mirror of
https://github.com/EECS-467-W20-RRRobot-Project/RRRobot.git
synced 2025-08-25 01:02:46 +00:00
Moved things over to rrrobot_ws instead of rrrobot_src
This commit is contained in:
Derek Witcpalek
@@ -31,8 +31,8 @@ RUN chown -R rrrobot:rrrobot /home/rrrobot
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# Initialize the environment in .bashrc
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RUN echo "source /opt/ros/melodic/setup.bash" >> /home/rrrobot/.bashrc
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RUN echo "source /usr/share/gazebo/setup.sh" >> /home/rrrobot/.bashrc
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RUN echo "export GAZEBO_MODEL_PATH=/home/rrrobot/rrrobot_src/src/gazebo_models:\$GAZEBO_MODEL_PATH" >> /home/rrrobot/.bashrc
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RUN echo "export GAZEBO_PLUGIN_PATH=/home/rrrobot/rrrobot_src/lib:\$GAZEBO_PLUGIN_PATH" >> /home/rrrobot/.bashrc
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RUN echo "export GAZEBO_MODEL_PATH=/home/rrrobot/rrrobot_ws/src/gazebo_models:\$GAZEBO_MODEL_PATH" >> /home/rrrobot/.bashrc
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RUN echo "export GAZEBO_PLUGIN_PATH=/opt/ros/melodic/lib:/home/rrrobot/rrrobot_ws/lib:\$GAZEBO_PLUGIN_PATH" >> /home/rrrobot/.bashrc
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USER rrrobot
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@@ -1,2 +0,0 @@
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source build.sh
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catkin_make run_tests
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@@ -129,7 +129,7 @@ include_directories(
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/usr/include/bullet
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/usr/include/sdformat-6.2
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/usr/include/ignition/math4
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/home/rrrobot/rrrobot_src/devel/include/
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/home/rrrobot/rrrobot_ws/devel/include/
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)
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include_directories(
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/usr/include/eigen3
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@@ -162,7 +162,7 @@ add_executable(angles_subscriber test/angles_subscriber.cpp src/arm.cpp)
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## Add cmake target dependencies of the executable
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## same as for the library above
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add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp simulation_env_generate_messages_cpp)
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## Specify libraries to link a library or executable target against
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target_link_libraries(${PROJECT_NAME}_node
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@@ -0,0 +1,11 @@
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<?xml version="1.0" ?>
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<model>
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<name>fanuc_robotic_arm_with_gripper</name>
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<version>1.0</version>
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<sdf version="1.6">model.sdf</sdf>
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<author>
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<name></name>
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<email></email>
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</author>
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<description></description>
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</model>
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@@ -0,0 +1,956 @@
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<?xml version='1.0'?>
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<sdf version='1.6'>
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<model name='fanuc_robotic_arm_with_gripper'>
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<link name='base'>
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<pose frame=''>0 0 0 3.14159 -0 0</pose>
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<inertial>
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<mass>86.082</mass>
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||||
<inertia>
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<ixx>4.3404</ixx>
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||||
<ixy>0</ixy>
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||||
<ixz>0.0020207</ixz>
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<iyy>2.4866</iyy>
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<iyz>0</iyz>
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<izz>6.1574</izz>
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||||
</inertia>
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||||
<pose frame=''>-0.003895 -0.062844 -0.11068 0 -0 0</pose>
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||||
</inertial>
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||||
<self_collide>1</self_collide>
|
||||
<kinematic>0</kinematic>
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||||
<gravity>0</gravity>
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||||
<enable_wind>0</enable_wind>
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||||
<visual name='visual'>
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||||
<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<uri>/home/rrrobot/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm/meshes/base_link.STL</uri>
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<scale>1 1 1</scale>
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</mesh>
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</geometry>
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||||
<material>
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||||
<lighting>1</lighting>
|
||||
<script>
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||||
<uri>file://media/materials/scripts/gazebo.material</uri>
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||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<shader type='pixel'>
|
||||
<normal_map>__default__</normal_map>
|
||||
</shader>
|
||||
<ambient>0.3 0.3 0.3 1</ambient>
|
||||
<diffuse>0.7 0.7 0.7 1</diffuse>
|
||||
<specular>0.01 0.01 0.01 1</specular>
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||||
<emissive>0 0 0 1</emissive>
|
||||
</material>
|
||||
<transparency>0</transparency>
|
||||
<cast_shadows>1</cast_shadows>
|
||||
</visual>
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||||
<collision name='collision'>
|
||||
<laser_retro>0</laser_retro>
|
||||
<max_contacts>10</max_contacts>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
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||||
<mesh>
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||||
<uri>/home/rrrobot/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm/meshes/base_link.STL</uri>
|
||||
<scale>1 1 1</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1</mu>
|
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<mu2>1</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
|
||||
<slip2>0</slip2>
|
||||
</ode>
|
||||
<torsional>
|
||||
<coefficient>1</coefficient>
|
||||
<patch_radius>0</patch_radius>
|
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<surface_radius>0</surface_radius>
|
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<use_patch_radius>1</use_patch_radius>
|
||||
<ode>
|
||||
<slip>0</slip>
|
||||
</ode>
|
||||
</torsional>
|
||||
</friction>
|
||||
<bounce>
|
||||
<restitution_coefficient>0</restitution_coefficient>
|
||||
<threshold>1e+06</threshold>
|
||||
</bounce>
|
||||
<contact>
|
||||
<collide_without_contact>0</collide_without_contact>
|
||||
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
||||
<collide_bitmask>1</collide_bitmask>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+13</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0</min_depth>
|
||||
</ode>
|
||||
<bullet>
|
||||
<split_impulse>1</split_impulse>
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||||
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+13</kp>
|
||||
<kd>1</kd>
|
||||
</bullet>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<link name='link_1'>
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||||
<pose frame=''>0.001715 0.003779 0.661683 1.5708 -0 0</pose>
|
||||
<inertial>
|
||||
<mass>266.27</mass>
|
||||
<inertia>
|
||||
<ixx>279.51</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>4.6477</ixz>
|
||||
<iyy>43.386</iyy>
|
||||
<iyz>34.265</iyz>
|
||||
<izz>255.26</izz>
|
||||
</inertia>
|
||||
<pose frame=''>0.093634 -0.51398 -0.1614 0 -0 0</pose>
|
||||
</inertial>
|
||||
<self_collide>1</self_collide>
|
||||
<kinematic>0</kinematic>
|
||||
<gravity>0</gravity>
|
||||
<enable_wind>0</enable_wind>
|
||||
<visual name='visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>/home/rrrobot/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_1.STL</uri>
|
||||
<scale>1 1 1</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<lighting>1</lighting>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<shader type='pixel'>
|
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<normal_map>__default__</normal_map>
|
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</shader>
|
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<ambient>0.3 0.3 0.3 1</ambient>
|
||||
<diffuse>0.7 0.7 0.7 1</diffuse>
|
||||
<specular>0.01 0.01 0.01 1</specular>
|
||||
<emissive>0 0 0 1</emissive>
|
||||
</material>
|
||||
<transparency>0</transparency>
|
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<cast_shadows>1</cast_shadows>
|
||||
</visual>
|
||||
<collision name='collision'>
|
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<laser_retro>0</laser_retro>
|
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<max_contacts>10</max_contacts>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>/home/rrrobot/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_1.STL</uri>
|
||||
<scale>1 1 1</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1</mu>
|
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<mu2>1</mu2>
|
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<fdir1>0 0 0</fdir1>
|
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<slip1>0</slip1>
|
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<slip2>0</slip2>
|
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</ode>
|
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<torsional>
|
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<coefficient>1</coefficient>
|
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<patch_radius>0</patch_radius>
|
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<surface_radius>0</surface_radius>
|
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<use_patch_radius>1</use_patch_radius>
|
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<ode>
|
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<slip>0</slip>
|
||||
</ode>
|
||||
</torsional>
|
||||
</friction>
|
||||
<bounce>
|
||||
<restitution_coefficient>0</restitution_coefficient>
|
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<threshold>1e+06</threshold>
|
||||
</bounce>
|
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<contact>
|
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<collide_without_contact>0</collide_without_contact>
|
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<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
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<collide_bitmask>1</collide_bitmask>
|
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<ode>
|
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<soft_cfm>0</soft_cfm>
|
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<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+13</kp>
|
||||
<kd>1</kd>
|
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<max_vel>0.01</max_vel>
|
||||
<min_depth>0</min_depth>
|
||||
</ode>
|
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<bullet>
|
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<split_impulse>1</split_impulse>
|
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<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
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<soft_cfm>0</soft_cfm>
|
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<soft_erp>0.2</soft_erp>
|
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<kp>1e+13</kp>
|
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<kd>1</kd>
|
||||
</bullet>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
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</link>
|
||||
<link name='link_2'>
|
||||
<pose frame=''>-0.068455 0.275759 0.315754 -1.571 0 0</pose>
|
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<inertial>
|
||||
<mass>60.795</mass>
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<inertia>
|
||||
<ixx>8.1939</ixx>
|
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<ixy>0</ixy>
|
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<ixz>0</ixz>
|
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<iyy>0.76659</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>8.0226</izz>
|
||||
</inertia>
|
||||
<pose frame=''>0.25344 -1.009 -0.57114 0 -0 0</pose>
|
||||
</inertial>
|
||||
<self_collide>1</self_collide>
|
||||
<kinematic>0</kinematic>
|
||||
<gravity>0</gravity>
|
||||
<enable_wind>0</enable_wind>
|
||||
<visual name='visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>/home/rrrobot/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_2.STL</uri>
|
||||
<scale>1 1 1</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<lighting>1</lighting>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<shader type='pixel'>
|
||||
<normal_map>__default__</normal_map>
|
||||
</shader>
|
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<ambient>0.3 0.3 0.3 1</ambient>
|
||||
<diffuse>0.7 0.7 0.7 1</diffuse>
|
||||
<specular>0.01 0.01 0.01 1</specular>
|
||||
<emissive>0 0 0 1</emissive>
|
||||
</material>
|
||||
<transparency>0</transparency>
|
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<cast_shadows>1</cast_shadows>
|
||||
</visual>
|
||||
<collision name='collision'>
|
||||
<laser_retro>0</laser_retro>
|
||||
<max_contacts>10</max_contacts>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>/home/rrrobot/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_2.STL</uri>
|
||||
<scale>1 1 1</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1</mu>
|
||||
<mu2>1</mu2>
|
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<fdir1>0 0 0</fdir1>
|
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<slip1>0</slip1>
|
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<slip2>0</slip2>
|
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</ode>
|
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<torsional>
|
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<coefficient>1</coefficient>
|
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<patch_radius>0</patch_radius>
|
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<surface_radius>0</surface_radius>
|
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<use_patch_radius>1</use_patch_radius>
|
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<ode>
|
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<slip>0</slip>
|
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</ode>
|
||||
</torsional>
|
||||
</friction>
|
||||
<bounce>
|
||||
<restitution_coefficient>0</restitution_coefficient>
|
||||
<threshold>1e+06</threshold>
|
||||
</bounce>
|
||||
<contact>
|
||||
<collide_without_contact>0</collide_without_contact>
|
||||
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
|
||||
<collide_bitmask>1</collide_bitmask>
|
||||
<ode>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+13</kp>
|
||||
<kd>1</kd>
|
||||
<max_vel>0.01</max_vel>
|
||||
<min_depth>0</min_depth>
|
||||
</ode>
|
||||
<bullet>
|
||||
<split_impulse>1</split_impulse>
|
||||
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<kp>1e+13</kp>
|
||||
<kd>1</kd>
|
||||
</bullet>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<link name='link_3'>
|
||||
<pose frame=''>-0.00025 -0.94659 5.45119 1.5708 -0 0</pose>
|
||||
<inertial>
|
||||
<mass>63.612</mass>
|
||||
<inertia>
|
||||
<ixx>6.6124</ixx>
|
||||
<ixy>0.099584</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>5.9295</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>1.9517</izz>
|
||||
</inertia>
|
||||
<pose frame=''>0.00756 -3.4862 -0.40714 0 -0 0</pose>
|
||||
</inertial>
|
||||
<self_collide>1</self_collide>
|
||||
<kinematic>0</kinematic>
|
||||
<gravity>0</gravity>
|
||||
<enable_wind>0</enable_wind>
|
||||
<visual name='visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>/home/rrrobot/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_3.STL</uri>
|
||||
<scale>1 1 1</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<lighting>1</lighting>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<shader type='pixel'>
|
||||
<normal_map>__default__</normal_map>
|
||||
</shader>
|
||||
<ambient>0.3 0.3 0.3 1</ambient>
|
||||
<diffuse>0.7 0.7 0.7 1</diffuse>
|
||||
<specular>0.01 0.01 0.01 1</specular>
|
||||
<emissive>0 0 0 1</emissive>
|
||||
</material>
|
||||
<transparency>0</transparency>
|
||||
<cast_shadows>1</cast_shadows>
|
||||
</visual>
|
||||
<collision name='collision'>
|
||||
<laser_retro>0</laser_retro>
|
||||
<max_contacts>10</max_contacts>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>/home/rrrobot/rrrobot_ws/src/gazebo_models/fanuc_robotic_arm/meshes/arm_link_3.STL</uri>
|
||||
<scale>1 1 1</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1</mu>
|
||||
<mu2>1</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
|
||||
<slip2>0</slip2>
|
||||
</ode>
|
||||
<torsional>
|
||||
<coefficient>1</coefficient>
|
||||
<patch_radius>0</patch_radius>
|
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||||
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<parent>link_1</parent>
|
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|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
<limit>
|
||||
<lower>-1.79769e+308</lower>
|
||||
<upper>1.79769e+308</upper>
|
||||
<effort>-2e+07</effort>
|
||||
<velocity>-1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit>
|
||||
<cfm>0</cfm>
|
||||
<erp>0.2</erp>
|
||||
</limit>
|
||||
<suspension>
|
||||
<cfm>0</cfm>
|
||||
<erp>0.2</erp>
|
||||
</suspension>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='shoulder_pivot' type='revolute'>
|
||||
<parent>base</parent>
|
||||
<child>link_1</child>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
<limit>
|
||||
<lower>-1.79769e+308</lower>
|
||||
<upper>1.79769e+308</upper>
|
||||
<effort>-2e+07</effort>
|
||||
<velocity>-1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit>
|
||||
<cfm>0</cfm>
|
||||
<erp>0.2</erp>
|
||||
</limit>
|
||||
<suspension>
|
||||
<cfm>0</cfm>
|
||||
<erp>0.2</erp>
|
||||
</suspension>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='wrist_joint' type='revolute'>
|
||||
<parent>link_4</parent>
|
||||
<child>link_5</child>
|
||||
<pose frame=''>0 0 -3.15 0 -0 0</pose>
|
||||
<axis>
|
||||
<xyz>1 0 0</xyz>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
<limit>
|
||||
<lower>-1.79769e+308</lower>
|
||||
<upper>1.79769e+308</upper>
|
||||
<effort>-2e+07</effort>
|
||||
<velocity>-1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit>
|
||||
<cfm>0</cfm>
|
||||
<erp>0.2</erp>
|
||||
</limit>
|
||||
<suspension>
|
||||
<cfm>0</cfm>
|
||||
<erp>0.2</erp>
|
||||
</suspension>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='wrist_pivot' type='revolute'>
|
||||
<parent>link_3</parent>
|
||||
<child>link_4</child>
|
||||
<pose frame=''>0 0 -2.7 0 -0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
<limit>
|
||||
<lower>-1.79769e+308</lower>
|
||||
<upper>1.79769e+308</upper>
|
||||
<effort>-2e+07</effort>
|
||||
<velocity>-1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<limit>
|
||||
<cfm>0</cfm>
|
||||
<erp>0.2</erp>
|
||||
</limit>
|
||||
<suspension>
|
||||
<cfm>0</cfm>
|
||||
<erp>0.2</erp>
|
||||
</suspension>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='gripper_joint' type='fixed'>
|
||||
<parent>link_6</parent>
|
||||
<child>link_7</child>
|
||||
</joint>
|
||||
<joint name='world_fix' type='fixed'>
|
||||
<parent>world</parent>
|
||||
<child>base</child>
|
||||
</joint>
|
||||
<static>0</static>
|
||||
<allow_auto_disable>0</allow_auto_disable>
|
||||
<plugin name='arm_control' filename='libarm_motors.so'/>
|
||||
<plugin name='gazebo_ros_vacuum_gripper' filename='libgazebo_ros_vacuum_gripper.so'>
|
||||
<robotNamespace>/arm_node/vacuum_gripper</robotNamespace>
|
||||
<bodyName>link_7</bodyName>
|
||||
<topicName>grasping</topicName>
|
||||
</plugin>
|
||||
<plugin name='joint_angles' filename='libarm_angles.so'/>
|
||||
</model>
|
||||
</sdf>
|
||||
Reference in New Issue
Block a user