From a94395902d8d41bea2eb96165088e3d1d70bf173 Mon Sep 17 00:00:00 2001 From: Hu Chunxu Date: Wed, 13 May 2020 10:50:58 +0800 Subject: [PATCH] Add sources --- README.md | 9 + .../marm_description/CMakeLists.txt | 200 + .../marm_description/config/marm_urdf.rviz | 184 + .../launch/display_marm_urdf.launch | 13 + handwriting_urdf/marm_description/package.xml | 58 + .../marm_description/urdf/marm.urdf | 187 + .../mbot_description/CMakeLists.txt | 198 + .../mbot_description/config/mbot_urdf.rviz | 160 + .../launch/display_mbot_urdf.launch | 13 + .../display_mbot_with_kinect_urdf.launch | 13 + .../display_mbot_with_laser_urdf.launch | 13 + .../mbot_description/meshes/kinect.dae | 165 + .../mbot_description/meshes/kinect.jpg | Bin 0 -> 45027 bytes .../mbot_description/meshes/kinect.tga | Bin 0 -> 47572 bytes handwriting_urdf/mbot_description/package.xml | 65 + .../mbot_description/urdf/mbot.urdf | 98 + .../urdf/mbot_with_kinect.urdf | 114 + .../urdf/mbot_with_laser.urdf | 115 + 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moveit_setup_assistant/c800_moveit_config/launch/chomp_planning_pipeline.launch.xml create mode 100644 moveit_setup_assistant/c800_moveit_config/launch/default_warehouse_db.launch create mode 100644 moveit_setup_assistant/c800_moveit_config/launch/demo.launch create mode 100644 moveit_setup_assistant/c800_moveit_config/launch/demo_gazebo.launch create mode 100644 moveit_setup_assistant/c800_moveit_config/launch/fake_moveit_controller_manager.launch.xml create mode 100644 moveit_setup_assistant/c800_moveit_config/launch/gazebo.launch create mode 100644 moveit_setup_assistant/c800_moveit_config/launch/joystick_control.launch create mode 100644 moveit_setup_assistant/c800_moveit_config/launch/move_group.launch create mode 100644 moveit_setup_assistant/c800_moveit_config/launch/moveit.rviz create mode 100644 moveit_setup_assistant/c800_moveit_config/launch/moveit_rviz.launch create mode 100644 moveit_setup_assistant/c800_moveit_config/launch/ompl_planning_pipeline.launch.xml create mode 100644 moveit_setup_assistant/c800_moveit_config/launch/planning_context.launch create mode 100644 moveit_setup_assistant/c800_moveit_config/launch/planning_pipeline.launch.xml create mode 100644 moveit_setup_assistant/c800_moveit_config/launch/ros_controllers.launch create mode 100644 moveit_setup_assistant/c800_moveit_config/launch/run_benchmark_ompl.launch create mode 100644 moveit_setup_assistant/c800_moveit_config/launch/sensor_manager.launch.xml create mode 100644 moveit_setup_assistant/c800_moveit_config/launch/setup_assistant.launch create mode 100644 moveit_setup_assistant/c800_moveit_config/launch/trajectory_execution.launch.xml create mode 100644 moveit_setup_assistant/c800_moveit_config/launch/warehouse.launch create mode 100644 moveit_setup_assistant/c800_moveit_config/launch/warehouse_settings.launch.xml create mode 100644 moveit_setup_assistant/c800_moveit_config/package.xml create mode 100644 moveit_setup_assistant/marm_description/CMakeLists.txt create mode 100644 moveit_setup_assistant/marm_description/config/marm_urdf.rviz create mode 100644 moveit_setup_assistant/marm_description/launch/display_marm_urdf.launch create mode 100644 moveit_setup_assistant/marm_description/meshes/kinect.dae create mode 100644 moveit_setup_assistant/marm_description/meshes/kinect.jpg create mode 100644 moveit_setup_assistant/marm_description/meshes/kinect.tga create mode 100644 moveit_setup_assistant/marm_description/package.xml create mode 100644 moveit_setup_assistant/marm_description/urdf/marm.urdf create mode 100644 moveit_setup_assistant/marm_moveit_config/.setup_assistant create mode 100644 moveit_setup_assistant/marm_moveit_config/CMakeLists.txt create mode 100644 moveit_setup_assistant/marm_moveit_config/config/chomp_planning.yaml create mode 100644 moveit_setup_assistant/marm_moveit_config/config/fake_controllers.yaml create mode 100644 moveit_setup_assistant/marm_moveit_config/config/joint_limits.yaml create mode 100644 moveit_setup_assistant/marm_moveit_config/config/kinematics.yaml create mode 100644 moveit_setup_assistant/marm_moveit_config/config/marm.srdf create mode 100644 moveit_setup_assistant/marm_moveit_config/config/ompl_planning.yaml create mode 100644 moveit_setup_assistant/marm_moveit_config/config/ros_controllers.yaml create mode 100644 moveit_setup_assistant/marm_moveit_config/config/sensors_3d.yaml create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/chomp_planning_pipeline.launch.xml create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/default_warehouse_db.launch create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/demo.launch create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/demo_gazebo.launch create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/fake_moveit_controller_manager.launch.xml create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/gazebo.launch create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/joystick_control.launch create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/marm_moveit_controller_manager.launch.xml create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/marm_moveit_sensor_manager.launch.xml create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/move_group.launch create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/moveit.rviz create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/moveit_rviz.launch create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/ompl_planning_pipeline.launch.xml create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/planning_context.launch create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/planning_pipeline.launch.xml create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/ros_controllers.launch create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/run_benchmark_ompl.launch create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/sensor_manager.launch.xml create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/setup_assistant.launch create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/trajectory_execution.launch.xml create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/warehouse.launch create mode 100644 moveit_setup_assistant/marm_moveit_config/launch/warehouse_settings.launch.xml create mode 100644 moveit_setup_assistant/marm_moveit_config/package.xml create mode 100644 solidworks_to_urdf/SW_Models/C800.STEP create mode 100644 solidworks_to_urdf/SW_Models/UR5.STEP create mode 100644 solidworks_to_urdf/SW_Models/ares.STEP create mode 100644 solidworks_to_urdf/ares_description/CMakeLists.txt create mode 100644 solidworks_to_urdf/ares_description/config/joint_names_ares_description.yaml create mode 100644 solidworks_to_urdf/ares_description/export.log create mode 100644 solidworks_to_urdf/ares_description/launch/display.launch create mode 100644 solidworks_to_urdf/ares_description/launch/gazebo.launch create mode 100644 solidworks_to_urdf/ares_description/meshes/base_link.STL create mode 100644 solidworks_to_urdf/ares_description/meshes/controller_link.STL create mode 100644 solidworks_to_urdf/ares_description/meshes/laser_link.STL create mode 100644 solidworks_to_urdf/ares_description/meshes/wheel_lb_link.STL create mode 100644 solidworks_to_urdf/ares_description/meshes/wheel_lf_link.STL create mode 100644 solidworks_to_urdf/ares_description/meshes/wheel_rb_link.STL create mode 100644 solidworks_to_urdf/ares_description/meshes/wheel_rf_link.STL create mode 100644 solidworks_to_urdf/ares_description/package.xml create mode 100644 solidworks_to_urdf/ares_description/urdf/ares_description.csv create mode 100644 solidworks_to_urdf/ares_description/urdf/ares_description.urdf create mode 100644 solidworks_to_urdf/c800_description/CMakeLists.txt create mode 100644 solidworks_to_urdf/c800_description/config/joint_names_c800_description.yaml create mode 100644 solidworks_to_urdf/c800_description/export.log create mode 100644 solidworks_to_urdf/c800_description/launch/display.launch create mode 100644 solidworks_to_urdf/c800_description/launch/gazebo.launch create mode 100644 solidworks_to_urdf/c800_description/meshes/base_link.STL create mode 100644 solidworks_to_urdf/c800_description/meshes/link_1.STL create mode 100644 solidworks_to_urdf/c800_description/meshes/link_2.STL create mode 100644 solidworks_to_urdf/c800_description/meshes/link_3.STL create mode 100644 solidworks_to_urdf/c800_description/meshes/link_4.STL create mode 100644 solidworks_to_urdf/c800_description/meshes/link_5.STL create mode 100644 solidworks_to_urdf/c800_description/meshes/link_6.STL create mode 100644 solidworks_to_urdf/c800_description/package.xml create mode 100644 solidworks_to_urdf/c800_description/urdf/c800_description.csv create mode 100644 solidworks_to_urdf/c800_description/urdf/c800_description.urdf create mode 100644 solidworks_to_urdf/sw2urdfSetup.exe diff --git a/README.md b/README.md new file mode 100644 index 0000000..ada5b3a --- /dev/null +++ b/README.md @@ -0,0 +1,9 @@ +# “ROS基础精讲”系列视频课程 + +1. [《ROS基础导论》](https://class.guyuehome.com/detail/p_5e19e9f13e191_E8SHGCbk/6) +2. [《一起从零手写URDF模型》](https://class.guyuehome.com/detail/p_5e1eea4fe1e5c_Igm126Xn/6) ：handwriting_urdf +3. [《如何从Solidworks导出URDF模型》](https://class.guyuehome.com/detail/p_5e32dce7906e0_6TqS7BwX/6) ：solidworks_to_urdf +4. [《MoveIt可视化配置及仿真指南》](https://class.guyuehome.com/detail/p_5e71966b3fdfd_g4DpRGg9/6) ：moveit_setup_assistant +5. [《MoveIt编程入门》](https://class.guyuehome.com/detail/p_5e8e8e85b1e8f_9TdYxswq/6) ：moveit_beginner +6. [《如何在Gazebo中实现移动机器人仿真》](https://class.guyuehome.com/detail/p_5eb2366befe4a_E4rbNmXt/6) ：mbot_gazebo + diff --git a/handwriting_urdf/marm_description/CMakeLists.txt b/handwriting_urdf/marm_description/CMakeLists.txt new file mode 100644 index 0000000..44f2519 --- /dev/null +++ b/handwriting_urdf/marm_description/CMakeLists.txt @@ -0,0 +1,200 @@ +cmake_minimum_required(VERSION 2.8.3) +project(marm_description) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + tf + urdf + xacro +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES marm_description +# CATKIN_DEPENDS roscpp tf urdf xacro +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/marm_description.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/marm_description_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_marm_description.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/handwriting_urdf/marm_description/config/marm_urdf.rviz b/handwriting_urdf/marm_description/config/marm_urdf.rviz new file mode 100644 index 0000000..e4e4e9d --- /dev/null +++ b/handwriting_urdf/marm_description/config/marm_urdf.rviz @@ -0,0 +1,184 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + Splitter Ratio: 0.5 + Tree Height: 549 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/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: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + 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 + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + grasping_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + gripper_finger_link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_finger_link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.217164397239685 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.10586948692798615 + Y: -0.04329211637377739 + Z: 0.20623737573623657 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.550398588180542 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.6453983187675476 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1200 + X: 364 + Y: 85 diff --git a/handwriting_urdf/marm_description/launch/display_marm_urdf.launch b/handwriting_urdf/marm_description/launch/display_marm_urdf.launch new file mode 100644 index 0000000..d718c95 --- /dev/null +++ b/handwriting_urdf/marm_description/launch/display_marm_urdf.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/handwriting_urdf/marm_description/package.xml b/handwriting_urdf/marm_description/package.xml new file mode 100644 index 0000000..9e2ee79 --- /dev/null +++ b/handwriting_urdf/marm_description/package.xml @@ -0,0 +1,58 @@ + + + marm_description + 0.0.0 + The marm_description package + + + + + hcx + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + tf + urdf + xacro + roscpp + tf + urdf + xacro + + + + + + + + diff --git a/handwriting_urdf/marm_description/urdf/marm.urdf b/handwriting_urdf/marm_description/urdf/marm.urdf new file mode 100644 index 0000000..ba46440 --- /dev/null +++ b/handwriting_urdf/marm_description/urdf/marm.urdf @@ -0,0 +1,187 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/handwriting_urdf/mbot_description/CMakeLists.txt b/handwriting_urdf/mbot_description/CMakeLists.txt new file mode 100644 index 0000000..e08b17f --- /dev/null +++ b/handwriting_urdf/mbot_description/CMakeLists.txt @@ -0,0 +1,198 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mbot_description) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + urdf + xacro +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES mbot_description +# CATKIN_DEPENDS urdf xacro +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/mbot_description.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/mbot_description_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_mbot_description.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/handwriting_urdf/mbot_description/config/mbot_urdf.rviz b/handwriting_urdf/mbot_description/config/mbot_urdf.rviz new file mode 100644 index 0000000..bf50d95 --- /dev/null +++ b/handwriting_urdf/mbot_description/config/mbot_urdf.rviz @@ -0,0 +1,160 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + Splitter Ratio: 0.5 + Tree Height: 549 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/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: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + 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 + back_caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_caster_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.3435935974121094 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.038951627910137177 + Y: 0.013132067397236824 + Z: 0.0370001420378685 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.425398051738739 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.6003987789154053 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1200 + X: 363 + Y: 85 diff --git a/handwriting_urdf/mbot_description/launch/display_mbot_urdf.launch b/handwriting_urdf/mbot_description/launch/display_mbot_urdf.launch new file mode 100644 index 0000000..66b17d3 --- /dev/null +++ b/handwriting_urdf/mbot_description/launch/display_mbot_urdf.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/handwriting_urdf/mbot_description/launch/display_mbot_with_kinect_urdf.launch b/handwriting_urdf/mbot_description/launch/display_mbot_with_kinect_urdf.launch new file mode 100644 index 0000000..27d59d9 --- /dev/null +++ b/handwriting_urdf/mbot_description/launch/display_mbot_with_kinect_urdf.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/handwriting_urdf/mbot_description/launch/display_mbot_with_laser_urdf.launch b/handwriting_urdf/mbot_description/launch/display_mbot_with_laser_urdf.launch new file mode 100644 index 0000000..26ecbe6 --- /dev/null +++ b/handwriting_urdf/mbot_description/launch/display_mbot_with_laser_urdf.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/handwriting_urdf/mbot_description/meshes/kinect.dae b/handwriting_urdf/mbot_description/meshes/kinect.dae new file mode 100644 index 0000000..70b9630 --- /dev/null +++ b/handwriting_urdf/mbot_description/meshes/kinect.dae @@ -0,0 +1,165 @@ + + + + + DesignK + OpenCOLLADA for 3ds Max; Version: 1.3.1; Revision: 847M; Platform: x64; Configuration: Release_Max2011_static + file:///E:/Windows/Documents/3dsMax/scenes/KOBUKI_KINECT_URDF.max + + 2013-03-07T11:38:26 + 2013-03-07T11:38:26 + + Z_UP + + + + + + + kinect_jpg + + + + + kinect_jpg-surface + + + + + + 0 0 0 1 + + + 0.5882353 0.5882353 0.5882353 1 + + + + + + 0.9 0.9 0.9 1 + + + 9.999999 + + + 0 0 0 1 + + + 1 1 1 1 + + + 1 + + + + + + + + 0 + 0 + 0 + 1.5 + 0 + 3 + 1 + 0 + + + 1 + 1 + 0 + 0.1 + 0 + + + + + + + + + + + + + + + -0.1061134 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3131 1646 1987 3182 1647 1992 3179 2403 2673 3129 1645 1969 3183 1646 1987 3182 2404 2674 3131 1645 1969 3183 2404 2674 3131 2405 2675 3133 1644 1968 3185 1645 1969 3183 2405 2675 3133 1644 1968 3185 2405 2675 3133 2406 2676 3155 1643 1967 3077 1644 1968 3185 2406 2676 3155 1643 1967 3077 2406 2676 3155 2374 2647 2406 1669 1982 2655 2413 2683 2684 2377 2654 2624 2412 2682 2654 2377 2654 2624 2413 2683 2684 1701 2015 3067 1695 2019 3074 2418 2684 3087 1669 1982 2655 1637 1983 2685 2413 2683 2684 2414 2685 2686 2413 2683 2684 1637 1983 2685 2415 2686 2687 2412 2682 2654 2413 2683 2684 2416 2687 2688 2415 2686 2687 2413 2683 2684 2414 2685 2686 2416 2687 2688 2413 2683 2684 1695 2019 3074 1696 2020 3076 2419 2688 3088 2420 2689 2689 2414 2685 2686 1637 1983 2685 2421 2690 2944 2420 2689 2945 1637 1983 2300 2421 2690 2944 1637 1983 2300 1638 1963 2280 1696 2020 3076 1712 1745 3075 2422 2691 3089 2423 1935 2235 2421 2690 2944 1638 1963 2280 2425 2692 2706 2376 1663 2522 2375 2648 2621 2425 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hcx + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + urdf + xacro + urdf + xacro + urdf + xacro + + + + + + + + diff --git a/handwriting_urdf/mbot_description/urdf/mbot.urdf b/handwriting_urdf/mbot_description/urdf/mbot.urdf new file mode 100644 index 0000000..ef9e170 --- /dev/null +++ b/handwriting_urdf/mbot_description/urdf/mbot.urdf @@ -0,0 +1,98 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/handwriting_urdf/mbot_description/urdf/mbot_with_kinect.urdf b/handwriting_urdf/mbot_description/urdf/mbot_with_kinect.urdf new file mode 100644 index 0000000..58284b0 --- /dev/null +++ b/handwriting_urdf/mbot_description/urdf/mbot_with_kinect.urdf @@ -0,0 +1,114 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/handwriting_urdf/mbot_description/urdf/mbot_with_laser.urdf b/handwriting_urdf/mbot_description/urdf/mbot_with_laser.urdf new file mode 100644 index 0000000..e8fc70b --- /dev/null +++ b/handwriting_urdf/mbot_description/urdf/mbot_with_laser.urdf @@ -0,0 +1,115 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mbot_gazebo/mbot_description/CMakeLists.txt b/mbot_gazebo/mbot_description/CMakeLists.txt new file mode 100644 index 0000000..024123b --- /dev/null +++ b/mbot_gazebo/mbot_description/CMakeLists.txt @@ -0,0 +1,198 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mbot_description) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + urdf + xacro +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES mbot_description +# CATKIN_DEPENDS urdf xacro +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/mbot_description.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/mbot_description_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_mbot_description.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/mbot_gazebo/mbot_description/config/mbot.rviz b/mbot_gazebo/mbot_description/config/mbot.rviz new file mode 100644 index 0000000..5643ab2 --- /dev/null +++ b/mbot_gazebo/mbot_description/config/mbot.rviz @@ -0,0 +1,195 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /TF1 + Splitter Ratio: 0.5 + Tree Height: 473 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + 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 + back_castor_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_castor_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + back_castor_link: + Value: true + base_footprint: + Value: true + base_link: + Value: true + front_castor_link: + Value: true + left_wheel_link: + Value: true + right_wheel_link: + Value: true + Marker Scale: 0.100000001 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base_footprint: + base_link: + back_castor_link: + {} + front_castor_link: + {} + left_wheel_link: + {} + right_wheel_link: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_footprint + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 0.86167258 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.0422003381 + Y: -0.00756526971 + Z: 0.119616583 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.265398145 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.650397897 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 754 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1191 + X: 276 + Y: 84 diff --git a/mbot_gazebo/mbot_description/launch/display_mbot_xacro.launch b/mbot_gazebo/mbot_description/launch/display_mbot_xacro.launch new file mode 100644 index 0000000..431f22c --- /dev/null +++ b/mbot_gazebo/mbot_description/launch/display_mbot_xacro.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/mbot_gazebo/mbot_description/meshes/kinect.dae b/mbot_gazebo/mbot_description/meshes/kinect.dae new file mode 100644 index 0000000..70b9630 --- /dev/null +++ b/mbot_gazebo/mbot_description/meshes/kinect.dae @@ -0,0 +1,165 @@ + + + + + DesignK + OpenCOLLADA for 3ds Max; Version: 1.3.1; Revision: 847M; Platform: x64; Configuration: Release_Max2011_static + file:///E:/Windows/Documents/3dsMax/scenes/KOBUKI_KINECT_URDF.max + + 2013-03-07T11:38:26 + 2013-03-07T11:38:26 + + Z_UP + + + + + + + kinect_jpg + + + 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TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + urdf + xacro + urdf + xacro + urdf + xacro + + + + + + + + diff --git a/mbot_gazebo/mbot_description/urdf/mbot_base_gazebo.xacro b/mbot_gazebo/mbot_description/urdf/mbot_base_gazebo.xacro new file mode 100644 index 0000000..6414bf5 --- /dev/null +++ b/mbot_gazebo/mbot_description/urdf/mbot_base_gazebo.xacro @@ -0,0 +1,197 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Gray + + + + + transmission_interface/SimpleTransmission + + hardware_interface/VelocityJointInterface + + + hardware_interface/VelocityJointInterface + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Black + + + + + + + + + + + + + + false + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Blue + + + + + + + + + + + + Debug + true + / + 1 + true + true + 100.0 + true + left_wheel_joint + right_wheel_joint + ${wheel_joint_y*2} + ${2*wheel_radius} + 1 + 30 + 1.8 + cmd_vel + odom + odom + base_footprint + + + + + diff --git a/mbot_gazebo/mbot_description/urdf/mbot_gazebo.xacro b/mbot_gazebo/mbot_description/urdf/mbot_gazebo.xacro new file mode 100644 index 0000000..fa74cc1 --- /dev/null +++ b/mbot_gazebo/mbot_description/urdf/mbot_gazebo.xacro @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/mbot_gazebo/mbot_description/urdf/mbot_with_camera_gazebo.xacro b/mbot_gazebo/mbot_description/urdf/mbot_with_camera_gazebo.xacro new file mode 100644 index 0000000..000ad95 --- /dev/null +++ b/mbot_gazebo/mbot_description/urdf/mbot_with_camera_gazebo.xacro @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/mbot_gazebo/mbot_description/urdf/mbot_with_kinect_gazebo.xacro b/mbot_gazebo/mbot_description/urdf/mbot_with_kinect_gazebo.xacro new file mode 100644 index 0000000..8739172 --- /dev/null +++ b/mbot_gazebo/mbot_description/urdf/mbot_with_kinect_gazebo.xacro @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/mbot_gazebo/mbot_description/urdf/mbot_with_laser_gazebo.xacro b/mbot_gazebo/mbot_description/urdf/mbot_with_laser_gazebo.xacro new file mode 100644 index 0000000..8a3e6a0 --- /dev/null +++ b/mbot_gazebo/mbot_description/urdf/mbot_with_laser_gazebo.xacro @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/mbot_gazebo/mbot_description/urdf/sensors/camera_gazebo.xacro b/mbot_gazebo/mbot_description/urdf/sensors/camera_gazebo.xacro new file mode 100644 index 0000000..2931c09 --- /dev/null +++ b/mbot_gazebo/mbot_description/urdf/sensors/camera_gazebo.xacro @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Black + + + + + 30.0 + + 1.3962634 + + 1280 + 720 + R8G8B8 + + + 0.02 + 300 + + + gaussian + 0.0 + 0.007 + + + + true + 0.0 + /camera + image_raw + camera_info + camera_link + 0.07 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + diff --git a/mbot_gazebo/mbot_description/urdf/sensors/kinect_gazebo.xacro b/mbot_gazebo/mbot_description/urdf/sensors/kinect_gazebo.xacro new file mode 100644 index 0000000..8fe124a --- /dev/null +++ b/mbot_gazebo/mbot_description/urdf/sensors/kinect_gazebo.xacro @@ -0,0 +1,68 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 20.0 + + ${60.0*M_PI/180.0} + + R8G8B8 + 640 + 480 + + + 0.05 + 8.0 + + + + ${prefix} + true + 10 + rgb/image_raw + depth/image_raw + depth/points + rgb/camera_info + depth/camera_info + ${prefix}_frame_optical + 0.1 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.4 + + + + + + diff --git a/mbot_gazebo/mbot_description/urdf/sensors/lidar_gazebo.xacro b/mbot_gazebo/mbot_description/urdf/sensors/lidar_gazebo.xacro new file mode 100644 index 0000000..59f2a24 --- /dev/null +++ b/mbot_gazebo/mbot_description/urdf/sensors/lidar_gazebo.xacro @@ -0,0 +1,67 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Black + + + + + 0 0 0 0 0 0 + false + 5.5 + + + + 360 + 1 + -3 + 3 + + + + 0.10 + 6.0 + 0.01 + + + gaussian + 0.0 + 0.01 + + + + /scan + laser_link + + + + + + diff --git a/mbot_gazebo/mbot_gazebo/CMakeLists.txt b/mbot_gazebo/mbot_gazebo/CMakeLists.txt new file mode 100644 index 0000000..ee28354 --- /dev/null +++ b/mbot_gazebo/mbot_gazebo/CMakeLists.txt @@ -0,0 +1,201 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mbot_gazebo) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + gazebo_plugins + gazebo_ros + gazebo_ros_control + roscpp + rospy +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES mbot_gazebo +# CATKIN_DEPENDS gazebo_plugins gazebo_ros gazebo_ros_control roscpp rospy +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/mbot_gazebo.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/mbot_gazebo_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_mbot_gazebo.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/mbot_gazebo/mbot_gazebo/launch/view_mbot_gazebo_empty_world.launch b/mbot_gazebo/mbot_gazebo/launch/view_mbot_gazebo_empty_world.launch new file mode 100644 index 0000000..338af72 --- /dev/null +++ b/mbot_gazebo/mbot_gazebo/launch/view_mbot_gazebo_empty_world.launch @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mbot_gazebo/mbot_gazebo/launch/view_mbot_gazebo_play_ground.launch b/mbot_gazebo/mbot_gazebo/launch/view_mbot_gazebo_play_ground.launch new file mode 100644 index 0000000..9ef92b5 --- /dev/null +++ b/mbot_gazebo/mbot_gazebo/launch/view_mbot_gazebo_play_ground.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mbot_gazebo/mbot_gazebo/launch/view_mbot_gazebo_room.launch b/mbot_gazebo/mbot_gazebo/launch/view_mbot_gazebo_room.launch new file mode 100644 index 0000000..73bc73c --- /dev/null +++ b/mbot_gazebo/mbot_gazebo/launch/view_mbot_gazebo_room.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mbot_gazebo/mbot_gazebo/launch/view_mbot_with_camera_gazebo.launch b/mbot_gazebo/mbot_gazebo/launch/view_mbot_with_camera_gazebo.launch new file mode 100644 index 0000000..ce24175 --- /dev/null +++ b/mbot_gazebo/mbot_gazebo/launch/view_mbot_with_camera_gazebo.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mbot_gazebo/mbot_gazebo/launch/view_mbot_with_kinect_gazebo.launch b/mbot_gazebo/mbot_gazebo/launch/view_mbot_with_kinect_gazebo.launch new file mode 100644 index 0000000..64cc821 --- /dev/null +++ b/mbot_gazebo/mbot_gazebo/launch/view_mbot_with_kinect_gazebo.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mbot_gazebo/mbot_gazebo/launch/view_mbot_with_laser_gazebo.launch b/mbot_gazebo/mbot_gazebo/launch/view_mbot_with_laser_gazebo.launch new file mode 100644 index 0000000..7d02754 --- /dev/null +++ b/mbot_gazebo/mbot_gazebo/launch/view_mbot_with_laser_gazebo.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mbot_gazebo/mbot_gazebo/package.xml b/mbot_gazebo/mbot_gazebo/package.xml new file mode 100644 index 0000000..a21085b --- /dev/null +++ b/mbot_gazebo/mbot_gazebo/package.xml @@ -0,0 +1,74 @@ + + + mbot_gazebo + 0.0.0 + The mbot_gazebo package + + + + + hcx + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + gazebo_plugins + gazebo_ros + gazebo_ros_control + roscpp + rospy + gazebo_plugins + gazebo_ros + gazebo_ros_control + roscpp + rospy + gazebo_plugins + gazebo_ros + gazebo_ros_control + roscpp + rospy + + + + + + + + diff --git a/mbot_gazebo/mbot_gazebo/worlds/playground.world b/mbot_gazebo/mbot_gazebo/worlds/playground.world new file mode 100644 index 0000000..0411eae --- /dev/null +++ b/mbot_gazebo/mbot_gazebo/worlds/playground.world @@ -0,0 +1,645 @@ + + + + 1 + 0 0 10 0 -0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + 0.5 0.1 -0.9 + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + 1 + + + 0.01 + 1 + 100 + 0 0 -9.8 + + + 1 + + + 1 + + + 0 0.005 0.6 0 -0 0 + + + 0.9 0.01 1.2 + + + 10 + + + + + + + + + + + + 0 0.005 0.6 0 -0 0 + + + 0.9 0.01 1.2 + + + + + + + + 0.45 -0.195 0.6 0 -0 0 + + + 0.02 0.4 1.2 + + + 10 + + + + + + + + + + + + 0.45 -0.195 0.6 0 -0 0 + + + 0.02 0.4 1.2 + + + + + + + + -0.45 -0.195 0.6 0 -0 0 + + + 0.02 0.4 1.2 + + + 10 + + + + + + + + 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used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + roscpp + rospy +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES mbot_teleop +# CATKIN_DEPENDS geometry_msgs roscpp rospy +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/mbot_teleop.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/mbot_teleop_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_mbot_teleop.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/mbot_gazebo/mbot_teleop/launch/logitech.launch b/mbot_gazebo/mbot_teleop/launch/logitech.launch new file mode 100644 index 0000000..835b60a --- /dev/null +++ b/mbot_gazebo/mbot_teleop/launch/logitech.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + diff --git a/mbot_gazebo/mbot_teleop/launch/mbot_teleop.launch b/mbot_gazebo/mbot_teleop/launch/mbot_teleop.launch new file mode 100644 index 0000000..c0ad985 --- /dev/null +++ b/mbot_gazebo/mbot_teleop/launch/mbot_teleop.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/mbot_gazebo/mbot_teleop/package.xml b/mbot_gazebo/mbot_teleop/package.xml new file mode 100644 index 0000000..3280fb9 --- /dev/null +++ b/mbot_gazebo/mbot_teleop/package.xml @@ -0,0 +1,68 @@ + + + mbot_teleop + 0.0.0 + The mbot_teleop package + + + + + hcx + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + roscpp + rospy + geometry_msgs + roscpp + rospy + geometry_msgs + roscpp + rospy + + + + + + + + diff --git a/mbot_gazebo/mbot_teleop/scripts/mbot_teleop.py b/mbot_gazebo/mbot_teleop/scripts/mbot_teleop.py new file mode 100644 index 0000000..901234d --- /dev/null +++ b/mbot_gazebo/mbot_teleop/scripts/mbot_teleop.py @@ -0,0 +1,149 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +import rospy +from geometry_msgs.msg import Twist +import sys, select, termios, tty + +msg = """ +Control mbot! +--------------------------- +Moving around: + u i o + j k l + m , . + +q/z : increase/decrease max speeds by 10% +w/x : increase/decrease only linear speed by 10% +e/c : increase/decrease only angular speed by 10% +space key, k : force stop +anything else : stop smoothly + +CTRL-C to quit +""" + +moveBindings = { + 'i':(1,0), + 'o':(1,-1), + 'j':(0,1), + 'l':(0,-1), + 'u':(1,1), + ',':(-1,0), + '.':(-1,1), + 'm':(-1,-1), + } + +speedBindings={ + 'q':(1.1,1.1), + 'z':(.9,.9), + 'w':(1.1,1), + 'x':(.9,1), + 'e':(1,1.1), + 'c':(1,.9), + } + +def getKey(): + tty.setraw(sys.stdin.fileno()) + rlist, _, _ = select.select([sys.stdin], [], [], 0.1) + if rlist: + key = sys.stdin.read(1) + else: + key = '' + + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) + return key + +speed = .2 +turn = 1 + +def vels(speed,turn): + return "currently:\tspeed %s\tturn %s " % (speed,turn) + +if __name__=="__main__": + settings = termios.tcgetattr(sys.stdin) + + rospy.init_node('mbot_teleop') + pub = rospy.Publisher('/cmd_vel', Twist, queue_size=5) + + x = 0 + th = 0 + status = 0 + count = 0 + acc = 0.1 + target_speed = 0 + target_turn = 0 + control_speed = 0 + control_turn = 0 + try: + print msg + print vels(speed,turn) + while(1): + key = getKey() + # 运动控制方向键（1：正方向，-1负方向） + if key in moveBindings.keys(): + x = moveBindings[key][0] + th = moveBindings[key][1] + count = 0 + # 速度修改键 + elif key in speedBindings.keys(): + speed = speed * speedBindings[key][0] # 线速度增加0.1倍 + turn = turn * speedBindings[key][1] # 角速度增加0.1倍 + count = 0 + + print vels(speed,turn) + if (status == 14): + print msg + status = (status + 1) % 15 + # 停止键 + elif key == ' ' or key == 'k' : + x = 0 + th = 0 + control_speed = 0 + control_turn = 0 + else: + count = count + 1 + if count > 4: + x = 0 + th = 0 + if (key == '\x03'): + break + + # 目标速度=速度值*方向值 + target_speed = speed * x + target_turn = turn * th + + # 速度限位，防止速度增减过快 + if target_speed > control_speed: + control_speed = min( target_speed, control_speed + 0.02 ) + elif target_speed < control_speed: + control_speed = max( target_speed, control_speed - 0.02 ) + else: + control_speed = target_speed + + if target_turn > control_turn: + control_turn = min( target_turn, control_turn + 0.1 ) + elif target_turn < control_turn: + control_turn = max( target_turn, control_turn - 0.1 ) + else: + control_turn = target_turn + + # 创建并发布twist消息 + twist = Twist() + twist.linear.x = control_speed; + twist.linear.y = 0; + twist.linear.z = 0 + twist.angular.x = 0; + twist.angular.y = 0; + twist.angular.z = control_turn + pub.publish(twist) + + except: + print e + + finally: + twist = Twist() + twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0 + twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0 + pub.publish(twist) + + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) diff --git a/moveit_beginner/probot_anno_moveit_config/.setup_assistant b/moveit_beginner/probot_anno_moveit_config/.setup_assistant new file mode 100644 index 0000000..11f6273 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: probot_description + relative_path: urdf/probot_anno.xacro + xacro_args: "--inorder " + SRDF: + relative_path: config/probot_anno.srdf + CONFIG: + author_name: Hu Chunxu + author_email: huchunxu@ps-micro.com + generated_timestamp: 1546844215 \ No newline at end of file diff --git a/moveit_beginner/probot_anno_moveit_config/CMakeLists.txt b/moveit_beginner/probot_anno_moveit_config/CMakeLists.txt new file mode 100644 index 0000000..e3f5bcd --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(probot_anno_moveit_config) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/moveit_beginner/probot_anno_moveit_config/config/chomp_planning.yaml b/moveit_beginner/probot_anno_moveit_config/config/chomp_planning.yaml new file mode 100644 index 0000000..75258e5 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/moveit_beginner/probot_anno_moveit_config/config/controllers_gazebo.yaml b/moveit_beginner/probot_anno_moveit_config/config/controllers_gazebo.yaml new file mode 100644 index 0000000..4695b5f --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/config/controllers_gazebo.yaml @@ -0,0 +1,13 @@ +controller_manager_ns: controller_manager +controller_list: + - name: probot_anno/arm_joint_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 diff --git a/moveit_beginner/probot_anno_moveit_config/config/fake_controllers.yaml b/moveit_beginner/probot_anno_moveit_config/config/fake_controllers.yaml new file mode 100644 index 0000000..e0c78ef --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/config/fake_controllers.yaml @@ -0,0 +1,9 @@ +controller_list: + - name: fake_manipulator_controller + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 \ No newline at end of file diff --git a/moveit_beginner/probot_anno_moveit_config/config/joint_limits.yaml b/moveit_beginner/probot_anno_moveit_config/config/joint_limits.yaml new file mode 100644 index 0000000..7499a26 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/config/joint_limits.yaml @@ -0,0 +1,34 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# 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: + joint_1: + has_velocity_limits: true + max_velocity: 0.9 #1.032 + has_acceleration_limits: true + max_acceleration: 1 + joint_2: + has_velocity_limits: true + max_velocity: 0.4 #0.452 + has_acceleration_limits: true + max_acceleration: 1 + joint_3: + has_velocity_limits: true + max_velocity: 0.5 #0.618 + has_acceleration_limits: true + max_acceleration: 1 + joint_4: + has_velocity_limits: true + max_velocity: 0.4 #0.494 + has_acceleration_limits: true + max_acceleration: 1 + joint_5: + has_velocity_limits: true + max_velocity: 0.4 #0.494 + has_acceleration_limits: true + max_acceleration: 1 + joint_6: + has_velocity_limits: true + max_velocity: 1.2 #1.344 + has_acceleration_limits: true + max_acceleration: 1 diff --git a/moveit_beginner/probot_anno_moveit_config/config/joint_names.yaml b/moveit_beginner/probot_anno_moveit_config/config/joint_names.yaml new file mode 100644 index 0000000..d8d7919 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/config/joint_names.yaml @@ -0,0 +1 @@ +controller_joint_names: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6] diff --git a/moveit_beginner/probot_anno_moveit_config/config/kinematics.yaml b/moveit_beginner/probot_anno_moveit_config/config/kinematics.yaml new file mode 100644 index 0000000..5d492ac --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/config/kinematics.yaml @@ -0,0 +1,5 @@ +manipulator: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + kinematics_solver_attempts: 3 diff --git a/moveit_beginner/probot_anno_moveit_config/config/ompl_planning.yaml b/moveit_beginner/probot_anno_moveit_config/config/ompl_planning.yaml new file mode 100644 index 0000000..3e24c61 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,150 @@ +planner_configs: + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.8 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +manipulator: + default_planner_config: RRT + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(joint_1,joint_2) + longest_valid_segment_fraction: 0.005 diff --git a/moveit_beginner/probot_anno_moveit_config/config/probot_anno.srdf b/moveit_beginner/probot_anno_moveit_config/config/probot_anno.srdf new file mode 100644 index 0000000..95c176e --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/config/probot_anno.srdf @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_beginner/probot_anno_moveit_config/config/ros_controllers.yaml b/moveit_beginner/probot_anno_moveit_config/config/ros_controllers.yaml new file mode 100644 index 0000000..45d4907 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,26 @@ +probot_anno: +# MoveIt-specific simulation settings + moveit_sim_hw_interface: + joint_model_group: controllers_initial_group_ + joint_model_group_pose: controllers_initial_pose_ +# Settings for ros_control control loop + generic_hw_control_loop: + loop_hz: 300 + cycle_time_error_threshold: 0.01 +# Settings for ros_control hardware interface + hardware_interface: + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 + sim_control_mode: 1 # 0: position, 1: velocity +# Publish all joint states +# Creates the /joint_states topic necessary in ROS + joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 + controller_list: + [] \ No newline at end of file diff --git a/moveit_beginner/probot_anno_moveit_config/config/sensors_3d.yaml b/moveit_beginner/probot_anno_moveit_config/config/sensors_3d.yaml new file mode 100644 index 0000000..db8a3dc --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/config/sensors_3d.yaml @@ -0,0 +1,10 @@ +# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it +# sensors: +# - filtered_cloud_topic: filtered_cloud +# max_range: 5.0 +# max_update_rate: 1.0 +# padding_offset: 0.1 +# padding_scale: 1.0 +# point_cloud_topic: /kinect/depth_registered/points +# point_subsample: 1 +# sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater diff --git a/moveit_beginner/probot_anno_moveit_config/launch/chomp_planning_pipeline.launch.xml b/moveit_beginner/probot_anno_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..cfe4ad6 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/moveit_beginner/probot_anno_moveit_config/launch/default_warehouse_db.launch b/moveit_beginner/probot_anno_moveit_config/launch/default_warehouse_db.launch new file mode 100644 index 0000000..2f8ebbf --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/moveit_beginner/probot_anno_moveit_config/launch/demo.launch b/moveit_beginner/probot_anno_moveit_config/launch/demo.launch new file mode 100644 index 0000000..f7e4937 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/launch/demo.launch @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_beginner/probot_anno_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/moveit_beginner/probot_anno_moveit_config/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..f6e6960 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/moveit_beginner/probot_anno_moveit_config/launch/joystick_control.launch b/moveit_beginner/probot_anno_moveit_config/launch/joystick_control.launch new file mode 100644 index 0000000..9411f6e --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/moveit_beginner/probot_anno_moveit_config/launch/move_group.launch b/moveit_beginner/probot_anno_moveit_config/launch/move_group.launch new file mode 100644 index 0000000..feec7d2 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/launch/move_group.launch @@ -0,0 +1,79 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_beginner/probot_anno_moveit_config/launch/moveit.rviz b/moveit_beginner/probot_anno_moveit_config/launch/moveit.rviz new file mode 100644 index 0000000..f1fcb05 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/launch/moveit.rviz @@ -0,0 +1,326 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.7425600290298462 + Tree Height: 257 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Help + Name: Help + - Class: rviz_visual_tools/RvizVisualToolsGui + Name: RvizVisualToolsGui +Preferences: + PromptSaveOnExit: true +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/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: + Value: true + - Acceleration_Scaling_Factor: 1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 10 + MoveIt_Use_Cartesian_Path: false + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: false + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + Loop Animation: true + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.07999999821186066 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: manipulator + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.20000000298023224 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Value: true + Velocity_Scaling_Factor: 1 + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: false + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + base_footprint: + Value: false + base_link: + Value: true + link_1: + Value: false + link_2: + Value: false + link_3: + Value: false + link_4: + Value: false + link_5: + Value: false + link_6: + Value: false + tool0: + Value: true + Marker Scale: 0.800000011920929 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + base_footprint: + base_link: + link_1: + link_2: + link_3: + link_4: + link_5: + link_6: + tool0: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 1.5181801319122314 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.0013079643249511719 + Y: -0.09905067086219788 + Z: 7.61997625886579e-7 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.21520239114761353 + Target Frame: bottom_link + Value: XYOrbit (rviz) + Yaw: 0.7017906308174133 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 820 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 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+ RvizVisualToolsGui: + collapsed: false + Views: + collapsed: false + Width: 1402 + X: 182 + Y: 110 diff --git a/moveit_beginner/probot_anno_moveit_config/launch/moveit_planning_execution.launch b/moveit_beginner/probot_anno_moveit_config/launch/moveit_planning_execution.launch new file mode 100644 index 0000000..c5c1a89 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/launch/moveit_planning_execution.launch @@ -0,0 +1,20 @@ + + # The planning and execution components of MoveIt! configured to + # publish the current configuration of the robot (simulated or real) + # and the current state of the world as seen by the planner + + + + + # The visualization component of MoveIt! + + + + + + + + [/probot_anno/joint_states] + + + diff --git a/moveit_beginner/probot_anno_moveit_config/launch/moveit_rviz.launch b/moveit_beginner/probot_anno_moveit_config/launch/moveit_rviz.launch new file mode 100644 index 0000000..064e406 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/moveit_beginner/probot_anno_moveit_config/launch/ompl_planning_pipeline.launch.xml b/moveit_beginner/probot_anno_moveit_config/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 0000000..5c8b737 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/moveit_beginner/probot_anno_moveit_config/launch/planning_context.launch b/moveit_beginner/probot_anno_moveit_config/launch/planning_context.launch new file mode 100644 index 0000000..dd3dd72 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/launch/planning_context.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_beginner/probot_anno_moveit_config/launch/planning_pipeline.launch.xml b/moveit_beginner/probot_anno_moveit_config/launch/planning_pipeline.launch.xml new file mode 100644 index 0000000..f66e87b --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/moveit_beginner/probot_anno_moveit_config/launch/probot_anno_moveit_controller_manager.launch.xml b/moveit_beginner/probot_anno_moveit_config/launch/probot_anno_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..f3ecc15 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/launch/probot_anno_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/moveit_beginner/probot_anno_moveit_config/launch/probot_anno_moveit_sensor_manager.launch.xml b/moveit_beginner/probot_anno_moveit_config/launch/probot_anno_moveit_sensor_manager.launch.xml new file mode 100644 index 0000000..5d02698 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/launch/probot_anno_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/moveit_beginner/probot_anno_moveit_config/launch/ros_controllers.launch b/moveit_beginner/probot_anno_moveit_config/launch/ros_controllers.launch new file mode 100644 index 0000000..fbc3852 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/launch/ros_controllers.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + diff --git a/moveit_beginner/probot_anno_moveit_config/launch/run_benchmark_ompl.launch b/moveit_beginner/probot_anno_moveit_config/launch/run_benchmark_ompl.launch new file mode 100644 index 0000000..9b302ad --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_beginner/probot_anno_moveit_config/launch/sensor_manager.launch.xml b/moveit_beginner/probot_anno_moveit_config/launch/sensor_manager.launch.xml new file mode 100644 index 0000000..a411f60 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/launch/sensor_manager.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/moveit_beginner/probot_anno_moveit_config/launch/setup_assistant.launch b/moveit_beginner/probot_anno_moveit_config/launch/setup_assistant.launch new file mode 100644 index 0000000..a6083e3 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/moveit_beginner/probot_anno_moveit_config/launch/trajectory_execution.launch.xml b/moveit_beginner/probot_anno_moveit_config/launch/trajectory_execution.launch.xml new file mode 100644 index 0000000..74ab4bc --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/launch/trajectory_execution.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_beginner/probot_anno_moveit_config/launch/warehouse.launch b/moveit_beginner/probot_anno_moveit_config/launch/warehouse.launch new file mode 100644 index 0000000..9a0e4b5 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/moveit_beginner/probot_anno_moveit_config/launch/warehouse_settings.launch.xml b/moveit_beginner/probot_anno_moveit_config/launch/warehouse_settings.launch.xml new file mode 100644 index 0000000..e473b08 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/moveit_beginner/probot_anno_moveit_config/package.xml b/moveit_beginner/probot_anno_moveit_config/package.xml new file mode 100644 index 0000000..cf05d86 --- /dev/null +++ b/moveit_beginner/probot_anno_moveit_config/package.xml @@ -0,0 +1,34 @@ + + + probot_anno_moveit_config + 0.3.0 + + An automatically generated package with all the configuration and launch files for using the probot_anno with the MoveIt! Motion Planning Framework + + Hu Chunxu + Hu Chunxu + + Apache V2.0 + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit/issues + https://github.com/ros-planning/moveit + + catkin + + moveit_ros_move_group + moveit_fake_controller_manager + moveit_kinematics + moveit_planners_ompl + moveit_ros_visualization + moveit_setup_assistant + joint_state_publisher + robot_state_publisher + xacro + + + probot_description + probot_description + + + diff --git a/moveit_beginner/probot_demo/CMakeLists.txt b/moveit_beginner/probot_demo/CMakeLists.txt new file mode 100644 index 0000000..2a4a610 --- /dev/null +++ b/moveit_beginner/probot_demo/CMakeLists.txt @@ -0,0 +1,232 @@ +cmake_minimum_required(VERSION 2.8.3) +project(probot_demo) + +## Compile as C++11, supported in ROS Kinetic and newer +add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + moveit_msgs + moveit_ros_perception + moveit_ros_planning_interface + trajectory_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES probot_demo + CATKIN_DEPENDS roscpp rospy moveit_core moveit_ros_planning_interface +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/probot_demo.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/probot_demo_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +add_executable(moveit_fk_demo src/moveit_fk_demo.cpp) +target_link_libraries(moveit_fk_demo ${catkin_LIBRARIES}) + +add_executable(moveit_ik_demo src/moveit_ik_demo.cpp) +target_link_libraries(moveit_ik_demo ${catkin_LIBRARIES}) + +add_executable(moveit_cartesian_demo src/moveit_cartesian_demo.cpp) +target_link_libraries(moveit_cartesian_demo ${catkin_LIBRARIES}) + + +add_executable(moveit_collision_demo src/moveit_collision_demo.cpp) +target_link_libraries(moveit_collision_demo ${catkin_LIBRARIES}) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) +install(PROGRAMS + scripts/moveit_fk_demo.py + scripts/moveit_ik_demo.py + scripts/moveit_cartesian_demo.py + scripts/moveit_attached_object_demo.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(TARGETS + moveit_collision_demo + moveit_fk_demo + moveit_ik_demo + moveit_cartesian_demo + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_probot_demo.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/moveit_beginner/probot_demo/package.xml b/moveit_beginner/probot_demo/package.xml new file mode 100644 index 0000000..6aa2c57 --- /dev/null +++ b/moveit_beginner/probot_demo/package.xml @@ -0,0 +1,69 @@ + + + probot_demo + 0.0.0 + The probot_demo package + + + + + hcx + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + moveit_core + moveit_ros_planning_interface + + roscpp + rospy + roscpp + rospy + moveit_core + moveit_ros_planning_interface + + + + + + + diff --git a/moveit_beginner/probot_demo/scripts/moveit_attached_object_demo.py b/moveit_beginner/probot_demo/scripts/moveit_attached_object_demo.py new file mode 100644 index 0000000..f67c123 --- /dev/null +++ b/moveit_beginner/probot_demo/scripts/moveit_attached_object_demo.py @@ -0,0 +1,116 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +# Copyright 2019 Wuhan PS-Micro Technology Co., Itd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import rospy, sys +import thread, copy +import moveit_commander +from moveit_commander import RobotCommander, MoveGroupCommander, PlanningSceneInterface +from geometry_msgs.msg import PoseStamped, Pose +from moveit_msgs.msg import CollisionObject, AttachedCollisionObject, PlanningScene +from math import radians +from copy import deepcopy + +class MoveAttachedObjectDemo: + def __init__(self): + # 初始化move_group的API + moveit_commander.roscpp_initialize(sys.argv) + + # 初始化ROS节点 + rospy.init_node('moveit_attached_object_demo') + + # 初始化场景对象 + scene = PlanningSceneInterface() + rospy.sleep(1) + + # 初始化需要使用move group控制的机械臂中的arm group + arm = MoveGroupCommander('manipulator') + + # 获取终端link的名称 + end_effector_link = arm.get_end_effector_link() + + # 设置位置(单位：米)和姿态（单位：弧度）的允许误差 + arm.set_goal_position_tolerance(0.01) + arm.set_goal_orientation_tolerance(0.05) + + # 当运动规划失败后，允许重新规划 + arm.allow_replanning(True) + arm.set_planning_time(10) + + # 控制机械臂回到初始化位置 + arm.set_named_target('home') + arm.go() + + # 移除场景中之前运行残留的物体 + scene.remove_attached_object(end_effector_link, 'tool') + scene.remove_world_object('table') + scene.remove_world_object('target') + + # 设置桌面的高度 + table_ground = 0.6 + + # 设置table和tool的三维尺寸 + table_size = [0.1, 0.7, 0.01] + tool_size = [0.2, 0.02, 0.02] + + # 设置tool的位姿 + p = PoseStamped() + p.header.frame_id = end_effector_link + + p.pose.position.x = tool_size[0] / 2.0 - 0.025 + p.pose.position.y = -0.015 + p.pose.position.z = 0.0 + p.pose.orientation.x = 0 + p.pose.orientation.y = 0 + p.pose.orientation.z = 0 + p.pose.orientation.w = 1 + + # 将tool附着到机器人的终端 + scene.attach_box(end_effector_link, 'tool', p, tool_size) + + # 将table加入场景当中 + table_pose = PoseStamped() + table_pose.header.frame_id = 'base_link' + table_pose.pose.position.x = 0.25 + table_pose.pose.position.y = 0.0 + table_pose.pose.position.z = table_ground + table_size[2] / 2.0 + table_pose.pose.orientation.w = 1.0 + scene.add_box('table', table_pose, table_size) + + rospy.sleep(2) + + # 更新当前的位姿 + arm.set_start_state_to_current_state() + + # 设置机械臂的目标位置，使用六轴的位置数据进行描述（单位：弧度） + joint_positions = [0.827228546495185, 0.29496592875743577, 1.1185644936946095, -0.7987583317769674, -0.18950024740190782, 0.11752152218233858] + arm.set_joint_value_target(joint_positions) + + # 控制机械臂完成运动 + arm.go() + rospy.sleep(1) + + # 控制机械臂回到初始化位置 + arm.set_named_target('home') + arm.go() + + moveit_commander.roscpp_shutdown() + moveit_commander.os._exit(0) + +if __name__ == "__main__": + MoveAttachedObjectDemo() + + diff --git a/moveit_beginner/probot_demo/scripts/moveit_cartesian_demo.py b/moveit_beginner/probot_demo/scripts/moveit_cartesian_demo.py new file mode 100644 index 0000000..71b3b6a --- /dev/null +++ b/moveit_beginner/probot_demo/scripts/moveit_cartesian_demo.py @@ -0,0 +1,156 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +# Copyright 2019 Wuhan PS-Micro Technology Co., Itd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import rospy, sys +import moveit_commander +from moveit_commander import MoveGroupCommander +from geometry_msgs.msg import Pose +from copy import deepcopy + +class MoveItCartesianDemo: + def __init__(self): + # 初始化move_group的API + moveit_commander.roscpp_initialize(sys.argv) + + # 初始化ROS节点 + rospy.init_node('moveit_cartesian_demo', anonymous=True) + + # 是否需要使用笛卡尔空间的运动规划 + cartesian = rospy.get_param('~cartesian', True) + + # 初始化需要使用move group控制的机械臂中的arm group + arm = MoveGroupCommander('manipulator') + + # 当运动规划失败后，允许重新规划 + arm.allow_replanning(True) + + # 设置目标位置所使用的参考坐标系 + arm.set_pose_reference_frame('base_link') + + # 设置位置(单位：米)和姿态（单位：弧度）的允许误差 + arm.set_goal_position_tolerance(0.001) + arm.set_goal_orientation_tolerance(0.001) + + # 设置允许的最大速度和加速度 + arm.set_max_acceleration_scaling_factor(0.5) + arm.set_max_velocity_scaling_factor(0.5) + + # 获取终端link的名称 + end_effector_link = arm.get_end_effector_link() + + # 控制机械臂先回到初始化位置 + arm.set_named_target('home') + arm.go() + rospy.sleep(1) + + # 获取当前位姿数据最为机械臂运动的起始位姿 + start_pose = arm.get_current_pose(end_effector_link).pose + + # 初始化路点列表 + waypoints = [] + + # 将初始位姿加入路点列表 + if cartesian: + waypoints.append(start_pose) + + # 设置路点数据，并加入路点列表 + wpose = deepcopy(start_pose) + wpose.position.z -= 0.2 + + if cartesian: + waypoints.append(deepcopy(wpose)) + else: + arm.set_pose_target(wpose) + arm.go() + rospy.sleep(1) + + wpose.position.x += 0.15 + + if cartesian: + waypoints.append(deepcopy(wpose)) + else: + arm.set_pose_target(wpose) + arm.go() + rospy.sleep(1) + + wpose.position.y += 0.1 + + if cartesian: + waypoints.append(deepcopy(wpose)) + else: + arm.set_pose_target(wpose) + arm.go() + rospy.sleep(1) + + wpose.position.x -= 0.15 + wpose.position.y -= 0.1 + + if cartesian: + waypoints.append(deepcopy(wpose)) + else: + arm.set_pose_target(wpose) + arm.go() + rospy.sleep(1) + + if cartesian: + fraction = 0.0 #路径规划覆盖率 + maxtries = 100 #最大尝试规划次数 + attempts = 0 #已经尝试规划次数 + + # 设置机器臂当前的状态作为运动初始状态 + arm.set_start_state_to_current_state() + + # 尝试规划一条笛卡尔空间下的路径，依次通过所有路点 + while fraction < 1.0 and attempts < maxtries: + (plan, fraction) = arm.compute_cartesian_path ( + waypoints, # waypoint poses，路点列表 + 0.01, # eef_step，终端步进值 + 0.0, # jump_threshold，跳跃阈值 + True) # avoid_collisions，避障规划 + + # 尝试次数累加 + attempts += 1 + + # 打印运动规划进程 + if attempts % 10 == 0: + rospy.loginfo("Still trying after " + str(attempts) + " attempts...") + + # 如果路径规划成功（覆盖率100%）,则开始控制机械臂运动 + if fraction == 1.0: + rospy.loginfo("Path computed successfully. Moving the arm.") + arm.execute(plan) + rospy.loginfo("Path execution complete.") + # 如果路径规划失败，则打印失败信息 + else: + rospy.loginfo("Path planning failed with only " + str(fraction) + " success after " + str(maxtries) + " attempts.") + + rospy.sleep(1) + + # 控制机械臂先回到初始化位置 + arm.set_named_target('home') + arm.go() + rospy.sleep(1) + + # 关闭并退出moveit + moveit_commander.roscpp_shutdown() + moveit_commander.os._exit(0) + +if __name__ == "__main__": + try: + MoveItCartesianDemo() + except rospy.ROSInterruptException: + pass diff --git a/moveit_beginner/probot_demo/scripts/moveit_fk_demo.py b/moveit_beginner/probot_demo/scripts/moveit_fk_demo.py new file mode 100644 index 0000000..64aacc5 --- /dev/null +++ b/moveit_beginner/probot_demo/scripts/moveit_fk_demo.py @@ -0,0 +1,65 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +# Copyright 2019 Wuhan PS-Micro Technology Co., Itd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import rospy, sys +import moveit_commander + +class MoveItFkDemo: + def __init__(self): + # 初始化move_group的API + moveit_commander.roscpp_initialize(sys.argv) + + # 初始化ROS节点 + rospy.init_node('moveit_fk_demo', anonymous=True) + + # 初始化需要使用move group控制的机械臂中的arm group + arm = moveit_commander.MoveGroupCommander('manipulator') + + # 设置机械臂运动的允许误差值 + arm.set_goal_joint_tolerance(0.001) + + # 设置允许的最大速度和加速度 + arm.set_max_acceleration_scaling_factor(0.5) + arm.set_max_velocity_scaling_factor(0.5) + + # 控制机械臂先回到初始化位置 + arm.set_named_target('home') + arm.go() + rospy.sleep(1) + + # 设置机械臂的目标位置，使用六轴的位置数据进行描述（单位：弧度） + joint_positions = [0.391410, -0.676384, -0.376217, 0.0, 1.052834, 0.454125] + arm.set_joint_value_target(joint_positions) + + # 控制机械臂完成运动 + arm.go() + rospy.sleep(1) + + # 控制机械臂先回到初始化位置 + arm.set_named_target('home') + arm.go() + rospy.sleep(1) + + # 关闭并退出moveit + moveit_commander.roscpp_shutdown() + moveit_commander.os._exit(0) + +if __name__ == "__main__": + try: + MoveItFkDemo() + except rospy.ROSInterruptException: + pass diff --git a/moveit_beginner/probot_demo/scripts/moveit_ik_demo.py b/moveit_beginner/probot_demo/scripts/moveit_ik_demo.py new file mode 100644 index 0000000..2c38160 --- /dev/null +++ b/moveit_beginner/probot_demo/scripts/moveit_ik_demo.py @@ -0,0 +1,95 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +# Copyright 2019 Wuhan PS-Micro Technology Co., Itd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import rospy, sys +import moveit_commander +from geometry_msgs.msg import PoseStamped, Pose + + +class MoveItIkDemo: + def __init__(self): + # 初始化move_group的API + moveit_commander.roscpp_initialize(sys.argv) + + # 初始化ROS节点 + rospy.init_node('moveit_ik_demo') + + # 初始化需要使用move group控制的机械臂中的arm group + arm = moveit_commander.MoveGroupCommander('manipulator') + + # 获取终端link的名称 + end_effector_link = arm.get_end_effector_link() + + # 设置目标位置所使用的参考坐标系 + reference_frame = 'base_link' + arm.set_pose_reference_frame(reference_frame) + + # 当运动规划失败后，允许重新规划 + arm.allow_replanning(True) + + # 设置位置(单位：米)和姿态（单位：弧度）的允许误差 + arm.set_goal_position_tolerance(0.001) + arm.set_goal_orientation_tolerance(0.01) + + # 设置允许的最大速度和加速度 + arm.set_max_acceleration_scaling_factor(0.5) + arm.set_max_velocity_scaling_factor(0.5) + + # 控制机械臂先回到初始化位置 + arm.set_named_target('home') + arm.go() + rospy.sleep(1) + + # 设置机械臂工作空间中的目标位姿，位置使用x、y、z坐标描述， + # 姿态使用四元数描述，基于base_link坐标系 + target_pose = PoseStamped() + target_pose.header.frame_id = reference_frame + target_pose.header.stamp = rospy.Time.now() + target_pose.pose.position.x = 0.2593 + target_pose.pose.position.y = 0.0636 + target_pose.pose.position.z = 0.1787 + target_pose.pose.orientation.x = 0.70692 + target_pose.pose.orientation.y = 0.0 + target_pose.pose.orientation.z = 0.0 + target_pose.pose.orientation.w = 0.70729 + + # 设置机器臂当前的状态作为运动初始状态 + arm.set_start_state_to_current_state() + + # 设置机械臂终端运动的目标位姿 + arm.set_pose_target(target_pose, end_effector_link) + + # 规划运动路径 + traj = arm.plan() + + # 按照规划的运动路径控制机械臂运动 + arm.execute(traj) + rospy.sleep(1) + + # 控制机械臂回到初始化位置 + arm.set_named_target('home') + arm.go() + + # 关闭并退出moveit + moveit_commander.roscpp_shutdown() + moveit_commander.os._exit(0) + +if __name__ == "__main__": + MoveItIkDemo() + + + diff --git a/moveit_beginner/probot_demo/src/moveit_cartesian_demo.cpp b/moveit_beginner/probot_demo/src/moveit_cartesian_demo.cpp new file mode 100644 index 0000000..e8b3e06 --- /dev/null +++ b/moveit_beginner/probot_demo/src/moveit_cartesian_demo.cpp @@ -0,0 +1,110 @@ +/*********************************************************************** +Copyright 2019 Wuhan PS-Micro Technology Co., Itd. + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +***********************************************************************/ + +#include +#include +#include + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "moveit_cartesian_demo"); + ros::AsyncSpinner spinner(1); + spinner.start(); + + moveit::planning_interface::MoveGroupInterface arm("manipulator"); + + //获取终端link的名称 + std::string end_effector_link = arm.getEndEffectorLink(); + + //设置目标位置所使用的参考坐标系 + std::string reference_frame = "base_link"; + arm.setPoseReferenceFrame(reference_frame); + + //当运动规划失败后，允许重新规划 + arm.allowReplanning(true); + + //设置位置(单位：米)和姿态（单位：弧度）的允许误差 + arm.setGoalPositionTolerance(0.001); + arm.setGoalOrientationTolerance(0.01); + + //设置允许的最大速度和加速度 + arm.setMaxAccelerationScalingFactor(0.2); + arm.setMaxVelocityScalingFactor(0.2); + + // 控制机械臂先回到初始化位置 + arm.setNamedTarget("home"); + arm.move(); + sleep(1); + + // 获取当前位姿数据最为机械臂运动的起始位姿 + geometry_msgs::Pose start_pose = arm.getCurrentPose(end_effector_link).pose; + + std::vector waypoints; + + //将初始位姿加入路点列表 + waypoints.push_back(start_pose); + + start_pose.position.z -= 0.2; + waypoints.push_back(start_pose); + + start_pose.position.x += 0.1; + waypoints.push_back(start_pose); + + start_pose.position.y += 0.1; + waypoints.push_back(start_pose); + + // 笛卡尔空间下的路径规划 + moveit_msgs::RobotTrajectory trajectory; + const double jump_threshold = 0.0; + const double eef_step = 0.01; + double fraction = 0.0; + int maxtries = 100; //最大尝试规划次数 + int attempts = 0; //已经尝试规划次数 + + while(fraction < 1.0 && attempts < maxtries) + { + fraction = arm.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory); + attempts++; + + if(attempts % 10 == 0) + ROS_INFO("Still trying after %d attempts...", attempts); + } + + if(fraction == 1) + { + ROS_INFO("Path computed successfully. Moving the arm."); + + // 生成机械臂的运动规划数据 + moveit::planning_interface::MoveGroupInterface::Plan plan; + plan.trajectory_ = trajectory; + + // 执行运动 + arm.execute(plan); + sleep(1); + } + else + { + ROS_INFO("Path planning failed with only %0.6f success after %d attempts.", fraction, maxtries); + } + + // 控制机械臂先回到初始化位置 + arm.setNamedTarget("home"); + arm.move(); + sleep(1); + + ros::shutdown(); + return 0; +} diff --git a/moveit_beginner/probot_demo/src/moveit_collision_demo.cpp b/moveit_beginner/probot_demo/src/moveit_collision_demo.cpp new file mode 100644 index 0000000..05fee57 --- /dev/null +++ b/moveit_beginner/probot_demo/src/moveit_collision_demo.cpp @@ -0,0 +1,168 @@ +/*********************************************************************** +Copyright 2019 Wuhan PS-Micro Technology Co., Itd. + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +***********************************************************************/ + +#include +#include +#include +#include + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "moveit_collision_demo"); + ros::NodeHandle nh; + ros::AsyncSpinner spin(1); + spin.start(); + + ros::Publisher planning_scene_diff_publisher = nh.advertise("planning_scene", 1); + ros::WallDuration sleep_t(0.5); + while (planning_scene_diff_publisher.getNumSubscribers() < 1) + { + sleep_t.sleep(); + } + + moveit::planning_interface::MoveGroupInterface arm("manipulator"); + + arm.setGoalJointTolerance(0.01); + + arm.setMaxAccelerationScalingFactor(0.5); + arm.setMaxVelocityScalingFactor(0.5); + + // 控制机械臂先回到初始化位置 + arm.setNamedTarget("home"); + arm.move(); + sleep(1); + + // 创建运动规划的情景 + moveit_msgs::PlanningScene planning_scene; + + // 声明一个障碍物体 + moveit_msgs::CollisionObject add_object; + add_object.id = "cylinder"; + add_object.header.frame_id = "base_link"; + + // 设置障碍物的外形、尺寸等属性 + shape_msgs::SolidPrimitive add_object_primitive; + add_object_primitive.type = add_object_primitive.CYLINDER; + add_object_primitive.dimensions.resize(3); + add_object_primitive.dimensions[0] = 0.6; + add_object_primitive.dimensions[1] = 0.05; + + // 设置障碍物的位置 + geometry_msgs::Pose add_object_pose; + add_object_pose.orientation.w = 1.0; + add_object_pose.position.x = 0.2; + add_object_pose.position.y = -0.2; + add_object_pose.position.z = 0.3; + + // 将障碍物的属性、位置加入到障碍物的实例中 + add_object.primitives.push_back(add_object_primitive); + add_object.primitive_poses.push_back(add_object_pose); + add_object.operation = add_object.ADD; + + // 声明一个附着物体 + moveit_msgs::AttachedCollisionObject attached_object; + attached_object.link_name = "tool0"; + attached_object.object.header.frame_id = "tool0"; + attached_object.object.id = "box"; + + // 设置附着物体的位置 + geometry_msgs::Pose attached_object_pose; + attached_object_pose.orientation.w = 1.0; + attached_object_pose.position.y = -0.05; + + // 设置附着物体的外形、尺寸等属性 + shape_msgs::SolidPrimitive attached_object_primitive; + attached_object_primitive.type = attached_object_primitive.BOX; + attached_object_primitive.dimensions.resize(3); + attached_object_primitive.dimensions[0] = 0.02; + attached_object_primitive.dimensions[1] = 0.1; + attached_object_primitive.dimensions[2] = 0.02; + + attached_object.object.primitives.push_back(attached_object_primitive); + attached_object.object.primitive_poses.push_back(attached_object_pose); + attached_object.object.operation = attached_object.object.ADD; + attached_object.touch_links = std::vector{ "link_5", "link_6", "tool0" }; + + // 所有障碍物加入列表后，再把障碍物加入到当前的情景中 + planning_scene.world.collision_objects.push_back(add_object); + planning_scene.world.collision_objects.push_back(attached_object.object); + planning_scene.is_diff = true; + planning_scene_diff_publisher.publish(planning_scene); + + // 声明去附着属性的物体 + moveit_msgs::CollisionObject remove_box_object; + remove_box_object.id = "box"; + remove_box_object.header.frame_id = "tool0"; + remove_box_object.operation = remove_box_object.REMOVE; + + // 将物体附着到机器人上，并从场景中删除 + planning_scene.world.collision_objects.clear(); + planning_scene.world.collision_objects.push_back(remove_box_object); + planning_scene.robot_state.attached_collision_objects.push_back(attached_object); + planning_scene_diff_publisher.publish(planning_scene); + + // 机器人运动目标位置 + double targetPose[6] = {-1.4937774598490543, -0.7161902803216305, 0.30090498871655375, -9.053240794012654e-05, 0.4152909726912105, -1.493909198433862}; + std::vector joint_group_positions(6); + joint_group_positions[0] = targetPose[0]; + joint_group_positions[1] = targetPose[1]; + joint_group_positions[2] = targetPose[2]; + joint_group_positions[3] = targetPose[3]; + joint_group_positions[4] = targetPose[4]; + joint_group_positions[5] = targetPose[5]; + + // 设置机器臂当前的状态作为运动初始状态 + arm.setStartStateToCurrentState(); + + // 机器人蔽障运动 + arm.setJointValueTarget(joint_group_positions); + arm.move(); + sleep(2); + + // 声明去附着属性的物体 + moveit_msgs::AttachedCollisionObject detach_object; + detach_object.object.id = "box"; + detach_object.link_name = "tool0"; + detach_object.object.operation = attached_object.object.REMOVE; + + // 声明障碍物体 + moveit_msgs::CollisionObject remove_cylinder_object; + remove_cylinder_object.id = "cylinder"; + remove_cylinder_object.header.frame_id = "base_link"; + remove_cylinder_object.operation = remove_box_object.REMOVE; + + // 在场景中删除障碍物体，去除 + ROS_INFO("Detaching the object from the robot and returning it to the world."); + planning_scene.robot_state.attached_collision_objects.clear(); + planning_scene.robot_state.attached_collision_objects.push_back(detach_object); + planning_scene.robot_state.is_diff = true; + planning_scene.world.collision_objects.clear(); + //planning_scene.world.collision_objects.push_back(attached_object.object); + planning_scene.world.collision_objects.push_back(remove_cylinder_object); + planning_scene.is_diff = true; + planning_scene_diff_publisher.publish(planning_scene); + sleep(1); + + // 控制机械臂先回到初始化位置 + arm.setStartStateToCurrentState(); + arm.setNamedTarget("home"); + arm.move(); + sleep(1); + + ros::shutdown(); + + return 0; +} diff --git a/moveit_beginner/probot_demo/src/moveit_fk_demo.cpp b/moveit_beginner/probot_demo/src/moveit_fk_demo.cpp new file mode 100644 index 0000000..1474f16 --- /dev/null +++ b/moveit_beginner/probot_demo/src/moveit_fk_demo.cpp @@ -0,0 +1,59 @@ +/*********************************************************************** +Copyright 2019 Wuhan PS-Micro Technology Co., Itd. + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +***********************************************************************/ + +#include +#include + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "moveit_fk_demo"); + ros::AsyncSpinner spinner(1); + spinner.start(); + + moveit::planning_interface::MoveGroupInterface arm("manipulator"); + + arm.setGoalJointTolerance(0.001); + + arm.setMaxAccelerationScalingFactor(0.2); + arm.setMaxVelocityScalingFactor(0.2); + + // 控制机械臂先回到初始化位置 + arm.setNamedTarget("home"); + arm.move(); + sleep(1); + + double targetPose[6] = {0.391410, -0.676384, -0.376217, 0.0, 1.052834, 0.454125}; + std::vector joint_group_positions(6); + joint_group_positions[0] = targetPose[0]; + joint_group_positions[1] = targetPose[1]; + joint_group_positions[2] = targetPose[2]; + joint_group_positions[3] = targetPose[3]; + joint_group_positions[4] = targetPose[4]; + joint_group_positions[5] = targetPose[5]; + + arm.setJointValueTarget(joint_group_positions); + arm.move(); + sleep(1); + + // 控制机械臂先回到初始化位置 + arm.setNamedTarget("home"); + arm.move(); + sleep(1); + + ros::shutdown(); + + return 0; +} diff --git a/moveit_beginner/probot_demo/src/moveit_ik_demo.cpp b/moveit_beginner/probot_demo/src/moveit_ik_demo.cpp new file mode 100644 index 0000000..082633e --- /dev/null +++ b/moveit_beginner/probot_demo/src/moveit_ik_demo.cpp @@ -0,0 +1,87 @@ +/*********************************************************************** +Copyright 2019 Wuhan PS-Micro Technology Co., Itd. + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +***********************************************************************/ + +#include +#include +#include + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "moveit_fk_demo"); + ros::AsyncSpinner spinner(1); + spinner.start(); + + moveit::planning_interface::MoveGroupInterface arm("manipulator"); + + //获取终端link的名称 + std::string end_effector_link = arm.getEndEffectorLink(); + + //设置目标位置所使用的参考坐标系 + std::string reference_frame = "base_link"; + arm.setPoseReferenceFrame(reference_frame); + + //当运动规划失败后，允许重新规划 + arm.allowReplanning(true); + + //设置位置(单位：米)和姿态（单位：弧度）的允许误差 + arm.setGoalPositionTolerance(0.001); + arm.setGoalOrientationTolerance(0.01); + + //设置允许的最大速度和加速度 + arm.setMaxAccelerationScalingFactor(0.2); + arm.setMaxVelocityScalingFactor(0.2); + + // 控制机械臂先回到初始化位置 + arm.setNamedTarget("home"); + arm.move(); + sleep(1); + + // 设置机器人终端的目标位置 + geometry_msgs::Pose target_pose; + target_pose.orientation.x = 0.70692; + target_pose.orientation.y = 0.0; + target_pose.orientation.z = 0.0; + target_pose.orientation.w = 0.70729; + + target_pose.position.x = 0.2593; + target_pose.position.y = 0.0636; + target_pose.position.z = 0.1787; + + // 设置机器臂当前的状态作为运动初始状态 + arm.setStartStateToCurrentState(); + + arm.setPoseTarget(target_pose); + + // 进行运动规划，计算机器人移动到目标的运动轨迹，此时只是计算出轨迹，并不会控制机械臂运动 + moveit::planning_interface::MoveGroupInterface::Plan plan; + moveit::planning_interface::MoveItErrorCode success = arm.plan(plan); + + ROS_INFO("Plan (pose goal) %s",success?"":"FAILED"); + + //让机械臂按照规划的轨迹开始运动。 + if(success) + arm.execute(plan); + sleep(1); + + // 控制机械臂先回到初始化位置 + arm.setNamedTarget("home"); + arm.move(); + sleep(1); + + ros::shutdown(); + + return 0; +} diff --git a/moveit_beginner/probot_description/CMakeLists.txt b/moveit_beginner/probot_description/CMakeLists.txt new file mode 100644 index 0000000..2223abe --- /dev/null +++ b/moveit_beginner/probot_description/CMakeLists.txt @@ -0,0 +1,214 @@ +cmake_minimum_required(VERSION 2.8.3) +project(probot_description) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + tf + urdf + xacro +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES probot_description +# CATKIN_DEPENDS tf urdf xacro +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/probot_description.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/probot_description_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +install(DIRECTORY + launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(DIRECTORY + meshes + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(DIRECTORY + urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_probot_description.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/moveit_beginner/probot_description/launch/view_probot_anno.launch b/moveit_beginner/probot_description/launch/view_probot_anno.launch new file mode 100644 index 0000000..ff4ffb3 --- /dev/null +++ b/moveit_beginner/probot_description/launch/view_probot_anno.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git 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omE^YZ*_%7B+!*%9by2I%_)sFmF=tcrU=}>6gldJdfB*dd0Hdk-c>n+a literal 0 HcmV?d00001 diff --git a/moveit_beginner/probot_description/package.xml b/moveit_beginner/probot_description/package.xml new file mode 100644 index 0000000..50733ed --- /dev/null +++ b/moveit_beginner/probot_description/package.xml @@ -0,0 +1,68 @@ + + + probot_description + 0.0.0 + The probot_description package + + + + + Chunxu Hu + + + + + + Apache V2.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + tf + urdf + xacro + tf + urdf + xacro + tf + urdf + xacro + + + + + + + + diff --git a/moveit_beginner/probot_description/urdf.rviz b/moveit_beginner/probot_description/urdf.rviz new file mode 100644 index 0000000..25c06ec --- /dev/null +++ b/moveit_beginner/probot_description/urdf.rviz @@ -0,0 +1,203 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /TF1/Frames1 + Splitter Ratio: 0.5 + Tree Height: 503 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + 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 + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bottom_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + grasping_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + gripper_finger_link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_finger_link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.44917893 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.0753315166 + Y: 0.089518711 + Z: 0.324588567 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.479797125 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.513499677 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 784 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1184 + X: 369 + Y: 36 diff --git a/moveit_beginner/probot_description/urdf/probot_anno.xacro b/moveit_beginner/probot_description/urdf/probot_anno.xacro new file mode 100644 index 0000000..7bcefcc --- /dev/null +++ b/moveit_beginner/probot_description/urdf/probot_anno.xacro @@ -0,0 +1,253 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + + + + + + + + + + + + /probot_anno + gazebo_ros_control/DefaultRobotHWSim + true + + + + diff --git a/moveit_setup_assistant/c800_description/CMakeLists.txt b/moveit_setup_assistant/c800_description/CMakeLists.txt new file mode 100644 index 0000000..f515c6e --- /dev/null +++ b/moveit_setup_assistant/c800_description/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(c800_description) + +find_package(catkin REQUIRED) + +catkin_package() + +find_package(roslaunch) + +foreach(dir config launch meshes urdf) + install(DIRECTORY ${dir}/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) +endforeach(dir) + \ No newline at end of file diff --git a/moveit_setup_assistant/c800_description/config/joint_names_c800_description.yaml b/moveit_setup_assistant/c800_description/config/joint_names_c800_description.yaml new file mode 100644 index 0000000..01ba075 --- /dev/null +++ b/moveit_setup_assistant/c800_description/config/joint_names_c800_description.yaml @@ -0,0 +1 @@ +controller_joint_names: ['', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6', ] diff --git a/moveit_setup_assistant/c800_description/export.log b/moveit_setup_assistant/c800_description/export.log new file mode 100644 index 0000000..008486d --- /dev/null +++ b/moveit_setup_assistant/c800_description/export.log @@ -0,0 +1,162 @@ +2020-01-30 11:12:48,639 INFO Logger.cs: 70 - +-------------------------------------------------------------------------------- +2020-01-30 11:12:48,667 INFO Logger.cs: 71 - Logging commencing for SW2URDF exporter +2020-01-30 11:12:48,669 INFO Logger.cs: 73 - Commit version 1.5.1-0-g916b5db +2020-01-30 11:12:48,669 INFO Logger.cs: 74 - Build version 1.5.7152.31018 +2020-01-30 11:12:48,683 INFO SwAddin.cs: 250 - Adding Assembly export to file menu +2020-01-30 11:12:48,684 INFO SwAddin.cs: 253 - Adding Part export to file menu +2020-01-30 11:12:48,702 INFO SwAddin.cs: 218 - Connecting plugin to SolidWorks +2020-01-30 11:22:26,332 INFO SwAddin.cs: 271 - Assembly export called for file C800 +2020-01-30 11:22:26,334 INFO SwAddin.cs: 276 - Save is required +2020-01-30 11:22:26,334 INFO SwAddin.cs: 290 - Saving assembly +2020-01-30 11:22:26,335 INFO SwAddin.cs: 293 - Opening property manager +2020-01-30 11:22:26,347 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from C800 +2020-01-30 11:22:26,351 INFO ExportHelperExtension.cs: 1142 - Found 43 in C800 +2020-01-30 11:22:26,351 INFO ExportHelperExtension.cs: 1152 - Found 7 features of type [CoordSys] in C800 +2020-01-30 11:22:26,351 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2020-01-30 11:22:26,352 INFO ExportHelperExtension.cs: 1167 - 1 components to check +2020-01-30 11:22:26,353 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from C800.STEP-1 +2020-01-30 11:22:26,353 INFO ExportHelperExtension.cs: 1142 - Found 25 in C800.STEP-1 +2020-01-30 11:22:26,354 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in C800.STEP-1 +2020-01-30 11:22:26,355 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from C800 +2020-01-30 11:22:26,356 INFO ExportHelperExtension.cs: 1142 - Found 43 in C800 +2020-01-30 11:22:26,356 INFO ExportHelperExtension.cs: 1152 - Found 6 features of type [RefAxis] in C800 +2020-01-30 11:22:26,357 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2020-01-30 11:22:26,357 INFO ExportHelperExtension.cs: 1167 - 1 components to check +2020-01-30 11:22:26,357 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from C800.STEP-1 +2020-01-30 11:22:26,357 INFO ExportHelperExtension.cs: 1142 - Found 25 in C800.STEP-1 +2020-01-30 11:22:26,358 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in C800.STEP-1 +2020-01-30 11:22:26,567 INFO SwAddin.cs: 316 - Loading config tree +2020-01-30 11:22:26,571 INFO ExportPropertyManagerExtension.cs: 597 - Starting new configuration +2020-01-30 11:22:26,575 INFO SwAddin.cs: 321 - Showing property manager +2020-01-30 11:22:38,344 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:22:56,349 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:23:19,144 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:23:22,149 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:23:50,880 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:24:36,683 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:24:52,707 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:24:54,515 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:24:56,254 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:25:24,622 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:25:34,436 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:25:38,501 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:25:40,281 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:25:59,623 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:26:10,677 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:26:14,058 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:26:19,810 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:26:30,449 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:26:40,262 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:26:42,053 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:26:43,848 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:26:50,952 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:27:04,148 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:27:05,526 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:27:07,448 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:27:12,550 INFO ExportPropertyManager.cs: 1078 - OnListboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:27:53,627 INFO ExportPropertyManager.cs: 456 - Configuration saved +2020-01-30 11:27:53,932 INFO ExportHelperExtension.cs: 338 - Creating joint link_1 +2020-01-30 11:27:54,103 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child link_1 failed +2020-01-30 11:27:54,299 INFO ExportHelperExtension.cs: 338 - Creating joint link_2 +2020-01-30 11:27:54,364 WARN ExportHelperExtension.cs: 342 - Creating joint from parent link_1 to child link_2 failed +2020-01-30 11:27:54,848 INFO ExportHelperExtension.cs: 338 - Creating joint link_3 +2020-01-30 11:27:54,914 WARN ExportHelperExtension.cs: 342 - Creating joint from parent link_2 to child link_3 failed +2020-01-30 11:27:55,230 INFO ExportHelperExtension.cs: 338 - Creating joint link_4 +2020-01-30 11:27:55,319 WARN ExportHelperExtension.cs: 342 - Creating joint from parent link_3 to child link_4 failed +2020-01-30 11:27:55,406 INFO ExportHelperExtension.cs: 338 - Creating joint link_5 +2020-01-30 11:27:55,471 WARN ExportHelperExtension.cs: 342 - Creating joint from parent link_4 to child link_5 failed +2020-01-30 11:27:55,596 INFO ExportHelperExtension.cs: 338 - Creating joint link_6 +2020-01-30 11:27:55,658 WARN ExportHelperExtension.cs: 342 - Creating joint from parent link_5 to child link_6 failed +2020-01-30 11:27:55,862 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from C800 +2020-01-30 11:27:55,865 INFO ExportHelperExtension.cs: 1142 - Found 44 in C800 +2020-01-30 11:27:55,866 INFO ExportHelperExtension.cs: 1152 - Found 7 features of type [CoordSys] in C800 +2020-01-30 11:27:55,866 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2020-01-30 11:27:55,866 INFO ExportHelperExtension.cs: 1167 - 1 components to check +2020-01-30 11:27:55,867 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from C800.STEP-1 +2020-01-30 11:27:55,867 INFO ExportHelperExtension.cs: 1142 - Found 25 in C800.STEP-1 +2020-01-30 11:27:55,868 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in C800.STEP-1 +2020-01-30 11:27:55,870 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from C800 +2020-01-30 11:27:55,871 INFO ExportHelperExtension.cs: 1142 - Found 44 in C800 +2020-01-30 11:27:55,872 INFO ExportHelperExtension.cs: 1152 - Found 6 features of type [RefAxis] in C800 +2020-01-30 11:27:55,873 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2020-01-30 11:27:55,874 INFO ExportHelperExtension.cs: 1167 - 1 components to check +2020-01-30 11:27:55,874 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from C800.STEP-1 +2020-01-30 11:27:55,875 INFO ExportHelperExtension.cs: 1142 - Found 25 in C800.STEP-1 +2020-01-30 11:27:55,876 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in C800.STEP-1 +2020-01-30 11:27:55,966 INFO ExportPropertyManager.cs: 1184 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:31:02,696 INFO AssemblyExportForm.cs: 254 - Completing URDF export +2020-01-30 11:31:02,701 INFO Serialization.cs: 275 - URDF Configuration found 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BfAC4AUwBUAEUAUAAEAAAAEAAAAAEAAAADAAAAGAAAABQAAAARAAAA+CoAAAUAAAD//v+rQwA4ADAAMAAuAFMAVABFAFAALQAxAEAAQwA4ADAAMAAvAF8AXwBfAF8AMQAyADMAXwBfAF8AXwBeAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAoADIAKQBfAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAuAFMAVABFAFAALQAzAEAAQwA4ADAAMAAuAFMAVABFAFAALwBfAF8AXwBfAF8AXwBBAEEAXgBfAF8AXwBfADEAMgAzAF8AXwBfAF8AXwBfAF8AXwBfADgAMAAwAF8AXwBfAF8AKAAyACkAXwBfAF8AXwBfADgAMAAwAF8AXwBfAF8ALgBTAFQARQBQAC0AMQBAAF8AXwBfAF8AMQAyADMAXwBfAF8AXwBeAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAoADIAKQBfAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAuAFMAVABFAFAABAAAABAAAAABAAAAAwAAABgAAAAUAAAAEwAAAA==falsefalsefalse+CoAAAUAAAD//v+vQwA4ADAAMAAuAFMAVABFAFAALQAxAEAAQwA4ADAAMAAvAF8AXwBfAF8AMQAyADMAXwBfAF8AXwBeAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAoADIAKQBfAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAuAFMAVABFAFAALQAxAEAAQwA4ADAAMAAuAFMAVABFAFAALwAyADAAXwBfAF8AXwBfAF8AXwBfAF8AXwBeAF8AXwBfAF8AMQAyADMAXwBfAF8AXwBfAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAoADIAKQBfAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAuAFMAVABFAFAALQAxAEAAXwBfAF8AXwAxADIAMwBfAF8AXwBfAF4AXwBfAF8AXwA4ADAAMABfAF8AXwBfACgAMgApAF8AXwBfAF8AXwA4ADAAMABfAF8AXwBfAC4AUwBUAEUAUAAEAAAAEAAAAAEAAAADAAAAGAAAABIAAAARAAAA+CoAAAUAAAD//v+rQwA4ADAAMAAuAFMAVABFAFAALQAxAEAAQwA4ADAAMAAvAF8AXwBfAF8AMQAyADMAXwBfAF8AXwBeAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAoADIAKQBfAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAuAFMAVABFAFAALQAxAEAAQwA4ADAAMAAuAFMAVABFAFAALwBfAF8AXwBfAF8AXwBBAEEAXgBfAF8AXwBfADEAMgAzAF8AXwBfAF8AXwBfAF8AXwBfADgAMAAwAF8AXwBfAF8AKAAyACkAXwBfAF8AXwBfADgAMAAwAF8AXwBfAF8ALgBTAFQARQBQAC0AMQBAAF8AXwBfAF8AMQAyADMAXwBfAF8AXwBeAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAoADIAKQBfAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAuAFMAVABFAFAABAAAABAAAAABAAAAAwAAABgAAAASAAAAEwAAAA==+CoAAAUAAAD//v+qQwA4ADAAMAAuAFMAVABFAFAALQAxAEAAQwA4ADAAMAAvAF8AXwBfAF8AMQAyADMAXwBfAF8AXwBeAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAoADIAKQBfAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAuAFMAVABFAFAALQAxAEAAQwA4ADAAMAAuAFMAVABFAFAALwBfAF8AXwBfAF8AXwBBAF4AXwBfAF8AXwAxADIAMwBfAF8AXwBfAF8AXwBfAF8AXwA4ADAAMABfAF8AXwBfACgAMgApAF8AXwBfAF8AXwA4ADAAMABfAF8AXwBfAC4AUwBUAEUAUAAtADEAQABfAF8AXwBfADEAMgAzAF8AXwBfAF8AXgBfAF8AXwBfADgAMAAwAF8AXwBfAF8AKAAyACkAXwBfAF8AXwBfADgAMAAwAF8AXwBfAF8ALgBTAFQARQBQAAQAAAAQAAAAAQAAAAMAAAAYAAAAEgAAABIAAAA=falsefalsefalse+CoAAAUAAAD//v+IQwA4ADAAMAAuAFMAVABFAFAALQAxAEAAQwA4ADAAMAAvAEoAXgBfAF8AXwBfADgAMAAwAF8AXwBfAF8AKAAyACkAXwBfAF8AXwBfADgAMAAwAF8AXwBfAF8ALgBTAFQARQBQAC0AMQBAAEMAOAAwADAALgBTAFQARQBQAC8AXwBfAF8AXwBBAF4AXwBfAF8AXwA4ADAAMABfAF8AXwBfACgAMgApAF8AXwBfAF8AXwA4ADAAMABfAF8AXwBfAC4AUwBUAEUAUAAtADEAQABKAF4AXwBfAF8AXwA4ADAAMABfAF8AXwBfACgAMgApAF8AXwBfAF8AXwA4ADAAMABfAF8AXwBfAC4AUwBUAEUAUAAEAAAAEAAAAAEAAAADAAAAGAAAABEAAAARAAAA+CoAAAUAAAD//v+KQwA4ADAAMAAuAFMAVABFAFAALQAxAEAAQwA4ADAAMAAvAEoAXgBfAF8AXwBfADgAMAAwAF8AXwBfAF8AKAAyACkAXwBfAF8AXwBfADgAMAAwAF8AXwBfAF8ALgBTAFQARQBQAC0AMQBAAEMAOAAwADAALgBTAFQARQBQAC8AXwBfAF8AXwBfAF8AQQBeAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAoADIAKQBfAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAuAFMAVABFAFAALQAxAEAASgBeAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAoADIAKQBfAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAuAFMAVABFAFAABAAAABAAAAABAAAAAwAAABgAAAARAAAAEgAAAA==falsefalse +2020-01-30 11:31:14,028 INFO AssemblyExportForm.cs: 308 - Saving URDF package to C:\Users\hcx19\Desktop\c800_description +2020-01-30 11:31:14,033 INFO ExportHelper.cs: 147 - Beginning the export process +2020-01-30 11:31:14,035 INFO ExportHelper.cs: 153 - Creating package directories with name c800_description and save path C:\Users\hcx19\Desktop +2020-01-30 11:31:15,771 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at C:\Users\hcx19\Desktop\c800_description\CMakeLists.txt +2020-01-30 11:31:15,776 INFO ExportHelper.cs: 166 - Creating joint names config at C:\Users\hcx19\Desktop\c800_description\config\joint_names_c800_description.yaml +2020-01-30 11:31:15,778 INFO ExportHelper.cs: 170 - Creating package.xml at C:\Users\hcx19\Desktop\c800_description\package.xml +2020-01-30 11:31:15,778 INFO PackageXMLWriter.cs: 21 - Creating package.xml at C:\Users\hcx19\Desktop\c800_description\package.xml +2020-01-30 11:31:15,781 INFO ExportHelper.cs: 177 - Creating RVIZ launch file in C:\Users\hcx19\Desktop\c800_description\launch\ +2020-01-30 11:31:15,788 INFO ExportHelper.cs: 182 - Creating Gazebo launch file in C:\Users\hcx19\Desktop\c800_description\launch\ +2020-01-30 11:31:15,789 INFO ExportHelper.cs: 187 - Saving existing STL preferences +2020-01-30 11:31:15,790 INFO ExportHelper.cs: 451 - Saving users preferences +2020-01-30 11:31:15,791 INFO ExportHelper.cs: 190 - Modifying STL preferences +2020-01-30 11:31:15,791 INFO ExportHelper.cs: 465 - Setting STL preferences +2020-01-30 11:31:15,807 INFO ExportHelper.cs: 196 - Found 0 hidden components +2020-01-30 11:31:15,808 INFO ExportHelper.cs: 197 - Hiding all components +2020-01-30 11:31:16,333 INFO ExportHelper.cs: 204 - Beginning individual files export +2020-01-30 11:31:16,335 INFO ExportHelper.cs: 270 - Exporting link: base_link +2020-01-30 11:31:16,336 INFO ExportHelper.cs: 272 - Link base_link has 1 children +2020-01-30 11:31:16,337 INFO ExportHelper.cs: 270 - Exporting link: link_1 +2020-01-30 11:31:16,337 INFO ExportHelper.cs: 272 - Link link_1 has 1 children +2020-01-30 11:31:16,338 INFO ExportHelper.cs: 270 - Exporting link: link_2 +2020-01-30 11:31:16,338 INFO ExportHelper.cs: 272 - Link link_2 has 1 children +2020-01-30 11:31:16,338 INFO ExportHelper.cs: 270 - Exporting link: link_3 +2020-01-30 11:31:16,338 INFO ExportHelper.cs: 272 - Link link_3 has 1 children +2020-01-30 11:31:16,339 INFO ExportHelper.cs: 270 - Exporting link: link_4 +2020-01-30 11:31:16,340 INFO ExportHelper.cs: 272 - Link link_4 has 1 children +2020-01-30 11:31:16,341 INFO ExportHelper.cs: 270 - Exporting link: link_5 +2020-01-30 11:31:16,341 INFO ExportHelper.cs: 272 - Link link_5 has 1 children +2020-01-30 11:31:16,342 INFO ExportHelper.cs: 270 - Exporting link: link_6 +2020-01-30 11:31:16,342 INFO ExportHelper.cs: 272 - Link link_6 has 0 children +2020-01-30 11:31:16,343 INFO ExportHelper.cs: 318 - link_6: Exporting STL with coordinate frame ϵ7 +2020-01-30 11:31:16,344 INFO ExportHelper.cs: 323 - link_6: Reference geometry name +2020-01-30 11:31:16,657 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\hcx19\Desktop\c800_description\meshes\link_6.STL +2020-01-30 11:31:16,729 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2020-01-30 11:31:16,730 INFO ExportHelper.cs: 318 - link_5: Exporting STL with coordinate frame ϵ6 +2020-01-30 11:31:16,731 INFO ExportHelper.cs: 323 - link_5: Reference geometry name +2020-01-30 11:31:16,771 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\hcx19\Desktop\c800_description\meshes\link_5.STL +2020-01-30 11:31:16,871 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2020-01-30 11:31:16,871 INFO ExportHelper.cs: 318 - link_4: Exporting STL with coordinate frame ϵ5 +2020-01-30 11:31:16,872 INFO ExportHelper.cs: 323 - link_4: Reference geometry name +2020-01-30 11:31:16,941 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\hcx19\Desktop\c800_description\meshes\link_4.STL +2020-01-30 11:31:17,035 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2020-01-30 11:31:17,036 INFO ExportHelper.cs: 318 - link_3: Exporting STL with coordinate frame ϵ4 +2020-01-30 11:31:17,036 INFO ExportHelper.cs: 323 - link_3: Reference geometry name +2020-01-30 11:31:17,213 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\hcx19\Desktop\c800_description\meshes\link_3.STL +2020-01-30 11:31:17,587 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2020-01-30 11:31:17,587 INFO ExportHelper.cs: 318 - link_2: Exporting STL with coordinate frame ϵ3 +2020-01-30 11:31:17,588 INFO ExportHelper.cs: 323 - link_2: Reference geometry name +2020-01-30 11:31:17,750 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\hcx19\Desktop\c800_description\meshes\link_2.STL +2020-01-30 11:31:18,138 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2020-01-30 11:31:18,139 INFO ExportHelper.cs: 318 - link_1: Exporting STL with coordinate frame ϵ2 +2020-01-30 11:31:18,139 INFO ExportHelper.cs: 323 - link_1: Reference geometry name +2020-01-30 11:31:18,235 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\hcx19\Desktop\c800_description\meshes\link_1.STL +2020-01-30 11:31:18,437 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2020-01-30 11:31:18,438 INFO ExportHelper.cs: 318 - base_link: Exporting STL with coordinate frame ϵ1 +2020-01-30 11:31:18,438 INFO ExportHelper.cs: 323 - base_link: Reference geometry name +2020-01-30 11:31:18,520 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\hcx19\Desktop\c800_description\meshes\base_link.STL +2020-01-30 11:31:18,682 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2020-01-30 11:31:18,684 INFO ExportHelper.cs: 145 - Showing all components except previously hidden components +2020-01-30 11:31:19,699 INFO ExportHelper.cs: 145 - Resetting STL preferences +2020-01-30 11:31:19,700 INFO ExportHelper.cs: 479 - Returning STL preferences to user preferences +2020-01-30 11:31:19,700 INFO ExportHelper.cs: 228 - Writing URDF file to C:\Users\hcx19\Desktop\c800_description\urdf\c800_description.urdf +2020-01-30 11:31:19,708 INFO CSVImportExport.cs: 32 - Writing CSV file C:\Users\hcx19\Desktop\c800_description\urdf\c800_description.csv +2020-01-30 11:31:19,735 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2020-01-30 11:31:19,736 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2020-01-30 11:31:19,737 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2020-01-30 11:31:19,738 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2020-01-30 11:31:19,739 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2020-01-30 11:31:19,739 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2020-01-30 11:31:19,740 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2020-01-30 11:31:19,740 INFO ExportHelper.cs: 234 - Copying log file +2020-01-30 11:31:19,746 INFO ExportHelper.cs: 440 - Copying C:\Users\hcx19\sw2urdf_logs\sw2urdf.log to C:\Users\hcx19\Desktop\c800_description\export.log diff --git a/moveit_setup_assistant/c800_description/launch/display.launch b/moveit_setup_assistant/c800_description/launch/display.launch new file mode 100644 index 0000000..db8dfb0 --- /dev/null +++ b/moveit_setup_assistant/c800_description/launch/display.launch @@ -0,0 +1,26 @@ + + + + + + + + + \ No newline at end of file diff --git a/moveit_setup_assistant/c800_description/launch/gazebo.launch b/moveit_setup_assistant/c800_description/launch/gazebo.launch new file mode 100644 index 0000000..5fe9841 --- /dev/null +++ b/moveit_setup_assistant/c800_description/launch/gazebo.launch @@ -0,0 +1,20 @@ + + + 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URDF Description package for c800_description

+

This package contains configuration data, 3D models and launch files +for c800_description robot

+ + TODO + + BSD + catkin + roslaunch + robot_state_publisher + rviz + joint_state_publisher + gazebo + + + + \ No newline at end of file diff --git a/moveit_setup_assistant/c800_description/urdf/c800_description.csv b/moveit_setup_assistant/c800_description/urdf/c800_description.csv new file mode 100644 index 0000000..47ca08a --- /dev/null +++ b/moveit_setup_assistant/c800_description/urdf/c800_description.csv @@ -0,0 +1,8 @@ +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,5.1159E-06,-0.00045852,0.01511,0,0,0,0.47731,0.00060819,-1.4211E-07,2.912E-08,0.00062131,-2.5797E-06,0.0011481,0,0,0,0,0,0,package://c800_description/meshes/base_link.STL,1,1,1,1,0,0,0,0,0,0,package://c800_description/meshes/base_link.STL,,C800.STEP-1/J^____800____(2)_____800____.STEP-1/____A^____800____(2)_____800____.STEP-1;C800.STEP-1/J^____800____(2)_____800____.STEP-1/______A^____800____(2)_____800____.STEP-1,坐标系1,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,, +link_1,0.009995,0.00010952,-0.088076,0,0,0,1.8893,0.0041014,-5.8451E-06,0.0003739,0.0046287,4.1148E-06,0.0033533,0,0,0,0,0,0,package://c800_description/meshes/link_1.STL,1,1,1,1,0,0,0,0,0,0,package://c800_description/meshes/link_1.STL,,C800.STEP-1/____123____^____800____(2)_____800____.STEP-1/20__________^____123_________800____(2)_____800____.STEP-1;C800.STEP-1/____123____^____800____(2)_____800____.STEP-1/______AA^____123_________800____(2)_____800____.STEP-1;C800.STEP-1/____123____^____800____(2)_____800____.STEP-1/______A^____123_________800____(2)_____800____.STEP-1,坐标系2,基准轴1,joint_1,revolute,0,0,0.0317,3.1416,0,-1.5598,base_link,0,0,1,100,3,-3,3,,,,,,,, +link_2,0.087798,0.00096966,-0.1742,0,0,0,5.0587,0.012152,-2.8164E-05,-3.968E-10,0.014702,-4.2598E-08,0.0095763,0,0,0,0,0,0,package://c800_description/meshes/link_2.STL,1,1,1,1,0,0,0,0,0,0,package://c800_description/meshes/link_2.STL,,C800.STEP-1/____123____^____800____(2)_____800____.STEP-2/20__________^____123_________800____(2)_____800____.STEP-1;C800.STEP-1/____123____^____800____(2)_____800____.STEP-2/______AA^____123_________800____(2)_____800____.STEP-1;C800.STEP-1/____123____^____800____(2)_____800____.STEP-2/______A^____123_________800____(2)_____800____.STEP-1;C800.STEP-1/2______^____800____(2)_____800____.STEP-1;C800.STEP-1/____123____^____800____(2)_____800____.STEP-3/______A^____123_________800____(2)_____800____.STEP-1;C800.STEP-1/____123____^____800____(2)_____800____.STEP-3/20__________^____123_________800____(2)_____800____.STEP-1;C800.STEP-1/____123____^____800____(2)_____800____.STEP-3/______AA^____123_________800____(2)_____800____.STEP-1,坐标系3,基准轴2,joint_2,revolute,0.075695,0.00083599,-0.087,0,0,0,link_1,0.99994,0.011043,0,100,3,-3,3,,,,,,,, +link_3,-0.074461,-0.00081729,-0.18595,0,0,0,2.4785,0.0066463,-2.7745E-06,-0.00025133,0.0069332,-2.9588E-06,0.0024538,0,0,0,0,0,0,package://c800_description/meshes/link_3.STL,1,1,1,1,0,0,0,0,0,0,package://c800_description/meshes/link_3.STL,,C800.STEP-1/______2^____800____(2)_____800____.STEP-1/______A^____800____(2)_____800____.STEP-1;C800.STEP-1/______2^____800____(2)_____800____.STEP-1/2019-12-28-____^____800____(2)_____800____.STEP-1;C800.STEP-1/______2^____800____(2)_____800____.STEP-1/______C^____800____(2)_____800____.STEP-1;C800.STEP-1/3______A^____800____(2)_____800____.STEP-1;C800.STEP-1/456______11-2^____800____(2)_____800____.STEP-1/456______-1^____800____(2)_____800____.STEP-1;C800.STEP-1/456______11-2^____800____(2)_____800____.STEP-1/______BB^____800____(2)_____800____.STEP-1;C800.STEP-1/456______11-2^____800____(2)_____800____.STEP-1/456____-1^456______11-2_____800____(2)_____800____.STEP-1;C800.STEP-1/456______11-2^____800____(2)_____800____.STEP-2/456______-1^____800____(2)_____800____.STEP-1,坐标系4,基准轴3,joint_3,revolute,0,0,-0.3484,0,0,0,link_2,0.99994,0.011043,0,100,3,-3,3,,,,,,,, +link_4,0.03744,0.00041334,0.011039,0,0,0,0.69512,0.0007079,-9.1282E-07,-1.3418E-11,0.00079063,-9.8306E-11,0.00062854,0,0,0,0,0,0,package://c800_description/meshes/link_4.STL,1,1,1,1,0,0,0,0,0,0,package://c800_description/meshes/link_4.STL,,C800.STEP-1/456______11-2^____800____(2)_____800____.STEP-2/______BB^____800____(2)_____800____.STEP-1;C800.STEP-1/456______11-2^____800____(2)_____800____.STEP-2/456____-1^456______11-2_____800____(2)_____800____.STEP-1;C800.STEP-1/456______11-2-1^____800____(2)_____800____.STEP-1/456______-1^____800____(2)_____800____.STEP-1,坐标系5,基准轴4,joint_4,revolute,-0.017899,-0.00019768,-0.3495,0,0,0,link_3,-0.99994,-0.011043,0,100,3,-3,3,,,,,,,, +link_5,-0.011486,-0.00012684,-0.045406,0,0,0,0.69038,0.00062179,-1.8272E-06,1.9143E-11,0.00078721,5.7484E-12,0.00070448,0,0,0,0,0,0,package://c800_description/meshes/link_5.STL,1,1,1,1,0,0,0,0,0,0,package://c800_description/meshes/link_5.STL,,C800.STEP-1/456______11-2-1^____800____(2)_____800____.STEP-1/______BB^____800____(2)_____800____.STEP-1;C800.STEP-1/456______11-2-1^____800____(2)_____800____.STEP-1/456____-1^456______11-2-1_____800____(2)_____800____.STEP-1,坐标系6,基准轴5,joint_5,revolute,0.042397,0.00046824,-0.0501,0,0,0,link_4,0,0,1,100,3,-3,3,,,,,,,, +link_6,0.01497,0.00016533,-6.0527E-10,0,0,0,0.13891,0.00011411,5.0377E-07,1.0257E-12,6.8505E-05,-1.0223E-10,6.85E-05,0,0,0,0,0,0,package://c800_description/meshes/link_6.STL,1,1,1,1,0,0,0,0,0,0,package://c800_description/meshes/link_6.STL,,C800.STEP-1/456______11-2-1^____800____(2)_____800____.STEP-1/__________-1^____800____(2)_____800____.STEP-1,坐标系7,基准轴6,joint_6,revolute,0.050097,0.00055327,-0.0504,0,0,0,link_5,1,0,0,100,3,-3,3,,,,,,,, diff --git a/moveit_setup_assistant/c800_description/urdf/c800_description.urdf b/moveit_setup_assistant/c800_description/urdf/c800_description.urdf new file mode 100644 index 0000000..60806d6 --- /dev/null +++ b/moveit_setup_assistant/c800_description/urdf/c800_description.urdf @@ -0,0 +1,316 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + + / + + + diff --git a/moveit_setup_assistant/c800_moveit_config/.setup_assistant b/moveit_setup_assistant/c800_moveit_config/.setup_assistant new file mode 100644 index 0000000..1a2d922 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: c800_description + relative_path: urdf/c800_description.urdf + xacro_args: "" + SRDF: + relative_path: config/c800_description.srdf + CONFIG: + author_name: Hu Chunxu + author_email: huchunxu@ps-micro.com + generated_timestamp: 1582954913 \ No newline at end of file diff --git a/moveit_setup_assistant/c800_moveit_config/CMakeLists.txt b/moveit_setup_assistant/c800_moveit_config/CMakeLists.txt new file mode 100644 index 0000000..9b61b73 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(c800_moveit_config) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/moveit_setup_assistant/c800_moveit_config/config/c800_description.srdf b/moveit_setup_assistant/c800_moveit_config/config/c800_description.srdf new file mode 100644 index 0000000..ee79c55 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/config/c800_description.srdf @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/c800_moveit_config/config/chomp_planning.yaml b/moveit_setup_assistant/c800_moveit_config/config/chomp_planning.yaml new file mode 100644 index 0000000..75258e5 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/moveit_setup_assistant/c800_moveit_config/config/fake_controllers.yaml b/moveit_setup_assistant/c800_moveit_config/config/fake_controllers.yaml new file mode 100644 index 0000000..c693bcb --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/config/fake_controllers.yaml @@ -0,0 +1,9 @@ +controller_list: + - name: fake_arm_controller + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 \ No newline at end of file diff --git a/moveit_setup_assistant/c800_moveit_config/config/joint_limits.yaml b/moveit_setup_assistant/c800_moveit_config/config/joint_limits.yaml new file mode 100644 index 0000000..1e96360 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/config/joint_limits.yaml @@ -0,0 +1,34 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# 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: + joint_1: + has_velocity_limits: true + max_velocity: 3 + has_acceleration_limits: false + max_acceleration: 0 + joint_2: + has_velocity_limits: true + max_velocity: 3 + has_acceleration_limits: false + max_acceleration: 0 + joint_3: + has_velocity_limits: true + max_velocity: 3 + has_acceleration_limits: false + max_acceleration: 0 + joint_4: + has_velocity_limits: true + max_velocity: 3 + has_acceleration_limits: false + max_acceleration: 0 + joint_5: + has_velocity_limits: true + max_velocity: 3 + has_acceleration_limits: false + max_acceleration: 0 + joint_6: + has_velocity_limits: true + max_velocity: 3 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/moveit_setup_assistant/c800_moveit_config/config/kinematics.yaml b/moveit_setup_assistant/c800_moveit_config/config/kinematics.yaml new file mode 100644 index 0000000..05573e5 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/config/kinematics.yaml @@ -0,0 +1,4 @@ +arm: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 \ No newline at end of file diff --git a/moveit_setup_assistant/c800_moveit_config/config/ompl_planning.yaml b/moveit_setup_assistant/c800_moveit_config/config/ompl_planning.yaml new file mode 100644 index 0000000..17829f9 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,150 @@ +planner_configs: + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +arm: + default_planner_config: RRTConnect + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(joint_1,joint_2) + longest_valid_segment_fraction: 0.005 \ No newline at end of file diff --git a/moveit_setup_assistant/c800_moveit_config/config/ros_controllers.yaml b/moveit_setup_assistant/c800_moveit_config/config/ros_controllers.yaml new file mode 100644 index 0000000..30b4990 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,75 @@ +# MoveIt-specific simulation settings +moveit_sim_hw_interface: + joint_model_group: controllers_initial_group_ + joint_model_group_pose: controllers_initial_pose_ +# Settings for ros_control control loop +generic_hw_control_loop: + loop_hz: 300 + cycle_time_error_threshold: 0.01 +# Settings for ros_control hardware interface +hardware_interface: + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 + sim_control_mode: 1 # 0: position, 1: velocity +# Publish all joint states +# Creates the /joint_states topic necessary in ROS +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 +controller_list: + - name: arm_controller + action_ns: follow_joint_trajectory + default: True + type: FollowJointTrajectory + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 +arm_controller: + type: position_controllers/JointTrajectoryController + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 + gains: + joint_1: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + joint_2: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + joint_3: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + joint_4: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + joint_5: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + joint_6: + p: 100 + d: 1 + i: 1 + i_clamp: 1 diff --git a/moveit_setup_assistant/c800_moveit_config/config/sensors_3d.yaml b/moveit_setup_assistant/c800_moveit_config/config/sensors_3d.yaml new file mode 100644 index 0000000..d2955dc --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/config/sensors_3d.yaml @@ -0,0 +1,3 @@ +# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it +sensors: + - {} \ No newline at end of file diff --git a/moveit_setup_assistant/c800_moveit_config/launch/c800_description_moveit_controller_manager.launch.xml b/moveit_setup_assistant/c800_moveit_config/launch/c800_description_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..338d7c6 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/c800_description_moveit_controller_manager.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/moveit_setup_assistant/c800_moveit_config/launch/c800_description_moveit_sensor_manager.launch.xml b/moveit_setup_assistant/c800_moveit_config/launch/c800_description_moveit_sensor_manager.launch.xml new file mode 100644 index 0000000..5d02698 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/c800_description_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/moveit_setup_assistant/c800_moveit_config/launch/chomp_planning_pipeline.launch.xml b/moveit_setup_assistant/c800_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..0af8d6a --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/moveit_setup_assistant/c800_moveit_config/launch/default_warehouse_db.launch b/moveit_setup_assistant/c800_moveit_config/launch/default_warehouse_db.launch new file mode 100644 index 0000000..f1f79e7 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/c800_moveit_config/launch/demo.launch b/moveit_setup_assistant/c800_moveit_config/launch/demo.launch new file mode 100644 index 0000000..acd9d91 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/demo.launch @@ -0,0 +1,61 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/c800_moveit_config/launch/demo_gazebo.launch b/moveit_setup_assistant/c800_moveit_config/launch/demo_gazebo.launch new file mode 100644 index 0000000..3aae59b --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/demo_gazebo.launch @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [/joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/c800_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/moveit_setup_assistant/c800_moveit_config/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..fbf878b --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/moveit_setup_assistant/c800_moveit_config/launch/gazebo.launch b/moveit_setup_assistant/c800_moveit_config/launch/gazebo.launch new file mode 100644 index 0000000..e204043 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/gazebo.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/c800_moveit_config/launch/joystick_control.launch b/moveit_setup_assistant/c800_moveit_config/launch/joystick_control.launch new file mode 100644 index 0000000..9411f6e --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/c800_moveit_config/launch/move_group.launch b/moveit_setup_assistant/c800_moveit_config/launch/move_group.launch new file mode 100644 index 0000000..7c6d710 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/move_group.launch @@ -0,0 +1,82 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/c800_moveit_config/launch/moveit.rviz b/moveit_setup_assistant/c800_moveit_config/launch/moveit.rviz new file mode 100644 index 0000000..b431b2a --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/moveit.rviz @@ -0,0 +1,689 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.74256 + Tree Height: 664 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + Name: MotionPlanning + Planned Path: + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: left_arm + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.2 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Scene Robot: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.9965 + Focal Point: + X: 0.113567 + Y: 0.10592 + Z: 2.23518e-07 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.509797 + Target Frame: /base_link + Value: XYOrbit (rviz) + Yaw: 5.65995 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1337 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + Motion Planning: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 459 + Y: -243 diff --git a/moveit_setup_assistant/c800_moveit_config/launch/moveit_rviz.launch b/moveit_setup_assistant/c800_moveit_config/launch/moveit_rviz.launch new file mode 100644 index 0000000..8d4a32f --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/c800_moveit_config/launch/ompl_planning_pipeline.launch.xml b/moveit_setup_assistant/c800_moveit_config/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 0000000..f263d11 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/c800_moveit_config/launch/planning_context.launch b/moveit_setup_assistant/c800_moveit_config/launch/planning_context.launch new file mode 100644 index 0000000..2802739 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/planning_context.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/c800_moveit_config/launch/planning_pipeline.launch.xml b/moveit_setup_assistant/c800_moveit_config/launch/planning_pipeline.launch.xml new file mode 100644 index 0000000..8c22e71 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/moveit_setup_assistant/c800_moveit_config/launch/ros_controllers.launch b/moveit_setup_assistant/c800_moveit_config/launch/ros_controllers.launch new file mode 100644 index 0000000..918be0a --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/moveit_setup_assistant/c800_moveit_config/launch/run_benchmark_ompl.launch b/moveit_setup_assistant/c800_moveit_config/launch/run_benchmark_ompl.launch new file mode 100644 index 0000000..a1bcaff --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/c800_moveit_config/launch/sensor_manager.launch.xml b/moveit_setup_assistant/c800_moveit_config/launch/sensor_manager.launch.xml new file mode 100644 index 0000000..4dd7b96 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/sensor_manager.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/c800_moveit_config/launch/setup_assistant.launch b/moveit_setup_assistant/c800_moveit_config/launch/setup_assistant.launch new file mode 100644 index 0000000..a388eb5 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/moveit_setup_assistant/c800_moveit_config/launch/trajectory_execution.launch.xml b/moveit_setup_assistant/c800_moveit_config/launch/trajectory_execution.launch.xml new file mode 100644 index 0000000..c65fe69 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/trajectory_execution.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/c800_moveit_config/launch/warehouse.launch b/moveit_setup_assistant/c800_moveit_config/launch/warehouse.launch new file mode 100644 index 0000000..ff468e9 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/c800_moveit_config/launch/warehouse_settings.launch.xml b/moveit_setup_assistant/c800_moveit_config/launch/warehouse_settings.launch.xml new file mode 100644 index 0000000..e473b08 --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/c800_moveit_config/package.xml b/moveit_setup_assistant/c800_moveit_config/package.xml new file mode 100644 index 0000000..3a4f5cc --- /dev/null +++ b/moveit_setup_assistant/c800_moveit_config/package.xml @@ -0,0 +1,35 @@ + + + c800_moveit_config + 0.3.0 + + An automatically generated package with all the configuration and launch files for using the c800_description with the MoveIt! Motion Planning Framework + + Hu Chunxu + Hu Chunxu + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit/issues + https://github.com/ros-planning/moveit + + catkin + + moveit_ros_move_group + moveit_fake_controller_manager + moveit_kinematics + moveit_planners_ompl + moveit_ros_visualization + moveit_setup_assistant + joint_state_publisher + robot_state_publisher + tf2_ros + xacro + + + c800_description + c800_description + + + diff --git a/moveit_setup_assistant/marm_description/CMakeLists.txt b/moveit_setup_assistant/marm_description/CMakeLists.txt new file mode 100644 index 0000000..44f2519 --- /dev/null +++ b/moveit_setup_assistant/marm_description/CMakeLists.txt @@ -0,0 +1,200 @@ +cmake_minimum_required(VERSION 2.8.3) +project(marm_description) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + tf + urdf + xacro +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES marm_description +# CATKIN_DEPENDS roscpp tf urdf xacro +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/marm_description.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/marm_description_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_marm_description.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/moveit_setup_assistant/marm_description/config/marm_urdf.rviz b/moveit_setup_assistant/marm_description/config/marm_urdf.rviz new file mode 100644 index 0000000..e4e4e9d --- /dev/null +++ b/moveit_setup_assistant/marm_description/config/marm_urdf.rviz @@ -0,0 +1,184 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + Splitter Ratio: 0.5 + Tree Height: 549 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/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: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + 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 + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + grasping_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + gripper_finger_link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_finger_link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.217164397239685 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.10586948692798615 + Y: -0.04329211637377739 + Z: 0.20623737573623657 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.550398588180542 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.6453983187675476 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1200 + X: 364 + Y: 85 diff --git a/moveit_setup_assistant/marm_description/launch/display_marm_urdf.launch b/moveit_setup_assistant/marm_description/launch/display_marm_urdf.launch new file mode 100644 index 0000000..d718c95 --- /dev/null +++ b/moveit_setup_assistant/marm_description/launch/display_marm_urdf.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/marm_description/meshes/kinect.dae b/moveit_setup_assistant/marm_description/meshes/kinect.dae new file mode 100644 index 0000000..70b9630 --- /dev/null +++ b/moveit_setup_assistant/marm_description/meshes/kinect.dae @@ -0,0 +1,165 @@ + + + + + DesignK + OpenCOLLADA for 3ds Max; Version: 1.3.1; Revision: 847M; Platform: x64; Configuration: Release_Max2011_static + file:///E:/Windows/Documents/3dsMax/scenes/KOBUKI_KINECT_URDF.max + + 2013-03-07T11:38:26 + 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3131 1646 1987 3182 1647 1992 3179 2403 2673 3129 1645 1969 3183 1646 1987 3182 2404 2674 3131 1645 1969 3183 2404 2674 3131 2405 2675 3133 1644 1968 3185 1645 1969 3183 2405 2675 3133 1644 1968 3185 2405 2675 3133 2406 2676 3155 1643 1967 3077 1644 1968 3185 2406 2676 3155 1643 1967 3077 2406 2676 3155 2374 2647 2406 1669 1982 2655 2413 2683 2684 2377 2654 2624 2412 2682 2654 2377 2654 2624 2413 2683 2684 1701 2015 3067 1695 2019 3074 2418 2684 3087 1669 1982 2655 1637 1983 2685 2413 2683 2684 2414 2685 2686 2413 2683 2684 1637 1983 2685 2415 2686 2687 2412 2682 2654 2413 2683 2684 2416 2687 2688 2415 2686 2687 2413 2683 2684 2414 2685 2686 2416 2687 2688 2413 2683 2684 1695 2019 3074 1696 2020 3076 2419 2688 3088 2420 2689 2689 2414 2685 2686 1637 1983 2685 2421 2690 2944 2420 2689 2945 1637 1983 2300 2421 2690 2944 1637 1983 2300 1638 1963 2280 1696 2020 3076 1712 1745 3075 2422 2691 3089 2423 1935 2235 2421 2690 2944 1638 1963 2280 2425 2692 2706 2376 1663 2522 2375 2648 2621 2425 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package + + + + + hcx + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + tf + urdf + xacro + roscpp + tf + urdf + xacro + + + + + + + + diff --git a/moveit_setup_assistant/marm_description/urdf/marm.urdf b/moveit_setup_assistant/marm_description/urdf/marm.urdf new file mode 100644 index 0000000..39059e4 --- /dev/null +++ b/moveit_setup_assistant/marm_description/urdf/marm.urdf @@ -0,0 +1,456 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 20.0 + + 1.047 + + R8G8B8 + 640 + 480 + + + 0.05 + 8.0 + + + + camera + true + 10 + rgb/image_raw + depth/image_raw + depth/points + rgb/camera_info + depth/camera_info + camera_frame_optical + 0.1 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.4 + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + + / + + + diff --git a/moveit_setup_assistant/marm_moveit_config/.setup_assistant b/moveit_setup_assistant/marm_moveit_config/.setup_assistant new file mode 100644 index 0000000..d9dd2de --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: marm_description + relative_path: urdf/marm.urdf + xacro_args: "" + SRDF: + relative_path: config/marm.srdf + CONFIG: + author_name: Hu Chunxu + author_email: huchunxu@ps-micro.com + generated_timestamp: 1582953852 \ No newline at end of file diff --git a/moveit_setup_assistant/marm_moveit_config/CMakeLists.txt b/moveit_setup_assistant/marm_moveit_config/CMakeLists.txt new file mode 100644 index 0000000..3241383 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(marm_moveit_config) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/moveit_setup_assistant/marm_moveit_config/config/chomp_planning.yaml b/moveit_setup_assistant/marm_moveit_config/config/chomp_planning.yaml new file mode 100644 index 0000000..75258e5 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/moveit_setup_assistant/marm_moveit_config/config/fake_controllers.yaml b/moveit_setup_assistant/marm_moveit_config/config/fake_controllers.yaml new file mode 100644 index 0000000..eae0637 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/config/fake_controllers.yaml @@ -0,0 +1,13 @@ +controller_list: + - name: fake_arm_controller + joints: + - joint1 + - joint2 + - joint3 + - joint4 + - joint5 + - joint6 + - name: fake_hand_controller + joints: + - finger_joint1 + - finger_joint2 \ No newline at end of file diff --git a/moveit_setup_assistant/marm_moveit_config/config/joint_limits.yaml b/moveit_setup_assistant/marm_moveit_config/config/joint_limits.yaml new file mode 100644 index 0000000..f72aa66 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/config/joint_limits.yaml @@ -0,0 +1,44 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# 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: + finger_joint1: + has_velocity_limits: true + max_velocity: 0.02 + has_acceleration_limits: false + max_acceleration: 0 + finger_joint2: + has_velocity_limits: true + max_velocity: 0.02 + has_acceleration_limits: false + max_acceleration: 0 + joint1: + has_velocity_limits: true + max_velocity: 1 + has_acceleration_limits: false + max_acceleration: 0 + joint2: + has_velocity_limits: true + max_velocity: 1 + has_acceleration_limits: false + max_acceleration: 0 + joint3: + has_velocity_limits: true + max_velocity: 1 + has_acceleration_limits: false + max_acceleration: 0 + joint4: + has_velocity_limits: true + max_velocity: 1 + has_acceleration_limits: false + max_acceleration: 0 + joint5: + has_velocity_limits: true + max_velocity: 1 + has_acceleration_limits: false + max_acceleration: 0 + joint6: + has_velocity_limits: true + max_velocity: 1 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/moveit_setup_assistant/marm_moveit_config/config/kinematics.yaml b/moveit_setup_assistant/marm_moveit_config/config/kinematics.yaml new file mode 100644 index 0000000..05573e5 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/config/kinematics.yaml @@ -0,0 +1,4 @@ +arm: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 \ No newline at end of file diff --git a/moveit_setup_assistant/marm_moveit_config/config/marm.srdf b/moveit_setup_assistant/marm_moveit_config/config/marm.srdf new file mode 100644 index 0000000..9e75ee8 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/config/marm.srdf @@ -0,0 +1,74 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/marm_moveit_config/config/ompl_planning.yaml b/moveit_setup_assistant/marm_moveit_config/config/ompl_planning.yaml new file mode 100644 index 0000000..3a355fd --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,178 @@ +planner_configs: + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +arm: + default_planner_config: RRTConnect + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(joint1,joint2) + longest_valid_segment_fraction: 0.005 +hand: + default_planner_config: None + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(finger_joint1,finger_joint2) + longest_valid_segment_fraction: 0.005 \ No newline at end of file diff --git a/moveit_setup_assistant/marm_moveit_config/config/ros_controllers.yaml b/moveit_setup_assistant/marm_moveit_config/config/ros_controllers.yaml new file mode 100644 index 0000000..13b1a1b --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,100 @@ +# MoveIt-specific simulation settings +moveit_sim_hw_interface: + joint_model_group: controllers_initial_group_ + joint_model_group_pose: controllers_initial_pose_ +# Settings for ros_control control loop +generic_hw_control_loop: + loop_hz: 300 + cycle_time_error_threshold: 0.01 +# Settings for ros_control hardware interface +hardware_interface: + joints: + - joint1 + - joint2 + - joint3 + - joint4 + - joint5 + - joint6 + - finger_joint1 + - finger_joint2 + sim_control_mode: 1 # 0: position, 1: velocity +# Publish all joint states +# Creates the /joint_states topic necessary in ROS +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 +controller_list: + - name: arm_controller + action_ns: follow_joint_trajectory + default: True + type: FollowJointTrajectory + joints: + - joint1 + - joint2 + - joint3 + - joint4 + - joint5 + - joint6 + - name: hand_controller + action_ns: follow_joint_trajectory + default: True + type: FollowJointTrajectory + joints: + - finger_joint1 + - finger_joint2 +arm_controller: + type: position_controllers/JointTrajectoryController + joints: + - joint1 + - joint2 + - joint3 + - joint4 + - joint5 + - joint6 + gains: + joint1: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + joint2: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + joint3: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + joint4: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + joint5: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + joint6: + p: 100 + d: 1 + i: 1 + i_clamp: 1 +hand_controller: + type: position_controllers/JointTrajectoryController + joints: + - finger_joint1 + - finger_joint2 + gains: + finger_joint1: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + finger_joint2: + p: 100 + d: 1 + i: 1 + i_clamp: 1 diff --git a/moveit_setup_assistant/marm_moveit_config/config/sensors_3d.yaml b/moveit_setup_assistant/marm_moveit_config/config/sensors_3d.yaml new file mode 100644 index 0000000..c2c4bbf --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/config/sensors_3d.yaml @@ -0,0 +1,10 @@ +# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it +sensors: + - filtered_cloud_topic: filtered_cloud + max_range: 5.0 + max_update_rate: 1.0 + padding_offset: 0.1 + padding_scale: 1.0 + point_cloud_topic: /camera/depth/points + point_subsample: 1 + sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater \ No newline at end of file diff --git a/moveit_setup_assistant/marm_moveit_config/launch/chomp_planning_pipeline.launch.xml b/moveit_setup_assistant/marm_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..88b8ae1 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/moveit_setup_assistant/marm_moveit_config/launch/default_warehouse_db.launch b/moveit_setup_assistant/marm_moveit_config/launch/default_warehouse_db.launch new file mode 100644 index 0000000..9f494e1 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/marm_moveit_config/launch/demo.launch b/moveit_setup_assistant/marm_moveit_config/launch/demo.launch new file mode 100644 index 0000000..52abd8a --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/demo.launch @@ -0,0 +1,61 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/marm_moveit_config/launch/demo_gazebo.launch b/moveit_setup_assistant/marm_moveit_config/launch/demo_gazebo.launch new file mode 100644 index 0000000..99dfc45 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/demo_gazebo.launch @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [/joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/marm_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/moveit_setup_assistant/marm_moveit_config/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..8b99527 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/moveit_setup_assistant/marm_moveit_config/launch/gazebo.launch b/moveit_setup_assistant/marm_moveit_config/launch/gazebo.launch new file mode 100644 index 0000000..a26e9d3 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/gazebo.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/marm_moveit_config/launch/joystick_control.launch b/moveit_setup_assistant/marm_moveit_config/launch/joystick_control.launch new file mode 100644 index 0000000..9411f6e --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/marm_moveit_config/launch/marm_moveit_controller_manager.launch.xml b/moveit_setup_assistant/marm_moveit_config/launch/marm_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..7527526 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/marm_moveit_controller_manager.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/moveit_setup_assistant/marm_moveit_config/launch/marm_moveit_sensor_manager.launch.xml b/moveit_setup_assistant/marm_moveit_config/launch/marm_moveit_sensor_manager.launch.xml new file mode 100644 index 0000000..5d02698 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/marm_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/moveit_setup_assistant/marm_moveit_config/launch/move_group.launch b/moveit_setup_assistant/marm_moveit_config/launch/move_group.launch new file mode 100644 index 0000000..9dd3766 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/move_group.launch @@ -0,0 +1,82 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/marm_moveit_config/launch/moveit.rviz b/moveit_setup_assistant/marm_moveit_config/launch/moveit.rviz new file mode 100644 index 0000000..b431b2a --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/moveit.rviz @@ -0,0 +1,689 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.74256 + Tree Height: 664 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + Name: MotionPlanning + Planned Path: + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: left_arm + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.2 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Scene Robot: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.9965 + Focal Point: + X: 0.113567 + Y: 0.10592 + Z: 2.23518e-07 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.509797 + Target Frame: /base_link + Value: XYOrbit (rviz) + Yaw: 5.65995 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1337 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + Motion Planning: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 459 + Y: -243 diff --git a/moveit_setup_assistant/marm_moveit_config/launch/moveit_rviz.launch b/moveit_setup_assistant/marm_moveit_config/launch/moveit_rviz.launch new file mode 100644 index 0000000..2883cc4 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/marm_moveit_config/launch/ompl_planning_pipeline.launch.xml b/moveit_setup_assistant/marm_moveit_config/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 0000000..0257eb6 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/marm_moveit_config/launch/planning_context.launch b/moveit_setup_assistant/marm_moveit_config/launch/planning_context.launch new file mode 100644 index 0000000..4b8fc2d --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/planning_context.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/marm_moveit_config/launch/planning_pipeline.launch.xml b/moveit_setup_assistant/marm_moveit_config/launch/planning_pipeline.launch.xml new file mode 100644 index 0000000..90bf418 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/moveit_setup_assistant/marm_moveit_config/launch/ros_controllers.launch b/moveit_setup_assistant/marm_moveit_config/launch/ros_controllers.launch new file mode 100644 index 0000000..8dff878 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/moveit_setup_assistant/marm_moveit_config/launch/run_benchmark_ompl.launch b/moveit_setup_assistant/marm_moveit_config/launch/run_benchmark_ompl.launch new file mode 100644 index 0000000..a50eefa --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/marm_moveit_config/launch/sensor_manager.launch.xml b/moveit_setup_assistant/marm_moveit_config/launch/sensor_manager.launch.xml new file mode 100644 index 0000000..12b9138 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/sensor_manager.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/marm_moveit_config/launch/setup_assistant.launch b/moveit_setup_assistant/marm_moveit_config/launch/setup_assistant.launch new file mode 100644 index 0000000..44f7f36 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/moveit_setup_assistant/marm_moveit_config/launch/trajectory_execution.launch.xml b/moveit_setup_assistant/marm_moveit_config/launch/trajectory_execution.launch.xml new file mode 100644 index 0000000..f485df2 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/trajectory_execution.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/marm_moveit_config/launch/warehouse.launch b/moveit_setup_assistant/marm_moveit_config/launch/warehouse.launch new file mode 100644 index 0000000..b4f48c5 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/marm_moveit_config/launch/warehouse_settings.launch.xml b/moveit_setup_assistant/marm_moveit_config/launch/warehouse_settings.launch.xml new file mode 100644 index 0000000..e473b08 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/moveit_setup_assistant/marm_moveit_config/package.xml b/moveit_setup_assistant/marm_moveit_config/package.xml new file mode 100644 index 0000000..6c3c575 --- /dev/null +++ b/moveit_setup_assistant/marm_moveit_config/package.xml @@ -0,0 +1,35 @@ + + + marm_moveit_config + 0.3.0 + + An automatically generated package with all the configuration and launch files for using the marm with the MoveIt! Motion Planning Framework + + Hu Chunxu + Hu Chunxu + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit/issues + https://github.com/ros-planning/moveit + + catkin + + moveit_ros_move_group + moveit_fake_controller_manager + moveit_kinematics + moveit_planners_ompl + moveit_ros_visualization + moveit_setup_assistant + joint_state_publisher + robot_state_publisher + tf2_ros + xacro + + + marm_description + marm_description + + + diff --git a/solidworks_to_urdf/SW_Models/C800.STEP b/solidworks_to_urdf/SW_Models/C800.STEP new file mode 100644 index 0000000..94ab76b --- /dev/null +++ b/solidworks_to_urdf/SW_Models/C800.STEP @@ -0,0 +1,53256 @@ +ISO-10303-21; +HEADER; +FILE_DESCRIPTION (( 'STEP AP214' ), + '1' ); +FILE_NAME ('C800.STEP', + '2020-01-18T18:06:45', + ( '' ), + ( '' ), + 'SwSTEP 2.0', + 'SolidWorks 2018', + '' ); +FILE_SCHEMA (( 'AUTOMOTIVE_DESIGN' )); +ENDSEC; + +DATA; +#2 = CARTESIAN_POINT ( 'NONE', ( -80.21225173903140160, -11.07336860407530033, 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a/solidworks_to_urdf/ares_description/config/joint_names_ares_description.yaml b/solidworks_to_urdf/ares_description/config/joint_names_ares_description.yaml new file mode 100644 index 0000000..d38eb62 --- /dev/null +++ b/solidworks_to_urdf/ares_description/config/joint_names_ares_description.yaml @@ -0,0 +1 @@ +controller_joint_names: ['', 'wheel_lf_joint', 'wheel_lb_joint', 'wheel_rf_joint', 'wheel_rb_joint', ] diff --git a/solidworks_to_urdf/ares_description/export.log b/solidworks_to_urdf/ares_description/export.log new file mode 100644 index 0000000..2d75069 --- /dev/null +++ b/solidworks_to_urdf/ares_description/export.log @@ -0,0 +1,596 @@ +2020-01-30 10:18:54,294 INFO Logger.cs: 70 - +-------------------------------------------------------------------------------- +2020-01-30 10:18:54,333 INFO Logger.cs: 71 - Logging commencing for SW2URDF exporter +2020-01-30 10:18:54,337 INFO Logger.cs: 73 - Commit version 1.5.1-0-g916b5db +2020-01-30 10:18:54,338 INFO Logger.cs: 74 - Build version 1.5.7152.31018 +2020-01-30 10:18:54,372 INFO SwAddin.cs: 250 - Adding Assembly export to file menu +2020-01-30 10:18:54,373 INFO SwAddin.cs: 253 - Adding Part export to file menu +2020-01-30 10:18:54,400 INFO SwAddin.cs: 218 - Connecting plugin to SolidWorks +2020-01-30 10:19:53,778 INFO SwAddin.cs: 271 - Assembly export called for file ares.SLDASM +2020-01-30 10:19:56,275 INFO SwAddin.cs: 290 - Saving assembly +2020-01-30 10:19:56,539 INFO SwAddin.cs: 293 - Opening property manager +2020-01-30 10:19:56,554 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ares.SLDASM +2020-01-30 10:19:56,561 INFO ExportHelperExtension.cs: 1142 - Found 73 in ares.SLDASM +2020-01-30 10:19:56,563 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ares.SLDASM +2020-01-30 10:19:56,563 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2020-01-30 10:19:56,565 INFO ExportHelperExtension.cs: 1167 - 15 components to check +2020-01-30 10:19:56,566 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from -1 +2020-01-30 10:19:56,567 INFO ExportHelperExtension.cs: 1142 - Found 25 in -1 +2020-01-30 10:19:56,568 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in -1 +2020-01-30 10:19:56,568 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from TT-3 +2020-01-30 10:19:56,569 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-3 +2020-01-30 10:19:56,579 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in TT-3 +2020-01-30 10:19:56,579 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from TT-4 +2020-01-30 10:19:56,580 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-4 +2020-01-30 10:19:56,581 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in TT-4 +2020-01-30 10:19:56,581 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ͭ-40-2 +2020-01-30 10:19:56,750 INFO ExportHelperExtension.cs: 1142 - Found 28 in ͭ-40-2 +2020-01-30 10:19:56,751 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ͭ-40-2 +2020-01-30 10:19:56,752 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from TT-2 +2020-01-30 10:19:56,753 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-2 +2020-01-30 10:19:56,754 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in TT-2 +2020-01-30 10:19:56,754 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from װ-1 +2020-01-30 10:19:56,755 INFO ExportHelperExtension.cs: 1142 - Found 25 in װ-1 +2020-01-30 10:19:56,756 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in װ-1 +2020-01-30 10:19:56,756 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from TT-1 +2020-01-30 10:19:56,757 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-1 +2020-01-30 10:19:56,758 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in TT-1 +2020-01-30 10:19:56,758 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from װ-2 +2020-01-30 10:19:56,759 INFO ExportHelperExtension.cs: 1142 - Found 25 in װ-2 +2020-01-30 10:19:56,760 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in װ-2 +2020-01-30 10:19:56,761 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ״-1 +2020-01-30 10:19:56,762 INFO ExportHelperExtension.cs: 1142 - Found 28 in ״-1 +2020-01-30 10:19:56,763 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ״-1 +2020-01-30 10:19:56,763 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ͭ-40-1 +2020-01-30 10:19:56,764 INFO ExportHelperExtension.cs: 1142 - Found 28 in ͭ-40-1 +2020-01-30 10:19:56,766 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ͭ-40-1 +2020-01-30 10:19:56,766 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ·-1 +2020-01-30 10:19:56,767 INFO ExportHelperExtension.cs: 1142 - Found 26 in ·-1 +2020-01-30 10:19:56,768 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ·-1 +2020-01-30 10:19:56,769 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ķ-5 +2020-01-30 10:19:56,769 INFO ExportHelperExtension.cs: 1142 - Found 22 in ķ-5 +2020-01-30 10:19:56,770 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ķ-5 +2020-01-30 10:19:56,771 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ķ-4 +2020-01-30 10:19:56,771 INFO ExportHelperExtension.cs: 1142 - Found 22 in ķ-4 +2020-01-30 10:19:56,772 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ķ-4 +2020-01-30 10:19:56,773 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ķ-2 +2020-01-30 10:19:56,774 INFO ExportHelperExtension.cs: 1142 - Found 54 in ķ-2 +2020-01-30 10:19:56,776 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ķ-2 +2020-01-30 10:19:56,776 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ķ-1 +2020-01-30 10:19:56,777 INFO ExportHelperExtension.cs: 1142 - Found 54 in ķ-1 +2020-01-30 10:19:56,778 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ķ-1 +2020-01-30 10:19:56,778 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ares.SLDASM +2020-01-30 10:19:56,779 INFO ExportHelperExtension.cs: 1142 - Found 73 in ares.SLDASM +2020-01-30 10:19:56,780 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ares.SLDASM +2020-01-30 10:19:56,781 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2020-01-30 10:19:56,782 INFO ExportHelperExtension.cs: 1167 - 15 components to check +2020-01-30 10:19:56,782 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from -1 +2020-01-30 10:19:56,783 INFO ExportHelperExtension.cs: 1142 - Found 25 in -1 +2020-01-30 10:19:56,784 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in -1 +2020-01-30 10:19:56,784 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from TT-3 +2020-01-30 10:19:56,785 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-3 +2020-01-30 10:19:56,786 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in TT-3 +2020-01-30 10:19:56,786 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from TT-4 +2020-01-30 10:19:56,787 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-4 +2020-01-30 10:19:56,788 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in TT-4 +2020-01-30 10:19:56,788 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ͭ-40-2 +2020-01-30 10:19:56,789 INFO ExportHelperExtension.cs: 1142 - Found 28 in ͭ-40-2 +2020-01-30 10:19:56,790 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ͭ-40-2 +2020-01-30 10:19:56,790 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from TT-2 +2020-01-30 10:19:56,791 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-2 +2020-01-30 10:19:56,792 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in TT-2 +2020-01-30 10:19:56,792 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from װ-1 +2020-01-30 10:19:56,792 INFO ExportHelperExtension.cs: 1142 - Found 25 in װ-1 +2020-01-30 10:19:56,793 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in װ-1 +2020-01-30 10:19:56,794 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from TT-1 +2020-01-30 10:19:56,794 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-1 +2020-01-30 10:19:56,795 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in TT-1 +2020-01-30 10:19:56,796 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from װ-2 +2020-01-30 10:19:56,796 INFO ExportHelperExtension.cs: 1142 - Found 25 in װ-2 +2020-01-30 10:19:56,796 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in װ-2 +2020-01-30 10:19:56,797 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ״-1 +2020-01-30 10:19:56,797 INFO ExportHelperExtension.cs: 1142 - Found 28 in ״-1 +2020-01-30 10:19:56,798 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ״-1 +2020-01-30 10:19:56,798 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ͭ-40-1 +2020-01-30 10:19:56,799 INFO ExportHelperExtension.cs: 1142 - Found 28 in ͭ-40-1 +2020-01-30 10:19:56,799 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ͭ-40-1 +2020-01-30 10:19:56,799 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ·-1 +2020-01-30 10:19:56,800 INFO ExportHelperExtension.cs: 1142 - Found 26 in ·-1 +2020-01-30 10:19:56,800 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ·-1 +2020-01-30 10:19:56,800 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ķ-5 +2020-01-30 10:19:56,801 INFO ExportHelperExtension.cs: 1142 - Found 22 in ķ-5 +2020-01-30 10:19:56,801 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ķ-5 +2020-01-30 10:19:56,801 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ķ-4 +2020-01-30 10:19:56,802 INFO ExportHelperExtension.cs: 1142 - Found 22 in ķ-4 +2020-01-30 10:19:56,802 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ķ-4 +2020-01-30 10:19:56,802 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ķ-2 +2020-01-30 10:19:56,803 INFO ExportHelperExtension.cs: 1142 - Found 54 in ķ-2 +2020-01-30 10:19:56,803 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ķ-2 +2020-01-30 10:19:56,803 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ķ-1 +2020-01-30 10:19:56,804 INFO ExportHelperExtension.cs: 1142 - Found 54 in ķ-1 +2020-01-30 10:19:56,805 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ķ-1 +2020-01-30 10:19:57,123 INFO SwAddin.cs: 316 - Loading config tree +2020-01-30 10:19:57,128 INFO ExportPropertyManagerExtension.cs: 597 - Starting new configuration +2020-01-30 10:19:57,131 INFO SwAddin.cs: 321 - Showing property manager +2020-01-30 10:21:16,055 INFO ExportPropertyManager.cs: 450 - Configuration canceled +2020-01-30 10:21:16,213 INFO ExportPropertyManager.cs: 1184 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:23:43,745 INFO SwAddin.cs: 271 - Assembly export called for file ares.SLDASM +2020-01-30 10:23:45,421 INFO SwAddin.cs: 290 - Saving assembly +2020-01-30 10:23:45,685 INFO SwAddin.cs: 293 - Opening property manager +2020-01-30 10:23:45,686 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ares.SLDASM +2020-01-30 10:23:45,687 INFO ExportHelperExtension.cs: 1142 - Found 73 in ares.SLDASM +2020-01-30 10:23:45,688 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ares.SLDASM +2020-01-30 10:23:45,688 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2020-01-30 10:23:45,689 INFO ExportHelperExtension.cs: 1167 - 15 components to check +2020-01-30 10:23:45,689 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from -1 +2020-01-30 10:23:45,690 INFO ExportHelperExtension.cs: 1142 - Found 25 in -1 +2020-01-30 10:23:45,691 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in -1 +2020-01-30 10:23:45,691 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from TT-3 +2020-01-30 10:23:45,692 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-3 +2020-01-30 10:23:45,692 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in TT-3 +2020-01-30 10:23:45,693 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from TT-4 +2020-01-30 10:23:45,693 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-4 +2020-01-30 10:23:45,694 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in TT-4 +2020-01-30 10:23:45,695 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ͭ-40-2 +2020-01-30 10:23:45,695 INFO ExportHelperExtension.cs: 1142 - Found 28 in ͭ-40-2 +2020-01-30 10:23:45,696 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ͭ-40-2 +2020-01-30 10:23:45,697 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from TT-2 +2020-01-30 10:23:45,697 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-2 +2020-01-30 10:23:45,698 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in TT-2 +2020-01-30 10:23:45,698 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from װ-1 +2020-01-30 10:23:45,699 INFO ExportHelperExtension.cs: 1142 - Found 25 in װ-1 +2020-01-30 10:23:45,699 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in װ-1 +2020-01-30 10:23:45,700 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from TT-1 +2020-01-30 10:23:45,700 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-1 +2020-01-30 10:23:45,701 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in TT-1 +2020-01-30 10:23:45,701 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from װ-2 +2020-01-30 10:23:45,702 INFO ExportHelperExtension.cs: 1142 - Found 25 in װ-2 +2020-01-30 10:23:45,702 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in װ-2 +2020-01-30 10:23:45,703 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ״-1 +2020-01-30 10:23:45,704 INFO ExportHelperExtension.cs: 1142 - Found 28 in ״-1 +2020-01-30 10:23:45,705 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ״-1 +2020-01-30 10:23:45,705 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ͭ-40-1 +2020-01-30 10:23:45,706 INFO ExportHelperExtension.cs: 1142 - Found 28 in ͭ-40-1 +2020-01-30 10:23:45,706 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ͭ-40-1 +2020-01-30 10:23:45,706 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ·-1 +2020-01-30 10:23:45,707 INFO ExportHelperExtension.cs: 1142 - Found 26 in ·-1 +2020-01-30 10:23:45,708 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ·-1 +2020-01-30 10:23:45,709 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ķ-5 +2020-01-30 10:23:45,709 INFO ExportHelperExtension.cs: 1142 - Found 22 in ķ-5 +2020-01-30 10:23:45,710 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ķ-5 +2020-01-30 10:23:45,712 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ķ-4 +2020-01-30 10:23:45,712 INFO ExportHelperExtension.cs: 1142 - Found 22 in ķ-4 +2020-01-30 10:23:45,713 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ķ-4 +2020-01-30 10:23:45,713 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ķ-2 +2020-01-30 10:23:45,714 INFO ExportHelperExtension.cs: 1142 - Found 54 in ķ-2 +2020-01-30 10:23:45,715 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ķ-2 +2020-01-30 10:23:45,716 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ķ-1 +2020-01-30 10:23:45,718 INFO ExportHelperExtension.cs: 1142 - Found 54 in ķ-1 +2020-01-30 10:23:45,719 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ķ-1 +2020-01-30 10:23:45,720 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ares.SLDASM +2020-01-30 10:23:45,721 INFO ExportHelperExtension.cs: 1142 - Found 73 in ares.SLDASM +2020-01-30 10:23:45,723 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ares.SLDASM +2020-01-30 10:23:45,723 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2020-01-30 10:23:45,724 INFO ExportHelperExtension.cs: 1167 - 15 components to check +2020-01-30 10:23:45,724 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from -1 +2020-01-30 10:23:45,725 INFO ExportHelperExtension.cs: 1142 - Found 25 in -1 +2020-01-30 10:23:45,726 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in -1 +2020-01-30 10:23:45,726 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from TT-3 +2020-01-30 10:23:45,727 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-3 +2020-01-30 10:23:45,728 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in TT-3 +2020-01-30 10:23:45,729 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from TT-4 +2020-01-30 10:23:45,729 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-4 +2020-01-30 10:23:45,730 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in TT-4 +2020-01-30 10:23:45,730 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ͭ-40-2 +2020-01-30 10:23:45,875 INFO ExportHelperExtension.cs: 1142 - Found 28 in ͭ-40-2 +2020-01-30 10:23:45,876 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ͭ-40-2 +2020-01-30 10:23:45,877 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from TT-2 +2020-01-30 10:23:45,878 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-2 +2020-01-30 10:23:45,880 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in TT-2 +2020-01-30 10:23:45,880 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from װ-1 +2020-01-30 10:23:45,881 INFO ExportHelperExtension.cs: 1142 - Found 25 in װ-1 +2020-01-30 10:23:45,882 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in װ-1 +2020-01-30 10:23:45,883 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from TT-1 +2020-01-30 10:23:45,883 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-1 +2020-01-30 10:23:45,884 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in TT-1 +2020-01-30 10:23:45,885 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from װ-2 +2020-01-30 10:23:45,886 INFO ExportHelperExtension.cs: 1142 - Found 25 in װ-2 +2020-01-30 10:23:45,887 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in װ-2 +2020-01-30 10:23:45,888 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ״-1 +2020-01-30 10:23:45,888 INFO ExportHelperExtension.cs: 1142 - Found 28 in ״-1 +2020-01-30 10:23:45,889 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ״-1 +2020-01-30 10:23:45,889 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ͭ-40-1 +2020-01-30 10:23:45,890 INFO ExportHelperExtension.cs: 1142 - Found 28 in ͭ-40-1 +2020-01-30 10:23:45,891 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ͭ-40-1 +2020-01-30 10:23:45,892 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ·-1 +2020-01-30 10:23:45,892 INFO ExportHelperExtension.cs: 1142 - Found 26 in ·-1 +2020-01-30 10:23:45,893 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ·-1 +2020-01-30 10:23:45,894 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ķ-5 +2020-01-30 10:23:45,895 INFO ExportHelperExtension.cs: 1142 - Found 22 in ķ-5 +2020-01-30 10:23:45,896 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ķ-5 +2020-01-30 10:23:45,897 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ķ-4 +2020-01-30 10:23:45,897 INFO ExportHelperExtension.cs: 1142 - Found 22 in ķ-4 +2020-01-30 10:23:45,898 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ķ-4 +2020-01-30 10:23:45,899 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ķ-2 +2020-01-30 10:23:45,900 INFO ExportHelperExtension.cs: 1142 - Found 54 in ķ-2 +2020-01-30 10:23:45,902 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ķ-2 +2020-01-30 10:23:45,903 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ķ-1 +2020-01-30 10:23:45,905 INFO ExportHelperExtension.cs: 1142 - Found 54 in ķ-1 +2020-01-30 10:23:45,906 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ķ-1 +2020-01-30 10:23:45,989 INFO SwAddin.cs: 316 - Loading config tree +2020-01-30 10:23:45,990 INFO ExportPropertyManagerExtension.cs: 597 - Starting new configuration +2020-01-30 10:23:45,993 INFO SwAddin.cs: 321 - Showing property manager +2020-01-30 10:25:48,965 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:27:04,623 INFO ExportPropertyManager.cs: 450 - Configuration canceled +2020-01-30 10:27:04,800 INFO ExportPropertyManager.cs: 1184 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:38:14,659 INFO SwAddin.cs: 271 - Assembly export called for file ares.SLDASM +2020-01-30 10:38:14,659 INFO SwAddin.cs: 276 - Save is required +2020-01-30 10:38:14,660 INFO SwAddin.cs: 290 - Saving assembly +2020-01-30 10:38:15,150 INFO SwAddin.cs: 293 - Opening property manager +2020-01-30 10:38:15,153 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ares.SLDASM +2020-01-30 10:38:15,154 INFO ExportHelperExtension.cs: 1142 - Found 89 in ares.SLDASM +2020-01-30 10:38:15,156 INFO ExportHelperExtension.cs: 1152 - Found 7 features of type [CoordSys] in ares.SLDASM +2020-01-30 10:38:15,156 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2020-01-30 10:38:15,157 INFO ExportHelperExtension.cs: 1167 - 15 components to check +2020-01-30 10:38:15,157 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from -1 +2020-01-30 10:38:15,158 INFO ExportHelperExtension.cs: 1142 - Found 25 in -1 +2020-01-30 10:38:15,159 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in -1 +2020-01-30 10:38:15,161 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from TT-3 +2020-01-30 10:38:15,162 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-3 +2020-01-30 10:38:15,163 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in TT-3 +2020-01-30 10:38:15,163 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from TT-4 +2020-01-30 10:38:15,164 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-4 +2020-01-30 10:38:15,165 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in TT-4 +2020-01-30 10:38:15,165 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ͭ-40-2 +2020-01-30 10:38:15,166 INFO ExportHelperExtension.cs: 1142 - Found 28 in ͭ-40-2 +2020-01-30 10:38:15,166 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ͭ-40-2 +2020-01-30 10:38:15,167 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from TT-2 +2020-01-30 10:38:15,168 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-2 +2020-01-30 10:38:15,169 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in TT-2 +2020-01-30 10:38:15,169 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from װ-1 +2020-01-30 10:38:15,170 INFO ExportHelperExtension.cs: 1142 - Found 25 in װ-1 +2020-01-30 10:38:15,171 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in װ-1 +2020-01-30 10:38:15,171 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from TT-1 +2020-01-30 10:38:15,172 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-1 +2020-01-30 10:38:15,173 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in TT-1 +2020-01-30 10:38:15,174 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from װ-2 +2020-01-30 10:38:15,174 INFO ExportHelperExtension.cs: 1142 - Found 25 in װ-2 +2020-01-30 10:38:15,175 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in װ-2 +2020-01-30 10:38:15,175 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ״-1 +2020-01-30 10:38:15,176 INFO ExportHelperExtension.cs: 1142 - Found 28 in ״-1 +2020-01-30 10:38:15,176 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ״-1 +2020-01-30 10:38:15,177 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ͭ-40-1 +2020-01-30 10:38:15,177 INFO ExportHelperExtension.cs: 1142 - Found 28 in ͭ-40-1 +2020-01-30 10:38:15,178 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ͭ-40-1 +2020-01-30 10:38:15,179 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ·-1 +2020-01-30 10:38:15,179 INFO ExportHelperExtension.cs: 1142 - Found 26 in ·-1 +2020-01-30 10:38:15,180 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ·-1 +2020-01-30 10:38:15,180 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ķ-5 +2020-01-30 10:38:15,181 INFO ExportHelperExtension.cs: 1142 - Found 22 in ķ-5 +2020-01-30 10:38:15,182 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ķ-5 +2020-01-30 10:38:15,182 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ķ-4 +2020-01-30 10:38:15,183 INFO ExportHelperExtension.cs: 1142 - Found 22 in ķ-4 +2020-01-30 10:38:15,184 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ķ-4 +2020-01-30 10:38:15,184 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ķ-2 +2020-01-30 10:38:15,185 INFO ExportHelperExtension.cs: 1142 - Found 54 in ķ-2 +2020-01-30 10:38:15,186 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ķ-2 +2020-01-30 10:38:15,186 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ķ-1 +2020-01-30 10:38:15,187 INFO ExportHelperExtension.cs: 1142 - Found 54 in ķ-1 +2020-01-30 10:38:15,188 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ķ-1 +2020-01-30 10:38:15,192 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ares.SLDASM +2020-01-30 10:38:15,195 INFO ExportHelperExtension.cs: 1142 - Found 89 in ares.SLDASM +2020-01-30 10:38:15,197 INFO ExportHelperExtension.cs: 1152 - Found 2 features of type [RefAxis] in ares.SLDASM +2020-01-30 10:38:15,198 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2020-01-30 10:38:15,198 INFO ExportHelperExtension.cs: 1167 - 15 components to check +2020-01-30 10:38:15,199 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from -1 +2020-01-30 10:38:15,199 INFO ExportHelperExtension.cs: 1142 - Found 25 in -1 +2020-01-30 10:38:15,200 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in -1 +2020-01-30 10:38:15,201 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from TT-3 +2020-01-30 10:38:15,201 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-3 +2020-01-30 10:38:15,202 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in TT-3 +2020-01-30 10:38:15,203 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from TT-4 +2020-01-30 10:38:15,203 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-4 +2020-01-30 10:38:15,204 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in TT-4 +2020-01-30 10:38:15,205 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ͭ-40-2 +2020-01-30 10:38:15,206 INFO ExportHelperExtension.cs: 1142 - Found 28 in ͭ-40-2 +2020-01-30 10:38:15,207 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ͭ-40-2 +2020-01-30 10:38:15,207 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from TT-2 +2020-01-30 10:38:15,208 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-2 +2020-01-30 10:38:15,209 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in TT-2 +2020-01-30 10:38:15,209 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from װ-1 +2020-01-30 10:38:15,210 INFO ExportHelperExtension.cs: 1142 - Found 25 in װ-1 +2020-01-30 10:38:15,210 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in װ-1 +2020-01-30 10:38:15,211 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from TT-1 +2020-01-30 10:38:15,212 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-1 +2020-01-30 10:38:15,212 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in TT-1 +2020-01-30 10:38:15,213 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from װ-2 +2020-01-30 10:38:15,213 INFO ExportHelperExtension.cs: 1142 - Found 25 in װ-2 +2020-01-30 10:38:15,214 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in װ-2 +2020-01-30 10:38:15,214 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ״-1 +2020-01-30 10:38:15,215 INFO ExportHelperExtension.cs: 1142 - Found 28 in ״-1 +2020-01-30 10:38:15,215 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ״-1 +2020-01-30 10:38:15,216 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ͭ-40-1 +2020-01-30 10:38:15,216 INFO ExportHelperExtension.cs: 1142 - Found 28 in ͭ-40-1 +2020-01-30 10:38:15,217 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ͭ-40-1 +2020-01-30 10:38:15,217 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ·-1 +2020-01-30 10:38:15,218 INFO ExportHelperExtension.cs: 1142 - Found 26 in ·-1 +2020-01-30 10:38:15,218 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ·-1 +2020-01-30 10:38:15,219 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ķ-5 +2020-01-30 10:38:15,219 INFO ExportHelperExtension.cs: 1142 - Found 22 in ķ-5 +2020-01-30 10:38:15,220 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ķ-5 +2020-01-30 10:38:15,220 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ķ-4 +2020-01-30 10:38:15,221 INFO ExportHelperExtension.cs: 1142 - Found 22 in ķ-4 +2020-01-30 10:38:15,222 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ķ-4 +2020-01-30 10:38:15,222 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ķ-2 +2020-01-30 10:38:15,223 INFO ExportHelperExtension.cs: 1142 - Found 54 in ķ-2 +2020-01-30 10:38:15,224 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ķ-2 +2020-01-30 10:38:15,224 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ķ-1 +2020-01-30 10:38:15,225 INFO ExportHelperExtension.cs: 1142 - Found 54 in ķ-1 +2020-01-30 10:38:15,226 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ķ-1 +2020-01-30 10:38:15,554 INFO SwAddin.cs: 316 - Loading config tree +2020-01-30 10:38:15,555 INFO ExportPropertyManagerExtension.cs: 597 - Starting new configuration +2020-01-30 10:38:15,558 INFO SwAddin.cs: 321 - Showing property manager +2020-01-30 10:39:27,498 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:39:43,953 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:39:58,872 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:39:59,005 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:39:59,201 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:40:53,393 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:40:59,742 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:41:06,590 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:41:13,492 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:41:21,172 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:42:38,669 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:42:51,395 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:43:24,401 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:43:26,142 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:43:28,839 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:44:08,497 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:44:11,490 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:44:13,156 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:44:45,880 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:44:47,227 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:44:49,328 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:45:29,531 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:45:30,299 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:45:49,243 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:45:52,313 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:46:03,656 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:46:22,711 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:46:24,703 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:46:26,787 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:47:32,195 INFO ExportPropertyManager.cs: 456 - Configuration saved +2020-01-30 10:47:32,638 INFO ExportHelperExtension.cs: 338 - Creating joint wheel_lf_link +2020-01-30 10:47:32,968 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child wheel_lf_link failed +2020-01-30 10:47:33,108 INFO ExportHelperExtension.cs: 338 - Creating joint wheel_lb_link +2020-01-30 10:47:33,340 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child wheel_lb_link failed +2020-01-30 10:47:33,541 INFO ExportHelperExtension.cs: 338 - Creating joint wheel_rf_link +2020-01-30 10:47:33,773 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child wheel_rf_link failed +2020-01-30 10:47:33,987 INFO ExportHelperExtension.cs: 338 - Creating joint wheel_rb_link +2020-01-30 10:47:34,180 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child wheel_rb_link failed +2020-01-30 10:47:34,360 INFO ExportHelperExtension.cs: 338 - Creating joint controller_link +2020-01-30 10:47:34,366 INFO ExportHelperExtension.cs: 1409 - Fixing components for base_link +2020-01-30 10:47:34,367 INFO ExportHelperExtension.cs: 1414 - Fixing 25 +2020-01-30 10:47:34,367 INFO ExportHelperExtension.cs: 1422 - Component 25 is already fixed +2020-01-30 10:47:34,368 INFO ExportHelperExtension.cs: 1414 - Fixing 29 +2020-01-30 10:47:34,368 INFO ExportHelperExtension.cs: 1414 - Fixing 28 +2020-01-30 10:47:34,369 INFO ExportHelperExtension.cs: 1414 - Fixing 27 +2020-01-30 10:47:34,369 INFO ExportHelperExtension.cs: 1414 - Fixing 26 +2020-01-30 10:47:34,369 INFO ExportHelperExtension.cs: 1414 - Fixing 61 +2020-01-30 10:47:34,370 INFO ExportHelperExtension.cs: 1414 - Fixing 62 +2020-01-30 10:47:34,370 INFO ExportHelperExtension.cs: 1414 - Fixing 68 +2020-01-30 10:47:34,371 INFO ExportHelperExtension.cs: 1414 - Fixing 85 +2020-01-30 10:47:35,314 INFO ExportHelperExtension.cs: 835 - R1: 0, 0 +2020-01-30 10:47:35,315 INFO ExportHelperExtension.cs: 844 - R2: 0, 0 +2020-01-30 10:47:35,315 INFO ExportHelperExtension.cs: 852 - L1: 0 +2020-01-30 10:47:35,316 INFO ExportHelperExtension.cs: 860 - L2: 0 +2020-01-30 10:47:35,317 INFO ExportHelperExtension.cs: 1364 - Unfixing component 29 +2020-01-30 10:47:35,318 INFO ExportHelperExtension.cs: 1364 - Unfixing component 28 +2020-01-30 10:47:35,318 INFO ExportHelperExtension.cs: 1364 - Unfixing component 27 +2020-01-30 10:47:35,318 INFO ExportHelperExtension.cs: 1364 - Unfixing component 26 +2020-01-30 10:47:35,319 INFO ExportHelperExtension.cs: 1364 - Unfixing component 61 +2020-01-30 10:47:35,319 INFO ExportHelperExtension.cs: 1364 - Unfixing component 62 +2020-01-30 10:47:35,320 INFO ExportHelperExtension.cs: 1364 - Unfixing component 68 +2020-01-30 10:47:35,320 INFO ExportHelperExtension.cs: 1364 - Unfixing component 85 +2020-01-30 10:47:35,961 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child controller_link failed +2020-01-30 10:47:35,964 INFO ExportHelperExtension.cs: 338 - Creating joint laser_link +2020-01-30 10:47:35,965 INFO ExportHelperExtension.cs: 1409 - Fixing components for base_link +2020-01-30 10:47:35,965 INFO ExportHelperExtension.cs: 1414 - Fixing 25 +2020-01-30 10:47:35,966 INFO ExportHelperExtension.cs: 1422 - Component 25 is already fixed +2020-01-30 10:47:35,966 INFO ExportHelperExtension.cs: 1414 - Fixing 29 +2020-01-30 10:47:35,966 INFO ExportHelperExtension.cs: 1414 - Fixing 28 +2020-01-30 10:47:35,967 INFO ExportHelperExtension.cs: 1414 - Fixing 27 +2020-01-30 10:47:35,967 INFO ExportHelperExtension.cs: 1414 - Fixing 26 +2020-01-30 10:47:35,968 INFO ExportHelperExtension.cs: 1414 - Fixing 61 +2020-01-30 10:47:35,968 INFO ExportHelperExtension.cs: 1414 - Fixing 62 +2020-01-30 10:47:35,968 INFO ExportHelperExtension.cs: 1414 - Fixing 68 +2020-01-30 10:47:35,969 INFO ExportHelperExtension.cs: 1414 - Fixing 85 +2020-01-30 10:47:36,628 INFO ExportHelperExtension.cs: 835 - R1: 0, 0 +2020-01-30 10:47:36,628 INFO ExportHelperExtension.cs: 844 - R2: 0, 0 +2020-01-30 10:47:36,629 INFO ExportHelperExtension.cs: 852 - L1: 0 +2020-01-30 10:47:36,629 INFO ExportHelperExtension.cs: 860 - L2: 0 +2020-01-30 10:47:36,629 INFO ExportHelperExtension.cs: 1364 - Unfixing component 29 +2020-01-30 10:47:36,630 INFO ExportHelperExtension.cs: 1364 - Unfixing component 28 +2020-01-30 10:47:36,630 INFO ExportHelperExtension.cs: 1364 - Unfixing component 27 +2020-01-30 10:47:36,631 INFO ExportHelperExtension.cs: 1364 - Unfixing component 26 +2020-01-30 10:47:36,634 INFO ExportHelperExtension.cs: 1364 - Unfixing component 61 +2020-01-30 10:47:36,635 INFO ExportHelperExtension.cs: 1364 - Unfixing component 62 +2020-01-30 10:47:36,636 INFO ExportHelperExtension.cs: 1364 - Unfixing component 68 +2020-01-30 10:47:36,636 INFO ExportHelperExtension.cs: 1364 - Unfixing component 85 +2020-01-30 10:47:37,526 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child laser_link failed +2020-01-30 10:47:37,693 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ares.SLDASM +2020-01-30 10:47:37,699 INFO ExportHelperExtension.cs: 1142 - Found 90 in ares.SLDASM +2020-01-30 10:47:37,700 INFO ExportHelperExtension.cs: 1152 - Found 7 features of type [CoordSys] in ares.SLDASM +2020-01-30 10:47:37,700 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2020-01-30 10:47:37,701 INFO ExportHelperExtension.cs: 1167 - 15 components to check +2020-01-30 10:47:37,701 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from -1 +2020-01-30 10:47:37,702 INFO ExportHelperExtension.cs: 1142 - Found 25 in -1 +2020-01-30 10:47:37,702 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in -1 +2020-01-30 10:47:37,703 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from TT-3 +2020-01-30 10:47:37,703 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-3 +2020-01-30 10:47:37,704 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in TT-3 +2020-01-30 10:47:37,704 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from TT-4 +2020-01-30 10:47:37,705 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-4 +2020-01-30 10:47:37,706 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in TT-4 +2020-01-30 10:47:37,706 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ͭ-40-2 +2020-01-30 10:47:37,707 INFO ExportHelperExtension.cs: 1142 - Found 28 in ͭ-40-2 +2020-01-30 10:47:37,708 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ͭ-40-2 +2020-01-30 10:47:37,708 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from TT-2 +2020-01-30 10:47:37,709 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-2 +2020-01-30 10:47:37,710 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in TT-2 +2020-01-30 10:47:37,710 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from װ-1 +2020-01-30 10:47:37,711 INFO ExportHelperExtension.cs: 1142 - Found 25 in װ-1 +2020-01-30 10:47:37,712 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in װ-1 +2020-01-30 10:47:37,712 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from TT-1 +2020-01-30 10:47:37,713 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-1 +2020-01-30 10:47:37,713 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in TT-1 +2020-01-30 10:47:37,714 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from װ-2 +2020-01-30 10:47:37,714 INFO ExportHelperExtension.cs: 1142 - Found 25 in װ-2 +2020-01-30 10:47:37,715 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in װ-2 +2020-01-30 10:47:37,715 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ״-1 +2020-01-30 10:47:37,716 INFO ExportHelperExtension.cs: 1142 - Found 28 in ״-1 +2020-01-30 10:47:37,716 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ״-1 +2020-01-30 10:47:37,717 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ͭ-40-1 +2020-01-30 10:47:37,717 INFO ExportHelperExtension.cs: 1142 - Found 28 in ͭ-40-1 +2020-01-30 10:47:37,717 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ͭ-40-1 +2020-01-30 10:47:37,718 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ·-1 +2020-01-30 10:47:37,718 INFO ExportHelperExtension.cs: 1142 - Found 26 in ·-1 +2020-01-30 10:47:37,719 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ·-1 +2020-01-30 10:47:37,719 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ķ-5 +2020-01-30 10:47:37,720 INFO ExportHelperExtension.cs: 1142 - Found 22 in ķ-5 +2020-01-30 10:47:37,720 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ķ-5 +2020-01-30 10:47:37,721 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ķ-4 +2020-01-30 10:47:37,721 INFO ExportHelperExtension.cs: 1142 - Found 22 in ķ-4 +2020-01-30 10:47:37,721 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ķ-4 +2020-01-30 10:47:37,722 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ķ-2 +2020-01-30 10:47:37,722 INFO ExportHelperExtension.cs: 1142 - Found 54 in ķ-2 +2020-01-30 10:47:37,723 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ķ-2 +2020-01-30 10:47:37,724 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from ķ-1 +2020-01-30 10:47:37,724 INFO ExportHelperExtension.cs: 1142 - Found 54 in ķ-1 +2020-01-30 10:47:37,725 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in ķ-1 +2020-01-30 10:47:37,725 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ares.SLDASM +2020-01-30 10:47:37,726 INFO ExportHelperExtension.cs: 1142 - Found 90 in ares.SLDASM +2020-01-30 10:47:37,727 INFO ExportHelperExtension.cs: 1152 - Found 2 features of type [RefAxis] in ares.SLDASM +2020-01-30 10:47:37,727 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2020-01-30 10:47:37,728 INFO ExportHelperExtension.cs: 1167 - 15 components to check +2020-01-30 10:47:37,728 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from -1 +2020-01-30 10:47:37,728 INFO ExportHelperExtension.cs: 1142 - Found 25 in -1 +2020-01-30 10:47:37,729 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in -1 +2020-01-30 10:47:37,729 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from TT-3 +2020-01-30 10:47:37,730 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-3 +2020-01-30 10:47:37,730 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in TT-3 +2020-01-30 10:47:37,734 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from TT-4 +2020-01-30 10:47:37,735 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-4 +2020-01-30 10:47:37,735 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in TT-4 +2020-01-30 10:47:37,736 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ͭ-40-2 +2020-01-30 10:47:37,988 INFO ExportHelperExtension.cs: 1142 - Found 28 in ͭ-40-2 +2020-01-30 10:47:37,988 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ͭ-40-2 +2020-01-30 10:47:37,989 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from TT-2 +2020-01-30 10:47:37,989 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-2 +2020-01-30 10:47:37,990 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in TT-2 +2020-01-30 10:47:37,990 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from װ-1 +2020-01-30 10:47:37,991 INFO ExportHelperExtension.cs: 1142 - Found 25 in װ-1 +2020-01-30 10:47:37,991 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in װ-1 +2020-01-30 10:47:37,992 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from TT-1 +2020-01-30 10:47:37,992 INFO ExportHelperExtension.cs: 1142 - Found 34 in TT-1 +2020-01-30 10:47:37,993 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in TT-1 +2020-01-30 10:47:37,993 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from װ-2 +2020-01-30 10:47:37,993 INFO ExportHelperExtension.cs: 1142 - Found 25 in װ-2 +2020-01-30 10:47:37,994 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in װ-2 +2020-01-30 10:47:37,994 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ״-1 +2020-01-30 10:47:37,995 INFO ExportHelperExtension.cs: 1142 - Found 28 in ״-1 +2020-01-30 10:47:37,995 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ״-1 +2020-01-30 10:47:37,996 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ͭ-40-1 +2020-01-30 10:47:37,996 INFO ExportHelperExtension.cs: 1142 - Found 28 in ͭ-40-1 +2020-01-30 10:47:37,997 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ͭ-40-1 +2020-01-30 10:47:37,997 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ·-1 +2020-01-30 10:47:37,998 INFO ExportHelperExtension.cs: 1142 - Found 26 in ·-1 +2020-01-30 10:47:37,999 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ·-1 +2020-01-30 10:47:37,999 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ķ-5 +2020-01-30 10:47:38,000 INFO ExportHelperExtension.cs: 1142 - Found 22 in ķ-5 +2020-01-30 10:47:38,001 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ķ-5 +2020-01-30 10:47:38,001 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ķ-4 +2020-01-30 10:47:38,002 INFO ExportHelperExtension.cs: 1142 - Found 22 in ķ-4 +2020-01-30 10:47:38,002 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ķ-4 +2020-01-30 10:47:38,003 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ķ-2 +2020-01-30 10:47:38,004 INFO ExportHelperExtension.cs: 1142 - Found 54 in ķ-2 +2020-01-30 10:47:38,004 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ķ-2 +2020-01-30 10:47:38,005 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from ķ-1 +2020-01-30 10:47:38,005 INFO ExportHelperExtension.cs: 1142 - Found 54 in ķ-1 +2020-01-30 10:47:38,006 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in ķ-1 +2020-01-30 10:47:38,088 INFO ExportPropertyManager.cs: 1184 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 10:49:45,766 INFO AssemblyExportForm.cs: 254 - Completing URDF export +2020-01-30 10:49:45,783 INFO Serialization.cs: 275 - URDF Configuration found 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+2020-01-30 10:50:26,175 INFO AssemblyExportForm.cs: 308 - Saving URDF package to C:\Users\hcx19\Desktop\ares_description +2020-01-30 10:50:26,181 INFO ExportHelper.cs: 147 - Beginning the export process +2020-01-30 10:50:26,184 INFO ExportHelper.cs: 153 - Creating package directories with name ares_description and save path C:\Users\hcx19\Desktop +2020-01-30 10:50:28,711 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at C:\Users\hcx19\Desktop\ares_description\CMakeLists.txt +2020-01-30 10:50:28,720 INFO ExportHelper.cs: 166 - Creating joint names config at C:\Users\hcx19\Desktop\ares_description\config\joint_names_ares_description.yaml +2020-01-30 10:50:28,722 INFO ExportHelper.cs: 170 - Creating package.xml at C:\Users\hcx19\Desktop\ares_description\package.xml +2020-01-30 10:50:28,723 INFO PackageXMLWriter.cs: 21 - Creating package.xml at C:\Users\hcx19\Desktop\ares_description\package.xml +2020-01-30 10:50:28,727 INFO ExportHelper.cs: 177 - Creating RVIZ launch file in C:\Users\hcx19\Desktop\ares_description\launch\ +2020-01-30 10:50:28,731 INFO ExportHelper.cs: 182 - Creating Gazebo launch file in C:\Users\hcx19\Desktop\ares_description\launch\ +2020-01-30 10:50:28,732 INFO ExportHelper.cs: 187 - Saving existing STL preferences +2020-01-30 10:50:28,732 INFO ExportHelper.cs: 451 - Saving users preferences +2020-01-30 10:50:28,733 INFO ExportHelper.cs: 190 - Modifying STL preferences +2020-01-30 10:50:28,734 INFO ExportHelper.cs: 465 - Setting STL preferences +2020-01-30 10:50:28,739 INFO ExportHelper.cs: 196 - Found 0 hidden components +2020-01-30 10:50:28,740 INFO ExportHelper.cs: 197 - Hiding all components +2020-01-30 10:50:29,790 INFO ExportHelper.cs: 204 - Beginning individual files export +2020-01-30 10:50:29,793 INFO ExportHelper.cs: 270 - Exporting link: base_link +2020-01-30 10:50:29,793 INFO ExportHelper.cs: 272 - Link base_link has 6 children +2020-01-30 10:50:29,794 INFO ExportHelper.cs: 270 - Exporting link: wheel_lf_link +2020-01-30 10:50:29,794 INFO ExportHelper.cs: 272 - Link wheel_lf_link has 0 children +2020-01-30 10:50:29,795 INFO ExportHelper.cs: 318 - wheel_lf_link: Exporting STL with coordinate frame ϵ2 +2020-01-30 10:50:29,795 INFO ExportHelper.cs: 323 - wheel_lf_link: Reference geometry name +2020-01-30 10:50:30,140 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\hcx19\Desktop\ares_description\meshes\wheel_lf_link.STL +2020-01-30 10:50:30,618 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2020-01-30 10:50:30,619 INFO ExportHelper.cs: 270 - Exporting link: wheel_lb_link +2020-01-30 10:50:30,620 INFO ExportHelper.cs: 272 - Link wheel_lb_link has 0 children +2020-01-30 10:50:30,620 INFO ExportHelper.cs: 318 - wheel_lb_link: Exporting STL with coordinate frame ϵ3 +2020-01-30 10:50:30,620 INFO ExportHelper.cs: 323 - wheel_lb_link: Reference geometry name +2020-01-30 10:50:30,829 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\hcx19\Desktop\ares_description\meshes\wheel_lb_link.STL +2020-01-30 10:50:31,229 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2020-01-30 10:50:31,230 INFO ExportHelper.cs: 270 - Exporting link: wheel_rf_link +2020-01-30 10:50:31,231 INFO ExportHelper.cs: 272 - Link wheel_rf_link has 0 children +2020-01-30 10:50:31,231 INFO ExportHelper.cs: 318 - wheel_rf_link: Exporting STL with coordinate frame ϵ4 +2020-01-30 10:50:31,231 INFO ExportHelper.cs: 323 - wheel_rf_link: Reference geometry name +2020-01-30 10:50:31,463 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\hcx19\Desktop\ares_description\meshes\wheel_rf_link.STL +2020-01-30 10:50:31,891 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2020-01-30 10:50:31,892 INFO ExportHelper.cs: 270 - Exporting link: wheel_rb_link +2020-01-30 10:50:31,892 INFO ExportHelper.cs: 272 - Link wheel_rb_link has 0 children +2020-01-30 10:50:31,892 INFO ExportHelper.cs: 318 - wheel_rb_link: Exporting STL with coordinate frame ϵ5 +2020-01-30 10:50:31,893 INFO ExportHelper.cs: 323 - wheel_rb_link: Reference geometry name +2020-01-30 10:50:32,164 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\hcx19\Desktop\ares_description\meshes\wheel_rb_link.STL +2020-01-30 10:50:32,642 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2020-01-30 10:50:32,643 INFO ExportHelper.cs: 270 - Exporting link: controller_link +2020-01-30 10:50:32,644 INFO ExportHelper.cs: 272 - Link controller_link has 0 children +2020-01-30 10:50:32,644 INFO ExportHelper.cs: 318 - controller_link: Exporting STL with coordinate frame ϵ6 +2020-01-30 10:50:32,645 INFO ExportHelper.cs: 323 - controller_link: Reference geometry name +2020-01-30 10:50:32,684 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\hcx19\Desktop\ares_description\meshes\controller_link.STL +2020-01-30 10:50:32,746 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2020-01-30 10:50:32,747 INFO ExportHelper.cs: 270 - Exporting link: laser_link +2020-01-30 10:50:32,747 INFO ExportHelper.cs: 272 - Link laser_link has 0 children +2020-01-30 10:50:32,748 INFO ExportHelper.cs: 318 - laser_link: Exporting STL with coordinate frame ϵ7 +2020-01-30 10:50:32,748 INFO ExportHelper.cs: 323 - laser_link: Reference geometry name +2020-01-30 10:50:32,789 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\hcx19\Desktop\ares_description\meshes\laser_link.STL +2020-01-30 10:50:32,859 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2020-01-30 10:50:32,860 INFO ExportHelper.cs: 318 - base_link: Exporting STL with coordinate frame ϵ1 +2020-01-30 10:50:32,860 INFO ExportHelper.cs: 323 - base_link: Reference geometry name +2020-01-30 10:50:33,020 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\hcx19\Desktop\ares_description\meshes\base_link.STL +2020-01-30 10:50:33,288 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2020-01-30 10:50:33,289 INFO ExportHelper.cs: 145 - Showing all components except previously hidden components +2020-01-30 10:50:34,519 INFO ExportHelper.cs: 145 - Resetting STL preferences +2020-01-30 10:50:34,520 INFO ExportHelper.cs: 479 - Returning STL preferences to user preferences +2020-01-30 10:50:34,520 INFO ExportHelper.cs: 228 - Writing URDF file to C:\Users\hcx19\Desktop\ares_description\urdf\ares_description.urdf +2020-01-30 10:50:34,526 INFO CSVImportExport.cs: 32 - Writing CSV file C:\Users\hcx19\Desktop\ares_description\urdf\ares_description.csv +2020-01-30 10:50:34,556 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2020-01-30 10:50:34,557 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2020-01-30 10:50:34,557 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2020-01-30 10:50:34,558 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2020-01-30 10:50:34,558 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2020-01-30 10:50:34,559 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2020-01-30 10:50:34,559 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2020-01-30 10:50:34,559 INFO ExportHelper.cs: 234 - Copying log file +2020-01-30 10:50:34,563 INFO ExportHelper.cs: 440 - Copying C:\Users\hcx19\sw2urdf_logs\sw2urdf.log to C:\Users\hcx19\Desktop\ares_description\export.log diff --git a/solidworks_to_urdf/ares_description/launch/display.launch b/solidworks_to_urdf/ares_description/launch/display.launch new file mode 100644 index 0000000..8accb52 --- /dev/null +++ b/solidworks_to_urdf/ares_description/launch/display.launch @@ -0,0 +1,23 @@ + + + + + + + + diff --git a/solidworks_to_urdf/ares_description/launch/gazebo.launch b/solidworks_to_urdf/ares_description/launch/gazebo.launch new file mode 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za221K#9Ygz1Jr?KEwY_O(>P&aK88C6(WbmbcF!cZiqEj(=(T;6n&w(nODW)|al(R+ z8F3v4qK8{mZE+^SReY5LcX{JTCLKpI&2S{c2@5`w#dEMA7DK$l(Gm-;;%ls!o!Ow4 z>c7HG-(|N(;e>_xsIM=C3UMft;41UA)BzoHsCTCn(R(kpn63%4;G;~ecmi<*qDLmd JRpu+B{|lvA;N1WK literal 0 HcmV?d00001 diff --git a/solidworks_to_urdf/ares_description/package.xml b/solidworks_to_urdf/ares_description/package.xml new file mode 100644 index 0000000..b49e72c --- /dev/null +++ b/solidworks_to_urdf/ares_description/package.xml @@ -0,0 +1,21 @@ + + ares_description + 1.0.0 + +

URDF Description package for ares_description

+

This package contains configuration data, 3D models and launch files +for ares_description robot

+ + TODO + + BSD + catkin + roslaunch + robot_state_publisher + rviz + joint_state_publisher + gazebo + + + + \ No newline at end of file diff --git a/solidworks_to_urdf/ares_description/urdf/ares_description.csv b/solidworks_to_urdf/ares_description/urdf/ares_description.csv new file mode 100644 index 0000000..503a4ed --- /dev/null +++ b/solidworks_to_urdf/ares_description/urdf/ares_description.csv @@ -0,0 +1,8 @@ +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,-0.0077575,-0.00011309,0.021218,0,0,0,0.33417,0.00012497,8.285E-20,9.2609E-22,0.00049563,-1.1379E-20,0.00060045,0,0,0,0,0,0,package://ares_description/meshes/base_link.STL,0.10196,0.10196,0.10196,1,0,0,0,0,0,0,package://ares_description/meshes/base_link.STL,,底板-1;TT马达-4;TT马达-3;TT马达-2;TT马达-1;铜柱-40-1;铜柱-40-2;底板-2;电池-1,坐标系1,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,, +wheel_lf_link,-3.4398E-08,-0.0084293,1.0408E-17,0,0,0,0.073425,1.2869E-05,3.7322E-21,-1.8502E-20,2.0516E-05,1.936E-12,1.2869E-05,0,0,0,0,0,0,package://ares_description/meshes/wheel_lf_link.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://ares_description/meshes/wheel_lf_link.STL,,麦克纳姆轮左旋-4/麦克纳姆轮.stp-1/____.stp-1;麦克纳姆轮左旋-4/麦克纳姆轮.stp-1/________.stp-9;麦克纳姆轮左旋-4/麦克纳姆轮.stp-1/________.stp-1;麦克纳姆轮左旋-4/麦克纳姆轮.stp-1/________.stp-2;麦克纳姆轮左旋-4/麦克纳姆轮.stp-1/____.stp-2;麦克纳姆轮左旋-4/麦克纳姆轮.stp-1/________.stp-8;麦克纳姆轮左旋-4/麦克纳姆轮.stp-1/________.stp-3;麦克纳姆轮左旋-4/麦克纳姆轮.stp-1/________.stp-4;麦克纳姆轮左旋-4/麦克纳姆轮.stp-1/________.stp-5;麦克纳姆轮左旋-4/麦克纳姆轮.stp-1/________.stp-6;麦克纳姆轮左旋-4/麦克纳姆轮.stp-1/________.stp-7,坐标系2,基准轴1,wheel_lf_joint,continuous,0.061557,0.0744,0.01625,0,0,0,base_link,0,1,0,,,,,,,,,,,, +wheel_lb_link,3.4434E-05,-0.0084764,-1.9999E-05,0,0,0,0.073424,1.2869E-05,-4.166E-11,-9.5074E-11,2.0516E-05,3.4508E-11,1.2869E-05,0,0,0,0,0,0,package://ares_description/meshes/wheel_lb_link.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://ares_description/meshes/wheel_lb_link.STL,,麦克纳姆轮右旋-2/prt0001-6;麦克纳姆轮右旋-2/麦克纳姆轮 - 滚轮-8;麦克纳姆轮右旋-2/麦克纳姆轮 - 滚轮-5;麦克纳姆轮右旋-2/麦克纳姆轮 - 滚轮-11;麦克纳姆轮右旋-2/麦克纳姆轮 - 滚轮-7;麦克纳姆轮右旋-2/麦克纳姆轮 - 滚轮-6;麦克纳姆轮右旋-2/麦克纳姆轮 - 滚轮-9;麦克纳姆轮右旋-2/麦克纳姆轮 - 滚轮-10;麦克纳姆轮右旋-2/麦克纳姆轮 - 滚轮-3;麦克纳姆轮右旋-2/麦克纳姆轮 - 滚轮-4;麦克纳姆轮右旋-2/prt0001-5,坐标系3,基准轴2,wheel_lb_joint,continuous,-0.061486,0.0744,0.01625,0,0,0,base_link,0,1,0,,,,,,,,,,,, +wheel_rf_link,-0.0090763,0.017871,-0.0022561,0,0,0,0.079025,1.3208E-05,-1.7537E-07,3.0339E-08,2.085E-05,3.0959E-08,1.3376E-05,0,0,0,0,0,0,package://ares_description/meshes/wheel_rf_link.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://ares_description/meshes/wheel_rf_link.STL,,麦克纳姆轮右旋-2/麦克纳姆轮 - 滚轮-6;麦克纳姆轮右旋-1/prt0001-5;麦克纳姆轮右旋-1/麦克纳姆轮 - 滚轮-5;麦克纳姆轮右旋-1/麦克纳姆轮 - 滚轮-11;麦克纳姆轮右旋-1/麦克纳姆轮 - 滚轮-7;麦克纳姆轮右旋-1/prt0001-6;麦克纳姆轮右旋-1/麦克纳姆轮 - 滚轮-8;麦克纳姆轮右旋-1/麦克纳姆轮 - 滚轮-4;麦克纳姆轮右旋-1/麦克纳姆轮 - 滚轮-3;麦克纳姆轮右旋-1/麦克纳姆轮 - 滚轮-10;麦克纳姆轮右旋-1/麦克纳姆轮 - 滚轮-6;麦克纳姆轮右旋-1/麦克纳姆轮 - 滚轮-9,坐标系4,基准轴1,wheel_rf_joint,continuous,0.061557,-0.0744,0.01625,0,0,0,base_link,0,1,0,,,,,,,,,,,, +wheel_rb_link,-3.4398E-08,0.0085707,6.9389E-18,0,0,0,0.073425,1.2869E-05,-5.2942E-22,3.254E-20,2.0516E-05,1.936E-12,1.2869E-05,0,0,0,0,0,0,package://ares_description/meshes/wheel_rb_link.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://ares_description/meshes/wheel_rb_link.STL,,麦克纳姆轮左旋-5/麦克纳姆轮.stp-1/________.stp-9;麦克纳姆轮左旋-5/麦克纳姆轮.stp-1/________.stp-8;麦克纳姆轮左旋-5/麦克纳姆轮.stp-1/________.stp-7;麦克纳姆轮左旋-5/麦克纳姆轮.stp-1/________.stp-1;麦克纳姆轮左旋-5/麦克纳姆轮.stp-1/________.stp-2;麦克纳姆轮左旋-5/麦克纳姆轮.stp-1/________.stp-3;麦克纳姆轮左旋-5/麦克纳姆轮.stp-1/________.stp-4;麦克纳姆轮左旋-5/麦克纳姆轮.stp-1/________.stp-5;麦克纳姆轮左旋-5/麦克纳姆轮.stp-1/____.stp-2;麦克纳姆轮左旋-5/麦克纳姆轮.stp-1/________.stp-6;麦克纳姆轮左旋-5/麦克纳姆轮.stp-1/____.stp-1,坐标系5,基准轴2,wheel_rb_joint,continuous,-0.061486,-0.0744,0.01625,0,0,0,base_link,0,1,0,,,,,,,,,,,, +controller_link,-0.03,0.0425,0.0099913,0,0,0,0.10207,6.4887E-05,9.3927E-21,-1.7097E-22,3.4011E-05,6.4964E-22,9.2076E-05,0,0,0,0,0,0,package://ares_description/meshes/controller_link.STL,0.28627,0.66275,0.32941,1,0,0,0,0,0,0,package://ares_description/meshes/controller_link.STL,,电路板-1,坐标系6,,controller_joint,fixed,-0.019964,-0.0425,0.05,0,0,0,base_link,0,0,0,,,,,,,,,,,, +laser_link,0.0073485,-8.0231E-18,-0.0159,0,0,0,0.1509,5.6077E-05,2.8165E-20,8.9824E-06,9.0691E-05,-7.5496E-21,9.0202E-05,0,0,0,0,0,0,package://ares_description/meshes/laser_link.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://ares_description/meshes/laser_link.STL,,激光雷达-1,坐标系7,,laser_joint,fixed,0.040036,0,0.089,0,0,0,base_link,0,0,0,,,,,,,,,,,, diff --git a/solidworks_to_urdf/ares_description/urdf/ares_description.urdf b/solidworks_to_urdf/ares_description/urdf/ares_description.urdf new file mode 100644 index 0000000..6aeafe3 --- /dev/null +++ b/solidworks_to_urdf/ares_description/urdf/ares_description.urdf @@ -0,0 +1,365 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/solidworks_to_urdf/c800_description/CMakeLists.txt b/solidworks_to_urdf/c800_description/CMakeLists.txt new file mode 100644 index 0000000..e2d4f9c --- /dev/null +++ b/solidworks_to_urdf/c800_description/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(c800_description) + +find_package(catkin REQUIRED) + +catkin_package() + +find_package(roslaunch) + +foreach(dir config launch meshes urdf) + install(DIRECTORY ${dir}/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) +endforeach(dir) diff --git a/solidworks_to_urdf/c800_description/config/joint_names_c800_description.yaml b/solidworks_to_urdf/c800_description/config/joint_names_c800_description.yaml new file mode 100644 index 0000000..01ba075 --- /dev/null +++ b/solidworks_to_urdf/c800_description/config/joint_names_c800_description.yaml @@ -0,0 +1 @@ +controller_joint_names: ['', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6', ] diff --git a/solidworks_to_urdf/c800_description/export.log b/solidworks_to_urdf/c800_description/export.log new file mode 100644 index 0000000..008486d --- /dev/null +++ b/solidworks_to_urdf/c800_description/export.log @@ -0,0 +1,162 @@ +2020-01-30 11:12:48,639 INFO Logger.cs: 70 - +-------------------------------------------------------------------------------- +2020-01-30 11:12:48,667 INFO Logger.cs: 71 - Logging commencing for SW2URDF exporter +2020-01-30 11:12:48,669 INFO Logger.cs: 73 - Commit version 1.5.1-0-g916b5db +2020-01-30 11:12:48,669 INFO Logger.cs: 74 - Build version 1.5.7152.31018 +2020-01-30 11:12:48,683 INFO SwAddin.cs: 250 - Adding Assembly export to file menu +2020-01-30 11:12:48,684 INFO SwAddin.cs: 253 - Adding Part export to file menu +2020-01-30 11:12:48,702 INFO SwAddin.cs: 218 - Connecting plugin to SolidWorks +2020-01-30 11:22:26,332 INFO SwAddin.cs: 271 - Assembly export called for file C800 +2020-01-30 11:22:26,334 INFO SwAddin.cs: 276 - Save is required +2020-01-30 11:22:26,334 INFO SwAddin.cs: 290 - Saving assembly +2020-01-30 11:22:26,335 INFO SwAddin.cs: 293 - Opening property manager +2020-01-30 11:22:26,347 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from C800 +2020-01-30 11:22:26,351 INFO ExportHelperExtension.cs: 1142 - Found 43 in C800 +2020-01-30 11:22:26,351 INFO ExportHelperExtension.cs: 1152 - Found 7 features of type [CoordSys] in C800 +2020-01-30 11:22:26,351 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2020-01-30 11:22:26,352 INFO ExportHelperExtension.cs: 1167 - 1 components to check +2020-01-30 11:22:26,353 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from C800.STEP-1 +2020-01-30 11:22:26,353 INFO ExportHelperExtension.cs: 1142 - Found 25 in C800.STEP-1 +2020-01-30 11:22:26,354 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in C800.STEP-1 +2020-01-30 11:22:26,355 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from C800 +2020-01-30 11:22:26,356 INFO ExportHelperExtension.cs: 1142 - Found 43 in C800 +2020-01-30 11:22:26,356 INFO ExportHelperExtension.cs: 1152 - Found 6 features of type [RefAxis] in C800 +2020-01-30 11:22:26,357 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2020-01-30 11:22:26,357 INFO ExportHelperExtension.cs: 1167 - 1 components to check +2020-01-30 11:22:26,357 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from C800.STEP-1 +2020-01-30 11:22:26,357 INFO ExportHelperExtension.cs: 1142 - Found 25 in C800.STEP-1 +2020-01-30 11:22:26,358 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in C800.STEP-1 +2020-01-30 11:22:26,567 INFO SwAddin.cs: 316 - Loading config tree +2020-01-30 11:22:26,571 INFO ExportPropertyManagerExtension.cs: 597 - Starting new configuration +2020-01-30 11:22:26,575 INFO SwAddin.cs: 321 - Showing property manager +2020-01-30 11:22:38,344 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:22:56,349 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:23:19,144 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:23:22,149 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:23:50,880 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:24:36,683 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:24:52,707 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:24:54,515 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:24:56,254 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:25:24,622 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:25:34,436 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:25:38,501 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:25:40,281 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:25:59,623 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:26:10,677 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:26:14,058 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:26:19,810 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:26:30,449 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:26:40,262 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:26:42,053 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:26:43,848 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:26:50,952 INFO ExportPropertyManager.cs: 1178 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:27:04,148 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:27:05,526 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:27:07,448 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:27:12,550 INFO ExportPropertyManager.cs: 1078 - OnListboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:27:53,627 INFO ExportPropertyManager.cs: 456 - Configuration saved +2020-01-30 11:27:53,932 INFO ExportHelperExtension.cs: 338 - Creating joint link_1 +2020-01-30 11:27:54,103 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child link_1 failed +2020-01-30 11:27:54,299 INFO ExportHelperExtension.cs: 338 - Creating joint link_2 +2020-01-30 11:27:54,364 WARN ExportHelperExtension.cs: 342 - Creating joint from parent link_1 to child link_2 failed +2020-01-30 11:27:54,848 INFO ExportHelperExtension.cs: 338 - Creating joint link_3 +2020-01-30 11:27:54,914 WARN ExportHelperExtension.cs: 342 - Creating joint from parent link_2 to child link_3 failed +2020-01-30 11:27:55,230 INFO ExportHelperExtension.cs: 338 - Creating joint link_4 +2020-01-30 11:27:55,319 WARN ExportHelperExtension.cs: 342 - Creating joint from parent link_3 to child link_4 failed +2020-01-30 11:27:55,406 INFO ExportHelperExtension.cs: 338 - Creating joint link_5 +2020-01-30 11:27:55,471 WARN ExportHelperExtension.cs: 342 - Creating joint from parent link_4 to child link_5 failed +2020-01-30 11:27:55,596 INFO ExportHelperExtension.cs: 338 - Creating joint link_6 +2020-01-30 11:27:55,658 WARN ExportHelperExtension.cs: 342 - Creating joint from parent link_5 to child link_6 failed +2020-01-30 11:27:55,862 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from C800 +2020-01-30 11:27:55,865 INFO ExportHelperExtension.cs: 1142 - Found 44 in C800 +2020-01-30 11:27:55,866 INFO ExportHelperExtension.cs: 1152 - Found 7 features of type [CoordSys] in C800 +2020-01-30 11:27:55,866 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2020-01-30 11:27:55,866 INFO ExportHelperExtension.cs: 1167 - 1 components to check +2020-01-30 11:27:55,867 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from C800.STEP-1 +2020-01-30 11:27:55,867 INFO ExportHelperExtension.cs: 1142 - Found 25 in C800.STEP-1 +2020-01-30 11:27:55,868 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in C800.STEP-1 +2020-01-30 11:27:55,870 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from C800 +2020-01-30 11:27:55,871 INFO ExportHelperExtension.cs: 1142 - Found 44 in C800 +2020-01-30 11:27:55,872 INFO ExportHelperExtension.cs: 1152 - Found 6 features of type [RefAxis] in C800 +2020-01-30 11:27:55,873 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2020-01-30 11:27:55,874 INFO ExportHelperExtension.cs: 1167 - 1 components to check +2020-01-30 11:27:55,874 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from C800.STEP-1 +2020-01-30 11:27:55,875 INFO ExportHelperExtension.cs: 1142 - Found 25 in C800.STEP-1 +2020-01-30 11:27:55,876 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in C800.STEP-1 +2020-01-30 11:27:55,966 INFO ExportPropertyManager.cs: 1184 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2020-01-30 11:31:02,696 INFO AssemblyExportForm.cs: 254 - Completing URDF export +2020-01-30 11:31:02,701 INFO Serialization.cs: 275 - URDF Configuration found 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BfAC4AUwBUAEUAUAAEAAAAEAAAAAEAAAADAAAAGAAAABQAAAARAAAA+CoAAAUAAAD//v+rQwA4ADAAMAAuAFMAVABFAFAALQAxAEAAQwA4ADAAMAAvAF8AXwBfAF8AMQAyADMAXwBfAF8AXwBeAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAoADIAKQBfAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAuAFMAVABFAFAALQAzAEAAQwA4ADAAMAAuAFMAVABFAFAALwBfAF8AXwBfAF8AXwBBAEEAXgBfAF8AXwBfADEAMgAzAF8AXwBfAF8AXwBfAF8AXwBfADgAMAAwAF8AXwBfAF8AKAAyACkAXwBfAF8AXwBfADgAMAAwAF8AXwBfAF8ALgBTAFQARQBQAC0AMQBAAF8AXwBfAF8AMQAyADMAXwBfAF8AXwBeAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAoADIAKQBfAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAuAFMAVABFAFAABAAAABAAAAABAAAAAwAAABgAAAAUAAAAEwAAAA==falsefalsefalse+CoAAAUAAAD//v+vQwA4ADAAMAAuAFMAVABFAFAALQAxAEAAQwA4ADAAMAAvAF8AXwBfAF8AMQAyADMAXwBfAF8AXwBeAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAoADIAKQBfAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAuAFMAVABFAFAALQAxAEAAQwA4ADAAMAAuAFMAVABFAFAALwAyADAAXwBfAF8AXwBfAF8AXwBfAF8AXwBeAF8AXwBfAF8AMQAyADMAXwBfAF8AXwBfAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAoADIAKQBfAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAuAFMAVABFAFAALQAxAEAAXwBfAF8AXwAxADIAMwBfAF8AXwBfAF4AXwBfAF8AXwA4ADAAMABfAF8AXwBfACgAMgApAF8AXwBfAF8AXwA4ADAAMABfAF8AXwBfAC4AUwBUAEUAUAAEAAAAEAAAAAEAAAADAAAAGAAAABIAAAARAAAA+CoAAAUAAAD//v+rQwA4ADAAMAAuAFMAVABFAFAALQAxAEAAQwA4ADAAMAAvAF8AXwBfAF8AMQAyADMAXwBfAF8AXwBeAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAoADIAKQBfAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAuAFMAVABFAFAALQAxAEAAQwA4ADAAMAAuAFMAVABFAFAALwBfAF8AXwBfAF8AXwBBAEEAXgBfAF8AXwBfADEAMgAzAF8AXwBfAF8AXwBfAF8AXwBfADgAMAAwAF8AXwBfAF8AKAAyACkAXwBfAF8AXwBfADgAMAAwAF8AXwBfAF8ALgBTAFQARQBQAC0AMQBAAF8AXwBfAF8AMQAyADMAXwBfAF8AXwBeAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAoADIAKQBfAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAuAFMAVABFAFAABAAAABAAAAABAAAAAwAAABgAAAASAAAAEwAAAA==+CoAAAUAAAD//v+qQwA4ADAAMAAuAFMAVABFAFAALQAxAEAAQwA4ADAAMAAvAF8AXwBfAF8AMQAyADMAXwBfAF8AXwBeAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAoADIAKQBfAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAuAFMAVABFAFAALQAxAEAAQwA4ADAAMAAuAFMAVABFAFAALwBfAF8AXwBfAF8AXwBBAF4AXwBfAF8AXwAxADIAMwBfAF8AXwBfAF8AXwBfAF8AXwA4ADAAMABfAF8AXwBfACgAMgApAF8AXwBfAF8AXwA4ADAAMABfAF8AXwBfAC4AUwBUAEUAUAAtADEAQABfAF8AXwBfADEAMgAzAF8AXwBfAF8AXgBfAF8AXwBfADgAMAAwAF8AXwBfAF8AKAAyACkAXwBfAF8AXwBfADgAMAAwAF8AXwBfAF8ALgBTAFQARQBQAAQAAAAQAAAAAQAAAAMAAAAYAAAAEgAAABIAAAA=falsefalsefalse+CoAAAUAAAD//v+IQwA4ADAAMAAuAFMAVABFAFAALQAxAEAAQwA4ADAAMAAvAEoAXgBfAF8AXwBfADgAMAAwAF8AXwBfAF8AKAAyACkAXwBfAF8AXwBfADgAMAAwAF8AXwBfAF8ALgBTAFQARQBQAC0AMQBAAEMAOAAwADAALgBTAFQARQBQAC8AXwBfAF8AXwBBAF4AXwBfAF8AXwA4ADAAMABfAF8AXwBfACgAMgApAF8AXwBfAF8AXwA4ADAAMABfAF8AXwBfAC4AUwBUAEUAUAAtADEAQABKAF4AXwBfAF8AXwA4ADAAMABfAF8AXwBfACgAMgApAF8AXwBfAF8AXwA4ADAAMABfAF8AXwBfAC4AUwBUAEUAUAAEAAAAEAAAAAEAAAADAAAAGAAAABEAAAARAAAA+CoAAAUAAAD//v+KQwA4ADAAMAAuAFMAVABFAFAALQAxAEAAQwA4ADAAMAAvAEoAXgBfAF8AXwBfADgAMAAwAF8AXwBfAF8AKAAyACkAXwBfAF8AXwBfADgAMAAwAF8AXwBfAF8ALgBTAFQARQBQAC0AMQBAAEMAOAAwADAALgBTAFQARQBQAC8AXwBfAF8AXwBfAF8AQQBeAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAoADIAKQBfAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAuAFMAVABFAFAALQAxAEAASgBeAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAoADIAKQBfAF8AXwBfAF8AOAAwADAAXwBfAF8AXwAuAFMAVABFAFAABAAAABAAAAABAAAAAwAAABgAAAARAAAAEgAAAA==falsefalse +2020-01-30 11:31:14,028 INFO AssemblyExportForm.cs: 308 - Saving URDF package to C:\Users\hcx19\Desktop\c800_description +2020-01-30 11:31:14,033 INFO ExportHelper.cs: 147 - Beginning the export process +2020-01-30 11:31:14,035 INFO ExportHelper.cs: 153 - Creating package directories with name c800_description and save path C:\Users\hcx19\Desktop +2020-01-30 11:31:15,771 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at C:\Users\hcx19\Desktop\c800_description\CMakeLists.txt +2020-01-30 11:31:15,776 INFO ExportHelper.cs: 166 - Creating joint names config at C:\Users\hcx19\Desktop\c800_description\config\joint_names_c800_description.yaml +2020-01-30 11:31:15,778 INFO ExportHelper.cs: 170 - Creating package.xml at C:\Users\hcx19\Desktop\c800_description\package.xml +2020-01-30 11:31:15,778 INFO PackageXMLWriter.cs: 21 - Creating package.xml at C:\Users\hcx19\Desktop\c800_description\package.xml +2020-01-30 11:31:15,781 INFO ExportHelper.cs: 177 - Creating RVIZ launch file in C:\Users\hcx19\Desktop\c800_description\launch\ +2020-01-30 11:31:15,788 INFO ExportHelper.cs: 182 - Creating Gazebo launch file in C:\Users\hcx19\Desktop\c800_description\launch\ +2020-01-30 11:31:15,789 INFO ExportHelper.cs: 187 - Saving existing STL preferences +2020-01-30 11:31:15,790 INFO ExportHelper.cs: 451 - Saving users preferences +2020-01-30 11:31:15,791 INFO ExportHelper.cs: 190 - Modifying STL preferences +2020-01-30 11:31:15,791 INFO ExportHelper.cs: 465 - Setting STL preferences +2020-01-30 11:31:15,807 INFO ExportHelper.cs: 196 - Found 0 hidden components +2020-01-30 11:31:15,808 INFO ExportHelper.cs: 197 - Hiding all components +2020-01-30 11:31:16,333 INFO ExportHelper.cs: 204 - Beginning individual files export +2020-01-30 11:31:16,335 INFO ExportHelper.cs: 270 - Exporting link: base_link +2020-01-30 11:31:16,336 INFO ExportHelper.cs: 272 - Link base_link has 1 children +2020-01-30 11:31:16,337 INFO ExportHelper.cs: 270 - Exporting link: link_1 +2020-01-30 11:31:16,337 INFO ExportHelper.cs: 272 - Link link_1 has 1 children +2020-01-30 11:31:16,338 INFO ExportHelper.cs: 270 - Exporting link: link_2 +2020-01-30 11:31:16,338 INFO ExportHelper.cs: 272 - Link link_2 has 1 children +2020-01-30 11:31:16,338 INFO ExportHelper.cs: 270 - Exporting link: link_3 +2020-01-30 11:31:16,338 INFO ExportHelper.cs: 272 - Link link_3 has 1 children +2020-01-30 11:31:16,339 INFO ExportHelper.cs: 270 - Exporting link: link_4 +2020-01-30 11:31:16,340 INFO ExportHelper.cs: 272 - Link link_4 has 1 children +2020-01-30 11:31:16,341 INFO ExportHelper.cs: 270 - Exporting link: link_5 +2020-01-30 11:31:16,341 INFO ExportHelper.cs: 272 - Link link_5 has 1 children +2020-01-30 11:31:16,342 INFO ExportHelper.cs: 270 - Exporting link: link_6 +2020-01-30 11:31:16,342 INFO ExportHelper.cs: 272 - Link link_6 has 0 children +2020-01-30 11:31:16,343 INFO ExportHelper.cs: 318 - link_6: Exporting STL with coordinate frame ϵ7 +2020-01-30 11:31:16,344 INFO ExportHelper.cs: 323 - link_6: Reference geometry name +2020-01-30 11:31:16,657 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\hcx19\Desktop\c800_description\meshes\link_6.STL +2020-01-30 11:31:16,729 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2020-01-30 11:31:16,730 INFO ExportHelper.cs: 318 - link_5: Exporting STL with coordinate frame ϵ6 +2020-01-30 11:31:16,731 INFO ExportHelper.cs: 323 - link_5: Reference geometry name +2020-01-30 11:31:16,771 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\hcx19\Desktop\c800_description\meshes\link_5.STL +2020-01-30 11:31:16,871 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2020-01-30 11:31:16,871 INFO ExportHelper.cs: 318 - link_4: Exporting STL with coordinate frame ϵ5 +2020-01-30 11:31:16,872 INFO ExportHelper.cs: 323 - link_4: Reference geometry name +2020-01-30 11:31:16,941 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\hcx19\Desktop\c800_description\meshes\link_4.STL +2020-01-30 11:31:17,035 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2020-01-30 11:31:17,036 INFO ExportHelper.cs: 318 - link_3: Exporting STL with coordinate frame ϵ4 +2020-01-30 11:31:17,036 INFO ExportHelper.cs: 323 - link_3: Reference geometry name +2020-01-30 11:31:17,213 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\hcx19\Desktop\c800_description\meshes\link_3.STL +2020-01-30 11:31:17,587 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2020-01-30 11:31:17,587 INFO ExportHelper.cs: 318 - link_2: Exporting STL with coordinate frame ϵ3 +2020-01-30 11:31:17,588 INFO ExportHelper.cs: 323 - link_2: Reference geometry name +2020-01-30 11:31:17,750 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\hcx19\Desktop\c800_description\meshes\link_2.STL +2020-01-30 11:31:18,138 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2020-01-30 11:31:18,139 INFO ExportHelper.cs: 318 - link_1: Exporting STL with coordinate frame ϵ2 +2020-01-30 11:31:18,139 INFO ExportHelper.cs: 323 - link_1: Reference geometry name +2020-01-30 11:31:18,235 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\hcx19\Desktop\c800_description\meshes\link_1.STL +2020-01-30 11:31:18,437 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2020-01-30 11:31:18,438 INFO ExportHelper.cs: 318 - base_link: Exporting STL with coordinate frame ϵ1 +2020-01-30 11:31:18,438 INFO ExportHelper.cs: 323 - base_link: Reference geometry name +2020-01-30 11:31:18,520 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\hcx19\Desktop\c800_description\meshes\base_link.STL +2020-01-30 11:31:18,682 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2020-01-30 11:31:18,684 INFO ExportHelper.cs: 145 - Showing all components except previously hidden components +2020-01-30 11:31:19,699 INFO ExportHelper.cs: 145 - Resetting STL preferences +2020-01-30 11:31:19,700 INFO ExportHelper.cs: 479 - Returning STL preferences to user preferences +2020-01-30 11:31:19,700 INFO ExportHelper.cs: 228 - Writing URDF file to C:\Users\hcx19\Desktop\c800_description\urdf\c800_description.urdf +2020-01-30 11:31:19,708 INFO CSVImportExport.cs: 32 - Writing CSV file C:\Users\hcx19\Desktop\c800_description\urdf\c800_description.csv +2020-01-30 11:31:19,735 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2020-01-30 11:31:19,736 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2020-01-30 11:31:19,737 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2020-01-30 11:31:19,738 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2020-01-30 11:31:19,739 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2020-01-30 11:31:19,739 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2020-01-30 11:31:19,740 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2020-01-30 11:31:19,740 INFO ExportHelper.cs: 234 - Copying log file +2020-01-30 11:31:19,746 INFO ExportHelper.cs: 440 - Copying C:\Users\hcx19\sw2urdf_logs\sw2urdf.log to C:\Users\hcx19\Desktop\c800_description\export.log diff --git a/solidworks_to_urdf/c800_description/launch/display.launch b/solidworks_to_urdf/c800_description/launch/display.launch new file mode 100644 index 0000000..cc64d48 --- /dev/null +++ b/solidworks_to_urdf/c800_description/launch/display.launch @@ -0,0 +1,23 @@ + + + + + + + + \ No newline at end of file diff --git a/solidworks_to_urdf/c800_description/launch/gazebo.launch b/solidworks_to_urdf/c800_description/launch/gazebo.launch new file mode 100644 index 0000000..3283384 --- /dev/null +++ b/solidworks_to_urdf/c800_description/launch/gazebo.launch @@ -0,0 +1,20 @@ + + + + + + \ No newline at end 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URDF Description package for c800_description

+

This package contains configuration data, 3D models and launch files +for c800_description robot

+ + TODO + + BSD + catkin + roslaunch + robot_state_publisher + rviz + joint_state_publisher + gazebo + + + + \ No newline at end of file diff --git a/solidworks_to_urdf/c800_description/urdf/c800_description.csv b/solidworks_to_urdf/c800_description/urdf/c800_description.csv new file mode 100644 index 0000000..47ca08a --- /dev/null +++ b/solidworks_to_urdf/c800_description/urdf/c800_description.csv @@ -0,0 +1,8 @@ +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,5.1159E-06,-0.00045852,0.01511,0,0,0,0.47731,0.00060819,-1.4211E-07,2.912E-08,0.00062131,-2.5797E-06,0.0011481,0,0,0,0,0,0,package://c800_description/meshes/base_link.STL,1,1,1,1,0,0,0,0,0,0,package://c800_description/meshes/base_link.STL,,C800.STEP-1/J^____800____(2)_____800____.STEP-1/____A^____800____(2)_____800____.STEP-1;C800.STEP-1/J^____800____(2)_____800____.STEP-1/______A^____800____(2)_____800____.STEP-1,坐标系1,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,, +link_1,0.009995,0.00010952,-0.088076,0,0,0,1.8893,0.0041014,-5.8451E-06,0.0003739,0.0046287,4.1148E-06,0.0033533,0,0,0,0,0,0,package://c800_description/meshes/link_1.STL,1,1,1,1,0,0,0,0,0,0,package://c800_description/meshes/link_1.STL,,C800.STEP-1/____123____^____800____(2)_____800____.STEP-1/20__________^____123_________800____(2)_____800____.STEP-1;C800.STEP-1/____123____^____800____(2)_____800____.STEP-1/______AA^____123_________800____(2)_____800____.STEP-1;C800.STEP-1/____123____^____800____(2)_____800____.STEP-1/______A^____123_________800____(2)_____800____.STEP-1,坐标系2,基准轴1,joint_1,revolute,0,0,0.0317,3.1416,0,-1.5598,base_link,0,0,1,100,3,-3,3,,,,,,,, +link_2,0.087798,0.00096966,-0.1742,0,0,0,5.0587,0.012152,-2.8164E-05,-3.968E-10,0.014702,-4.2598E-08,0.0095763,0,0,0,0,0,0,package://c800_description/meshes/link_2.STL,1,1,1,1,0,0,0,0,0,0,package://c800_description/meshes/link_2.STL,,C800.STEP-1/____123____^____800____(2)_____800____.STEP-2/20__________^____123_________800____(2)_____800____.STEP-1;C800.STEP-1/____123____^____800____(2)_____800____.STEP-2/______AA^____123_________800____(2)_____800____.STEP-1;C800.STEP-1/____123____^____800____(2)_____800____.STEP-2/______A^____123_________800____(2)_____800____.STEP-1;C800.STEP-1/2______^____800____(2)_____800____.STEP-1;C800.STEP-1/____123____^____800____(2)_____800____.STEP-3/______A^____123_________800____(2)_____800____.STEP-1;C800.STEP-1/____123____^____800____(2)_____800____.STEP-3/20__________^____123_________800____(2)_____800____.STEP-1;C800.STEP-1/____123____^____800____(2)_____800____.STEP-3/______AA^____123_________800____(2)_____800____.STEP-1,坐标系3,基准轴2,joint_2,revolute,0.075695,0.00083599,-0.087,0,0,0,link_1,0.99994,0.011043,0,100,3,-3,3,,,,,,,, +link_3,-0.074461,-0.00081729,-0.18595,0,0,0,2.4785,0.0066463,-2.7745E-06,-0.00025133,0.0069332,-2.9588E-06,0.0024538,0,0,0,0,0,0,package://c800_description/meshes/link_3.STL,1,1,1,1,0,0,0,0,0,0,package://c800_description/meshes/link_3.STL,,C800.STEP-1/______2^____800____(2)_____800____.STEP-1/______A^____800____(2)_____800____.STEP-1;C800.STEP-1/______2^____800____(2)_____800____.STEP-1/2019-12-28-____^____800____(2)_____800____.STEP-1;C800.STEP-1/______2^____800____(2)_____800____.STEP-1/______C^____800____(2)_____800____.STEP-1;C800.STEP-1/3______A^____800____(2)_____800____.STEP-1;C800.STEP-1/456______11-2^____800____(2)_____800____.STEP-1/456______-1^____800____(2)_____800____.STEP-1;C800.STEP-1/456______11-2^____800____(2)_____800____.STEP-1/______BB^____800____(2)_____800____.STEP-1;C800.STEP-1/456______11-2^____800____(2)_____800____.STEP-1/456____-1^456______11-2_____800____(2)_____800____.STEP-1;C800.STEP-1/456______11-2^____800____(2)_____800____.STEP-2/456______-1^____800____(2)_____800____.STEP-1,坐标系4,基准轴3,joint_3,revolute,0,0,-0.3484,0,0,0,link_2,0.99994,0.011043,0,100,3,-3,3,,,,,,,, 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