl_urdf_path">${kdl_urdf_path}</param>
<param name="kdl_base_link">${kdl_base_link}</param>
<param name="kdl_tip_link">${kdl_tip_link if kdl_tip_link != '' else 'openarm_' + left_arm_prefix + 'link7'}</param>
<param name="kp1">${control_gains['joint1']['kp']}</param>
<param name="kp2">${control_gains['joint2']['kp']}</param>
<param name="kp3">${control_gains['joint3']['kp']}</param>
@ -93,6 +125,22 @@
<param name="arm_prefix">${right_arm_prefix}</param>
<param name="hand">${hand}</param>
<param name="can_fd">${can_fd}</param>
<param name="gravity_compensation_enabled">${gravity_compensation_enabled}</param>
<param name="gravity_compensation_use_kdl">${gravity_compensation_use_kdl}</param>
<param name="gravity_torque_mode">${gravity_torque_mode}</param>
<param name="gravity_scale">${gravity_scale}</param>
<param name="gravity_tau_limit1">${gravity_tau_limit1}</param>
<param name="gravity_tau_limit2">${gravity_tau_limit2}</param>
<param name="gravity_tau_limit3">${gravity_tau_limit3}</param>
<param name="gravity_tau_limit4">${gravity_tau_limit4}</param>
<param name="gravity_tau_limit5">${gravity_tau_limit5}</param>
<param name="gravity_tau_limit6">${gravity_tau_limit6}</param>
<param name="gravity_tau_limit7">${gravity_tau_limit7}</param>
<param name="gripper_gravity_tau">${gripper_gravity_tau}</param>
<param name="gripper_gravity_tau_limit">${gripper_gravity_tau_limit}</param>
<param name="kdl_urdf_path">${kdl_urdf_path}</param>
<param name="kdl_base_link">${kdl_base_link}</param>
<param name="kdl_tip_link">${kdl_tip_link if kdl_tip_link != '' else 'openarm_' + right_arm_prefix + 'link7'}</param>
<param name="kp1">${control_gains['joint1']['kp']}</param>
<param name="kp2">${control_gains['joint2']['kp']}</param>
<param name="kp3">${control_gains['joint3']['kp']}</param>