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Add pen to xarm lite6

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This commit is contained in:
Nicolas Hiillos
2022-11-08 16:55:10 +02:00
parent 8357da8151
commit 880c947cb9
5 changed files with 399 additions and 2 deletions
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src/draw_svg/urdf/xarm_pen.urdf.xacro Normal file
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<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="xarm$(arg dof)">
<!-- <robot xmlns:xacro="http://ros.org/wiki/xacro" name="lite6"> -->
<xacro:arg name="prefix" default=""/>
<xacro:arg name="hw_ns" default="xarm"/>
<xacro:arg name="limited" default="false"/>
<xacro:arg name="effort_control" default="false"/>
<xacro:arg name="velocity_control" default="false"/>
<xacro:arg name="add_gripper" default="false"/>
<xacro:arg name="add_vacuum_gripper" default="false"/>
<xacro:arg name="dof" default="6"/>
<xacro:arg name="robot_type" default="lite"/>
<xacro:arg name="ros2_control_plugin" default="uf_robot_hardware/UFRobotSystemHardware"/>
<xacro:arg name="ros2_control_params" default="$(find xarm_controller)/config/xarm$(arg dof)_controllers.yaml"/>
<xacro:arg name="add_other_geometry" default="false"/>
<xacro:arg name="geometry_type" default="box"/>
<xacro:arg name="geometry_mass" default="0.1"/>
<xacro:arg name="geometry_height" default="0.1"/>
<xacro:arg name="geometry_radius" default="0.1"/>
<xacro:arg name="geometry_length" default="0.1"/>
<xacro:arg name="geometry_width" default="0.1"/>
<xacro:arg name="geometry_mesh_filename" default=""/>
<xacro:arg name="geometry_mesh_origin_xyz" default="0 0 0"/>
<xacro:arg name="geometry_mesh_origin_rpy" default="0 0 0"/>
<xacro:arg name="geometry_mesh_tcp_xyz" default="0 0 0"/>
<xacro:arg name="geometry_mesh_tcp_rpy" default="0 0 0"/>
<xacro:arg name="robot_ip" default=""/>
<xacro:arg name="report_type" default="normal"/>
<xacro:arg name="baud_checkset" default="true"/>
<xacro:arg name="default_gripper_baud" default="2000000"/>
<!-- gazebo_plugin -->
<xacro:include filename="$(find xarm_description)/urdf/common/common.gazebo.xacro" />
<xacro:gazebo_ros_control_plugin ros2_control_params="$(arg ros2_control_params)"/>
<!-- load xarm device -->
<!-- Load Lite6 Robot Model URDF -->
<xacro:include filename="$(find xarm_description)/urdf/lite6/lite6_robot_macro.xacro" />
<xacro:lite6_robot prefix="$(arg prefix)" namespace="xarm" limited="$(arg limited)"
effort_control="$(arg effort_control)" velocity_control="$(arg velocity_control)"
ros2_control_plugin="$(arg ros2_control_plugin)"
attach_to="world" xyz="0 0 0" rpy="0 0 0"
ros2_control_params="$(arg ros2_control_params)"
load_gazebo_plugin="false"
add_gripper="$(arg add_gripper)"
robot_ip="$(arg robot_ip)"
report_type="$(arg report_type)"
baud_checkset="$(arg baud_checkset)"
default_gripper_baud="$(arg default_gripper_baud)" />
<joint name="eef_joint" type="fixed">
<parent link="link_eef"/>
<child link="test_link"/>
</joint>
<link name="test_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.005" length="0.2"/>
</geometry>
<material name="Cyan">
<color rgba="0.0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
</robot>
<!-- <robot name="lite6_robot" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:xi="http://www.w3.org/2001/XInclude">
<xacro:include filename="$(find xarm_description)/urdf/lite6/lite6.urdf.xacro"/>
<xacro:lite6_urdf prefix=''/> -->
<!--
</robot> -->