zcy
/
gazebo_simulation_ros_package
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

新增gazebo_demo1功能包

master
刘志通 2021-08-26 19:40:52 +08:00
parent 65b4603e1c
commit 5f068c763c
16 changed files with 1452 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

42
gazebo_demo1/CMakeLists.txt Normal file
View File

@ -0,0 +1,42 @@
cmake_minimum_required(VERSION 2.8.3)
project(gazebo_demo1)
add_compile_options(-std=c++11)
find_package(catkin REQUIRED)
catkin_package()
find_package(catkin REQUIRED COMPONENTS
roslaunch
controller_manager
gazebo_ros
gazebo_ros_control
joint_state_publisher
robot_state_publisher
roscpp
rospy
rviz
xacro
kdl_parser
tf
sensor_msgs
std_msgs
trac_ik_lib
serial
)
include_directories(
include
${catkin_INCLUDE_DIRS}
${orocos_kdl_INCLUDE_DIRS}
)
add_executable(gazebo_demo1 src/gazebo_demo1.cpp)
target_link_libraries(gazebo_demo1 ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES})
foreach(dir config launch meshes urdf)
install(DIRECTORY ${dir}/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach(dir)

53
gazebo_demo1/config/joint_names_gazebo_demo1.yaml Normal file
View File

@ -0,0 +1,53 @@
gazebo_demo1:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
# Position Controllers ---------------------------------------
lf_position_con:
type: position_controllers/JointPositionController
joint: LF_JOINT
#pid: {p: 1.0, i: 0.01, d: 0.0}
lb_position_con:
type: position_controllers/JointPositionController
joint: LB_JOINT
#pid: {p: 1.0, i: 0.01, d: 0.0}
rf_position_con:
type: position_controllers/JointPositionController
joint: RF_JOINT
#pid: {p: 1.0, i: 0.01, d: 0.0}
rb_position_con:
type: position_controllers/JointPositionController
joint: RB_JOINT
#pid: {p: 1.0, i: 0.01, d: 0.0}
gazebo_demo1/gazebo_ros_control/pid_gains:
LF_JOINT: {p: 1.0, i: 0.0, d: 0.0}
LB_JOINT: {p: 1.0, i: 0.0, d: 0.0}
RF_JOINT: {p: 1.0, i: 0.0, d: 0.0}
RB_JOINT: {p: 1.0, i: 0.0, d: 0.0}

182
gazebo_demo1/export.log Normal file
View File

File diff suppressed because one or more lines are too long

10
gazebo_demo1/launch/display.launch Normal file
View File

@ -0,0 +1,10 @@
<launch>
<arg name="model" />
<arg name="gui" default="true" />
<param name="robot_description" textfile="$(find gazebo_demo1)/urdf/gazebo_demo1.urdf" />
<param name="use_gui" value="$(arg gui)" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find gazebo_demo1)/urdf.rviz" />
</launch>

43
gazebo_demo1/launch/gazebo.launch Normal file
View File

@ -0,0 +1,43 @@
<launch>
<param name="robot_description" command="$(find xacro)/xacro $(find gazebo_demo1)/urdf/gazebo_demo1.urdf.xacro" />
<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find gazebo_demo1)/worlds/gazebo_demo1.world"/>
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model myrobot -param robot_description"/>
<rosparam file="$(find gazebo_demo1)/config/joint_names_gazebo_demo1.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" ns="/gazebo_demo1" args="lf_position_con
lb_position_con
rf_position_con
rb_position_con
"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
respawn="false" output="screen">
<remap from="/joint_states" to="/gazebo_demo1/joint_states" />
</node>
</launch>

BIN
gazebo_demo1/meshes/LB_LINK.STL Normal file
View File

Binary file not shown.

BIN
gazebo_demo1/meshes/LF_LINK.STL Normal file
View File

Binary file not shown.

BIN
gazebo_demo1/meshes/RB_LINK.STL Normal file
View File

Binary file not shown.

BIN
gazebo_demo1/meshes/RF_LINK.STL Normal file
View File

Binary file not shown.

BIN
gazebo_demo1/meshes/base_link.STL Normal file
View File

Binary file not shown.

21
gazebo_demo1/package.xml Normal file
View File

@ -0,0 +1,21 @@
<package format="2">
<name>gazebo_demo1</name>
<version>1.0.0</version>
<description>
<p>URDF Description package for gazebo_demo1</p>
<p>This package contains configuration data, 3D models and launch files
for gazebo_demo1 robot</p>
</description>
<author>TODO</author>
<maintainer email="TODO@email.com" />
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<depend>roslaunch</depend>
<depend>robot_state_publisher</depend>
<depend>rviz</depend>
<depend>joint_state_publisher</depend>
<depend>gazebo</depend>
<export>
<architecture_independent />
</export>
</package>

49
gazebo_demo1/src/gazebo_demo1.cpp Normal file
View File

@ -0,0 +1,49 @@
#include "ros/ros.h"
#include "std_msgs/Float64.h"
#include <sstream>
int main(int argc, char *argv[])
{
setlocale(LC_ALL,"");
ros::init(argc,argv,"control_gazebo_demo1");
ros::NodeHandle nh;
ros::Publisher pub_lf = nh.advertise<std_msgs::Float64>("/gazebo_demo1/lf_position_con/command",10);
ros::Publisher pub_lb = nh.advertise<std_msgs::Float64>("/gazebo_demo1/lb_position_con/command",10);
ros::Publisher pub_rf = nh.advertise<std_msgs::Float64>("/gazebo_demo1/rf_position_con/command",10);
ros::Publisher pub_rb = nh.advertise<std_msgs::Float64>("/gazebo_demo1/rb_position_con/command",10);
std_msgs::Float64 control_gazebo_demo1;
control_gazebo_demo1.data=0.0;
bool flag=0;//0weizeng 1weijian
ros::Rate r(15);
while (ros::ok())
{
pub_lf.publish(control_gazebo_demo1);
pub_lb.publish(control_gazebo_demo1);
pub_rf.publish(control_gazebo_demo1);
pub_rb.publish(control_gazebo_demo1);
control_gazebo_demo1.data+=0.1;
r.sleep();
/*
for(control_gazebo_demo.data=0.0;control_gazebo_demo.data<=1.5;control_gazebo_demo.data+=0.01)
{
pub.publish(control_gazebo_demo);
ROS_INFO("发送的消息:%f",control_gazebo_demo);
r.sleep();
}
for(control_gazebo_demo.data=1.5;control_gazebo_demo.data>=0.0;control_gazebo_demo.data-=0.01)
{
pub.publish(control_gazebo_demo);
ROS_INFO("发送的消息:%f",control_gazebo_demo);
r.sleep();
}
*/
ros::spinOnce();
}
return 0;
}

342
gazebo_demo1/urdf/.gazebo_demo1.urdf Normal file
View File

@ -0,0 +1,342 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="gazebo_demo1">
<link
name="base_link">
<inertial>
<origin
xyz="-6.0445212263786E-18 1.39257863414922E-18 -2.20581496680807E-19"
rpy="0 0 0" />
<mass
value="0.468" />
<inertia
ixx="0.0001443"
ixy="-1.53384791846956E-20"
ixz="-1.37563571644961E-21"
iyy="0.0003939"
iyz="-1.29382985829106E-37"
izz="0.0005304" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.529411764705882 0.549019607843137 0.549019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/base_link.STL" />
</geometry>
</collision>
<dynamic damping="0.7" friction="0.5" />
</link>
<link
name="LF_LINK">
<inertial>
<origin
xyz="0.01 -1.59413400484866E-18 0"
rpy="0 0 0" />
<mass
value="0.0108630528372501" />
<inertia
ixx="1.06775440310417E-07"
ixy="1.20998908503938E-22"
ixz="-1.75453282727152E-23"
iyy="7.38080724035423E-07"
iyz="8.06501097239194E-25"
izz="7.99593444190632E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/LF_LINK.STL" />
</geometry>
<material
name="">
<color
rgba="0.529411764705882 0.549019607843137 0.549019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/LF_LINK.STL" />
</geometry>
</collision>
<dynamic damping="0.7" friction="0.5" />
</link>
<joint
name="LF_JOINT"
type="continuous">
<origin
xyz="0.045 0.0325 0"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="LF_LINK" />
<axis
xyz="0 0 1" />
</joint>
<link
name="LB_LINK">
<inertial>
<origin
xyz="0.01 -1.90361538571609E-18 6.93889390390723E-18"
rpy="0 0 0" />
<mass
value="0.0108630528372501" />
<inertia
ixx="1.06775440310417E-07"
ixy="1.10469815160512E-22"
ixz="3.53711447230329E-24"
iyy="7.38080724035424E-07"
iyz="5.37667398159464E-25"
izz="7.99593444190632E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/LB_LINK.STL" />
</geometry>
<material
name="">
<color
rgba="0.529411764705882 0.549019607843137 0.549019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/LB_LINK.STL" />
</geometry>
</collision>
<dynamic damping="0.7" friction="0.5" />
</link>
<joint
name="LB_JOINT"
type="continuous">
<origin
xyz="-0.045 0.0325 0"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="LB_LINK" />
<axis
xyz="0 0 1" />
</joint>
<link
name="RF_LINK">
<inertial>
<origin
xyz="0.01 -1.85843759880028E-18 0"
rpy="0 0 0" />
<mass
value="0.0108630528372501" />
<inertia
ixx="1.06775440310417E-07"
ixy="1.5173510835766E-22"
ixz="-9.00355753711158E-24"
iyy="7.38080724035423E-07"
iyz="-3.49483808803654E-24"
izz="7.99593444190632E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/RF_LINK.STL" />
</geometry>
<material
name="">
<color
rgba="0.529411764705882 0.549019607843137 0.549019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/RF_LINK.STL" />
</geometry>
</collision>
<dynamic damping="0.7" friction="0.5" />
</link>
<joint
name="RF_JOINT"
type="continuous">
<origin
xyz="0.045 -0.0325 0"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="RF_LINK" />
<axis
xyz="0 0 1" />
</joint>
<link
name="RB_LINK">
<inertial>
<origin
xyz="0.01 -1.6227366665734E-18 0"
rpy="0 0 0" />
<mass
value="0.0108630528372501" />
<inertia
ixx="1.06775440310417E-07"
ixy="1.36659023251123E-22"
ixz="1.17764472964423E-23"
iyy="7.38080724035423E-07"
iyz="-1.6130021944784E-24"
izz="7.99593444190632E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/RB_LINK.STL" />
</geometry>
<material
name="">
<color
rgba="0.529411764705882 0.549019607843137 0.549019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/RB_LINK.STL" />
</geometry>
</collision>
<dynamic damping="0.7" friction="0.5" />
</link>
<joint
name="RB_JOINT"
type="continuous">
<origin
xyz="-0.045 -0.0325 0"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="RB_LINK" />
<axis
xyz="0 0 1" />
</joint>
<gazebo reference="base_link">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="LF_LINK">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="LB_LINK">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="RF_LINK">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="RB_LINK">
<material>Gazebo/Black</material>
</gazebo>
<transmission name="LF_JOINT_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LF_JOINT">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="LF_JOINT_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LB_JOINT_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LB_JOINT">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="LB_JOINT_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RF_JOINT_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RF_JOINT">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="RF_JOINT_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RB_JOINT_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RB_JOINT">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="RB_JOINT_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/gazebo_demo1</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
</robot>

342
gazebo_demo1/urdf/gazebo_demo1.urdf Normal file
View File

@ -0,0 +1,342 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="gazebo_demo1">
<link
name="base_link">
<inertial>
<origin
xyz="-6.0445212263786E-18 1.39257863414922E-18 -2.20581496680807E-19"
rpy="0 0 0" />
<mass
value="0.468" />
<inertia
ixx="0.0001443"
ixy="-1.53384791846956E-20"
ixz="-1.37563571644961E-21"
iyy="0.0003939"
iyz="-1.29382985829106E-37"
izz="0.0005304" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.529411764705882 0.549019607843137 0.549019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/base_link.STL" />
</geometry>
</collision>
<dynamic damping="0.7" friction="0.5" />
</link>
<link
name="LF_LINK">
<inertial>
<origin
xyz="0.01 -1.59413400484866E-18 0"
rpy="0 0 0" />
<mass
value="0.0108630528372501" />
<inertia
ixx="1.06775440310417E-07"
ixy="1.20998908503938E-22"
ixz="-1.75453282727152E-23"
iyy="7.38080724035423E-07"
iyz="8.06501097239194E-25"
izz="7.99593444190632E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/LF_LINK.STL" />
</geometry>
<material
name="">
<color
rgba="0.529411764705882 0.549019607843137 0.549019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/LF_LINK.STL" />
</geometry>
</collision>
<dynamic damping="0.7" friction="0.5" />
</link>
<joint
name="LF_JOINT"
type="continuous">
<origin
xyz="0.045 0.0325 0"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="LF_LINK" />
<axis
xyz="0 0 1" />
</joint>
<link
name="LB_LINK">
<inertial>
<origin
xyz="0.01 -1.90361538571609E-18 6.93889390390723E-18"
rpy="0 0 0" />
<mass
value="0.0108630528372501" />
<inertia
ixx="1.06775440310417E-07"
ixy="1.10469815160512E-22"
ixz="3.53711447230329E-24"
iyy="7.38080724035424E-07"
iyz="5.37667398159464E-25"
izz="7.99593444190632E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/LB_LINK.STL" />
</geometry>
<material
name="">
<color
rgba="0.529411764705882 0.549019607843137 0.549019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/LB_LINK.STL" />
</geometry>
</collision>
<dynamic damping="0.7" friction="0.5" />
</link>
<joint
name="LB_JOINT"
type="continuous">
<origin
xyz="-0.045 0.0325 0"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="LB_LINK" />
<axis
xyz="0 0 1" />
</joint>
<link
name="RF_LINK">
<inertial>
<origin
xyz="0.01 -1.85843759880028E-18 0"
rpy="0 0 0" />
<mass
value="0.0108630528372501" />
<inertia
ixx="1.06775440310417E-07"
ixy="1.5173510835766E-22"
ixz="-9.00355753711158E-24"
iyy="7.38080724035423E-07"
iyz="-3.49483808803654E-24"
izz="7.99593444190632E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/RF_LINK.STL" />
</geometry>
<material
name="">
<color
rgba="0.529411764705882 0.549019607843137 0.549019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/RF_LINK.STL" />
</geometry>
</collision>
<dynamic damping="0.7" friction="0.5" />
</link>
<joint
name="RF_JOINT"
type="continuous">
<origin
xyz="0.045 -0.0325 0"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="RF_LINK" />
<axis
xyz="0 0 1" />
</joint>
<link
name="RB_LINK">
<inertial>
<origin
xyz="0.01 -1.6227366665734E-18 0"
rpy="0 0 0" />
<mass
value="0.0108630528372501" />
<inertia
ixx="1.06775440310417E-07"
ixy="1.36659023251123E-22"
ixz="1.17764472964423E-23"
iyy="7.38080724035423E-07"
iyz="-1.6130021944784E-24"
izz="7.99593444190632E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/RB_LINK.STL" />
</geometry>
<material
name="">
<color
rgba="0.529411764705882 0.549019607843137 0.549019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/RB_LINK.STL" />
</geometry>
</collision>
<dynamic damping="0.7" friction="0.5" />
</link>
<joint
name="RB_JOINT"
type="continuous">
<origin
xyz="-0.045 -0.0325 0"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="RB_LINK" />
<axis
xyz="0 0 1" />
</joint>
<gazebo reference="base_link">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="LF_LINK">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="LB_LINK">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="RF_LINK">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="RB_LINK">
<material>Gazebo/Black</material>
</gazebo>
<transmission name="LF_JOINT_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LF_JOINT">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="LF_JOINT_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LB_JOINT_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LB_JOINT">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="LB_JOINT_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RF_JOINT_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RF_JOINT">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="RF_JOINT_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RB_JOINT_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RB_JOINT">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="RB_JOINT_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/gazebo_demo1</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
</robot>

362
gazebo_demo1/urdf/gazebo_demo1.urdf.xacro Normal file
View File

@ -0,0 +1,362 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="gazebo_demo1">
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/gazebo_demo1</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
<link
name="base_link">
<inertial>
<origin
xyz="-6.0445212263786E-18 1.39257863414922E-18 -2.20581496680807E-19"
rpy="0 0 0" />
<mass
value="0.468" />
<inertia
ixx="0.0001443"
ixy="-1.53384791846956E-20"
ixz="-1.37563571644961E-21"
iyy="0.0003939"
iyz="-1.29382985829106E-37"
izz="0.0005304" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.529411764705882 0.549019607843137 0.549019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="LF_LINK">
<inertial>
<origin
xyz="0.01 -1.59413400484866E-18 0"
rpy="0 0 0" />
<mass
value="0.0108630528372501" />
<inertia
ixx="1.06775440310417E-07"
ixy="1.20998908503938E-22"
ixz="-1.75453282727152E-23"
iyy="7.38080724035423E-07"
iyz="8.06501097239194E-25"
izz="7.99593444190632E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/LF_LINK.STL" />
</geometry>
<material
name="">
<color
rgba="0.529411764705882 0.549019607843137 0.549019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/LF_LINK.STL" />
</geometry>
</collision>
</link>
<joint
name="LF_JOINT"
type="continuous">
<origin
xyz="0.045 0.0325 0"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="LF_LINK" />
<axis
xyz="0 0 1" />
<dynamic damping="0.7" friction="0.5" />
<limit effort="0.2" velocity="10" />
</joint>
<link
name="LB_LINK">
<inertial>
<origin
xyz="0.01 -1.90361538571609E-18 6.93889390390723E-18"
rpy="0 0 0" />
<mass
value="0.0108630528372501" />
<inertia
ixx="1.06775440310417E-07"
ixy="1.10469815160512E-22"
ixz="3.53711447230329E-24"
iyy="7.38080724035424E-07"
iyz="5.37667398159464E-25"
izz="7.99593444190632E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/LB_LINK.STL" />
</geometry>
<material
name="">
<color
rgba="0.529411764705882 0.549019607843137 0.549019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/LB_LINK.STL" />
</geometry>
</collision>
</link>
<joint
name="LB_JOINT"
type="continuous">
<origin
xyz="-0.045 0.0325 0"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="LB_LINK" />
<axis
xyz="0 0 1" />
<dynamic damping="0.7" friction="0.5" />
<limit effort="0.2" velocity="10" />
</joint>
<link
name="RF_LINK">
<inertial>
<origin
xyz="0.01 -1.85843759880028E-18 0"
rpy="0 0 0" />
<mass
value="0.0108630528372501" />
<inertia
ixx="1.06775440310417E-07"
ixy="1.5173510835766E-22"
ixz="-9.00355753711158E-24"
iyy="7.38080724035423E-07"
iyz="-3.49483808803654E-24"
izz="7.99593444190632E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/RF_LINK.STL" />
</geometry>
<material
name="">
<color
rgba="0.529411764705882 0.549019607843137 0.549019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/RF_LINK.STL" />
</geometry>
</collision>
</link>
<joint
name="RF_JOINT"
type="continuous">
<origin
xyz="0.045 -0.0325 0"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="RF_LINK" />
<axis
xyz="0 0 1" />
<dynamic damping="0.7" friction="0.5" />
<limit effort="0.2" velocity="10" />
</joint>
<link
name="RB_LINK">
<inertial>
<origin
xyz="0.01 -1.6227366665734E-18 0"
rpy="0 0 0" />
<mass
value="0.0108630528372501" />
<inertia
ixx="1.06775440310417E-07"
ixy="1.36659023251123E-22"
ixz="1.17764472964423E-23"
iyy="7.38080724035423E-07"
iyz="-1.6130021944784E-24"
izz="7.99593444190632E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/RB_LINK.STL" />
</geometry>
<material
name="">
<color
rgba="0.529411764705882 0.549019607843137 0.549019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://gazebo_demo1/meshes/RB_LINK.STL" />
</geometry>
</collision>
</link>
<joint
name="RB_JOINT"
type="continuous">
<origin
xyz="-0.045 -0.0325 0"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="RB_LINK" />
<axis
xyz="0 0 1" />
<dynamic damping="0.7" friction="0.5" />
<limit effort="0.2" velocity="10" />
</joint>
<gazebo reference="base_link">
<mu>0.2</mu>
<mu2>0.2</mu2>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="LF_LINK">
<mu1>1</mu1>
<mu2>1</mu2>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="LB_LINK">
<mu1>1</mu1>
<mu2>1</mu2>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="RF_LINK">
<mu1>1</mu1>
<mu2>1</mu2>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="RB_LINK">
<mu1>1</mu1>
<mu2>1</mu2>
<material>Gazebo/Black</material>
</gazebo>
<transmission name="LF_JOINT_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LF_JOINT">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="LF_JOINT_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LB_JOINT_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LB_JOINT">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="LB_JOINT_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RF_JOINT_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RF_JOINT">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="RF_JOINT_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RB_JOINT_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RB_JOINT">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="RB_JOINT_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot>

6
gazebo_demo1/urdf/gazebo_demo2.csv Normal file
View File

@ -0,0 +1,6 @@
Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
base_link,-6.0445212263786E-18,1.39257863414922E-18,-2.20581496680807E-19,0,0,0,0.468,0.0001443,-1.53384791846956E-20,-1.37563571644961E-21,0.0003939,-1.29382985829106E-37,0.0005304,0,0,0,0,0,0,package://gazebo_demo2/meshes/base_link.STL,0.529411764705882,0.549019607843137,0.549019607843137,1,0,0,0,0,0,0,package://gazebo_demo2/meshes/base_link.STL,,零件-1,坐标系1,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
LF_LINK,0.01,-1.59413400484866E-18,0,0,0,0,0.0108630528372501,1.06775440310417E-07,1.20998908503938E-22,-1.75453282727152E-23,7.38080724035423E-07,8.06501097239194E-25,7.99593444190632E-07,0,0,0,0,0,0,package://gazebo_demo2/meshes/LF_LINK.STL,0.529411764705882,0.549019607843137,0.549019607843137,1,0,0,0,0,0,0,package://gazebo_demo2/meshes/LF_LINK.STL,,tui-1,坐标系2,基准轴2,LF_JOINT,continuous,0.045,0.0325,0,1.5708,0,0,base_link,0,0,1,1,1,,,,,,,,,,
LB_LINK,0.01,-1.90361538571609E-18,6.93889390390723E-18,0,0,0,0.0108630528372501,1.06775440310417E-07,1.10469815160512E-22,3.53711447230329E-24,7.38080724035424E-07,5.37667398159464E-25,7.99593444190632E-07,0,0,0,0,0,0,package://gazebo_demo2/meshes/LB_LINK.STL,0.529411764705882,0.549019607843137,0.549019607843137,1,0,0,0,0,0,0,package://gazebo_demo2/meshes/LB_LINK.STL,,tui-2,坐标系3,基准轴3,LB_JOINT,continuous,-0.045,0.0325,0,1.5708,0,0,base_link,0,0,1,1,1,,,,,,,,,,
RF_LINK,0.01,-1.85843759880028E-18,0,0,0,0,0.0108630528372501,1.06775440310417E-07,1.5173510835766E-22,-9.00355753711158E-24,7.38080724035423E-07,-3.49483808803654E-24,7.99593444190632E-07,0,0,0,0,0,0,package://gazebo_demo2/meshes/RF_LINK.STL,0.529411764705882,0.549019607843137,0.549019607843137,1,0,0,0,0,0,0,package://gazebo_demo2/meshes/RF_LINK.STL,,tui-4,坐标系4,基准轴4,RF_JOINT,continuous,0.045,-0.0325,0,1.5708,0,0,base_link,0,0,1,1,1,,,,,,,,,,
RB_LINK,0.01,-1.6227366665734E-18,0,0,0,0,0.0108630528372501,1.06775440310417E-07,1.36659023251123E-22,1.17764472964423E-23,7.38080724035423E-07,-1.6130021944784E-24,7.99593444190632E-07,0,0,0,0,0,0,package://gazebo_demo2/meshes/RB_LINK.STL,0.529411764705882,0.549019607843137,0.549019607843137,1,0,0,0,0,0,0,package://gazebo_demo2/meshes/RB_LINK.STL,,tui-3,坐标系5,基准轴5,RB_JOINT,continuous,-0.045,-0.0325,0,1.5708,0,0,base_link,0,0,1,1,1,,,,,,,,,,
1 Link Name Center of Mass X Center of Mass Y Center of Mass Z Center of Mass Roll Center of Mass Pitch Center of Mass Yaw Mass Moment Ixx Moment Ixy Moment Ixz Moment Iyy Moment Iyz Moment Izz Visual X Visual Y Visual Z Visual Roll Visual Pitch Visual Yaw Mesh Filename Color Red Color Green Color Blue Color Alpha Collision X Collision Y Collision Z Collision Roll Collision Pitch Collision Yaw Collision Mesh Filename Material Name SW Components Coordinate System Axis Name Joint Name Joint Type Joint Origin X Joint Origin Y Joint Origin Z Joint Origin Roll Joint Origin Pitch Joint Origin Yaw Parent Joint Axis X Joint Axis Y Joint Axis Z Limit Effort Limit Velocity Limit Lower Limit Upper Calibration rising Calibration falling Dynamics Damping Dynamics Friction Safety Soft Upper Safety Soft Lower Safety K Position Safety K Velocity
2 base_link -6.0445212263786E-18 1.39257863414922E-18 -2.20581496680807E-19 0 0 0 0.468 0.0001443 -1.53384791846956E-20 -1.37563571644961E-21 0.0003939 -1.29382985829106E-37 0.0005304 0 0 0 0 0 0 package://gazebo_demo2/meshes/base_link.STL 0.529411764705882 0.549019607843137 0.549019607843137 1 0 0 0 0 0 0 package://gazebo_demo2/meshes/base_link.STL 零件-1 坐标系1 0 0 0 0 0 0 0 0 0
3 LF_LINK 0.01 -1.59413400484866E-18 0 0 0 0 0.0108630528372501 1.06775440310417E-07 1.20998908503938E-22 -1.75453282727152E-23 7.38080724035423E-07 8.06501097239194E-25 7.99593444190632E-07 0 0 0 0 0 0 package://gazebo_demo2/meshes/LF_LINK.STL 0.529411764705882 0.549019607843137 0.549019607843137 1 0 0 0 0 0 0 package://gazebo_demo2/meshes/LF_LINK.STL tui-1 坐标系2 基准轴2 LF_JOINT continuous 0.045 0.0325 0 1.5708 0 0 base_link 0 0 1 1 1
4 LB_LINK 0.01 -1.90361538571609E-18 6.93889390390723E-18 0 0 0 0.0108630528372501 1.06775440310417E-07 1.10469815160512E-22 3.53711447230329E-24 7.38080724035424E-07 5.37667398159464E-25 7.99593444190632E-07 0 0 0 0 0 0 package://gazebo_demo2/meshes/LB_LINK.STL 0.529411764705882 0.549019607843137 0.549019607843137 1 0 0 0 0 0 0 package://gazebo_demo2/meshes/LB_LINK.STL tui-2 坐标系3 基准轴3 LB_JOINT continuous -0.045 0.0325 0 1.5708 0 0 base_link 0 0 1 1 1
5 RF_LINK 0.01 -1.85843759880028E-18 0 0 0 0 0.0108630528372501 1.06775440310417E-07 1.5173510835766E-22 -9.00355753711158E-24 7.38080724035423E-07 -3.49483808803654E-24 7.99593444190632E-07 0 0 0 0 0 0 package://gazebo_demo2/meshes/RF_LINK.STL 0.529411764705882 0.549019607843137 0.549019607843137 1 0 0 0 0 0 0 package://gazebo_demo2/meshes/RF_LINK.STL tui-4 坐标系4 基准轴4 RF_JOINT continuous 0.045 -0.0325 0 1.5708 0 0 base_link 0 0 1 1 1
6 RB_LINK 0.01 -1.6227366665734E-18 0 0 0 0 0.0108630528372501 1.06775440310417E-07 1.36659023251123E-22 1.17764472964423E-23 7.38080724035423E-07 -1.6130021944784E-24 7.99593444190632E-07 0 0 0 0 0 0 package://gazebo_demo2/meshes/RB_LINK.STL 0.529411764705882 0.549019607843137 0.549019607843137 1 0 0 0 0 0 0 package://gazebo_demo2/meshes/RB_LINK.STL tui-3 坐标系5 基准轴5 RB_JOINT continuous -0.045 -0.0325 0 1.5708 0 0 base_link 0 0 1 1 1