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优化pro 600 moveit包-修复rviz添加地面后无法运动规划问题，更新URDF模型初始姿态
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mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf
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| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" > | ||
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| <xacro:property name="width" value=".2" /> | ||
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| <link name="base"> | ||
| <visual> | ||
| <geometry> | ||
| <!--- 0.0 0 -0.04 1.5708 3.14159--> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/base.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0 0 0 " rpy = " 0 0 0"/> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz = "0 0 0.04 " rpy = " 0 0 1.5708"/> | ||
| <geometry> | ||
| <cylinder length="0.06" radius="0.038"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
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| <link name="link1"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link1.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0 0 0 " rpy = "0 0 3.1415926"/> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz = "0.0 0.0 -0.02 " rpy = " 0 0 1.5708"/> | ||
| <geometry> | ||
| <cylinder length="0.05" radius="0.03"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
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| <link name="link2"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link2.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0 0 -0.080 " rpy = " 3.1415926 0 3.1415926"/> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz = "0.128 0 -0.125 " rpy = " 0 1.5708 0"/> | ||
| <geometry> | ||
| <cylinder length="0.28" radius="0.024"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
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| <link name="link3"> | ||
| <visual> | ||
| <geometry> | ||
| <!--- 0.0 0 -0.04 --> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link3.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0 0 -0.0855 " rpy = " 3.1415926 0 3.1415926"/> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz = "0.128 0.0 -0.003 " rpy = "0 1.5708 0"/> | ||
| <geometry> | ||
| <cylinder length="0.24" radius="0.024"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
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| <link name="link4"> | ||
| <visual> | ||
| <geometry> | ||
| <!--- 0.0 0 -0.04 --> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link4.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz = "0.0 -0.01 0.007" rpy = " 1.5708 1.5708 0"/> | ||
| <geometry> | ||
| <cylinder length="0.05" radius="0.024"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
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| <link name="link5"> | ||
| <visual> | ||
| <geometry> | ||
| <!--- 0.0 0 -0.04 --> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link5.dae"/> | ||
| </geometry> | ||
| <origin xyz = "0 0 0 " rpy = " 0 0 1.5707"/> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz = "0.0 0.0 -0.015 " rpy = " 0 0 -1.5708"/> | ||
| <geometry> | ||
| <cylinder length="0.05" radius="0.028"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
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| <link name="link6"> | ||
| <visual> | ||
| <geometry> | ||
| <!--- 0.0 0 -0.04 --> | ||
| <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link6.dae"/> | ||
| </geometry> | ||
| <material name = "grey"> | ||
| <color rgba = "0.5 0.5 0.5 1"/> | ||
| </material> | ||
| <origin xyz = "0.03 0 0" rpy = " 0 -1.5707 0"/> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz = "0.006 0.0 -0.0 " rpy = " 0 1.5708 0"/> | ||
| <geometry> | ||
| <cylinder length="0.006" radius="0.026"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
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| <joint name="joint2_to_joint1" type="revolute"> | ||
| <axis xyz="0 0 1"/> | ||
| <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> | ||
| <parent link="base"/> | ||
| <child link="link1"/> | ||
| <origin xyz= "0 0 0.19934" rpy = "0 0 0"/> | ||
| </joint> | ||
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| <joint name="joint3_to_joint2" type="revolute"> | ||
| <axis xyz="0 0 -1"/> | ||
| <!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/> --> | ||
| <limit effort = "1000.0" lower = "-3.14159" upper = "3.14159" velocity = "0"/> | ||
| <parent link="link1"/> | ||
| <child link="link2"/> | ||
| <origin xyz= "0 0 0" rpy = "1.5708 -1.5708 0"/> | ||
| <!-- <origin xyz= "0 0 0" rpy = "1.5708 0 0"/> --> | ||
| </joint> | ||
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| <joint name="joint4_to_joint3" type="revolute"> | ||
| <axis xyz=" 0 0 -1"/> | ||
| <limit effort = "1000.0" lower = "-2.61" upper = "2.618" velocity = "0"/> | ||
| <parent link="link2"/> | ||
| <child link="link3"/> | ||
| <origin xyz= "0.25 0 0 " rpy = "0 0 0"/> | ||
| </joint> | ||
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| <joint name="joint5_to_joint4" type="revolute"> | ||
| <axis xyz=" 0 0 -1"/> | ||
| <!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> --> | ||
| <limit effort = "1000.0" lower = "-2.9670" upper = "2.9670" velocity = "0"/> | ||
| <parent link="link3"/> | ||
| <child link="link4"/> | ||
| <origin xyz= "0.25 0 -0.1091" rpy = "0 0 1.5708"/> | ||
| <!-- <origin xyz= "0.25 0 -0.1091" rpy = "0 0 0"/> --> | ||
| </joint> | ||
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| <joint name="joint6_to_joint5" type="revolute"> | ||
| <axis xyz="0 0 1"/> | ||
| <limit effort = "1000.0" lower = "-2.93" upper = "2.9321" velocity = "0"/> | ||
| <parent link="link4"/> | ||
| <child link="link5"/> | ||
| <origin xyz= "0 -0.108 0" rpy = "1.57080 -1.57080 0"/> | ||
| </joint> | ||
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| <joint name="joint6output_to_joint6" type="revolute"> | ||
| <axis xyz="-1 0 0"/> | ||
| <limit effort = "1000.0" lower = "-3.03" upper = "3.0368" velocity = "0"/> | ||
| <parent link="link5"/> | ||
| <child link="link6"/> | ||
| <origin xyz= "-0.07586 0 0" rpy = "-1.57080 0 0 "/> | ||
| </joint> | ||
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| </robot> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,11 +1,11 @@ | ||
| moveit_setup_assistant_config: | ||
| URDF: | ||
| package: mycobot_description | ||
| relative_path: urdf/mycobot_pro_600/mycobot_pro_600.urdf | ||
| relative_path: urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf | ||
| xacro_args: "--inorder " | ||
| SRDF: | ||
| relative_path: config/firefighter.srdf | ||
| CONFIG: | ||
| author_name: wangweijian | ||
| author_email: [email protected] | ||
| generated_timestamp: 1652406964 | ||
| generated_timestamp: 1736245598 |
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| Original file line number | Diff line number | Diff line change |
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| @@ -1,21 +1,10 @@ | ||
| cmake_minimum_required(VERSION 2.8.3) | ||
| cmake_minimum_required(VERSION 3.1.3) | ||
| project(mycobot_600_moveit) | ||
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| find_package(catkin REQUIRED | ||
| rospy | ||
| std_msgs | ||
| moveit_msgs | ||
| ) | ||
| find_package(catkin REQUIRED) | ||
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| catkin_package() | ||
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| ## Mark executable scripts (Python etc.) for installation | ||
| ## in contrast to setup.py, you can choose the destination | ||
| catkin_install_python(PROGRAMS | ||
| scripts/sync_plan.py | ||
| DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| ) | ||
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| install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | ||
| PATTERN "setup_assistant.launch" EXCLUDE) | ||
| install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,5 @@ | ||
| cartesian_limits: | ||
| max_trans_vel: 1 | ||
| max_trans_acc: 2.25 | ||
| max_trans_dec: -5 | ||
| max_rot_vel: 1.57 |
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| Original file line number | Diff line number | Diff line change |
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| @@ -1,9 +1,13 @@ | ||
| controller_list: | ||
| - name: fake_arm_group_controller | ||
| type: $(arg fake_execution_type) | ||
| joints: | ||
| - joint2_to_joint1 | ||
| - joint3_to_joint2 | ||
| - joint4_to_joint3 | ||
| - joint5_to_joint4 | ||
| - joint6_to_joint5 | ||
| - joint6output_to_joint6 | ||
| - joint6output_to_joint6 | ||
| initial: # Define initial robot poses per group | ||
| - group: arm_group | ||
| pose: init_pose |
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mycobot_pro/mycobot_600_moveit/config/gazebo_controllers.yaml
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| # Publish joint_states | ||
| joint_state_controller: | ||
| type: joint_state_controller/JointStateController | ||
| publish_rate: 50 |
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