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机械臂仿真与运动路径规划完成

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This commit is contained in:
Quella
2026-02-27 22:52:29 +08:00
parent 35407812af
commit c98a6fae55
1660 changed files with 57342 additions and 4778 deletions
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simulation_ws/install/robotic_arm/lib/robotic_arm/armcontrol Executable file
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simulation_ws/install/robotic_arm/share/ament_index/resource_index/package_run_dependencies/robotic_arm Normal file
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rclcpp;ament_lint_auto;ament_lint_common

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simulation_ws/install/robotic_arm/share/ament_index/resource_index/packages/robotic_arm Normal file
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simulation_ws/install/robotic_arm/share/ament_index/resource_index/parent_prefix_path/robotic_arm Normal file
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/home/quella/ROS2_WS/simulation_ws/install/trolley:/home/quella/ROS2_WS/simulation_ws/install/MoveIt2:/home/quella/ROS2_WS/simulation_ws/install/robotic_arm:/opt/ros/humble

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simulation_ws/install/robotic_arm/share/colcon-core/packages/robotic_arm Normal file
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rclcpp

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simulation_ws/install/robotic_arm/share/robotic_arm/cmake/robotic_armConfig-version.cmake Normal file
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# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
set(PACKAGE_VERSION "0.0.0")
set(PACKAGE_VERSION_EXACT False)
set(PACKAGE_VERSION_COMPATIBLE False)
if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
set(PACKAGE_VERSION_EXACT True)
set(PACKAGE_VERSION_COMPATIBLE True)
endif()
if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
set(PACKAGE_VERSION_COMPATIBLE True)
endif()

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simulation_ws/install/robotic_arm/share/robotic_arm/cmake/robotic_armConfig.cmake Normal file
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# generated from ament/cmake/core/templates/nameConfig.cmake.in
# prevent multiple inclusion
if(_robotic_arm_CONFIG_INCLUDED)
# ensure to keep the found flag the same
if(NOT DEFINED robotic_arm_FOUND)
# explicitly set it to FALSE, otherwise CMake will set it to TRUE
set(robotic_arm_FOUND FALSE)
elseif(NOT robotic_arm_FOUND)
# use separate condition to avoid uninitialized variable warning
set(robotic_arm_FOUND FALSE)
endif()
return()
endif()
set(_robotic_arm_CONFIG_INCLUDED TRUE)
# output package information
if(NOT robotic_arm_FIND_QUIETLY)
message(STATUS "Found robotic_arm: 0.0.0 (${robotic_arm_DIR})")
endif()
# warn when using a deprecated package
if(NOT "" STREQUAL "")
set(_msg "Package 'robotic_arm' is deprecated")
# append custom deprecation text if available
if(NOT "" STREQUAL "TRUE")
set(_msg "${_msg} ()")
endif()
# optionally quiet the deprecation message
if(NOT ${robotic_arm_DEPRECATED_QUIET})
message(DEPRECATION "${_msg}")
endif()
endif()
# flag package as ament-based to distinguish it after being find_package()-ed
set(robotic_arm_FOUND_AMENT_PACKAGE TRUE)
# include all config extra files
set(_extras "")
foreach(_extra ${_extras})
include("${robotic_arm_DIR}/${_extra}")
endforeach()

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simulation_ws/install/robotic_arm/share/robotic_arm/config/controllers.yaml Normal file
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controller_manager:
ros__parameters:
update_rate: 100
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
arm_position_controller:
type: joint_trajectory_controller/JointTrajectoryController
arm_position_controller:
ros__parameters:
joints:
- joint1
- joint2
- joint3
- joint4
- joint5
- joint6
command_interfaces:
- position
state_interfaces:
- position
- velocity
gains:
joint1: { p: 100.0, d: 10.0, i: 0.01 }
joint2: { p: 100.0, d: 10.0, i: 0.01 }
joint3: { p: 100.0, d: 10.0, i: 0.01 }
joint4: { p: 100.0, d: 10.0, i: 0.01 }
joint5: { p: 100.0, d: 10.0, i: 0.01 }
joint6: { p: 100.0, d: 10.0, i: 0.01 }

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simulation_ws/install/robotic_arm/share/robotic_arm/environment/ament_prefix_path.dsv Normal file
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prepend-non-duplicate;AMENT_PREFIX_PATH;

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simulation_ws/install/robotic_arm/share/robotic_arm/environment/ament_prefix_path.sh Normal file
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# copied from
# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"

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simulation_ws/install/robotic_arm/share/robotic_arm/environment/path.dsv Normal file
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prepend-non-duplicate-if-exists;PATH;bin

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simulation_ws/install/robotic_arm/share/robotic_arm/environment/path.sh Normal file
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# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
fi

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simulation_ws/install/robotic_arm/share/robotic_arm/hook/cmake_prefix_path.dsv Normal file
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prepend-non-duplicate;CMAKE_PREFIX_PATH;

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simulation_ws/install/robotic_arm/share/robotic_arm/hook/cmake_prefix_path.ps1 Normal file
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# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"

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simulation_ws/install/robotic_arm/share/robotic_arm/hook/cmake_prefix_path.sh Normal file
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# generated from colcon_core/shell/template/hook_prepend_value.sh.em
_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"

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simulation_ws/install/robotic_arm/share/robotic_arm/launch/__pycache__/gazebo.launch.cpython-310.pyc Normal file
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simulation_ws/install/robotic_arm/share/robotic_arm/launch/display.launch.py Normal file
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import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
import xacro
def generate_launch_description():
pkg_path=get_package_share_directory('robotic_arm')
xacro_file=os.path.join(pkg_path,'urdf','robotic_arm.urdf.xacro')
# 解析xacro文件,展开所有宏,常量,变量,include等,得到最终的URDF字符串
robot_description_config=xacro.process_file(xacro_file)
# 将URDF字符串封装成ROS参数字典,键为'robot_description',值为URDF字符串
robot_description = {'robot_description': robot_description_config.toxml()}
# 发布机器人状态的节点
rsp=Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='screen',
parameters=[robot_description]
)
# 关节状态发布器
jsp=Node(
package='joint_state_publisher_gui',
executable='joint_state_publisher_gui',
output='screen'
)
# 启动rviz2,并加载预设的rviz配置文件
rvz=Node(
package='rviz2',
executable='rviz2',
output='screen',
arguments=['-d', os.path.join(pkg_path,'rviz','display.rviz')]
)
return LaunchDescription([
rsp,
jsp,
rvz
])

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simulation_ws/install/robotic_arm/share/robotic_arm/launch/gazebo.launch.py Normal file
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import os
import xacro
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import ExecuteProcess, TimerAction
from launch_ros.actions import Node
def generate_launch_description():
pkg_path = get_package_share_directory('robotic_arm')
xacro_file = os.path.join(pkg_path, 'urdf', 'robotic_arm.urdf.xacro')
robot_description_config = xacro.process_file(xacro_file)
robot_description = {'robot_description': robot_description_config.toxml()}
# 启动 Gazebo
gazebo = ExecuteProcess(
cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so','-s','libgazebo_ros_init.so'],
output='screen'
)
# 发布机器人状态
rsp = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='screen',
parameters=[robot_description]
)
# 在 Gazebo 中生成机器人
spawn = Node(
package='gazebo_ros',
executable='spawn_entity.py',
output='screen',
arguments=[
'-topic', 'robot_description',
'-entity', 'robotic_arm',
'-x', '0',
'-y', '0',
'-z', '0.0',
],
)
# 加载关节状态控制器
spawn_jsc = Node(
package='controller_manager',
executable='spawner',
output='screen',
arguments=['joint_state_broadcaster', '--controller-manager', '/controller_manager'],
)
# 加载机械臂位置控制器
spawn_arm = Node(
package='controller_manager',
executable='spawner',
output='screen',
arguments=['arm_position_controller', '--controller-manager', '/controller_manager'],
)
return LaunchDescription([
gazebo,
rsp,
TimerAction(period=3.0, actions=[spawn]),
TimerAction(period=6.0, actions=[spawn_jsc, spawn_arm]),
])

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simulation_ws/install/robotic_arm/share/robotic_arm/local_setup.bash Normal file
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# generated from ament_package/template/package_level/local_setup.bash.in
# source local_setup.sh from same directory as this file
_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
# provide AMENT_CURRENT_PREFIX to shell script
AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
# store AMENT_CURRENT_PREFIX to restore it before each environment hook
_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
# trace output
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
echo "# . \"$_this_path/local_setup.sh\""
fi
. "$_this_path/local_setup.sh"
unset _this_path
# unset AMENT_ENVIRONMENT_HOOKS
# if not appending to them for return
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
unset AMENT_ENVIRONMENT_HOOKS
fi
# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
# list all environment hooks of this package
# source all shell-specific environment hooks of this package
# if not returning them
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
_package_local_setup_IFS=$IFS
IFS=":"
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
# restore AMENT_CURRENT_PREFIX for each environment hook
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
# restore IFS before sourcing other files
IFS=$_package_local_setup_IFS
. "$_hook"
done
unset _hook
IFS=$_package_local_setup_IFS
unset _package_local_setup_IFS
unset AMENT_ENVIRONMENT_HOOKS
fi
unset _package_local_setup_AMENT_CURRENT_PREFIX
unset AMENT_CURRENT_PREFIX

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simulation_ws/install/robotic_arm/share/robotic_arm/local_setup.dsv Normal file
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source;share/robotic_arm/environment/ament_prefix_path.sh
source;share/robotic_arm/environment/path.sh

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simulation_ws/install/robotic_arm/share/robotic_arm/local_setup.sh Normal file
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# generated from ament_package/template/package_level/local_setup.sh.in
# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
# or fall back to the destination set at configure time
: ${AMENT_CURRENT_PREFIX:="/home/quella/ROS2_WS/simulation_ws/install/robotic_arm"}
if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
"exist. Consider sourcing a different extension than '.sh'." 1>&2
else
AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
fi
fi
# function to append values to environment variables
# using colons as separators and avoiding leading separators
ament_append_value() {
# arguments
_listname="$1"
_value="$2"
#echo "listname $_listname"
#eval echo "list value \$$_listname"
#echo "value $_value"
# avoid leading separator
eval _values=\"\$$_listname\"
if [ -z "$_values" ]; then
eval export $_listname=\"$_value\"
#eval echo "set list \$$_listname"
else
# field separator must not be a colon
_ament_append_value_IFS=$IFS
unset IFS
eval export $_listname=\"\$$_listname:$_value\"
#eval echo "append list \$$_listname"
IFS=$_ament_append_value_IFS
unset _ament_append_value_IFS
fi
unset _values
unset _value
unset _listname
}
# function to append non-duplicate values to environment variables
# using colons as separators and avoiding leading separators
ament_append_unique_value() {
# arguments
_listname=$1
_value=$2
#echo "listname $_listname"
#eval echo "list value \$$_listname"
#echo "value $_value"
# check if the list contains the value
eval _values=\$$_listname
_duplicate=
_ament_append_unique_value_IFS=$IFS
IFS=":"
if [ "$AMENT_SHELL" = "zsh" ]; then
ament_zsh_to_array _values
fi
for _item in $_values; do
# ignore empty strings
if [ -z "$_item" ]; then
continue
fi
if [ $_item = $_value ]; then
_duplicate=1
fi
done
unset _item
# append only non-duplicates
if [ -z "$_duplicate" ]; then
# avoid leading separator
if [ -z "$_values" ]; then
eval $_listname=\"$_value\"
#eval echo "set list \$$_listname"
else
# field separator must not be a colon
unset IFS
eval $_listname=\"\$$_listname:$_value\"
#eval echo "append list \$$_listname"
fi
fi
IFS=$_ament_append_unique_value_IFS
unset _ament_append_unique_value_IFS
unset _duplicate
unset _values
unset _value
unset _listname
}
# function to prepend non-duplicate values to environment variables
# using colons as separators and avoiding trailing separators
ament_prepend_unique_value() {
# arguments
_listname="$1"
_value="$2"
#echo "listname $_listname"
#eval echo "list value \$$_listname"
#echo "value $_value"
# check if the list contains the value
eval _values=\"\$$_listname\"
_duplicate=
_ament_prepend_unique_value_IFS=$IFS
IFS=":"
if [ "$AMENT_SHELL" = "zsh" ]; then
ament_zsh_to_array _values
fi
for _item in $_values; do
# ignore empty strings
if [ -z "$_item" ]; then
continue
fi
if [ "$_item" = "$_value" ]; then
_duplicate=1
fi
done
unset _item
# prepend only non-duplicates
if [ -z "$_duplicate" ]; then
# avoid trailing separator
if [ -z "$_values" ]; then
eval export $_listname=\"$_value\"
#eval echo "set list \$$_listname"
else
# field separator must not be a colon
unset IFS
eval export $_listname=\"$_value:\$$_listname\"
#eval echo "prepend list \$$_listname"
fi
fi
IFS=$_ament_prepend_unique_value_IFS
unset _ament_prepend_unique_value_IFS
unset _duplicate
unset _values
unset _value
unset _listname
}
# unset AMENT_ENVIRONMENT_HOOKS
# if not appending to them for return
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
unset AMENT_ENVIRONMENT_HOOKS
fi
# list all environment hooks of this package
ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/robotic_arm/environment/ament_prefix_path.sh"
ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/robotic_arm/environment/path.sh"
# source all shell-specific environment hooks of this package
# if not returning them
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
_package_local_setup_IFS=$IFS
IFS=":"
if [ "$AMENT_SHELL" = "zsh" ]; then
ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
fi
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
if [ -f "$_hook" ]; then
# restore IFS before sourcing other files
IFS=$_package_local_setup_IFS
# trace output
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
echo "# . \"$_hook\""
fi
. "$_hook"
fi
done
unset _hook
IFS=$_package_local_setup_IFS
unset _package_local_setup_IFS
unset AMENT_ENVIRONMENT_HOOKS
fi
# reset AMENT_CURRENT_PREFIX after each package
# allowing to source multiple package-level setup files
unset AMENT_CURRENT_PREFIX

59
simulation_ws/install/robotic_arm/share/robotic_arm/local_setup.zsh Normal file
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# generated from ament_package/template/package_level/local_setup.zsh.in
AMENT_SHELL=zsh
# source local_setup.sh from same directory as this file
_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
# provide AMENT_CURRENT_PREFIX to shell script
AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
# store AMENT_CURRENT_PREFIX to restore it before each environment hook
_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
# function to convert array-like strings into arrays
# to wordaround SH_WORD_SPLIT not being set
ament_zsh_to_array() {
local _listname=$1
local _dollar="$"
local _split="{="
local _to_array="(\"$_dollar$_split$_listname}\")"
eval $_listname=$_to_array
}
# trace output
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
echo "# . \"$_this_path/local_setup.sh\""
fi
# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
. "$_this_path/local_setup.sh"
unset _this_path
# unset AMENT_ENVIRONMENT_HOOKS
# if not appending to them for return
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
unset AMENT_ENVIRONMENT_HOOKS
fi
# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
# list all environment hooks of this package
# source all shell-specific environment hooks of this package
# if not returning them
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
_package_local_setup_IFS=$IFS
IFS=":"
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
# restore AMENT_CURRENT_PREFIX for each environment hook
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
# restore IFS before sourcing other files
IFS=$_package_local_setup_IFS
. "$_hook"
done
unset _hook
IFS=$_package_local_setup_IFS
unset _package_local_setup_IFS
unset AMENT_ENVIRONMENT_HOOKS
fi
unset _package_local_setup_AMENT_CURRENT_PREFIX
unset AMENT_CURRENT_PREFIX

39
simulation_ws/install/robotic_arm/share/robotic_arm/package.bash Normal file
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# generated from colcon_bash/shell/template/package.bash.em
# This script extends the environment for this package.
# a bash script is able to determine its own path if necessary
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
# the prefix is two levels up from the package specific share directory
_colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
else
_colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
fi
# function to source another script with conditional trace output
# first argument: the path of the script
# additional arguments: arguments to the script
_colcon_package_bash_source_script() {
if [ -f "$1" ]; then
if [ -n "$COLCON_TRACE" ]; then
echo "# . \"$1\""
fi
. "$@"
else
echo "not found: \"$1\"" 1>&2
fi
}
# source sh script of this package
_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/robotic_arm/package.sh"
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
COLCON_CURRENT_PREFIX="$_colcon_package_bash_COLCON_CURRENT_PREFIX"
# source bash hooks
_colcon_package_bash_source_script "$COLCON_CURRENT_PREFIX/share/robotic_arm/local_setup.bash"
unset COLCON_CURRENT_PREFIX
unset _colcon_package_bash_source_script
unset _colcon_package_bash_COLCON_CURRENT_PREFIX

8
simulation_ws/install/robotic_arm/share/robotic_arm/package.dsv Normal file
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@@ -0,0 +1,8 @@
source;share/robotic_arm/hook/cmake_prefix_path.ps1
source;share/robotic_arm/hook/cmake_prefix_path.dsv
source;share/robotic_arm/hook/cmake_prefix_path.sh
source;share/robotic_arm/local_setup.bash
source;share/robotic_arm/local_setup.dsv
source;share/robotic_arm/local_setup.ps1
source;share/robotic_arm/local_setup.sh
source;share/robotic_arm/local_setup.zsh

116
simulation_ws/install/robotic_arm/share/robotic_arm/package.ps1 Normal file
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# generated from colcon_powershell/shell/template/package.ps1.em
# function to append a value to a variable
# which uses colons as separators
# duplicates as well as leading separators are avoided
# first argument: the name of the result variable
# second argument: the value to be prepended
function colcon_append_unique_value {
param (
$_listname,
$_value
)
# get values from variable
if (Test-Path Env:$_listname) {
$_values=(Get-Item env:$_listname).Value
} else {
$_values=""
}
$_duplicate=""
# start with no values
$_all_values=""
# iterate over existing values in the variable
if ($_values) {
$_values.Split(";") | ForEach {
# not an empty string
if ($_) {
# not a duplicate of _value
if ($_ -eq $_value) {
$_duplicate="1"
}
if ($_all_values) {
$_all_values="${_all_values};$_"
} else {
$_all_values="$_"
}
}
}
}
# append only non-duplicates
if (!$_duplicate) {
# avoid leading separator
if ($_all_values) {
$_all_values="${_all_values};${_value}"
} else {
$_all_values="${_value}"
}
}
# export the updated variable
Set-Item env:\$_listname -Value "$_all_values"
}
# function to prepend a value to a variable
# which uses colons as separators
# duplicates as well as trailing separators are avoided
# first argument: the name of the result variable
# second argument: the value to be prepended
function colcon_prepend_unique_value {
param (
$_listname,
$_value
)
# get values from variable
if (Test-Path Env:$_listname) {
$_values=(Get-Item env:$_listname).Value
} else {
$_values=""
}
# start with the new value
$_all_values="$_value"
# iterate over existing values in the variable
if ($_values) {
$_values.Split(";") | ForEach {
# not an empty string
if ($_) {
# not a duplicate of _value
if ($_ -ne $_value) {
# keep non-duplicate values
$_all_values="${_all_values};$_"
}
}
}
}
# export the updated variable
Set-Item env:\$_listname -Value "$_all_values"
}
# function to source another script with conditional trace output
# first argument: the path of the script
# additional arguments: arguments to the script
function colcon_package_source_powershell_script {
param (
$_colcon_package_source_powershell_script
)
# source script with conditional trace output
if (Test-Path $_colcon_package_source_powershell_script) {
if ($env:COLCON_TRACE) {
echo ". '$_colcon_package_source_powershell_script'"
}
. "$_colcon_package_source_powershell_script"
} else {
Write-Error "not found: '$_colcon_package_source_powershell_script'"
}
}
# a powershell script is able to determine its own path
# the prefix is two levels up from the package specific share directory
$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/robotic_arm/hook/cmake_prefix_path.ps1"
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/robotic_arm/local_setup.ps1"
Remove-Item Env:\COLCON_CURRENT_PREFIX

87
simulation_ws/install/robotic_arm/share/robotic_arm/package.sh Normal file
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# generated from colcon_core/shell/template/package.sh.em
# This script extends the environment for this package.
# function to prepend a value to a variable
# which uses colons as separators
# duplicates as well as trailing separators are avoided
# first argument: the name of the result variable
# second argument: the value to be prepended
_colcon_prepend_unique_value() {
# arguments
_listname="$1"
_value="$2"
# get values from variable
eval _values=\"\$$_listname\"
# backup the field separator
_colcon_prepend_unique_value_IFS=$IFS
IFS=":"
# start with the new value
_all_values="$_value"
# workaround SH_WORD_SPLIT not being set in zsh
if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
colcon_zsh_convert_to_array _values
fi
# iterate over existing values in the variable
for _item in $_values; do
# ignore empty strings
if [ -z "$_item" ]; then
continue
fi
# ignore duplicates of _value
if [ "$_item" = "$_value" ]; then
continue
fi
# keep non-duplicate values
_all_values="$_all_values:$_item"
done
unset _item
# restore the field separator
IFS=$_colcon_prepend_unique_value_IFS
unset _colcon_prepend_unique_value_IFS
# export the updated variable
eval export $_listname=\"$_all_values\"
unset _all_values
unset _values
unset _value
unset _listname
}
# since a plain shell script can't determine its own path when being sourced
# either use the provided COLCON_CURRENT_PREFIX
# or fall back to the build time prefix (if it exists)
_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/quella/ROS2_WS/simulation_ws/install/robotic_arm"
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
unset _colcon_package_sh_COLCON_CURRENT_PREFIX
return 1
fi
COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
fi
unset _colcon_package_sh_COLCON_CURRENT_PREFIX
# function to source another script with conditional trace output
# first argument: the path of the script
# additional arguments: arguments to the script
_colcon_package_sh_source_script() {
if [ -f "$1" ]; then
if [ -n "$COLCON_TRACE" ]; then
echo "# . \"$1\""
fi
. "$@"
else
echo "not found: \"$1\"" 1>&2
fi
}
# source sh hooks
_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/robotic_arm/hook/cmake_prefix_path.sh"
_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/robotic_arm/local_setup.sh"
unset _colcon_package_sh_source_script
unset COLCON_CURRENT_PREFIX
# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks

20
simulation_ws/install/robotic_arm/share/robotic_arm/package.xml Normal file
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<?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>robotic_arm</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="2892744389@qq.com">quella</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

50
simulation_ws/install/robotic_arm/share/robotic_arm/package.zsh Normal file
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# generated from colcon_zsh/shell/template/package.zsh.em
# This script extends the environment for this package.
# a zsh script is able to determine its own path if necessary
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
# the prefix is two levels up from the package specific share directory
_colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
else
_colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
fi
# function to source another script with conditional trace output
# first argument: the path of the script
# additional arguments: arguments to the script
_colcon_package_zsh_source_script() {
if [ -f "$1" ]; then
if [ -n "$COLCON_TRACE" ]; then
echo "# . \"$1\""
fi
. "$@"
else
echo "not found: \"$1\"" 1>&2
fi
}
# function to convert array-like strings into arrays
# to workaround SH_WORD_SPLIT not being set
colcon_zsh_convert_to_array() {
local _listname=$1
local _dollar="$"
local _split="{="
local _to_array="(\"$_dollar$_split$_listname}\")"
eval $_listname=$_to_array
}
# source sh script of this package
_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/robotic_arm/package.sh"
unset convert_zsh_to_array
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
# source zsh hooks
_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/robotic_arm/local_setup.zsh"
unset COLCON_CURRENT_PREFIX
unset _colcon_package_zsh_source_script
unset _colcon_package_zsh_COLCON_CURRENT_PREFIX

191
simulation_ws/install/robotic_arm/share/robotic_arm/rviz/display.rviz Normal file
View File

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Panels:
- Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
- /TF1
Splitter Ratio: 0.5
Tree Height: 1071
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz_common/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: Topic
Description Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot_description
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_link:
Value: true
link1:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
base_link:
link1:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 1.817091703414917
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.33039820194244385
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 6.238584518432617
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1368
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000004bafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004ba000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000004bafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000004ba000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000008cf0000003efc0100000002fb0000000800540069006d00650100000000000008cf000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000065e000004ba00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 2255
X: 70
Y: 27

18
simulation_ws/install/robotic_arm/share/robotic_arm/urdf/materials.xacro Normal file
View File

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0" />
</material>
<material name="orange">
<color rgba="1.0 0.5 0.0 1.0" />
</material>
<material name="grey">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0" />
</material>
</robot>

294
simulation_ws/install/robotic_arm/share/robotic_arm/urdf/robotic_arm.urdf.xacro Normal file
View File

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<?xml version="1.0"?>
<robot name="robotic_arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find robotic_arm)/urdf/materials.xacro" />
<link name="world" />
<joint name="world_to_base" type="fixed">
<parent link="world" />
<child link="base_link" />
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
<link name="base_link">
<visual>
<geometry>
<cylinder radius="0.1" length="0.05" />
</geometry>
<origin xyz="0.0 0.0 0.025" rpy="0.0 0.0 0.0" />
<material name="grey" />
</visual>
<collision>
<geometry>
<cylinder radius="0.1" length="0.05" />
</geometry>
<origin xyz="0.0 0.0 0.025" rpy="0.0 0.0 0.0" />
</collision>
<inertial>
<mass value="1.0" />
<origin xyz="0.0 0.0 0.025" />
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
</inertial>
</link>
<joint name="joint1" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="link1" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="-3.14159" upper="3.14159" effort="100.0" velocity="1.0" />
<dynamics damping="0.1" friction="0.1" />
</joint>
<link name="link1">
<visual>
<geometry>
<box size="0.08 0.08 0.15" />
</geometry>
<origin xyz="0.0 0.0 0.075" rpy="0.0 0.0 0.0" />
<material name="blue" />
</visual>
<collision>
<geometry>
<box size="0.08 0.08 0.15" />
</geometry>
<origin xyz="0.0 0.0 0.075" rpy="0.0 0.0 0.0" />
</collision>
<inertial>
<mass value="0.8" />
<origin xyz="0 0 0.075" />
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.003" />
</inertial>
</link>
<joint name="joint2" type="revolute">
<parent link="link1" />
<child link="link2" />
<origin xyz="0.0 0.0 0.15" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="-1.5708" upper="1.5708" effort="100.0" velocity="1.0" />
<dynamics damping="0.1" friction="0.1" />
</joint>
<link name="link2">
<visual>
<geometry>
<box size="0.06 0.06 0.20" />
</geometry>
<origin xyz="0.0 0.0 0.10" rpy="0.0 0.0 0.0" />
<material name="orange" />
</visual>
<collision>
<geometry>
<box size="0.06 0.06 0.20" />
</geometry>
<origin xyz="0.0 0.0 0.10" rpy="0.0 0.0 0.0" />
</collision>
<inertial>
<mass value="0.6" />
<origin xyz="0 0 0.10" />
<inertia ixx="0.003" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.002" />
</inertial>
</link>
<joint name="joint3" type="revolute">
<parent link="link2" />
<child link="link3" />
<origin xyz="0 0 0.20" rpy="0 0 0" />
<axis xyz="0 1 0" />
<limit lower="-1.5708" upper="1.5708" effort="80" velocity="1.0" />
<dynamics damping="0.1" friction="0.1" />
</joint>
<link name="link3">
<visual>
<geometry>
<box size="0.055 0.055 0.18" />
</geometry>
<origin xyz="0 0 0.09" rpy="0 0 0" />
<material name="blue" />
</visual>
<collision>
<geometry>
<box size="0.055 0.055 0.18" />
</geometry>
<origin xyz="0 0 0.09" rpy="0 0 0" />
</collision>
<inertial>
<mass value="0.5" />
<origin xyz="0 0 0.09" />
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001" />
</inertial>
</link>
<joint name="joint4" type="revolute">
<parent link="link3" />
<child link="link4" />
<origin xyz="0 0 0.18" rpy="0 0 0" />
<axis xyz="0 0 1" />
<limit lower="-3.14159" upper="3.14159" effort="50" velocity="1.5" />
<dynamics damping="0.05" friction="0.05" />
</joint>
<link name="link4">
<visual>
<geometry>
<box size="0.05 0.05 0.14" />
</geometry>
<origin xyz="0 0 0.07" rpy="0 0 0" />
<material name="orange" />
</visual>
<collision>
<geometry>
<box size="0.05 0.05 0.14" />
</geometry>
<origin xyz="0 0 0.07" rpy="0 0 0" />
</collision>
<inertial>
<mass value="0.3" />
<origin xyz="0 0 0.07" />
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
</inertial>
</link>
<joint name="joint5" type="revolute">
<parent link="link4" />
<child link="link5" />
<origin xyz="0 0 0.14" rpy="0 0 0" />
<axis xyz="0 1 0" />
<limit lower="-1.5708" upper="1.5708" effort="30" velocity="1.5" />
<dynamics damping="0.05" friction="0.05" />
</joint>
<link name="link5">
<visual>
<geometry>
<box size="0.045 0.045 0.10" />
</geometry>
<origin xyz="0 0 0.05" rpy="0 0 0" />
<material name="blue" />
</visual>
<collision>
<geometry>
<box size="0.045 0.045 0.10" />
</geometry>
<origin xyz="0 0 0.05" rpy="0 0 0" />
</collision>
<inertial>
<mass value="0.2" />
<origin xyz="0 0 0.05" />
<inertia ixx="0.0005" ixy="0" ixz="0" iyy="0.0005" iyz="0" izz="0.0003" />
</inertial>
</link>
<joint name="joint6" type="revolute">
<parent link="link5" />
<child link="link6" />
<origin xyz="0 0 0.10" rpy="0 0 0" />
<axis xyz="0 0 1" />
<limit lower="-3.14159" upper="3.14159" effort="20" velocity="2.0" />
<dynamics damping="0.05" friction="0.05" />
</joint>
<link name="link6">
<visual>
<geometry>
<cylinder radius="0.03" length="0.06" />
</geometry>
<origin xyz="0 0 0.03" rpy="0 0 0" />
<material name="grey" />
</visual>
<collision>
<geometry>
<cylinder radius="0.03" length="0.06" />
</geometry>
<origin xyz="0 0 0.03" rpy="0 0 0" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0.03" />
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
</inertial>
</link>
<joint name="end_effector_fixed" type="fixed">
<parent link="link6" />
<child link="end_effector" />
<origin xyz="0 0 0.06" rpy="0 0 0" />
</joint>
<link name="end_effector" />
<gazebo>
<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
<parameters>$(find robotic_arm)/config/controllers.yaml</parameters>
</plugin>
</gazebo>
<gazebo reference="base_link">
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="link1">
<material>Gazebo/Blue</material>
</gazebo>
<gazebo reference="link2">
<material>Gazebo/Orange</material>
</gazebo>
<gazebo reference="link3">
<material>Gazebo/Blue</material>
</gazebo>
<gazebo reference="link4">
<material>Gazebo/Orange</material>
</gazebo>
<gazebo reference="link5">
<material>Gazebo/Blue</material>
</gazebo>
<gazebo reference="link6">
<material>Gazebo/Grey</material>
</gazebo>
<ros2_control name="robotic_arm" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<joint name="joint1">
<command_interface name="position">
<param name="min">-3.14159</param>
<param name="max">3.14159</param>
</command_interface>
<state_interface name="position" />
<state_interface name="velocity" />
</joint>
<joint name="joint2">
<command_interface name="position">
<param name="min">-1.5708</param>
<param name="max">1.5708</param>
</command_interface>
<state_interface name="position" />
<state_interface name="velocity" />
</joint>
<joint name="joint3">
<command_interface name="position">
<param name="min">-1.5708</param>
<param name="max">1.5708</param>
</command_interface>
<state_interface name="position" />
<state_interface name="velocity" />
</joint>
<joint name="joint4">
<command_interface name="position">
<param name="min">-3.14159</param>
<param name="max">3.14159</param>
</command_interface>
<state_interface name="position" />
<state_interface name="velocity" />
</joint>
<joint name="joint5">
<command_interface name="position">
<param name="min">-1.5708</param>
<param name="max">1.5708</param>
</command_interface>
<state_interface name="position" />
<state_interface name="velocity" />
</joint>
<joint name="joint6">
<command_interface name="position">
<param name="min">-3.14159</param>
<param name="max">3.14159</param>
</command_interface>
<state_interface name="position" />
<state_interface name="velocity" />
</joint>
</ros2_control>
</robot>