├── README.md
├── urdf
    ├── seven_dof_arm.pdf
    ├── differential_wheeled_robot.pdf
    ├── grasp_object.xacro
    ├── grasp_object.urdf
    ├── differential_wheeled_robot.gv
    ├── pan_tilt.urdf
    ├── wheel.urdf.xacro
    ├── sensors
    │   ├── xtion_pro_live.urdf.xacro
    │   └── xtion_pro_live.gazebo.xacro
    ├── seven_dof_arm.gv
    ├── pan_tilt.xacro
    ├── diff_wheeled_robot.xacro
    ├── diff_wheeled_robot.urdf
    ├── seven_dof_arm.xacro
    └── seven_dof_arm.urdf
├── meshes
    ├── caster_wheel.stl
    └── sensors
    │   └── xtion_pro_live
    │       └── xtion_pro_live.png
├── launch
    ├── view_arm.launch
    ├── view_mobile_robot.launch
    ├── view_pan_tilt_xacro.launch
    └── view_pan_tilt_urdf.launch
├── urdf.vcg
├── package.xml
├── CMakeLists.txt
└── urdf.rviz


/README.md:
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1 | # mastering_ros_robot_description_pkg
2 | 
3 | 


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/urdf/seven_dof_arm.pdf:
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https://raw.githubusercontent.com/qboticslabs/mastering_ros_robot_description_pkg/HEAD/urdf/seven_dof_arm.pdf


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/meshes/caster_wheel.stl:
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https://raw.githubusercontent.com/qboticslabs/mastering_ros_robot_description_pkg/HEAD/meshes/caster_wheel.stl


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/urdf/differential_wheeled_robot.pdf:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/qboticslabs/mastering_ros_robot_description_pkg/HEAD/urdf/differential_wheeled_robot.pdf


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/meshes/sensors/xtion_pro_live/xtion_pro_live.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/qboticslabs/mastering_ros_robot_description_pkg/HEAD/meshes/sensors/xtion_pro_live/xtion_pro_live.png


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/urdf/grasp_object.xacro:
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 1 | <?xml version="1.0" ?>
 2 | <robot name="seven_dof_arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
 3 | 
 4 |   <link name="my_box">
 5 |     <inertial>
 6 |       <origin xyz="2 0 0" />
 7 |       <mass value="1.0" />
 8 |       <inertia  ixx="1.0" ixy="0.0"  ixz="0.0"  iyy="100.0"  iyz="0.0"  izz="1.0" />
 9 |     </inertial>
10 |     <visual>
11 |       <origin xyz="2 0 1"/>
12 |       <geometry>
13 |         <box size="1 1 2" />
14 |       </geometry>
15 |     </visual>
16 |     <collision>
17 |       <origin xyz="2 0 1"/>
18 |       <geometry>
19 |         <box size="1 1 2" />
20 |       </geometry>
21 |     </collision>
22 |   </link>
23 |   <gazebo reference="my_box">
24 |     <material>Gazebo/Blue</material>
25 |   </gazebo>
26 | 
27 | </robot>
28 | 


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/launch/view_arm.launch:
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 1 | <launch>
 2 | 	<arg name="model" />
 3 | 	<!-- Parsing xacro and setting robot_description parameter -->
 4 | 	<param name="robot_description" command="$(find xacro)/xacro.py $(find mastering_ros_robot_description_pkg)/urdf/seven_dof_arm.xacro" />
 5 | 	<!-- Setting gui parameter to true for display joint slider -->
 6 | 	<param name="use_gui" value="true"/>
 7 | 	<!-- Starting Joint state publisher node which will publish the joint values -->
 8 | 	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
 9 | 	<!-- Starting robot state publish which will publish tf -->
10 | 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
11 | 	<!-- Launch visualization in rviz -->
12 | 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mastering_ros_robot_description_pkg)/urdf.rviz" required="true" />
13 | </launch>
14 | 


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/launch/view_mobile_robot.launch:
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 1 | <launch>
 2 | 	<arg name="model" />
 3 | 	<!-- Parsing xacro and setting robot_description parameter -->
 4 | 	<param name="robot_description" command="$(find xacro)/xacro.py $(find mastering_ros_robot_description_pkg)/urdf/diff_wheeled_robot.xacro" />
 5 | 	<!-- Setting gui parameter to true for display joint slider -->
 6 | 	<param name="use_gui" value="true"/>
 7 | 	<!-- Starting Joint state publisher node which will publish the joint values -->
 8 | 	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
 9 | 	<!-- Starting robot state publish which will publish tf -->
10 | 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
11 | 	<!-- Launch visualization in rviz -->
12 | 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mastering_ros_robot_description_pkg)/urdf.rviz" required="true" />
13 | </launch>
14 | 


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/launch/view_pan_tilt_xacro.launch:
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 1 | <launch>
 2 | 	<arg name="model" />
 3 | 	<!-- Parsing xacro and setting robot_description parameter -->
 4 | 	<param name="robot_description" command="$(find xacro)/xacro.py $(find mastering_ros_robot_description_pkg)/urdf/pan_tilt.xacro" /> 
 5 | 
 6 | 	<!-- Setting gui parameter to true for display joint slider -->
 7 | 	<param name="use_gui" value="true"/>
 8 | 	<!-- Starting Joint state publisher node which will publish the joint values -->
 9 | 	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
10 | 	<!-- Starting robot state publish which will publish tf -->
11 | 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
12 | 	<!-- Launch visualization in rviz -->
13 | 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mastering_ros_robot_description_pkg)/urdf.rviz" required="true" />
14 | </launch>
15 | 


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/launch/view_pan_tilt_urdf.launch:
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 1 | <launch>
 2 | 	<arg name="model" />
 3 | 	<!-- Parsing xacro and setting robot_description parameter -->
 4 | <!--	<param name="robot_description" command="$(find xacro)/xacro.py $(find mastering_ros_robot_description_pkg)/urdf/seven_dof_arm.xacro" /> -->
 5 | 	<param name="robot_description" textfile="$(find mastering_ros_robot_description_pkg)/urdf/pan_tilt.urdf" />
 6 | 
 7 | 	<!-- Setting gui parameter to true for display joint slider -->
 8 | 	<param name="use_gui" value="true"/>
 9 | 	<!-- Starting Joint state publisher node which will publish the joint values -->
10 | 	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
11 | 	<!-- Starting robot state publish which will publish tf -->
12 | 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
13 | 	<!-- Launch visualization in rviz -->
14 | 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mastering_ros_robot_description_pkg)/urdf.rviz" required="true" />
15 | </launch>
16 | 


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/urdf/grasp_object.urdf:
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 1 | <?xml version="1.0" ?>
 2 | <!-- =================================================================================== -->
 3 | <!-- |    This document was autogenerated by xacro from grasp_object.xacro             | -->
 4 | <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 5 | <!-- =================================================================================== -->
 6 | <robot name="seven_dof_arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
 7 |   <link name="my_box">
 8 |     <inertial>
 9 |       <origin xyz="2 0 0"/>
10 |       <mass value="1.0"/>
11 |       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0" izz="1.0"/>
12 |     </inertial>
13 |     <visual>
14 |       <origin xyz="2 0 1"/>
15 |       <geometry>
16 |         <box size="1 1 2"/>
17 |       </geometry>
18 |     </visual>
19 |     <collision>
20 |       <origin xyz="2 0 1"/>
21 |       <geometry>
22 |         <box size="1 1 2"/>
23 |       </geometry>
24 |     </collision>
25 |   </link>
26 |   <gazebo reference="my_box">
27 |     <material>Gazebo/Blue</material>
28 |   </gazebo>
29 | </robot>
30 | 


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/urdf/differential_wheeled_robot.gv:
--------------------------------------------------------------------------------
 1 | digraph G {
 2 | node [shape=box];
 3 | "base_footprint" [label="base_footprint"];
 4 | "base_link" [label="base_link"];
 5 | "caster_back_link" [label="caster_back_link"];
 6 | "caster_front_link" [label="caster_front_link"];
 7 | "front_left_wheel" [label="front_left_wheel"];
 8 | "front_right_wheel" [label="front_right_wheel"];
 9 | "hokuyo_link" [label="hokuyo_link"];
10 | node [shape=ellipse, color=blue, fontcolor=blue];
11 | "base_footprint" -> "base_footprint_joint" [label="xyz: 0 0 0.04 \nrpy: 0 -0 0"]
12 | "base_footprint_joint" -> "base_link"
13 | "base_link" -> "caster_back_joint" [label="xyz: -0.135 0 0.009 \nrpy: -1.5708 0 0"]
14 | "caster_back_joint" -> "caster_back_link"
15 | "base_link" -> "caster_front_joint" [label="xyz: 0.115 0 0.007 \nrpy: -1.5708 0 0"]
16 | "caster_front_joint" -> "caster_front_link"
17 | "base_link" -> "front_left_wheel_joint" [label="xyz: 0 -0.15 0 \nrpy: 0 -0 0"]
18 | "front_left_wheel_joint" -> "front_left_wheel"
19 | "base_link" -> "front_right_wheel_joint" [label="xyz: 0 0.15 0 \nrpy: 0 -0 0"]
20 | "front_right_wheel_joint" -> "front_right_wheel"
21 | "base_link" -> "hokuyo_joint" [label="xyz: 0.125 0 0.0325 \nrpy: 0 -0 0"]
22 | "hokuyo_joint" -> "hokuyo_link"
23 | }
24 | 


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/urdf.vcg:
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 1 | Background\ ColorR=0.0941176
 2 | Background\ ColorG=0
 3 | Background\ ColorB=0.466667
 4 | Fixed\ Frame=/base_link
 5 | Target\ Frame=<Fixed Frame>
 6 | Grid.Alpha=0.5
 7 | Grid.Cell\ Size=0.5
 8 | Grid.ColorR=0.898039
 9 | Grid.ColorG=0.898039
10 | Grid.ColorB=0.898039
11 | Grid.Enabled=1
12 | Grid.Line\ Style=0
13 | Grid.Line\ Width=0.03
14 | Grid.Normal\ Cell\ Count=0
15 | Grid.OffsetX=0
16 | Grid.OffsetY=0
17 | Grid.OffsetZ=0
18 | Grid.Plane=0
19 | Grid.Plane\ Cell\ Count=10
20 | Grid.Reference\ Frame=<Fixed Frame>
21 | Robot\ Model.Alpha=1
22 | Robot\ Model.Collision\ Enabled=0
23 | Robot\ Model.Enabled=1
24 | Robot\ Model.Robot\ Description=robot_description
25 | Robot\ Model.TF\ Prefix=
26 | Robot\ Model.Update\ Interval=0
27 | Robot\ Model.Visual\ Enabled=1
28 | Robot\:\ Robot\ Model\ Link\ base_linkShow\ Axes=0
29 | Robot\:\ Robot\ Model\ Link\ base_linkShow\ Trail=0
30 | Robot\:\ Robot\ Model\ Link\ legShow\ Axes=0
31 | Robot\:\ Robot\ Model\ Link\ legShow\ Trail=0
32 | Tool\ 2D\ Nav\ GoalTopic=goal
33 | Tool\ 2D\ Pose\ EstimateTopic=initialpose
34 | Camera\ Type=rviz::OrbitViewController
35 | Camera\ Config=1.15779 3.76081 2.16475 0 0 0
36 | Property\ Grid\ State=selection=.Global StatusTopStatus;expanded=.Global Options,Grid.Enabled,Robot Model.Enabled;scrollpos=0,0;splitterpos=150,285;ispageselected=1
37 | [Display0]
38 | Name=Grid
39 | Package=rviz
40 | ClassName=rviz::GridDisplay
41 | [Display1]
42 | Name=Robot Model
43 | Package=rviz
44 | ClassName=rviz::RobotModelDisplay
45 | 


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/urdf/pan_tilt.urdf:
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 1 | <?xml version="1.0"?>
 2 | <robot name="pan_tilt">
 3 | 
 4 |   <link name="base_link">
 5 | 
 6 |     <visual>
 7 |       <geometry>
 8 | 	<cylinder length="0.01" radius="0.2"/>
 9 |       </geometry>
10 |       <origin rpy="0 0 0" xyz="0 0 0"/>
11 |       <material name="yellow">
12 |         <color rgba="1 1 0 1"/>
13 |       </material>
14 |     </visual>
15 | 
16 |     <collision>
17 |       <geometry>
18 | 	<cylinder length="0.03" radius="0.2"/>
19 |       </geometry>
20 |       <origin rpy="0 0 0" xyz="0 0 0"/>
21 |     </collision>
22 |     <inertial>
23 | 	<mass value="1"/>
24 | 	<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
25 |     </inertial>
26 |   </link>
27 | 
28 |   <joint name="pan_joint" type="revolute">
29 |     <parent link="base_link"/>
30 |     <child link="pan_link"/>
31 |     <origin xyz="0 0 0.1"/>
32 |     <axis xyz="0 0 1" />
33 |     <limit effort="300" velocity="0.1" lower="-3.14" upper="3.14"/>
34 |     <dynamics damping="50" friction="1"/>
35 |   </joint>
36 | 
37 |   <link name="pan_link">
38 |     <visual>
39 |       <geometry>
40 | 	<cylinder length="0.4" radius="0.04"/>
41 |       </geometry>
42 |       <origin rpy="0 0 0" xyz="0 0 0.09"/>
43 |       <material name="red">
44 |         <color rgba="0 0 1 1"/>
45 |       </material>
46 |     </visual>
47 |     <collision>
48 |       <geometry>
49 | 	<cylinder length="0.4" radius="0.06"/>
50 |       </geometry>
51 |       <origin rpy="0 0 0" xyz="0 0 0.09"/>
52 |     </collision>
53 |     <inertial>
54 | 	<mass value="1"/>
55 | 	<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
56 |     </inertial>
57 |   </link>
58 | 
59 |   <joint name="tilt_joint" type="revolute">
60 |     <parent link="pan_link"/>
61 |     <child link="tilt_link"/>
62 |     <origin xyz="0 0 0.2"/>
63 |     <axis xyz="0 1 0" />
64 |     <limit effort="300" velocity="0.1" lower="-4.64" upper="-1.5"/>
65 |     <dynamics damping="50" friction="1"/>
66 |   </joint>
67 | 
68 |   <link name="tilt_link">
69 |     <visual>
70 |       <geometry>
71 | 	<cylinder length="0.4" radius="0.04"/>
72 |       </geometry>
73 |       <origin rpy="0 1.5 0" xyz="0 0 0"/>
74 |       <material name="green">
75 |         <color rgba="1 0 0 1"/>
76 |       </material>
77 |     </visual>
78 |     <collision>
79 |       <geometry>
80 | 	<cylinder length="0.4" radius="0.06"/>
81 |       </geometry>
82 |       <origin rpy="0 1.5 0" xyz="0 0 0"/>
83 |     </collision>
84 |     <inertial>
85 | 	<mass value="1"/>
86 | 	<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
87 |     </inertial>
88 | 
89 |   </link>
90 | 
91 | 
92 | </robot>
93 | 


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/package.xml:
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 1 | <?xml version="1.0"?>
 2 | <package>
 3 |   <name>mastering_ros_robot_description_pkg</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The mastering_ros_robot_description_pkg package</description>
 6 | 
 7 |   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
 8 |   <!-- Example:  -->
 9 |   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
10 |   <maintainer email="robot@todo.todo">robot</maintainer>
11 | 
12 | 
13 |   <!-- One license tag required, multiple allowed, one license per tag -->
14 |   <!-- Commonly used license strings: -->
15 |   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
16 |   <license>TODO</license>
17 | 
18 | 
19 |   <!-- Url tags are optional, but mutiple are allowed, one per tag -->
20 |   <!-- Optional attribute type can be: website, bugtracker, or repository -->
21 |   <!-- Example: -->
22 |   <!-- <url type="website">http://wiki.ros.org/mastering_ros_robot_description_pkg</url> -->
23 | 
24 | 
25 |   <!-- Author tags are optional, mutiple are allowed, one per tag -->
26 |   <!-- Authors do not have to be maintianers, but could be -->
27 |   <!-- Example: -->
28 |   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
29 | 
30 | 
31 |   <!-- The *_depend tags are used to specify dependencies -->
32 |   <!-- Dependencies can be catkin packages or system dependencies -->
33 |   <!-- Examples: -->
34 |   <!-- Use build_depend for packages you need at compile time: -->
35 |   <!--   <build_depend>message_generation</build_depend> -->
36 |   <!-- Use buildtool_depend for build tool packages: -->
37 |   <!--   <buildtool_depend>catkin</buildtool_depend> -->
38 |   <!-- Use run_depend for packages you need at runtime: -->
39 |   <!--   <run_depend>message_runtime</run_depend> -->
40 |   <!-- Use test_depend for packages you need only for testing: -->
41 |   <!--   <test_depend>gtest</test_depend> -->
42 |   <buildtool_depend>catkin</buildtool_depend>
43 |   <build_depend>geometry_msgs</build_depend>
44 |   <build_depend>roscpp</build_depend>
45 |   <build_depend>rviz</build_depend>
46 |   <build_depend>tf</build_depend>
47 |   <build_depend>urdf</build_depend>
48 |   <build_depend>xacro</build_depend>
49 |   <run_depend>geometry_msgs</run_depend>
50 |   <run_depend>roscpp</run_depend>
51 |   <run_depend>rviz</run_depend>
52 |   <run_depend>tf</run_depend>
53 |   <run_depend>urdf</run_depend>
54 |   <run_depend>xacro</run_depend>
55 | 
56 | 
57 |   <!-- The export tag contains other, unspecified, tags -->
58 |   <export>
59 |     <!-- Other tools can request additional information be placed here -->
60 | 
61 |   </export>
62 | </package>


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/urdf/wheel.urdf.xacro:
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 1 | <?xml version="1.0"?>
 2 | <robot name="wheel" xmlns:xacro="http://www.ros.org/wiki/xacro">
 3 |   
 4 |   <!-- Wheels -->
 5 |   <property name="wheel_radius" value="0.04" /> 
 6 |   <property name="wheel_height" value="0.02" />
 7 |   <property name="wheel_mass" value="2.5" /> <!-- in kg-->
 8 |   
 9 |   <property name="base_x_origin_to_wheel_origin" value="0.25" />
10 |   <property name="base_y_origin_to_wheel_origin" value="0.3" />
11 |   <property name="base_z_origin_to_wheel_origin" value="0.0" />
12 |   
13 |   <macro name="cylinder_inertia" params="m r h">
14 |     <inertia  ixx="${m*(3*r*r+h*h)/12}" ixy = "0" ixz = "0"
15 |               iyy="${m*(3*r*r+h*h)/12}" iyz = "0"
16 |               izz="${m*r*r/2}" /> 
17 |   </macro>
18 |   
19 |   <xacro:macro name="wheel" params="fb lr parent translateX translateY flipY"> <!--fb : front, back ; lr: left, right -->
20 |     <link name="${fb}_${lr}_wheel">
21 |       <visual>
22 |         <origin xyz="0 0 0" rpy="${flipY*M_PI/2} 0  0 " /> 
23 |         <geometry>
24 |           <cylinder length="${wheel_height}" radius="${wheel_radius}" />
25 |         </geometry>
26 |         <material name="DarkGray" />
27 |       </visual>
28 |       <collision>
29 |         <origin xyz="0 0 0" rpy="${flipY*M_PI/2} 0 0 " />
30 |         <geometry>
31 |           <cylinder length="${wheel_height}" radius="${wheel_radius}" />
32 |         </geometry>
33 |       </collision>
34 |       <inertial>
35 |         <mass value="${wheel_mass}" />
36 |         <origin xyz="0 0 0" />
37 |         <cylinder_inertia  m="${wheel_mass}" r="${wheel_radius}" h="${wheel_height}" />
38 |       </inertial>
39 |     </link>
40 | 
41 |     <gazebo reference="${fb}_${lr}_wheel">
42 |       <mu1 value="1.0"/>
43 |       <mu2 value="1.0"/>
44 |       <kp  value="10000000.0" />
45 |       <kd  value="1.0" />
46 |       <fdir1 value="1 0 0"/>
47 |       <material>Gazebo/Grey</material>
48 |       <turnGravityOff>false</turnGravityOff>
49 |     </gazebo>
50 | 
51 |     <joint name="${fb}_${lr}_wheel_joint" type="continuous">
52 |       <parent link="${parent}"/>
53 |       <child link="${fb}_${lr}_wheel"/>
54 |       <origin xyz="${translateX * base_x_origin_to_wheel_origin} ${translateY * base_y_origin_to_wheel_origin} ${base_z_origin_to_wheel_origin}" rpy="0 0 0" /> 
55 |       <axis xyz="0 1 0" rpy="0  0" />
56 |       <limit effort="100" velocity="100"/>
57 |       <joint_properties damping="0.0" friction="0.0"/>
58 |     </joint>
59 | 
60 |     <!-- Transmission is important to link the joints and the controller -->
61 |     <transmission name="${fb}_${lr}_wheel_joint_trans">
62 |       <type>transmission_interface/SimpleTransmission</type>
63 |       <joint name="${fb}_${lr}_wheel_joint" />
64 |       <actuator name="${fb}_${lr}_wheel_joint_motor">
65 |         <hardwareInterface>EffortJointInterface</hardwareInterface>
66 |         <mechanicalReduction>1</mechanicalReduction>
67 |       </actuator>
68 |     </transmission>
69 |    
70 |   </xacro:macro>
71 | </robot>
72 | 


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/urdf/sensors/xtion_pro_live.urdf.xacro:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <robot xmlns:xacro="http://ros.org/wiki/xacro">
 3 | 
 4 |   <xacro:include filename="$(find mastering_ros_robot_description_pkg)/urdf/sensors/xtion_pro_live.gazebo.xacro"/>
 5 | 
 6 |   <xacro:macro name="dummy_inertial">
 7 |     <inertial>
 8 |       <origin xyz="0 0 0" rpy="0 0 0"/>
 9 |       <mass value="0.001"/>
10 |       <inertia ixx="0.00001" ixy="0" ixz="0"
11 |                iyy="0.00001" iyz="0"
12 |                izz="0.00001"/>
13 |     </inertial>
14 |   </xacro:macro>
15 | 
16 |   <xacro:macro name="xtion_pro_live" params="name parent *origin *optical_origin">
17 | 
18 |     <!-- frames in the center of the camera -->
19 |     <joint name="${name}_joint" type="fixed">
20 |       <insert_block name="origin"/>
21 |       <parent link="${parent}_link"/>
22 |       <child link="${name}_link"/>
23 |     </joint>
24 | 
25 |     <link name="${name}_link">
26 |       <inertial>
27 |         <origin xyz="-0.00936000000 -0.00003000000 -0.00273000000" rpy="0 0 0"/>
28 |         <mass value="0.21970000000"/>
29 |         <inertia ixx="0.00000429247" ixy="0.00000000000" ixz="0.00000002565"
30 |                  iyy="0.00000008027" iyz="0.00000000000"
31 |                  izz="0.00000427339"/>
32 |       </inertial>
33 |       <visual>
34 |         <origin xyz="0 0 0" rpy="0 0 0"/>
35 |         <geometry>
36 |           <mesh filename="package://mastering_ros_robot_description_pkg/meshes/sensors/xtion_pro_live/xtion_pro_live.dae"/>
37 |         </geometry>
38 |         <material name="DarkGrey"/>
39 |       </visual>
40 |     </link>
41 | 
42 |     <joint name="${name}_optical_joint" type="fixed">
43 |       <insert_block name="optical_origin"/>
44 |       <parent link="${name}_link"/>
45 |       <child link="${name}_optical_frame"/>
46 |     </joint>
47 | 
48 |     <link name="${name}_optical_frame">
49 |       <dummy_inertial/>
50 |     </link>
51 | 
52 |     <!-- Depth sensor frames -->
53 |     <joint name="${name}_depth_joint" type="fixed">
54 |       <origin xyz="0.0 0.049 0.0" rpy="0 0 0"/>
55 |       <parent link="${name}_link"/>
56 |       <child link="${name}_depth_frame"/>
57 |     </joint>
58 | 
59 |     <link name="${name}_depth_frame">
60 |       <dummy_inertial/>
61 |     </link>
62 | 
63 |     <joint name="${name}_depth_optical_joint" type="fixed">
64 |       <origin xyz="0 0 0" rpy="${-90.0 * deg_to_rad} 0.0 ${-90.0 * deg_to_rad}"/>
65 |       <parent link="${name}_depth_frame"/>
66 |       <child link="${name}_depth_optical_frame"/>
67 |     </joint>
68 | 
69 |     <link name="${name}_depth_optical_frame">
70 |       <dummy_inertial/>
71 |     </link>
72 | 
73 |     <!-- RGB sensor frames -->
74 |     <joint name="${name}_rgb_joint" type="fixed">
75 |       <origin xyz="0.0 0.022 0.0" rpy="0 0 0"/>
76 |       <parent link="${name}_link"/>
77 |       <child link="${name}_rgb_frame"/>
78 |     </joint>
79 | 
80 |     <link name="${name}_rgb_frame">
81 |       <dummy_inertial/>
82 |     </link>
83 | 
84 |     <joint name="${name}_rgb_optical_joint" type="fixed">
85 |       <origin xyz="0 0 0" rpy="${-90.0 * deg_to_rad} 0.0 ${-90.0 * deg_to_rad}"/>
86 |       <parent link="${name}_rgb_frame"/>
87 |       <child link="${name}_rgb_optical_frame"/>
88 |     </joint>
89 | 
90 |     <link name="${name}_rgb_optical_frame">
91 |       <dummy_inertial/>
92 |     </link>
93 | 
94 |     <xacro:xtion_pro_live_rgbd_camera_gazebo name="${name}"/>
95 |   </xacro:macro>
96 | 
97 | </robot>
98 | 


--------------------------------------------------------------------------------
/urdf/sensors/xtion_pro_live.gazebo.xacro:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <robot xmlns:xacro="http://ros.org/wiki/xacro">
 3 |   <xacro:macro name="xtion_pro_live_rgbd_camera_gazebo" params="name">
 4 |     <gazebo reference="${name}_link">
 5 |       <!-- Depth (IR) -->
 6 |       <sensor type="depth" name="${name}_frame_sensor">
 7 |         <always_on>true</always_on>
 8 |         <update_rate>6.0</update_rate>
 9 | 
10 |         <camera>
11 |           <horizontal_fov>${58.0 * deg_to_rad}</horizontal_fov>
12 |           <image>
13 |             <format>R8G8B8</format>
14 |             <width>320</width>
15 |             <height>240</height>
16 |           </image>
17 |           <clip>
18 |             <near>0.05</near>
19 |             <far>4.0</far>
20 |           </clip>
21 |         </camera>
22 | 
23 |         <plugin name="${name}_frame_controller" filename="libgazebo_ros_openni_kinect.so">
24 |           <alwaysOn>true</alwaysOn>
25 |           <updateRate>6.0</updateRate>
26 |           <cameraName>${name}</cameraName>
27 |           <imageTopicName>ir/image_raw</imageTopicName>
28 |           <cameraInfoTopicName>ir/camera_info</cameraInfoTopicName>
29 |           <depthImageTopicName>depth/image_raw</depthImageTopicName>
30 |           <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
31 |           <pointCloudTopicName>depth/points</pointCloudTopicName>
32 |           <frameName>${name}_optical_frame</frameName>
33 |           <pointCloudCutoff>0.05</pointCloudCutoff>
34 |           <pointCloudCutoffMax>5</pointCloudCutoffMax>
35 | 
36 |           <rangeMax>4.0</rangeMax>
37 |           <!-- Distortion parameters not supported in gazebo 1.9.* plugins -->
38 |           <!--distortionK1>0.00000001</distortionK1>
39 |           <distortionK2>0.00000001</distortionK2>
40 |           <distortionK3>0.00000001</distortionK3>
41 |           <distortionT1>0.00000001</distortionT1>
42 |           <distortionT2>0.00000001</distortionT2-->
43 |         </plugin>
44 |       </sensor>
45 | 
46 |       <!-- RGB -->
47 | 
48 |       <sensor type="depth" name="${name}_frame_sensor">
49 |         <always_on>true</always_on>
50 |         <update_rate>6.0</update_rate>
51 | 
52 |         <camera>
53 |           <horizontal_fov>${58.0 * deg_to_rad}</horizontal_fov>
54 |           <image>
55 |             <format>R8G8B8</format>
56 |             <width>320</width>
57 |             <height>240</height>
58 |           </image>
59 |           <clip>
60 |             <near>0.05</near>
61 |             <far>4.0</far>
62 |           </clip>
63 |         </camera>
64 | 
65 | 
66 | 
67 |         <plugin name="${name}_frame_controller" filename="libgazebo_ros_openni_kinect.so">
68 |           <alwaysOn>true</alwaysOn>
69 |           <updateRate>6.0</updateRate>
70 |           <cameraName>${name}</cameraName>
71 | 
72 |           <imageTopicName>rgb/image_raw</imageTopicName>
73 |           <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
74 |           <pointCloudTopicName>rgb/points</pointCloudTopicName>
75 | 
76 |           <depthImageTopicName>depth/image_raw</depthImageTopicName>
77 |           <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName> 
78 | 
79 |           <frameName>${name}_optical_frame</frameName>
80 |           <pointCloudCutoff>0.05</pointCloudCutoff>
81 |           <pointCloudCutoffMax>5</pointCloudCutoffMax>
82 |           <rangeMax>4.0</rangeMax>
83 | 
84 |         </plugin>   
85 |      </sensor> 
86 | 
87 | 
88 |     </gazebo>
89 |   </xacro:macro>
90 | </robot>
91 | 


--------------------------------------------------------------------------------
/urdf/seven_dof_arm.gv:
--------------------------------------------------------------------------------
 1 | digraph G {
 2 | node [shape=box];
 3 | "base_link" [label="base_link"];
 4 | "bottom_link" [label="bottom_link"];
 5 | "rgbd_camera_link" [label="rgbd_camera_link"];
 6 | "rgbd_camera_depth_frame" [label="rgbd_camera_depth_frame"];
 7 | "rgbd_camera_depth_optical_frame" [label="rgbd_camera_depth_optical_frame"];
 8 | "rgbd_camera_optical_frame" [label="rgbd_camera_optical_frame"];
 9 | "rgbd_camera_rgb_frame" [label="rgbd_camera_rgb_frame"];
10 | "rgbd_camera_rgb_optical_frame" [label="rgbd_camera_rgb_optical_frame"];
11 | "shoulder_pan_link" [label="shoulder_pan_link"];
12 | "shoulder_pitch_link" [label="shoulder_pitch_link"];
13 | "elbow_roll_link" [label="elbow_roll_link"];
14 | "elbow_pitch_link" [label="elbow_pitch_link"];
15 | "wrist_roll_link" [label="wrist_roll_link"];
16 | "wrist_pitch_link" [label="wrist_pitch_link"];
17 | "gripper_roll_link" [label="gripper_roll_link"];
18 | "gripper_finger_link1" [label="gripper_finger_link1"];
19 | "gripper_finger_link2" [label="gripper_finger_link2"];
20 | "grasping_frame" [label="grasping_frame"];
21 | node [shape=ellipse, color=blue, fontcolor=blue];
22 | "base_link" -> "bottom_joint" [label="xyz: 0 0 0 \nrpy: 0 -0 0"]
23 | "bottom_joint" -> "bottom_link"
24 | "base_link" -> "rgbd_camera_joint" [label="xyz: 0.1 0 1 \nrpy: 0 1.309 0"]
25 | "rgbd_camera_joint" -> "rgbd_camera_link"
26 | "rgbd_camera_link" -> "rgbd_camera_depth_joint" [label="xyz: 0 0.049 0 \nrpy: 0 -0 0"]
27 | "rgbd_camera_depth_joint" -> "rgbd_camera_depth_frame"
28 | "rgbd_camera_depth_frame" -> "rgbd_camera_depth_optical_joint" [label="xyz: 0 0 0 \nrpy: -1.5708 -5.55112e-17 -1.5708"]
29 | "rgbd_camera_depth_optical_joint" -> "rgbd_camera_depth_optical_frame"
30 | "rgbd_camera_link" -> "rgbd_camera_optical_joint" [label="xyz: 0 0 0 \nrpy: -1.5708 -5.55112e-17 -1.5708"]
31 | "rgbd_camera_optical_joint" -> "rgbd_camera_optical_frame"
32 | "rgbd_camera_link" -> "rgbd_camera_rgb_joint" [label="xyz: 0 0.022 0 \nrpy: 0 -0 0"]
33 | "rgbd_camera_rgb_joint" -> "rgbd_camera_rgb_frame"
34 | "rgbd_camera_rgb_frame" -> "rgbd_camera_rgb_optical_joint" [label="xyz: 0 0 0 \nrpy: -1.5708 -5.55112e-17 -1.5708"]
35 | "rgbd_camera_rgb_optical_joint" -> "rgbd_camera_rgb_optical_frame"
36 | "base_link" -> "shoulder_pan_joint" [label="xyz: 0 0 0.05 \nrpy: 0 1.5708 0"]
37 | "shoulder_pan_joint" -> "shoulder_pan_link"
38 | "shoulder_pan_link" -> "shoulder_pitch_joint" [label="xyz: -0.041 0.0021 0 \nrpy: -1.57079 5.55112e-17 1.57079"]
39 | "shoulder_pitch_joint" -> "shoulder_pitch_link"
40 | "shoulder_pitch_link" -> "elbow_roll_joint" [label="xyz: -0.002 0 0.1206 \nrpy: 3.14159 1.5708 0"]
41 | "elbow_roll_joint" -> "elbow_roll_link"
42 | "elbow_roll_link" -> "elbow_pitch_joint" [label="xyz: -0.035 0 0 \nrpy: 0.055 1.5708 2.61491e-12"]
43 | "elbow_pitch_joint" -> "elbow_pitch_link"
44 | "elbow_pitch_link" -> "wrist_roll_joint" [label="xyz: 0 0.0081 -0.248 \nrpy: 0 1.5708 3.14159"]
45 | "wrist_roll_joint" -> "wrist_roll_link"
46 | "wrist_roll_link" -> "wrist_pitch_joint" [label="xyz: 0 0 0.0001 \nrpy: 0 1.5708 0"]
47 | "wrist_pitch_joint" -> "wrist_pitch_link"
48 | "wrist_pitch_link" -> "gripper_roll_joint" [label="xyz: 0 0 0.08 \nrpy: -1.5708 -1.57079 -4.18385e-11"]
49 | "gripper_roll_joint" -> "gripper_roll_link"
50 | "gripper_roll_link" -> "finger_joint1" [label="xyz: 0 0 0 \nrpy: 0 -0 0"]
51 | "finger_joint1" -> "gripper_finger_link1"
52 | "gripper_roll_link" -> "finger_joint2" [label="xyz: 0 0 0 \nrpy: 0 -0 0"]
53 | "finger_joint2" -> "gripper_finger_link2"
54 | "gripper_roll_link" -> "grasping_frame_joint" [label="xyz: 0.08 0 0 \nrpy: 0 -0 0"]
55 | "grasping_frame_joint" -> "grasping_frame"
56 | }
57 | 


--------------------------------------------------------------------------------
/urdf/pan_tilt.xacro:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0"?>
  2 | 
  3 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro" 
  4 |  	xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
  5 |     	xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
  6 |     	xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
  7 | 	name="pan_tilt">
  8 | 
  9 | 
 10 | 	<xacro:property name="base_link_length" value="0.01" />
 11 | 	<xacro:property name="base_link_radius" value="0.2" />
 12 | 
 13 | 	<xacro:property name="pan_link_length" value="0.4" />
 14 | 	<xacro:property name="pan_link_radius" value="0.04" />
 15 | 
 16 | 	<xacro:property name="tilt_link_length" value="0.4" />
 17 | 	<xacro:property name="tilt_link_radius" value="0.04" />
 18 | 
 19 | 
 20 | 	<xacro:macro name="inertial_matrix" params="mass">
 21 |                <inertial>
 22 |                        <mass value="${mass}" />
 23 |                        <inertia ixx="0.5" ixy="0.0" ixz="0.0"
 24 |                                 iyy="0.5" iyz="0.0"
 25 |                                 izz="0.5" />
 26 |                </inertial>
 27 | 	</xacro:macro>
 28 | 
 29 | 
 30 | 
 31 |   <link name="base_link">
 32 | 
 33 |     <visual>
 34 |       <geometry>
 35 | 	<cylinder length="${base_link_length}" radius="${base_link_radius}"/>
 36 |       </geometry>
 37 |       <origin rpy="0 0 0" xyz="0 0 0"/>
 38 |       <material name="yellow">
 39 |         <color rgba="1 1 0 1"/>
 40 |       </material>
 41 |     </visual>
 42 | 
 43 |     <collision>
 44 |       <geometry>
 45 | 	<cylinder length="${base_link_length+0.02}" radius="0.2"/>
 46 |       </geometry>
 47 |       <origin rpy="0 0 0" xyz="0 0 0"/>
 48 |     </collision>
 49 | 	<xacro:inertial_matrix mass="1"/>
 50 |   </link>
 51 | 
 52 |   <joint name="pan_joint" type="revolute">
 53 |     <parent link="base_link"/>
 54 |     <child link="pan_link"/>
 55 |     <origin xyz="0 0 0.1"/>
 56 |     <axis xyz="0 0 1" />
 57 |     <limit effort="300" velocity="0.1" lower="-3.14" upper="3.14"/>
 58 |     <dynamics damping="50" friction="1"/>
 59 |   </joint>
 60 | 
 61 |   <link name="pan_link">
 62 |     <visual>
 63 |       <geometry>
 64 | 	<cylinder length="${pan_link_length}" radius="${pan_link_radius}"/>
 65 |       </geometry>
 66 |       <origin rpy="0 0 0" xyz="0 0 0.09"/>
 67 |       <material name="red">
 68 |         <color rgba="0 0 1 1"/>
 69 |       </material>
 70 |     </visual>
 71 |     <collision>
 72 |       <geometry>
 73 | 	<cylinder length="${pan_link_length}" radius="${pan_link_radius+0.02}"/>
 74 |       </geometry>
 75 |       <origin rpy="0 0 0" xyz="0 0 0.09"/>
 76 |     </collision>
 77 | 	<xacro:inertial_matrix mass="1"/>
 78 |   </link>
 79 | 
 80 |   <joint name="tilt_joint" type="revolute">
 81 |     <parent link="pan_link"/>
 82 |     <child link="tilt_link"/>
 83 |     <origin xyz="0 0 0.2"/>
 84 |     <axis xyz="0 1 0" />
 85 |     <limit effort="300" velocity="0.1" lower="-4.64" upper="-1.5"/>
 86 |     <dynamics damping="50" friction="1"/>
 87 |   </joint>
 88 | 
 89 |   <link name="tilt_link">
 90 |     <visual>
 91 |       <geometry>
 92 | 	<cylinder length="${tilt_link_length}" radius="${tilt_link_radius}"/>
 93 |       </geometry>
 94 |       <origin rpy="0 1.5 0" xyz="0 0 0"/>
 95 |       <material name="green">
 96 |         <color rgba="1 0 0 1"/>
 97 |       </material>
 98 |     </visual>
 99 |     <collision>
100 |       <geometry>
101 | 	<cylinder length="${tilt_link_length}" radius="${tilt_link_radius+0.2}"/>
102 |       </geometry>
103 |       <origin rpy="0 1.5 0" xyz="0 0 0"/>
104 |     </collision>
105 | 	<xacro:inertial_matrix mass="1"/>
106 |   </link>
107 | 
108 | 
109 | </robot>
110 | 


--------------------------------------------------------------------------------
/CMakeLists.txt:
--------------------------------------------------------------------------------
  1 | cmake_minimum_required(VERSION 2.8.3)
  2 | project(mastering_ros_robot_description_pkg)
  3 | 
  4 | ## Find catkin macros and libraries
  5 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
  6 | ## is used, also find other catkin packages
  7 | find_package(catkin REQUIRED COMPONENTS
  8 |   geometry_msgs
  9 |   roscpp
 10 |   rviz
 11 |   tf
 12 |   urdf
 13 |   xacro
 14 | )
 15 | 
 16 | ## System dependencies are found with CMake's conventions
 17 | # find_package(Boost REQUIRED COMPONENTS system)
 18 | 
 19 | 
 20 | ## Uncomment this if the package has a setup.py. This macro ensures
 21 | ## modules and global scripts declared therein get installed
 22 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 23 | # catkin_python_setup()
 24 | 
 25 | ################################################
 26 | ## Declare ROS messages, services and actions ##
 27 | ################################################
 28 | 
 29 | ## To declare and build messages, services or actions from within this
 30 | ## package, follow these steps:
 31 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
 32 | ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
 33 | ## * In the file package.xml:
 34 | ##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
 35 | ##   * If MSG_DEP_SET isn't empty the following dependencies might have been
 36 | ##     pulled in transitively but can be declared for certainty nonetheless:
 37 | ##     * add a build_depend tag for "message_generation"
 38 | ##     * add a run_depend tag for "message_runtime"
 39 | ## * In this file (CMakeLists.txt):
 40 | ##   * add "message_generation" and every package in MSG_DEP_SET to
 41 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 42 | ##   * add "message_runtime" and every package in MSG_DEP_SET to
 43 | ##     catkin_package(CATKIN_DEPENDS ...)
 44 | ##   * uncomment the add_*_files sections below as needed
 45 | ##     and list every .msg/.srv/.action file to be processed
 46 | ##   * uncomment the generate_messages entry below
 47 | ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 48 | 
 49 | ## Generate messages in the 'msg' folder
 50 | # add_message_files(
 51 | #   FILES
 52 | #   Message1.msg
 53 | #   Message2.msg
 54 | # )
 55 | 
 56 | ## Generate services in the 'srv' folder
 57 | # add_service_files(
 58 | #   FILES
 59 | #   Service1.srv
 60 | #   Service2.srv
 61 | # )
 62 | 
 63 | ## Generate actions in the 'action' folder
 64 | # add_action_files(
 65 | #   FILES
 66 | #   Action1.action
 67 | #   Action2.action
 68 | # )
 69 | 
 70 | ## Generate added messages and services with any dependencies listed here
 71 | # generate_messages(
 72 | #   DEPENDENCIES
 73 | #   geometry_msgs
 74 | # )
 75 | 
 76 | ###################################
 77 | ## catkin specific configuration ##
 78 | ###################################
 79 | ## The catkin_package macro generates cmake config files for your package
 80 | ## Declare things to be passed to dependent projects
 81 | ## INCLUDE_DIRS: uncomment this if you package contains header files
 82 | ## LIBRARIES: libraries you create in this project that dependent projects also need
 83 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 84 | ## DEPENDS: system dependencies of this project that dependent projects also need
 85 | catkin_package(
 86 | #  INCLUDE_DIRS include
 87 | #  LIBRARIES mastering_ros_robot_description_pkg
 88 | #  CATKIN_DEPENDS geometry_msgs roscpp rviz tf urdf xacro
 89 | #  DEPENDS system_lib
 90 | )
 91 | 
 92 | ###########
 93 | ## Build ##
 94 | ###########
 95 | 
 96 | ## Specify additional locations of header files
 97 | ## Your package locations should be listed before other locations
 98 | # include_directories(include)
 99 | include_directories(
100 |   ${catkin_INCLUDE_DIRS}
101 | )
102 | 
103 | ## Declare a cpp library
104 | # add_library(mastering_ros_robot_description_pkg
105 | #   src/${PROJECT_NAME}/mastering_ros_robot_description_pkg.cpp
106 | # )
107 | 
108 | ## Declare a cpp executable
109 | # add_executable(mastering_ros_robot_description_pkg_node src/mastering_ros_robot_description_pkg_node.cpp)
110 | 
111 | ## Add cmake target dependencies of the executable/library
112 | ## as an example, message headers may need to be generated before nodes
113 | # add_dependencies(mastering_ros_robot_description_pkg_node mastering_ros_robot_description_pkg_generate_messages_cpp)
114 | 
115 | ## Specify libraries to link a library or executable target against
116 | # target_link_libraries(mastering_ros_robot_description_pkg_node
117 | #   ${catkin_LIBRARIES}
118 | # )
119 | 
120 | #############
121 | ## Install ##
122 | #############
123 | 
124 | # all install targets should use catkin DESTINATION variables
125 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
126 | 
127 | ## Mark executable scripts (Python etc.) for installation
128 | ## in contrast to setup.py, you can choose the destination
129 | # install(PROGRAMS
130 | #   scripts/my_python_script
131 | #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
132 | # )
133 | 
134 | ## Mark executables and/or libraries for installation
135 | # install(TARGETS mastering_ros_robot_description_pkg mastering_ros_robot_description_pkg_node
136 | #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
137 | #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
138 | #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
139 | # )
140 | 
141 | ## Mark cpp header files for installation
142 | # install(DIRECTORY include/${PROJECT_NAME}/
143 | #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
144 | #   FILES_MATCHING PATTERN "*.h"
145 | #   PATTERN ".svn" EXCLUDE
146 | # )
147 | 
148 | ## Mark other files for installation (e.g. launch and bag files, etc.)
149 | # install(FILES
150 | #   # myfile1
151 | #   # myfile2
152 | #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
153 | # )
154 | 
155 | #############
156 | ## Testing ##
157 | #############
158 | 
159 | ## Add gtest based cpp test target and link libraries
160 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_mastering_ros_robot_description_pkg.cpp)
161 | # if(TARGET ${PROJECT_NAME}-test)
162 | #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
163 | # endif()
164 | 
165 | ## Add folders to be run by python nosetests
166 | # catkin_add_nosetests(test)
167 | 


--------------------------------------------------------------------------------
/urdf.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz/Displays
  3 |     Help Height: 78
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded:
  7 |         - /Global Options1
  8 |         - /Status1
  9 |       Splitter Ratio: 0.5
 10 |     Tree Height: 330
 11 |   - Class: rviz/Selection
 12 |     Name: Selection
 13 |   - Class: rviz/Tool Properties
 14 |     Expanded:
 15 |       - /2D Pose Estimate1
 16 |       - /2D Nav Goal1
 17 |       - /Publish Point1
 18 |     Name: Tool Properties
 19 |     Splitter Ratio: 0.588679
 20 |   - Class: rviz/Views
 21 |     Expanded:
 22 |       - /Current View1
 23 |     Name: Views
 24 |     Splitter Ratio: 0.5
 25 |   - Class: rviz/Time
 26 |     Experimental: false
 27 |     Name: Time
 28 |     SyncMode: 0
 29 |     SyncSource: ""
 30 | Visualization Manager:
 31 |   Class: ""
 32 |   Displays:
 33 |     - Alpha: 0.5
 34 |       Cell Size: 1
 35 |       Class: rviz/Grid
 36 |       Color: 160; 160; 164
 37 |       Enabled: true
 38 |       Line Style:
 39 |         Line Width: 0.03
 40 |         Value: Lines
 41 |       Name: Grid
 42 |       Normal Cell Count: 0
 43 |       Offset:
 44 |         X: 0
 45 |         Y: 0
 46 |         Z: 0
 47 |       Plane: XY
 48 |       Plane Cell Count: 10
 49 |       Reference Frame: <Fixed Frame>
 50 |       Value: true
 51 |     - Alpha: 1
 52 |       Class: rviz/RobotModel
 53 |       Collision Enabled: false
 54 |       Enabled: true
 55 |       Links:
 56 |         All Links Enabled: true
 57 |         Expand Joint Details: false
 58 |         Expand Link Details: false
 59 |         Expand Tree: false
 60 |         Link Tree Style: Links in Alphabetic Order
 61 |         base_link:
 62 |           Alpha: 1
 63 |           Show Axes: false
 64 |           Show Trail: false
 65 |           Value: true
 66 |         bottom_link:
 67 |           Alpha: 1
 68 |           Show Axes: false
 69 |           Show Trail: false
 70 |           Value: true
 71 |         elbow_pitch_link:
 72 |           Alpha: 1
 73 |           Show Axes: false
 74 |           Show Trail: false
 75 |           Value: true
 76 |         elbow_roll_link:
 77 |           Alpha: 1
 78 |           Show Axes: false
 79 |           Show Trail: false
 80 |           Value: true
 81 |         gripper_finger_link:
 82 |           Alpha: 1
 83 |           Show Axes: false
 84 |           Show Trail: false
 85 |           Value: true
 86 |         gripper_roll_link:
 87 |           Alpha: 1
 88 |           Show Axes: false
 89 |           Show Trail: false
 90 |           Value: true
 91 |         r_gripper_aft_link:
 92 |           Alpha: 1
 93 |           Show Axes: false
 94 |           Show Trail: false
 95 |           Value: true
 96 |         shoulder_pan_link:
 97 |           Alpha: 1
 98 |           Show Axes: false
 99 |           Show Trail: false
100 |           Value: true
101 |         shoulder_pitch_link:
102 |           Alpha: 1
103 |           Show Axes: false
104 |           Show Trail: false
105 |           Value: true
106 |         wrist_pitch_link:
107 |           Alpha: 1
108 |           Show Axes: false
109 |           Show Trail: false
110 |           Value: true
111 |         wrist_roll_link:
112 |           Alpha: 1
113 |           Show Axes: false
114 |           Show Trail: false
115 |           Value: true
116 |       Name: RobotModel
117 |       Robot Description: robot_description
118 |       TF Prefix: ""
119 |       Update Interval: 0
120 |       Value: true
121 |       Visual Enabled: true
122 |     - Class: rviz/TF
123 |       Enabled: false
124 |       Frame Timeout: 15
125 |       Frames:
126 |         All Enabled: true
127 |       Marker Scale: 1
128 |       Name: TF
129 |       Show Arrows: true
130 |       Show Axes: true
131 |       Show Names: true
132 |       Tree:
133 |         {}
134 |       Update Interval: 0
135 |       Value: false
136 |   Enabled: true
137 |   Global Options:
138 |     Background Color: 48; 48; 48
139 |     Fixed Frame: base_link
140 |     Frame Rate: 30
141 |   Name: root
142 |   Tools:
143 |     - Class: rviz/Interact
144 |       Hide Inactive Objects: true
145 |     - Class: rviz/MoveCamera
146 |     - Class: rviz/Select
147 |     - Class: rviz/FocusCamera
148 |     - Class: rviz/Measure
149 |     - Class: rviz/SetInitialPose
150 |       Topic: /initialpose
151 |     - Class: rviz/SetGoal
152 |       Topic: /move_base_simple/goal
153 |     - Class: rviz/PublishPoint
154 |       Single click: true
155 |       Topic: /clicked_point
156 |   Value: true
157 |   Views:
158 |     Current:
159 |       Class: rviz/Orbit
160 |       Distance: 1.12009
161 |       Enable Stereo Rendering:
162 |         Stereo Eye Separation: 0.06
163 |         Stereo Focal Distance: 1
164 |         Swap Stereo Eyes: false
165 |         Value: false
166 |       Focal Point:
167 |         X: -0.138732
168 |         Y: -0.0432205
169 |         Z: 0.292796
170 |       Name: Current View
171 |       Near Clip Distance: 0.01
172 |       Pitch: 0.230398
173 |       Target Frame: <Fixed Frame>
174 |       Value: Orbit (rviz)
175 |       Yaw: 0.425398
176 |     Saved: ~
177 | Window Geometry:
178 |   Displays:
179 |     collapsed: false
180 |   Height: 611
181 |   Hide Left Dock: false
182 |   Hide Right Dock: false
183 |   QMainWindow State: 000000ff00000000fd00000004000000000000013c000001d9fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000001d9000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000001d9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000001d9000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c00000003efc0100000002fb0000000800540069006d00650100000000000004c0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000269000001d900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
184 |   Selection:
185 |     collapsed: false
186 |   Time:
187 |     collapsed: false
188 |   Tool Properties:
189 |     collapsed: false
190 |   Views:
191 |     collapsed: false
192 |   Width: 1216
193 |   X: 43
194 |   Y: 14
195 | 


--------------------------------------------------------------------------------
/urdf/diff_wheeled_robot.xacro:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0"?>
  2 | <robot name="differential_wheeled_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
  3 |   
  4 | 
  5 |   <xacro:include filename="$(find mastering_ros_robot_description_pkg)/urdf/wheel.urdf.xacro" /> 
  6 | 
  7 | 
  8 | <!-- Defining the colors used in this robot -->
  9 |   <material name="Black">
 10 |     <color rgba="0.0 0.0 0.0 1.0"/>
 11 |   </material>
 12 | 
 13 |   <material name="Red">
 14 |     <color rgba="0.8 0.0 0.0 1.0"/>
 15 |   </material>
 16 | 
 17 |   <material name="White">
 18 |     <color rgba="1.0 1.0 1.0 1.0"/>
 19 |   </material>
 20 | 
 21 | 
 22 |   <material name="Blue">
 23 |     <color rgba="0.0 0.0 0.8 1.0"/>
 24 |   </material>
 25 | 
 26 | 
 27 | 
 28 |   <!-- PROPERTY LIST -->
 29 |   <!--All units in m-kg-s-radians unit system -->
 30 |   <property name="M_PI" value="3.1415926535897931" />
 31 |   <property name="M_PI_2" value="1.570796327" />
 32 |   <property name="DEG_TO_RAD" value="0.017453293" />
 33 | 
 34 |   <!-- Main body radius and height -->
 35 |   <!-- Main Body Cylinder base   -->
 36 |   <property name="base_height" value="0.02" /> 
 37 |   <property name="base_radius" value="0.15" /> 
 38 |   <property name="base_mass" value="5" /> <!-- in kg-->
 39 | 
 40 | 
 41 | 
 42 |   <!-- caster wheel radius and height -->
 43 |   <!-- caster wheel mass -->
 44 |   <property name="caster_f_height" value="0.04" /> 
 45 |   <property name="caster_f_radius" value="0.025" /> 
 46 |   <property name="caster_f_mass" value="0.5" /> <!-- in kg-->
 47 | 
 48 | 
 49 | 
 50 |   <!-- caster wheel radius and height -->
 51 |   <!-- caster wheel mass -->
 52 |   <property name="caster_b_height" value="0.04" /> 
 53 |   <property name="caster_b_radius" value="0.025" /> 
 54 |   <property name="caster_b_mass" value="0.5" /> <!-- in kg-->
 55 | 
 56 | 
 57 | 
 58 | 
 59 |   <!-- Wheels -->
 60 | 
 61 |   <property name="wheel_mass" value="2.5" /> --> <!-- in kg-->
 62 |   
 63 |   <property name="base_x_origin_to_wheel_origin" value="0.25" />
 64 |   <property name="base_y_origin_to_wheel_origin" value="0.3" />
 65 |   <property name="base_z_origin_to_wheel_origin" value="0.0" />
 66 | 
 67 | 
 68 |   <!-- Hokuyo Laser scanner -->
 69 |   <property name="hokuyo_size" value="0.05" />
 70 | 
 71 | 
 72 | 
 73 |   <!-- Macro for calculating inertia of cylinder -->
 74 |   <macro name="cylinder_inertia" params="m r h">
 75 |     <inertia  ixx="${m*(3*r*r+h*h)/12}" ixy = "0" ixz = "0"
 76 |               iyy="${m*(3*r*r+h*h)/12}" iyz = "0"
 77 |               izz="${m*r*r/2}" /> 
 78 |   </macro>
 79 | 
 80 | 
 81 |   <!-- BASE-FOOTPRINT -->
 82 |   <!-- base_footprint is a fictitious link(frame) that is on the ground right below base_link origin -->
 83 |   <link name="base_footprint">
 84 |     <inertial>
 85 |       <mass value="0.0001" />
 86 |       <origin xyz="0 0 0" />
 87 |       <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
 88 |           iyy="0.0001" iyz="0.0" 
 89 |           izz="0.0001" />
 90 |     </inertial>
 91 |     <visual>
 92 |         <origin xyz="0 0 0" rpy="0 0 0" />
 93 |         <geometry>
 94 |             <box size="0.001 0.001 0.001" />
 95 |         </geometry>
 96 |     </visual>
 97 |   </link>
 98 | 
 99 |   <gazebo reference="base_footprint">
100 |     <turnGravityOff>false</turnGravityOff>
101 |   </gazebo>
102 | 
103 |   <joint name="base_footprint_joint" type="fixed">
104 |     <origin xyz="0 0 ${wheel_radius - base_z_origin_to_wheel_origin}" rpy="0 0 0" />
105 |     <parent link="base_footprint"/>
106 |     <child link="base_link" />
107 |   </joint>
108 |   
109 |   <!-- BASE-LINK -->
110 |   <!--Actual body/chassis of the robot-->
111 |   <link name="base_link">
112 |     <inertial>
113 |       <mass value="${base_mass}" />
114 |       <origin xyz="0 0 0" />
115 |       <!--The 3x3 rotational inertia matrix. -->
116 |         <cylinder_inertia  m="${base_mass}" r="${base_radius}" h="${base_height}" />
117 | 
118 |     </inertial>    
119 |     <visual>
120 |       <origin xyz="0 0 0" rpy="0 0 0" />
121 |       <geometry>
122 | 
123 | 
124 |           <cylinder length="${base_height}" radius="${base_radius}" />
125 | 
126 | 
127 |       </geometry>
128 |       <material name="White" />
129 |     </visual>  
130 |     <collision>
131 |       <origin xyz="0 0 0" rpy="0 0 0 " />
132 |       <geometry>
133 | 
134 |           <cylinder length="${base_height}" radius="${base_radius}" />
135 | 
136 |       </geometry>
137 |     </collision>     
138 |   </link>
139 |   <gazebo reference="base_link">
140 |     <material>Gazebo/White</material>
141 |     <turnGravityOff>false</turnGravityOff>
142 |   </gazebo>
143 |   
144 | 
145 | 
146 | 
147 | 
148 | <!--Caster front  -->
149 | 
150 |     <link name="caster_front_link">
151 | 
152 |     <visual>
153 |       <origin xyz="0 0.02 0" rpy="${M_PI/2} 0 0" />
154 |       <geometry>
155 | 	<sphere radius="${caster_f_radius}" />
156 |       </geometry>
157 |       <material name="Black" />
158 |     </visual>  
159 | 
160 | 
161 | 
162 |       <collision>
163 |         <geometry>
164 | 
165 | 	<sphere radius="${caster_f_radius}" />
166 | 
167 |         </geometry>
168 |       <origin xyz="0 0.02 0" rpy="${M_PI/2} 0 0" />
169 |       </collision>      
170 |       <inertial>
171 |         <mass value="${caster_f_mass}" />
172 |         <origin xyz="0 0 0" />
173 |         <inertia ixx="0.001" ixy="0.0" ixz="0.0"
174 |                  iyy="0.001" iyz="0.0" 
175 |                  izz="0.001" />
176 |       </inertial>
177 |     </link>
178 | 
179 | 
180 | 
181 |  <joint name="caster_front_joint" type="fixed">
182 |       <parent link="base_link"/>
183 |       <child link="caster_front_link"/>
184 |       <origin xyz="0.115 0.0 0.007" rpy="${-M_PI/2} 0 0"/>
185 |     </joint>
186 | 
187 | 
188 |   <gazebo reference="caster_front_link">
189 |     <turnGravityOff>false</turnGravityOff>
190 |   </gazebo>
191 |     
192 | 
193 | 
194 | <!--Caster back  -->
195 | 
196 |     <link name="caster_back_link">
197 | 
198 |     <visual>
199 |       <origin xyz="0.02 0.02 0 " rpy="${M_PI/2} 0 0" /> 
200 | 
201 |       <geometry>
202 | 
203 | 
204 | 	<sphere radius="${caster_b_radius}" />
205 | 
206 | 
207 |       </geometry>
208 |       <material name="Black" />
209 |     </visual>  
210 | 
211 | 
212 | 
213 |       <collision>
214 |         <geometry>
215 | 		<sphere radius="${caster_b_radius}" />
216 |         </geometry>
217 |       <origin xyz="0 0.02 0 " rpy="${M_PI/2} 0 0" /> 
218 |       </collision>      
219 |       <inertial>
220 |         <mass value="${caster_b_mass}" />
221 |         <origin xyz="0 0 0" />        
222 |         <inertia ixx="0.001" ixy="0.0" ixz="0.0"
223 |                  iyy="0.001" iyz="0.0" 
224 |                  izz="0.001" />
225 |       </inertial>
226 |     </link>
227 | 
228 |     <joint name="caster_back_joint" type="fixed">
229 |       <parent link="base_link"/>
230 |       <child link="caster_back_link"/>
231 |       <origin xyz="-0.135 0.0 0.009" rpy="${-M_PI/2} 0 0"/>
232 |     </joint>
233 | 
234 | 
235 |   <gazebo reference="caster_back_link">
236 |     <turnGravityOff>false</turnGravityOff>
237 |   </gazebo>
238 | 
239 | 
240 | <!-- Wheel Definitions -->
241 | 
242 |   <wheel fb="front" lr="right" parent="base_link" translateX="0" translateY="0.5" flipY="1"/>
243 |   <wheel fb="front" lr="left" parent="base_link" translateX="0" translateY="-0.5" flipY="1"/>
244 | 	 
245 |   <!-- SENSORS -->
246 |   
247 |   <!-- hokuyo -->
248 | 
249 |   <link name="hokuyo_link">
250 |     <visual>
251 |       <origin xyz="0 0 0" rpy="0 0 0" />
252 |       <geometry>
253 |         <box size="${hokuyo_size} ${hokuyo_size} ${hokuyo_size}"/>
254 |       </geometry>
255 |       <material name="Blue" />
256 |     </visual>
257 |   </link>
258 |   <joint name="hokuyo_joint" type="fixed">
259 |     <origin xyz="${base_radius - hokuyo_size/2} 0 ${base_height+hokuyo_size/4}" rpy="0 0 0" />
260 |     <parent link="base_link"/>
261 |     <child link="hokuyo_link" />
262 |   </joint>
263 |   <gazebo reference="hokuyo_link">
264 |     <material>Gazebo/Blue</material>
265 |     <turnGravityOff>false</turnGravityOff>
266 |     <sensor type="ray" name="head_hokuyo_sensor">
267 |       <pose>${hokuyo_size/2} 0 0 0 0 0</pose>
268 |       <visualize>false</visualize>
269 |       <update_rate>40</update_rate>
270 |       <ray>
271 |         <scan>
272 |           <horizontal>
273 |             <samples>720</samples>
274 |             <resolution>1</resolution>
275 |             <min_angle>-1.570796</min_angle>
276 |             <max_angle>1.570796</max_angle>
277 |           </horizontal>
278 |         </scan>
279 |         <range>
280 |           <min>0.10</min>
281 |           <max>10.0</max>
282 |           <resolution>0.001</resolution>
283 |         </range>
284 |       </ray>
285 |       <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
286 |         <topicName>/scan</topicName>
287 |         <frameName>hokuyo_link</frameName>
288 |       </plugin>
289 |     </sensor>
290 |   </gazebo>
291 |   
292 |   
293 |   <!-- Differential drive controller  -->
294 |   <gazebo>
295 |     <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
296 | 
297 |       <rosDebugLevel>Debug</rosDebugLevel>
298 |       <publishWheelTF>false</publishWheelTF>
299 |       <robotNamespace>/</robotNamespace>
300 |       <publishTf>1</publishTf>
301 |       <publishWheelJointState>false</publishWheelJointState>
302 |       <alwaysOn>true</alwaysOn>
303 |       <updateRate>100.0</updateRate>
304 |       <leftJoint>front_left_wheel_joint</leftJoint>
305 |       <rightJoint>front_right_wheel_joint</rightJoint>
306 |       <wheelSeparation>${2*base_radius}</wheelSeparation>
307 |       <wheelDiameter>${2*wheel_radius}</wheelDiameter>
308 |       <broadcastTF>1</broadcastTF>
309 |       <wheelTorque>30</wheelTorque>
310 |       <wheelAcceleration>1.8</wheelAcceleration>
311 |       <commandTopic>cmd_vel</commandTopic>
312 |       <odometryFrame>odom</odometryFrame> 
313 |       <odometryTopic>odom</odometryTopic> 
314 |       <robotBaseFrame>base_footprint</robotBaseFrame>
315 | 
316 | 
317 |     </plugin>
318 |   </gazebo> 
319 | 
320 | 
321 | 
322 | 
323 | </robot>
324 | 


--------------------------------------------------------------------------------
/urdf/diff_wheeled_robot.urdf:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" ?>
  2 | <!-- =================================================================================== -->
  3 | <!-- |    This document was autogenerated by xacro from diff_wheeled_robot.xacro       | -->
  4 | <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
  5 | <!-- =================================================================================== -->
  6 | <robot name="differential_wheeled_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
  7 |   <!-- Wheels -->
  8 |   <!-- in kg-->
  9 |   <!-- Defining the colors used in this robot -->
 10 |   <material name="Black">
 11 |     <color rgba="0.0 0.0 0.0 1.0"/>
 12 |   </material>
 13 |   <material name="Red">
 14 |     <color rgba="0.8 0.0 0.0 1.0"/>
 15 |   </material>
 16 |   <material name="White">
 17 |     <color rgba="1.0 1.0 1.0 1.0"/>
 18 |   </material>
 19 |   <material name="Blue">
 20 |     <color rgba="0.0 0.0 0.8 1.0"/>
 21 |   </material>
 22 |   <!-- PROPERTY LIST -->
 23 |   <!--All units in m-kg-s-radians unit system -->
 24 |   <!-- Main body radius and height -->
 25 |   <!-- Main Body Cylinder base   -->
 26 |   <!-- in kg-->
 27 |   <!-- caster wheel radius and height -->
 28 |   <!-- caster wheel mass -->
 29 |   <!-- in kg-->
 30 |   <!-- caster wheel radius and height -->
 31 |   <!-- caster wheel mass -->
 32 |   <!-- in kg-->
 33 |   <!-- Wheels -->
 34 |    --&gt; 
 35 |   <!-- in kg-->
 36 |   <!-- Hokuyo Laser scanner -->
 37 |   <!-- Macro for calculating inertia of cylinder -->
 38 |   <!-- BASE-FOOTPRINT -->
 39 |   <!-- base_footprint is a fictitious link(frame) that is on the ground right below base_link origin -->
 40 |   <link name="base_footprint">
 41 |     <inertial>
 42 |       <mass value="0.0001"/>
 43 |       <origin xyz="0 0 0"/>
 44 |       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
 45 |     </inertial>
 46 |     <visual>
 47 |       <origin rpy="0 0 0" xyz="0 0 0"/>
 48 |       <geometry>
 49 |         <box size="0.001 0.001 0.001"/>
 50 |       </geometry>
 51 |     </visual>
 52 |   </link>
 53 |   <gazebo reference="base_footprint">
 54 |     <turnGravityOff>false</turnGravityOff>
 55 |   </gazebo>
 56 |   <joint name="base_footprint_joint" type="fixed">
 57 |     <origin rpy="0 0 0" xyz="0 0 0.04"/>
 58 |     <parent link="base_footprint"/>
 59 |     <child link="base_link"/>
 60 |   </joint>
 61 |   <!-- BASE-LINK -->
 62 |   <!--Actual body/chassis of the robot-->
 63 |   <link name="base_link">
 64 |     <inertial>
 65 |       <mass value="5"/>
 66 |       <origin xyz="0 0 0"/>
 67 |       <!--The 3x3 rotational inertia matrix. -->
 68 |       <inertia ixx="0.0282916666667" ixy="0" ixz="0" iyy="0.0282916666667" iyz="0" izz="0.05625"/>
 69 |     </inertial>
 70 |     <visual>
 71 |       <origin rpy="0 0 0" xyz="0 0 0"/>
 72 |       <geometry>
 73 |         <cylinder length="0.02" radius="0.15"/>
 74 |       </geometry>
 75 |       <material name="White"/>
 76 |     </visual>
 77 |     <collision>
 78 |       <origin rpy="0 0 0 " xyz="0 0 0"/>
 79 |       <geometry>
 80 |         <cylinder length="0.02" radius="0.15"/>
 81 |       </geometry>
 82 |     </collision>
 83 |   </link>
 84 |   <gazebo reference="base_link">
 85 |     <material>Gazebo/White</material>
 86 |     <turnGravityOff>false</turnGravityOff>
 87 |   </gazebo>
 88 |   <!--fb : front, back ; lr: left, right -->
 89 |   <link name="front_right_wheel">
 90 |     <visual>
 91 |       <origin rpy="1.57079632679 0  0 " xyz="0 0 0"/>
 92 |       <geometry>
 93 |         <cylinder length="0.02" radius="0.04"/>
 94 |       </geometry>
 95 |       <material name="DarkGray"/>
 96 |     </visual>
 97 |     <collision>
 98 |       <origin rpy="1.57079632679 0 0 " xyz="0 0 0"/>
 99 |       <geometry>
100 |         <cylinder length="0.02" radius="0.04"/>
101 |       </geometry>
102 |     </collision>
103 |     <inertial>
104 |       <mass value="2.5"/>
105 |       <origin xyz="0 0 0"/>
106 |       <inertia ixx="0.00108333333333" ixy="0" ixz="0" iyy="0.00108333333333" iyz="0" izz="0.002"/>
107 |     </inertial>
108 |   </link>
109 |   <gazebo reference="front_right_wheel">
110 |     <mu1 value="1.0"/>
111 |     <mu2 value="1.0"/>
112 |     <kp value="10000000.0"/>
113 |     <kd value="1.0"/>
114 |     <fdir1 value="1 0 0"/>
115 |     <material>Gazebo/Grey</material>
116 |     <turnGravityOff>false</turnGravityOff>
117 |   </gazebo>
118 |   <joint name="front_right_wheel_joint" type="continuous">
119 |     <parent link="base_link"/>
120 |     <child link="front_right_wheel"/>
121 |     <origin rpy="0 0 0" xyz="0.0 0.15 0.0"/>
122 |     <axis rpy="0  0" xyz="0 1 0"/>
123 |     <limit effort="100" velocity="100"/>
124 |     <joint_properties damping="0.0" friction="0.0"/>
125 |   </joint>
126 |   <!-- Transmission is important to link the joints and the controller -->
127 |   <transmission name="front_right_wheel_joint_trans">
128 |     <type>transmission_interface/SimpleTransmission</type>
129 |     <joint name="front_right_wheel_joint"/>
130 |     <actuator name="front_right_wheel_joint_motor">
131 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
132 |       <mechanicalReduction>1</mechanicalReduction>
133 |     </actuator>
134 |   </transmission>
135 |   <!--fb : front, back ; lr: left, right -->
136 |   <link name="front_left_wheel">
137 |     <visual>
138 |       <origin rpy="1.57079632679 0  0 " xyz="0 0 0"/>
139 |       <geometry>
140 |         <cylinder length="0.02" radius="0.04"/>
141 |       </geometry>
142 |       <material name="DarkGray"/>
143 |     </visual>
144 |     <collision>
145 |       <origin rpy="1.57079632679 0 0 " xyz="0 0 0"/>
146 |       <geometry>
147 |         <cylinder length="0.02" radius="0.04"/>
148 |       </geometry>
149 |     </collision>
150 |     <inertial>
151 |       <mass value="2.5"/>
152 |       <origin xyz="0 0 0"/>
153 |       <inertia ixx="0.00108333333333" ixy="0" ixz="0" iyy="0.00108333333333" iyz="0" izz="0.002"/>
154 |     </inertial>
155 |   </link>
156 |   <gazebo reference="front_left_wheel">
157 |     <mu1 value="1.0"/>
158 |     <mu2 value="1.0"/>
159 |     <kp value="10000000.0"/>
160 |     <kd value="1.0"/>
161 |     <fdir1 value="1 0 0"/>
162 |     <material>Gazebo/Grey</material>
163 |     <turnGravityOff>false</turnGravityOff>
164 |   </gazebo>
165 |   <joint name="front_left_wheel_joint" type="continuous">
166 |     <parent link="base_link"/>
167 |     <child link="front_left_wheel"/>
168 |     <origin rpy="0 0 0" xyz="0.0 -0.15 0.0"/>
169 |     <axis rpy="0  0" xyz="0 1 0"/>
170 |     <limit effort="100" velocity="100"/>
171 |     <joint_properties damping="0.0" friction="0.0"/>
172 |   </joint>
173 |   <!-- Transmission is important to link the joints and the controller -->
174 |   <transmission name="front_left_wheel_joint_trans">
175 |     <type>transmission_interface/SimpleTransmission</type>
176 |     <joint name="front_left_wheel_joint"/>
177 |     <actuator name="front_left_wheel_joint_motor">
178 |       <hardwareInterface>EffortJointInterface</hardwareInterface>
179 |       <mechanicalReduction>1</mechanicalReduction>
180 |     </actuator>
181 |   </transmission>
182 |   <!--Caster front  -->
183 |   <link name="caster_front_link">
184 |     <visual>
185 |       <origin rpy="1.57079632679 0 0" xyz="0 0.02 0"/>
186 |       <geometry>
187 |         <sphere radius="0.025"/>
188 |       </geometry>
189 |       <material name="Black"/>
190 |     </visual>
191 |     <collision>
192 |       <geometry>
193 |         <sphere radius="0.025"/>
194 |       </geometry>
195 |       <origin rpy="1.57079632679 0 0" xyz="0 0.02 0"/>
196 |     </collision>
197 |     <inertial>
198 |       <mass value="0.5"/>
199 |       <origin xyz="0 0 0"/>
200 |       <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
201 |     </inertial>
202 |   </link>
203 |   <joint name="caster_front_joint" type="fixed">
204 |     <parent link="base_link"/>
205 |     <child link="caster_front_link"/>
206 |     <origin rpy="-1.57079632679 0 0" xyz="0.115 0.0 0.007"/>
207 |   </joint>
208 |   <gazebo reference="caster_front_link">
209 |     <turnGravityOff>false</turnGravityOff>
210 |   </gazebo>
211 |   <!--Caster back  -->
212 |   <link name="caster_back_link">
213 |     <visual>
214 |       <origin rpy="1.57079632679 0 0" xyz="0.02 0.02 0 "/>
215 |       <geometry>
216 |         <sphere radius="0.025"/>
217 |       </geometry>
218 |       <material name="Black"/>
219 |     </visual>
220 |     <collision>
221 |       <geometry>
222 |         <sphere radius="0.025"/>
223 |       </geometry>
224 |       <origin rpy="1.57079632679 0 0" xyz="0 0.02 0 "/>
225 |     </collision>
226 |     <inertial>
227 |       <mass value="0.5"/>
228 |       <origin xyz="0 0 0"/>
229 |       <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
230 |     </inertial>
231 |   </link>
232 |   <joint name="caster_back_joint" type="fixed">
233 |     <parent link="base_link"/>
234 |     <child link="caster_back_link"/>
235 |     <origin rpy="-1.57079632679 0 0" xyz="-0.135 0.0 0.009"/>
236 |   </joint>
237 |   <gazebo reference="caster_back_link">
238 |     <turnGravityOff>false</turnGravityOff>
239 |   </gazebo>
240 |   <!-- SENSORS -->
241 |   <!-- hokuyo -->
242 |   <link name="hokuyo_link">
243 |     <visual>
244 |       <origin rpy="0 0 0" xyz="0 0 0"/>
245 |       <geometry>
246 |         <box size="0.05 0.05 0.05"/>
247 |       </geometry>
248 |       <material name="Blue"/>
249 |     </visual>
250 |   </link>
251 |   <joint name="hokuyo_joint" type="fixed">
252 |     <origin rpy="0 0 0" xyz="0.125 0 0.0325"/>
253 |     <parent link="base_link"/>
254 |     <child link="hokuyo_link"/>
255 |   </joint>
256 |   <gazebo reference="hokuyo_link">
257 |     <material>Gazebo/Blue</material>
258 |     <turnGravityOff>false</turnGravityOff>
259 |     <sensor name="head_hokuyo_sensor" type="ray">
260 |       <pose>0.025 0 0 0 0 0</pose>
261 |       <visualize>false</visualize>
262 |       <update_rate>40</update_rate>
263 |       <ray>
264 |         <scan>
265 |           <horizontal>
266 |             <samples>720</samples>
267 |             <resolution>1</resolution>
268 |             <min_angle>-1.570796</min_angle>
269 |             <max_angle>1.570796</max_angle>
270 |           </horizontal>
271 |         </scan>
272 |         <range>
273 |           <min>0.10</min>
274 |           <max>10.0</max>
275 |           <resolution>0.001</resolution>
276 |         </range>
277 |       </ray>
278 |       <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_head_hokuyo_controller">
279 |         <topicName>/scan</topicName>
280 |         <frameName>hokuyo_link</frameName>
281 |       </plugin>
282 |     </sensor>
283 |   </gazebo>
284 |   <!-- Differential drive controller  -->
285 |   <gazebo>
286 |     <plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller_front">
287 |       <rosDebugLevel>Debug</rosDebugLevel>
288 |       <publishWheelTF>True</publishWheelTF>
289 |       <publishTf>1</publishTf>
290 |       <publishWheelJointState>true</publishWheelJointState>
291 |       <alwaysOn>true</alwaysOn>
292 |       <updateRate>100.0</updateRate>
293 |       <leftJoint>front_left_wheel_joint</leftJoint>
294 |       <rightJoint>front_right_wheel_joint</rightJoint>
295 |       <wheelSeparation>0.3</wheelSeparation>
296 |       <wheelDiameter>0.08</wheelDiameter>
297 |       <broadcastTF>1</broadcastTF>
298 |       <wheelTorque>30</wheelTorque>
299 |       <wheelAcceleration>1.8</wheelAcceleration>
300 |       <commandTopic>cmd_vel</commandTopic>
301 |       <odometryFrame>odom</odometryFrame>
302 |       <odometryTopic>odom</odometryTopic>
303 |       <robotBaseFrame>base_link</robotBaseFrame>
304 |     </plugin>
305 |   </gazebo>
306 |   <!--
307 | 	  <gazebo>
308 | 	    <plugin name="kobuki_controller" filename="libgazebo_ros_kobuki.so">
309 | 	      <publish_tf>1</publish_tf>
310 | 	      <left_wheel_joint_name>front_left_wheel_joint</left_wheel_joint_name>
311 | 	      <right_wheel_joint_name>front_right_wheel_joint</right_wheel_joint_name>
312 | 	      <wheel_separation>.30</wheel_separation>
313 | 	      <wheel_diameter>0.08</wheel_diameter>
314 | 	      <torque>30.0</torque>
315 | 	      <velocity_command_timeout>0.6</velocity_command_timeout>
316 | 
317 | 
318 | 	    </plugin>
319 | 	  </gazebo>
320 | 
321 | -->
322 |   <!--
323 | <gazebo>
324 |     <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" />
325 |     <plugin filename="libgazebo_ros_joint_state_publisher.so" name="joint_state_publisher">
326 |       <jointName>front_right_wheel_joint, front_left_wheel_joint</jointName>
327 |       <updateRate>10.0</updateRate>
328 |       <alwaysOn>true</alwaysOn>
329 |     </plugin>
330 | </gazebo>
331 | -->
332 | </robot>
333 | 
334 | 


--------------------------------------------------------------------------------
/urdf/seven_dof_arm.xacro:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0"?>
  2 | 
  3 | 
  4 | <robot name="seven_dof_arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
  5 | 
  6 | 
  7 |   <!-- Include materials -->
  8 | 
  9 |     <material name="Black">
 10 |         <color rgba="0.0 0.0 0.0 1.0"/>
 11 |     </material>
 12 | 
 13 |     <material name="Red">
 14 |         <color rgba="0.8 0.0 0.0 1.0"/>
 15 |     </material>
 16 | 
 17 |     <material name="White">
 18 |         <color rgba="1.0 1.0 1.0 1.0"/>
 19 |     </material>
 20 | 
 21 | 
 22 |   <property name="deg_to_rad" value="0.01745329251994329577"/>
 23 | 
 24 |   <!-- Constants -->
 25 |   <property name="M_SCALE" value="0.001 0.001 0.001"/> 
 26 |   <property name="M_PI" value="3.14159"/>
 27 | 
 28 |   <!-- Shoulder pan link properties -->
 29 |   <property name="shoulder_pan_width" value="0.04" />
 30 |   <property name="shoulder_pan_len" value="0.08" />
 31 | 
 32 | 
 33 |   <!-- Shoulder pitch link properties -->
 34 |   <property name="shoulder_pitch_len" value="0.14" />
 35 |   <property name="shoulder_pitch_width" value="0.04" />
 36 |   <property name="shoulder_pitch_height" value="0.04" />
 37 | 
 38 | 
 39 |   <!-- Elbow roll link properties -->
 40 |   <property name="elbow_roll_width" value="0.02" />
 41 |   <property name="elbow_roll_len" value="0.06" />
 42 | 
 43 | 
 44 |   <!-- Elbow pitch link properties -->
 45 |   <property name="elbow_pitch_len" value="0.22" />
 46 |   <property name="elbow_pitch_width" value="0.04" />
 47 |   <property name="elbow_pitch_height" value="0.04" />
 48 | 
 49 | 
 50 |   <!-- Wrist roll link properties -->
 51 |   <property name="wrist_roll_width" value="0.02" />
 52 |   <property name="wrist_roll_len" value="0.04" />
 53 | 
 54 | 
 55 |   <!-- wrist pitch link properties -->
 56 |   <property name="wrist_pitch_len" value="0.06" />
 57 |   <property name="wrist_pitch_width" value="0.04" />
 58 |   <property name="wrist_pitch_height" value="0.04" />
 59 | 
 60 | 
 61 |   <!-- Gripper roll link properties -->
 62 |   <property name="gripper_roll_width" value="0.04" />
 63 |   <property name="gripper_roll_len" value="0.02" />
 64 | 
 65 | 
 66 |   <!-- Left gripper -->
 67 |   <property name="left_gripper_len" value="0.08" />
 68 |   <property name="left_gripper_width" value="0.01" />
 69 |   <property name="left_gripper_height" value="0.01" />
 70 | 
 71 | 
 72 |   <!-- Right gripper -->
 73 |   <property name="right_gripper_len" value="0.08" />
 74 |   <property name="right_gripper_width" value="0.01" />
 75 |   <property name="right_gripper_height" value="0.01" />
 76 | 
 77 | 
 78 | 
 79 |   <!-- Right gripper -->
 80 |   <property name="grasp_frame_len" value="0.02" />
 81 |   <property name="grasp_frame_width" value="0.02" />
 82 |   <property name="grasp_frame_height" value="0.02" />
 83 | 
 84 | 
 85 |    <xacro:macro name="inertial_matrix" params="mass">
 86 |       <inertial>
 87 |       	<mass value="${mass}" />
 88 |         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="1.0" />
 89 |       </inertial>
 90 |    </xacro:macro>
 91 | 
 92 |    <xacro:macro name="transmission_block" params="joint_name">
 93 | 	  <transmission name="tran1">
 94 | 	    <type>transmission_interface/SimpleTransmission</type>
 95 | 	    <joint name="${joint_name}">
 96 | 	      <hardwareInterface>PositionJointInterface</hardwareInterface>
 97 | 	    </joint>
 98 | 	    <actuator name="motor1">
 99 | 	      <hardwareInterface>PositionJointInterface</hardwareInterface>
100 | 	      <mechanicalReduction>1</mechanicalReduction>
101 | 	    </actuator>
102 | 	  </transmission>
103 |    </xacro:macro>
104 | 
105 | 
106 | <!-- BOTTOM FIXED LINK 
107 | This link is the base of the arm in which arm is placed 
108 | 
109 | -->
110 | 
111 | <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
112 | 
113 |   <joint name="bottom_joint" type="fixed">
114 |     <origin xyz="0 0 0" rpy="0 0 0" />
115 |     <parent link="base_link"/>
116 |     <child link="bottom_link"/>
117 |   </joint>
118 | 
119 |   <link name="bottom_link">
120 | 
121 |     <visual>
122 |       <origin xyz=" 0 0 -0.04"  rpy="0 0 0"/>
123 |       <geometry>
124 | 
125 | 	       <box size="1 1 0.02" />
126 | 
127 |       </geometry>
128 |       <material name="Brown" />
129 |     </visual>
130 | 
131 |     <collision>
132 |       <origin xyz=" 0 0 -0.04"  rpy="0 0 0"/>
133 |       <geometry>
134 | 	       <box size="1 1 0.02" />
135 |       </geometry>
136 |       </collision>>
137 | 
138 |   </link>
139 | 
140 |   <gazebo reference="bottom_link">
141 |     <material>Gazebo/White</material>
142 |   </gazebo>
143 | 
144 | 
145 | <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
146 | 
147 |   <!-- BASE LINK -->
148 |   <link name="base_link">
149 | 
150 |     <visual>
151 |       <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" /> <!-- rotate PI/2 -->
152 |       <geometry>
153 | 
154 | 	       <box size="0.1 0.1 0.1" />
155 | 
156 |       </geometry>
157 |       <material name="White" />
158 |     </visual>
159 | 
160 |     <collision>
161 |       <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" /> <!-- rotate PI/2 -->
162 |       <geometry>
163 | 
164 | 	       <box size="0.1 0.1 0.1" />
165 | 		
166 |       </geometry>
167 |       </collision>>
168 | 	<xacro:inertial_matrix mass="1"/>
169 | 
170 |   </link>
171 | 
172 |   <gazebo reference="base_link">
173 |     <material>Gazebo/White</material>
174 |   </gazebo>
175 | 
176 |   <joint name="shoulder_pan_joint" type="revolute">
177 |     <parent link="base_link"/>
178 |     <child link="shoulder_pan_link"/>
179 |     <origin xyz="0 0 0.05" rpy="0 ${M_PI/2} ${M_PI*0}" />
180 |     <axis xyz="-1 0 0" />
181 |     <limit effort="300" velocity="1" lower="-2.61799387799" upper="1.98394848567"/>
182 |     <dynamics damping="50" friction="1"/>
183 |   </joint>
184 | 
185 | 
186 | <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
187 | 
188 |   <!-- SHOULDER PAN LINK -->
189 |   <link name="shoulder_pan_link" >
190 | 
191 |     <visual>
192 |       <origin xyz="0 0 0" rpy="0 ${M_PI/2} 0" />
193 |       <geometry>
194 | 
195 |             <cylinder radius="${shoulder_pan_width}" length="${shoulder_pan_len}"/>
196 | 
197 |       </geometry>
198 |       <material name="Red" />
199 |     </visual>
200 | 
201 |     <collision>
202 |       <origin xyz="0 0 0" rpy="0 ${M_PI/2} 0" />
203 |       <geometry>
204 |             <cylinder radius="${shoulder_pan_width}" length="${shoulder_pan_len}"/>
205 |       </geometry>
206 |     </collision>
207 | 	<xacro:inertial_matrix mass="1"/>
208 |   </link>
209 | 
210 |   <gazebo reference="shoulder_pan_link">
211 |     <material>Gazebo/Red</material>
212 |   </gazebo>
213 | 
214 |   <joint name="shoulder_pitch_joint" type="revolute">
215 |     <parent link="shoulder_pan_link"/>
216 |     <child link="shoulder_pitch_link"/>
217 |     <origin xyz="-0.041 0.0021 0.0" rpy="-${M_PI/2} 0 ${M_PI/2}" />
218 |     <axis xyz="1 0 0" />
219 |     <limit effort="300" velocity="1" lower="-1.19962513147" upper="1.89994105047" />
220 |     <dynamics damping="50" friction="1"/>
221 |   </joint>
222 | 
223 | <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
224 |   <!-- SHOULDER PITCH LINK -->
225 |   <link name="shoulder_pitch_link" >
226 | 
227 |     <visual>
228 |       <origin xyz="-0.002 0 0.04" rpy="0 ${M_PI/2} 0" />
229 |       <geometry>
230 | 
231 |            <box size="${shoulder_pitch_len} ${shoulder_pitch_width} ${shoulder_pitch_height}" />
232 | 
233 |       </geometry>
234 |       <material name="White" />
235 |     </visual>
236 | 
237 |     <collision>
238 |       <origin xyz="-0.002 0 0.04" rpy="0 ${M_PI/2} 0" />
239 |       <geometry>
240 |            <box size="${shoulder_pitch_len} ${shoulder_pitch_width} ${shoulder_pitch_height}" />
241 |       </geometry>
242 |     </collision>
243 | 	<xacro:inertial_matrix mass="1"/>
244 |   </link>
245 | 
246 |   <gazebo reference="shoulder_pitch_link">
247 |     <material>Gazebo/White</material>
248 |   </gazebo>
249 | 
250 |   <joint name="elbow_roll_joint" type="revolute">
251 |     <parent link="shoulder_pitch_link"/>
252 |     <child link="elbow_roll_link"/>
253 |     <origin xyz="-0.002 0 0.1206" rpy="${M_PI} ${M_PI/2} 0" />
254 |     <axis xyz="-1 0 0" />
255 |     <limit effort="300" velocity="1" lower="-2.61799387799" upper="0.705631162427" />
256 |     <dynamics damping="50" friction="1"/>
257 |   </joint>
258 | 
259 | <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
260 |   <!-- ELBOW ROLL LINK -->
261 |   <link name="elbow_roll_link" >
262 | 
263 |     <visual>
264 |       <origin xyz="-0.015 0.0 -0.0" rpy="0 ${M_PI/2} 0" />
265 |       <geometry>
266 | 
267 |             <cylinder radius="${elbow_roll_width}" length="${elbow_roll_len}"/>
268 | 
269 |       </geometry>
270 |       <material name="Black" />
271 |     </visual>
272 | 
273 |     <collision>
274 |       <origin xyz="-0.015 0.0 -0.0" rpy="0 ${M_PI/2} 0" />
275 |       <geometry>
276 |             <cylinder radius="${elbow_roll_width}" length="${elbow_roll_len}"/>
277 |       </geometry>
278 |     </collision>
279 | 	<xacro:inertial_matrix mass="1"/>
280 |   </link>
281 | 
282 |   <gazebo reference="elbow_roll_link">
283 |     <material>Gazebo/Black</material>
284 |   </gazebo>
285 | 
286 |   <joint name="elbow_pitch_joint" type="revolute">
287 |     <parent link="elbow_roll_link"/>
288 |     <child link="elbow_pitch_link"/>
289 |     <origin xyz="-0.035 0 0.0" rpy="0.055 ${M_PI/2} 0" />
290 |     <axis xyz="1 0 0" />
291 |     <limit effort="300" velocity="1" lower="-1.5953400194" upper="1.93281579274" />
292 |     <dynamics damping="50" friction="1"/>
293 |   </joint>
294 | 
295 | <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
296 | 
297 |   <!-- ELBOW PITCH LINK -->
298 |   <link name="elbow_pitch_link" >
299 | 
300 |     <visual>
301 |       <origin xyz="0 0 -0.12" rpy="0 ${M_PI/2} 0" />
302 |       <geometry>
303 | 
304 |        <box size="${elbow_pitch_len} ${elbow_pitch_width} ${elbow_pitch_height}" />
305 | 	
306 |       </geometry>
307 |       <material name="Red" />
308 |     </visual>
309 | 
310 |     <collision>
311 |       <origin xyz="0 0 -0.12" rpy="0 ${M_PI/2} 0" />
312 |       <geometry>
313 |        <box size="${elbow_pitch_len} ${elbow_pitch_width} ${elbow_pitch_height}" />
314 |       </geometry>
315 |     </collision>
316 | 	<xacro:inertial_matrix mass="1"/>
317 |   </link>
318 | 
319 |   <gazebo reference="elbow_pitch_link">
320 |     <material>Gazebo/Red</material>
321 |   </gazebo>
322 | 
323 |   <joint name="wrist_roll_joint" type="revolute">
324 |     <parent link="elbow_pitch_link"/>
325 |     <child link="wrist_roll_link"/>
326 |     <origin xyz="0.0 0.0081 -.248" rpy="0 ${M_PI/2} ${M_PI}" />
327 |     <axis xyz="1 0 0" />
328 |     <limit effort="300" velocity="1" lower="-2.61799387799" upper="2.6128806087" />
329 |     <dynamics damping="50" friction="1"/>
330 |   </joint>
331 | 
332 |   <!-- WRIST ROLL LINK -->
333 |   <link name="wrist_roll_link" >
334 |     <visual>
335 |       <origin xyz="0 0 0" rpy="0 ${M_PI/2} 0" />
336 |       <geometry>
337 | 
338 |            <cylinder radius="${elbow_roll_width}" length="${elbow_roll_len}"/>
339 | 
340 |       </geometry>
341 |       <material name="Black" />
342 |     </visual>
343 | 
344 |     <collision>
345 |       <origin xyz="0 0 0" rpy="0 ${M_PI/2} 0" />
346 |       <geometry>
347 |            <cylinder radius="${elbow_roll_width}" length="${elbow_roll_len}"/>
348 |       </geometry>
349 |     </collision>
350 | 	<xacro:inertial_matrix mass="1"/>
351 | 
352 |   </link>
353 | 
354 |   <gazebo reference="wrist_roll_link">
355 |     <material>Gazebo/Black</material>
356 |   </gazebo>
357 | 
358 |   <joint name="wrist_pitch_joint" type="revolute">
359 |     <parent link="wrist_roll_link"/>
360 |     <child link="wrist_pitch_link"/>
361 |     <origin xyz="0.0 0.0 0.0001" rpy="0 ${M_PI/2} 0" />
362 |     <axis xyz="1 0 0" />
363 |     <limit effort="300" velocity="1" lower="-1.5953400194" upper="1.98394848567" />
364 |     <dynamics damping="50" friction="1"/>
365 |   </joint>
366 | 
367 | 
368 | <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
369 |   <!-- WRIST PITCH LINK -->
370 |   <link name="wrist_pitch_link">
371 | 
372 |     <visual>
373 |       <origin xyz="0 0 0.04" rpy="0 ${M_PI/2} 0" />
374 |       <geometry>
375 | 
376 |            <box size="${wrist_pitch_len} ${wrist_pitch_width} ${wrist_pitch_height}" />
377 | 	
378 |       </geometry>
379 |       <material name="White" />
380 |     </visual>
381 | 
382 |     <collision>
383 |       <origin xyz="0 0 0.04 " rpy="0 ${M_PI/2} 0" />
384 |       <geometry>
385 |           <box size="${wrist_pitch_len} ${wrist_pitch_width} ${wrist_pitch_height}" />
386 |       </geometry>
387 |     </collision>
388 | 	<xacro:inertial_matrix mass="1"/>
389 | 
390 |   </link>
391 | 
392 |   <gazebo reference="wrist_pitch_link">
393 |     <material>Gazebo/White</material>
394 |   </gazebo>
395 | 
396 |   <joint name="gripper_roll_joint" type="revolute">
397 |     <parent link="wrist_pitch_link"/>
398 |     <child link="gripper_roll_link"/>
399 |     <origin xyz="0 0 0.080" rpy="${1.5*M_PI} -${.5*M_PI} 0" />
400 |     <axis xyz="1 0 0" />
401 |     <limit effort="300" velocity="1" lower="-2.61799387799" upper="2.6128806087" />
402 |     <dynamics damping="50" friction="1"/>
403 |   </joint>
404 | 
405 | <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
406 | 
407 |   <!-- GRIPPER ROLL LINK -->
408 |   <link name="gripper_roll_link">
409 | 
410 |     <visual>
411 |       <origin xyz="0 0 0" rpy="0 ${M_PI/2} 0" />
412 |       <geometry>
413 | 
414 |             <cylinder radius="${gripper_roll_width}" length="${gripper_roll_len}"/>
415 | 
416 |       </geometry>
417 |       <material name="Red" />
418 |     </visual>
419 | 
420 |     <collision>
421 |       <origin xyz="0 0 0" rpy="0 ${M_PI/2} 0" />
422 |       <geometry>
423 |             <cylinder radius="${gripper_roll_width}" length="${gripper_roll_len}"/>
424 |       </geometry>
425 |     </collision>
426 | 	<xacro:inertial_matrix mass="1"/>
427 | 
428 |   </link>
429 | 
430 |   <gazebo reference="gripper_roll_link">
431 |     <material>Gazebo/Red</material>
432 |   </gazebo>
433 | 
434 | 
435 | 
436 | 
437 |   <joint name="finger_joint1" type="prismatic">
438 |     <parent link="gripper_roll_link"/>
439 |     <child link="gripper_finger_link1"/>
440 |     <origin xyz="0.0 0 0" />
441 |     <axis xyz="0 1 0" />
442 |       <limit effort="100" lower="0" upper="0.03" velocity="1.0"/>
443 | 
444 | 
445 |       <safety_controller k_position="20"
446 |                          k_velocity="20"
447 |                          soft_lower_limit="${-0.15 }"
448 |                          soft_upper_limit="${ 0.0 }"/>
449 | 
450 | 
451 |     <dynamics damping="50" friction="1"/>
452 |   </joint>
453 | 
454 | 
455 | <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
456 | 
457 | 
458 |   <!-- LEFT GRIPPER AFT LINK -->
459 |   <link name="gripper_finger_link1">
460 | 
461 |      <visual>
462 |       <origin xyz="0.04 -0.03 0"/>
463 |       <geometry>
464 | 
465 |            <box size="${left_gripper_len} ${left_gripper_width} ${left_gripper_height}" />
466 | 
467 |       </geometry>
468 |       <material name="White" />
469 |     </visual>
470 | 	<xacro:inertial_matrix mass="1"/>
471 |   </link>
472 | 
473 |   <gazebo reference="l_gripper_aft_link">
474 |     <material>Gazebo/White</material>
475 |   </gazebo>
476 | 
477 | <!-- Joint between Wrist roll and finger 2 -->
478 | 
479 |   <joint name="finger_joint2" type="prismatic">
480 |     <parent link="gripper_roll_link"/>
481 |     <child link="gripper_finger_link2"/>
482 |     <origin xyz="0.0 0 0" />
483 |     <axis xyz="0 1 0" />
484 |     <limit effort="1" lower="-0.03" upper="0" velocity="1.0"/>
485 | 
486 | <!--    <mimic joint="gripper_finger_joint" multiplier="-1.0" offset="0.0" /> -->
487 | 
488 |     <dynamics damping="50" friction="1"/>
489 |   </joint> 
490 | 
491 | <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
492 | 
493 |   <!-- RIGHT GRIPPER AFT LINK -->
494 | 
495 | 
496 |   <link name="gripper_finger_link2">
497 |     <visual>
498 |       <origin xyz="0.04 0.03 0"/>
499 |       <geometry>
500 | 
501 |           <box size="${right_gripper_len} ${right_gripper_width} ${right_gripper_height}" />
502 | 
503 | 
504 |       </geometry>
505 |       <material name="White" />
506 |     </visual>
507 | 	<xacro:inertial_matrix mass="1"/>
508 |   </link>
509 | 
510 |   <gazebo reference="r_gripper_aft_link">
511 |     <material>Gazebo/White</material>
512 |   </gazebo>
513 | 
514 | 
515 |     <!-- Grasping frame -->
516 |     <link name="grasping_frame">
517 | 
518 |       <inertial>
519 |         <origin xyz="0 0 0" rpy="0 0 0"/>
520 |         <mass value="0.0001"/>
521 |         <cuboid_inertia mass="0.0001" x="0.001" y="0.001" z="0.001"/>
522 |         <inertia  ixx="1.0" ixy="0.0"  ixz="0.0"  iyy="100.0"  iyz="0.0"  izz="1.0" />
523 | 
524 |       </inertial>
525 | 
526 |     <visual>
527 |       <origin xyz="0 0 0"/>
528 |       <geometry>
529 | 
530 |           <box size="${grasp_frame_len} ${grasp_frame_width} ${grasp_frame_height}" />
531 | 
532 | 
533 |       </geometry>
534 |       <material name="White" />
535 |     </visual>
536 | 
537 |     </link>
538 | 
539 |     <joint name="grasping_frame_joint" type="fixed">
540 |       <parent link="gripper_roll_link"/>
541 |       <child link="grasping_frame"/>
542 |       <origin xyz="0.08 0 0" rpy="0 0 0"/>
543 |     </joint>
544 | 
545 | 
546 | 
547 |   <xacro:include filename="$(find mastering_ros_robot_description_pkg)/urdf/sensors/xtion_pro_live.urdf.xacro"/>
548 | 
549 | 
550 | 
551 | <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
552 |   <!-- Transmissions for ROS Control -->
553 | 
554 |    <xacro:transmission_block joint_name="shoulder_pan_joint"/>
555 |    <xacro:transmission_block joint_name="shoulder_pitch_joint"/>
556 |    <xacro:transmission_block joint_name="elbow_roll_joint"/>
557 |    <xacro:transmission_block joint_name="elbow_pitch_joint"/>
558 |    <xacro:transmission_block joint_name="wrist_roll_joint"/>
559 |    <xacro:transmission_block joint_name="wrist_pitch_joint"/>
560 |    <xacro:transmission_block joint_name="gripper_roll_joint"/>
561 |    <xacro:transmission_block joint_name="finger_joint1"/>
562 |    <xacro:transmission_block joint_name="finger_joint2"/>
563 | 
564 | 
565 | 
566 |   <!-- Define arm with gripper mounted on a base -->
567 |   <xacro:base name="base"/>
568 |   <xacro:arm parent="base"/>
569 |   <xacro:gripper parent="tool"/>
570 | 
571 |   <!-- Define RGB-D sensor -->
572 |   <xacro:xtion_pro_live name="rgbd_camera" parent="base">
573 |     <origin xyz="0.1 0 1" rpy="0 ${75.0 * deg_to_rad} 0"/>
574 |     <origin xyz="0 0 0" rpy="${-90.0 * deg_to_rad} 0 ${-90.0 * deg_to_rad}"/>
575 |   </xacro:xtion_pro_live>
576 | 
577 | 
578 | 
579 |   <!-- ros_control plugin -->
580 |   <gazebo>
581 |     <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
582 |       <robotNamespace>/seven_dof_arm</robotNamespace>
583 |     </plugin>
584 |   </gazebo>
585 | 
586 | 
587 | 
588 | 
589 | </robot>
590 | 


--------------------------------------------------------------------------------
/urdf/seven_dof_arm.urdf:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" ?>
  2 | <!-- =================================================================================== -->
  3 | <!-- |    This document was autogenerated by xacro from seven_dof_arm.xacro            | -->
  4 | <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
  5 | <!-- =================================================================================== -->
  6 | <robot name="seven_dof_arm" xmlns:xacro="http://ros.org/wiki/xacro">
  7 |   <!-- Include materials -->
  8 |   <material name="Black">
  9 |     <color rgba="0.0 0.0 0.0 1.0"/>
 10 |   </material>
 11 |   <material name="Red">
 12 |     <color rgba="0.8 0.0 0.0 1.0"/>
 13 |   </material>
 14 |   <material name="White">
 15 |     <color rgba="1.0 1.0 1.0 1.0"/>
 16 |   </material>
 17 |   <!-- Constants -->
 18 |   <!-- Shoulder pan link properties -->
 19 |   <!-- Shoulder pitch link properties -->
 20 |   <!-- Elbow roll link properties -->
 21 |   <!-- Elbow pitch link properties -->
 22 |   <!-- Wrist roll link properties -->
 23 |   <!-- wrist pitch link properties -->
 24 |   <!-- Gripper roll link properties -->
 25 |   <!-- Left gripper -->
 26 |   <!-- Right gripper -->
 27 |   <!-- Right gripper -->
 28 |   <!-- BOTTOM FIXED LINK 
 29 | This link is the base of the arm in which arm is placed 
 30 | 
 31 | -->
 32 |   <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
 33 |   <joint name="bottom_joint" type="fixed">
 34 |     <origin rpy="0 0 0" xyz="0 0 0"/>
 35 |     <parent link="base_link"/>
 36 |     <child link="bottom_link"/>
 37 |   </joint>
 38 |   <link name="bottom_link">
 39 |     <visual>
 40 |       <origin rpy="0 0 0" xyz=" 0 0 -0.04"/>
 41 |       <geometry>
 42 |         <box size="1 1 0.02"/>
 43 |       </geometry>
 44 |       <material name="Brown"/>
 45 |     </visual>
 46 |     <collision>
 47 |       <origin rpy="0 0 0" xyz=" 0 0 -0.04"/>
 48 |       <geometry>
 49 |         <box size="1 1 0.02"/>
 50 |       </geometry>
 51 |     </collision>
 52 |     &gt;
 53 | 
 54 |   
 55 |   </link>
 56 |   <gazebo reference="bottom_link">
 57 |     <material>Gazebo/White</material>
 58 |   </gazebo>
 59 |   <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
 60 |   <!-- BASE LINK -->
 61 |   <link name="base_link">
 62 |     <visual>
 63 |       <origin rpy="1.570795 0 0" xyz="0 0 0"/>
 64 |       <!-- rotate PI/2 -->
 65 |       <geometry>
 66 |         <box size="0.1 0.1 0.1"/>
 67 |       </geometry>
 68 |       <material name="White"/>
 69 |     </visual>
 70 |     <collision>
 71 |       <origin rpy="1.570795 0 0" xyz="0 0 0"/>
 72 |       <!-- rotate PI/2 -->
 73 |       <geometry>
 74 |         <box size="0.1 0.1 0.1"/>
 75 |       </geometry>
 76 |     </collision>
 77 |     &gt;
 78 | 	
 79 |     <inertial>
 80 |       <mass value="1"/>
 81 |       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="1.0"/>
 82 |     </inertial>
 83 |   </link>
 84 |   <gazebo reference="base_link">
 85 |     <material>Gazebo/White</material>
 86 |   </gazebo>
 87 |   <joint name="shoulder_pan_joint" type="revolute">
 88 |     <parent link="base_link"/>
 89 |     <child link="shoulder_pan_link"/>
 90 |     <origin rpy="0 1.570795 0.0" xyz="0 0 0.05"/>
 91 |     <axis xyz="-1 0 0"/>
 92 |     <limit effort="300" lower="-2.61799387799" upper="1.98394848567" velocity="1"/>
 93 |     <dynamics damping="50" friction="1"/>
 94 |   </joint>
 95 |   <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
 96 |   <!-- SHOULDER PAN LINK -->
 97 |   <link name="shoulder_pan_link">
 98 |     <visual>
 99 |       <origin rpy="0 1.570795 0" xyz="0 0 0"/>
100 |       <geometry>
101 |         <cylinder length="0.08" radius="0.04"/>
102 |       </geometry>
103 |       <material name="Red"/>
104 |     </visual>
105 |     <collision>
106 |       <origin rpy="0 1.570795 0" xyz="0 0 0"/>
107 |       <geometry>
108 |         <cylinder length="0.08" radius="0.04"/>
109 |       </geometry>
110 |     </collision>
111 |     <inertial>
112 |       <mass value="1"/>
113 |       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="1.0"/>
114 |     </inertial>
115 |   </link>
116 |   <gazebo reference="shoulder_pan_link">
117 |     <material>Gazebo/Red</material>
118 |   </gazebo>
119 |   <joint name="shoulder_pitch_joint" type="revolute">
120 |     <parent link="shoulder_pan_link"/>
121 |     <child link="shoulder_pitch_link"/>
122 |     <origin rpy="-1.570795 0 1.570795" xyz="-0.041 0.0021 0.0"/>
123 |     <axis xyz="1 0 0"/>
124 |     <limit effort="300" lower="-1.19962513147" upper="1.89994105047" velocity="1"/>
125 |     <dynamics damping="50" friction="1"/>
126 |   </joint>
127 |   <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
128 |   <!-- SHOULDER PITCH LINK -->
129 |   <link name="shoulder_pitch_link">
130 |     <visual>
131 |       <origin rpy="0 1.570795 0" xyz="-0.002 0 0.04"/>
132 |       <geometry>
133 |         <box size="0.14 0.04 0.04"/>
134 |       </geometry>
135 |       <material name="White"/>
136 |     </visual>
137 |     <collision>
138 |       <origin rpy="0 1.570795 0" xyz="-0.002 0 0.04"/>
139 |       <geometry>
140 |         <box size="0.14 0.04 0.04"/>
141 |       </geometry>
142 |     </collision>
143 |     <inertial>
144 |       <mass value="1"/>
145 |       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="1.0"/>
146 |     </inertial>
147 |   </link>
148 |   <gazebo reference="shoulder_pitch_link">
149 |     <material>Gazebo/White</material>
150 |   </gazebo>
151 |   <joint name="elbow_roll_joint" type="revolute">
152 |     <parent link="shoulder_pitch_link"/>
153 |     <child link="elbow_roll_link"/>
154 |     <origin rpy="3.14159 1.570795 0" xyz="-0.002 0 0.1206"/>
155 |     <axis xyz="-1 0 0"/>
156 |     <limit effort="300" lower="-2.61799387799" upper="0.705631162427" velocity="1"/>
157 |     <dynamics damping="50" friction="1"/>
158 |   </joint>
159 |   <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
160 |   <!-- ELBOW ROLL LINK -->
161 |   <link name="elbow_roll_link">
162 |     <visual>
163 |       <origin rpy="0 1.570795 0" xyz="-0.015 0.0 -0.0"/>
164 |       <geometry>
165 |         <cylinder length="0.06" radius="0.02"/>
166 |       </geometry>
167 |       <material name="Black"/>
168 |     </visual>
169 |     <collision>
170 |       <origin rpy="0 1.570795 0" xyz="-0.015 0.0 -0.0"/>
171 |       <geometry>
172 |         <cylinder length="0.06" radius="0.02"/>
173 |       </geometry>
174 |     </collision>
175 |     <inertial>
176 |       <mass value="1"/>
177 |       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="1.0"/>
178 |     </inertial>
179 |   </link>
180 |   <gazebo reference="elbow_roll_link">
181 |     <material>Gazebo/Black</material>
182 |   </gazebo>
183 |   <joint name="elbow_pitch_joint" type="revolute">
184 |     <parent link="elbow_roll_link"/>
185 |     <child link="elbow_pitch_link"/>
186 |     <origin rpy="0.055 1.570795 0" xyz="-0.035 0 0.0"/>
187 |     <axis xyz="1 0 0"/>
188 |     <limit effort="300" lower="-1.5953400194" upper="1.93281579274" velocity="1"/>
189 |     <dynamics damping="50" friction="1"/>
190 |   </joint>
191 |   <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
192 |   <!-- ELBOW PITCH LINK -->
193 |   <link name="elbow_pitch_link">
194 |     <visual>
195 |       <origin rpy="0 1.570795 0" xyz="0 0 -0.12"/>
196 |       <geometry>
197 |         <box size="0.22 0.04 0.04"/>
198 |       </geometry>
199 |       <material name="Red"/>
200 |     </visual>
201 |     <collision>
202 |       <origin rpy="0 1.570795 0" xyz="0 0 -0.12"/>
203 |       <geometry>
204 |         <box size="0.22 0.04 0.04"/>
205 |       </geometry>
206 |     </collision>
207 |     <inertial>
208 |       <mass value="1"/>
209 |       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="1.0"/>
210 |     </inertial>
211 |   </link>
212 |   <gazebo reference="elbow_pitch_link">
213 |     <material>Gazebo/Red</material>
214 |   </gazebo>
215 |   <joint name="wrist_roll_joint" type="revolute">
216 |     <parent link="elbow_pitch_link"/>
217 |     <child link="wrist_roll_link"/>
218 |     <origin rpy="0 1.570795 3.14159" xyz="0.0 0.0081 -.248"/>
219 |     <axis xyz="1 0 0"/>
220 |     <limit effort="300" lower="-2.61799387799" upper="2.6128806087" velocity="1"/>
221 |     <dynamics damping="50" friction="1"/>
222 |   </joint>
223 |   <!-- WRIST ROLL LINK -->
224 |   <link name="wrist_roll_link">
225 |     <visual>
226 |       <origin rpy="0 1.570795 0" xyz="0 0 0"/>
227 |       <geometry>
228 |         <cylinder length="0.06" radius="0.02"/>
229 |       </geometry>
230 |       <material name="Black"/>
231 |     </visual>
232 |     <collision>
233 |       <origin rpy="0 1.570795 0" xyz="0 0 0"/>
234 |       <geometry>
235 |         <cylinder length="0.06" radius="0.02"/>
236 |       </geometry>
237 |     </collision>
238 |     <inertial>
239 |       <mass value="1"/>
240 |       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="1.0"/>
241 |     </inertial>
242 |   </link>
243 |   <gazebo reference="wrist_roll_link">
244 |     <material>Gazebo/Black</material>
245 |   </gazebo>
246 |   <joint name="wrist_pitch_joint" type="revolute">
247 |     <parent link="wrist_roll_link"/>
248 |     <child link="wrist_pitch_link"/>
249 |     <origin rpy="0 1.570795 0" xyz="0.0 0.0 0.0001"/>
250 |     <axis xyz="1 0 0"/>
251 |     <limit effort="300" lower="-1.5953400194" upper="1.98394848567" velocity="1"/>
252 |     <dynamics damping="50" friction="1"/>
253 |   </joint>
254 |   <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
255 |   <!-- WRIST PITCH LINK -->
256 |   <link name="wrist_pitch_link">
257 |     <visual>
258 |       <origin rpy="0 1.570795 0" xyz="0 0 0.04"/>
259 |       <geometry>
260 |         <box size="0.06 0.04 0.04"/>
261 |       </geometry>
262 |       <material name="White"/>
263 |     </visual>
264 |     <collision>
265 |       <origin rpy="0 1.570795 0" xyz="0 0 0.04 "/>
266 |       <geometry>
267 |         <box size="0.06 0.04 0.04"/>
268 |       </geometry>
269 |     </collision>
270 |     <inertial>
271 |       <mass value="1"/>
272 |       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="1.0"/>
273 |     </inertial>
274 |   </link>
275 |   <gazebo reference="wrist_pitch_link">
276 |     <material>Gazebo/White</material>
277 |   </gazebo>
278 |   <joint name="gripper_roll_joint" type="revolute">
279 |     <parent link="wrist_pitch_link"/>
280 |     <child link="gripper_roll_link"/>
281 |     <origin rpy="4.712385 -1.570795 0" xyz="0 0 0.080"/>
282 |     <axis xyz="1 0 0"/>
283 |     <limit effort="300" lower="-2.61799387799" upper="2.6128806087" velocity="1"/>
284 |     <dynamics damping="50" friction="1"/>
285 |   </joint>
286 |   <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
287 |   <!-- GRIPPER ROLL LINK -->
288 |   <link name="gripper_roll_link">
289 |     <visual>
290 |       <origin rpy="0 1.570795 0" xyz="0 0 0"/>
291 |       <geometry>
292 |         <cylinder length="0.02" radius="0.04"/>
293 |       </geometry>
294 |       <material name="Red"/>
295 |     </visual>
296 |     <collision>
297 |       <origin rpy="0 1.570795 0" xyz="0 0 0"/>
298 |       <geometry>
299 |         <cylinder length="0.02" radius="0.04"/>
300 |       </geometry>
301 |     </collision>
302 |     <inertial>
303 |       <mass value="1"/>
304 |       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="1.0"/>
305 |     </inertial>
306 |   </link>
307 |   <gazebo reference="gripper_roll_link">
308 |     <material>Gazebo/Red</material>
309 |   </gazebo>
310 |   <joint name="finger_joint1" type="prismatic">
311 |     <parent link="gripper_roll_link"/>
312 |     <child link="gripper_finger_link1"/>
313 |     <origin xyz="0.0 0 0"/>
314 |     <axis xyz="0 1 0"/>
315 |     <limit effort="100" lower="0" upper="0.03" velocity="1.0"/>
316 |     <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-0.15" soft_upper_limit="0.0"/>
317 |     <dynamics damping="50" friction="1"/>
318 |   </joint>
319 |   <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
320 |   <!-- LEFT GRIPPER AFT LINK -->
321 |   <link name="gripper_finger_link1">
322 |     <visual>
323 |       <origin xyz="0.04 -0.03 0"/>
324 |       <geometry>
325 |         <box size="0.08 0.01 0.01"/>
326 |       </geometry>
327 |       <material name="White"/>
328 |     </visual>
329 |     <inertial>
330 |       <mass value="1"/>
331 |       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="1.0"/>
332 |     </inertial>
333 |   </link>
334 |   <gazebo reference="l_gripper_aft_link">
335 |     <material>Gazebo/White</material>
336 |   </gazebo>
337 |   <!-- Joint between Wrist roll and finger 2 -->
338 |   <joint name="finger_joint2" type="prismatic">
339 |     <parent link="gripper_roll_link"/>
340 |     <child link="gripper_finger_link2"/>
341 |     <origin xyz="0.0 0 0"/>
342 |     <axis xyz="0 1 0"/>
343 |     <limit effort="1" lower="-0.03" upper="0" velocity="1.0"/>
344 |     <!--    <mimic joint="gripper_finger_joint" multiplier="-1.0" offset="0.0" /> -->
345 |     <dynamics damping="50" friction="1"/>
346 |   </joint>
347 |   <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
348 |   <!-- RIGHT GRIPPER AFT LINK -->
349 |   <link name="gripper_finger_link2">
350 |     <visual>
351 |       <origin xyz="0.04 0.03 0"/>
352 |       <geometry>
353 |         <box size="0.08 0.01 0.01"/>
354 |       </geometry>
355 |       <material name="White"/>
356 |     </visual>
357 |     <inertial>
358 |       <mass value="1"/>
359 |       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="1.0"/>
360 |     </inertial>
361 |   </link>
362 |   <gazebo reference="r_gripper_aft_link">
363 |     <material>Gazebo/White</material>
364 |   </gazebo>
365 |   <!-- Grasping frame -->
366 |   <link name="grasping_frame">
367 |     <inertial>
368 |       <origin rpy="0 0 0" xyz="0 0 0"/>
369 |       <mass value="0.0001"/>
370 |       <cuboid_inertia mass="0.0001" x="0.001" y="0.001" z="0.001"/>
371 |       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0" izz="1.0"/>
372 |     </inertial>
373 |     <visual>
374 |       <origin xyz="0 0 0"/>
375 |       <geometry>
376 |         <box size="0.02 0.02 0.02"/>
377 |       </geometry>
378 |       <material name="White"/>
379 |     </visual>
380 |   </link>
381 |   <joint name="grasping_frame_joint" type="fixed">
382 |     <parent link="gripper_roll_link"/>
383 |     <child link="grasping_frame"/>
384 |     <origin rpy="0 0 0" xyz="0.08 0 0"/>
385 |   </joint>
386 |   <!-- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -->
387 |   <!-- Transmissions for ROS Control -->
388 |   <transmission name="tran1">
389 |     <type>transmission_interface/SimpleTransmission</type>
390 |     <joint name="shoulder_pan_joint">
391 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
392 |     </joint>
393 |     <actuator name="motor1">
394 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
395 |       <mechanicalReduction>1</mechanicalReduction>
396 |     </actuator>
397 |   </transmission>
398 |   <transmission name="tran1">
399 |     <type>transmission_interface/SimpleTransmission</type>
400 |     <joint name="shoulder_pitch_joint">
401 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
402 |     </joint>
403 |     <actuator name="motor1">
404 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
405 |       <mechanicalReduction>1</mechanicalReduction>
406 |     </actuator>
407 |   </transmission>
408 |   <transmission name="tran1">
409 |     <type>transmission_interface/SimpleTransmission</type>
410 |     <joint name="elbow_roll_joint">
411 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
412 |     </joint>
413 |     <actuator name="motor1">
414 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
415 |       <mechanicalReduction>1</mechanicalReduction>
416 |     </actuator>
417 |   </transmission>
418 |   <transmission name="tran1">
419 |     <type>transmission_interface/SimpleTransmission</type>
420 |     <joint name="elbow_pitch_joint">
421 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
422 |     </joint>
423 |     <actuator name="motor1">
424 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
425 |       <mechanicalReduction>1</mechanicalReduction>
426 |     </actuator>
427 |   </transmission>
428 |   <transmission name="tran1">
429 |     <type>transmission_interface/SimpleTransmission</type>
430 |     <joint name="wrist_roll_joint">
431 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
432 |     </joint>
433 |     <actuator name="motor1">
434 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
435 |       <mechanicalReduction>1</mechanicalReduction>
436 |     </actuator>
437 |   </transmission>
438 |   <transmission name="tran1">
439 |     <type>transmission_interface/SimpleTransmission</type>
440 |     <joint name="wrist_pitch_joint">
441 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
442 |     </joint>
443 |     <actuator name="motor1">
444 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
445 |       <mechanicalReduction>1</mechanicalReduction>
446 |     </actuator>
447 |   </transmission>
448 |   <transmission name="tran1">
449 |     <type>transmission_interface/SimpleTransmission</type>
450 |     <joint name="gripper_roll_joint">
451 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
452 |     </joint>
453 |     <actuator name="motor1">
454 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
455 |       <mechanicalReduction>1</mechanicalReduction>
456 |     </actuator>
457 |   </transmission>
458 |   <transmission name="tran1">
459 |     <type>transmission_interface/SimpleTransmission</type>
460 |     <joint name="finger_joint1">
461 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
462 |     </joint>
463 |     <actuator name="motor1">
464 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
465 |       <mechanicalReduction>1</mechanicalReduction>
466 |     </actuator>
467 |   </transmission>
468 |   <transmission name="tran1">
469 |     <type>transmission_interface/SimpleTransmission</type>
470 |     <joint name="finger_joint2">
471 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
472 |     </joint>
473 |     <actuator name="motor1">
474 |       <hardwareInterface>PositionJointInterface</hardwareInterface>
475 |       <mechanicalReduction>1</mechanicalReduction>
476 |     </actuator>
477 |   </transmission>
478 |   <!-- Define arm with gripper mounted on a base -->
479 |   <xacro:base name="base"/>
480 |   <xacro:arm parent="base"/>
481 |   <xacro:gripper parent="tool"/>
482 |   <!-- Define RGB-D sensor -->
483 |   <!-- frames in the center of the camera -->
484 |   <joint name="rgbd_camera_joint" type="fixed">
485 |     <origin rpy="0 1.308996939 0" xyz="0.1 0 1"/>
486 |     <parent link="base_link"/>
487 |     <child link="rgbd_camera_link"/>
488 |   </joint>
489 |   <link name="rgbd_camera_link">
490 |     <inertial>
491 |       <origin rpy="0 0 0" xyz="-0.00936000000 -0.00003000000 -0.00273000000"/>
492 |       <mass value="0.21970000000"/>
493 |       <inertia ixx="0.00000429247" ixy="0.00000000000" ixz="0.00000002565" iyy="0.00000008027" iyz="0.00000000000" izz="0.00000427339"/>
494 |     </inertial>
495 |     <visual>
496 |       <origin rpy="0 0 0" xyz="0 0 0"/>
497 |       <geometry>
498 |         <mesh filename="package://mastering_ros_robot_description_pkg/meshes/sensors/xtion_pro_live/xtion_pro_live.dae"/>
499 |       </geometry>
500 |       <material name="DarkGrey"/>
501 |     </visual>
502 |   </link>
503 |   <joint name="rgbd_camera_optical_joint" type="fixed">
504 |     <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
505 |     <parent link="rgbd_camera_link"/>
506 |     <child link="rgbd_camera_optical_frame"/>
507 |   </joint>
508 |   <link name="rgbd_camera_optical_frame">
509 |     <inertial>
510 |       <origin rpy="0 0 0" xyz="0 0 0"/>
511 |       <mass value="0.001"/>
512 |       <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
513 |     </inertial>
514 |   </link>
515 |   <!-- Depth sensor frames -->
516 |   <joint name="rgbd_camera_depth_joint" type="fixed">
517 |     <origin rpy="0 0 0" xyz="0.0 0.049 0.0"/>
518 |     <parent link="rgbd_camera_link"/>
519 |     <child link="rgbd_camera_depth_frame"/>
520 |   </joint>
521 |   <link name="rgbd_camera_depth_frame">
522 |     <inertial>
523 |       <origin rpy="0 0 0" xyz="0 0 0"/>
524 |       <mass value="0.001"/>
525 |       <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
526 |     </inertial>
527 |   </link>
528 |   <joint name="rgbd_camera_depth_optical_joint" type="fixed">
529 |     <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
530 |     <parent link="rgbd_camera_depth_frame"/>
531 |     <child link="rgbd_camera_depth_optical_frame"/>
532 |   </joint>
533 |   <link name="rgbd_camera_depth_optical_frame">
534 |     <inertial>
535 |       <origin rpy="0 0 0" xyz="0 0 0"/>
536 |       <mass value="0.001"/>
537 |       <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
538 |     </inertial>
539 |   </link>
540 |   <!-- RGB sensor frames -->
541 |   <joint name="rgbd_camera_rgb_joint" type="fixed">
542 |     <origin rpy="0 0 0" xyz="0.0 0.022 0.0"/>
543 |     <parent link="rgbd_camera_link"/>
544 |     <child link="rgbd_camera_rgb_frame"/>
545 |   </joint>
546 |   <link name="rgbd_camera_rgb_frame">
547 |     <inertial>
548 |       <origin rpy="0 0 0" xyz="0 0 0"/>
549 |       <mass value="0.001"/>
550 |       <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
551 |     </inertial>
552 |   </link>
553 |   <joint name="rgbd_camera_rgb_optical_joint" type="fixed">
554 |     <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
555 |     <parent link="rgbd_camera_rgb_frame"/>
556 |     <child link="rgbd_camera_rgb_optical_frame"/>
557 |   </joint>
558 |   <link name="rgbd_camera_rgb_optical_frame">
559 |     <inertial>
560 |       <origin rpy="0 0 0" xyz="0 0 0"/>
561 |       <mass value="0.001"/>
562 |       <inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
563 |     </inertial>
564 |   </link>
565 |   <gazebo reference="rgbd_camera_link">
566 |     <!-- Depth (IR) -->
567 |     <sensor name="rgbd_camera_frame_sensor" type="depth">
568 |       <always_on>true</always_on>
569 |       <update_rate>6.0</update_rate>
570 |       <camera>
571 |         <horizontal_fov>1.01229096616</horizontal_fov>
572 |         <image>
573 |           <format>R8G8B8</format>
574 |           <width>320</width>
575 |           <height>240</height>
576 |         </image>
577 |         <clip>
578 |           <near>0.05</near>
579 |           <far>4.0</far>
580 |         </clip>
581 |       </camera>
582 |       <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_camera_frame_controller">
583 |         <alwaysOn>true</alwaysOn>
584 |         <updateRate>6.0</updateRate>
585 |         <cameraName>rgbd_camera</cameraName>
586 |         <imageTopicName>ir/image_raw</imageTopicName>
587 |         <cameraInfoTopicName>ir/camera_info</cameraInfoTopicName>
588 |         <depthImageTopicName>depth/image_raw</depthImageTopicName>
589 |         <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
590 |         <pointCloudTopicName>depth/points</pointCloudTopicName>
591 |         <frameName>rgbd_camera_optical_frame</frameName>
592 |         <pointCloudCutoff>0.05</pointCloudCutoff>
593 |         <pointCloudCutoffMax>5</pointCloudCutoffMax>
594 |         <rangeMax>4.0</rangeMax>
595 |         <!-- Distortion parameters not supported in gazebo 1.9.* plugins -->
596 |         <!--distortionK1>0.00000001</distortionK1>
597 |           <distortionK2>0.00000001</distortionK2>
598 |           <distortionK3>0.00000001</distortionK3>
599 |           <distortionT1>0.00000001</distortionT1>
600 |           <distortionT2>0.00000001</distortionT2-->
601 |       </plugin>
602 |     </sensor>
603 |     <!-- RGB -->
604 |     <sensor name="rgbd_camera_frame_sensor" type="depth">
605 |       <always_on>true</always_on>
606 |       <update_rate>6.0</update_rate>
607 |       <camera>
608 |         <horizontal_fov>1.01229096616</horizontal_fov>
609 |         <image>
610 |           <format>R8G8B8</format>
611 |           <width>320</width>
612 |           <height>240</height>
613 |         </image>
614 |         <clip>
615 |           <near>0.05</near>
616 |           <far>4.0</far>
617 |         </clip>
618 |       </camera>
619 |       <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_camera_frame_controller">
620 |         <alwaysOn>true</alwaysOn>
621 |         <updateRate>6.0</updateRate>
622 |         <cameraName>rgbd_camera</cameraName>
623 |         <imageTopicName>rgb/image_raw</imageTopicName>
624 |         <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
625 |         <pointCloudTopicName>rgb/points</pointCloudTopicName>
626 |         <depthImageTopicName>depth/image_raw</depthImageTopicName>
627 |         <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
628 |         <frameName>rgbd_camera_optical_frame</frameName>
629 |         <pointCloudCutoff>0.05</pointCloudCutoff>
630 |         <pointCloudCutoffMax>5</pointCloudCutoffMax>
631 |         <rangeMax>4.0</rangeMax>
632 |       </plugin>
633 |     </sensor>
634 |   </gazebo>
635 |   <!-- ros_control plugin -->
636 |   <gazebo>
637 |     <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
638 |       <robotNamespace>/seven_dof_arm</robotNamespace>
639 |     </plugin>
640 |   </gazebo>
641 | </robot>
642 | 
643 | 


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