From 6e0fe7f0ca0b373519c510ce3af244495c1ad745 Mon Sep 17 00:00:00 2001 From: Kuwagata Date: Tue, 24 Oct 2023 10:42:06 +0900 Subject: [PATCH 1/8] =?UTF-8?q?control=5Fconfig=E3=83=91=E3=82=B9=E8=BF=BD?= =?UTF-8?q?=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- sciurus17_description/robot_description_loader.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/sciurus17_description/robot_description_loader.py b/sciurus17_description/robot_description_loader.py index 9f87fd5..b5c3e9b 100755 --- a/sciurus17_description/robot_description_loader.py +++ b/sciurus17_description/robot_description_loader.py @@ -14,10 +14,14 @@ def __init__(self): 'urdf', 'sciurus17.urdf.xacro') self.use_gazebo = 'false' + self.gz_control_config_package = '' + self.gz_control_config_file_path = '' def load(self): return Command([ 'xacro ', self.robot_description_path, - ' use_gazebo:=', self.use_gazebo + ' use_gazebo:=', self.use_gazebo, + ' gz_control_config_package:=', self.gz_control_config_package, + ' gz_control_config_file_path:=', self.gz_control_config_file_path ]) From c38dca07a6e381f537d1e057e71a6ce72932cdf5 Mon Sep 17 00:00:00 2001 From: Kuwagata Date: Tue, 24 Oct 2023 10:43:19 +0900 Subject: [PATCH 2/8] =?UTF-8?q?ign=5Fros2=5Fcontrol=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- urdf/sciurus17.gazebo_ros2_control.xacro | 221 +++++++++++++++++++++++ urdf/sciurus17.urdf.xacro | 9 + urdf/sciurus17_gazebo.xacro | 5 + 3 files changed, 235 insertions(+) create mode 100644 urdf/sciurus17.gazebo_ros2_control.xacro diff --git a/urdf/sciurus17.gazebo_ros2_control.xacro b/urdf/sciurus17.gazebo_ros2_control.xacro new file mode 100644 index 0000000..b1ab3bf --- /dev/null +++ b/urdf/sciurus17.gazebo_ros2_control.xacro @@ -0,0 +1,221 @@ + + + + + + + + ign_ros2_control/IgnitionSystem + + + + + ${NAME_JOINT_BODY_LOWER_LIMIT} + ${NAME_JOINT_BODY_UPPER_LIMIT} + + + + + + + + + ${JOINT_NECK_1_LOWER_LIMIT}" + ${JOINT_NECK_1_UPPER_LIMIT}" + + + + + + + + + ${JOINT_NECK_2_LOWER_LIMIT}" + ${JOINT_NECK_2_UPPER_LIMIT}" + + + + + + + + + ${JOINT_ARM_R_1_LOWER_LIMIT}" + ${JOINT_ARM_R_1_UPPER_LIMIT}" + + + + + + + + + ${JOINT_ARM_R_2_LOWER_LIMIT}" + ${JOINT_ARM_R_2_UPPER_LIMIT}" + + + + + + + + + ${JOINT_ARM_R_3_LOWER_LIMIT}" + ${JOINT_ARM_R_3_UPPER_LIMIT}" + + + + + + + + + ${JOINT_ARM_R_4_LOWER_LIMIT}" + ${JOINT_ARM_R_4_UPPER_LIMIT}" + + + + + + + + + ${JOINT_ARM_R_5_LOWER_LIMIT}" + ${JOINT_ARM_R_5_UPPER_LIMIT}" + + + + + + + + + ${JOINT_ARM_R_6_LOWER_LIMIT}" + ${JOINT_ARM_R_6_UPPER_LIMIT}" + + + + + + + + + ${JOINT_ARM_R_7_LOWER_LIMIT}" + ${JOINT_ARM_R_7_UPPER_LIMIT}" + + + + + + + + + ${JOINT_HAND_R_LOWER_LIMIT}" + ${JOINT_HAND_R_UPPER_LIMIT}" + + + + + + + + ${NAME_JOINT_HAND_R_A} + 1 + + + + + + + + + ${JOINT_ARM_L_1_LOWER_LIMIT}" + ${JOINT_ARM_L_1_UPPER_LIMIT}" + + + + + + + + + ${JOINT_ARM_L_2_LOWER_LIMIT}" + ${JOINT_ARM_L_2_UPPER_LIMIT}" + + + + + + + + + ${JOINT_ARM_L_3_LOWER_LIMIT}" + ${JOINT_ARM_L_3_UPPER_LIMIT}" + + + + + + + + + ${JOINT_ARM_L_4_LOWER_LIMIT}" + ${JOINT_ARM_L_4_UPPER_LIMIT}" + + + + + + + + + ${JOINT_ARM_L_5_LOWER_LIMIT}" + ${JOINT_ARM_L_5_UPPER_LIMIT}" + + + + + + + + + ${JOINT_ARM_L_6_LOWER_LIMIT}" + ${JOINT_ARM_L_6_UPPER_LIMIT}" + + + + + + + + + ${JOINT_ARM_L_7_LOWER_LIMIT}" + ${JOINT_ARM_L_7_UPPER_LIMIT}" + + + + + + + + + ${JOINT_HAND_L_LOWER_LIMIT}" + ${JOINT_HAND_L_UPPER_LIMIT}" + + + + + + + + ${NAME_JOINT_HAND_L_A} + 1 + + + + + + + + + diff --git a/urdf/sciurus17.urdf.xacro b/urdf/sciurus17.urdf.xacro index c37f304..49025cc 100644 --- a/urdf/sciurus17.urdf.xacro +++ b/urdf/sciurus17.urdf.xacro @@ -14,8 +14,13 @@ + + + + + @@ -160,6 +165,10 @@ + + + + diff --git a/urdf/sciurus17_gazebo.xacro b/urdf/sciurus17_gazebo.xacro index 3393116..d333095 100644 --- a/urdf/sciurus17_gazebo.xacro +++ b/urdf/sciurus17_gazebo.xacro @@ -30,6 +30,11 @@ + + + $(find ${GZ_CONTROL_CONFIG_PACKAGE})/${GZ_CONTROL_CONFIG_FILE_PATH} + + From 4229c3b190575bfcda7e08073c24e33f3925fb65 Mon Sep 17 00:00:00 2001 From: Kuwagata Date: Tue, 24 Oct 2023 10:44:03 +0900 Subject: [PATCH 3/8] =?UTF-8?q?dummy=5Fmimic=20joint=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- urdf/sciurus17_left_hand.xacro | 9 +++++++++ urdf/sciurus17_right_hand.xacro | 9 +++++++++ 2 files changed, 18 insertions(+) diff --git a/urdf/sciurus17_left_hand.xacro b/urdf/sciurus17_left_hand.xacro index adf3f34..363782f 100644 --- a/urdf/sciurus17_left_hand.xacro +++ b/urdf/sciurus17_left_hand.xacro @@ -59,6 +59,15 @@ + + + + + + + diff --git a/urdf/sciurus17_right_hand.xacro b/urdf/sciurus17_right_hand.xacro index ee4fb70..f06588d 100644 --- a/urdf/sciurus17_right_hand.xacro +++ b/urdf/sciurus17_right_hand.xacro @@ -60,6 +60,15 @@ + + + + + + + From 514feb68cf9a06f843ec8914c6dca9bd791783bb Mon Sep 17 00:00:00 2001 From: Kuwagata Date: Tue, 24 Oct 2023 18:34:52 +0900 Subject: [PATCH 4/8] =?UTF-8?q?test=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- test/test_robot_description_loader.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/test/test_robot_description_loader.py b/test/test_robot_description_loader.py index 447c193..4608614 100644 --- a/test/test_robot_description_loader.py +++ b/test/test_robot_description_loader.py @@ -28,7 +28,9 @@ def test_change_description_path(): def test_use_gazebo(): - # use_gazeboが変更され、xacroにgazeboタグがセットされることを期待 + # use_gazeboが変更され、xacroにign_ros2_controlがセットされることを期待 rdl = RobotDescriptionLoader() rdl.use_gazebo = 'true' - assert ' Date: Wed, 25 Oct 2023 14:29:59 +0900 Subject: [PATCH 5/8] =?UTF-8?q?joint=5Flimit=E5=80=A4=E3=81=AE=E8=AA=BF?= =?UTF-8?q?=E6=95=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- urdf/sciurus17.urdf.xacro | 16 ++++++++++++---- 1 file changed, 12 insertions(+), 4 deletions(-) diff --git a/urdf/sciurus17.urdf.xacro b/urdf/sciurus17.urdf.xacro index 49025cc..0c7c492 100644 --- a/urdf/sciurus17.urdf.xacro +++ b/urdf/sciurus17.urdf.xacro @@ -109,7 +109,9 @@ - + + + @@ -117,7 +119,9 @@ - + + + @@ -127,7 +131,9 @@ - + + + @@ -135,7 +141,9 @@ - + + + From b809c33226f3c4887328710548dc7ad094bdb884 Mon Sep 17 00:00:00 2001 From: Kuwagata Date: Wed, 25 Oct 2023 14:46:24 +0900 Subject: [PATCH 6/8] =?UTF-8?q?=E5=B9=B2=E6=B8=89=E3=81=8C=E7=94=9F?= =?UTF-8?q?=E3=81=98=E3=82=8B=E3=83=A2=E3=83=87=E3=83=AB=E3=82=92=E4=BF=AE?= =?UTF-8?q?=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- meshes/collision/L_Link5.stl | Bin 165284 -> 218184 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/meshes/collision/L_Link5.stl b/meshes/collision/L_Link5.stl index 642c0a9ce1d368affbbeaae7da13ce7ce2c68577..a497e7e4be4200c22171c697cac6c87a12380e40 100644 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zb3`1S7(s%KL3$X zWlp@9nXsb-37l1BqDJ9)*$C7^uU3vy^*OQ2;!oZQb)y6coKI$A>COS!2-HGfn@22R z^=WU0k1pDTECcFAan%}WCZ?VYlmtqUz%c_8FE7^2Mxa*qSc%&1jTN;6iWROqVr Date: Wed, 25 Oct 2023 15:32:44 +0900 Subject: [PATCH 7/8] =?UTF-8?q?Gazebo=E4=B8=8A=E3=81=A7=E3=81=AE=E5=88=9D?= =?UTF-8?q?=E6=9C=9F=E5=A7=BF=E5=8B=A2=E8=A8=AD=E5=AE=9A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- urdf/sciurus17.gazebo_ros2_control.xacro | 76 ++++++++++++++++++------ 1 file changed, 57 insertions(+), 19 deletions(-) diff --git a/urdf/sciurus17.gazebo_ros2_control.xacro b/urdf/sciurus17.gazebo_ros2_control.xacro index b1ab3bf..8bfeafe 100644 --- a/urdf/sciurus17.gazebo_ros2_control.xacro +++ b/urdf/sciurus17.gazebo_ros2_control.xacro @@ -13,7 +13,9 @@ ${NAME_JOINT_BODY_LOWER_LIMIT} ${NAME_JOINT_BODY_UPPER_LIMIT} - + + 0.0 + @@ -23,7 +25,9 @@ ${JOINT_NECK_1_LOWER_LIMIT}" ${JOINT_NECK_1_UPPER_LIMIT}" - + + 0.0 + @@ -33,7 +37,9 @@ ${JOINT_NECK_2_LOWER_LIMIT}" ${JOINT_NECK_2_UPPER_LIMIT}" - + + 0.0 + @@ -43,7 +49,9 @@ ${JOINT_ARM_R_1_LOWER_LIMIT}" ${JOINT_ARM_R_1_UPPER_LIMIT}" - + + 0.0 + @@ -53,7 +61,9 @@ ${JOINT_ARM_R_2_LOWER_LIMIT}" ${JOINT_ARM_R_2_UPPER_LIMIT}" - + + -1.5707 + @@ -63,7 +73,9 @@ ${JOINT_ARM_R_3_LOWER_LIMIT}" ${JOINT_ARM_R_3_UPPER_LIMIT}" - + + 0.0 + @@ -73,7 +85,9 @@ ${JOINT_ARM_R_4_LOWER_LIMIT}" ${JOINT_ARM_R_4_UPPER_LIMIT}" - + + 2.7262 + @@ -83,7 +97,9 @@ ${JOINT_ARM_R_5_LOWER_LIMIT}" ${JOINT_ARM_R_5_UPPER_LIMIT}" - + + 0.0 + @@ -93,7 +109,9 @@ ${JOINT_ARM_R_6_LOWER_LIMIT}" ${JOINT_ARM_R_6_UPPER_LIMIT}" - + + -2.0943 + @@ -103,7 +121,9 @@ ${JOINT_ARM_R_7_LOWER_LIMIT}" ${JOINT_ARM_R_7_UPPER_LIMIT}" - + + 0.0 + @@ -113,7 +133,9 @@ ${JOINT_HAND_R_LOWER_LIMIT}" ${JOINT_HAND_R_UPPER_LIMIT}" - + + 0.0 + @@ -132,7 +154,9 @@ ${JOINT_ARM_L_1_LOWER_LIMIT}" ${JOINT_ARM_L_1_UPPER_LIMIT}" - + + 0.0 + @@ -142,7 +166,9 @@ ${JOINT_ARM_L_2_LOWER_LIMIT}" ${JOINT_ARM_L_2_UPPER_LIMIT}" - + + 1.5707 + @@ -152,7 +178,9 @@ ${JOINT_ARM_L_3_LOWER_LIMIT}" ${JOINT_ARM_L_3_UPPER_LIMIT}" - + + 0.0 + @@ -162,7 +190,9 @@ ${JOINT_ARM_L_4_LOWER_LIMIT}" ${JOINT_ARM_L_4_UPPER_LIMIT}" - + + -2.7262 + @@ -172,7 +202,9 @@ ${JOINT_ARM_L_5_LOWER_LIMIT}" ${JOINT_ARM_L_5_UPPER_LIMIT}" - + + 0.0 + @@ -182,7 +214,9 @@ ${JOINT_ARM_L_6_LOWER_LIMIT}" ${JOINT_ARM_L_6_UPPER_LIMIT}" - + + 2.09439 + @@ -192,7 +226,9 @@ ${JOINT_ARM_L_7_LOWER_LIMIT}" ${JOINT_ARM_L_7_UPPER_LIMIT}" - + + 0.0 + @@ -202,7 +238,9 @@ ${JOINT_HAND_L_LOWER_LIMIT}" ${JOINT_HAND_L_UPPER_LIMIT}" - + + 0.0 + From 998fdb6799655c29cc52f3b0d298390d8f50338a Mon Sep 17 00:00:00 2001 From: Kuwagata Date: Thu, 26 Oct 2023 11:14:48 +0900 Subject: [PATCH 8/8] =?UTF-8?q?=E9=96=A2=E7=AF=80=E5=8F=AF=E5=8B=95?= =?UTF-8?q?=E7=AF=84=E5=9B=B2=E3=81=AE=E8=AA=BF=E6=95=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- urdf/sciurus17.urdf.xacro | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/urdf/sciurus17.urdf.xacro b/urdf/sciurus17.urdf.xacro index 0c7c492..678e1dc 100644 --- a/urdf/sciurus17.urdf.xacro +++ b/urdf/sciurus17.urdf.xacro @@ -111,7 +111,7 @@ - + @@ -121,7 +121,7 @@ - + @@ -133,7 +133,7 @@ - + @@ -143,7 +143,7 @@ - +