diff --git a/mycobot_280/mycobot_280/config/mycobot.rviz b/mycobot_280/mycobot_280/config/mycobot.rviz index 7d3eab22..bcf08936 100644 --- a/mycobot_280/mycobot_280/config/mycobot.rviz +++ b/mycobot_280/mycobot_280/config/mycobot.rviz @@ -11,7 +11,7 @@ Panels: - /TF1/Frames1 - /TF1/Tree1 Splitter Ratio: 0.5 - Tree Height: 568 + Tree Height: 637 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -65,77 +65,7 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - g_base: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_base: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_left1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_left2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_left3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_right1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_right2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_right3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - joint1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - joint2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - joint3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - joint4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - joint5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - joint6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - joint6_flange: + base: Alpha: 1 Show Axes: false Show Trail: false @@ -153,36 +83,6 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: false - g_base: - Value: false - gripper_base: - Value: false - gripper_left1: - Value: false - gripper_left2: - Value: false - gripper_left3: - Value: true - gripper_right1: - Value: false - gripper_right2: - Value: false - gripper_right3: - Value: false - joint1: - Value: false - joint2: - Value: false - joint3: - Value: false - joint4: - Value: false - joint5: - Value: false - joint6: - Value: false - joint6_flange: - Value: false Marker Alpha: 1 Marker Scale: 0.30000001192092896 Name: TF @@ -190,25 +90,7 @@ Visualization Manager: Show Axes: true Show Names: true Tree: - g_base: - joint1: - joint2: - joint3: - joint4: - joint5: - joint6: - joint6_flange: - gripper_base: - gripper_left2: - {} - gripper_left3: - gripper_left1: - {} - gripper_right2: - {} - gripper_right3: - gripper_right1: - {} + {} Update Interval: 0 Value: true - Class: rviz/Marker @@ -223,7 +105,7 @@ Visualization Manager: Global Options: Background Color: 48; 48; 48 Default Light: true - Fixed Frame: joint1 + Fixed Frame: base Frame Rate: 30 Name: root Tools: @@ -247,7 +129,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 0.31271597743034363 + Distance: 1.204347848892212 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -255,25 +137,25 @@ Visualization Manager: Value: false Field of View: 0.7853981852531433 Focal Point: - X: 0.08619801700115204 - Y: -0.10585817694664001 - Z: 0.4004986882209778 + X: -0.021931247785687447 + Y: -0.011295657604932785 + Z: -0.008990013971924782 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.7803980112075806 + Pitch: 0.6003984808921814 Target Frame: - Yaw: 0.005366181954741478 + Yaw: 1.0435491800308228 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 865 + Height: 934 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 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+ QMainWindow State: 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Selection: collapsed: false Time: diff --git a/mycobot_280/mycobot_280/launch/test.launch b/mycobot_280/mycobot_280/launch/test.launch index 657b7dd4..484d0de8 100644 --- a/mycobot_280/mycobot_280/launch/test.launch +++ b/mycobot_280/mycobot_280/launch/test.launch @@ -1,5 +1,6 @@ + diff --git a/mycobot_description/urdf/flange/flange.urdf b/mycobot_description/urdf/flange/flange.urdf new file mode 100644 index 00000000..fb7b4707 --- /dev/null +++ b/mycobot_description/urdf/flange/flange.urdf @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/mycobot_description/urdf/flange/v1.dae b/mycobot_description/urdf/flange/v1.dae new file mode 100755 index 00000000..0f09fc9b --- /dev/null +++ b/mycobot_description/urdf/flange/v1.dae @@ -0,0 +1,649 @@ + + + + + + Rhinoceros 7.0.20314.3001 + Output from Rhinoceros COLLADA Exporter + + + 2024-09-06T10:24:17Z + 2024-09-06T10:24:17Z + + Z_UP + + + + + + + 56.189974 + 2.224324 + 514.340039 + 767.079264 + + + 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4 4 4 1 1 1 0 0 0 5 5 5 2 2 2 4 4 4 7 7 7 4 4 4 3 3 3 8 8 8 5 5 5 7 7 7 0 0 0 10 10 10 11 11 11 3 3 3 0 0 0 12 12 12 11 11 11 12 12 12 0 0 0 1 1 1 10 10 10 0 0 0 2 2 2 22 22 22 9 9 9 10 10 10 1 1 1 9 9 9 1 1 1 2 2 2 9 9 9 2 2 2 5 5 5 21 21 21 22 22 22 2 2 2 21 21 21 6 6 6 3 3 3 14 14 14 16 16 16 6 6 6 15 15 15 14 14 14 15 15 15 6 6 6 7 7 7 6 6 6 16 16 16 19 19 19 20 20 20 5 5 5 19 19 19 5 5 5 8 8 8 18 18 18 8 8 8 17 17 17 7 7 7 17 17 17 8 8 8 19 19 19 8 8 8 18 18 18 17 17 17 7 7 7 16 16 16 27 27 27 24 24 24 23 23 23 28 28 28 25 25 25 27 27 27 30 30 30 27 27 27 29 29 29 31 31 31 28 28 28 27 27 27 37 37 37 35 35 35 36 36 36 23 23 23 34 34 34 35 35 35 23 23 23 37 37 37 38 38 38 35 35 35 37 37 37 23 23 23 24 24 24 34 34 34 23 23 23 48 48 48 32 32 32 33 33 33 25 25 25 48 48 48 33 33 33 25 25 25 28 28 28 47 47 47 48 48 48 25 25 25 47 47 47 33 33 33 24 24 24 25 25 25 24 24 24 33 33 33 34 34 34 26 26 26 23 23 23 38 38 38 39 39 39 40 40 40 26 26 26 42 42 42 29 29 29 41 41 41 40 40 40 41 41 41 29 29 29 30 30 30 29 29 29 42 42 42 45 45 45 46 46 46 28 28 28 31 31 31 45 45 45 28 28 28 43 43 43 31 31 31 30 30 30 31 31 31 43 43 43 44 44 44 43 43 43 30 30 30 42 42 42 45 45 45 31 31 31 44 44 44 53 53 53 50 50 50 52 52 52 54 54 54 51 51 51 53 53 53 56 56 56 53 53 53 52 52 52 57 57 57 54 54 54 56 56 56 49 49 49 59 59 59 60 60 60 52 52 52 49 49 49 61 61 61 60 60 60 61 61 61 49 49 49 50 50 50 59 59 59 49 49 49 51 51 51 71 71 71 58 58 58 59 59 59 50 50 50 58 58 58 50 50 50 51 51 51 58 58 58 69 69 69 70 70 70 54 54 54 70 70 70 51 51 51 54 54 54 71 71 71 51 51 51 70 70 70 55 55 55 52 52 52 63 63 63 65 65 65 55 55 55 64 64 64 63 63 63 64 64 64 55 55 55 56 56 56 55 55 55 65 65 65 54 54 54 57 57 57 68 68 68 67 67 67 57 57 57 66 66 66 56 56 56 66 66 66 57 57 57 68 68 68 57 57 57 67 67 67 66 66 66 56 56 56 65 65 65 76 76 76 73 73 73 72 72 72 77 77 77 74 74 74 76 76 76 79 79 79 76 76 76 75 75 75 80 80 80 77 77 77 79 79 79 72 72 72 82 82 82 83 83 83 84 84 84 72 72 72 83 83 83 73 73 73 82 82 82 72 72 72 84 84 84 85 85 85 75 75 75 86 86 86 75 75 75 85 85 85 74 74 74 97 97 97 81 81 81 82 82 82 73 73 73 81 81 81 73 73 73 74 74 74 81 81 81 74 74 74 77 77 77 96 96 96 97 97 97 74 74 74 96 96 96 78 78 78 86 86 86 87 87 87 89 89 89 78 78 78 87 87 87 78 78 78 89 89 89 90 90 90 87 87 87 88 88 88 89 89 89 79 79 79 78 78 78 90 90 90 94 94 94 95 95 95 77 77 77 94 94 94 77 77 77 80 80 80 93 93 93 80 80 80 91 91 91 79 79 79 91 91 91 80 80 80 91 91 91 92 92 92 93 93 93 94 94 94 80 80 80 93 93 93 91 91 91 79 79 79 90 90 90 78 78 78 75 75 75 86 86 86 120 120 120 104 104 104 111 111 111 98 98 98 111 111 111 104 104 104 110 110 110 120 120 120 111 111 111 120 120 120 105 105 105 104 104 104 106 106 106 105 105 105 121 121 121 120 120 120 121 121 121 105 105 105 106 106 106 121 121 121 122 122 122 99 99 99 117 117 117 110 110 110 117 117 117 120 120 120 110 110 110 121 121 121 115 115 115 101 101 101 121 121 121 116 116 116 115 115 115 120 120 120 117 117 117 116 116 116 121 121 121 120 120 120 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4 4 4 1 1 1 0 0 0 5 5 5 2 2 2 4 4 4 7 7 7 4 4 4 3 3 3 8 8 8 5 5 5 7 7 7 10 10 10 7 7 7 6 6 6 11 11 11 8 8 8 7 7 7 13 13 13 10 10 10 12 12 12 14 14 14 11 11 11 10 10 10 16 16 16 13 13 13 15 15 15 17 17 17 14 14 14 13 13 13 19 19 19 16 16 16 15 15 15 20 20 20 17 17 17 19 19 19 22 22 22 19 19 19 18 18 18 23 23 23 20 20 20 22 22 22 25 25 25 22 22 22 24 24 24 26 26 26 23 23 23 25 25 25 28 28 28 25 25 25 27 27 27 29 29 29 26 26 26 25 25 25 31 31 31 28 28 28 27 27 27 32 32 32 29 29 29 28 28 28 34 34 34 31 31 31 30 30 30 35 35 35 32 32 32 34 34 34 37 37 37 34 34 34 36 36 36 38 38 38 35 35 35 37 37 37 40 40 40 37 37 37 39 39 39 41 41 41 38 38 38 40 40 40 43 43 43 40 40 40 42 42 42 44 44 44 41 41 41 43 43 43 46 46 46 43 43 43 45 45 45 47 47 47 44 44 44 43 43 43 49 49 49 46 46 46 45 45 45 50 50 50 47 47 47 49 49 49 52 52 52 49 49 49 51 51 51 53 53 53 50 50 50 52 52 52 55 55 55 52 52 52 54 54 54 56 56 56 53 53 53 55 55 55 58 58 58 55 55 55 54 54 54 59 59 59 56 56 56 58 58 58 61 61 61 58 58 58 57 57 57 62 62 62 59 59 59 58 58 58 64 64 64 61 61 61 63 63 63 65 65 65 62 62 62 64 64 64 67 67 67 64 64 64 66 66 66 68 68 68 65 65 65 67 67 67 70 70 70 67 67 67 66 66 66 71 71 71 68 68 68 70 70 70 73 73 73 70 70 70 69 69 69 74 74 74 71 71 71 73 73 73 76 76 76 73 73 73 72 72 72 77 77 77 74 74 74 76 76 76 79 79 79 76 76 76 75 75 75 80 80 80 77 77 77 79 79 79 82 82 82 79 79 79 81 81 81 83 83 83 80 80 80 79 79 79 85 85 85 82 82 82 81 81 81 86 86 86 83 83 83 85 85 85 88 88 88 85 85 85 84 84 84 89 89 89 86 86 86 88 88 88 91 91 91 88 88 88 87 87 87 92 92 92 89 89 89 91 91 91 142 142 142 143 143 143 152 152 152 0 0 0 153 153 153 154 154 154 3 3 3 154 154 154 155 155 155 0 0 0 152 152 152 153 153 153 6 6 6 156 156 156 157 157 157 6 6 6 157 157 157 158 158 158 9 9 9 159 159 159 212 212 212 12 12 12 212 212 212 213 213 213 9 9 9 158 158 158 159 159 159 3 3 3 155 155 155 156 156 156 0 0 0 154 154 154 3 3 3 6 6 6 3 3 3 156 156 156 1 1 1 142 142 142 0 0 0 158 158 158 9 9 9 6 6 6 212 212 212 12 12 12 9 9 9 0 0 0 142 142 142 152 152 152 15 15 15 214 214 214 215 215 215 15 15 15 215 215 215 216 216 216 15 15 15 216 216 216 18 18 18 217 217 217 18 18 18 216 216 216 218 218 218 18 18 18 217 217 217 15 15 15 12 12 12 214 214 214 21 21 21 218 218 218 210 210 210 21 21 21 210 210 210 211 211 211 21 21 21 202 202 202 203 203 203 24 24 24 203 203 203 204 204 204 21 21 21 211 211 211 202 202 202 27 27 27 24 24 24 205 205 205 206 206 206 27 27 27 205 205 205 208 208 208 30 30 30 207 207 207 209 209 209 30 30 30 208 208 208 207 207 207 27 27 27 206 206 206 201 201 201 33 33 33 200 200 200 192 192 192 33 33 33 201 201 201 203 203 203 24 24 24 21 21 21 192 192 192 193 193 193 33 33 33 193 193 193 194 194 194 36 36 36 209 209 209 200 200 200 33 33 33 195 195 195 36 36 36 194 194 194 196 196 196 39 39 39 195 195 195 198 198 198 42 42 42 197 197 197 199 199 199 42 42 42 198 198 198 197 197 197 39 39 39 196 196 196 190 190 190 45 45 45 199 199 199 18 18 18 218 218 218 21 21 21 141 141 141 2 2 2 140 140 140 1 1 1 141 141 141 142 142 142 1 1 1 2 2 2 141 141 141 2 2 2 5 5 5 137 137 137 5 5 5 8 8 8 136 136 136 138 138 138 140 140 140 2 2 2 11 11 11 14 14 14 133 133 133 14 14 14 17 17 17 132 132 132 20 20 20 23 23 23 129 129 129 23 23 23 26 26 26 128 128 128 17 17 17 20 20 20 130 130 130 8 8 8 11 11 11 134 134 134 140 140 140 138 138 138 139 139 139 136 136 136 137 137 137 5 5 5 14 14 14 132 132 132 133 133 133 23 23 23 128 128 128 129 129 129 207 207 207 30 30 30 27 27 27 209 209 209 33 33 33 30 30 30 29 29 29 32 32 32 125 125 125 32 32 32 35 35 35 124 124 124 26 26 26 29 29 29 126 126 126 195 195 195 39 39 39 36 36 36 197 197 197 42 42 42 39 39 39 38 38 38 41 41 41 121 121 121 45 45 45 42 42 42 199 199 199 36 36 36 33 33 33 193 193 193 35 35 35 38 38 38 122 122 122 125 125 125 32 32 32 124 124 124 38 38 38 121 121 121 122 122 122 44 44 44 47 47 47 118 118 118 119 119 119 120 120 120 44 44 44 118 118 118 47 47 47 117 117 117 191 191 191 45 45 45 190 190 190 182 182 182 183 183 183 45 45 45 48 48 48 183 183 183 184 184 184 48 48 48 184 184 184 185 185 185 45 45 45 183 183 183 48 48 48 51 51 51 186 186 186 187 187 187 54 54 54 187 187 187 188 188 188 57 57 57 189 189 189 180 180 180 57 57 57 180 180 180 181 181 181 54 54 54 188 188 188 189 189 189 51 51 51 185 185 185 186 186 186 51 51 51 48 48 48 185 185 185 181 181 181 172 172 172 57 57 57 173 173 173 57 57 57 172 172 172 54 54 54 51 51 51 187 187 187 57 57 57 54 54 54 189 189 189 57 57 57 173 173 173 60 60 60 60 60 60 174 174 174 175 175 175 63 63 63 175 175 175 176 176 176 60 60 60 175 175 175 63 63 63 177 177 177 63 63 63 176 176 176 66 66 66 63 63 63 177 177 177 173 173 173 174 174 174 60 60 60 66 66 66 178 178 178 179 179 179 69 69 69 66 66 66 179 179 179 171 171 171 69 69 69 170 170 170 162 162 162 69 69 69 171 171 171 170 170 170 69 69 69 179 179 179 164 164 164 72 72 72 163 163 163 165 165 165 72 72 72 164 164 164 167 167 167 75 75 75 166 166 166 168 168 168 78 78 78 167 167 167 166 166 166 75 75 75 165 165 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80 103 103 103 80 80 80 83 83 83 102 102 102 147 147 147 87 87 87 84 84 84 149 149 149 90 90 90 87 87 87 95 95 95 96 96 96 91 91 91 90 90 90 95 95 95 91 91 91 95 95 95 90 90 90 151 151 151 84 84 84 81 81 81 145 145 145 83 83 83 86 86 86 101 101 101 101 101 101 102 102 102 83 83 83 99 99 99 100 100 100 86 86 86 89 89 89 98 98 98 99 99 99 92 92 92 98 98 98 89 89 89 92 92 92 97 97 97 98 98 98 92 92 92 93 93 93 97 97 97 93 93 93 92 92 92 96 96 96 75 75 75 72 72 72 165 165 165 45 45 45 191 191 191 182 182 182 237 237 237 225 225 225 236 236 236 238 238 238 226 226 226 225 225 225 239 239 239 227 227 227 226 226 226 240 240 240 228 228 228 239 239 239 241 241 241 229 229 229 240 240 240 242 242 242 230 230 230 229 229 229 243 243 243 231 231 231 230 230 230 244 244 244 232 232 232 243 243 243 245 245 245 233 233 233 232 232 232 246 246 246 234 234 234 245 245 245 248 248 248 237 237 237 236 236 236 249 249 249 238 238 238 248 248 248 250 250 250 239 239 239 238 238 238 251 251 251 240 240 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3011 3011 3011 3201 3201 3201 3202 3202 3202 3006 3006 3006 3194 3194 3194 3195 3195 3195 3350 3350 3350 3346 3346 3346 3347 3347 3347 3351 3351 3351 3347 3347 3347 3348 3348 3348 3353 3353 3353 3349 3349 3349 3350 3350 3350 3354 3354 3354 3350 3350 3350 3351 3351 3351 3368 3368 3368 3367 3367 3367 3347 3347 3347 3348 3348 3348 3347 3347 3347 3367 3367 3367 3351 3351 3351 3374 3374 3374 3354 3354 3354 3690 3690 3690 3686 3686 3686 3687 3687 3687 3690 3690 3690 3687 3687 3687 3688 3688 3688 3692 3692 3692 3689 3689 3689 3690 3690 3690 3694 3694 3694 3690 3690 3690 3691 3691 3691 3708 3708 3708 3687 3687 3687 3686 3686 3686 3703 3703 3703 3693 3693 3693 3704 3704 3704 3691 3691 3691 3713 3713 3713 3694 3694 3694 3704 3704 3704 3694 3694 3694 3705 3705 3705 3727 3727 3727 3728 3728 3728 3729 3729 3729 3995 3995 3995 3994 3994 3994 3988 3988 3988 3996 3996 3996 3989 3989 3989 3997 3997 3997 3998 3998 3998 3997 3997 3997 3989 3989 3989 3984 3984 3984 3995 3995 3995 3985 3985 3985 3983 3983 3983 3998 3998 3998 3984 3984 3984 3974 3974 3974 3997 3997 3997 3983 3983 3983 3999 3999 3999 3973 3973 3973 3996 3996 3996 4000 4000 4000 4001 4001 4001 3991 3991 3991 3996 3996 3996 3982 3982 3982 3999 3999 3999 3980 3980 3980 4002 4002 4002 3981 3981 3981 4030 4030 4030 4029 4029 4029 4017 4017 4017 4018 4018 4018 4031 4031 4031 4008 4008 4008 4017 4017 4017 4033 4033 4033 4018 4018 4018 4026 4026 4026 4030 4030 4030 4027 4027 4027 4009 4009 4009 4032 4032 4032 4025 4025 4025 4034 4034 4034 4008 4008 4008 4031 4031 4031 4031 4031 4031 4024 4024 4024 4034 4034 4034

+
+
+
+
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4 4 4 8 8 8 12 12 12 9 9 9 12 12 12 10 10 10 15 15 15 9 9 9 3 3 3 13 13 13 4 4 4 9 9 9 29 29 29 16 16 16 0 0 0 40 40 40 17 17 17 16 16 16 29 29 29 40 40 40 16 16 16 17 17 17 40 40 40 41 41 41 17 17 17 41 41 41 18 18 18 28 28 28 40 40 40 29 29 29 2 2 2 43 43 43 42 42 42 19 19 19 42 42 42 20 20 20 21 21 21 10 10 10 11 11 11 20 20 20 10 10 10 21 21 21 18 18 18 41 41 41 2 2 2 44 44 44 10 10 10 20 20 20 1 1 1 37 37 37 40 40 40 40 40 40 37 37 37 41 41 41 43 43 43 41 41 41 36 36 36 40 40 40 28 28 28 1 1 1 35 35 35 42 42 42 43 43 43 35 35 35 44 44 44 42 42 42 10 10 10 44 44 44 3 3 3 14 14 14 3 3 3 44 44 44 34 34 34 14 14 14 35 35 35 44 44 44 35 35 35 14 14 14 34 34 34 15 15 15 14 14 14 8 8 8 23 23 23 22 22 22 45 45 45 23 23 23 4 4 4 8 8 8 22 22 22 11 11 11 23 23 23 8 8 8 4 4 4 24 24 24 23 23 23 45 45 45 25 25 25 47 47 47 46 46 46 26 26 26 46 46 46 5 5 5 38 38 38 6 6 6 27 27 27 5 5 5 48 48 48 27 27 27 24 24 24 45 45 45 25 25 25 49 49 49 38 38 38 27 27 27 45 45 45 4 4 4 13 13 13 45 45 45 32 32 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31 31 31 54 54 54 47 47 47 34 34 34 48 48 48 38 38 38 37 37 37 53 53 53 34 34 34 53 53 53 37 37 37 54 54 54 53 53 53 34 34 34 35 35 35 39 39 39 59 59 59 60 60 60 59 59 59 39 39 39 43 43 43 42 42 42 61 61 61 60 60 60 39 39 39 61 61 61 43 43 43 61 61 61 39 39 39 43 43 43 39 39 39 40 40 40 37 37 37 38 38 38 52 52 52 41 41 41 45 45 45 44 44 44 52 52 52 51 51 51 41 41 41 41 41 41 51 51 51 45 45 45 35 35 35 59 59 59 58 58 58 235 235 235 63 63 63 64 64 64 236 236 236 64 64 64 65 65 65 237 237 237 66 66 66 67 67 67 68 68 68 69 69 69 239 239 239 67 67 67 68 68 68 239 239 239 237 237 237 65 65 65 66 66 66 240 240 240 70 70 70 71 71 71 71 71 71 72 72 72 241 241 241 73 73 73 74 74 74 243 243 243 244 244 244 75 75 75 76 76 76 242 242 242 74 74 74 75 75 75 72 72 72 73 73 73 243 243 243 238 238 238 69 69 69 70 70 70 235 235 235 64 64 64 236 236 236 236 236 236 65 65 65 237 237 237 236 236 236 237 237 237 231 231 231 234 234 234 235 235 235 236 236 236 239 239 239 238 238 238 227 227 227 240 240 240 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3 126 126 126 125 125 125 125 125 125 124 124 124 4 4 4 124 124 124 123 123 123 5 5 5 6 6 6 123 123 123 122 122 122 7 7 7 122 122 122 121 121 121 121 121 121 120 120 120 8 8 8 120 120 120 119 119 119 128 128 128 118 118 118 128 128 128 119 119 119 128 128 128 118 118 118 117 117 117 117 117 117 116 116 116 128 128 128 115 115 115 128 128 128 116 116 116 128 128 128 114 114 114 113 113 113 113 113 113 112 112 112 128 128 128 114 114 114 128 128 128 115 115 115 109 109 109 128 128 128 110 110 110 108 108 108 128 128 128 109 109 109 128 128 128 111 111 111 110 110 110 105 105 105 129 129 129 106 106 106 29 29 29 129 129 129 130 130 130 129 129 129 107 107 107 106 106 106 99 99 99 130 130 130 129 129 129 108 108 108 129 129 129 128 128 128 111 111 111 128 128 128 112 112 112 104 104 104 129 129 129 105 105 105 103 103 103 129 129 129 104 104 104 129 129 129 103 103 103 102 102 102 102 102 102 101 101 101 129 129 129 100 100 100 129 129 129 101 101 101 129 129 129 100 100 100 99 99 99 130 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.866032 -0.249996 0.433002 128.380868 0.499989 0.433018 -0.750004 -231.895260 0.000000 0.866024 0.500003 205.846845 0.000000 0.000000 0.000000 1.000000 + + + + 1.000000 0.000000 0.000000 -5.500000 0.000000 1.000000 0.000000 0.000008 0.000000 0.000000 1.000000 106.364746 0.000000 0.000000 0.000000 1.000000 + + + + 1.000000 0.000000 0.000000 -5.500000 0.000000 0.000000 -1.000000 -37.794745 0.000000 1.000000 0.000000 51.250000 0.000000 0.000000 0.000000 1.000000 + + + + 0.000000 0.000000 1.000000 39.221680 1.000000 0.000000 0.000000 0.000008 0.000000 1.000000 0.000000 51.250000 0.000000 0.000000 0.000000 1.000000 + + + + 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 + + + + + + + +
\ No newline at end of file diff --git a/mycobot_description/urdf/mycobot_pro_630/my630.urdf b/mycobot_description/urdf/mycobot_pro_630/my630.urdf index 6f203001..cd66cd0f 100644 --- a/mycobot_description/urdf/mycobot_pro_630/my630.urdf +++ b/mycobot_description/urdf/mycobot_pro_630/my630.urdf @@ -4,150 +4,152 @@ - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + + + - + - - + + - + - - + + - + + - - + + \ No newline at end of file diff --git a/mycobot_description/urdf/mycobot_pro_630/mycobot_630_gripper.urdf b/mycobot_description/urdf/mycobot_pro_630/mycobot_630_gripper.urdf index b42144b1..9aad1def 100644 --- a/mycobot_description/urdf/mycobot_pro_630/mycobot_630_gripper.urdf +++ b/mycobot_description/urdf/mycobot_pro_630/mycobot_630_gripper.urdf @@ -138,129 +138,6 @@ - - diff --git a/mycobot_pro/mycobot_630/config/mycobot_630.rviz b/mycobot_pro/mycobot_630/config/mycobot_630.rviz index c8d417b8..2c248f13 100644 --- a/mycobot_pro/mycobot_630/config/mycobot_630.rviz +++ b/mycobot_pro/mycobot_630/config/mycobot_630.rviz @@ -10,7 +10,7 @@ Panels: - /TF1 - /TF1/Frames1 Splitter Ratio: 0.5 - Tree Height: 719 + Tree Height: 637 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -69,81 +69,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - gripper_base: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_left1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_left2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_left3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_right1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_right2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_right3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - joint1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - joint2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - joint3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - joint4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - joint5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - joint6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tool1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tool2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true Name: RobotModel Robot Description: robot_description TF Prefix: "" @@ -157,38 +82,6 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: false - base: - Value: false - gripper_base: - Value: false - gripper_left1: - Value: false - gripper_left2: - Value: false - gripper_left3: - Value: false - gripper_right1: - Value: false - gripper_right2: - Value: false - gripper_right3: - Value: false - joint1: - Value: false - joint2: - Value: false - joint3: - Value: false - joint4: - Value: false - joint5: - Value: false - joint6: - Value: false - tool1: - Value: false - tool2: - Value: false Marker Alpha: 1 Marker Scale: 0.5 Name: TF @@ -196,26 +89,7 @@ Visualization Manager: Show Axes: true Show Names: true Tree: - base: - joint1: - joint2: - joint3: - joint4: - joint5: - joint6: - tool1: - tool2: - gripper_base: - gripper_left2: - {} - gripper_left3: - gripper_left1: - {} - gripper_right2: - {} - gripper_right3: - gripper_right1: - {} + {} Update Interval: 0 Value: true - Alpha: 1 @@ -255,7 +129,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 1.1596055030822754 + Distance: 0.5902186632156372 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -263,25 +137,25 @@ Visualization Manager: Value: false Field of View: 0.7853981852531433 Focal Point: - X: 0.10261097550392151 - Y: 0.12852436304092407 - Z: 0.8127317428588867 + X: -0.004918896127492189 + Y: -0.028790872544050217 + Z: -0.0053014024160802364 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.5402033925056458 + Pitch: 0.25520408153533936 Target Frame: - Yaw: 5.734956741333008 + Yaw: 0.2468089461326599 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1016 + Height: 934 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a0000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001000000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c20000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000016a00000308fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000308000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010000000308fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000308000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d0065010000000000000736000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c00000030800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -290,6 +164,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 1848 + Width: 1846 X: 72 Y: 27 diff --git a/mycobot_pro/mycobot_630/launch/flange_camera.launch b/mycobot_pro/mycobot_630/launch/flange_camera.launch new file mode 100644 index 00000000..28c79b21 --- /dev/null +++ b/mycobot_pro/mycobot_630/launch/flange_camera.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/mycobot_pro/mycobot_630/launch/test.launch b/mycobot_pro/mycobot_630/launch/test.launch index 5aea4499..19cec277 100755 --- a/mycobot_pro/mycobot_630/launch/test.launch +++ b/mycobot_pro/mycobot_630/launch/test.launch @@ -1,7 +1,7 @@ - - + + diff --git a/mycobot_pro/mycobot_630_gripper_moveit/config/ompl_planning.yaml b/mycobot_pro/mycobot_630_gripper_moveit/config/ompl_planning.yaml index be72f98f..5888db52 100644 --- a/mycobot_pro/mycobot_630_gripper_moveit/config/ompl_planning.yaml +++ b/mycobot_pro/mycobot_630_gripper_moveit/config/ompl_planning.yaml @@ -166,7 +166,7 @@ planner_configs: use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0 find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0 arm: - default_planner_config: RRTstar + default_planner_config: RRTConnect planner_configs: - AnytimePathShortening - SBL @@ -198,6 +198,7 @@ arm: projection_evaluator: joints(joint1_to_base,joint2_to_joint1) longest_valid_segment_fraction: 0.005 gripper: + default_planner_config: RRTConnect planner_configs: - AnytimePathShortening - SBL diff --git a/mycobot_pro/mycobot_630_moveit/config/firefighter.srdf b/mycobot_pro/mycobot_630_moveit/config/firefighter.srdf index 2a9d6db7..7a3a7cfa 100644 --- a/mycobot_pro/mycobot_630_moveit/config/firefighter.srdf +++ b/mycobot_pro/mycobot_630_moveit/config/firefighter.srdf @@ -22,9 +22,9 @@ - + - + @@ -40,12 +40,24 @@ + + + + + + - + + + - + + + - + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/planning_context.launch b/mycobot_pro/mycobot_630_moveit/launch/planning_context.launch index 99bf9874..a46d2e89 100644 --- a/mycobot_pro/mycobot_630_moveit/launch/planning_context.launch +++ b/mycobot_pro/mycobot_630_moveit/launch/planning_context.launch @@ -6,8 +6,9 @@ - + + diff --git a/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py b/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py index c9c7f13c..d528b2ef 100755 --- a/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py +++ b/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py @@ -29,26 +29,28 @@ def callback(data): def listener(): global mc - rospy.init_node("control_slider", anonymous=True) - - ip = rospy.get_param("~ip", "192.168.1.161") - port = rospy.get_param("~port", 5001) - print (ip, port) - mc = ElephantRobot(ip, int(port)) - # START CLIENT,启动客户端 - res = mc.start_client() - if res != "": - sys.exit(1) - - mc.set_speed(90) - - rospy.Subscriber("joint_states", JointState, callback) - - # spin() simply keeps python from exiting until this node is stopped - # spin()只是阻止python退出,直到该节点停止 - print ("sping ...") - rospy.spin() - + try: + rospy.init_node("control_slider", anonymous=True) + + ip = rospy.get_param("~ip", "192.168.1.17") + port = rospy.get_param("~port", 5001) + print (ip, port) + mc = ElephantRobot(ip, int(port)) + # START CLIENT,启动客户端 + res = mc.start_client() + if res != "": + sys.exit(1) + + mc.set_speed(90) + + rospy.Subscriber("joint_states", JointState, callback) + + # spin() simply keeps python from exiting until this node is stopped + # spin()只是阻止python退出,直到该节点停止 + print ("sping ...") + rospy.spin() + except Exception as e: + print(e) if __name__ == "__main__": listener()