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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,11 @@ | ||
| cmake_minimum_required(VERSION 3.5) | ||
| project(ros2_control_demo_description) | ||
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| find_package(ament_cmake REQUIRED) | ||
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| install( | ||
| DIRECTORY r6bot/launch r6bot/meshes r6bot/srdf r6bot/urdf r6bot/rviz | ||
| DESTINATION share/${PROJECT_NAME}/r6bot | ||
| ) | ||
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| ament_package() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,21 @@ | ||
| <?xml version="1.0"?> | ||
| <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <package format="3"> | ||
| <name>ros2_control_demo_description</name> | ||
| <version>0.0.0</version> | ||
| <description>Package with URDF and description files of test robots.</description> | ||
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| <maintainer email="denis@stogl.de">Denis Štogl</maintainer> | ||
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| <license>Apache-2.0</license> | ||
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| <buildtool_depend>ament_cmake</buildtool_depend> | ||
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| <exec_depend>joint_state_publisher_gui</exec_depend> | ||
| <exec_depend>robot_state_publisher</exec_depend> | ||
| <exec_depend>rviz2</exec_depend> | ||
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| <export> | ||
| <build_type>ament_cmake</build_type> | ||
| </export> | ||
| </package> |
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139 changes: 139 additions & 0 deletions
139
ros2_control_demo_description/r6bot/urdf/r6bot_description.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,139 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <xacro:macro name="r6bot_description"> | ||
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| <!-- helper macro --> | ||
| <xacro:include filename="$(find ros2_control_demo_description)/r6bot/urdf/inc/create_link.xacro"/> | ||
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| <xacro:create_link | ||
| link_name="base_link" | ||
| xyz_offset="0 0 0" | ||
| rpy_offset="0 0 0" | ||
| mesh_package="ros2_control_demo_description/r6bot" | ||
| mesh_name="link_0" | ||
| /> | ||
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| <xacro:create_link | ||
| link_name="link_1" | ||
| xyz_offset="0 0 0" | ||
| rpy_offset="0 0 0" | ||
| mesh_package="ros2_control_demo_description/r6bot" | ||
| mesh_name="link_1" | ||
| /> | ||
|
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| <xacro:create_link | ||
| link_name="link_2" | ||
| xyz_offset="0 0 0" | ||
| rpy_offset="0 0 0" | ||
| mesh_package="ros2_control_demo_description/r6bot" | ||
| mesh_name="link_2" | ||
| /> | ||
|
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| <xacro:create_link | ||
| link_name="link_3" | ||
| xyz_offset="0 0 0" | ||
| rpy_offset="0 0 0" | ||
| mesh_package="ros2_control_demo_description/r6bot" | ||
| mesh_name="link_3" | ||
| /> | ||
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| <xacro:create_link | ||
| link_name="link_4" | ||
| xyz_offset="0 0 0" | ||
| rpy_offset="0 0 0" | ||
| mesh_package="ros2_control_demo_description/r6bot" | ||
| mesh_name="link_4" | ||
| /> | ||
|
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| <xacro:create_link | ||
| link_name="link_5" | ||
| xyz_offset="0 0 0" | ||
| rpy_offset="0 0 0" | ||
| mesh_package="ros2_control_demo_description/r6bot" | ||
| mesh_name="link_5" | ||
| /> | ||
|
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| <xacro:create_link | ||
| link_name="link_6" | ||
| xyz_offset="0 0 0" | ||
| rpy_offset="0 0 0" | ||
| mesh_package="ros2_control_demo_description/r6bot" | ||
| mesh_name="link_6" | ||
| /> | ||
|
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| <link name="ft_frame"/> | ||
| <link name="tool0"/> | ||
|
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| <!-- base_joint fixes base_link to the environment --> | ||
| <joint name="base_joint" type="fixed"> | ||
| <parent link="world"/> | ||
| <child link="base_link"/> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <axis xyz="0 0 1"/> | ||
| </joint> | ||
|
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| <!-- joints - main serial chain --> | ||
| <joint name="joint_1" type="revolute"> | ||
| <parent link="base_link"/> | ||
| <child link="link_1"/> | ||
| <origin xyz="0 0 0.061584" rpy="0 0 0"/> | ||
| <axis xyz="0 0 1"/> | ||
| <limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/> | ||
| </joint> | ||
|
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| <joint name="joint_2" type="revolute"> | ||
| <parent link="link_1"/> | ||
| <child link="link_2"/> | ||
| <origin xyz="-0.101717 0 0.182284" rpy="${-pi/2} -${pi/3} ${pi/2}"/> | ||
| <axis xyz="0 0 1"/> | ||
| <limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/> | ||
| </joint> | ||
|
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| <joint name="joint_3" type="revolute"> | ||
| <parent link="link_2"/> | ||
| <child link="link_3"/> | ||
| <origin xyz="0.685682 0 0.041861" rpy="0 ${pi} ${pi+pi/2}"/> | ||
| <axis xyz="0 0 1"/> | ||
| <limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/> | ||
| </joint> | ||
|
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| <joint name="joint_4" type="revolute"> | ||
| <parent link="link_3"/> | ||
| <child link="link_4"/> | ||
| <origin xyz="0.518777 0 0.067458" rpy="0 ${pi} ${pi+pi/6}"/> | ||
| <axis xyz="0 0 1"/> | ||
| <limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/> | ||
| </joint> | ||
|
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| <joint name="joint_5" type="revolute"> | ||
| <parent link="link_4"/> | ||
| <child link="link_5"/> | ||
| <origin xyz="0.112654 0 0.110903" rpy="${pi/2} ${pi} ${pi/2}"/> | ||
| <axis xyz="0 0 1"/> | ||
| <limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/> | ||
| </joint> | ||
|
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| <joint name="joint_6" type="revolute"> | ||
| <parent link="link_5"/> | ||
| <child link="link_6"/> | ||
| <origin xyz="-0.085976 0 0.133436" rpy="0 ${-pi/2} 0"/> | ||
| <axis xyz="0 0 1"/> | ||
| <limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/> | ||
| </joint> | ||
|
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| <joint name="joint-ft_frame" type="fixed"> | ||
| <parent link="link_6"/> | ||
| <child link="ft_frame"/> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| </joint> | ||
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| <joint name="joint-tool" type="fixed"> | ||
| <parent link="ft_frame"/> | ||
| <child link="tool0"/> | ||
| <origin xyz="0 0 .185" rpy="0 0 0"/> | ||
| </joint> | ||
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| </xacro:macro> | ||
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| </robot> |