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Add new urdf

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Thomason Zhou 2025-03-08 19:45:28 +08:00
parent c1016d6657
commit 65d94e4aef
26 changed files with 2328 additions and 1 deletions
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README.md
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# ROS2 packages for OpenArm robots
- openarm_grip_description: urdf with gripper actuator
- openarm_description: urdf with gripper actuator
- openarm_grip_description: legacy urdf, to be removed shortly
- openarm_moveit_config: motion planning with [moveit2](https://github.com/moveit/moveit2)
https://github.com/user-attachments/assets/a0f962e5-6150-49ce-b18e-9914bcb322ef

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openarm_description/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(openarm_description_2)
find_package(ament_cmake REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
install(DIRECTORY launch meshes rviz urdf worlds
DESTINATION share/${PROJECT_NAME}
)
ament_package()

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openarm_description/launch/description.launch.py Normal file
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from pathlib import Path
import launch
from launch.substitutions import Command
from launch.substitutions import LaunchConfiguration
from launch.actions import DeclareLaunchArgument
import launch_ros
from launch_ros.parameter_descriptions import ParameterValue
def generate_launch_description():
pkg_share = Path(launch_ros.substitutions.FindPackageShare(package='openarm_description_2').find('openarm_description_2'))
default_model_path = pkg_share / 'urdf/openarm_wrapper.urdf.xacro'
use_sim_time = LaunchConfiguration('use_sim_time')
use_sim_time_launch_arg = DeclareLaunchArgument('use_sim_time', default_value='true')
robot_state_publisher_node = launch_ros.actions.Node(
package='robot_state_publisher',
executable='robot_state_publisher',
parameters=[
{
# ParameterValue is required to avoid being interpreted as YAML.
'robot_description': ParameterValue(Command(['xacro ', LaunchConfiguration('model')]), value_type=str),
'use_sim_time': use_sim_time,
},
],
)
return launch.LaunchDescription([
launch.actions.DeclareLaunchArgument(
name='model',
default_value=str(default_model_path),
description="Absolute path to the robot's URDF file",
),
use_sim_time_launch_arg,
robot_state_publisher_node,
])

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openarm_description/launch/display.launch.py Normal file
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from pathlib import Path
import launch
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
import launch_ros
from launch_ros.substitutions import FindPackageShare
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
pkg_share = Path(launch_ros.substitutions.FindPackageShare(package='openarm_description_2').find('openarm_description_2'))
default_model_path = pkg_share / 'urdf/openarm_wrapper.urdf.xacro'
default_rviz_config_path = pkg_share / 'rviz/robot_description.rviz'
use_sim_time = LaunchConfiguration('use_sim_time')
robot_state_publisher_node = IncludeLaunchDescription(
PythonLaunchDescriptionSource([
PathJoinSubstitution([
FindPackageShare('openarm_description_2'),
'launch',
'description.launch.py',
]),
]),
launch_arguments=dict(use_sim_time=use_sim_time).items(),
)
joint_state_publisher_node = launch_ros.actions.Node(
package='joint_state_publisher',
executable='joint_state_publisher',
name='joint_state_publisher',
condition=launch.conditions.UnlessCondition(LaunchConfiguration('gui')),
parameters=[{
'use_sim_time': use_sim_time,
}],
)
joint_state_publisher_gui_node = launch_ros.actions.Node(
package='joint_state_publisher_gui',
executable='joint_state_publisher_gui',
name='joint_state_publisher_gui',
condition=launch.conditions.IfCondition(LaunchConfiguration('gui')),
parameters=[{
'use_sim_time': use_sim_time,
}],
)
rviz_node = launch_ros.actions.Node(
package='rviz2',
executable='rviz2',
name='rviz2',
output='screen',
arguments=['-d', LaunchConfiguration('rvizconfig')],
parameters=[{
'use_sim_time': use_sim_time,
}],
)
return launch.LaunchDescription([
launch.actions.DeclareLaunchArgument(
name='use_sim_time',
default_value='false',
description='Flag to enable usage of simulation time',
),
launch.actions.DeclareLaunchArgument(
name='gui',
default_value='True',
description='Flag to enable joint_state_publisher_gui',
),
launch.actions.DeclareLaunchArgument(
name='model',
default_value=str(default_model_path),
description='Absolute path to robot urdf file',
),
launch.actions.DeclareLaunchArgument(
name='rvizconfig',
default_value=str(default_rviz_config_path),
description='Absolute path to rviz config file',
),
joint_state_publisher_node,
joint_state_publisher_gui_node,
robot_state_publisher_node,
rviz_node,
])

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import os
import re
import subprocess
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.conditions import IfCondition
from launch.conditions import UnlessCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
def generate_launch_description():
resources_package = 'openarm_description_2'
# Make path to resources dir without last package_name fragment.
path_to_share_dir_clipped = ''.join(get_package_share_directory(resources_package).rsplit('/' + resources_package, 1))
# Gazebo hint for resources.
os.environ['GZ_SIM_RESOURCE_PATH'] = path_to_share_dir_clipped
# Ensure `SDF_PATH` is populated since `sdformat_urdf` uses this rather
# than `GZ_SIM_RESOURCE_PATH` to locate resources.
if "GZ_SIM_RESOURCE_PATH" in os.environ:
gz_sim_resource_path = os.environ["GZ_SIM_RESOURCE_PATH"]
if "SDF_PATH" in os.environ:
sdf_path = os.environ["SDF_PATH"]
os.environ["SDF_PATH"] = sdf_path + ":" + gz_sim_resource_path
else:
os.environ["SDF_PATH"] = gz_sim_resource_path
use_custom_world = LaunchConfiguration('use_custom_world')
use_custom_world_launch_arg = DeclareLaunchArgument('use_custom_world', default_value='true')
gazebo_world = LaunchConfiguration('gazebo_world')
gazebo_world_launch_arg = DeclareLaunchArgument('gazebo_world', default_value='empty.sdf')
# prepare custom world
world = os.getenv('GZ_SIM_WORLD', 'empty')
fly_world_path = resources_package + '/worlds/' + world + '.sdf'
gz_version = subprocess.getoutput("gz sim --versions")
gz_version_major = re.search(r'^\d{1}', gz_version).group()
launch_arguments=dict(gz_args = '-r ' + str(fly_world_path) + ' --verbose ', gz_version = gz_version_major).items()
# Gazebo Sim.
# by default the custom world is used, otherwise the gazebo world is used, which can be changed with the argument
pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py'),
),
launch_arguments=launch_arguments if use_custom_world else dict(gz_args='-r ' + gazebo_world + ' --verbose').items(),
)
# Spawn
spawn = Node(
package='ros_gz_sim',
executable='create',
arguments=[
'-name', 'openarm',
'-x', '1.2',
'-z', '2.3',
'-Y', '3.4',
'-topic', '/robot_description',
],
output='screen',
)
use_sim_time = LaunchConfiguration('use_sim_time')
use_sim_time_launch_arg = DeclareLaunchArgument('use_sim_time', default_value='true')
use_rviz = LaunchConfiguration('use_rviz')
use_rviz_arg = DeclareLaunchArgument("use_rviz", default_value='true')
robot_state_publisher = IncludeLaunchDescription(
PythonLaunchDescriptionSource([
PathJoinSubstitution([
FindPackageShare(resources_package),
'launch',
'description.launch.py',
]),
]),
condition=UnlessCondition(use_rviz), # rviz launch includes rsp.
launch_arguments=dict(use_sim_time=use_sim_time).items(),
)
rviz = IncludeLaunchDescription(
PythonLaunchDescriptionSource([
PathJoinSubstitution([
FindPackageShare(resources_package),
'launch',
'display.launch.py',
]),
]),
condition=IfCondition(use_rviz),
launch_arguments=dict(use_sim_time=use_sim_time).items(),
)
gz_bridge = Node(
package='ros_gz_bridge',
executable='parameter_bridge',
arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock'],
output='screen',
parameters=[{
'use_sim_time': use_sim_time,
}],
)
return LaunchDescription([
use_sim_time_launch_arg,
use_rviz_arg,
use_custom_world_launch_arg,
gazebo_world_launch_arg,
robot_state_publisher,
rviz,
gazebo,
spawn,
gz_bridge,
])

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openarm_description/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>openarm_description_2</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="TODO@todo.com">TODO</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>joint_state_publisher_gui</depend>
<depend>ros_gz</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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openarm_description/rviz/robot_description.rviz Normal file
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Panels:
- Class: rviz_common/Displays
Name: Displays
- Class: rviz_common/Views
Name: Views
Visualization Manager:
Class: ""
Displays:
- Class: rviz_default_plugins/Grid
Name: Grid
Value: true
Alpha: 0.5
- Class: rviz_default_plugins/RobotModel
Description Source: Topic
Description Topic:
Value: /robot_description
Enabled: true
Name: RobotModel
Alpha: 1
Value: true
- Class: rviz_default_plugins/TF
Name: TF
Value: true
Enabled: false
Global Options:
Fixed Frame: l_J1_v002
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/MoveCamera
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 5.0
Name: Current View
Pitch: 0.33
Value: Orbit (rviz)
Yaw: 5.5
Window Geometry:
Height: 800
Width: 1200

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openarm_description/urdf/openarm.urdf Normal file
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<?xml version="1.0" ?>
<robot name="openarm">
<!--Generated by RobotCAD, a ROS Workbench for FreeCAD (https://github.com/drfenixion/freecad.robotcad)-->
<link name="l_J1_v002">
<visual>
<!--J1 v002/Part__Feature.-->
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j1v1_aooobi.dae"/>
</geometry>
</visual>
<collision>
<!--bound_obj__l_J1_v002__col_J1_v1__BoundBox/col_J1_v1__BoundBox.-->
<origin rpy="0 0 0" xyz="0.0 0.0 0.0296"/>
<geometry>
<box size="0.11 0.073 0.0592"/>
</geometry>
</collision>
<inertial>
<mass value="0.5769283920617252"/>
<origin rpy="0 0 0" xyz="0.0 2.52845e-05 0.0236621"/>
<inertia ixx="0.0003403516757406" ixy="-0.0" ixz="-0.0" iyy="0.000430005830001" iyz="-5.098294821e-07" izz="0.0004802171432002"/>
</inertial>
</link>
<link name="l_J2_v002">
<visual>
<!--J2 v002/Part__Feature001.-->
<origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
<geometry>
<mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j2v1_jhlkho.dae"/>
</geometry>
</visual>
<collision>
<!--bound_obj__l_J2_v002__col_J2_v1__BoundBox/col_J2_v1__BoundBox.-->
<origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/>
<geometry>
<box size="0.059000000014901216 0.08200000000000003 0.0742471498637348"/>
</geometry>
</collision>
<inertial>
<mass value="0.1625750413491735"/>
<origin rpy="0 0 0" xyz="-0.000225878 -0.00183836 0.0278368"/>
<inertia ixx="0.0002390311021329" ixy="-7.55169292e-08" ixz="-1.1282723362e-06" iyy="0.0001049079831478" iyz="5.907962784e-06" izz="0.0001973736868594"/>
</inertial>
</link>
<link name="l_J3_v003">
<visual>
<!--J3 v003/Part__Feature002.-->
<origin rpy="1.570796326794897 0 0" xyz="0.0 0.0987 0.02975"/>
<geometry>
<mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j3v2_wvlhxy.dae"/>
</geometry>
</visual>
<collision>
<!--bound_obj__l_J3_v003__col_J3_v2__BoundBox/col_J3_v2__BoundBox.-->
<origin rpy="1.5707963267948968 0 0" xyz="-0.0164466 -0.00045542 0.02975"/>
<geometry>
<box size="0.08989101803441883 0.06999999999999984 0.05903276947803012"/>
</geometry>
</collision>
<inertial>
<mass value="0.420167646991003"/>
<origin rpy="1.5707963267948968 0 0" xyz="-0.00688022 0.0 0.0282752"/>
<inertia ixx="0.0002025600112623" ixy="6.0042478753e-06" ixz="1.3304903058e-06" iyy="0.0002970624991388" iyz="5.980157766e-07" izz="0.0003288999435124"/>
</inertial>
</link>
<link name="l_J4_v002">
<visual>
<!--J4 v002/Part__Feature003.-->
<origin rpy="1.5707963267958094 -1.5620381439005735 0" xyz="0.000536411 0.0992364 0.0612453"/>
<geometry>
<mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j4v1_augius.dae"/>
</geometry>
</visual>
<collision>
<!--bound_obj__l_J4_v002__col_J4_v1__BoundBox/col_J4_v1__BoundBox.-->
<origin rpy="1.5707963267958094 -1.5620381439005735 0" xyz="-0.013725 -0.00142762 -0.132481"/>
<geometry>
<box size="0.27584673777150337 0.08211429171582063 0.07186573179325861"/>
</geometry>
</collision>
<inertial>
<mass value="0.8194755393734474"/>
<origin rpy="1.5707963267958094 -1.5620381439005735 0" xyz="-0.00310558 -0.00194096 -0.132377"/>
<inertia ixx="0.0004407845203398" ixy="6.02002369404e-05" ixz="0.0001463745926194" iyy="0.0092087914805304" iyz="1.5469710436e-06" izz="0.0091705393160237"/>
</inertial>
</link>
<link name="l_J5_v003">
<visual>
<!--J5 v003/Part__Feature004.-->
<origin rpy="0 -0.00875818289428989 0" xyz="0.303864 0.0 -0.128451"/>
<geometry>
<mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j5v2_1zjcxf.dae"/>
</geometry>
</visual>
<collision>
<!--bound_obj__l_J5_v003__col_J5_v2__BoundBox/col_J5_v2__BoundBox.-->
<origin rpy="0 -0.0087581828942894 0" xyz="-0.0542814 0.00265291 -0.0302022"/>
<geometry>
<box size="0.16827213220625822 0.06430555048399172 0.08257859967140947"/>
</geometry>
</collision>
<inertial>
<mass value="0.4086748254352304"/>
<origin rpy="0 -0.0087581828942894 0" xyz="-0.0831891 0.00251789 -0.0290107"/>
<inertia ixx="0.000314171574253" ixy="-1.13915660296e-05" ixz="-1.88347409006e-05" iyy="0.001221711435314" iyz="1.4672541842e-06" izz="0.0010755135067661"/>
</inertial>
</link>
<link name="l_J6_v002">
<visual>
<!--J6 v002/Part__Feature005.-->
<origin rpy="-2.1276679791304027 -1.5542266826921316 0" xyz="-0.0485412 -0.0860404 0.437784"/>
<geometry>
<mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j6v1_71vz7n.dae"/>
</geometry>
</visual>
<collision>
<!--bound_obj__l_J6_v002__col_J6_v1__BoundBox/col_J6_v1__BoundBox.-->
<origin rpy="-2.1276679791303965 -1.5542266826921314 0" xyz="-0.00260794 -0.00312921 -0.0652641"/>
<geometry>
<box size="0.13114353004704765 0.05953478325301745 0.08817196195081879"/>
</geometry>
</collision>
<inertial>
<mass value="0.344847195804925"/>
<origin rpy="-2.1276679791303965 -1.5542266826921314 0" xyz="-0.00898536 -0.0135065 -0.0438611"/>
<inertia ixx="0.0001935598099975" ixy="-1.0061665815e-06" ixz="-3.9096495715e-05" iyy="0.0003486912031866" iyz="6.0880603153e-06" izz="0.0002877497515376"/>
</inertial>
</link>
<link name="l_J7_v002">
<visual>
<!--J7 v002/Part__Feature006.-->
<origin rpy="0 -0.008758182894492011 0" xyz="0.558839 -0.00358671 -0.0631962"/>
<geometry>
<mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j7v1_ebpnbv.dae"/>
</geometry>
</visual>
<collision>
<!--bound_obj__l_J7_v002__col_J7_v1__BoundBox/col_J7_v1__BoundBox.-->
<origin rpy="0 -0.008758182894492202 0" xyz="-0.000318103 0.0022839 0.0340014"/>
<geometry>
<box size="0.058327402175132874 0.04432916698753661 0.08267601622411752"/>
</geometry>
</collision>
<inertial>
<mass value="0.2782138078738053"/>
<origin rpy="0 -0.008758182894492202 0" xyz="5.99432e-05 0.0041433 0.0354274"/>
<inertia ixx="0.0001042415331565" ixy="2.735265832e-07" ixz="-1.066232238e-07" iyy="0.0001231355074328" iyz="-8.60499675e-08" izz="9.22131995851e-05"/>
</inertial>
</link>
<link name="l_J8_v002">
<visual>
<!--J8 v002/Part__Feature007.-->
<origin rpy="1.5709195259578743 -0.014065461951076396 0" xyz="0.557948 0.103587 0.019724"/>
<geometry>
<mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j8v1_n9o5e8.dae"/>
</geometry>
</visual>
<collision>
<!--bound_obj__l_J8_v002__col_J8_v1__BoundBox/col_J8_v1__BoundBox.-->
<origin rpy="1.5709195259578743 -0.014065461951076389 0" xyz="-0.042694 -0.000543176 0.0110286"/>
<geometry>
<box size="0.13038799671743653 0.05180887692688924 0.1601236763440867"/>
</geometry>
</collision>
<inertial>
<mass value="0.3126145274380216"/>
<origin rpy="1.5709195259578743 -0.014065461951076387 0" xyz="-0.0607602 -0.000341696 0.00876618"/>
<inertia ixx="0.0002346566136679" ixy="7.60904888201e-05" ixz="3.088694121e-07" iyy="0.0005065459365215" iyz="1.902281803e-07" izz="0.0003737029250058"/>
</inertial>
</link>
<link name="l_right_jaw_v002">
<visual>
<!--right_jaw v002/Part__Feature009.-->
<origin rpy="0 -0.008758182894796506 0" xyz="0.665265 -0.00286677 -0.175928"/>
<geometry>
<mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_right_jawv1_fr5g7k.dae"/>
</geometry>
</visual>
<collision>
<!--bound_obj__l_right_jaw_v002__col_right_jaw_v1_col_obj/col_right_jaw_v1_col_obj.-->
<origin rpy="0 -0.008758182894796357 0" xyz="0.665265 -0.00286677 -0.175928"/>
<geometry>
<mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_col_right_jaw_v1_col_obj_p8alje.dae"/>
</geometry>
</collision>
<inertial>
<mass value="0.0429816653011345"/>
<origin rpy="0 -0.008758182894796502 0" xyz="-0.0187844 -0.00272415 -0.0159503"/>
<inertia ixx="1.15612930876e-05" ixy="2.537718468e-06" ixz="-3.6591812258e-06" iyy="2.37016552787e-05" iyz="4.848038236e-07" izz="3.03965294654e-05"/>
</inertial>
</link>
<link name="l_left_jaw_v002">
<visual>
<!--left_jaw v002/Part__Feature008.-->
<origin rpy="0 -0.008758182894441503 0" xyz="0.665265 -0.00286677 -0.0209282"/>
<geometry>
<mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_left_jawv1_mtevtw.dae"/>
</geometry>
</visual>
<collision>
<!--bound_obj__l_left_jaw_v002__col_left_jaw_v1_col_obj/col_left_jaw_v1_col_obj.-->
<origin rpy="0 -0.008758182894441503 0" xyz="0.665265 -0.00286677 -0.0209282"/>
<geometry>
<mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_col_left_jaw_v1_col_obj_u5blmp.dae"/>
</geometry>
</collision>
<inertial>
<mass value="0.0429789785639494"/>
<origin rpy="0 -0.008758182894441498 0" xyz="-0.0187138 0.00217075 0.0159499"/>
<inertia ixx="1.17717687429e-05" ixy="-2.3899281666e-06" ixz="3.9992922045e-06" iyy="2.38373544808e-05" iyz="3.494431877e-07" izz="3.04745902141e-05"/>
</inertial>
</link>
<joint name="l_J1_v002__to__l_J2_v002" type="revolute">
<parent link="l_J1_v002"/>
<child link="l_J2_v002"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.05395"/>
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-2.356194490192345" upper="2.356194490192345" velocity="0.0"/>
</joint>
<joint name="l_J2_v002__to__l_J3_v003" type="revolute">
<parent link="l_J2_v002"/>
<child link="l_J3_v003"/>
<origin rpy="-1.5707963267948977 1.5707963267948957 0" xyz="0.0 -0.02975 0.04475"/>
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
</joint>
<joint name="l_J3_v003__to__l_J4_v002" type="revolute">
<parent link="l_J3_v003"/>
<child link="l_J4_v002"/>
<origin rpy="1.5707963267949046 0 1.5795545096892487" xyz="-0.0612477 -0.000536432 0.02975"/>
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
</joint>
<joint name="l_J4_v002__to__l_J5_v003" type="revolute">
<parent link="l_J4_v002"/>
<child link="l_J5_v003"/>
<origin rpy="0.7854173400827703 -1.5584104649378014 0.7854173400871975" xyz="-0.0021149 -0.0318708 -0.241471"/>
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-0.3490658503988659" upper="2.792526803190927" velocity="0.0"/>
</joint>
<joint name="l_J5_v003__to__l_J6_v002" type="revolute">
<parent link="l_J5_v003"/>
<child link="l_J6_v002"/>
<origin rpy="1.5707963267949707 -0.5569332500522621 1.5567303253381135" xyz="-0.133937 0.00188408 -0.0297547"/>
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
</joint>
<joint name="l_J6_v002__to__l_J7_v002" type="revolute">
<parent link="l_J6_v002"/>
<child link="l_J7_v002"/>
<origin rpy="-1.5707963268025373 -1.5567303253381704 -0.5569332500438752" xyz="-0.0187648 -0.0301352 -0.12105"/>
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
</joint>
<joint name="l_J7_v002__to__l_J8_v002" type="revolute">
<parent link="l_J7_v002"/>
<child link="l_J8_v002"/>
<origin rpy="-1.570796326795002 -0.008759049335348993 -0.014066001454933549" xyz="-0.000217313 -0.0154485 0.0355"/>
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-0.9599310885968813" upper="0.9599310885968813" velocity="0.0"/>
</joint>
<joint name="l_J8_v002__to__l_right_jaw_v002" type="prismatic">
<parent link="l_J8_v002"/>
<child link="l_right_jaw_v002"/>
<origin rpy="1.570796326794885 -0.014066001454926544 0.008759049336297665" xyz="-0.10571 -0.0781373 0.0132053"/>
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
<mimic joint="l_J8_v002__to__l_left_jaw_v002" multiplier="-1.0" offset="0.0"/>
</joint>
<joint name="l_J8_v002__to__l_left_jaw_v002" type="prismatic">
<parent link="l_J8_v002"/>
<child link="l_left_jaw_v002"/>
<origin rpy="1.5707963267948268 -0.014066001454925883 0.00875904933451695" xyz="-0.1071 0.07686 0.0132053"/>
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
</joint>
</robot>

5
openarm_description/urdf/openarm_sensors.urdf.xacro Normal file
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@ -0,0 +1,5 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
</robot>

5
openarm_description/urdf/openarm_wrapper.urdf.xacro Normal file
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@ -0,0 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm">
<xacro:include filename="openarm.urdf"/>
<xacro:include filename="openarm_sensors.urdf.xacro"/>
</robot>

317
openarm_description/worlds/empty.sdf Normal file
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@ -0,0 +1,317 @@
<?xml version="1.0" ?>
<sdf version="1.6">
<world name="empty">
<physics type="ode">
<max_step_size>0.004</max_step_size>
<real_time_factor>1.0</real_time_factor>
<real_time_update_rate>250</real_time_update_rate>
</physics>
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<plugin
filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
<!-- <render_engine>ogre</render_engine> -->
<render_engine>ogre2</render_engine>
<!-- <render_engine>optix</render_engine> -->
</plugin>
<plugin
filename="gz-sim-contact-system"
name="gz::sim::systems::Contact">
</plugin>
<gui fullscreen="0">
<!-- 3D scene -->
<plugin filename="MinimalScene" name="3D View">
<gz-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>
<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>
<!-- Plugins that add functionality to the scene -->
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
<gz-gui>
<property key="state" type="string">floating</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="GzSceneManager" name="Scene Manager">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="InteractiveViewControl" name="Interactive view control">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="CameraTracking" name="Camera Tracking">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="MarkerManager" name="Marker manager">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="SelectEntities" name="Select Entities">
<gz-gui>
<anchors target="Select entities">
<line own="right" target="right"/>
<line own="top" target="top"/>
</anchors>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="Spawn" name="Spawn Entities">
<gz-gui>
<anchors target="Select entities">
<line own="right" target="right"/>
<line own="top" target="top"/>
</anchors>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<!-- World control -->
<plugin filename="WorldControl" name="World control">
<gz-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>
<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<use_event>true</use_event>
</plugin>
<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<gz-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>
<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
</plugin>
<!-- Insert simple shapes -->
<plugin filename="Shapes" name="Shapes">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">0</property>
<property key="y" type="double">0</property>
<property key="width" type="double">250</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</gz-gui>
</plugin>
<!-- Insert lights -->
<plugin filename="Lights" name="Lights">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">250</property>
<property key="y" type="double">0</property>
<property key="width" type="double">150</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</gz-gui>
</plugin>
<!-- Translate / rotate -->
<plugin filename="TransformControl" name="Transform control">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">0</property>
<property key="y" type="double">50</property>
<property key="width" type="double">250</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</gz-gui>
</plugin>
<!-- Inspector -->
<plugin filename="ComponentInspector" name="Component inspector">
<gz-gui>
<property type="string" key="state">docked_collapsed</property>
</gz-gui>
</plugin>
<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree">
<gz-gui>
<property type="string" key="state">docked_collapsed</property>
</gz-gui>
</plugin>
<!-- View angle -->
<plugin filename="ViewAngle" name="View angle">
<gz-gui>
<property type="string" key="state">docked_collapsed</property>
</gz-gui>
</plugin>
<!-- Image Display Plugins for visualization -->
<plugin filename="ImageDisplay" name="Image Display">
<gz-gui>
</gz-gui>
<topic>camera</topic>
</plugin>
<plugin name='Grid config' filename='GridConfig'>
<gz-gui>
<property type="string" key="state">docked_collapsed</property>
</gz-gui>
<insert>
<!-- total size = length * cell count-->
<horizontal_cell_count>50</horizontal_cell_count>
<!-- 0 actually means one plane-->
<vertical_cell_count>0</vertical_cell_count>
<!--5m cells-->
<cell_length>2.0</cell_length>
<pose>0 0 0 0 0 0</pose>
<color>1 1 1 0.7</color>
</insert>
</plugin>
</gui>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<scene>
<grid>false</grid>
<ambient>0.4 0.4 0.4 1</ambient>
<!-- <background>0.7 0.7 0.7 1</background> -->
<background>0.8 0.8 0.8</background>
<shadows>true</shadows>
</scene>
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>
</world>
</sdf>

0
overcross/COLCON_IGNORE Normal file
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27
overcross/openarm_controllers.yaml Normal file
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@ -0,0 +1,27 @@
controller_manager:
ros__parameters:
update_rate: 250
gripper_action_controller_position:
type: position_controllers/GripperActionController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
joint_group_position_controller:
type: position_controllers/JointGroupPositionController
gripper_action_controller_position:
ros__parameters:
action_monitor_rate: 20.0
allow_stalling: false
goal_tolerance: 0.01
joint: null
max_effort: 0.0
stall_timeout: 1.0
stall_velocity_threshold: 0.001
joint_state_broadcaster:
ros__parameters:
map_interface_to_joint_state.effort: effort
map_interface_to_joint_state.position: position
map_interface_to_joint_state.velocity: velocity
use_local_topics: false
use_urdf_to_filter: true
joint_group_position_controller:
ros__parameters: {}

86
overcross/robot_meta.xml Normal file
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@ -0,0 +1,86 @@
<?xml version="1.0" ?>
<robotMeta>
<robotName>openarm</robotName>
<urdfFileName>openarm.urdf</urdfFileName>
<packageName>openarm_description_2</packageName>
<meshesDir>meshes </meshesDir>
<robotType>nonspecific</robotType>
<generateCodeForRosVersion>jazzy</generateCodeForRosVersion>
<rootLinkName>l_J1_v002</rootLinkName>
<xacroWrapperFileName>openarm_wrapper.urdf.xacro</xacroWrapperFileName>
<controllersConfigFileName>openarm_controllers.yaml</controllersConfigFileName>
<joints>
<joint>
<name>l_J1_v002__to__l_J2_v002</name>
<jointSpecific>unset</jointSpecific>
<jointRotationDirection>unset</jointRotationDirection>
<jointRelTotalCenterOfMass_x>0.09289716518533317</jointRelTotalCenterOfMass_x>
<jointRelTotalCenterOfMass_y>0.0012062241015717492</jointRelTotalCenterOfMass_y>
<jointRelTotalCenterOfMass_z>-0.061900576071863</jointRelTotalCenterOfMass_z>
</joint>
<joint>
<name>l_J2_v002__to__l_J3_v003</name>
<jointSpecific>unset</jointSpecific>
<jointRotationDirection>unset</jointRotationDirection>
<jointRelTotalCenterOfMass_x>0.09289716518533321</jointRelTotalCenterOfMass_x>
<jointRelTotalCenterOfMass_y>-0.02854377589842827</jointRelTotalCenterOfMass_y>
<jointRelTotalCenterOfMass_z>-0.017150576071863013</jointRelTotalCenterOfMass_z>
</joint>
<joint>
<name>l_J3_v003__to__l_J4_v002</name>
<jointSpecific>unset</jointSpecific>
<jointRotationDirection>unset</jointRotationDirection>
<jointRelTotalCenterOfMass_x>0.031649514284448864</jointRelTotalCenterOfMass_x>
<jointRelTotalCenterOfMass_y>0.0012062241015718708</jointRelTotalCenterOfMass_y>
<jointRelTotalCenterOfMass_z>-0.01661414422754956</jointRelTotalCenterOfMass_z>
</joint>
<joint>
<name>l_J4_v002__to__l_J5_v003</name>
<jointSpecific>unset</jointSpecific>
<jointRotationDirection>unset</jointRotationDirection>
<jointRelTotalCenterOfMass_x>-0.20983062047238518</jointRelTotalCenterOfMass_x>
<jointRelTotalCenterOfMass_y>0.033077014697707</jointRelTotalCenterOfMass_y>
<jointRelTotalCenterOfMass_z>-0.016614144227858844</jointRelTotalCenterOfMass_z>
</joint>
<joint>
<name>l_J5_v003__to__l_J6_v002</name>
<jointSpecific>unset</jointSpecific>
<jointRotationDirection>unset</jointRotationDirection>
<jointRelTotalCenterOfMass_x>-0.08488103444256599</jointRelTotalCenterOfMass_x>
<jointRelTotalCenterOfMass_y>0.0022268460560923354</jointRelTotalCenterOfMass_y>
<jointRelTotalCenterOfMass_z>0.030965376793060356</jointRelTotalCenterOfMass_z>
</joint>
<joint>
<name>l_J6_v002__to__l_J7_v002</name>
<jointSpecific>unset</jointSpecific>
<jointRotationDirection>unset</jointRotationDirection>
<jointRelTotalCenterOfMass_x>0.02795991840243387</jointRelTotalCenterOfMass_x>
<jointRelTotalCenterOfMass_y>-0.03426282248752859</jointRelTotalCenterOfMass_y>
<jointRelTotalCenterOfMass_z>0.07396277148947943</jointRelTotalCenterOfMass_z>
</joint>
<joint>
<name>l_J7_v002__to__l_J8_v002</name>
<jointSpecific>unset</jointSpecific>
<jointRotationDirection>unset</jointRotationDirection>
<jointRelTotalCenterOfMass_x>0.033758514926782335</jointRelTotalCenterOfMass_x>
<jointRelTotalCenterOfMass_y>0.001187752615916666</jointRelTotalCenterOfMass_y>
<jointRelTotalCenterOfMass_z>0.05952028198168136</jointRelTotalCenterOfMass_z>
</joint>
<joint>
<name>l_J8_v002__to__l_right_jaw_v002</name>
<jointSpecific>unset</jointSpecific>
<jointRotationDirection>unset</jointRotationDirection>
<jointRelTotalCenterOfMass_x>0.0</jointRelTotalCenterOfMass_x>
<jointRelTotalCenterOfMass_y>0.0</jointRelTotalCenterOfMass_y>
<jointRelTotalCenterOfMass_z>0.0</jointRelTotalCenterOfMass_z>
</joint>
<joint>
<name>l_J8_v002__to__l_left_jaw_v002</name>
<jointSpecific>unset</jointSpecific>
<jointRotationDirection>unset</jointRotationDirection>
<jointRelTotalCenterOfMass_x>0.0</jointRelTotalCenterOfMass_x>
<jointRelTotalCenterOfMass_y>0.0</jointRelTotalCenterOfMass_y>
<jointRelTotalCenterOfMass_z>0.0</jointRelTotalCenterOfMass_z>
</joint>
</joints>
</robotMeta>