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update urdf #71

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update urdf #71

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191f5cb
dxl_armed_turtlebot/urdf/dynamixel_7dof_arm.urdf.xacro: correct urdf …
kimhc6028 Nov 25, 2015
a47bf9e
dxl_armed_turtlebot/urdf/dynamixel_7dof_arm.urdf.xacro: use arm_joint…
kimhc6028 Nov 25, 2015
44cc283
dxl_armed_turtlebot/launch/dxl_armed_turtlebot_bringup.launch: robot_…
kimhc6028 Nov 25, 2015
e6f2b3b
add joint_state_publisher.py from https://github.com/arebgun/dynamixe…
kimhc6028 Nov 25, 2015
802e0bf
add joint_state_publisher to dynamixel_managers
kimhc6028 Nov 25, 2015
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5 changes: 5 additions & 0 deletions dxl_armed_turtlebot/launch/dxl_armed_turtlebot_bringup.launch
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Expand Up @@ -15,6 +15,11 @@
<include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
<arg name="3d_sensor" default="kinect" />
</include>

<!-- robot_description is defined in minimal.launch and hope this line overwrite that-->
<arg name="model" value="$(find dxl_armed_turtlebot)/urdf/robot.urdf.xacro" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />

<include file="$(find dxl_armed_turtlebot)/launch/turtlebot_joystick_teleop.launch"
if="$(arg RUN_PS3JOY)"/>
<!-- <include file="$(find turtlebot_rviz_launchers)/launch/view_robot.launch"/> -->
Expand Down
165 changes: 120 additions & 45 deletions dxl_armed_turtlebot/urdf/dynamixel_7dof_arm.urdf.xacro
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Expand Up @@ -4,16 +4,49 @@
<xacro:include filename="$(find dynamixel_urdf)/urdf/ax12.xacro" />
<property name="M_PI" value="3.1415926535897931" />

<macro name="dynamixel_ax12_joint" params="parent name color llimit ulimit vlimit *origin" >
<joint name="${name}_joint" type="revolute">
<macro name="gripper_fixed" params="parent name color *origin">
<joint name="${name}_joint" type="fixed">
<insert_block name="origin" />
<axis xyz="0 0 1"/>
<limit effort="30" velocity="${vlimit}" lower="${llimit}" upper="${ulimit}" />
<parent link="${parent}"/>
<child link="${name}_link" />
</joint>

<link name="${name}_link">
<inertial>
<mass value="0.00001" />
<origin xyz="0 0 0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
iyy="1.0" iyz="0.0"
izz="1.0" />
</inertial>
<visual>
<origin xyz="0.04 0 0" rpy="0 0 0" />
<geometry>
<box size="0.08 0.01 0.030" />
</geometry>
<material name="white" />
</visual>

<collision>
<origin xyz="0.04 0.0 0.0" rpy="0 0 0" />
<geometry>
<box size="0.08 0.01 0.03"/>
</geometry>
</collision>

</link>
</macro>

<macro name="dynamixel_ax12_joint" params="parent link_name joint_name color llimit ulimit vlimit *origin" >
<joint name="${joint_name}" type="revolute">
<insert_block name="origin" />
<axis xyz="0 0 1"/>
<limit effort="30" velocity="${vlimit}" lower="${llimit}" upper="${ulimit}" />
<parent link="${parent}"/>
<child link="${link_name}" />
</joint>

<link name="${link_name}">
<inertial>
<mass value="0.00001" />
<origin xyz="0 0 0" />
Expand All @@ -37,16 +70,16 @@
</link>
</macro>

<macro name="ax12_hinge_revolute_axis" params="parent name color llimit ulimit vlimit *origin *axis">
<joint name="${name}_joint" type="revolute">
<macro name="ax12_hinge_revolute_axis" params="parent link_name joint_name color llimit ulimit vlimit *origin *axis">
<joint name="${joint_name}" type="revolute">
<insert_block name="origin" />
<insert_block name="axis" />
<limit effort="30" velocity="${vlimit}" lower="${llimit}" upper="${ulimit}" />
<parent link="${parent}"/>
<child link="${name}_link" />
<child link="${link_name}" />
</joint>

<link name="${name}_link">
<link name="${link_name}">
<inertial>
<mass value="0.00001" />
<origin xyz="0 0 0" />
Expand Down Expand Up @@ -111,58 +144,92 @@
<origin xyz="0.045 0 0.0" rpy="${M_PI} 0 0" />
</xacro:dynamixel_ax12_pan>

<xacro:ax12_hinge_revolute parent="arm_link0_link" name="arm_link1"
<xacro:ax12_hinge_revolute_axis parent="arm_link0_link" link_name="arm_link1" joint_name="arm_joint1"
llimit="-2.61" ulimit="2.61" vlimit="6.0"
color="white" >
<origin xyz="0.0 0.0 0.0" rpy="${M_PI/2} 0 ${M_PI/2}" />
</xacro:ax12_hinge_revolute>
<axis xyz="0 0 1"/>
</xacro:ax12_hinge_revolute_axis>

<xacro:dynamixel_ax12_joint parent="arm_link1_link" name="arm_link2"
<xacro:dynamixel_ax12_joint parent="arm_link1" link_name="arm_link2" joint_name="arm_joint2"
llimit="-2.61" ulimit="2.61" vlimit="6.0"
color="black" >
<origin xyz="0.0 0.0 0.05" rpy="0 0 -${M_PI/2}" />
</xacro:dynamixel_ax12_joint>

<xacro:dynamixel_ax12_tilt parent="arm_link2_link" name="arm_link2_motor" color="black">
<origin xyz="-0.06 0.0 0.02" rpy="0 0 0" />
<xacro:ax12_side_fixed parent="arm_link2" name="arm_link2_F31" color="white">
<origin xyz=" -0.039 0 0" rpy="${M_PI/2} 0 -${M_PI/2}" />
</xacro:ax12_side_fixed>

<xacro:ax12_side_fixed parent="arm_link2_F31_link" name="arm_link2_F32" color="white">
<origin xyz=" 0.0 0 0.0" rpy="${M_PI} 0 ${M_PI/2}" />
</xacro:ax12_side_fixed>

<xacro:dynamixel_ax12_tilt parent="arm_link2_F32_link" name="arm_link2_motor" color="white">
<origin xyz="0.025 0.0 -0.018" rpy="0 ${M_PI/2} 0" />
</xacro:dynamixel_ax12_tilt>

<xacro:ax12_hinge_revolute parent="arm_link2_motor_link" name="arm_link3"
<xacro:ax12_hinge_revolute_axis parent="arm_link2_motor_link" link_name="arm_link3" joint_name="arm_joint3"
llimit="-2.61" ulimit="2.61" vlimit="6.0"
color="white" >
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
</xacro:ax12_hinge_revolute>
<origin xyz="0.0 0.0 0.0" rpy="0 0 ${M_PI}" />
<axis xyz="0 0 1"/>
</xacro:ax12_hinge_revolute_axis>

<xacro:dynamixel_ax12_pan parent="arm_link3_link" name="arm_link3_motor" color="black">
<xacro:dynamixel_ax12_pan parent="arm_link3" name="arm_link3_motor" color="black">
<origin xyz="-0.01 0.0 0.055" rpy="${M_PI} ${M_PI} 0" />
</xacro:dynamixel_ax12_pan>

<xacro:ax12_hinge_revolute_axis parent="arm_link3_motor_link" name="arm_link4"
<xacro:ax12_hinge_revolute_axis parent="arm_link3_motor_link" link_name="arm_link4" joint_name="arm_joint4"
llimit="-2.61" ulimit="2.61" vlimit="6.0"
color="white" >
<origin xyz="0.0 0.0 0.05" rpy="0 ${M_PI} 0" />
<axis xyz="0 0 1" />
</xacro:ax12_hinge_revolute_axis>

<xacro:dynamixel_ax12_joint parent="arm_link4_link" name="arm_link5"
<xacro:dynamixel_ax12_joint parent="arm_link4" link_name="arm_link5" joint_name="arm_joint5"
llimit="-2.61" ulimit="2.61" vlimit="6.0" color="black">
<origin xyz="0.0 0.0 0.0" rpy="0 -${M_PI/2} ${M_PI/2}" />
</xacro:dynamixel_ax12_joint>

<xacro:dynamixel_ax12_joint parent="arm_link5_link" name="arm_link6"
<xacro:ax12_side_fixed parent="arm_link5" name="arm_link5_F3" color="white">
<origin xyz="-0.041 0 0.0" rpy="${M_PI/2} 0 -${M_PI/2}" />
</xacro:ax12_side_fixed>


<xacro:dynamixel_ax12_joint parent="arm_link5_F3_link" link_name="arm_link6" joint_name="arm_joint6"
llimit="-2.61" ulimit="2.61" vlimit="6.0" color="black">
<origin xyz="-0.07 0.0 0.0" rpy="-${M_PI/2} ${M_PI} -${M_PI/2}" />
<origin xyz="-0.0 0.0 0.023" rpy="-0 ${M_PI} 0" />
</xacro:dynamixel_ax12_joint>

<xacro:dynamixel_ax12_pan parent="arm_link6_link" name="arm_link6_motor" color="black">
<origin xyz="0.0 0.03 -0.05" rpy="${M_PI/2} 0 ${M_PI/2}" />


<xacro:ax12_side_fixed parent="arm_link6" name="arm_link6_F3" color="white">
<origin xyz="-0.012 0 -0.025" rpy="-${M_PI} ${M_PI} ${M_PI/2}" />
</xacro:ax12_side_fixed>

<xacro:dynamixel_ax12_pan parent="arm_link6_F3_link" name="arm_link6_motor" color="black">
<origin xyz="-0.017 0.0 -0.024" rpy="${M_PI/2} 0 ${M_PI}" />
</xacro:dynamixel_ax12_pan>

<xacro:ax12_hinge_revolute parent="arm_link6_motor_link" name="arm_link7"
<xacro:ax12_hinge_revolute_axis parent="arm_link6_motor_link" link_name="arm_link7" joint_name="arm_joint7"
llimit="-2.61" ulimit="2.61" vlimit="6.0"
color="white" >
<origin xyz="0.0 0.0 0.0" rpy="${M_PI/2} 0 ${M_PI/2}" />
</xacro:ax12_hinge_revolute>
<axis xyz="0 0 1"/>
</xacro:ax12_hinge_revolute_axis>

<xacro:gripper_fixed parent="arm_link7" name="gripper" color="white">
<origin xyz="-0.06 0.0 0.032" rpy="${M_PI/2} 0 0" />
</xacro:gripper_fixed>

<xacro:ax12_side_fixed parent="arm_link6_motor_link" name="gripper_F3" color="white">
<origin xyz="-0.037 0 0" rpy="${M_PI/2} ${M_PI} ${M_PI/2}" />
</xacro:ax12_side_fixed>
<xacro:gripper_fixed parent="gripper_F3_link" name="gripper_after_F3" color="white">
<origin xyz="0 0.0 -0.02" rpy="${M_PI/2} 0 0" />
</xacro:gripper_fixed>


<!-- ros_control plugin -->
<gazebo>
Expand All @@ -177,26 +244,34 @@
</plugin>
</gazebo>

<xacro:gazebo_arm_link name="arm_base_link" color="Black" />
<xacro:gazebo_arm_link name="arm_link0_link" color="Black" />
<xacro:gazebo_arm_link name="arm_link1_link" color="Gray" />
<xacro:gazebo_arm_link name="arm_link2_link" color="Black" />
<xacro:gazebo_arm_link name="arm_link2_motor_link" color="Black" />
<xacro:gazebo_arm_link name="arm_link3_link" color="Gray" />
<xacro:gazebo_arm_link name="arm_link3_motor_link" color="Black" />
<xacro:gazebo_arm_link name="arm_link4_link" color="Gray" />
<xacro:gazebo_arm_link name="arm_link5_link" color="Black" />
<xacro:gazebo_arm_link name="arm_link6_link" color="Black" />
<xacro:gazebo_arm_link name="arm_link6_motor_link" color="Black" />
<xacro:gazebo_arm_link name="arm_link7_link" color="Gray" />

<xacro:simple_transmission name="arm_link1_joint" interface="EffortJointInterface" />
<xacro:simple_transmission name="arm_link2_joint" interface="EffortJointInterface" />
<xacro:simple_transmission name="arm_link3_joint" interface="EffortJointInterface" />
<xacro:simple_transmission name="arm_link4_joint" interface="EffortJointInterface" />
<xacro:simple_transmission name="arm_link5_joint" interface="EffortJointInterface" />
<xacro:simple_transmission name="arm_link6_joint" interface="EffortJointInterface" />
<xacro:simple_transmission name="arm_link7_joint" interface="EffortJointInterface" />
<xacro:gazebo_arm_link name="arm_base_link" color="Red" />
<xacro:gazebo_arm_link name="arm_link0_link" color="Orange" />
<xacro:gazebo_arm_link name="arm_link1" color="Yellow" />
<xacro:gazebo_arm_link name="arm_link2" color="Green" />
<xacro:gazebo_arm_link name="arm_link2_F31_link" color="Blue" />
<xacro:gazebo_arm_link name="arm_link2_F32_link" color="Purple" />
<xacro:gazebo_arm_link name="arm_link2_motor_link" color="Red" />
<xacro:gazebo_arm_link name="arm_link3" color="Orange" />
<xacro:gazebo_arm_link name="arm_link3_motor_link" color="Yellow" />
<xacro:gazebo_arm_link name="arm_link4" color="Green" />
<xacro:gazebo_arm_link name="arm_link5" color="Blue" />
<xacro:gazebo_arm_link name="arm_link5_F3_link" color="Purple" />
<xacro:gazebo_arm_link name="arm_link6" color="Red" />
<xacro:gazebo_arm_link name="arm_link6_F3_link" color="Orange" />
<xacro:gazebo_arm_link name="arm_link6_motor_link" color="Yellow" />
<xacro:gazebo_arm_link name="arm_link7" color="Green" />
<xacro:gazebo_arm_link name="gripper_link" color="Blue" />
<xacro:gazebo_arm_link name="gripper_after_F3_link" color="Purple" />
<xacro:gazebo_arm_link name="gripper_F3_link" color="Red" />
<xacro:gazebo_arm_link name="gripper_link_link" color="Gray" />

<xacro:simple_transmission name="arm_joint1" interface="EffortJointInterface" />
<xacro:simple_transmission name="arm_joint2" interface="EffortJointInterface" />
<xacro:simple_transmission name="arm_joint3" interface="EffortJointInterface" />
<xacro:simple_transmission name="arm_joint4" interface="EffortJointInterface" />
<xacro:simple_transmission name="arm_joint5" interface="EffortJointInterface" />
<xacro:simple_transmission name="arm_joint6" interface="EffortJointInterface" />
<xacro:simple_transmission name="arm_joint7" interface="EffortJointInterface" />

</xacro:macro>
</robot>
2 changes: 2 additions & 0 deletions dynamixel_7dof_arm/CMakeLists.txt
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Expand Up @@ -3,6 +3,8 @@ project(dynamixel_7dof_arm)

find_package(catkin REQUIRED COMPONENTS dynamixel_controllers roseus rostest) # add roseus to gen messages

catkin_python_setup()

catkin_package()

add_rostest(test/test-dxl-7dof-arm.test)
6 changes: 6 additions & 0 deletions dynamixel_7dof_arm/config/dynamixel_joint_controllers.yaml
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@@ -1,3 +1,9 @@
joint_state_publisher:
controller:
package: dynamixel_7dof_arm
module: joint_state_publisher
type: JointStatePublisher

arm_j1_controller:
controller:
package: dynamixel_controllers
Expand Down
15 changes: 15 additions & 0 deletions dynamixel_7dof_arm/launch/dynamixel_7dof_arm_bringup.launch
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Expand Up @@ -45,6 +45,21 @@
arm_j6_controller"
output="screen"/>

<node name="dynamixel_trajectory_controller_spawner_for_joint_state" pkg="dynamixel_controllers" type="controller_spawner.py"
args="--manager=dxl_manager
--port=7dof_arm_port
--type=meta
joint_state_publisher
arm_j1_controller
arm_j2_controller
arm_j3_controller
arm_j4_controller
arm_j5_controller
arm_j6_controller
arm_j7_controller
"
output="screen"/>

<!-- TODO : Should use gripper_controller_spawner.launch instead of .sh ;; timing problem -->
<node name="dynamixel_trajectory_script" pkg="dynamixel_7dof_arm" type="gripper_controller_spawner.sh" output="screen"/>
<!-- <include file="$(find dynamixel_7dof_arm)/launch/gripper_controller_spawner.launch"/> -->
Expand Down
11 changes: 11 additions & 0 deletions dynamixel_7dof_arm/setup.py
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@@ -0,0 +1,11 @@
#!/usr/bin/env python

from distutils.core import setup
from catkin_pkg.python_setup import generate_distutils_setup

d = generate_distutils_setup(
packages=['dynamixel_7dof_arm'],
package_dir={'': 'src'},
)

setup(**d)
Empty file added dynamixel_7dof_arm/src/dynamixel_7dof_arm/__init__.py
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