feat: add moveit2 configuration

src/astra_arm_moveit_config/.setup_assistant

@@ -0,0 +1,10 @@
+moveit_setup_assistant_config:
+  urdf:
+    package: rover_urdf_pkg
+    relative_path: urdf/ASTRA_Arm.urdf
+  srdf:
+    relative_path: config/ASTRA_Arm.srdf
+  package_settings:
+    author_name: David Sharpe
+    author_email: ds0196@uah.edu
+    generated_timestamp: 1755560756

src/astra_arm_moveit_config/CMakeLists.txt

@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.22)
+project(astra_arm_moveit_config)
+
+find_package(ament_cmake REQUIRED)
+
+ament_package()
+
+if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/launch")
+  install(
+    DIRECTORY launch
+    DESTINATION share/${PROJECT_NAME}
+    PATTERN "setup_assistant.launch" EXCLUDE)
+endif()
+
+install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
+install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME})

src/astra_arm_moveit_config/config/ASTRA_Arm.ros2_control.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:macro name="ASTRA_Arm_ros2_control" params="name initial_positions_file">
+        <xacro:property name="initial_positions" value="${xacro.load_yaml(initial_positions_file)['initial_positions']}"/>
+
+        <ros2_control name="${name}" type="system">
+            <hardware>
+                <!-- By default, set up controllers for simulation. This won't work on real hardware -->
+                <plugin>mock_components/GenericSystem</plugin>
+            </hardware>
+            <joint name="Axis_0_Joint">
+                <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['Axis_0_Joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="Axis_1_Joint">
+                <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['Axis_1_Joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="Axis_2_Joint">
+                <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['Axis_2_Joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="Axis_3_Joint">
+                <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['Axis_3_Joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="Wrist_Differential_Joint">
+                <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['Wrist_Differential_Joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="Wrist-EF_Roll_Joint">
+                <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['Wrist-EF_Roll_Joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="Gripper_Slider_Left">
+                <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['Gripper_Slider_Left']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="Gripper _Slider_Right">
+                <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['Gripper _Slider_Right']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+
+        </ros2_control>
+    </xacro:macro>
+</robot>

src/astra_arm_moveit_config/config/ASTRA_Arm.srdf

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+<?xml version="1.0" encoding="UTF-8"?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="ASTRA_Arm">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="astra_arm">
+        <joint name="virtual_joint"/>
+        <joint name="Axis_0_Joint"/>
+        <joint name="Axis_1_Joint"/>
+        <joint name="Axis_2_Joint"/>
+        <joint name="Axis_3_Joint"/>
+        <joint name="Wrist_Differential_Joint"/>
+    </group>
+    <group name="Hand">
+        <link name="End Effector"/>
+        <link name="EF Gripper Left"/>
+        <link name="EF Gripper Right"/>
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="Zero Position" group="astra_arm">
+        <joint name="Axis_0_Joint" value="0"/>
+        <joint name="Axis_1_Joint" value="0"/>
+        <joint name="Axis_2_Joint" value="0"/>
+        <joint name="Axis_3_Joint" value="0"/>
+        <joint name="Wrist_Differential_Joint" value="0"/>
+    </group_state>
+    <group_state name="Stow" group="astra_arm">
+        <joint name="Axis_0_Joint" value="0"/>
+        <joint name="Axis_1_Joint" value="-1.05"/>
+        <joint name="Axis_2_Joint" value="-2"/>
+        <joint name="Axis_3_Joint" value="-1.6"/>
+        <joint name="Wrist_Differential_Joint" value="0"/>
+    </group_state>
+    <group_state name="Ready" group="astra_arm">
+        <joint name="Axis_0_Joint" value="0"/>
+        <joint name="Axis_1_Joint" value="0"/>
+        <joint name="Axis_2_Joint" value="-1.6"/>
+        <joint name="Axis_3_Joint" value="-1.6"/>
+        <joint name="Wrist_Differential_Joint" value="0"/>
+    </group_state>
+    <group_state name="Open" group="Hand">
+        <joint name="Gripper_Slider_Left" value="-0.04"/>
+        <joint name="Gripper _Slider_Right" value="0.04"/>
+        <joint name="Wrist-EF_Roll_Joint" value="0"/>
+    </group_state>
+    <group_state name="Close" group="Hand">
+        <joint name="Gripper_Slider_Left" value="0.0215"/>
+        <joint name="Gripper _Slider_Right" value="-0.0215"/>
+        <joint name="Wrist-EF_Roll_Joint" value="0"/>
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="Hand" parent_link="Diff Carrier" group="Hand"/>
+    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
+    <virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="base_link"/>
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="Axis 0 Plate" link2="Axis 1 Segment" reason="Adjacent"/>
+    <disable_collisions link1="Axis 0 Plate" link2="Axis 2 Segment" reason="Never"/>
+    <disable_collisions link1="Axis 0 Plate" link2="Diff Carrier" reason="Never"/>
+    <disable_collisions link1="Axis 0 Plate" link2="End Effector" reason="Never"/>
+    <disable_collisions link1="Axis 0 Plate" link2="Wrist" reason="Never"/>
+    <disable_collisions link1="Axis 0 Plate" link2="base_link" reason="Adjacent"/>
+    <disable_collisions link1="Axis 1 Segment" link2="Axis 2 Segment" reason="Adjacent"/>
+    <disable_collisions link1="Axis 1 Segment" link2="Diff Carrier" reason="Never"/>
+    <disable_collisions link1="Axis 1 Segment" link2="EF Gripper Left" reason="Never"/>
+    <disable_collisions link1="Axis 1 Segment" link2="EF Gripper Right" reason="Never"/>
+    <disable_collisions link1="Axis 1 Segment" link2="End Effector" reason="Never"/>
+    <disable_collisions link1="Axis 1 Segment" link2="Wrist" reason="Never"/>
+    <disable_collisions link1="Axis 1 Segment" link2="base_link" reason="Never"/>
+    <disable_collisions link1="Axis 2 Segment" link2="Diff Carrier" reason="Never"/>
+    <disable_collisions link1="Axis 2 Segment" link2="EF Gripper Left" reason="Never"/>
+    <disable_collisions link1="Axis 2 Segment" link2="EF Gripper Right" reason="Never"/>
+    <disable_collisions link1="Axis 2 Segment" link2="End Effector" reason="Never"/>
+    <disable_collisions link1="Axis 2 Segment" link2="Wrist" reason="Adjacent"/>
+    <disable_collisions link1="Axis 2 Segment" link2="base_link" reason="Never"/>
+    <disable_collisions link1="Diff Carrier" link2="EF Gripper Left" reason="Never"/>
+    <disable_collisions link1="Diff Carrier" link2="EF Gripper Right" reason="Never"/>
+    <disable_collisions link1="Diff Carrier" link2="End Effector" reason="Adjacent"/>
+    <disable_collisions link1="Diff Carrier" link2="Wrist" reason="Adjacent"/>
+    <disable_collisions link1="Diff Carrier" link2="base_link" reason="Never"/>
+    <disable_collisions link1="EF Gripper Left" link2="End Effector" reason="Adjacent"/>
+    <disable_collisions link1="EF Gripper Left" link2="Wrist" reason="Never"/>
+    <disable_collisions link1="EF Gripper Right" link2="End Effector" reason="Adjacent"/>
+    <disable_collisions link1="EF Gripper Right" link2="Wrist" reason="Never"/>
+    <disable_collisions link1="End Effector" link2="Wrist" reason="Never"/>
+    <disable_collisions link1="End Effector" link2="base_link" reason="Never"/>
+    <disable_collisions link1="Wrist" link2="base_link" reason="Never"/>
+</robot>

src/astra_arm_moveit_config/config/ASTRA_Arm.urdf.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="ASTRA_Arm">
+    <xacro:arg name="initial_positions_file" default="initial_positions.yaml" />
+
+    <!-- Import ASTRA_Arm urdf file -->
+    <xacro:include filename="$(find rover_urdf_pkg)/urdf/ASTRA_Arm.urdf" />
+
+    <!-- Import control_xacro -->
+    <xacro:include filename="ASTRA_Arm.ros2_control.xacro" />
+
+
+    <xacro:ASTRA_Arm_ros2_control name="FakeSystem" initial_positions_file="$(arg initial_positions_file)"/>
+
+</robot>

src/astra_arm_moveit_config/config/initial_positions.yaml

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+# Default initial positions for ASTRA_Arm's ros2_control fake system
+
+initial_positions:
+  Axis_0_Joint: 0
+  Axis_1_Joint: 0
+  Axis_2_Joint: 0
+  Axis_3_Joint: 0
+  Gripper_Slider_Left: 0
+  Gripper _Slider_Right: 0
+  Wrist_Differential_Joint: 0
+  Wrist-EF_Roll_Joint: 0

src/astra_arm_moveit_config/config/joint_limits.yaml

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+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 1
+default_acceleration_scaling_factor: 1
+
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+  Axis_0_Joint:
+    has_velocity_limits: true
+    max_velocity: 0.3141593
+    has_acceleration_limits: true
+    max_acceleration: 0.1
+  Axis_1_Joint:
+    has_velocity_limits: true
+    max_velocity: 0.3141593
+    has_acceleration_limits: true
+    max_acceleration: 0.1
+  Axis_2_Joint:
+    has_velocity_limits: true
+    max_velocity: 0.3141593
+    has_acceleration_limits: true
+    max_acceleration: 0.1
+  Axis_3_Joint:
+    has_velocity_limits: true
+    max_velocity: 0.3141593
+    has_acceleration_limits: true
+    max_acceleration: 0.1
+  Gripper_Slider_Left:
+    has_velocity_limits: true
+    max_velocity: 0.3141593
+    has_acceleration_limits: true
+    max_acceleration: 0.1
+  Gripper _Slider_Right:
+    has_velocity_limits: true
+    max_velocity: 0.3141593
+    has_acceleration_limits: true
+    max_acceleration: 0.1
+  Wrist_Differential_Joint:
+    has_velocity_limits: true
+    max_velocity: 0.3141593
+    has_acceleration_limits: true
+    max_acceleration: 0.1
+  Wrist-EF_Roll_Joint:
+    has_velocity_limits: true
+    max_velocity: 0.3141593
+    has_acceleration_limits: true
+    max_acceleration: 0.1

src/astra_arm_moveit_config/config/kinematics.yaml

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+astra_arm:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.0050000000000000001
+  kinematics_solver_timeout: 0.0050000000000000001

src/astra_arm_moveit_config/config/moveit.rviz

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+Panels:
+  - Class: rviz_common/Displays
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /MotionPlanning1
+  - Class: rviz_common/Help
+    Name: Help
+  - Class: rviz_common/Views
+    Name: Views
+Visualization Manager:
+  Displays:
+    - Class: rviz_default_plugins/Grid
+      Name: Grid
+      Value: true
+    - Class: moveit_rviz_plugin/MotionPlanning
+      Name: MotionPlanning
+      Planned Path:
+        Loop Animation: true
+        State Display Time: 0.05 s
+        Trajectory Topic: display_planned_path
+      Planning Scene Topic: monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 1
+      Scene Robot:
+        Robot Alpha: 0.5
+      Value: true
+  Global Options:
+    Fixed Frame: base_link
+  Tools:
+    - Class: rviz_default_plugins/Interact
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 2.0
+      Focal Point:
+        X: -0.1
+        Y: 0.25
+        Z: 0.30
+      Name: Current View
+      Pitch: 0.5
+      Target Frame: base_link
+      Yaw: -0.623
+Window Geometry:
+  Height: 975
+  QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Width: 1200

src/astra_arm_moveit_config/config/moveit_controllers.yaml

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+# MoveIt uses this configuration for controller management
+
+moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+
+moveit_simple_controller_manager:
+  controller_names:
+    - astra_arm_controller
+    - hand_controller
+
+  astra_arm_controller:
+    type: FollowJointTrajectory
+    joints:
+      - Axis_0_Joint
+      - Axis_1_Joint
+      - Axis_2_Joint
+      - Axis_3_Joint
+      - Wrist_Differential_Joint
+    action_ns: follow_joint_trajectory
+    default: true
+  hand_controller:
+    type: GripperCommand
+    joints:
+      - Wrist-EF_Roll_Joint
+      - Gripper_Slider_Left
+      - Gripper _Slider_Right
+    action_ns: gripper_cmd
+    default: true

src/astra_arm_moveit_config/config/pilz_cartesian_limits.yaml

@@ -0,0 +1,6 @@
+# Limits for the Pilz planner
+cartesian_limits:
+  max_trans_vel: 1.0
+  max_trans_acc: 2.25
+  max_trans_dec: -5.0
+  max_rot_vel: 1.57

src/astra_arm_moveit_config/config/ros2_controllers.yaml

@@ -0,0 +1,50 @@
+# This config file is used by ros2_control
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    astra_arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+      ros__parameters:
+        joints: 
+        - Axis_0_Joint
+        - Axis_1_Joint
+        - Axis_2_Joint
+        - Axis_3_Joint
+        - Wrist_Differential_Joint
+        command_interfaces: 
+        - position
+        state_interfaces: 
+        - position
+        allow_nonzero_velocity_at_trajectory_end: true
+
+    hand_controller:
+      type: position_controllers/GripperActionController
+      ros__parameters:
+        joint: 
+        - Wrist-EF_Roll_Joint
+        command_interfaces: 
+        - position
+
+astra_arm_controller:
+  ros__parameters:
+    joints: 
+    - Axis_0_Joint
+    - Axis_1_Joint
+    - Axis_2_Joint
+    - Axis_3_Joint
+    - Wrist_Differential_Joint
+    command_interfaces: 
+    - position
+    state_interfaces: 
+    - position
+    allow_nonzero_velocity_at_trajectory_end: true
+
+hand_controller:
+  ros__parameters:
+    joint: Wrist-EF_Roll_Joint
+    command_interfaces: 
+    - position

src/astra_arm_moveit_config/launch/demo.launch.py

@@ -0,0 +1,7 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_demo_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="astra_arm_moveit_config").to_moveit_configs()
+    return generate_demo_launch(moveit_config)

src/astra_arm_moveit_config/launch/move_group.launch.py

@@ -0,0 +1,7 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_move_group_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="astra_arm_moveit_config").to_moveit_configs()
+    return generate_move_group_launch(moveit_config)

src/astra_arm_moveit_config/launch/moveit_rviz.launch.py

@@ -0,0 +1,7 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_moveit_rviz_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="astra_arm_moveit_config").to_moveit_configs()
+    return generate_moveit_rviz_launch(moveit_config)

src/astra_arm_moveit_config/launch/rsp.launch.py

@@ -0,0 +1,7 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_rsp_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="astra_arm_moveit_config").to_moveit_configs()
+    return generate_rsp_launch(moveit_config)

src/astra_arm_moveit_config/launch/setup_assistant.launch.py

@@ -0,0 +1,7 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_setup_assistant_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="astra_arm_moveit_config").to_moveit_configs()
+    return generate_setup_assistant_launch(moveit_config)

src/astra_arm_moveit_config/launch/spawn_controllers.launch.py

@@ -0,0 +1,7 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_spawn_controllers_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="astra_arm_moveit_config").to_moveit_configs()
+    return generate_spawn_controllers_launch(moveit_config)

src/astra_arm_moveit_config/launch/static_virtual_joint_tfs.launch.py

@@ -0,0 +1,7 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="astra_arm_moveit_config").to_moveit_configs()
+    return generate_static_virtual_joint_tfs_launch(moveit_config)

src/astra_arm_moveit_config/launch/warehouse_db.launch.py

@@ -0,0 +1,7 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_warehouse_db_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="astra_arm_moveit_config").to_moveit_configs()
+    return generate_warehouse_db_launch(moveit_config)

src/astra_arm_moveit_config/package.xml

@@ -0,0 +1,51 @@
+<?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>astra_arm_moveit_config</name>
+  <version>0.3.0</version>
+  <description>
+     An automatically generated package with all the configuration and launch files for using the ASTRA_Arm with the MoveIt Motion Planning Framework
+  </description>
+  <maintainer email="ds0196@uah.edu">David Sharpe</maintainer>
+
+  <license>BSD-3-Clause</license>
+
+  <url type="website">http://moveit.ros.org/</url>
+  <url type="bugtracker">https://github.com/moveit/moveit2/issues</url>
+  <url type="repository">https://github.com/moveit/moveit2</url>
+
+  <author email="ds0196@uah.edu">David Sharpe</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>moveit_ros_move_group</exec_depend>
+  <exec_depend>moveit_kinematics</exec_depend>
+  <exec_depend>moveit_planners</exec_depend>
+  <exec_depend>moveit_simple_controller_manager</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <!-- The next 2 packages are required for the gazebo simulation.
+       We don't include them by default to prevent installing gazebo and all its dependencies. -->
+  <!-- <exec_depend>joint_trajectory_controller</exec_depend> -->
+  <!-- <exec_depend>gazebo_ros_control</exec_depend> -->
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>moveit_configs_utils</exec_depend>
+  <exec_depend>moveit_ros_move_group</exec_depend>
+  <exec_depend>moveit_ros_visualization</exec_depend>
+  <exec_depend>moveit_ros_warehouse</exec_depend>
+  <exec_depend>moveit_setup_assistant</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rover_urdf_pkg</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>rviz_common</exec_depend>
+  <exec_depend>rviz_default_plugins</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>warehouse_ros_mongo</exec_depend>
+
+
+  <export>
+      <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/rover_urdf_pkg/config/joint_names_URDF v2 - axes added.yaml

@@ -1 +1 @@
-controller_joint_names: ['', 'Axis 0 Joint', 'Axis 1 Joint', 'Axis 2 Joint', 'Axis 3 Joint', 'Wrist Differential Joint', 'Wrist-EF Roll Joint', 'Gripper Slider Right', 'Gripper Slider Left', ]
+controller_joint_names: ['', 'Axis_0_Joint', 'Axis_1_Joint', 'Axis_2_Joint', 'Axis_3_Joint', 'Wrist_Differential_Joint', 'Wrist-EF_Roll_Joint', 'Gripper _Slider_Right', 'Gripper_Slider_Left', ]

src/rover_urdf_pkg/urdf/ASTRA_Arm.csv

@@ -1,10 +1,10 @@
 Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
 base_link,0.026661,-0.017083,-0.072681,0,0,0,1.344,0.0071986,-1.8109E-06,-4.371E-06,0.0087125,1.3418E-07,0.015884,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/base_link.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/base_link.STL,,Turret Assembly-1/Base Plate OLD-2;Turret Assembly-1/Magnet Ring-1;Turret Assembly-1/Bearing Stack Pinch Ring-1;Turret Assembly-1/Ring Gear-1,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
-Axis 0 Plate,0.025635,0.047115,0.021109,0,0,0,2.045,0.0097744,2.0744E-07,0.00060246,0.012437,-2.2545E-05,0.00611,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 0 Plate.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 0 Plate.STL,,Turret Assembly-1/Pinion Gear Mounting Plate-1;Turret Assembly-1/Motor Adjustment Plate-1;Turret Assembly-1/17HS19-1684S-PG14.step-1;Turret Assembly-1/Spur Gear Retainer-1;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-1;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-2;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-4;Turret Assembly-1/Electrical Box Assembly-1/Clamshell-1;Turret Assembly-1/Electrical Box Assembly-1/Sheet Base-2;Turret Assembly-1/Electrical Box Assembly-1/Cam Slot-2;Turret Assembly-1/Electrical Box Assembly-1/Slot guide-2;Turret Assembly-1/Electrical Box Assembly-1/Slot guide-1;Turret Assembly-1/Electrical Box Assembly-1/Cam Slot-1;Axis 1 Full Assembly-1/Axis 1 Outer Frame-1/ASTRA-01-00-005-2;Axis 1 Full Assembly-1/Axis 1 Outer Frame-1/ASTRA-01-00-005-1;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-3,Origin_Axis 0 Joint,Axis1,Axis 0 Joint,revolute,0.018772,-0.020734,-0.04971,1.5708,0,3.1115,base_link,0,-1,0,0,0,0,0,,,,,,,,
+Axis 0 Plate,0.025635,0.047115,0.021109,0,0,0,2.045,0.0097744,2.0744E-07,0.00060246,0.012437,-2.2545E-05,0.00611,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 0 Plate.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 0 Plate.STL,,Turret Assembly-1/Pinion Gear Mounting Plate-1;Turret Assembly-1/Motor Adjustment Plate-1;Turret Assembly-1/17HS19-1684S-PG14.step-1;Turret Assembly-1/Spur Gear Retainer-1;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-1;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-2;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-4;Turret Assembly-1/Electrical Box Assembly-1/Clamshell-1;Turret Assembly-1/Electrical Box Assembly-1/Sheet Base-2;Turret Assembly-1/Electrical Box Assembly-1/Cam Slot-2;Turret Assembly-1/Electrical Box Assembly-1/Slot guide-2;Turret Assembly-1/Electrical Box Assembly-1/Slot guide-1;Turret Assembly-1/Electrical Box Assembly-1/Cam Slot-1;Axis 1 Full Assembly-1/Axis 1 Outer Frame-1/ASTRA-01-00-005-2;Axis 1 Full Assembly-1/Axis 1 Outer Frame-1/ASTRA-01-00-005-1;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-3,Origin_Axis_0_Joint,Axis1,Axis_0_Joint,revolute,0.018772,-0.020734,-0.04971,1.5708,0,3.1115,base_link,0,-1,0,0,0,0,0,,,,,,,,
-Axis 1 Segment,0.317731812584795,0.0226837932394467,-2.94234579792906E-05,0,0,0,2.10107115350287,0.00185099460285527,-6.85595125576909E-06,-2.99093842113918E-07,0.00462248035875048,2.91093713403385E-07,0.00297641069201651,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 1 Segment.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 1 Segment.STL,,Axis 1 Full Assembly-1/Axis 1 Outer Ring-1/ASTRA-01-01-002-1;Axis 1 Full Assembly-1/Axis 1 Outer Ring-1/ASTRA-01-01-001-1;Axis 1 Full Assembly-1/Axis 1 Outer Ring-1/ASTRA-01-01-002-2;Axis 0-1 Forearm-1/ASTRA-02-00-009-1;Axis 0-1 Forearm-1/2024 Axis 0-1 CF Tube-1;Axis 0-1 Forearm-1/ASTRA-02-00-009-2;ASTRA-02-00-000-2/ASTRA-02-00-006-1;ASTRA-02-00-000-2/ASTRA-02-00-007-2;ASTRA-02-00-000-2/ASTRA-02-00-007-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Mount 20 30-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Board V2-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Board Top 2030-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-1.STEP-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/Cy NEO 550 Adapter Plate Axis 2-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Motor Gearbox Mount-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-2;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-3;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-2.STEP-1,Origin_Axis 1 Joint,Axis2,Axis 1 Joint,revolute,-0.0271654135185528,0.0927245490180083,0.00384109909109076,-3.14159265358977,-0.00524713054608625,1.5707963267949,Axis 0 Plate,0,-1,0,0,0,0,0,,,,,,,,
+Axis 1 Segment,0.317731812584795,0.0226837932394467,-2.94234579792906E-05,0,0,0,2.10107115350287,0.00185099460285527,-6.85595125576909E-06,-2.99093842113918E-07,0.00462248035875048,2.91093713403385E-07,0.00297641069201651,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 1 Segment.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 1 Segment.STL,,Axis 1 Full Assembly-1/Axis 1 Outer Ring-1/ASTRA-01-01-002-1;Axis 1 Full Assembly-1/Axis 1 Outer Ring-1/ASTRA-01-01-001-1;Axis 1 Full Assembly-1/Axis 1 Outer Ring-1/ASTRA-01-01-002-2;Axis 0-1 Forearm-1/ASTRA-02-00-009-1;Axis 0-1 Forearm-1/2024 Axis 0-1 CF Tube-1;Axis 0-1 Forearm-1/ASTRA-02-00-009-2;ASTRA-02-00-000-2/ASTRA-02-00-006-1;ASTRA-02-00-000-2/ASTRA-02-00-007-2;ASTRA-02-00-000-2/ASTRA-02-00-007-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Mount 20 30-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Board V2-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Board Top 2030-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-1.STEP-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/Cy NEO 550 Adapter Plate Axis 2-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Motor Gearbox Mount-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-2;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-3;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-2.STEP-1,Origin_Axis_1_Joint,Axis2,Axis_1_Joint,revolute,-0.0271654135185528,0.0927245490180083,0.00384109909109076,-3.14159265358977,-0.00524713054608625,1.5707963267949,Axis 0 Plate,0,-1,0,0,0,0,0,,,,,,,,
-Axis 2 Segment,0.179701426719665,-0.0176131583689303,5.71147464441535E-05,0,0,0,3.13644489009951,0.00172062005671382,1.49995165753112E-05,3.0146547850231E-07,0.00419573957161135,2.86281305896603E-07,0.00280821030835127,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 2 Segment.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 2 Segment.STL,,ASTRA-02-00-000-2/ASTRA-02-00-003-1;ASTRA-02-00-000-2/ASTRA-02-00-004-1;ASTRA-02-00-000-2/ASTRA-02-00-003-2;Axis 1-2 Forearm-1/ASTRA-02-00-009-1;Axis 1-2 Forearm-1/2024 Axis 1-2 CF Tube-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Board Arm 2030-1;Axis 1-2 Forearm-1/ASTRA-02-00-009-2;ASTRA-03-00-000-1/ASTRA-02-00-006-1;ASTRA-03-00-000-1/ASTRA-02-00-007-1;ASTRA-03-00-000-1/ASTRA-02-00-007-2;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Mount 20 30-1;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board V2-1;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board Top 2030-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/Cy NEO 550 Adapter Plate Axis 2-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-2.STEP-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-1.STEP-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-3;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-2;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Motor Gearbox Mount-1,Origin_Axis 2 Joint,Axis3,Axis 2 Joint,revolute,0.470027000000004,0.0126999999999999,0,3.14159265358979,0.000449358059257729,0,Axis 1 Segment,0,-1,0,0,0,0,0,,,,,,,,
+Axis 2 Segment,0.179701426719665,-0.0176131583689303,5.71147464441535E-05,0,0,0,3.13644489009951,0.00172062005671382,1.49995165753112E-05,3.0146547850231E-07,0.00419573957161135,2.86281305896603E-07,0.00280821030835127,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 2 Segment.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Axis 2 Segment.STL,,ASTRA-02-00-000-2/ASTRA-02-00-003-1;ASTRA-02-00-000-2/ASTRA-02-00-004-1;ASTRA-02-00-000-2/ASTRA-02-00-003-2;Axis 1-2 Forearm-1/ASTRA-02-00-009-1;Axis 1-2 Forearm-1/2024 Axis 1-2 CF Tube-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Board Arm 2030-1;Axis 1-2 Forearm-1/ASTRA-02-00-009-2;ASTRA-03-00-000-1/ASTRA-02-00-006-1;ASTRA-03-00-000-1/ASTRA-02-00-007-1;ASTRA-03-00-000-1/ASTRA-02-00-007-2;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Mount 20 30-1;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board V2-1;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board Top 2030-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/Cy NEO 550 Adapter Plate Axis 2-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-2.STEP-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-1.STEP-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-3;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-2;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Motor Gearbox Mount-1,Origin_Axis_2_Joint,Axis3,Axis_2_Joint,revolute,0.470027000000004,0.0126999999999999,0,3.14159265358979,0.000449358059257729,0,Axis 1 Segment,0,-1,0,0,0,0,0,,,,,,,,
-Wrist,0.0258890113931529,-0.0205223442970055,6.01641698143966E-05,0,0,0,1.95105877103309,0.00117490634970832,8.14355696873965E-06,2.37060433355634E-09,0.0025492938141431,-4.81227026285992E-09,0.00159235737231991,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Wrist.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Wrist.STL,,ASTRA-03-00-000-1/ASTRA-02-00-003-1;ASTRA-03-00-000-1/ASTRA-03-00-004-1;ASTRA-03-00-000-1/ASTRA-02-00-003-2;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board Arm 2030-1;Wrist Interface-1;FULLWristAssembly-1/Servobox-1/ServoBoxTruss-1;FULLWristAssembly-1/Servobox-1/LSS-Public-2/LSS-Public.STEP-1/LSS - Casing_LSS Generic.STEP-1;FULLWristAssembly-1/Servobox-1/LSS-Public-1/LSS-Public.STEP-1/LSS - Casing_LSS Generic.STEP-1;FULLWristAssembly-1/Servobox-1/ServoBoxBottomPlate-1;FULLWristAssembly-1/Servobox-1/GearBoxMountingPlate-1;FULLWristAssembly-1/Servobox-1/ServoBoxTruss-2;FULLWristAssembly-1/Servobox-1/ServoMountingWall-1;FULLWristAssembly-1/Servobox-1/ServoMountingWall-2;FULLWristAssembly-1/Differential Gear box-1/ShaftSupport-2;FULLWristAssembly-1/Differential Gear box-1/ShaftSupport-1;FULLWristAssembly-1/Servobox-1/Modified 266N381 For interface-1;FULLWristAssembly-1/Differential Gear box-1/2664N381_Metal Gear - 20 Degree Pressure Angle-3;FULLWristAssembly-1/TensionBar-1;FULLWristAssembly-1/Servobox-1/ServoHornAdapater-1;FULLWristAssembly-1/Servobox-1/ServoHornAdapater-2;FULLWristAssembly-1/Servobox-1/Modified 266N381 For interface-2;FULLWristAssembly-1/Differential Gear box-1/2664N381_Metal Gear - 20 Degree Pressure Angle-4;FULLWristAssembly-1/TensionBar-2,Origin_Axis 3 Joint,Axis4,Axis 3 Joint,revolute,0.393826999999998,0,0,0,-0.000409495780687665,0,Axis 2 Segment,0,-1,0,0,0,0,0,,,,,,,,
+Wrist,0.0258890113931529,-0.0205223442970055,6.01641698143966E-05,0,0,0,1.95105877103309,0.00117490634970832,8.14355696873965E-06,2.37060433355634E-09,0.0025492938141431,-4.81227026285992E-09,0.00159235737231991,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Wrist.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Wrist.STL,,ASTRA-03-00-000-1/ASTRA-02-00-003-1;ASTRA-03-00-000-1/ASTRA-03-00-004-1;ASTRA-03-00-000-1/ASTRA-02-00-003-2;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board Arm 2030-1;Wrist Interface-1;FULLWristAssembly-1/Servobox-1/ServoBoxTruss-1;FULLWristAssembly-1/Servobox-1/LSS-Public-2/LSS-Public.STEP-1/LSS - Casing_LSS Generic.STEP-1;FULLWristAssembly-1/Servobox-1/LSS-Public-1/LSS-Public.STEP-1/LSS - Casing_LSS Generic.STEP-1;FULLWristAssembly-1/Servobox-1/ServoBoxBottomPlate-1;FULLWristAssembly-1/Servobox-1/GearBoxMountingPlate-1;FULLWristAssembly-1/Servobox-1/ServoBoxTruss-2;FULLWristAssembly-1/Servobox-1/ServoMountingWall-1;FULLWristAssembly-1/Servobox-1/ServoMountingWall-2;FULLWristAssembly-1/Differential Gear box-1/ShaftSupport-2;FULLWristAssembly-1/Differential Gear box-1/ShaftSupport-1;FULLWristAssembly-1/Servobox-1/Modified 266N381 For interface-1;FULLWristAssembly-1/Differential Gear box-1/2664N381_Metal Gear - 20 Degree Pressure Angle-3;FULLWristAssembly-1/TensionBar-1;FULLWristAssembly-1/Servobox-1/ServoHornAdapater-1;FULLWristAssembly-1/Servobox-1/ServoHornAdapater-2;FULLWristAssembly-1/Servobox-1/Modified 266N381 For interface-2;FULLWristAssembly-1/Differential Gear box-1/2664N381_Metal Gear - 20 Degree Pressure Angle-4;FULLWristAssembly-1/TensionBar-2,Origin_Axis_3_Joint,Axis4,Axis_3_Joint,revolute,0.393826999999998,0,0,0,-0.000409495780687665,0,Axis 2 Segment,0,-1,0,0,0,0,0,,,,,,,,
-Diff Carrier,-8.64620358677695E-06,-0.00516792807449162,-7.22608790769408E-07,0,0,0,0.0655351660884378,1.65846526943977E-05,3.62206129298215E-09,5.09422122565314E-10,4.25479683866677E-05,2.86164802173259E-10,3.87760449919773E-05,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Diff Carrier.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Diff Carrier.STL,,FULLWristAssembly-1/Differential Gear box-1/Endefector plate-2;FULLWristAssembly-1/Differential Gear box-1/2515N313_Metal Pinion-1;FULLWristAssembly-1/Differential Gear box-1/2515N314_Metal Bevel Gear-1;FULLWristAssembly-1/Differential Gear box-1/2515N313_Metal Pinion-2,Origin_Wrist Differential Joint,Axis5,Wrist Differential Joint,revolute,0.176692001200001,-0.00622300000004081,0,-3.05263944120951,1.57079631189374,1.65994236547327,Wrist,-1,0,0,0,0,0,0,,,,,,,,
+Diff Carrier,-8.64620358677695E-06,-0.00516792807449162,-7.22608790769408E-07,0,0,0,0.0655351660884378,1.65846526943977E-05,3.62206129298215E-09,5.09422122565314E-10,4.25479683866677E-05,2.86164802173259E-10,3.87760449919773E-05,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Diff Carrier.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Diff Carrier.STL,,FULLWristAssembly-1/Differential Gear box-1/Endefector plate-2;FULLWristAssembly-1/Differential Gear box-1/2515N313_Metal Pinion-1;FULLWristAssembly-1/Differential Gear box-1/2515N314_Metal Bevel Gear-1;FULLWristAssembly-1/Differential Gear box-1/2515N313_Metal Pinion-2,Origin_Wrist_Differential_Joint,Axis5,Wrist_Differential_Joint,revolute,0.176692001200001,-0.00622300000004081,0,-3.05263944120951,1.57079631189374,1.65994236547327,Wrist,-1,0,0,0,0,0,0,,,,,,,,
-End Effector,-0.00327558376591462,0.00327411156667146,-0.0553569354578649,0,0,0,0.397605677640027,0.000631368000075726,-1.01357929540856E-09,-3.06601632900158E-06,0.000105800099414061,2.32813748604228E-09,0.000592001119919064,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/End Effector.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/End Effector.STL,,Assembley-1/Copy End_Effector_Mount-1;Assembley-1/Real Shit - Pin-1;Assembley-1/copy End Effector Mount Center Block-1;Assembley-1/copy Real Shit - Middle Spacer Plate-1;Assembley-1/Copy Real Shit - Right Plate-1;Assembley-1/Copy Real Shit - Left Plate-1;Assembley-1/motor end deffector-1;Assembley-1/Motor adapter-2;Assembley-1/Copy Carbon Rod-1;Assembley-1/Copy Lead Screw-1;Assembley-1/Copy Carbon Rod-2,Origin_Wrist-EF Roll Joint,Axis6,Wrist-EF Roll Joint,continuous,0,0.01,0,-1.5708,-0.21566,-3.1416,Diff Carrier,0,0,1,,,,,,,,,,,,
+End Effector,-0.00327558376591462,0.00327411156667146,-0.0553569354578649,0,0,0,0.397605677640027,0.000631368000075726,-1.01357929540856E-09,-3.06601632900158E-06,0.000105800099414061,2.32813748604228E-09,0.000592001119919064,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/End Effector.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/End Effector.STL,,Assembley-1/Copy End_Effector_Mount-1;Assembley-1/Real Shit - Pin-1;Assembley-1/copy End Effector Mount Center Block-1;Assembley-1/copy Real Shit - Middle Spacer Plate-1;Assembley-1/Copy Real Shit - Right Plate-1;Assembley-1/Copy Real Shit - Left Plate-1;Assembley-1/motor end deffector-1;Assembley-1/Motor adapter-2;Assembley-1/Copy Carbon Rod-1;Assembley-1/Copy Lead Screw-1;Assembley-1/Copy Carbon Rod-2,Origin_Wrist-EF_Roll_Joint,Axis6,Wrist-EF_Roll_Joint,continuous,0,0.01,0,-1.5708,-0.21566,-3.1416,Diff Carrier,0,0,1,,,,,,,,,,,,
-EF Gripper Right,3.60822483003176E-16,0.0395187564799554,-0.0785892929086096,0,0,0,0.0859306256217421,8.1015302646778E-05,2.5410988417629E-21,3.75123099070348E-19,8.51028632685389E-05,1.00631950096307E-08,5.50169350148622E-06,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Right.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Right.STL,,Assembley-1/Copy Left_Jaw_Bracket-3;Assembley-1/Gripper-2;Assembley-1/Copy Real Shit - Left Jaw Plate-2;Assembley-1/lead screw nut-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-4,Origin_Gripper Slider Right,Axis7,Gripper Slider Right,prismatic,0,0,-0.031677,0,0,3.1416,End Effector,0,1,0,0,0,0,0,,,,,,,,
+EF Gripper Right,3.60822483003176E-16,0.0395187564799554,-0.0785892929086096,0,0,0,0.0859306256217421,8.1015302646778E-05,2.5410988417629E-21,3.75123099070348E-19,8.51028632685389E-05,1.00631950096307E-08,5.50169350148622E-06,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Right.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Right.STL,,Assembley-1/Copy Left_Jaw_Bracket-3;Assembley-1/Gripper-2;Assembley-1/Copy Real Shit - Left Jaw Plate-2;Assembley-1/lead screw nut-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-4,Origin_Gripper _Slider_Right,Axis7,Gripper _Slider_Right,prismatic,0,0,-0.031677,0,0,3.1416,End Effector,0,1,0,0,0,0,0,,,,,,,,
-EF Gripper Left,0.000260261090099842,0.0391877753208171,-0.0810862651363518,0,0,0,0.0813132558225319,7.92230074239095E-05,8.60239969339994E-10,-3.27617434511821E-07,8.29877943429396E-05,9.84609377733742E-09,4.98027032334885E-06,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Left.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Left.STL,,Assembley-1/Copy Left_Jaw_Bracket-1;Assembley-1/Copy Real Shit - Left Jaw Plate-1;Assembley-1/Gripper-1;Assembley-1/lead screw nut-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-3,Origin_Gripper Slider Left,Axis7,Gripper Slider Left,prismatic,0,0,-0.031677,0,0,0,End Effector,0,-1,0,0,0,0,0,,,,,,,,
+EF Gripper Left,0.000260261090099842,0.0391877753208171,-0.0810862651363518,0,0,0,0.0813132558225319,7.92230074239095E-05,8.60239969339994E-10,-3.27617434511821E-07,8.29877943429396E-05,9.84609377733742E-09,4.98027032334885E-06,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Left.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Left.STL,,Assembley-1/Copy Left_Jaw_Bracket-1;Assembley-1/Copy Real Shit - Left Jaw Plate-1;Assembley-1/Gripper-1;Assembley-1/lead screw nut-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-3,Origin_Gripper_Slider_Left,Axis7,Gripper_Slider_Left,prismatic,0,0,-0.031677,0,0,0,End Effector,0,-1,0,0,0,0,0,,,,,,,,

src/rover_urdf_pkg/urdf/ASTRA_Arm.urdf

@@ -3,7 +3,7 @@
      Commit Version: 1.6.1-11-gaed57c3-dirty  Build Version: 1.6.9361.3070
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
 <robot
-  name="ASTRA Arm">
+  name="ASTRA_Arm">
 
   <link
     name="base_link">
@@ -88,7 +88,7 @@
   </link>
 
   <joint
-    name="Axis 0 Joint"
+    name="Axis_0_Joint"
     type="revolute">
     <origin
       xyz="0.018772 -0.020734 -0.04971"
@@ -103,7 +103,7 @@
       lower="-3.14"
       upper="3.14"
       effort="0"
-      velocity="0" />
+      velocity="0.05" />
   </joint>
 
   <link
@@ -148,7 +148,7 @@
   </link>
 
   <joint
-    name="Axis 1 Joint"
+    name="Axis_1_Joint"
     type="revolute">
     <origin
       xyz="-0.0271654135185528 0.0927245490180083 0.00384109909109076"
@@ -163,7 +163,7 @@
       lower="-1.05"
       upper="1.6"
       effort="0"
-      velocity="0" />
+      velocity="0.05" />
   </joint>
 
   <link
@@ -208,7 +208,7 @@
   </link>
 
   <joint
-    name="Axis 2 Joint"
+    name="Axis_2_Joint"
     type="revolute">
     <origin
       xyz="0.470027000000004 0.0126999999999999 0"
@@ -223,7 +223,7 @@
       lower="-2.0"
       upper="2.0"
       effort="0"
-      velocity="0" />
+      velocity="0.05" />
   </joint>
 
   <link
@@ -268,7 +268,7 @@
   </link>
 
   <joint
-    name="Axis 3 Joint"
+    name="Axis_3_Joint"
     type="revolute">
     <origin
       xyz="0.393826999999998 0 0"
@@ -283,7 +283,7 @@
       lower="-1.6"
       upper="1.9"
       effort="0"
-      velocity="0" />
+      velocity="0.05" />
   </joint>
 
   <link
@@ -328,7 +328,7 @@
   </link>
 
   <joint
-    name="Wrist Differential Joint"
+    name="Wrist_Differential_Joint"
     type="revolute">
     <origin
       xyz="0.176692001200001 -0.00622300000004081 0"
@@ -343,7 +343,7 @@
       lower="-1.6"
       upper="1.6"
       effort="0"
-      velocity="0" />
+      velocity="0.05" />
   </joint>
 
   <link
@@ -388,7 +388,7 @@
   </link>
 
   <joint
-    name="Wrist-EF Roll Joint"
+    name="Wrist-EF_Roll_Joint"
     type="continuous">
     <origin
       xyz="0 0.01 0"
@@ -443,7 +443,7 @@
   </link>
 
   <joint
-    name="Gripper Slider Right"
+    name="Gripper _Slider_Right"
     type="prismatic">
     <origin
       xyz="0 0 -0.031677"
@@ -458,7 +458,7 @@
       lower="-0.025"
       upper="0.04"
       effort="0"
-      velocity="0" />
+      velocity="0.05" />
   </joint>
 
   <link
@@ -503,7 +503,7 @@
   </link>
 
   <joint
-    name="Gripper Slider Left"
+    name="Gripper_Slider_Left"
     type="prismatic">
     <origin
       xyz="0 0 -0.031677"
@@ -518,7 +518,7 @@
       lower="-0.04"
       upper="0.025"
       effort="0"
-      velocity="0" />
+      velocity="0.05" />
   </joint>
 
 </robot>