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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" />
<gazebo>
<plugin name="control" filename="libgazebo_ros_control.so"/>
<plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="gz_ros2_control-system"/>
</gazebo>
<gazebo reference="base_link">
<material>${body_color}</material>

17
openarm_grip_description/urdf/openarm_grip.urdf
View File

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

21
openarm_grip_description/urdf/openarm_grip.xacro
View File

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

4
openarm_moveit_config/config/moveit.rviz
View File

@ -31,7 +31,7 @@ Visualization Manager:
Robot Alpha: 0.5
Value: true
Global Options:
Fixed Frame: dummy
Fixed Frame: world
Tools:
- Class: rviz_default_plugins/Interact
- Class: rviz_default_plugins/MoveCamera
@ -47,7 +47,7 @@ Visualization Manager:
Z: 0.30
Name: Current View
Pitch: 0.5
Target Frame: dummy
Target Frame: world
Yaw: -0.623
Window Geometry:
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-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="openarm_arm">
<joint name="dummy_joint"/>
<joint name="world_joint"/>
<joint name="rev1"/>
<joint name="rev2"/>
<joint name="rev3"/>