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Commit fcd6cfdc authored by Fernando Herrero's avatar Fernando Herrero
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Add arm and head moving joints

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launch/description.launch
+ 3
− 3
View file @ fcd6cfdc
......@@ -4,6 +4,7 @@
<arg name="ns" default="dabo"/>
<arg name="model" default="dabo"/>
<arg name="static_wheels" default="false" />
<arg name="joint_state_pub" default="false"/>
<group ns="$(arg ns)">
......@@ -15,15 +16,14 @@
<param name="publish_frequency" type="double" value="20.0"/>
</node>
<!--
<node pkg="joint_state_publisher"
type="joint_state_publisher"
name="joint_state_publisher">
name="joint_state_publisher"
if="$(arg joint_state_pub)">
<param name="use_gui" value="true"/>
<remap from="$(arg ns)/joint_states" to="$(arg ns)/joint_states/"/>
<remap from="$(arg ns)/robot_description" to="$(arg ns)/robot_description/"/>
</node>
-->
</group>
......
urdf/dabo.xacro
+ 6
− 3
View file @ fcd6cfdc
......@@ -20,17 +20,20 @@
<xacro:include filename="$(find iri_dabo_description)/urdf/include/head.xacro" />
<xacro:head name="$(arg name)" parent="top_plate">
<origin xyz="0 0 0.7" rpy="0 0 0" />
<origin xyz="-0.03 0 0.57" rpy="0 0 0" />
</xacro:head>
<xacro:include filename="$(find iri_dabo_description)/urdf/include/arm.xacro" />
<xacro:arm name="$(arg name)" prefix="left" parent="top_plate">
<origin xyz="0 0.25 0.5" rpy="0.15 0 0" />
<origin xyz="-0.05 0.17 0.5" rpy="0.0 0 0" />
</xacro:arm>
<xacro:include filename="$(find iri_dabo_description)/urdf/include/arm.xacro" />
<xacro:arm name="$(arg name)" prefix="right" parent="top_plate">
<origin xyz="0 -0.25 0.5" rpy="0.15 0 3.14159" />
<origin xyz="-0.05 -0.17 0.5" rpy="0.0 0 3.14159" />
</xacro:arm>
<xacro:include filename="$(find iri_dabo_description)/urdf/include/control.gazebo" />
<xacro:control name="$(arg name)"/>
</robot>
\ No newline at end of file
urdf/dabo_fixed.xacro 0 → 100644
+ 36
− 0
View file @ fcd6cfdc
<?xml version="1.0"?>
<robot name="dabo" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:arg name="name" default="dabo"/>
<xacro:include filename="$(find iri_segway_rmp200_description)/urdf/include/segway_rmp200.xacro" />
<xacro:segway_rmp200 name="$(arg name)" sim_config="$(find iri_dabo_gazebo)/config/dabo_sim_config.yaml"/>
<xacro:include filename="$(find iri_segway_rmp200_description)/urdf/include/caster_support_wheels.xacro" />
<xacro:caster_support_wheels/>
<xacro:include filename="$(find iri_dabo_description)/urdf/include/body.xacro" />
<xacro:body name="$(arg name)" parent="top_plate">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:body>
<xacro:include filename="$(find iri_dabo_description)/urdf/include/sensors.xacro" />
<xacro:sensors name="$(arg name)" parent="base_link"/>
<xacro:include filename="$(find iri_dabo_description)/urdf/include/head_fixed.xacro" />
<xacro:head name="$(arg name)" parent="top_plate">
<origin xyz="-0.03 0 0.57" rpy="0 0 0" />
</xacro:head>
<xacro:include filename="$(find iri_dabo_description)/urdf/include/arm_fixed.xacro" />
<xacro:arm name="$(arg name)" prefix="left" parent="top_plate">
<origin xyz="-0.05 0.17 0.5" rpy="0.0 0 0" />
</xacro:arm>
<xacro:include filename="$(find iri_dabo_description)/urdf/include/arm_fixed.xacro" />
<xacro:arm name="$(arg name)" prefix="right" parent="top_plate">
<origin xyz="-0.05 -0.17 0.5" rpy="0.0 0 3.14159" />
</xacro:arm>
</robot>
\ No newline at end of file
urdf/include/arm.xacro
+ 94
− 8
View file @ fcd6cfdc
......@@ -2,17 +2,64 @@
<root xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find iri_joint_trajectory_gazebo)/urdf/servo.xacro"/>
<xacro:property name="PI" value="3.1415926535897931" />
<xacro:property name="servo1_name" value="arm_servo1" />
<xacro:property name="servo2_name" value="arm_servo2" />
<xacro:property name="load_name" value="arm" />
<xacro:property name="joint1_name" value="arm_pan" />
<xacro:property name="joint2_name" value="arm_tilt" />
<xacro:macro name="arm" params="prefix name parent *origin">
<joint name="${parent}2${prefix}_${servo1_name}_joint" type="fixed" >
<parent link="${parent}"/>
<child link="${prefix}_${servo1_name}"/>
<xacro:insert_block name="origin"/>
</joint>
<xacro:servo name="${prefix}_${servo1_name}">
<container>
<geometry>
<box size="0.08 0.05 0.1"/>
</geometry>
</container>
<container>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</container>
<container>
<origin rpy="0 0 0" xyz="0 0 0"/>
</container>
</xacro:servo>
<link name="${prefix}_arm">
<visual>
<xacro:servo name="${prefix}_${servo2_name}">
<container>
<geometry>
<box size="0.1 0.05 0.05"/>
</geometry>
</container>
<container>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</container>
<container>
<origin rpy="0 0 0" xyz="0 0 0"/>
</container>
</xacro:servo>
<link name="${prefix}_${load_name}">
<visual>
<origin xyz="0 0 0" rpy="0 -${PI/2} -${PI}"/>
<geometry>
<mesh filename="package://iri_dabo_description/meshes/arm_low.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0.025 -0.15" rpy="0 0 0"/>
<origin xyz="-0.15 -0.025 0" rpy="0 -${PI/2} -${PI}"/>
<geometry>
<cylinder length="0.4" radius="0.07"/>
</geometry>
......@@ -26,12 +73,51 @@
izz="0.0001"/>
</inertial>
</link>
<xacro:servo_joint name ="${prefix}_${joint1_name}"
parent="${prefix}_${servo1_name}"
child ="${prefix}_${servo2_name}">
<container>
<origin rpy="-${PI/2} -${PI/2} 0" xyz="0 0.05 0"/>
</container>
<container>
<limit effort="25.0" lower="-${PI}" upper="${PI}" velocity="0.5"/>
</container>
</xacro:servo_joint>
<xacro:servo_transmission name="${prefix}_${joint1_name}"
joint_interface="EffortJointInterface"
reduction="1">
</xacro:servo_transmission>
<joint name="${parent}2${prefix}_arm_joint" type="fixed" >
<parent link="${parent}"/>
<child link="${prefix}_arm"/>
<xacro:insert_block name="origin"/>
</joint>
<xacro:servo_joint name ="${prefix}_${joint2_name}"
parent="${prefix}_${servo2_name}"
child ="${prefix}_${load_name}">
<container>
<origin rpy="-${PI/2} 0 0" xyz="0 0 0.025"/>
</container>
<container>
<limit effort="25.0" lower="0" upper="${PI/2}" velocity="0.5"/>
</container>
</xacro:servo_joint>
<xacro:servo_transmission name="${prefix}_${joint2_name}"
joint_interface="EffortJointInterface"
reduction="1">
</xacro:servo_transmission>
<gazebo reference="${prefix}_${servo1_name}">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="${prefix}_${servo2_name}">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Black</material>
</gazebo>
</xacro:macro>
......
urdf/include/arm_fixed.xacro 0 → 100644
+ 107
− 0
View file @ fcd6cfdc
<?xml version="1.0"?>
<root xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find iri_joint_trajectory_gazebo)/urdf/servo.xacro"/>
<xacro:property name="PI" value="3.1415926535897931" />
<xacro:property name="servo1_name" value="arm_servo1" />
<xacro:property name="servo2_name" value="arm_servo2" />
<xacro:property name="load_name" value="arm" />
<xacro:property name="joint1_name" value="arm_pan" />
<xacro:property name="joint2_name" value="arm_tilt" />
<xacro:macro name="arm" params="prefix name parent *origin">
<joint name="${parent}2${prefix}_${servo1_name}_joint" type="fixed" >
<parent link="${parent}"/>
<child link="${prefix}_${servo1_name}"/>
<xacro:insert_block name="origin"/>
</joint>
<xacro:servo name="${prefix}_${servo1_name}">
<container>
<geometry>
<box size="0.08 0.05 0.1"/>
</geometry>
</container>
<container>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</container>
<container>
<origin rpy="0 0 0" xyz="0 0 0"/>
</container>
</xacro:servo>
<xacro:servo name="${prefix}_${servo2_name}">
<container>
<geometry>
<box size="0.1 0.05 0.05"/>
</geometry>
</container>
<container>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</container>
<container>
<origin rpy="0 0 0" xyz="0 0 0"/>
</container>
</xacro:servo>
<link name="${prefix}_${load_name}">
<visual>
<origin xyz="0 0 0" rpy="0 -${PI/2} -${PI}"/>
<geometry>
<mesh filename="package://iri_dabo_description/meshes/arm_low.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.15 -0.025 0" rpy="0 -${PI/2} -${PI}"/>
<geometry>
<cylinder length="0.4" radius="0.07"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1"/>
<inertia
ixx="0.0001" ixy="0.0" ixz="0.0"
iyy="0.0001" iyz="0.0"
izz="0.0001"/>
</inertial>
</link>
<joint name="${prefix}_${joint1_name}_joint"
type="fixed">
<parent link="${prefix}_${servo1_name}"/>
<child link="${prefix}_${servo2_name}"/>
<origin rpy="-${PI/2} -${PI/2} 0" xyz="0 0.05 0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="${prefix}_${joint2_name}_joint"
type="fixed">
<parent link="${prefix}_${servo2_name}"/>
<child link="${prefix}_${load_name}"/>
<origin rpy="-${PI/2} 0 0" xyz="0 0 0.025"/>
<axis xyz="0 0 1"/>
</joint>
<gazebo reference="${prefix}_${servo1_name}">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="${prefix}_${servo2_name}">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Black</material>
</gazebo>
</xacro:macro>
</root>
urdf/include/body.xacro
+ 6
− 0
View file @ fcd6cfdc
......@@ -11,6 +11,12 @@
<mesh filename="package://iri_dabo_description/meshes/body_low_dabo.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0.0 0.3" rpy="0 0 0"/>
<geometry>
<box size="0.3 0.4 0.6"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1"/>
......
urdf/include/control.gazebo 0 → 100644
+ 19
− 0
View file @ fcd6cfdc
<?xml version="1.0"?>
<root xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="control" params="name">
<xacro:property name="ctrl_period" value="0.001"/>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>${name}</robotNamespace>
<controlPeriod>${ctrl_period}</controlPeriod>
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
</xacro:macro>
</root>
\ No newline at end of file
urdf/include/head.xacro
+ 133
− 9
View file @ fcd6cfdc
......@@ -2,17 +2,82 @@
<root xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find iri_joint_trajectory_gazebo)/urdf/servo.xacro"/>
<xacro:property name="PI" value="3.1415926535897931" />
<xacro:property name="servo1_name" value="head_servo1" />
<xacro:property name="servo2_name" value="head_servo2" />
<xacro:property name="servo3_name" value="head_servo3" />
<xacro:property name="load_name" value="head" />
<xacro:property name="joint1_name" value="head_pan" />
<xacro:property name="joint2_name" value="head_roll" />
<xacro:property name="joint3_name" value="head_tilt" />
<xacro:macro name="head" params="name parent *origin">
<joint name="${parent}2${servo1_name}_joint" type="fixed">
<parent link="${parent}"/>
<child link="${servo1_name}"/>
<xacro:insert_block name="origin"/>
</joint>
<link name="head">
<xacro:servo name="${servo1_name}">
<container>
<geometry>
<box size="0.054 0.032 0.04"/>
</geometry>
</container>
<container>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</container>
<container>
<origin rpy="0 0 0" xyz="0 0 0"/>
</container>
</xacro:servo>
<xacro:servo name="${servo2_name}">
<container>
<geometry>
<box size="0.04 0.032 0.054"/>
</geometry>
</container>
<container>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</container>
<container>
<origin rpy="0 0 0" xyz="-0.02 0 0.05"/>
</container>
</xacro:servo>
<xacro:servo name="${servo3_name}">
<container>
<geometry>
<box size="0.032 0.04 0.054"/>
</geometry>
</container>
<container>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</container>
<container>
<origin rpy="0 0 0" xyz="0 -0.02 -0.027"/>
</container>
</xacro:servo>
<link name="${load_name}">
<visual>
<origin rpy="1.5707 0 0" xyz="0 0 0"/>
<origin xyz="-0.05 0.01 0" rpy="0 0 -${PI/2}"/>
<geometry>
<mesh filename="package://iri_dabo_description/meshes/head_low_dabo.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0.05" rpy="0 0 0"/>
<origin xyz="0 0.01 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.15"/>
</geometry>
......@@ -26,13 +91,72 @@
izz="0.00750394"/>
</inertial>
</link>
<xacro:servo_joint name="${joint1_name}"
parent="${servo1_name}"
child="${servo2_name}">
<container>
<origin rpy="0 0 0" xyz="0.01722 0 0.0"/>
</container>
<container>
<limit effort="25.0" lower="-${PI/2}" upper="${PI/2}" velocity="5"/>
</container>
</xacro:servo_joint>
<joint name="${parent}2head_joint" type="fixed">
<parent link="${parent}"/>
<child link="head"/>
<xacro:insert_block name="origin"/>
<axis xyz="0 0 1"/>
</joint>
<xacro:servo_transmission name="${joint1_name}"
joint_interface="EffortJointInterface"
reduction="1">
</xacro:servo_transmission>
<xacro:servo_joint name="${joint2_name}"
parent="${servo2_name}"
child="${servo3_name}">
<container>
<origin rpy="-${PI/2} 0 -${PI/2}" xyz="0 0 0.08293"/>
</container>
<container>
<limit effort="25.0" lower="-0.7" upper="0.7" velocity="5"/>
</container>
</xacro:servo_joint>
<xacro:servo_transmission name="${joint2_name}"
joint_interface="EffortJointInterface"
reduction="1">
</xacro:servo_transmission>
<xacro:servo_joint name="${joint3_name}"
parent="${servo3_name}"
child="${load_name}">
<container>
<origin rpy="-${PI/2} 0 -${PI/2}" xyz="0 -0.060 0.007"/>
</container>
<container>
<limit effort="25.0" lower="-0.49" upper="0.11" velocity="5"/>
</container>
</xacro:servo_joint>
<xacro:servo_transmission name="${joint3_name}"
joint_interface="EffortJointInterface"
reduction="1">
</xacro:servo_transmission>
<gazebo reference="${servo1_name}">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="${servo2_name}">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="${servo3_name}">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Black</material>
</gazebo>
</xacro:macro>
......
urdf/include/head_fixed.xacro 0 → 100644
+ 136
− 0
View file @ fcd6cfdc
<?xml version="1.0"?>
<root xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find iri_joint_trajectory_gazebo)/urdf/servo.xacro"/>
<xacro:property name="PI" value="3.1415926535897931" />
<xacro:property name="servo1_name" value="head_servo1" />
<xacro:property name="servo2_name" value="head_servo2" />
<xacro:property name="servo3_name" value="head_servo3" />
<xacro:property name="load_name" value="head" />
<xacro:property name="joint1_name" value="head_pan" />
<xacro:property name="joint2_name" value="head_roll" />
<xacro:property name="joint3_name" value="head_tilt" />
<xacro:macro name="head" params="name parent *origin">
<joint name="${parent}2${servo1_name}_joint" type="fixed">
<parent link="${parent}"/>
<child link="${servo1_name}"/>
<xacro:insert_block name="origin"/>
</joint>
<xacro:servo name="${servo1_name}">
<container>
<geometry>
<box size="0.054 0.032 0.04"/>
</geometry>
</container>
<container>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</container>
<container>
<origin rpy="0 0 0" xyz="0 0 0"/>
</container>
</xacro:servo>
<xacro:servo name="${servo2_name}">
<container>
<geometry>
<box size="0.04 0.032 0.054"/>
</geometry>
</container>
<container>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</container>
<container>
<origin rpy="0 0 0" xyz="-0.02 0 0.05"/>
</container>
</xacro:servo>
<xacro:servo name="${servo3_name}">
<container>
<geometry>
<box size="0.032 0.04 0.054"/>
</geometry>
</container>
<container>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</container>
<container>
<origin rpy="0 0 0" xyz="0 -0.02 -0.027"/>
</container>
</xacro:servo>
<link name="${load_name}">
<visual>
<origin xyz="-0.05 0.01 0" rpy="0 0 -${PI/2}"/>
<geometry>
<mesh filename="package://iri_dabo_description/meshes/head_low_dabo.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0.05 0.05" rpy="0 0 0"/>
<geometry>
<sphere radius="0.15"/>
</geometry>
</collision>
<inertial>
<origin xyz="0.07366358 0.00094968 -0.00868937" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia
ixx="0.00966943" ixy="-0.00004500" ixz="-0.00064634"
iyy="0.00845836" iyz="0.00001799"
izz="0.00750394"/>
</inertial>
</link>
<joint name="${joint1_name}" type="fixed">
<parent link="${servo1_name}"/>
<child link="${servo2_name}"/>
<origin rpy="0 0 0" xyz="0.01722 0 0.0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="${joint2_name}" type="fixed">
<parent link="${servo2_name}"/>
<child link="${servo3_name}"/>
<origin rpy="-${PI/2} 0 -${PI/2}" xyz="0 0 0.08293"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="${joint3_name}" type="fixed">
<parent link="${servo3_name}"/>
<child link="${load_name}"/>
<origin rpy="-${PI/2} 0 -${PI/2}" xyz="0 -0.060 0.007"/>
<axis xyz="0 0 1"/>
</joint>
<gazebo reference="${servo1_name}">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="${servo2_name}">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="${servo3_name}">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Black</material>
</gazebo>
</xacro:macro>
</root>
\ No newline at end of file
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