AS: connection with Pd
This commit is contained in:
Alexander Schaefer
parent
c95e0f4c0c
commit
e00fa0a38a
542
robot.urdf
542
robot.urdf
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from /opt/ros/humble/share/ur_description/urdf/ur.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="ur10e">
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<!--
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Base UR robot series xacro macro.
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NOTE this is NOT a URDF. It cannot directly be loaded by consumers
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expecting a flattened '.urdf' file. See the top-level '.xacro' for that
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(but note that .xacro must still be processed by the xacro command).
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This file models the base kinematic chain of a UR robot, which then gets
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parameterised by various configuration files to convert it into a UR3(e),
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UR5(e), UR10(e) or UR16e.
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NOTE the default kinematic parameters (i.e., link lengths, frame locations,
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offsets, etc) do not correspond to any particular robot. They are defaults
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only. There WILL be non-zero offsets between the Forward Kinematics results
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in TF (i.e., robot_state_publisher) and the values reported by the Teach
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Pendant.
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For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
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parameter MUST point to a .yaml file containing the appropriate values for
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the targeted robot.
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If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
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described in the readme of that repository to extract the kinematic
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calibration from the controller and generate the required .yaml file.
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Main author of the migration to yaml configs Ludovic Delval.
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Contributors to previous versions (in no particular order)
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- Denis Stogl
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- Lovro Ivanov
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- Felix Messmer
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- Kelsey Hawkins
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- Wim Meeussen
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- Shaun Edwards
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- Nadia Hammoudeh Garcia
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- Dave Hershberger
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- G. vd. Hoorn
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- Philip Long
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- Dave Coleman
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- Miguel Prada
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- Mathias Luedtke
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- Marcel Schnirring
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- Felix von Drigalski
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- Felix Exner
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- Jimmy Da Silva
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- Ajit Krisshna N L
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- Muhammad Asif Rana
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-->
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<!--
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NOTE the macro defined in this file is NOT part of the public API of this
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package. Users CANNOT rely on this file being available, or stored in
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this location. Nor can they rely on the existence of the macro.
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-->
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<!-- create link fixed to the "world" -->
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<link name="world"/>
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<ros2_control name="ur10e" type="system">
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<hardware>
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<plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
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<param name="robot_ip">172.18.0.2</param>
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<param name="script_filename">/opt/ros/humble/share/ur_client_library/resources/external_control.urscript</param>
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<param name="output_recipe_filename">/opt/ros/humble/share/ur_robot_driver/resources/rtde_output_recipe.txt</param>
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<param name="input_recipe_filename">/opt/ros/humble/share/ur_robot_driver/resources/rtde_input_recipe.txt</param>
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<param name="headless_mode">False</param>
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<param name="reverse_port">50001</param>
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<param name="script_sender_port">50002</param>
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<param name="reverse_ip">0.0.0.0</param>
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<param name="script_command_port">50004</param>
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<param name="trajectory_port">50003</param>
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<param name="tf_prefix"></param>
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<param name="non_blocking_read">True</param>
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<param name="servoj_gain">2000</param>
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<param name="servoj_lookahead_time">0.03</param>
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<param name="use_tool_communication">False</param>
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<param name="kinematics/hash">calib_5119701370761913513</param>
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<param name="tool_voltage">0</param>
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<param name="tool_parity">0</param>
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<param name="tool_baud_rate">115200</param>
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<param name="tool_stop_bits">1</param>
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<param name="tool_rx_idle_chars">1.5</param>
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<param name="tool_tx_idle_chars">3.5</param>
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<param name="tool_device_name">/tmp/ttyUR</param>
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<param name="tool_tcp_port">54321</param>
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<param name="keep_alive_count">2</param>
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</hardware>
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<joint name="shoulder_pan_joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<!-- initial position for the FakeSystem and simulation -->
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="shoulder_lift_joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<!-- initial position for the FakeSystem and simulation -->
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<param name="initial_value">-1.57</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="elbow_joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<!-- initial position for the FakeSystem and simulation -->
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="wrist_1_joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<!-- initial position for the FakeSystem and simulation -->
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<param name="initial_value">-1.57</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="wrist_2_joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<!-- initial position for the FakeSystem and simulation -->
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="wrist_3_joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position">
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<!-- initial position for the FakeSystem and simulation -->
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<sensor name="tcp_fts_sensor">
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<state_interface name="force.x"/>
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<state_interface name="force.y"/>
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<state_interface name="force.z"/>
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<state_interface name="torque.x"/>
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<state_interface name="torque.y"/>
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<state_interface name="torque.z"/>
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</sensor>
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<sensor name="tcp_pose">
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<state_interface name="position.x"/>
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<state_interface name="position.y"/>
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<state_interface name="position.z"/>
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<state_interface name="orientation.x"/>
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<state_interface name="orientation.y"/>
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<state_interface name="orientation.z"/>
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<state_interface name="orientation.w"/>
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</sensor>
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<!-- NOTE The following are joints used only for testing with fake hardware and will change in the future -->
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<gpio name="speed_scaling">
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<state_interface name="speed_scaling_factor"/>
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<param name="initial_speed_scaling_factor">1</param>
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<command_interface name="target_speed_fraction_cmd"/>
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<command_interface name="target_speed_fraction_async_success"/>
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</gpio>
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<gpio name="gpio">
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<command_interface name="standard_digital_output_cmd_0"/>
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<command_interface name="standard_digital_output_cmd_1"/>
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<command_interface name="standard_digital_output_cmd_2"/>
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<command_interface name="standard_digital_output_cmd_3"/>
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<command_interface name="standard_digital_output_cmd_4"/>
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<command_interface name="standard_digital_output_cmd_5"/>
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<command_interface name="standard_digital_output_cmd_6"/>
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<command_interface name="standard_digital_output_cmd_7"/>
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<command_interface name="standard_digital_output_cmd_8"/>
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<command_interface name="standard_digital_output_cmd_9"/>
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<command_interface name="standard_digital_output_cmd_10"/>
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<command_interface name="standard_digital_output_cmd_11"/>
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<command_interface name="standard_digital_output_cmd_12"/>
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<command_interface name="standard_digital_output_cmd_13"/>
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<command_interface name="standard_digital_output_cmd_14"/>
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<command_interface name="standard_digital_output_cmd_15"/>
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<command_interface name="standard_digital_output_cmd_16"/>
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<command_interface name="standard_digital_output_cmd_17"/>
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<command_interface name="standard_analog_output_cmd_0"/>
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<command_interface name="standard_analog_output_cmd_1"/>
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<command_interface name="analog_output_domain_cmd"/>
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<command_interface name="tool_voltage_cmd"/>
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<command_interface name="io_async_success"/>
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<state_interface name="digital_output_0"/>
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<state_interface name="digital_output_1"/>
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<state_interface name="digital_output_2"/>
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<state_interface name="digital_output_3"/>
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<state_interface name="digital_output_4"/>
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<state_interface name="digital_output_5"/>
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<state_interface name="digital_output_6"/>
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<state_interface name="digital_output_7"/>
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<state_interface name="digital_output_8"/>
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<state_interface name="digital_output_9"/>
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<state_interface name="digital_output_10"/>
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<state_interface name="digital_output_11"/>
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<state_interface name="digital_output_12"/>
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<state_interface name="digital_output_13"/>
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<state_interface name="digital_output_14"/>
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<state_interface name="digital_output_15"/>
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<state_interface name="digital_output_16"/>
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<state_interface name="digital_output_17"/>
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<state_interface name="digital_input_0"/>
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<state_interface name="digital_input_1"/>
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<state_interface name="digital_input_2"/>
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<state_interface name="digital_input_3"/>
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<state_interface name="digital_input_4"/>
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<state_interface name="digital_input_5"/>
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<state_interface name="digital_input_6"/>
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<state_interface name="digital_input_7"/>
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<state_interface name="digital_input_8"/>
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<state_interface name="digital_input_9"/>
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<state_interface name="digital_input_10"/>
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<state_interface name="digital_input_11"/>
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<state_interface name="digital_input_12"/>
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<state_interface name="digital_input_13"/>
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<state_interface name="digital_input_14"/>
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<state_interface name="digital_input_15"/>
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<state_interface name="digital_input_16"/>
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<state_interface name="digital_input_17"/>
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<state_interface name="standard_analog_output_0"/>
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<state_interface name="standard_analog_output_1"/>
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<state_interface name="standard_analog_input_0"/>
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<state_interface name="standard_analog_input_1"/>
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<state_interface name="analog_io_type_0"/>
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<state_interface name="analog_io_type_1"/>
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<state_interface name="analog_io_type_2"/>
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<state_interface name="analog_io_type_3"/>
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<state_interface name="tool_mode"/>
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<state_interface name="tool_output_voltage"/>
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<state_interface name="tool_output_current"/>
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<state_interface name="tool_temperature"/>
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<state_interface name="tool_analog_input_0"/>
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<state_interface name="tool_analog_input_1"/>
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<state_interface name="tool_analog_input_type_0"/>
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<state_interface name="tool_analog_input_type_1"/>
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<state_interface name="robot_mode"/>
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<state_interface name="robot_status_bit_0"/>
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<state_interface name="robot_status_bit_1"/>
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<state_interface name="robot_status_bit_2"/>
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<state_interface name="robot_status_bit_3"/>
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<state_interface name="safety_mode"/>
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<state_interface name="safety_status_bit_0"/>
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<state_interface name="safety_status_bit_1"/>
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<state_interface name="safety_status_bit_2"/>
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<state_interface name="safety_status_bit_3"/>
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<state_interface name="safety_status_bit_4"/>
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<state_interface name="safety_status_bit_5"/>
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<state_interface name="safety_status_bit_6"/>
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<state_interface name="safety_status_bit_7"/>
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<state_interface name="safety_status_bit_8"/>
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<state_interface name="safety_status_bit_9"/>
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<state_interface name="safety_status_bit_10"/>
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<state_interface name="program_running"/>
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</gpio>
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<gpio name="payload">
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<command_interface name="mass"/>
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<command_interface name="cog.x"/>
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<command_interface name="cog.y"/>
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<command_interface name="cog.z"/>
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<command_interface name="payload_async_success"/>
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</gpio>
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<gpio name="resend_robot_program">
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<command_interface name="resend_robot_program_cmd"/>
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<command_interface name="resend_robot_program_async_success"/>
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</gpio>
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<gpio name="hand_back_control">
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<command_interface name="hand_back_control_cmd"/>
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<command_interface name="hand_back_control_async_success"/>
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</gpio>
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<gpio name="zero_ftsensor">
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<command_interface name="zero_ftsensor_cmd"/>
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<command_interface name="zero_ftsensor_async_success"/>
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</gpio>
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<gpio name="system_interface">
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<state_interface name="initialized"/>
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</gpio>
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<gpio name="get_robot_software_version">
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<state_interface name="get_version_major"/>
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<state_interface name="get_version_minor"/>
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<state_interface name="get_version_build"/>
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<state_interface name="get_version_bugfix"/>
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</gpio>
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</ros2_control>
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<!-- Add URDF transmission elements (for ros_control) -->
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<!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
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<!-- Placeholder for ros2_control transmission which don't yet exist -->
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<!-- links - main serial chain -->
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<link name="base_link"/>
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<link name="base_link_inertia">
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<visual>
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<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10e/visual/base.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10e/collision/base.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="4.0"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
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</inertial>
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</link>
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<link name="shoulder_link">
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<visual>
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<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10e/visual/shoulder.dae"/>
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</geometry>
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</visual>
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<collision>
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||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10e/collision/shoulder.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="7.369"/>
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<origin rpy="1.570796326794897 0 0" xyz="0.021 -0.027 0.0"/>
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||||
<inertia ixx="0.03408" ixy="2e-05" ixz="-0.00425" iyy="0.03529" iyz="8e-05" izz="0.02156"/>
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</inertial>
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</link>
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<link name="upper_arm_link">
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<visual>
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<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762"/>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10e/visual/upperarm.dae"/>
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</geometry>
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||||
</visual>
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||||
<collision>
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||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762"/>
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<geometry>
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||||
<mesh filename="package://ur_description/meshes/ur10e/collision/upperarm.stl"/>
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||||
</geometry>
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||||
</collision>
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||||
<inertial>
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||||
<mass value="13.051"/>
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||||
<origin rpy="0 0 0" xyz="-0.2327 0.0 0.158"/>
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||||
<inertia ixx="0.02814" ixy="5e-05" ixz="-0.01561" iyy="0.77068" iyz="2e-05" izz="0.76943"/>
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</inertial>
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</link>
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<link name="forearm_link">
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<visual>
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<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393"/>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10e/visual/forearm.dae"/>
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</geometry>
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||||
</visual>
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||||
<collision>
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||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393"/>
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<geometry>
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||||
<mesh filename="package://ur_description/meshes/ur10e/collision/forearm.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="3.989"/>
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||||
<origin rpy="0 0 0" xyz="-0.33155 0.0 0.068"/>
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||||
<inertia ixx="0.01014" ixy="8e-05" ixz="0.00916" iyy="0.30928" iyz="0.0" izz="0.30646"/>
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||||
</inertial>
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||||
</link>
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||||
<link name="wrist_1_link">
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<visual>
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||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135"/>
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||||
<geometry>
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||||
<mesh filename="package://ur_description/meshes/ur10e/visual/wrist1.dae"/>
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||||
</geometry>
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||||
</visual>
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||||
<collision>
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||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135"/>
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||||
<geometry>
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||||
<mesh filename="package://ur_description/meshes/ur10e/collision/wrist1.stl"/>
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||||
</geometry>
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||||
</collision>
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||||
<inertial>
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||||
<mass value="2.1"/>
|
||||
<origin rpy="1.570796326794897 0 0" xyz="0.0 -0.018 0.007"/>
|
||||
<inertia ixx="0.00296" ixy="-1e-05" ixz="0.0" iyy="0.00222" iyz="-0.00024" izz="0.00258"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_2_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.12"/>
|
||||
<geometry>
|
||||
<mesh filename="package://ur_description/meshes/ur10e/visual/wrist2.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.12"/>
|
||||
<geometry>
|
||||
<mesh filename="package://ur_description/meshes/ur10e/collision/wrist2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.98"/>
|
||||
<origin rpy="-1.570796326794897 0 0" xyz="0.0 0.018 -0.007"/>
|
||||
<inertia ixx="0.00296" ixy="-1e-05" ixz="0.0" iyy="0.00222" iyz="-0.00024" izz="0.00258"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_3_link">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168"/>
|
||||
<geometry>
|
||||
<mesh filename="package://ur_description/meshes/ur10e/visual/wrist3.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168"/>
|
||||
<geometry>
|
||||
<mesh filename="package://ur_description/meshes/ur10e/collision/wrist3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.615"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 -0.026"/>
|
||||
<inertia ixx="0.0004" ixy="0.0" ixz="0.0" iyy="0.00041" iyz="0.0" izz="0.00034"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- base_joint fixes base_link to the environment -->
|
||||
<joint name="base_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="world"/>
|
||||
<child link="base_link"/>
|
||||
</joint>
|
||||
<!-- joints - main serial chain -->
|
||||
<joint name="base_link-base_link_inertia" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="base_link_inertia"/>
|
||||
<!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
|
||||
frames of the robot/controller have X+ pointing backwards.
|
||||
Use the joint between 'base_link' and 'base_link_inertia' (a dummy
|
||||
link/frame) to introduce the necessary rotation over Z (of pi rad).
|
||||
-->
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<joint name="shoulder_pan_joint" type="revolute">
|
||||
<parent link="base_link_inertia"/>
|
||||
<child link="shoulder_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1807"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
|
||||
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="shoulder_lift_joint" type="revolute">
|
||||
<parent link="shoulder_link"/>
|
||||
<child link="upper_arm_link"/>
|
||||
<origin rpy="1.570796327 0 0" xyz="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
|
||||
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="elbow_joint" type="revolute">
|
||||
<parent link="upper_arm_link"/>
|
||||
<child link="forearm_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.6127 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
|
||||
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_1_joint" type="revolute">
|
||||
<parent link="forearm_link"/>
|
||||
<child link="wrist_1_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.57155 0 0.17415"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="54.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_2_joint" type="revolute">
|
||||
<parent link="wrist_1_link"/>
|
||||
<child link="wrist_2_link"/>
|
||||
<origin rpy="1.570796327 0 0" xyz="0 -0.11985 -2.458164590756244e-11"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="54.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_3_joint" type="revolute">
|
||||
<parent link="wrist_2_link"/>
|
||||
<child link="wrist_3_link"/>
|
||||
<origin rpy="1.570796326589793 3.141592653589793 3.141592653589793" xyz="0 0.11655 -2.390480459346185e-11"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="54.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<link name="ft_frame"/>
|
||||
<joint name="wrist_3_link-ft_frame" type="fixed">
|
||||
<parent link="wrist_3_link"/>
|
||||
<child link="ft_frame"/>
|
||||
<origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'base' frame - base_link to UR 'Base' Coordinates transform -->
|
||||
<link name="base"/>
|
||||
<joint name="base_link-base_fixed_joint" type="fixed">
|
||||
<!-- Note the rotation over Z of pi radians - as base_link is REP-103
|
||||
aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
|
||||
to correctly align 'base' with the 'Base' coordinate system of
|
||||
the UR controller.
|
||||
-->
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="base"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
|
||||
<link name="flange"/>
|
||||
<joint name="wrist_3-flange" type="fixed">
|
||||
<parent link="wrist_3_link"/>
|
||||
<child link="flange"/>
|
||||
<origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
|
||||
<link name="tool0"/>
|
||||
<joint name="flange-tool0" type="fixed">
|
||||
<!-- default toolframe - X+ left, Y+ up, Z+ front -->
|
||||
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
|
||||
<parent link="flange"/>
|
||||
<child link="tool0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
@ -6,7 +6,7 @@
|
||||
# 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_prefix_sh_COLCON_CURRENT_PREFIX="/ros2_ws/install"
|
||||
_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/BA/ros2_ws/install"
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
if [ ! -d "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" ]; then
|
||||
echo "The build time path \"$_colcon_prefix_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
|
||||
|
||||
@ -17,11 +17,6 @@ _colcon_prefix_chain_bash_source_script() {
|
||||
fi
|
||||
}
|
||||
|
||||
# source chained prefixes
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
|
||||
COLCON_CURRENT_PREFIX="/opt/ros/humble"
|
||||
_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
|
||||
|
||||
# source this prefix
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
|
||||
COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
|
||||
|
||||
@ -21,9 +21,6 @@ function _colcon_prefix_chain_powershell_source_script {
|
||||
}
|
||||
}
|
||||
|
||||
# source chained prefixes
|
||||
_colcon_prefix_chain_powershell_source_script "/opt/ros/humble\local_setup.ps1"
|
||||
|
||||
# source this prefix
|
||||
$env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent)
|
||||
_colcon_prefix_chain_powershell_source_script "$env:COLCON_CURRENT_PREFIX\local_setup.ps1"
|
||||
|
||||
@ -7,7 +7,7 @@
|
||||
# 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_prefix_chain_sh_COLCON_CURRENT_PREFIX=/ros2_ws/install
|
||||
_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/BA/ros2_ws/install
|
||||
if [ ! -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
elif [ ! -d "$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" ]; then
|
||||
@ -29,12 +29,6 @@ _colcon_prefix_chain_sh_source_script() {
|
||||
fi
|
||||
}
|
||||
|
||||
# source chained prefixes
|
||||
# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
|
||||
COLCON_CURRENT_PREFIX="/opt/ros/humble"
|
||||
_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
|
||||
|
||||
|
||||
# source this prefix
|
||||
# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
|
||||
COLCON_CURRENT_PREFIX="$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX"
|
||||
|
||||
@ -17,11 +17,6 @@ _colcon_prefix_chain_zsh_source_script() {
|
||||
fi
|
||||
}
|
||||
|
||||
# source chained prefixes
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
|
||||
COLCON_CURRENT_PREFIX="/opt/ros/humble"
|
||||
_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
|
||||
|
||||
# source this prefix
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
|
||||
COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
|
||||
|
||||
@ -1 +1 @@
|
||||
build_2025-01-29_16-04-47
|
||||
build_2025-03-27_14-22-13
|
||||
@ -38,7 +38,7 @@ def main():
|
||||
|
||||
if urdf_string:
|
||||
# Save to a file
|
||||
urdf_path = "/BA/robot.urdf"
|
||||
urdf_path = "/BA/robot_ur5.urdf"
|
||||
with open(urdf_path, "w") as file:
|
||||
file.write(urdf_string)
|
||||
|
||||
|
||||
@ -5,7 +5,6 @@ from rcl_interfaces.srv import GetParameters
|
||||
import time
|
||||
from cart_to_angles import ik_sol
|
||||
import roboticstoolbox as rtb
|
||||
import xacro
|
||||
|
||||
class ScaledJointTrajectoryPublisher(Node):
|
||||
def __init__(self):
|
||||
|
||||
@ -1,21 +1,13 @@
|
||||
AMENT_PREFIX_PATH=/BA/workspace/install/joint_info:/BA/workspace/install/joint_control:/opt/ros/humble
|
||||
COLCON=1
|
||||
COLCON_PREFIX_PATH=/BA/workspace/install
|
||||
HOME=/root
|
||||
HOSTNAME=3230bc57d699
|
||||
HOSTNAME=0e38e264ac6b
|
||||
LANG=C.UTF-8
|
||||
LC_ALL=C.UTF-8
|
||||
LD_LIBRARY_PATH=/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
|
||||
LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
|
||||
OLDPWD=/BA/workspace/src
|
||||
PATH=/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
|
||||
OLDPWD=/
|
||||
PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
|
||||
PWD=/BA/workspace/build/joint_control
|
||||
PYTHONPATH=/BA/workspace/build/joint_info:/BA/workspace/install/joint_info/lib/python3.10/site-packages:/BA/workspace/build/joint_control:/BA/workspace/install/joint_control/lib/python3.10/site-packages:/BA/workspace/src/build/joint_info:/BA/workspace/src/install/joint_info/lib/python3.10/site-packages:/BA/workspace/src/build/joint_control:/BA/workspace/src/install/joint_control/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
|
||||
ROS_DISTRO=humble
|
||||
ROS_LOCALHOST_ONLY=0
|
||||
ROS_PYTHON_VERSION=3
|
||||
ROS_VERSION=2
|
||||
SHLVL=1
|
||||
TERM=xterm
|
||||
_=/usr/bin/colcon
|
||||
_colcon_cd_root=/opt/ros/foxy/
|
||||
|
||||
@ -1,9 +1,20 @@
|
||||
package.xml
|
||||
setup.cfg
|
||||
setup.py
|
||||
../../build/joint_control/joint_control.egg-info/PKG-INFO
|
||||
../../build/joint_control/joint_control.egg-info/SOURCES.txt
|
||||
../../build/joint_control/joint_control.egg-info/dependency_links.txt
|
||||
../../build/joint_control/joint_control.egg-info/entry_points.txt
|
||||
../../build/joint_control/joint_control.egg-info/requires.txt
|
||||
../../build/joint_control/joint_control.egg-info/top_level.txt
|
||||
../../build/joint_control/joint_control.egg-info/zip-safe
|
||||
joint_control/__init__.py
|
||||
joint_control/cart_tcp_server.py
|
||||
joint_control/joint_angles_server.py
|
||||
joint_control/plugdata.py
|
||||
joint_control/plugdata2.py
|
||||
joint_control/plugdata3.py
|
||||
joint_control/test.py
|
||||
joint_control/trajectory_server.py
|
||||
joint_control/trajectory_server_cart.py
|
||||
joint_control.egg-info/PKG-INFO
|
||||
|
||||
@ -1,6 +1,10 @@
|
||||
[console_scripts]
|
||||
cart_coords = joint_control.cart_tcp_server:main
|
||||
joint_control = joint_control.joint_angles_server:main
|
||||
plugdata = joint_control.plugdata:main
|
||||
plugdata2 = joint_control.plugdata2:main
|
||||
plugdata3 = joint_control.plugdata3:main
|
||||
test = joint_control.test:main
|
||||
trajectory_server = joint_control.trajectory_server:main
|
||||
trajectory_server_cart = joint_control.trajectory_server_cart:main
|
||||
|
||||
|
||||
Binary file not shown.
@ -1,8 +1,8 @@
|
||||
AMENT_PREFIX_PATH=/BA/workspace/install/joint_info:/BA/workspace/install/joint_control:/opt/ros/humble
|
||||
AMENT_PREFIX_PATH=/opt/ros/humble:/BA/workspace/install/mock_robot:/BA/workspace/install/joint_info:/BA/workspace/install/joint_control
|
||||
COLCON=1
|
||||
COLCON_PREFIX_PATH=/BA/workspace/install
|
||||
HOME=/root
|
||||
HOSTNAME=3230bc57d699
|
||||
HOSTNAME=0e38e264ac6b
|
||||
LANG=C.UTF-8
|
||||
LC_ALL=C.UTF-8
|
||||
LD_LIBRARY_PATH=/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
|
||||
@ -10,7 +10,7 @@ LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd
|
||||
OLDPWD=/BA/workspace/src
|
||||
PATH=/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
|
||||
PWD=/BA/workspace/build/joint_info
|
||||
PYTHONPATH=/BA/workspace/build/joint_info:/BA/workspace/install/joint_info/lib/python3.10/site-packages:/BA/workspace/build/joint_control:/BA/workspace/install/joint_control/lib/python3.10/site-packages:/BA/workspace/src/build/joint_info:/BA/workspace/src/install/joint_info/lib/python3.10/site-packages:/BA/workspace/src/build/joint_control:/BA/workspace/src/install/joint_control/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
|
||||
PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages:/BA/workspace/build/mock_robot:/BA/workspace/install/mock_robot/lib/python3.10/site-packages:/BA/workspace/build/joint_info:/BA/workspace/install/joint_info/lib/python3.10/site-packages:/BA/workspace/build/joint_control:/BA/workspace/install/joint_control/lib/python3.10/site-packages
|
||||
ROS_DISTRO=humble
|
||||
ROS_LOCALHOST_ONLY=0
|
||||
ROS_PYTHON_VERSION=3
|
||||
@ -18,4 +18,3 @@ ROS_VERSION=2
|
||||
SHLVL=1
|
||||
TERM=xterm
|
||||
_=/usr/bin/colcon
|
||||
_colcon_cd_root=/opt/ros/foxy/
|
||||
|
||||
@ -1,6 +1,13 @@
|
||||
package.xml
|
||||
setup.cfg
|
||||
setup.py
|
||||
../../build/joint_info/joint_info.egg-info/PKG-INFO
|
||||
../../build/joint_info/joint_info.egg-info/SOURCES.txt
|
||||
../../build/joint_info/joint_info.egg-info/dependency_links.txt
|
||||
../../build/joint_info/joint_info.egg-info/entry_points.txt
|
||||
../../build/joint_info/joint_info.egg-info/requires.txt
|
||||
../../build/joint_info/joint_info.egg-info/top_level.txt
|
||||
../../build/joint_info/joint_info.egg-info/zip-safe
|
||||
joint_info/__init__.py
|
||||
joint_info/osc_joint_states_pub.py
|
||||
joint_info/osc_joint_states_sub.py
|
||||
|
||||
Binary file not shown.
@ -17,11 +17,6 @@ _colcon_prefix_chain_bash_source_script() {
|
||||
fi
|
||||
}
|
||||
|
||||
# source chained prefixes
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
|
||||
COLCON_CURRENT_PREFIX="/opt/ros/humble"
|
||||
_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
|
||||
|
||||
# source this prefix
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
|
||||
COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
|
||||
|
||||
@ -21,9 +21,6 @@ function _colcon_prefix_chain_powershell_source_script {
|
||||
}
|
||||
}
|
||||
|
||||
# source chained prefixes
|
||||
_colcon_prefix_chain_powershell_source_script "/opt/ros/humble\local_setup.ps1"
|
||||
|
||||
# source this prefix
|
||||
$env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent)
|
||||
_colcon_prefix_chain_powershell_source_script "$env:COLCON_CURRENT_PREFIX\local_setup.ps1"
|
||||
|
||||
@ -29,12 +29,6 @@ _colcon_prefix_chain_sh_source_script() {
|
||||
fi
|
||||
}
|
||||
|
||||
# source chained prefixes
|
||||
# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
|
||||
COLCON_CURRENT_PREFIX="/opt/ros/humble"
|
||||
_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
|
||||
|
||||
|
||||
# source this prefix
|
||||
# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
|
||||
COLCON_CURRENT_PREFIX="$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX"
|
||||
|
||||
@ -17,11 +17,6 @@ _colcon_prefix_chain_zsh_source_script() {
|
||||
fi
|
||||
}
|
||||
|
||||
# source chained prefixes
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
|
||||
COLCON_CURRENT_PREFIX="/opt/ros/humble"
|
||||
_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
|
||||
|
||||
# source this prefix
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
|
||||
COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
|
||||
|
||||
@ -1 +1 @@
|
||||
build_2025-03-24_10-47-50
|
||||
build_2025-04-07_10-59-55
|
||||
@ -1,12 +1,13 @@
|
||||
from osc4py3.as_eventloop import *
|
||||
from osc4py3 import oscbuildparse
|
||||
import time
|
||||
|
||||
def main():
|
||||
# Start the OSC system
|
||||
osc_startup()
|
||||
|
||||
# Make client channels to send packets
|
||||
osc_udp_client("127.0.0.1", 8000, "osc_client")
|
||||
osc_udp_client("172.18.0.3", 8000, "osc_client")
|
||||
|
||||
|
||||
# Example joint positions to send
|
||||
@ -17,11 +18,32 @@ def main():
|
||||
joint_positions5 = [-0.5,-0.6, 0.2,0.0, 0.0, 0.0]
|
||||
|
||||
msg = oscbuildparse.OSCMessage("/joint_trajectory", None, [joint_positions1, joint_positions2, joint_positions3, joint_positions4, joint_positions5])
|
||||
print("Sending joint positions")
|
||||
# Send the OSC message
|
||||
osc_send(msg, "osc_client")
|
||||
print("Sent joint positions")
|
||||
osc_process()
|
||||
print("Sending joint positions")
|
||||
'''
|
||||
time.sleep(2)
|
||||
msg = oscbuildparse.OSCMessage("/tcp_coordinates", None, joint_positions2)
|
||||
osc_send(msg, "osc_client")
|
||||
osc_process()
|
||||
print("Sent joint positions2")
|
||||
time.sleep(3)
|
||||
msg = oscbuildparse.OSCMessage("/tcp_coordinates", None, joint_positions3)
|
||||
osc_send(msg, "osc_client")
|
||||
osc_process()
|
||||
print("Sent joint positions3")
|
||||
time.sleep(3)
|
||||
msg = oscbuildparse.OSCMessage("/tcp_coordinates", None, joint_positions4)
|
||||
osc_send(msg, "osc_client")
|
||||
osc_process()
|
||||
print("Sent joint positions4")
|
||||
time.sleep(3)
|
||||
msg = oscbuildparse.OSCMessage("/tcp_coordinates", None, joint_positions5)
|
||||
osc_send(msg, "osc_client")
|
||||
osc_process()
|
||||
print("Sent joint positions5")
|
||||
time.sleep(3)
|
||||
'''
|
||||
osc_terminate()
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
@ -33,7 +33,7 @@ class ScaledJointTrajectoryPublisher(Node):
|
||||
|
||||
def tcp_coordinates_handler(self, *args):
|
||||
"""Handles incoming OSC messages for tcp position."""
|
||||
#time1 = time.time()
|
||||
time1 = time.time()
|
||||
if len(args) == len(self.joint_positions):
|
||||
x, y, z, roll, pitch, yaw = args
|
||||
duration = 4.0 # Default duration
|
||||
@ -62,10 +62,10 @@ class ScaledJointTrajectoryPublisher(Node):
|
||||
if sol[1]:
|
||||
joint_positions = list(sol[0])
|
||||
self.send_trajectory(joint_positions, duration)
|
||||
print(f"Computed joint positions: {joint_positions}")
|
||||
#print(f"Computed joint positions: {joint_positions}")
|
||||
else:
|
||||
print("Inverse kinematics failed")
|
||||
#print(f"Frequency: {1/(time.time() - time1)} Hz")
|
||||
print(f"Frequency: {1/(time.time() - time1)} Hz")
|
||||
|
||||
def send_trajectory(self, joint_positions, duration=4.0):
|
||||
"""Publish a joint trajectory command to move the robot."""
|
||||
|
||||
@ -29,8 +29,10 @@ class ScaledJointTrajectoryPublisher(Node):
|
||||
|
||||
def joint_angles_handler(self, *args):
|
||||
"""Handles incoming OSC messages for joint positions."""
|
||||
print(args)
|
||||
if len(args) == len(self.joint_positions):
|
||||
self.joint_positions = args
|
||||
self.joint_positions = list(args)
|
||||
print(self.joint_positions)
|
||||
self.send_trajectory(self.joint_positions)
|
||||
elif len(args) == len(self.joint_positions) + 1:
|
||||
self.joint_positions = args[:-1]
|
||||
@ -39,11 +41,12 @@ class ScaledJointTrajectoryPublisher(Node):
|
||||
|
||||
|
||||
|
||||
def send_trajectory(self, joint_positions, duration=3.0):
|
||||
def send_trajectory(self, joint_positions, duration=0.01):
|
||||
"""Publish a joint trajectory command to move the robot."""
|
||||
msg = JointTrajectory()
|
||||
msg.joint_names = self.joint_names
|
||||
point = JointTrajectoryPoint()
|
||||
joint_positions = [float(joint) for joint in joint_positions]
|
||||
point.positions = joint_positions # Updated joint positions
|
||||
point.time_from_start.sec = int(duration)
|
||||
point.time_from_start.nanosec = int((duration - int(duration)) * 1e9)
|
||||
@ -55,8 +58,8 @@ class ScaledJointTrajectoryPublisher(Node):
|
||||
|
||||
def main():
|
||||
"""Main function to get joint names and start the ROS 2 & OSC system."""
|
||||
|
||||
tree = ET.parse('/BA/robot.urdf')
|
||||
robot_urdf = input("Enter the path to the URDF file: ")
|
||||
tree = ET.parse(robot_urdf)
|
||||
root = tree.getroot()
|
||||
joint_names = [joint.get('name') for joint in root.findall('joint') if joint.get('type') == 'revolute' or joint.get('type') == 'continuous' or joint.get('type') == 'prismatic']
|
||||
|
||||
|
||||
@ -15,20 +15,26 @@ class ScaledJointTrajectoryPublisher(Node):
|
||||
super().__init__('scaled_joint_trajectory_publisher')
|
||||
|
||||
self.robot = robot
|
||||
self.trajectroy_topic_name = input("Enter the topic name to which the joint trajectory should be sent to: ")
|
||||
|
||||
if self.trajectroy_topic_name == "":
|
||||
self.trajectroy_topic_name = '/scaled_joint_trajectory_controller/joint_trajectory'
|
||||
|
||||
# ROS2 Publisher
|
||||
self.publisher = self.create_publisher(
|
||||
JointTrajectory,
|
||||
'/scaled_joint_trajectory_controller/joint_trajectory',
|
||||
self.trajectroy_topic_name,
|
||||
10
|
||||
)
|
||||
|
||||
# Store received joint positions
|
||||
self.joint_names = joint_names
|
||||
|
||||
self.port = 8000 # UDP port
|
||||
|
||||
osc_startup()
|
||||
osc_udp_server("0.0.0.0", 8000, "osc_server")
|
||||
print("Server started on 0.0.0.0:8000 \n ready to receive messages in the following format: /joint_trajectroy [tcp_coordinates0, tcp_coordinates1, ...] optional: timestamp as last element of each tcp_coordinates")
|
||||
osc_udp_server("0.0.0.0", self.port, "osc_server")
|
||||
print(f"Server started on 0.0.0.0:{str(self.port)} \n ready to receive messages in the following format: /joint_trajectroy [tcp_coordinates0, tcp_coordinates1, ...] optional: timestamp as last element of each tcp_coordinates")
|
||||
# Register OSC handler
|
||||
osc_method("/joint_trajectory", self.joint_angles_handler, argscheme=osm.OSCARG_DATAUNPACK)
|
||||
|
||||
@ -41,26 +47,53 @@ class ScaledJointTrajectoryPublisher(Node):
|
||||
joint_positions = [0.0] * len(self.joint_names)
|
||||
steps = 30
|
||||
vel = 0.4
|
||||
if len(args[0]) == len(self.joint_names):
|
||||
if True: #len(args[0]) == len(self.joint_names):
|
||||
n=2.0
|
||||
for i in range(len(args)-1):
|
||||
print(f'i = {i}')
|
||||
x, y, z, roll, pitch, yaw = args[i]
|
||||
print(1)
|
||||
Tep1 = sm.SE3(x, y, z) * sm.SE3.RPY([roll, pitch, yaw], order='xyz')
|
||||
print(2)
|
||||
x, y, z, roll, pitch, yaw = args[i+1]
|
||||
print(3)
|
||||
Tep2 = sm.SE3(x, y, z) * sm.SE3.RPY([roll, pitch, yaw], order='xyz')
|
||||
print(4)
|
||||
cart_traj = rtb.ctraj(Tep1, Tep2, steps)
|
||||
for j in range(steps-1):
|
||||
print(cart_traj)
|
||||
print(5)
|
||||
for j in range(steps):
|
||||
print(f'j = {j}')
|
||||
print(6)
|
||||
sol = self.robot.ik_LM(cart_traj[j], q0=joint_positions)
|
||||
dist = np.linalg.norm(cart_traj[j].t - cart_traj[j+1].t)
|
||||
point = JointTrajectoryPoint()
|
||||
point.positions = list(sol[0])
|
||||
joint_positions = list(sol[0])
|
||||
point.time_from_start.sec = int(n)
|
||||
point.time_from_start.nanosec = int((n - int(n)) * 1e9)
|
||||
n+=dist/vel
|
||||
n+=0.1
|
||||
msg.points.append(point)
|
||||
print(7)
|
||||
if sol[1] == 1:
|
||||
print(8)
|
||||
if j == 0: dist = vel*n
|
||||
else: dist = np.linalg.norm(cart_traj[j].t - cart_traj[j-1].t)
|
||||
print(9)
|
||||
point = JointTrajectoryPoint()
|
||||
print(10)
|
||||
point.positions = list(sol[0])
|
||||
print(11)
|
||||
joint_positions = list(sol[0])
|
||||
print(12)
|
||||
point.time_from_start.sec = int(n)
|
||||
print(13)
|
||||
point.time_from_start.nanosec = int((n - int(n)) * 1e9)
|
||||
print(14)
|
||||
n+=dist/vel
|
||||
print(16)
|
||||
msg.points.append(point)
|
||||
print(17)
|
||||
else: print('IK could not find a solution!')
|
||||
print(18)
|
||||
self.publisher.publish(msg)
|
||||
print(19)
|
||||
print(f"published joint positions {msg.points[-1]}")
|
||||
print(f'Frequency: {round(1/(time.time()-time1),2)} Hz')
|
||||
|
||||
'''
|
||||
elif len(args[0]) == len(self.joint_names) + 1:
|
||||
for i in range(len(args)):
|
||||
x, y, z, roll, pitch, yaw, timetag = args[i]
|
||||
@ -72,20 +105,18 @@ class ScaledJointTrajectoryPublisher(Node):
|
||||
sol = self.robot.ik_LM(Tep, q0=joint_positions)
|
||||
|
||||
else:
|
||||
print("Invalid number or format of arguments")
|
||||
print("Invalid number or format of arguments")'''
|
||||
|
||||
self.publisher.publish(msg)
|
||||
print("published joint positions")
|
||||
print(f'Frequency: {round(1/(time.time()-time1),2)} Hz')
|
||||
|
||||
|
||||
def main():
|
||||
"""Main function to get joint names and start the ROS 2 & OSC system."""
|
||||
|
||||
tree = ET.parse('/BA/robot.urdf')
|
||||
path_to_urdf = input("Enter the path to the URDF file: ")
|
||||
tree = ET.parse(path_to_urdf)
|
||||
root = tree.getroot()
|
||||
joint_names = [joint.get('name') for joint in root.findall('joint') if joint.get('type') == 'revolute' or joint.get('type') == 'continuous' or joint.get('type') == 'prismatic']
|
||||
robot = rtb.ERobot.URDF('/BA/robot.urdf')
|
||||
robot = rtb.ERobot.URDF(path_to_urdf)
|
||||
print(robot)
|
||||
rclpy.init()
|
||||
|
||||
node = ScaledJointTrajectoryPublisher(joint_names, robot)
|
||||
|
||||
@ -25,6 +25,10 @@ setup(
|
||||
'cart_coords = joint_control.cart_tcp_server:main',
|
||||
'trajectory_server = joint_control.trajectory_server:main',
|
||||
'trajectory_server_cart = joint_control.trajectory_server_cart:main',
|
||||
'plugdata = joint_control.plugdata:main',
|
||||
'plugdata2 = joint_control.plugdata2:main',
|
||||
'test=joint_control.test:main',
|
||||
'plugdata3 = joint_control.plugdata3:main',
|
||||
],
|
||||
},
|
||||
)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user