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Update urdf for better gazebo compatibility

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This commit is contained in:
Thomason Zhou 2025-02-18 15:47:08 +09:00
parent 702c92a1b8
commit 1e24df2657
5 changed files with 32 additions and 14 deletions
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2
openarm_grip_description/urdf/openarm_grip.gazebo
View File

@ -4,7 +4,7 @@
<xacro:property name="body_color" value="Gazebo/Silver" /> <xacro:property name="body_color" value="Gazebo/Silver" />
<gazebo> <gazebo>
<plugin name="control" filename="libgazebo_ros_control.so"/> <plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="gz_ros2_control-system"/>
</gazebo> </gazebo>
<gazebo reference="base_link"> <gazebo reference="base_link">
<material>${body_color}</material> <material>${body_color}</material>

17
openarm_grip_description/urdf/openarm_grip.urdf
View File

@ -98,7 +98,7 @@
</actuator> </actuator>
</transmission> </transmission>
<gazebo> <gazebo>
<plugin filename="libgazebo_ros_control.so" name="control"/> <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin"/>
</gazebo> </gazebo>
<gazebo reference="base_link"> <gazebo reference="base_link">
<material>Gazebo/Silver</material> <material>Gazebo/Silver</material>
@ -161,9 +161,9 @@
<mu2>0.2</mu2> <mu2>0.2</mu2>
<self_collide>true</self_collide> <self_collide>true</self_collide>
</gazebo> </gazebo>
<link name="dummy"/> <link name="world"/>
<joint name="dummy_joint" type="fixed"> <joint name="world_joint" type="fixed">
<parent link="dummy"/> <parent link="world"/>
<child link="base_link"/> <child link="base_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint> </joint>
@ -373,6 +373,7 @@
<child link="J2_v1_1"/> <child link="J2_v1_1"/>
<axis xyz="0.0 0.0 1.0"/> <axis xyz="0.0 0.0 1.0"/>
<limit acceleration="0.5" effort="100" lower="-2.356194" upper="2.356194" velocity="1.0"/> <limit acceleration="0.5" effort="100" lower="-2.356194" upper="2.356194" velocity="1.0"/>
<dynamics damping="1.0" friction="1.0"/>
</joint> </joint>
<joint name="rev2" type="revolute"> <joint name="rev2" type="revolute">
<origin rpy="0 0 0" xyz="0.02975 -0.0 0.04475"/> <origin rpy="0 0 0" xyz="0.02975 -0.0 0.04475"/>
@ -380,6 +381,7 @@
<child link="J3_v1_1"/> <child link="J3_v1_1"/>
<axis xyz="-1.0 -0.0 0.0"/> <axis xyz="-1.0 -0.0 0.0"/>
<limit acceleration="0.5" effort="100" lower="-3.054326" upper="0.0" velocity="1.0"/> <limit acceleration="0.5" effort="100" lower="-3.054326" upper="0.0" velocity="1.0"/>
<dynamics damping="1.0" friction="1.0"/>
</joint> </joint>
<joint name="rev3" type="revolute"> <joint name="rev3" type="revolute">
<origin rpy="0 0 0" xyz="-0.02975 0.06041 0.010107"/> <origin rpy="0 0 0" xyz="-0.02975 0.06041 0.010107"/>
@ -387,6 +389,7 @@
<child link="J4_v1_1"/> <child link="J4_v1_1"/>
<axis xyz="-0.0 0.986291 0.165017"/> <axis xyz="-0.0 0.986291 0.165017"/>
<limit acceleration="0.5" effort="100" lower="-2.094395" upper="2.094395" velocity="1.0"/> <limit acceleration="0.5" effort="100" lower="-2.094395" upper="2.094395" velocity="1.0"/>
<dynamics damping="1.0" friction="1.0"/>
</joint> </joint>
<joint name="rev4" type="revolute"> <joint name="rev4" type="revolute">
<origin rpy="0 0 0" xyz="0.029755 0.238436 0.039893"/> <origin rpy="0 0 0" xyz="0.029755 0.238436 0.039893"/>
@ -394,6 +397,7 @@
<child link="J5_v1_1"/> <child link="J5_v1_1"/>
<axis xyz="1.0 0.0 0.0"/> <axis xyz="1.0 0.0 0.0"/>
<limit acceleration="0.5" effort="100" lower="-3.141593" upper="0.0" velocity="1.0"/> <limit acceleration="0.5" effort="100" lower="-3.141593" upper="0.0" velocity="1.0"/>
<dynamics damping="1.0" friction="1.0"/>
</joint> </joint>
<joint name="rev5" type="revolute"> <joint name="rev5" type="revolute">
<origin rpy="0 0 0" xyz="-0.029755 -0.13135 0.026265"/> <origin rpy="0 0 0" xyz="-0.029755 -0.13135 0.026265"/>
@ -401,6 +405,7 @@
<child link="J6_v1_1"/> <child link="J6_v1_1"/>
<axis xyz="0.0 -0.980588 0.196078"/> <axis xyz="0.0 -0.980588 0.196078"/>
<limit acceleration="0.5" effort="100" lower="-2.094395" upper="2.094395" velocity="1.0"/> <limit acceleration="0.5" effort="100" lower="-2.094395" upper="2.094395" velocity="1.0"/>
<dynamics damping="1.0" friction="1.0"/>
</joint> </joint>
<joint name="rev6" type="revolute"> <joint name="rev6" type="revolute">
<origin rpy="0 0 0" xyz="0.0355 -0.1187 0.023735"/> <origin rpy="0 0 0" xyz="0.0355 -0.1187 0.023735"/>
@ -408,12 +413,14 @@
<child link="J7_v1_1"/> <child link="J7_v1_1"/>
<axis xyz="-1.0 0.0 -0.0"/> <axis xyz="-1.0 0.0 -0.0"/>
<limit acceleration="0.5" effort="100" lower="-1.570796" upper="1.570796" velocity="1.0"/> <limit acceleration="0.5" effort="100" lower="-1.570796" upper="1.570796" velocity="1.0"/>
<dynamics damping="1.0" friction="1.0"/>
</joint> </joint>
<joint name="rev7" type="continuous"> <joint name="rev7" type="continuous">
<origin rpy="0 0 0" xyz="-0.0355 0.00303 0.01515"/> <origin rpy="0 0 0" xyz="-0.0355 0.00303 0.01515"/>
<parent link="J7_v1_1"/> <parent link="J7_v1_1"/>
<child link="grip_attach_1"/> <child link="grip_attach_1"/>
<axis xyz="0.0 0.196078 0.980588"/> <axis xyz="0.0 0.196078 0.980588"/>
<dynamics damping="1.0" friction="1.0"/>
</joint> </joint>
<joint name="slider_left" type="prismatic"> <joint name="slider_left" type="prismatic">
<origin rpy="0 0 0" xyz="-0.0775 -0.121655 0.012086"/> <origin rpy="0 0 0" xyz="-0.0775 -0.121655 0.012086"/>
@ -421,6 +428,7 @@
<child link="left_jaw_1"/> <child link="left_jaw_1"/>
<axis xyz="-1.0 0.0 -0.0"/> <axis xyz="-1.0 0.0 -0.0"/>
<limit acceleration="0.5" effort="100" lower="-0.0455" upper="0.0" velocity="1.0"/> <limit acceleration="0.5" effort="100" lower="-0.0455" upper="0.0" velocity="1.0"/>
<dynamics damping="1.0" friction="1.0"/>
</joint> </joint>
<joint name="slider_right" type="prismatic"> <joint name="slider_right" type="prismatic">
<origin rpy="0 0 0" xyz="0.0775 -0.121655 0.012086"/> <origin rpy="0 0 0" xyz="0.0775 -0.121655 0.012086"/>
@ -428,6 +436,7 @@
<child link="right_jaw_1"/> <child link="right_jaw_1"/>
<axis xyz="1.0 -0.0 0.0"/> <axis xyz="1.0 -0.0 0.0"/>
<limit acceleration="0.5" effort="100" lower="-0.0455" upper="0.0" velocity="1.0"/> <limit acceleration="0.5" effort="100" lower="-0.0455" upper="0.0" velocity="1.0"/>
<dynamics damping="1.0" friction="1.0"/>
<mimic joint="slider_left"/> <mimic joint="slider_left"/>
</joint> </joint>
</robot> </robot>

21
openarm_grip_description/urdf/openarm_grip.xacro
View File

@ -1,12 +1,12 @@
<?xml version="1.0" ?> <?xml version="1.0" ?>
<robot name="openarm_grip" xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot name="openarm_grip" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find openarm_grip_description)/urdf/materials.xacro" /> <xacro:include filename="package://openarm_grip_description/urdf/materials.xacro" />
<xacro:include filename="$(find openarm_grip_description)/urdf/openarm_grip.trans" /> <xacro:include filename="package://openarm_grip_description/urdf/openarm_grip.trans" />
<xacro:include filename="$(find openarm_grip_description)/urdf/openarm_grip.gazebo" /> <xacro:include filename="package://openarm_grip_description/urdf/openarm_grip.gazebo" />
<link name="dummy"/> <link name="world"/>
<joint name="dummy_joint" type="fixed"> <joint name="world_joint" type="fixed">
<parent link="dummy"/> <parent link="world"/>
<child link="base_link"/> <child link="base_link"/>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/> <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
</joint> </joint>
@ -228,6 +228,7 @@
<child link="J2_v1_1"/> <child link="J2_v1_1"/>
<axis xyz="0.0 0.0 1.0"/> <axis xyz="0.0 0.0 1.0"/>
<limit upper="2.356194" lower="-2.356194" effort="100" velocity="1.0" acceleration="0.5"/> <limit upper="2.356194" lower="-2.356194" effort="100" velocity="1.0" acceleration="0.5"/>
<dynamics damping="1.0" friction="1.0"/>
</joint> </joint>
<joint name="rev2" type="revolute"> <joint name="rev2" type="revolute">
@ -236,6 +237,7 @@
<child link="J3_v1_1"/> <child link="J3_v1_1"/>
<axis xyz="-1.0 -0.0 0.0"/> <axis xyz="-1.0 -0.0 0.0"/>
<limit upper="0.0" lower="-3.054326" effort="100" velocity="1.0" acceleration="0.5"/> <limit upper="0.0" lower="-3.054326" effort="100" velocity="1.0" acceleration="0.5"/>
<dynamics damping="1.0" friction="1.0"/>
</joint> </joint>
<joint name="rev3" type="revolute"> <joint name="rev3" type="revolute">
@ -244,6 +246,7 @@
<child link="J4_v1_1"/> <child link="J4_v1_1"/>
<axis xyz="-0.0 0.986291 0.165017"/> <axis xyz="-0.0 0.986291 0.165017"/>
<limit upper="2.094395" lower="-2.094395" effort="100" velocity="1.0" acceleration="0.5"/> <limit upper="2.094395" lower="-2.094395" effort="100" velocity="1.0" acceleration="0.5"/>
<dynamics damping="1.0" friction="1.0"/>
</joint> </joint>
<joint name="rev4" type="revolute"> <joint name="rev4" type="revolute">
@ -252,6 +255,7 @@
<child link="J5_v1_1"/> <child link="J5_v1_1"/>
<axis xyz="1.0 0.0 0.0"/> <axis xyz="1.0 0.0 0.0"/>
<limit upper="0.0" lower="-3.141593" effort="100" velocity="1.0" acceleration="0.5"/> <limit upper="0.0" lower="-3.141593" effort="100" velocity="1.0" acceleration="0.5"/>
<dynamics damping="1.0" friction="1.0"/>
</joint> </joint>
<joint name="rev5" type="revolute"> <joint name="rev5" type="revolute">
@ -260,6 +264,7 @@
<child link="J6_v1_1"/> <child link="J6_v1_1"/>
<axis xyz="0.0 -0.980588 0.196078"/> <axis xyz="0.0 -0.980588 0.196078"/>
<limit upper="2.094395" lower="-2.094395" effort="100" velocity="1.0" acceleration="0.5"/> <limit upper="2.094395" lower="-2.094395" effort="100" velocity="1.0" acceleration="0.5"/>
<dynamics damping="1.0" friction="1.0"/>
</joint> </joint>
<joint name="rev6" type="revolute"> <joint name="rev6" type="revolute">
@ -268,6 +273,7 @@
<child link="J7_v1_1"/> <child link="J7_v1_1"/>
<axis xyz="-1.0 0.0 -0.0"/> <axis xyz="-1.0 0.0 -0.0"/>
<limit upper="1.570796" lower="-1.570796" effort="100" velocity="1.0" acceleration="0.5"/> <limit upper="1.570796" lower="-1.570796" effort="100" velocity="1.0" acceleration="0.5"/>
<dynamics damping="1.0" friction="1.0"/>
</joint> </joint>
<joint name="rev7" type="continuous"> <joint name="rev7" type="continuous">
@ -275,6 +281,7 @@
<parent link="J7_v1_1"/> <parent link="J7_v1_1"/>
<child link="grip_attach_1"/> <child link="grip_attach_1"/>
<axis xyz="0.0 0.196078 0.980588"/> <axis xyz="0.0 0.196078 0.980588"/>
<dynamics damping="1.0" friction="1.0"/>
</joint> </joint>
<joint name="slider_left" type="prismatic"> <joint name="slider_left" type="prismatic">
@ -283,6 +290,7 @@
<child link="left_jaw_1"/> <child link="left_jaw_1"/>
<axis xyz="-1.0 0.0 -0.0"/> <axis xyz="-1.0 0.0 -0.0"/>
<limit upper="0.0" lower="-0.0455" effort="100" velocity="1.0" acceleration="0.5"/> <limit upper="0.0" lower="-0.0455" effort="100" velocity="1.0" acceleration="0.5"/>
<dynamics damping="1.0" friction="1.0"/>
</joint> </joint>
<joint name="slider_right" type="prismatic"> <joint name="slider_right" type="prismatic">
@ -291,6 +299,7 @@
<child link="right_jaw_1"/> <child link="right_jaw_1"/>
<axis xyz="1.0 -0.0 0.0"/> <axis xyz="1.0 -0.0 0.0"/>
<limit upper="0.0" lower="-0.0455" effort="100" velocity="1.0" acceleration="0.5"/> <limit upper="0.0" lower="-0.0455" effort="100" velocity="1.0" acceleration="0.5"/>
<dynamics damping="1.0" friction="1.0"/>
<mimic joint="slider_left"/> <mimic joint="slider_left"/>
</joint> </joint>

4
openarm_moveit_config/config/moveit.rviz
View File

@ -31,7 +31,7 @@ Visualization Manager:
Robot Alpha: 0.5 Robot Alpha: 0.5
Value: true Value: true
Global Options: Global Options:
Fixed Frame: dummy Fixed Frame: world
Tools: Tools:
- Class: rviz_default_plugins/Interact - Class: rviz_default_plugins/Interact
- Class: rviz_default_plugins/MoveCamera - Class: rviz_default_plugins/MoveCamera
@ -47,7 +47,7 @@ Visualization Manager:
Z: 0.30 Z: 0.30
Name: Current View Name: Current View
Pitch: 0.5 Pitch: 0.5
Target Frame: dummy Target Frame: world
Yaw: -0.623 Yaw: -0.623
Window Geometry: Window Geometry:
Height: 975 Height: 975

2
openarm_moveit_config/config/openarm_grip.srdf
View File

@ -10,7 +10,7 @@
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group--> <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names--> <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="openarm_arm"> <group name="openarm_arm">
<joint name="dummy_joint"/> <joint name="world_joint"/>
<joint name="rev1"/> <joint name="rev1"/>
<joint name="rev2"/> <joint name="rev2"/>
<joint name="rev3"/> <joint name="rev3"/>