增加280JN自适应夹爪URDF模型

elephantrobotics · Sep 12, 2024 · f443406 · f443406
1 parent f23363f
commit f443406
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diff --git a/mycobot_280/mycobot_280jn/CMakeLists.txt b/mycobot_280/mycobot_280jn/CMakeLists.txt
@@ -26,9 +26,7 @@ catkin_install_python(PROGRAMS
   scripts/teleop_keyboard.py
   scripts/listen_real.py
   scripts/listen_real_of_topic.py
-  scripts/detect_marker.py
-  scripts/following_marker.py
-  scripts/follow_and_pump.py
+  scripts/slider_control_gripper.py
   scripts/simple_gui.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )

diff --git a/mycobot_280/mycobot_280jn/config/mycobot_jn.rviz b/mycobot_280/mycobot_280jn/config/mycobot_jn.rviz
@@ -9,7 +9,7 @@ Panels:
         - /RobotModel1
         - /TF1
       Splitter Ratio: 0.5
-    Tree Height: 579
+    Tree Height: 609
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -63,6 +63,46 @@ 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
@@ -106,9 +146,27 @@ Visualization Manager:
       Visual Enabled: true
     - Class: rviz/TF
       Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
       Frame Timeout: 15
       Frames:
         All Enabled: true
+        g_base:
+          Value: true
+        gripper_base:
+          Value: true
+        gripper_left1:
+          Value: true
+        gripper_left2:
+          Value: true
+        gripper_left3:
+          Value: true
+        gripper_right1:
+          Value: true
+        gripper_right2:
+          Value: true
+        gripper_right3:
+          Value: true
         joint1:
           Value: true
         joint2:
@@ -124,20 +182,31 @@ Visualization Manager:
         joint6_flange:
           Value: true
       Marker Alpha: 1
-      Marker Scale: 0.30000001192092896
+      Marker Scale: 0.10000000149011612
       Name: TF
       Show Arrows: true
       Show Axes: true
       Show Names: true
       Tree:
-        joint1:
-          joint2:
-            joint3:
-              joint4:
-                joint5:
-                  joint6:
-                    joint6_flange:
-                      {}
+        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
   Enabled: true
@@ -184,17 +253,17 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.44039833545684814
+      Pitch: 0.7653981447219849
       Target Frame: <Fixed Frame>
-      Yaw: 0.43038973212242126
+      Yaw: 3.990389108657837
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 876
+  Height: 906
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002cefc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ce000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f000002cefc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ce000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000393000002ce00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000393000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:

diff --git a/mycobot_280/mycobot_280jn/launch/detect_marker.launch b/mycobot_280/mycobot_280jn/launch/detect_marker.launch
diff --git a/...jn/launch/detect_marker_with_topic.launch → ...ot_280jn/launch/simple_gui_gripper.launch b/...jn/launch/detect_marker_with_topic.launch → ...ot_280jn/launch/simple_gui_gripper.launch
@@ -3,28 +3,22 @@
 	<arg name="port" default="/dev/ttyTHS1" />
 	<arg name="baud" default="1000000" />
 	<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
-	<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn.urdf"/>
-	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot_with_marker.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_parallel.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.rviz" />
 	<arg name="gui" default="false" />
 
-	<arg name="num" default="0" />
-
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 
 	<!-- Combinejoin values to TF ，将值合并到TF-->
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-	<!-- Show in Rviz，显示在Rviz -->
+	<!-- Show in Rviz ，显示在Rviz-->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 
-	<!-- mycobot-topics， mycobot-话题-->
-    <include file="$(find mycobot_communication)/launch/communication_topic.launch">
+    <include file="$(find mycobot_communication)/launch/communication_jsnn.launch">
 		<arg name="port" value="$(arg port)" />	
 		<arg name="baud" value="$(arg baud)" />	
     </include>
 	<!-- listen and pub the real angles ，监听并发布真实的角度-->
-	<node name="real_listener" pkg="mycobot_280jn" type="listen_real_of_topic.py" />
-	<!-- vision node -->
-	<node name="opencv_camera" pkg="mycobot_280jn" type="opencv_camera" args="$(arg num)"/>
-	<node name="detect_marker" pkg="mycobot_280jn" type="detect_marker.py" />
-	<node name="following_marker" pkg="mycobot_280jn" type="following_marker.py" />
+	<node name="real_listener" pkg="mycobot_280jn" type="listen_real.py" />
+	<node name="simple_gui" pkg="mycobot_280jn" type="simple_gui.py" />
 </launch>
diff --git a/mycobot_280/mycobot_280jn/launch/slider_control_gripper.launch b/mycobot_280/mycobot_280jn/launch/slider_control_gripper.launch
@@ -0,0 +1,20 @@
+<launch>
+	<!-- <arg name="port" default="/dev/ttyTHS1" />
+	<arg name="baud" default="1000000" /> -->
+	<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_parallel.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.rviz" />
+	<arg name="gui" default="true" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF. 将值合并到TF-->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"> 
+		<!-- <param name="use_gui" value="$(arg gui)" />	 -->
+		<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
+	</node>
+
+	<!-- Show in Rviz .显示在Rviz-->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>
diff --git a/mycobot_280/mycobot_280jn/launch/teleop_keyboard_gripper.launch b/mycobot_280/mycobot_280jn/launch/teleop_keyboard_gripper.launch
@@ -0,0 +1,23 @@
+<launch>
+	<!-- Select connecting device and serial port ，选择连接设备及串口-->
+	<arg name="port" default="/dev/ttyTHS1" />
+	<arg name="baud" default="1000000" />
+	<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_parallel.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.rviz" />
+	<arg name="gui" default="false" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF ，将值合并到TF-->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<!-- Show in Rviz ，显示在Rviz-->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+
+    <include file="$(find mycobot_communication)/launch/communication_jsnn.launch">
+		<arg name="port" value="$(arg port)" />	
+		<arg name="baud" value="$(arg baud)" />	
+    </include>
+	<!-- listen and pub the real angles ，监听并发布真实的角度-->
+	<node name="real_listener" pkg="mycobot_280jn" type="listen_real.py" />
+</launch>
diff --git a/mycobot_280/mycobot_280jn/launch/test_adaptive_gripper.launch b/mycobot_280/mycobot_280jn/launch/test_adaptive_gripper.launch
@@ -0,0 +1,18 @@
+<launch>
+	<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_parallel.urdf"/>
+	<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_vertical.urdf"/> -->
+	<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.rviz" />
+	<arg name="gui" default="true" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF ,将值合并到TF-->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
+		<param name="use_gui" value="$(arg gui)" />
+		<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
+	</node>
+	<!-- Show in Rviz ，显示在Rviz-->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>
diff --git a/mycobot_280/mycobot_280jn/launch/test_camera_flange.launch b/mycobot_280/mycobot_280jn/launch/test_camera_flange.launch
@@ -0,0 +1,17 @@
+<launch>
+	<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn_camera_flange.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.rviz" />
+	<arg name="gui" default="true" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF ,将值合并到TF-->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
+		<param name="use_gui" value="$(arg gui)" />
+		<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
+	</node>
+	<!-- Show in Rviz ，显示在Rviz-->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>