xacro for vacuum gripper added

rigbetellabs · May 19, 2023 · cc11266 · cc11266
1 parent 919a6e0
commit cc11266
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Showing 7 changed files with 27 additions and 215 deletions.
diff --git a/scara_arm_description/launch/display_two_finger_gripper.launch b/scara_arm_description/launch/display_two_finger_gripper.launch
@@ -0,0 +1,10 @@
+<launch>
+  <arg name="model" default="$(find scara_arm_description)/urdf/scara_arm_two_finger_gripper.xacro"/>
+  <arg name="gui" default="true"/>
+  <arg name="rvizconfig" default="$(find scara_arm_description)/launch/urdf.rviz"/>
+  <param name="robot_description" command="$(find xacro)/xacro $(arg model)"/>
+  <param name="use_gui" value="$(arg gui)"/>
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"/>
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+  <node name="rviz" pkg="rviz" args="-d $(arg rvizconfig)" type="rviz" required="true"/>
+</launch>
diff --git a/...ion/launch/display_suction_gripper.launch → ...tion/launch/display_vacuum_gripper.launch b/...ion/launch/display_suction_gripper.launch → ...tion/launch/display_vacuum_gripper.launch
@@ -1,5 +1,5 @@
 <launch>
-  <arg name="model" default="$(find scara_arm_description)/urdf/scara_arm_suction_gripper.xacro"/>
+  <arg name="model" default="$(find scara_arm_description)/urdf/scara_arm_vacuum_gripper.xacro"/>
   <arg name="gui" default="true"/>
   <arg name="rvizconfig" default="$(find scara_arm_description)/launch/urdf.rviz"/>
   <param name="robot_description" command="$(find xacro)/xacro $(arg model)"/>

diff --git a/scara_arm_description/meshes/suction_gripper/gripper_base_link.stl b/scara_arm_description/meshes/suction_gripper/gripper_base_link.stl
diff --git a/scara_arm_description/meshes/suction_gripper/gripper_link_1.stl b/scara_arm_description/meshes/suction_gripper/gripper_link_1.stl
diff --git a/scara_arm_description/urdf/scara_arm_suction_gripper.xacro b/scara_arm_description/urdf/scara_arm_suction_gripper.xacro
diff --git a/scara_arm_description/urdf/scara_arm_two_finger_gripper.xacro b/scara_arm_description/urdf/scara_arm_two_finger_gripper.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot name="scara_arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<robot name="scara_arm_two_finger_gripper" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
 <xacro:include filename="$(find scara_arm_description)/urdf/scara_arm.xacro" />
 <xacro:include filename="$(find two_finger_gripper_description)/urdf/two_finger_gripper.xacro" />

diff --git a/scara_arm_description/urdf/scara_arm_vacuum_gripper.xacro b/scara_arm_description/urdf/scara_arm_vacuum_gripper.xacro
@@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<robot name="scara_arm_vacuum_gripper" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+<xacro:include filename="$(find scara_arm_description)/urdf/scara_arm.xacro" />
+<xacro:include filename="$(find vacuum_gripper_description)/urdf/vacuum_gripper.xacro" />
+
+
+<joint name="gripper_attach" type="fixed">
+  <origin xyz="0 0 0" rpy="0 0 0"/>
+  <parent link="link_04_1"/>
+  <child link="gripper_base_link"/>
+</joint>
+
+
+</robot>