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feat: finish removing old ikpy-based IK

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This commit is contained in:
David
2025-10-23 15:06:27 -05:00
parent 3413615461
commit 4ce183773d
12 changed files with 17 additions and 972 deletions
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91
arm_launch.py
View File

@@ -1,91 +0,0 @@
#!/usr/bin/env python3
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction, Shutdown
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir, PathJoinSubstitution
from launch_ros.actions import Node
from launch.conditions import IfCondition
#Prevent making __pycache__ directories
from sys import dont_write_bytecode
dont_write_bytecode = True
def launch_setup(context, *args, **kwargs):
# Retrieve the resolved value of the launch argument 'mode'
mode = LaunchConfiguration('mode').perform(context)
nodes = []
# Arm
# package_dir = get_package_share_directory('arm_pkg')
package_dir = "/home/david/repos/rover-ros2/src/arm_pkg" # TODO: copy files to share and point there
urdf_file_name = 'arm12.urdf'
urdf = os.path.join(package_dir, "urdf", urdf_file_name)
# urdf = "/home/david/repos/rover-ros2/src/arm_pkg/urdf/" + urdf_file_name
with open(urdf, 'r') as infp:
robot_desc = infp.read()
rviz_config_path = os.path.join(package_dir, 'viz.rviz')
if mode == 'anchor':
nodes.append(
Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
output='both',
parameters=[{'robot_description': robot_desc}],
arguments=[urdf],
on_exit=Shutdown()
)
)
nodes.append(
Node(
package='arm_pkg',
executable='arm', # change as needed
name='arm',
output='both',
parameters=[{'launch_mode': 'anchor'}],
on_exit=Shutdown()
)
)
nodes.append(
Node(
package='rviz2',
executable='rviz2',
name='rviz2',
output='both',
arguments=['-d', rviz_config_path],
on_exit=Shutdown()
)
)
# nodes.append(
# Node(
# package='anchor_pkg',
# executable='anchor', # change as needed
# name='anchor',
# output='both',
# parameters=[{'launch_mode': 'anchor'}],
# on_exit=Shutdown()
# )
# )
else:
# If an invalid mode is provided, print an error.
print("Invalid mode provided. Choose one of: arm, core, bio, anchor, ptz.")
return nodes
def generate_launch_description():
declare_arg = DeclareLaunchArgument(
'mode',
default_value='anchor',
description='Launch mode: arm, core, bio, anchor, or ptz'
)
return LaunchDescription([
declare_arg,
OpaqueFunction(function=launch_setup)
])

9
src/anchor_pkg/launch/rover.launch.py
View File

@@ -6,7 +6,6 @@ from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir, PathJoi
from launch_ros.actions import Node
#Prevent making __pycache__ directories
from sys import dont_write_bytecode
dont_write_bytecode = True
@@ -18,18 +17,14 @@ def launch_setup(context, *args, **kwargs):
if mode == 'anchor':
# Launch every node and pass "anchor" as the parameter
# Arm
urdf_file = "/home/david/repos/rover-ros2/src/arm_pkg/urdf/arm12.urdf"
robot_description = {'robot_description': open(urdf_file).read()}
nodes.append(
Node(
package='arm_pkg',
executable='arm', # change as needed
name='arm',
output='both',
parameters=[{'launch_mode': mode},
{'robot_description': robot_description}],
parameters=[{'launch_mode': mode}],
on_exit=Shutdown()
)
)

68
src/arm_pkg/arm_pkg/arm_node.py
View File

@@ -12,7 +12,6 @@ from ros2_interfaces_pkg.msg import ArmManual
from ros2_interfaces_pkg.msg import SocketFeedback
from ros2_interfaces_pkg.msg import DigitFeedback
from sensor_msgs.msg import JointState
from tf2_ros import TransformBroadcaster, TransformStamped
import math
# control_qos = qos.QoSProfile(
@@ -55,7 +54,6 @@ class SerialRelay(Node):
# New messages
self.joint_state_pub = self.create_publisher(JointState, "joint_states", 10)
self.tf_broadcaster = TransformBroadcaster(self)
self.joint_state = JointState()
self.joint_state.name = [
"Axis_0_Joint",
@@ -66,15 +64,7 @@ class SerialRelay(Node):
"Wrist-EF_Roll_Joint",
"Gripper_Slider_Left",
]
self.joint_state.position = [0.0] * len(
self.joint_state.name
) # Initialize with zeros
self.odom_trans = TransformStamped()
self.odom_trans.header.frame_id = "odom"
self.odom_trans.child_frame_id = "base_link"
self.odom_trans.transform.translation.x = 0.0
self.odom_trans.transform.translation.y = 0.0
self.odom_trans.transform.translation.z = 0.0
self.joint_state.position = [0.0] * len(self.joint_state.name) # Initialize with zeros
self.joint_command_sub = self.create_subscription(
JointState, "/joint_commands", self.joint_command_callback, 10
@@ -179,10 +169,8 @@ class SerialRelay(Node):
# Set target angles for each arm axis for embedded IK PID to handle
command = f"can_relay_tovic,arm,32,{positions[0]},{positions[1]},{positions[2]},{positions[3]}\n"
# Wrist yaw
command += f"can_relay_tovic,digit,36,0,{positions[4]}\n"
# Wrist roll
command += f"can_relay_tovic,digit,35,{positions[5]}\n"
# Wrist yaw and roll
command += f"can_relay_tovic,digit,32,{positions[4]},{positions[5]}\n"
# Gripper IK does not have adequate hardware yet
self.send_cmd(command)
@@ -193,36 +181,18 @@ class SerialRelay(Node):
axis3 = msg.axis3
# Send controls for arm
command = "can_relay_tovic,arm,18," + str(int(msg.brake)) + "\n"
command += (
"can_relay_tovic,arm,39,"
+ str(axis0)
+ ","
+ str(axis1)
+ ","
+ str(axis2)
+ ","
+ str(axis3)
+ "\n"
)
command = f"can_relay_tovic,arm,18,{int(msg.brake)}\n"
command += f"can_relay_tovic,arm,39,{axis0},{axis1},{axis2},{axis3}\n"
# Send controls for end effector
# command += "can_relay_tovic,digit,35," + str(msg.effector_roll) + "\n"
# command += "can_relay_tovic,digit,36,0," + str(msg.effector_yaw) + "\n"
command += (
"can_relay_tovic,digit,39,"
+ str(msg.effector_yaw)
+ ","
+ str(msg.effector_roll)
+ "\n"
)
command += f"can_relay_tovic,digit,39,{msg.effector_yaw},{msg.effector_roll}\n"
command += "can_relay_tovic,digit,26," + str(msg.gripper) + "\n"
# command += f"can_relay_tovic,digit,26,{msg.gripper}\n" # no hardware rn
command += "can_relay_tovic,digit,28," + str(msg.laser) + "\n"
command += f"can_relay_tovic,digit,28,{msg.laser}\n"
command += "can_relay_tovic,digit,34," + str(msg.linear_actuator) + "\n"
command += f"can_relay_tovic,digit,34,{msg.linear_actuator}\n"
self.send_cmd(command)
@@ -263,6 +233,8 @@ class SerialRelay(Node):
if len(parts) >= 4:
self.digit_feedback.wrist_angle = float(parts[3])
# self.digit_feedback.wrist_roll = float(parts[4])
self.joint_state.position[4] = math.radians(float(parts[4])) # Wrist roll
self.joint_state.position[5] = math.radians(float(parts[3])) # Wrist yaw
else:
return
@@ -280,18 +252,7 @@ class SerialRelay(Node):
angles_in = parts[3:7]
# Convert the angles to floats divide by 10.0
angles = [float(angle) / 10.0 for angle in angles_in]
#
#
# THIS NEEDS TO BE REMOVED LATER
# PLACEHOLDER FOR WRIST VALUE
#
#
angles.append(0.0) # placeholder for wrist_continuous
angles.append(0.0) # placeholder for wrist
#
#
# # Update the arm's current angles
self.arm.update_angles(angles)
self.arm_feedback.axis0_angle = angles[0]
self.arm_feedback.axis1_angle = angles[1]
self.arm_feedback.axis2_angle = angles[2]
@@ -302,13 +263,10 @@ class SerialRelay(Node):
self.joint_state.position[1] = math.radians(angles[1]) # Axis 1
self.joint_state.position[2] = math.radians(-angles[2]) # Axis 2 (inverted)
self.joint_state.position[3] = math.radians(-angles[3]) # Axis 3 (inverted)
self.joint_state.position[4] = math.radians(angles[4]) # Wrist roll
self.joint_state.position[5] = math.radians(angles[5]) # Wrist yaw
# Wrist is handled by digit feedback
self.joint_state.header.stamp = self.get_clock().now().to_msg()
self.joint_state_pub.publish(self.joint_state)
# self.odom_trans.header.stamp = self.get_clock().now().to_msg()
self.tf_broadcaster.sendTransform(self.odom_trans)
else:
self.get_logger().info("Invalid angle feedback input format")

2
src/arm_pkg/package.xml
View File

@@ -11,8 +11,6 @@
<depend>common_interfaces</depend>
<depend>python3-numpy</depend>
<depend>ros2_interfaces_pkg</depend>
<!-- TODO: remove after refactored out -->
<exec_depend>python3-ikpy-pip</exec_depend>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>

6
src/arm_pkg/setup.py
View File

@@ -6,14 +6,12 @@ package_name = 'arm_pkg'
setup(
name=package_name,
version='0.0.0',
version='1.0.0',
packages=find_packages(exclude=['test']),
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
(os.path.join('share', package_name, 'launch'), glob('launch/*')),
(os.path.join('share', package_name, 'urdf'), glob('urdf/*')),
('share/' + package_name, ['package.xml'])
],
install_requires=['setuptools'],
zip_safe=True,

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src/arm_pkg/urdf/Arm Base Plate.STL
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src/arm_pkg/urdf/Axis 0 Plate.STL
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src/arm_pkg/urdf/Axis 1.STL
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src/arm_pkg/urdf/Segment 1.STL
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239
src/arm_pkg/urdf/arm11.urdf
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@@ -1,239 +0,0 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from omni_description/robots/omnipointer_arm_only.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="omnipointer" xmlns:xacro="http://ros.org/wiki/xacro">
<!--MX64trntbl + MX106: ? + 0.153 -->
<!-- singleaxismount + 2.5girder + singleaxismount + base + MX106: 0.007370876 + 0.0226796 + 0.007370876 + ? + 0.153 -->
<!-- frame106 + singleaxismount + adjustgirder + singleaxismount + base + MX28: 0.0907185 + 0.00737088 + 0.110563 + 0.00737088 + ? + 0.077 -->
<!-- frame28 + singleaxismount + 5girder + singleaxismount + base + MX28: 0.0907185 + 0.00737088 + 0.0368544 + 0.00737088 + ? + 0.077 -->
<!-- frame28 + singleaxismount + 2.5girder + singleaxismount + tip: 0.0907185 + 0.00737088 + 0.0226796 + 0.00737088 + ? -->
<material name="omni/Blue">
<color rgba="0 0 0.8 1"/>
</material>
<material name="omni/Red">
<color rgba="1 0 0 1"/>
</material>
<material name="omni/Green">
<color rgba="0 1 0 1"/>
</material>
<material name="omni/Yellow">
<color rgba="1 1 0 1"/>
</material>
<material name="omni/LightGrey">
<color rgba="0.6 0.6 0.6 1"/>
</material>
<material name="omni/DarkGrey">
<color rgba="0.4 0.4 0.4 1"/>
</material>
<!-- Now we can start using the macros xacro:included above to define the actual omnipointer -->
<!-- The first use of a macro. This one was defined in youbot_base/base.urdf.xacro above.
A macro like this will expand to a set of link and joint definitions, and to additional
Gazebo-related extensions (sensor plugins, etc). The macro takes an argument, name,
that equals "base", and uses it to generate names for its component links and joints
(e.g., base_link). The xacro:included origin block is also an argument to the macro. By convention,
the origin block defines where the component is w.r.t its parent (in this case the parent
is the world frame). For more, see http://www.ros.org/wiki/xacro -->
<!-- foot for arm-->
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="10.0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
</link>
<!-- joint between base_link and arm_0_link -->
<joint name="arm_joint_0" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="arm_link_0"/>
</joint>
<link name="arm_link_0">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.02725"/>
<geometry>
<box size="0.1143 0.1143 0.0545"/>
</geometry>
<material name="omni/LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.02725"/>
<geometry>
<box size="0.1143 0.1143 0.0545"/>
</geometry>
</collision>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0 0 0.02725"/>
<mass value="0.2"/>
<!-- box inertia: 1/12*m(y^2+z^2), ... -->
<inertia ixx="0.000267245666667" ixy="0" ixz="0" iyy="0.000267245666667" iyz="0" izz="0.000435483"/>
</inertial>
</link>
<joint name="arm_joint_1" type="revolute">
<parent link="arm_link_0"/>
<child link="arm_link_1"/>
<dynamics damping="3.0" friction="0.3"/>
<limit effort="30.0" lower="-3.1415926535" upper="3.1415926535" velocity="5.0"/>
<origin rpy="0 0 0" xyz="0 0 0.0545"/>
<axis xyz="0 0 1"/>
</joint>
<link name="arm_link_1">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.075"/>
<geometry>
<box size="0.0402 0.05 0.15"/>
</geometry>
<material name="omni/Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.075"/>
<geometry>
<box size="0.0402 0.05 0.15"/>
</geometry>
</collision>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0 0 0.075"/>
<mass value="0.190421352"/>
<!-- box inertia: 1/12*m(y^2+z^2), ... -->
<inertia ixx="0.000279744834534" ixy="0" ixz="0" iyy="0.000265717763008" iyz="0" izz="6.53151584738e-05"/>
</inertial>
</link>
<joint name="arm_joint_2" type="revolute">
<parent link="arm_link_1"/>
<child link="arm_link_2"/>
<dynamics damping="3.0" friction="0.3"/>
<limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
<origin rpy="0 0 0" xyz="0 0 0.15"/>
<axis xyz="0 1 0"/>
</joint>
<link name="arm_link_2">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.2355"/>
<geometry>
<box size="0.0356 0.05 0.471"/>
</geometry>
<material name="omni/Red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.2355"/>
<geometry>
<box size="0.0356 0.05 0.471"/>
</geometry>
</collision>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0 0 0.2355"/>
<mass value="0.29302326"/>
<!-- box inertia: 1/12*m(y^2+z^2), ... -->
<inertia ixx="0.00251484771035" ixy="0" ixz="0" iyy="0.00248474836108" iyz="0" izz="9.19936757328e-05"/>
</inertial>
</link>
<joint name="arm_joint_3" type="revolute">
<parent link="arm_link_2"/>
<child link="arm_link_3"/>
<dynamics damping="3.0" friction="0.3"/>
<limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
<origin rpy="0 0 0" xyz="0 0 0.471"/>
<axis xyz="0 1 0"/>
</joint>
<link name="arm_link_3">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.1885"/>
<geometry>
<box size="0.0356 0.05 0.377"/>
</geometry>
<material name="omni/Yellow"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.1885"/>
<geometry>
<box size="0.0356 0.05 0.377"/>
</geometry>
</collision>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0 0 0.1885"/>
<mass value="0.21931466"/>
<!-- box inertia: 1/12*m(y^2+z^2), ... -->
<inertia ixx="0.000791433503053" ixy="0" ixz="0" iyy="0.000768905501178" iyz="0" izz="6.88531064581e-05"/>
</inertial>
</link>
<joint name="arm_joint_4" type="revolute">
<parent link="arm_link_3"/>
<child link="arm_link_4"/>
<dynamics damping="3.0" friction="0.3"/>
<limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
<origin rpy="0 0 0" xyz="0 0 0.377"/>
<axis xyz="0 1 0"/>
</joint>
<link name="arm_link_4">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.066"/>
<geometry>
<box size="0.0356 0.05 0.132"/>
</geometry>
<material name="omni/Green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.066"/>
<geometry>
<box size="0.0356 0.05 0.132"/>
</geometry>
</collision>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0 0 0.066"/>
<mass value="0.15813986"/>
<!-- box inertia: 1/12*m(y^2+z^2), ... -->
<inertia ixx="0.00037242266488" ixy="0" ixz="0" iyy="0.000356178538461" iyz="0" izz="4.96474819141e-05"/>
</inertial>
</link>
<joint name="arm_joint_5" type="revolute">
<parent link="arm_link_4"/>
<child link="arm_link_5"/>
<dynamics damping="3.0" friction="0.3"/>
<limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
<origin rpy="0 0 0" xyz="0 0 0.132"/>
<axis xyz="1 0 0"/>
</joint>
<link name="arm_link_5">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.124"/>
<geometry>
<box size="0.0356 0.05 0.248"/>
</geometry>
<material name="omni/Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.124"/>
<geometry>
<box size="0.0356 0.05 0.248"/>
</geometry>
</collision>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0 0 0.124"/>
<mass value="0.15813986"/>
<!-- box inertia: 1/12*m(y^2+z^2), ... -->
<inertia ixx="0.00037242266488" ixy="0" ixz="0" iyy="0.000356178538461" iyz="0" izz="4.96474819141e-05"/>
</inertial>
</link>
<joint name="arm_joint_6" type="fixed">
<parent link="arm_link_5"/>
<child link="arm_link_6"/>
<origin rpy="0 0 0" xyz="0 0 0.248"/>
</joint>
<link name="arm_link_6">
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1e-12"/>
<!-- box inertia: 1/12*m(y^2+z^2), ... -->
<inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
</inertial>
</link>
<!-- END OF ARM LINKS/JOINTS -->
</robot>

340
src/arm_pkg/urdf/arm12.urdf
View File

@@ -1,340 +0,0 @@
<robot name="robot">
<link name="base_footprint"></link>
<joint name="base_joint" type="fixed">
<parent link="base_footprint" />
<child link="base_link" />
<origin xyz="0 0 0.0004048057655643422" rpy="0 0 0" />
</joint>
<link name="base_link">
<visual>
<origin xyz="-0.175 0 0" rpy="0 0 0" />
<geometry>
<!-- <box size="0.5 0.5 0.01" /> -->
<mesh filename="package://arm_pkg/urdf/Arm Base Plate.STL" scale="1 1 1"/>
</geometry>
<material name="base_link-material">
<color rgba="0 0.6038273388475408 1 1" />
</material>
</visual>
<collision>
<origin xyz="-0.175 0 0" rpy="0 0 0" />
<geometry>
<box size="0.5 0.5 0.01" />
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1" />
<inertia ixx="0.17" ixy="0" ixz="0" iyy="0.17" iyz="0" izz="0.05" />
</inertial>
</link>
<joint name="Axis_0" type="revolute">
<parent link="base_link" />
<child link="Axis_0_Plate" />
<origin xyz="0 0 0.035" rpy="0 0 0" />
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="-2.5" upper="2.5" velocity="0.5"/>
</joint>
<link name="Axis_0_Plate">
<visual>
<origin xyz="-0.175 0 0" rpy="0 0 0" />
<geometry>
<!-- <cylinder radius="0.15" length="0.059" /> -->
<mesh filename="package://arm_pkg/urdf/Axis_0_Plate.STL" scale="1 1 1"/>
</geometry>
<material name="Axis_0-material">
<color rgba="0.3515325994898463 0.4735314961384573 0.9301108583738498 1" />
</material>
</visual>
<collision>
<origin xyz="-0.175 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.15" length="0.059" />
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1" />
<inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
</inertial>
</link>
<joint name="Axis_1_Joint" type="revolute">
<parent link="Axis_0_Plate" />
<child link="Axis_1" />
<origin xyz="0 0 0.11189588647115647" rpy="1.5707963267948963 0 0" />
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="-1.7" upper="1.7" velocity="0.5"/>
</joint>
<link name="Axis_1">
<visual>
<origin xyz="0 -0.11 0.005" rpy="-1.6 0 0" />
<geometry>
<!-- <cylinder radius="0.082" length="0.1" /> -->
<mesh filename="package://arm_pkg/urdf/Axis 1.STL" scale="1 1 1"/>
</geometry>
<material name="Axis_1-material">
<color rgba="0.14702726648767014 0.14126329113044458 0.7304607400847158 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.082" length="0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1" />
<inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
</inertial>
</link>
<joint name="Axis_1_to_Segment_1" type="fixed">
<parent link="Axis_1" />
<child link="Segment_1" />
<origin xyz="0 0.2350831500270899 0" rpy="-1.5707963267948963 0 0" />
</joint>
<link name="Segment_1">
<visual>
<origin xyz="-0.005 0 -0.35" rpy="0 0 0" />
<geometry>
<!-- <cylinder radius="0.025" length="0.473" /> -->
<mesh filename="package://arm_pkg/urdf/Segment 1.STL" scale="1 1 1"/>
</geometry>
<material name="Segment_1-material">
<color rgba="0.2 0.2 0.2 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.025" length="0.473" />
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1" />
<inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
</inertial>
</link>
<joint name="Axis_2_Joint" type="revolute">
<parent link="Segment_1" />
<child link="Axis_2" />
<origin xyz="0 -5.219894517229704e-17 0.2637568842473722" rpy="1.5707963267948963 0 0" />
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="-2.7" upper="2.7" velocity="0.5"/>
</joint>
<link name="Axis_2">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.055" length="0.1" />
</geometry>
<material name="Axis_2-material">
<color rgba="0.14702726648767014 0.14126329113044458 0.7304607400847158 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.055" length="0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1" />
<inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
</inertial>
</link>
<joint name="Axis_2_to_Segment_2" type="fixed">
<parent link="Axis_2" />
<child link="Segment_2" />
<origin xyz="0 0.19535682173790003 0" rpy="-1.5707963267948963 0 0" />
</joint>
<link name="Segment_2">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.025" length="0.393" />
</geometry>
<material name="Segment_2-material">
<color rgba="0.09084171117479915 0.3231432091022285 0.1844749944900301 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.025" length="0.393" />
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1" />
<inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
</inertial>
</link>
<joint name="Axis_3_Joint" type="revolute">
<parent link="Segment_2" />
<child link="Axis_3" />
<origin xyz="0 -4.337792830220178e-17 0.199625776257357" rpy="1.5707963267948963 0 0" />
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="-1.6" upper="1.6" velocity="0.5"/>
</joint>
<link name="Axis_3">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.05" length="0.1" />
</geometry>
<material name="Axis_3-material">
<color rgba="0.14702726648767014 0.14126329113044458 0.7304607400847158 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.05" length="0.1" />
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1" />
<inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
</inertial>
</link>
<joint name="Axis_3_to_Segment_3" type="fixed">
<parent link="Axis_3" />
<child link="Segment_3" />
<origin xyz="0 0.06725724726912972 0" rpy="-1.5707963267948963 0 0" />
</joint>
<link name="Segment_3">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.025" length="0.135" />
</geometry>
<material name="Segment_3-material">
<color rgba="0.09084171117479915 0.3231432091022285 0.1844749944900301 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.025" length="0.135" />
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1" />
<inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
</inertial>
</link>
<joint name="Wrist_Joint" type="revolute">
<parent link="Segment_3" />
<child link="Axis_4" />
<origin xyz="0 0 0.0655808825338593" rpy="0 1.5707963267948966 0" />
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="-1.6" upper="1.6" velocity="0.5"/>
</joint>
<link name="Axis_4">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.03" length="0.075" />
</geometry>
<material name="Axis_4-material">
<color rgba="0.23455058215026167 0.9301108583738498 0.21952619971859377 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.03" length="0.075" />
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1" />
<inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
</inertial>
</link>
<joint name="Continuous_Joint" type="revolute">
<parent link="Axis_4" />
<child link="Axis_4_C" />
<origin xyz="0.0009533507860803557 0 0" rpy="0 -1.5707963267948966 0" />
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0.5"/>
</joint>
<link name="Axis_4_C">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.02" length="0.01" />
</geometry>
<material name="Axis_4_C-material">
<color rgba="0.006048833020386069 0.407240211891531 0.15592646369776456 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.02" length="0.01" />
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1" />
<inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
</inertial>
</link>
<joint name="Axis_4_C_to_Effector" type="fixed">
<parent link="Axis_4_C" />
<child link="Effector" />
<origin xyz="0 0 0.06478774571448076" rpy="0 0 0" />
</joint>
<link name="Effector">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.05 0.01 0.135" />
</geometry>
<material name="Effector-material">
<color rgba="0.2746773120495699 0.01680737574872402 0.5711248294565854 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.01 0.01 0.135" />
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1" />
<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
</inertial>
</link>
</robot>

234
src/arm_pkg/viz.rviz
View File

@@ -1,234 +0,0 @@
Panels:
- Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /TF1
- /RobotModel1
- /RobotModel1/Description Topic1
Splitter Ratio: 0.5
Tree Height: 717
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- 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: <Fixed Frame>
Value: true
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
arm_link_0:
Value: true
arm_link_1:
Value: true
arm_link_2:
Value: true
arm_link_3:
Value: true
arm_link_4:
Value: true
arm_link_5:
Value: true
arm_link_6:
Value: true
base_link:
Value: true
odom:
Value: true
Marker Scale: 0.44999998807907104
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
odom:
base_link:
arm_link_0:
arm_link_1:
arm_link_2:
arm_link_3:
arm_link_4:
arm_link_5:
arm_link_6:
{}
Update Interval: 0
Value: true
- 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
arm_link_0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_link_4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_link_5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_link_6:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: odom
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 3.1002085208892822
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
Near Clip Distance: 0.009999999776482582
Pitch: 0.6997972726821899
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 5.6954216957092285
Saved: ~
Window Geometry:
Displays:
collapsed: true
Height: 945
Hide Left Dock: true
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000001630000036afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002c0000036a000000ab00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002effc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002c000002ef000000c600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000005e80000036a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1512
X: 0
Y: 37