From 65b4603e1cb924088121d23d497bcb23f8af6787 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=88=98=E5=BF=97=E9=80=9A?= <953598974@qq.com> Date: Tue, 24 Aug 2021 10:05:58 +0800 Subject: [PATCH] =?UTF-8?q?gazebo=E4=BB=BF=E7=9C=9F=E7=AC=AC=E4=B8=80?= =?UTF-8?q?=E4=B8=AA=E4=BE=8B=E7=A8=8B=EF=BC=8C=E5=8D=95=E8=87=AA=E7=94=B1?= =?UTF-8?q?=E5=BA=A6=E6=9C=BA=E5=99=A8=E4=BA=BA?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- gazebo_demo/CMakeLists.txt | 42 ++++++ .../config/joint_names_gazebo_demo.yaml | 14 ++ gazebo_demo/export.log | 118 ++++++++++++++++ gazebo_demo/launch/display.launch | 26 ++++ gazebo_demo/launch/gazebo.launch | 37 +++++ gazebo_demo/meshes/base_link.STL | Bin 0 -> 7284 bytes gazebo_demo/meshes/link_1.STL | Bin 0 -> 5084 bytes gazebo_demo/package.xml | 21 +++ gazebo_demo/src/gazebo_demo.cpp | 39 +++++ gazebo_demo/urdf/gazebo_demo.csv | 3 + gazebo_demo/urdf/gazebo_demo.urdf.xacro | 133 ++++++++++++++++++ 11 files changed, 433 insertions(+) create mode 100644 gazebo_demo/CMakeLists.txt create mode 100644 gazebo_demo/config/joint_names_gazebo_demo.yaml create mode 100644 gazebo_demo/export.log create mode 100644 gazebo_demo/launch/display.launch create mode 100644 gazebo_demo/launch/gazebo.launch create mode 100644 gazebo_demo/meshes/base_link.STL create mode 100644 gazebo_demo/meshes/link_1.STL create mode 100644 gazebo_demo/package.xml create mode 100644 gazebo_demo/src/gazebo_demo.cpp create mode 100644 gazebo_demo/urdf/gazebo_demo.csv create mode 100644 gazebo_demo/urdf/gazebo_demo.urdf.xacro diff --git a/gazebo_demo/CMakeLists.txt b/gazebo_demo/CMakeLists.txt new file mode 100644 index 0000000..f9bce62 --- /dev/null +++ b/gazebo_demo/CMakeLists.txt @@ -0,0 +1,42 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(gazebo_demo) + +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_demo src/gazebo_demo.cpp) +target_link_libraries(gazebo_demo ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES}) + +foreach(dir config launch meshes urdf) + install(DIRECTORY ${dir}/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) +endforeach(dir) diff --git a/gazebo_demo/config/joint_names_gazebo_demo.yaml b/gazebo_demo/config/joint_names_gazebo_demo.yaml new file mode 100644 index 0000000..60fce14 --- /dev/null +++ b/gazebo_demo/config/joint_names_gazebo_demo.yaml @@ -0,0 +1,14 @@ +gazebo_demo: + # Publish all joint states ----------------------------------- + joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 + + # Position Controllers --------------------------------------- + joint1_position_controller: + type: position_controllers/JointPositionController + joint: joint_1 + #pid: {p: 100.0, i: 0.01, d: 10.0} + +gazebo_demo/gazebo_ros_control/pid_gains: + joint_1: {p: 100.0, i: 0.0, d: 10.0} diff --git a/gazebo_demo/export.log b/gazebo_demo/export.log new file mode 100644 index 0000000..6086137 --- /dev/null +++ b/gazebo_demo/export.log @@ -0,0 +1,118 @@ +2021-08-23 16:21:47,868 INFO Logger.cs: 70 - +-------------------------------------------------------------------------------- +2021-08-23 16:21:47,946 INFO Logger.cs: 71 - Logging commencing for SW2URDF exporter +2021-08-23 16:21:47,949 INFO Logger.cs: 73 - Commit version 1.5.1-0-g916b5db +2021-08-23 16:21:47,949 INFO Logger.cs: 74 - Build version 1.5.7152.31018 +2021-08-23 16:21:47,978 INFO SwAddin.cs: 250 - Adding Assembly export to file menu +2021-08-23 16:21:47,979 INFO SwAddin.cs: 253 - Adding Part export to file menu +2021-08-23 16:21:48,043 INFO SwAddin.cs: 218 - Connecting plugin to SolidWorks +2021-08-23 16:23:53,652 INFO SwAddin.cs: 271 - Assembly export called for file gazebo_demo_as.SLDASM +2021-08-23 16:23:54,942 INFO SwAddin.cs: 290 - Saving assembly +2021-08-23 16:23:55,021 INFO SwAddin.cs: 293 - Opening property manager +2021-08-23 16:23:55,083 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from gazebo_demo_as.SLDASM +2021-08-23 16:23:55,099 INFO ExportHelperExtension.cs: 1142 - Found 29 in gazebo_demo_as.SLDASM +2021-08-23 16:23:55,101 INFO ExportHelperExtension.cs: 1152 - Found 2 features of type [CoordSys] in gazebo_demo_as.SLDASM +2021-08-23 16:23:55,101 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2021-08-23 16:23:55,104 INFO ExportHelperExtension.cs: 1167 - 2 components to check +2021-08-23 16:23:55,106 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from gazebo_demo_part1-1 +2021-08-23 16:23:55,107 INFO ExportHelperExtension.cs: 1142 - Found 26 in gazebo_demo_part1-1 +2021-08-23 16:23:55,108 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in gazebo_demo_part1-1 +2021-08-23 16:23:55,109 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from gazebo_demo_part2-1 +2021-08-23 16:23:55,109 INFO ExportHelperExtension.cs: 1142 - Found 27 in gazebo_demo_part2-1 +2021-08-23 16:23:55,110 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in gazebo_demo_part2-1 +2021-08-23 16:23:55,113 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from gazebo_demo_as.SLDASM +2021-08-23 16:23:55,114 INFO ExportHelperExtension.cs: 1142 - Found 29 in gazebo_demo_as.SLDASM +2021-08-23 16:23:55,115 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [RefAxis] in gazebo_demo_as.SLDASM +2021-08-23 16:23:55,115 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2021-08-23 16:23:55,116 INFO ExportHelperExtension.cs: 1167 - 2 components to check +2021-08-23 16:23:55,117 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from gazebo_demo_part1-1 +2021-08-23 16:23:55,117 INFO ExportHelperExtension.cs: 1142 - Found 26 in gazebo_demo_part1-1 +2021-08-23 16:23:55,118 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in gazebo_demo_part1-1 +2021-08-23 16:23:55,119 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from gazebo_demo_part2-1 +2021-08-23 16:23:55,119 INFO ExportHelperExtension.cs: 1142 - Found 27 in gazebo_demo_part2-1 +2021-08-23 16:23:55,120 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in gazebo_demo_part2-1 +2021-08-23 16:23:55,341 INFO SwAddin.cs: 316 - Loading config tree +2021-08-23 16:23:55,351 INFO Serialization.cs: 275 - URDF Configuration found +nametruebase_linkxyztrue09.7454295812984418E-19-4.3139033765509933E-18rpytrue000originfalsefalsevaluetrue6.99004365423729massfalseixxtrue0.010193813662429383ixytrue0ixztrue-3.3770091026197059E-35iyytrue0.010193813662429383iyztrue-7.1234330677476427E-35izztrue0.0087375545677966151inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.537254901960784290.349019607843137240.337254901960784341colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????1linktruenametruelink_1xyztrue0.25000000000000006-8.7034647556888366E-201.3877787807814457E-17rpytrue000originfalsefalsevaluetrue2.4089203311472862massfalseixxtrue0.0017507598681145993ixytrue4.1931906402805377E-20ixztrue2.1241998130361579E-20iyytrue0.064282947231486656iyztrue3.8669877485316321E-20izztrue0.065029990294956555inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1110.31999999999999995colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruejoint_1typetruerevolutexyztrue000.075rpytrue000originfalsefalselinktruebase_linkparenttruelinktruelink_1childtruexyztrue00-1axisfalselowertrue-1.57uppertrue1.57efforttrue1velocitytrue1limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????1?????????2linktruefalse+CoAAAUAAAD//v8iZwBhAHoAZQBiAG8AXwBkAGUAbQBvAF8AcABhAHIAdAAyAC0AMQBAAGcAYQB6AGUAYgBvAF8AZABlAG0AbwBfAGEAcwAEAAAAEAAAAAEAAAABAAAAGwAAAA==falsefalsefalse+CoAAAUAAAD//v8iZwBhAHoAZQBiAG8AXwBkAGUAbQBvAF8AcABhAHIAdAAxAC0AMQBAAGcAYQB6AGUAYgBvAF8AZABlAG0AbwBfAGEAcwAEAAAAEAAAAAEAAAABAAAAFwAAAA==falsefalse +2021-08-23 16:23:55,472 INFO LinkNode.cs: 35 - Building node base_link +2021-08-23 16:23:55,473 INFO LinkNode.cs: 35 - Building node link_1 +2021-08-23 16:23:55,475 INFO Common.cs: 221 - Loading SolidWorks components for base_link from C:\Users\Zhitong\Desktop\gazebo_demo\gazebo_demo_as.SLDASM +2021-08-23 16:23:55,478 INFO Common.cs: 245 - Loading component with PID ?*???"gazebo_demo_part1-1@gazebo_demo_as +2021-08-23 16:23:55,481 INFO Common.cs: 254 - Successfully loaded component C:\Users\Zhitong\Desktop\gazebo_demo\gazebo_demo_part1.SLDPRT +2021-08-23 16:23:55,487 INFO Common.cs: 230 - Loaded 1 components for link base_link +2021-08-23 16:23:55,489 INFO Common.cs: 221 - Loading SolidWorks components for link_1 from C:\Users\Zhitong\Desktop\gazebo_demo\gazebo_demo_as.SLDASM +2021-08-23 16:23:55,489 INFO Common.cs: 245 - Loading component with PID ?*???"gazebo_demo_part2-1@gazebo_demo_as +2021-08-23 16:23:55,502 INFO Common.cs: 254 - Successfully loaded component C:\Users\Zhitong\Desktop\gazebo_demo\gazebo_demo_part2.SLDPRT +2021-08-23 16:23:55,502 INFO Common.cs: 230 - Loaded 1 components for link link_1 +2021-08-23 16:23:55,523 INFO SwAddin.cs: 321 - Showing property manager +2021-08-23 16:24:00,160 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-23 16:24:09,966 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-23 16:24:11,310 INFO ExportPropertyManager.cs: 1060 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-23 16:24:13,592 INFO ExportPropertyManager.cs: 456 - Configuration saved +2021-08-23 16:24:13,599 INFO Serialization.cs: 275 - URDF Configuration found +nametruebase_linkxyztrue09.7454295812984418E-19-4.3139033765509933E-18rpytrue000originfalsefalsevaluetrue6.99004365423729massfalseixxtrue0.010193813662429383ixytrue0ixztrue-3.3770091026197059E-35iyytrue0.010193813662429383iyztrue-7.1234330677476427E-35izztrue0.0087375545677966151inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.537254901960784290.349019607843137240.337254901960784341colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????1linktruenametruelink_1xyztrue0.25000000000000006-8.7034647556888366E-201.3877787807814457E-17rpytrue000originfalsefalsevaluetrue2.4089203311472862massfalseixxtrue0.0017507598681145993ixytrue4.1931906402805377E-20ixztrue2.1241998130361579E-20iyytrue0.064282947231486656iyztrue3.8669877485316321E-20izztrue0.065029990294956555inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1110.31999999999999995colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruejoint_1typetruerevolutexyztrue000.075rpytrue000originfalsefalselinktruebase_linkparenttruelinktruelink_1childtruexyztrue00-1axisfalselowertrue-1.57uppertrue1.57efforttrue1velocitytrue1limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????1?????????2linktruefalse+CoAAAUAAAD//v8iZwBhAHoAZQBiAG8AXwBkAGUAbQBvAF8AcABhAHIAdAAyAC0AMQBAAGcAYQB6AGUAYgBvAF8AZABlAG0AbwBfAGEAcwAEAAAAEAAAAAEAAAABAAAAGwAAAA==falsefalsefalse+CoAAAUAAAD//v8iZwBhAHoAZQBiAG8AXwBkAGUAbQBvAF8AcABhAHIAdAAxAC0AMQBAAGcAYQB6AGUAYgBvAF8AZABlAG0AbwBfAGEAcwAEAAAAEAAAAAEAAAABAAAAFwAAAA==falsefalse +2021-08-23 16:24:13,755 INFO ExportHelperExtension.cs: 338 - Creating joint link_1 +2021-08-23 16:24:14,069 WARN ExportHelperExtension.cs: 342 - Creating joint from parent base_link to child link_1 failed +2021-08-23 16:24:14,196 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from gazebo_demo_as.SLDASM +2021-08-23 16:24:14,203 INFO ExportHelperExtension.cs: 1142 - Found 29 in gazebo_demo_as.SLDASM +2021-08-23 16:24:14,204 INFO ExportHelperExtension.cs: 1152 - Found 2 features of type [CoordSys] in gazebo_demo_as.SLDASM +2021-08-23 16:24:14,204 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2021-08-23 16:24:14,204 INFO ExportHelperExtension.cs: 1167 - 2 components to check +2021-08-23 16:24:14,205 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from gazebo_demo_part1-1 +2021-08-23 16:24:14,205 INFO ExportHelperExtension.cs: 1142 - Found 26 in gazebo_demo_part1-1 +2021-08-23 16:24:14,206 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in gazebo_demo_part1-1 +2021-08-23 16:24:14,206 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [CoordSys] from gazebo_demo_part2-1 +2021-08-23 16:24:14,207 INFO ExportHelperExtension.cs: 1142 - Found 27 in gazebo_demo_part2-1 +2021-08-23 16:24:14,208 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [CoordSys] in gazebo_demo_part2-1 +2021-08-23 16:24:14,208 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from gazebo_demo_as.SLDASM +2021-08-23 16:24:14,208 INFO ExportHelperExtension.cs: 1142 - Found 29 in gazebo_demo_as.SLDASM +2021-08-23 16:24:14,208 INFO ExportHelperExtension.cs: 1152 - Found 1 features of type [RefAxis] in gazebo_demo_as.SLDASM +2021-08-23 16:24:14,209 INFO ExportHelperExtension.cs: 1155 - Proceeding through assembly components +2021-08-23 16:24:14,209 INFO ExportHelperExtension.cs: 1167 - 2 components to check +2021-08-23 16:24:14,209 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from gazebo_demo_part1-1 +2021-08-23 16:24:14,210 INFO ExportHelperExtension.cs: 1142 - Found 26 in gazebo_demo_part1-1 +2021-08-23 16:24:14,210 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in gazebo_demo_part1-1 +2021-08-23 16:24:14,210 INFO ExportHelperExtension.cs: 1131 - Retrieving features of type [RefAxis] from gazebo_demo_part2-1 +2021-08-23 16:24:14,211 INFO ExportHelperExtension.cs: 1142 - Found 27 in gazebo_demo_part2-1 +2021-08-23 16:24:14,211 INFO ExportHelperExtension.cs: 1152 - Found 0 features of type [RefAxis] in gazebo_demo_part2-1 +2021-08-23 16:24:14,294 INFO ExportPropertyManager.cs: 1184 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2021-08-23 16:24:30,973 INFO AssemblyExportForm.cs: 254 - Completing URDF export +2021-08-23 16:24:30,978 INFO Serialization.cs: 275 - URDF Configuration found +nametruebase_linkxyztrue09.7454295812984418E-19-4.3139033765509933E-18rpytrue000originfalsefalsevaluetrue6.99004365423729massfalseixxtrue0.010193813662429383ixytrue0ixztrue-3.3770091026197059E-35iyytrue0.010193813662429383iyztrue-7.1234330677476427E-35izztrue0.0087375545677966151inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.537254901960784290.349019607843137240.337254901960784341colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????1linktruenametruelink_1xyztrue0.25000000000000006-8.7034647556888366E-201.3877787807814457E-17rpytrue000originfalsefalsevaluetrue2.4089203311472862massfalseixxtrue0.0017507598681145993ixytrue4.1931906402805377E-20ixztrue2.1241998130361579E-20iyytrue0.064282947231486656iyztrue3.8669877485316321E-20izztrue0.065029990294956555inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1110.31999999999999995colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruejoint_1typetruerevolutexyztrue000.075rpytrue000originfalsefalselinktruebase_linkparenttruelinktruelink_1childtruexyztrue00-1axisfalselowertrue-1.57uppertrue1.57efforttrue1velocitytrue1limittruerisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????1?????????2linktruefalse+CoAAAUAAAD//v8iZwBhAHoAZQBiAG8AXwBkAGUAbQBvAF8AcABhAHIAdAAyAC0AMQBAAGcAYQB6AGUAYgBvAF8AZABlAG0AbwBfAGEAcwAEAAAAEAAAAAEAAAABAAAAGwAAAA==falsefalsefalse+CoAAAUAAAD//v8iZwBhAHoAZQBiAG8AXwBkAGUAbQBvAF8AcABhAHIAdAAxAC0AMQBAAGcAYQB6AGUAYgBvAF8AZABlAG0AbwBfAGEAcwAEAAAAEAAAAAEAAAABAAAAFwAAAA==falsefalse +2021-08-23 16:25:09,332 INFO AssemblyExportForm.cs: 308 - Saving URDF package to C:\Users\Zhitong\Desktop\gazebo_demo\gazebo_demo +2021-08-23 16:25:09,335 INFO ExportHelper.cs: 147 - Beginning the export process +2021-08-23 16:25:09,338 INFO ExportHelper.cs: 153 - Creating package directories with name gazebo_demo and save path C:\Users\Zhitong\Desktop\gazebo_demo +2021-08-23 16:25:10,716 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at C:\Users\Zhitong\Desktop\gazebo_demo\gazebo_demo\CMakeLists.txt +2021-08-23 16:25:10,718 INFO ExportHelper.cs: 166 - Creating joint names config at C:\Users\Zhitong\Desktop\gazebo_demo\gazebo_demo\config\joint_names_gazebo_demo.yaml +2021-08-23 16:25:10,720 INFO ExportHelper.cs: 170 - Creating package.xml at C:\Users\Zhitong\Desktop\gazebo_demo\gazebo_demo\package.xml +2021-08-23 16:25:10,722 INFO PackageXMLWriter.cs: 21 - Creating package.xml at C:\Users\Zhitong\Desktop\gazebo_demo\gazebo_demo\package.xml +2021-08-23 16:25:10,727 INFO ExportHelper.cs: 177 - Creating RVIZ launch file in C:\Users\Zhitong\Desktop\gazebo_demo\gazebo_demo\launch\ +2021-08-23 16:25:10,731 INFO ExportHelper.cs: 182 - Creating Gazebo launch file in C:\Users\Zhitong\Desktop\gazebo_demo\gazebo_demo\launch\ +2021-08-23 16:25:10,731 INFO ExportHelper.cs: 187 - Saving existing STL preferences +2021-08-23 16:25:10,732 INFO ExportHelper.cs: 451 - Saving users preferences +2021-08-23 16:25:10,734 INFO ExportHelper.cs: 190 - Modifying STL preferences +2021-08-23 16:25:10,735 INFO ExportHelper.cs: 465 - Setting STL preferences +2021-08-23 16:25:10,745 INFO ExportHelper.cs: 196 - Found 0 hidden components +2021-08-23 16:25:10,746 INFO ExportHelper.cs: 197 - Hiding all components +2021-08-23 16:25:10,829 INFO ExportHelper.cs: 204 - Beginning individual files export +2021-08-23 16:25:10,831 INFO ExportHelper.cs: 270 - Exporting link: base_link +2021-08-23 16:25:10,831 INFO ExportHelper.cs: 272 - Link base_link has 1 children +2021-08-23 16:25:10,833 INFO ExportHelper.cs: 270 - Exporting link: link_1 +2021-08-23 16:25:10,833 INFO ExportHelper.cs: 272 - Link link_1 has 0 children +2021-08-23 16:25:10,834 INFO ExportHelper.cs: 318 - link_1: Exporting STL with coordinate frame ϵ2 +2021-08-23 16:25:10,835 INFO ExportHelper.cs: 323 - link_1: Reference geometry name +2021-08-23 16:25:10,900 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gazebo_demo\gazebo_demo\meshes\link_1.STL +2021-08-23 16:25:10,994 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-23 16:25:10,995 INFO ExportHelper.cs: 318 - base_link: Exporting STL with coordinate frame ϵ1 +2021-08-23 16:25:10,995 INFO ExportHelper.cs: 323 - base_link: Reference geometry name +2021-08-23 16:25:11,230 INFO ExportHelper.cs: 331 - Saving STL to C:\Users\Zhitong\Desktop\gazebo_demo\gazebo_demo\meshes\base_link.STL +2021-08-23 16:25:11,292 INFO ExportHelper.cs: 406 - Removing SW header in STL file +2021-08-23 16:25:11,293 INFO ExportHelper.cs: 145 - Showing all components except previously hidden components +2021-08-23 16:25:11,422 INFO ExportHelper.cs: 145 - Resetting STL preferences +2021-08-23 16:25:11,422 INFO ExportHelper.cs: 479 - Returning STL preferences to user preferences +2021-08-23 16:25:11,422 INFO ExportHelper.cs: 228 - Writing URDF file to C:\Users\Zhitong\Desktop\gazebo_demo\gazebo_demo\urdf\gazebo_demo.urdf +2021-08-23 16:25:11,489 INFO CSVImportExport.cs: 32 - Writing CSV file C:\Users\Zhitong\Desktop\gazebo_demo\gazebo_demo\urdf\gazebo_demo.csv +2021-08-23 16:25:11,520 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-23 16:25:11,521 ERROR CSVImportExport.cs: 132 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2021-08-23 16:25:11,522 INFO ExportHelper.cs: 234 - Copying log file +2021-08-23 16:25:11,528 INFO ExportHelper.cs: 440 - Copying C:\Users\Zhitong\sw2urdf_logs\sw2urdf.log to C:\Users\Zhitong\Desktop\gazebo_demo\gazebo_demo\export.log diff --git a/gazebo_demo/launch/display.launch b/gazebo_demo/launch/display.launch new file mode 100644 index 0000000..128989c --- /dev/null +++ b/gazebo_demo/launch/display.launch @@ -0,0 +1,26 @@ + + + + + + + + + \ No newline at end of file diff --git a/gazebo_demo/launch/gazebo.launch b/gazebo_demo/launch/gazebo.launch new file mode 100644 index 0000000..5353566 --- /dev/null +++ b/gazebo_demo/launch/gazebo.launch @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/gazebo_demo/meshes/base_link.STL b/gazebo_demo/meshes/base_link.STL new file mode 100644 index 0000000000000000000000000000000000000000..17d18a9f95dbfbe123bf0fad1564da2c5b099b1c GIT binary patch literal 7284 zcmb`LUx-#k7{(8~pcr_QDQZv=C{aXRl$L(8r=qOXWhn@fAP~Wug^ewVEY=Pc)LkkP zA!N0&fuThd8SFRTu@Xrsgl@X%9|~bnk=c#WMZNEtKj$~Q&asOY^gQePJn!?KnKLu* zSQP*7&u&S#?ATg6Jb1QVap&jP?)Yx+to>_~{ql>=wl{I`Eq&^rv7b&)du$qoQN^1d zo}6Zc3dywIXM#ej&#-K&*#GsKkyB@$sa3%Uu)Xm6mfraIJxzs0kyDTbELA;z_Jfh7 zhaYP^7y-6JAHUx_^1^N2Bc~t>SUesb9WF;dd!+GT1lS(^dx#V0-t%E6gh|F7_Td1zEu2v10Xo6v>|Qn1a~?SbS-|3PL%}zQ;-EL9z(0YANg@+d*i_f zuzm2?mwSh7={<4^vVg_o&s$#_*>L>H#)A=HyL`jtz4E#Hy+=+#7O;5yvG0hv;li%Q zgArgW-$NmD;XQJSlob`u!+H-Tg%+F|Bc~t>SUhA!)qV{Yi~#F8 zx9vL5DaZmA57`-Nzn2t@0PB8b+x;r1APZPLWQVK$o>(vftoyEQ_uZU=EMW1Fox1jW zd%*~>o*%Y7KXMAPfW2(b27w(YNS3bKI3LwdM6^l*#-YoBP_J~5{t z3s^j)v#die$_TLbyZyG`%_+zN77yu=>(Em(0<3*|zwO&|3bKI3LpuFIxEnA6toM(8 zd;iEO$O0A*xv>nw9fuKMy%oh9SzbXFuy};qot{aI0MEJIDbxK_wNw&sSfU6wIvW_S zlL@~`dsPRl5h`#`bn416Qw3S9Fl5zdRm-;&?=mvyxH~ystg3Rqryf+uY~psO$uFiL zizDK=K_R)+6pwqOO96dp6xga@*pF1dcwdTK4nUpUb|B`+(zh zS4D;FsJO9ca+e_;U9vbLjvEwmBF9cxPEK^*j?rBe6>=uxZXoI^c(|tsHKRTUNN08?0+aPGE>Nfork$l{0uj(ZQ;2g41*$o>&-7BO#kRaD4M6#Dk4b{@e|bCJan2^^>3t}lCS ZxP`^M-BnQ`yLPzaMD_ft$l{0;#lH;<;)nnM literal 0 HcmV?d00001 diff --git a/gazebo_demo/meshes/link_1.STL b/gazebo_demo/meshes/link_1.STL new file mode 100644 index 0000000000000000000000000000000000000000..bdc62d08065f15737e512e584e58017cae632885 GIT binary patch literal 5084 zcmb`Jy=xUg6vba-VL+@!u}NjEg~enSL9x(Q1R1V6BB<(pZT_Kmz;n zz<`Y}ScWt<7MA`Cp1FHx_qX$QVhV#FhunMS%>CS%&HnGtLml_-` zhNiaGPK;CA&;lH;Z@#Fs6J4Xkpck+-V!gE!O@kKT@aF5w>S%XotIJi1K`-DzV=wk3 zEx;)b^;)clYpgK*R^|mft$L;56s1QDXSinisG%e3zI8Ex^I|iffb@^a7TK zej5ET4dnuFINMk8+?e6?`%q-?CSvsLo?%i8&(B6Y*XtqXvPF;ex9S+ET8r!^4Ld2_ zs$=*!!|v|ib9s;A$TSe4y;l8&)Z)c)41->HKV%Hv%DoyOZJHc8jUZpqIZm z%8U^6gLg^vOf}EqpoI*)IF4b^3-5=F!7gEEc;`>loM++9aKbny7!w+d+_8C~+p{=m znP5z6^pm5z_iu(4GoNYDLI!7L+$Eel-@8_SW_rw^WrAVsGQ-*Ch40mL9F`O6F{ZHw zEo9(Zl4+1ZFYXxA@PC>beHHJYW+Hp<4xFY&FO3+ef9U-i?cN#{9DSE?+kqkK_*R&x zkzTK14Bnj#OmL<_2EDN1G6pT!i6^`j8Q6T825&_#zhNtT#-PO`H!q&_&s-S;J2=ze zS@gorpJv2vALXZ9b6Tk9zn{mG@;LhaA&q{oWbYE^G_kL+Ge)m4YL_)IMcF%X;50SQ z!VG4wSKbP + gazebo_demo + 1.0.0 + +

URDF Description package for gazebo_demo

+

This package contains configuration data, 3D models and launch files +for gazebo_demo robot

+ + TODO + + BSD + catkin + roslaunch + robot_state_publisher + rviz + joint_state_publisher + gazebo + + + + \ No newline at end of file diff --git a/gazebo_demo/src/gazebo_demo.cpp b/gazebo_demo/src/gazebo_demo.cpp new file mode 100644 index 0000000..522a3d8 --- /dev/null +++ b/gazebo_demo/src/gazebo_demo.cpp @@ -0,0 +1,39 @@ +#include "ros/ros.h" +#include "std_msgs/Float64.h" +#include + +int main(int argc, char *argv[]) +{ + setlocale(LC_ALL,""); + ros::init(argc,argv,"control_gazebo_demo"); + ros::NodeHandle nh; + ros::Publisher pub = nh.advertise("/gazebo_demo/joint1_position_controller/command",10); + std_msgs::Float64 control_gazebo_demo; + control_gazebo_demo.data=0.0; + bool flag=0;//0weizeng 1weijian + ros::Rate r(50); + while (ros::ok()) + { + + 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; +} diff --git a/gazebo_demo/urdf/gazebo_demo.csv b/gazebo_demo/urdf/gazebo_demo.csv new file mode 100644 index 0000000..a548c2a --- /dev/null +++ b/gazebo_demo/urdf/gazebo_demo.csv @@ -0,0 +1,3 @@ +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,0,9.74542958129844E-19,-4.31390337655099E-18,0,0,0,6.99004365423729,0.0101938136624294,0,-3.37700910261971E-35,0.0101938136624294,-8.16962303997948E-35,0.00873755456779662,0,0,0,0,0,0,package://gazebo_demo/meshes/base_link.STL,0.537254901960784,0.349019607843137,0.337254901960784,1,0,0,0,0,0,0,package://gazebo_demo/meshes/base_link.STL,,gazebo_demo_part1-1,坐标系1,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,, +link_1,0.1,-1.86377227087894E-19,-1.38777878078145E-17,0,0,0,1.12492033114729,0.000798459868114599,1.67727625611222E-20,8.85083255431749E-21,0.00679752984625413,9.66746937132908E-21,0.00712727290972403,0,0,0,0,0,0,package://gazebo_demo/meshes/link_1.STL,1,1,1,0.32,0,0,0,0,0,0,package://gazebo_demo/meshes/link_1.STL,,gazebo_demo_part2-1,坐标系2,基准轴1,joint_1,revolute,0,0,0.075,0,0,0,base_link,0,0,-1,1,1,-1.57,1.57,,,,,,,, diff --git a/gazebo_demo/urdf/gazebo_demo.urdf.xacro b/gazebo_demo/urdf/gazebo_demo.urdf.xacro new file mode 100644 index 0000000..5a7a947 --- /dev/null +++ b/gazebo_demo/urdf/gazebo_demo.urdf.xacro @@ -0,0 +1,133 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Black + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Black + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + + + /gazebo_demo + gazebo_ros_control/DefaultRobotHWSim + true + + + +