324 lines
9.9 KiB
XML
324 lines
9.9 KiB
XML
<?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> |