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Commit e7494412 authored by Wim Meeussen's avatar Wim Meeussen
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full model of univesal robot

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universal_robot_description/launch/load.launch 0 → 100644
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View file @ e7494412
<launch>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find universal_robot_description)/urdf/robot.urdf.xacro'" />
</launch>
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universal_robot_description/launch/test.launch
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<launch>
<param name="robot_description" textfile="$(find universal_robot_description)/urdf/robot.xml" />
<param name="use_gui" value="true"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.vcg" />
<include file="$(find universal_robot_description)/launch/load.launch" />
<param name="use_gui" value="true"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.vcg" />
</launch>
universal_robot_description/urdf/robot.urdf.xacro 0 → 100644
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View file @ e7494412
<?xml version="1.0"?>
<robot name="universal_robot">
<property name="pi" value="3.14" />
<property name="shoulder_height" value="0.1" />
<property name="shoulder_offset" value="0.1" />
<property name="upper_arm_length" value="0.5" />
<property name="forearm_length" value="0.5" />
<property name="wrist_1_length" value="0.1" />
<property name="wrist_2_length" value="0.1" />
<property name="wrist_3_length" value="0.1" />
<link name="base_link" />
<joint name="shoulder_pan_joint" type="revolute">
<parent link="base_link" />
<child link = "shoulder_link" />
<origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
</joint>
<link name="shoulder_link">
<visual>
<geometry>
<cylinder length="${shoulder_height}" radius="0.1"/>
</geometry>
<origin xyz="0.0 0.0 ${-shoulder_height/2.0}" rpy="0.0 0.0 0.0" />
</visual>
</link>
<joint name="shoulder_lift_joint" type="revolute">
<parent link="shoulder_link" />
<child link = "upper_arm_link" />
<origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
</joint>
<link name="upper_arm_link">
<visual>
<geometry>
<cylinder length="${upper_arm_length}" radius="0.05"/>
</geometry>
<origin xyz="0.0 0.0 ${upper_arm_length/2.0}" rpy="0.0 0.0 0.0" />
</visual>
</link>
<joint name="elbow_joint" type="revolute">
<parent link="upper_arm_link" />
<child link = "forearm_link" />
<origin xyz="0.0 ${-shoulder_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 -1.0 0.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
</joint>
<link name="forearm_link">
<visual>
<geometry>
<cylinder length="${forearm_length}" radius="0.05"/>
</geometry>
<origin xyz="0.0 0.0 ${forearm_length/2.0}" rpy="0.0 0.0 0.0" />
</visual>
</link>
<joint name="wrist_1_joint" type="revolute">
<parent link="forearm_link" />
<child link = "wrist_1_link" />
<origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
</joint>
<link name="wrist_1_link">
<visual>
<geometry>
<cylinder length="${wrist_1_length}" radius="0.05"/>
</geometry>
<origin xyz="0.0 ${wrist_1_length/2.0} 0.0" rpy="-${pi/2.0} 0.0 0.0" />
</visual>
</link>
<joint name="wrist_2_joint" type="revolute">
<parent link="wrist_1_link" />
<child link = "wrist_2_link" />
<origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
</joint>
<link name="wrist_2_link">
<visual>
<geometry>
<cylinder length="${wrist_2_length}" radius="0.05"/>
</geometry>
<origin xyz="0.0 0.0 ${wrist_2_length/2.0}" rpy="0.0 0.0 0.0" />
</visual>
</link>
<joint name="wrist_3_joint" type="revolute">
<parent link="wrist_2_link" />
<child link = "wrist_3_link" />
<origin xyz="0.0 0.0 ${wrist_3_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
</joint>
<link name="wrist_3_link">
<visual>
<geometry>
<cylinder length="${wrist_3_length}" radius="0.05"/>
</geometry>
<origin xyz="0.0 ${wrist_3_length/2.0} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
</visual>
</link>
<joint name="ee_fixed_joint" type="fixed">
<parent link="wrist_3_link" />
<child link = "ee_link" />
<origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
</joint>
<link name="ee_link">
<visual>
<geometry>
<cylinder length="0.01" radius="0.06"/>
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 ${-pi/2.0} 0.0" />
</visual>
</link>
</robot>
universal_robot_description/urdf/robot.xml deleted 100644 → 0
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View file @ eaff5f37
<?xml version="1.0"?>
<robot name="universal_robot">
<link name="base_link" />
<joint name="shoulder_pan_joint" type="revolute">
<parent link="base_link" />
<child link = "shoulder_link" />
<origin xyz="0.0 0.0 0.10" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="-3.14" upper="3.14" effort="10.0" velocity="1.0"/>
</joint>
<link name="shoulder_link">
<visual>
<geometry>
<cylinder length="0.20" radius="0.1"/>
</geometry>
</visual>
</link>
<joint name="shoulder_lift_joint" type="revolute">
<parent link="shoulder_link" />
<child link = "upper_arm_link" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="-3.14" upper="3.14" effort="10.0" velocity="1.0"/>
</joint>
<link name="upper_arm_link">
<visual>
<geometry>
<cylinder length="0.50" radius="0.05"/>
</geometry>
<origin xyz="0.0 0.20 0.25" rpy="0.0 0.0 0.0" />
</visual>
</link>
<joint name="elbow_joint" type="revolute">
<parent link="upper_arm_link" />
<child link = "forearm_link" />
<origin xyz="0.0 0.0 0.50" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 -1.0 0.0" />
<limit lower="-3.14" upper="3.14" effort="10.0" velocity="1.0"/>
</joint>
<link name="forearm_link">
<visual>
<geometry>
<cylinder length="0.50" radius="0.05"/>
</geometry>
<origin xyz="0.0 0.0 0.25" rpy="0.0 0.0 0.0" />
</visual>
</link>
</robot>
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