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Fix virtual pen, make moveit aware of pen

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This commit is contained in:
Nicolas Hiillos
2023-03-23 09:36:49 +02:00
parent 7b99e220f5
commit 53c46c11c0
9 changed files with 472 additions and 67 deletions
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47
src/custom_xarm_description/urdf/lite6/lite6.urdf.xacro
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@@ -363,5 +363,50 @@
<child
link="${prefix}link_eef" />
</joint> -->
<link name="${prefix}pen_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.005" length="0.2"/>
</geometry>
<material name="Cyan">
<color rgba="0.0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="${prefix}pen_joint" type="fixed">
<parent link="${prefix}link6"/>
<child link="${prefix}pen_link"/>
</joint>
<!-- https://github.com/ros-simulation/gazebo_ros_pkgs/blob/foxy/gazebo_plugins/src/gazebo_ros_p3d.cpp -->
<gazebo>
<plugin name="pen_position" filename="libgazebo_ros_p3d.so">
<!-- <alwaysOn>true</alwaysOn> -->
<ros>
<remapping>odom:=pen_position</remapping>
</ros>
<frame_name>world</frame_name>
<!-- <body_name>pen_link</body_name> -->
<body_name>${prefix}link6</body_name>
<!-- <body_name>${prefix}pen_link</body_name> -->
<!-- topic name is always /odom -->
<!-- <topic_name>pen_position</topic_name> -->
<!-- Update rate in Hz -->
<update_rate>10</update_rate>
<!-- <xyzOffsets>0 0 0</xyzOffsets> -->
<!-- <rpyOffsets>0 0 0</rpyOffsets> -->
</plugin>
</gazebo>
</xacro:macro>
</robot>
</robot>

10
src/custom_xarm_description/urdf/lite6/lite6_robot_macro.xacro
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@@ -6,14 +6,14 @@
robot_ip:='' report_type:='normal' baud_checkset:='true' default_gripper_baud:=2000000 ">
<!-- include lite6 relative macros: -->
<xacro:include filename="$(find xarm_description)/urdf/lite6/lite6.ros2_control.xacro" />
<xacro:include filename="$(find xarm_description)/urdf/lite6/lite6.urdf.xacro" />
<xacro:include filename="$(find xarm_description)/urdf/lite6/lite6.transmission.xacro" />
<xacro:include filename="$(find xarm_description)/urdf/lite6/lite6.gazebo.xacro" />
<xacro:include filename="$(find custom_xarm_description)/urdf/lite6/lite6.ros2_control.xacro" />
<xacro:include filename="$(find custom_xarm_description)/urdf/lite6/lite6.urdf.xacro" />
<xacro:include filename="$(find custom_xarm_description)/urdf/lite6/lite6.transmission.xacro" />
<xacro:include filename="$(find custom_xarm_description)/urdf/lite6/lite6.gazebo.xacro" />
<!-- gazebo_plugin -->
<xacro:if value="${load_gazebo_plugin}">
<xacro:include filename="$(find xarm_description)/urdf/common/common.gazebo.xacro" />
<xacro:include filename="$(find custom_xarm_description)/urdf/common/common.gazebo.xacro" />
<xacro:gazebo_ros_control_plugin prefix="${prefix}" ros2_control_params="${ros2_control_params}"/>
</xacro:if>

4
src/custom_xarm_description/urdf/xarm_device.urdf.xacro
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@@ -33,11 +33,11 @@
<xacro:arg name="default_gripper_baud" default="2000000"/>
<!-- gazebo_plugin -->
<xacro:include filename="$(find xarm_description)/urdf/common/common.gazebo.xacro" />
<xacro:include filename="$(find custom_xarm_description)/urdf/common/common.gazebo.xacro" />
<xacro:gazebo_ros_control_plugin ros2_control_params="$(arg ros2_control_params)"/>
<!-- load xarm device -->
<xacro:include filename="$(find xarm_description)/urdf/xarm_device_macro.xacro" />
<xacro:include filename="$(find custom_xarm_description)/urdf/xarm_device_macro.xacro" />
<xacro:xarm_device prefix="$(arg prefix)" namespace="$(arg hw_ns)" limited="$(arg limited)"
effort_control="$(arg effort_control)" velocity_control="$(arg velocity_control)"
add_gripper="$(arg add_gripper)" add_vacuum_gripper="$(arg add_vacuum_gripper)" dof="$(arg dof)"

4
src/custom_xarm_description/urdf/xarm_device_macro.xacro
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@@ -35,7 +35,7 @@
<xacro:if value="${dof == 6}">
<xacro:if value="${robot_type == 'lite'}">
<!-- Load Lite6 Robot Model URDF -->
<xacro:include filename="$(find xarm_description)/urdf/lite6/lite6_robot_macro.xacro" />
<xacro:include filename="$(find custom_xarm_description)/urdf/lite6/lite6_robot_macro.xacro" />
<xacro:lite6_robot prefix="${prefix}" namespace="${namespace}" limited="${limited}"
effort_control="${effort_control}" velocity_control="${velocity_control}"
ros2_control_plugin="${ros2_control_plugin}"
@@ -137,4 +137,4 @@
</xacro:if>
</xacro:macro>
</robot>
</robot>