diff --git a/openarm_bimanual_description/launch/display_xacro.launch.py b/openarm_bimanual_description/launch/display_xacro.launch.py deleted file mode 100644 index c926f3a..0000000 --- a/openarm_bimanual_description/launch/display_xacro.launch.py +++ /dev/null @@ -1,54 +0,0 @@ -import os -import launch -import launch_ros -import xacro - -from launch.substitutions import LaunchConfiguration -from ament_index_python import get_package_share_directory - - -def get_package_file(package, file_path): - """Get the location of a file installed in an ament package""" - package_path = get_package_share_directory(package) - absolute_file_path = os.path.join(package_path, file_path) - return absolute_file_path - - -def generate_launch_description(): - xacro_file = get_package_file( - "openarm_bimanual_description", "urdf/openarm_bimanual.urdf.xacro" - ) - urdf = xacro.process_file(xacro_file).toprettyxml(indent=" ") - default_rviz_config_path = get_package_file( - "openarm_bimanual_description", "rviz/robot_description.rviz" - ) - - return launch.LaunchDescription( - [ - launch_ros.actions.Node( - name="robot_state_publisher", - package="robot_state_publisher", - executable="robot_state_publisher", - output="screen", - parameters=[{"robot_description": urdf}], - ), - launch_ros.actions.Node( - name="joint_state_publisher_gui", - package="joint_state_publisher_gui", - executable="joint_state_publisher_gui", - output="screen", - ), - launch.actions.DeclareLaunchArgument( - name="rvizconfig", - default_value=str(default_rviz_config_path), - description="Absolute path to rviz config file", - ), - launch_ros.actions.Node( - name="rviz", - package="rviz2", - executable="rviz2", - output="screen", - arguments=["-d", LaunchConfiguration("rvizconfig")], - ), - ] - ) diff --git a/openarm_bimanual_description/urdf/openarm_bimanual.urdf.xacro b/openarm_bimanual_description/urdf/openarm_bimanual.urdf.xacro index 4ee3881..514bf40 100644 --- a/openarm_bimanual_description/urdf/openarm_bimanual.urdf.xacro +++ b/openarm_bimanual_description/urdf/openarm_bimanual.urdf.xacro @@ -2,7 +2,7 @@ - + diff --git a/openarm_bimanual_description/meshes/left_jaw.stl b/openarm_description/meshes/left_jaw.stl similarity index 100% rename from openarm_bimanual_description/meshes/left_jaw.stl rename to openarm_description/meshes/left_jaw.stl diff --git a/openarm_bimanual_description/meshes/link1.stl b/openarm_description/meshes/link1.stl similarity index 100% rename from openarm_bimanual_description/meshes/link1.stl rename to openarm_description/meshes/link1.stl diff --git a/openarm_bimanual_description/meshes/link2.stl b/openarm_description/meshes/link2.stl similarity index 100% rename from openarm_bimanual_description/meshes/link2.stl rename to openarm_description/meshes/link2.stl diff --git a/openarm_bimanual_description/meshes/link3.stl b/openarm_description/meshes/link3.stl similarity index 100% rename from openarm_bimanual_description/meshes/link3.stl rename to openarm_description/meshes/link3.stl diff --git a/openarm_bimanual_description/meshes/link4.stl b/openarm_description/meshes/link4.stl similarity index 100% rename from openarm_bimanual_description/meshes/link4.stl rename to openarm_description/meshes/link4.stl diff --git a/openarm_bimanual_description/meshes/link5.stl b/openarm_description/meshes/link5.stl similarity index 100% rename from openarm_bimanual_description/meshes/link5.stl rename to openarm_description/meshes/link5.stl diff --git a/openarm_bimanual_description/meshes/link6_leftarm.stl b/openarm_description/meshes/link6_leftarm.stl similarity index 100% rename from openarm_bimanual_description/meshes/link6_leftarm.stl rename to openarm_description/meshes/link6_leftarm.stl diff --git a/openarm_bimanual_description/meshes/link6_rightarm.stl b/openarm_description/meshes/link6_rightarm.stl similarity index 100% rename from openarm_bimanual_description/meshes/link6_rightarm.stl rename to openarm_description/meshes/link6_rightarm.stl diff --git a/openarm_bimanual_description/meshes/link7_leftarm.stl b/openarm_description/meshes/link7_leftarm.stl similarity index 100% rename from openarm_bimanual_description/meshes/link7_leftarm.stl rename to openarm_description/meshes/link7_leftarm.stl diff --git a/openarm_bimanual_description/meshes/link7_rightarm.stl b/openarm_description/meshes/link7_rightarm.stl similarity index 100% rename from openarm_bimanual_description/meshes/link7_rightarm.stl rename to openarm_description/meshes/link7_rightarm.stl diff --git a/openarm_bimanual_description/meshes/link8.stl b/openarm_description/meshes/link8.stl similarity index 100% rename from openarm_bimanual_description/meshes/link8.stl rename to openarm_description/meshes/link8.stl diff --git a/openarm_description/meshes/pedestal_link.stl b/openarm_description/meshes/pedestal_link.stl new file mode 100644 index 0000000..55c212a Binary files /dev/null and b/openarm_description/meshes/pedestal_link.stl differ diff --git a/openarm_bimanual_description/meshes/right_jaw.stl b/openarm_description/meshes/right_jaw.stl similarity index 100% rename from openarm_bimanual_description/meshes/right_jaw.stl rename to openarm_description/meshes/right_jaw.stl diff --git a/openarm_description/rviz/robot_description.rviz b/openarm_description/rviz/robot_description.rviz index 2ef79be..f55f68d 100644 --- a/openarm_description/rviz/robot_description.rviz +++ b/openarm_description/rviz/robot_description.rviz @@ -1,42 +1,174 @@ Panels: - Class: rviz_common/Displays + Help Height: 71 Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + Splitter Ratio: 0.5 + Tree Height: 294 - Class: rviz_common/Views + Expanded: + - /Current View1 Name: Views + Splitter Ratio: 0.5 Visualization Manager: Class: "" Displays: - - Class: rviz_default_plugins/Grid + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: Value: true - Alpha: 0.5 - - Class: rviz_default_plugins/RobotModel + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" Description Source: Topic Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable Value: /robot_description Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link8: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_left_jaw: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_right_jaw: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false Name: RobotModel - Alpha: 1 + TF Prefix: "" + Update Interval: 0 Value: true + Visual Enabled: true - Class: rviz_default_plugins/TF - Name: TF - Value: true Enabled: false + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: false + Enabled: true Global Options: - Fixed Frame: l_J1_v002 + Background Color: 48; 48; 48 + Fixed Frame: link1 Frame Rate: 30 Name: root Tools: - Class: rviz_default_plugins/MoveCamera + Transformation: + Current: + Class: rviz_default_plugins/TF Value: true Views: Current: Class: rviz_default_plugins/Orbit - Distance: 5.0 + Distance: 5 + 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 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false Name: Current View - Pitch: 0.33 + Near Clip Distance: 0.009999999776482582 + Pitch: 0.33000001311302185 + Target Frame: Value: Orbit (rviz) Yaw: 5.5 + Saved: ~ Window Geometry: + Displays: + collapsed: false Height: 800 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000100000000000001b6000002c5fc0200000002fb000000100044006900730070006c006100790073010000003e000001aa000000cb00fffffffb0000000a0056006900650077007301000001ee00000115000000a500ffffff000002f4000002c500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false Width: 1200 + X: 43 + Y: 12 diff --git a/openarm_bimanual_description/urdf/openarm.xacro b/openarm_description/urdf/openarm.urdf.xacro similarity index 99% rename from openarm_bimanual_description/urdf/openarm.xacro rename to openarm_description/urdf/openarm.urdf.xacro index dd71f18..59500c4 100644 --- a/openarm_bimanual_description/urdf/openarm.xacro +++ b/openarm_description/urdf/openarm.urdf.xacro @@ -6,7 +6,7 @@ - + diff --git a/openarm_description/urdf/openarm_wrapper.urdf.xacro b/openarm_description/urdf/openarm_wrapper.urdf.xacro index 682272a..dc6eda7 100644 --- a/openarm_description/urdf/openarm_wrapper.urdf.xacro +++ b/openarm_description/urdf/openarm_wrapper.urdf.xacro @@ -1,6 +1,6 @@ - +