batch 4: add arm_model fix2026224

arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(arm)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)

arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/config/joint_names_arm.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['', 'j1', 'j2', 'j3', 'j4', 'j5', 'j6', ]

arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/launch/display.launch

@@ -0,0 +1,20 @@
+<launch>
+  <arg
+    name="model" />
+  <param
+    name="robot_description"
+    textfile="$(find arm)/urdf/arm.urdf" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find arm)/urdf.rviz" />
+</launch>

arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/launch/gazebo.launch

@@ -0,0 +1,20 @@
+<launch>
+  <include
+    file="$(find gazebo_ros)/launch/empty_world.launch" />
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 base_link base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find arm)/urdf/arm.urdf -urdf -model arm"
+    output="screen" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>

arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/package.xml

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

arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/urdf/arm.csv

@@ -0,0 +1,8 @@
+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
+base_link,-2.2084E-06,0.089343,0.015349,0,0,0,1.0623,0.0031488,-7.846E-08,-1.0021E-07,0.00202,1.6521E-08,0.0051396,0,0,0,0,0,0,package://arm/meshes/base_link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://arm/meshes/base_link.STL,,大Y模块-2,坐标系base,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+Link1,0.0066971,-0.00030098,0.044241,0,0,0,2.3045,0.0035406,1.4877E-06,1.0878E-05,0.002472,1.066E-06,0.0036573,0,0,0,0,0,0,package://arm/meshes/Link1.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://arm/meshes/Link1.STL,,一号臂驱动单元-1;3.1-二号臂驱动单元-1,坐标系1,基准轴1,j1,revolute,0,0,0.0405,0,0,0,base_link,0,0,1,60,3.14,-15.7,15.7,,,,,,,,
+Link2,-3.7501E-08,-0.26586,0.00044116,0,0,0,0.8903,0.0051781,-7.1373E-06,-6.9776E-13,0.00032382,-2.0393E-15,0.0054891,0,0,0,0,0,0,package://arm/meshes/Link2.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://arm/meshes/Link2.STL,,3.1-一号臂-1,坐标系2,基准轴2,j2,revolute,-0.0014,0,0.085,-1.5708,0,-1.5708,Link1,0,0,1,60,3.14,-1.57,1.57,,,,,,,,
+Link3,0.0016734,-0.086963,-0.025004,0,0,0,0.72964,0.00040609,-1.1866E-05,8.3967E-07,0.00028636,4.7151E-08,0.00030158,0,0,0,0,0,0,package://arm/meshes/Link3.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://arm/meshes/Link3.STL,,3.1-二号臂主臂-1,坐标系3,基准轴3,j3,revolute,0,-0.388,0.002795,0,0,-1.5708,Link2,0,0,-1,60,3.14,0,3.14,,,,,,,,
+Link4,4.9724E-05,-0.0020707,0.1436,0,0,0,0.60215,0.00052581,1.2387E-08,-1.2413E-08,0.00054695,1.1252E-06,0.0001498,0,0,0,0,0,0,package://arm/meshes/Link4.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://arm/meshes/Link4.STL,,3.1-二号臂回转臂-1,坐标系4,基准轴4,j4,revolute,0.047775,-0.0905,-0.001395,-1.5708,0,-1.5708,Link3,0,0,1,20,3.14,0,6.28,,,,,,,,
+Link5,-1.7073E-05,0.058169,0.0029732,0,0,0,0.21817,8.1233E-05,1.143E-08,-1.1372E-08,8.1275E-05,-5.0118E-07,8.3976E-05,0,0,0,0,0,0,package://arm/meshes/Link5.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://arm/meshes/Link5.STL,,三号臂-1,坐标系5,基准轴5,j5,revolute,0,-0.004,0.241,1.5708,0,-3.1416,Link4,0,0,-1,20,3.14,-1.75,1.75,,,,,,,,
+Link6,2.1332E-05,0.00053897,0.099935,0,0,0,0.57513,0.00025729,-1.8584E-06,1.1458E-07,0.00016925,5.6071E-08,0.00024392,0,0,0,0,0,0,package://arm/meshes/Link6.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://arm/meshes/Link6.STL,,机械爪3.1-2,坐标系6,基准轴6,j6,revolute,0,0.1065,0.0040025,1.5708,0,3.1416,Link5,0,0,-1,20,3.14,0,6.3,,,,,,,,

arm_model/机械臂URDF六坐标系不带夹爪/fix2026224/arm/urdf/arm.urdf

@@ -0,0 +1,395 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="arm">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-2.2084E-06 0.089343 0.015349"
+        rpy="0 0 0" />
+      <mass
+        value="1.0623" />
+      <inertia
+        ixx="0.0031488"
+        ixy="-7.846E-08"
+        ixz="-1.0021E-07"
+        iyy="0.00202"
+        iyz="1.6521E-08"
+        izz="0.0051396" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="Link1">
+    <inertial>
+      <origin
+        xyz="0.0066971 -0.00030098 0.044241"
+        rpy="0 0 0" />
+      <mass
+        value="2.3045" />
+      <inertia
+        ixx="0.0035406"
+        ixy="1.4877E-06"
+        ixz="1.0878E-05"
+        iyy="0.002472"
+        iyz="1.066E-06"
+        izz="0.0036573" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm/meshes/Link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm/meshes/Link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="j1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0405"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="Link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-15.7"
+      upper="15.7"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="Link2">
+    <inertial>
+      <origin
+        xyz="-3.7501E-08 -0.26586 0.00044116"
+        rpy="0 0 0" />
+      <mass
+        value="0.8903" />
+      <inertia
+        ixx="0.0051781"
+        ixy="-7.1373E-06"
+        ixz="-6.9776E-13"
+        iyy="0.00032382"
+        iyz="-2.0393E-15"
+        izz="0.0054891" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm/meshes/Link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm/meshes/Link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="j2"
+    type="revolute">
+    <origin
+      xyz="-0.0014 0 0.085"
+      rpy="-1.5708 0 -1.5708" />
+    <parent
+      link="Link1" />
+    <child
+      link="Link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="Link3">
+    <inertial>
+      <origin
+        xyz="0.0016734 -0.086963 -0.025004"
+        rpy="0 0 0" />
+      <mass
+        value="0.72964" />
+      <inertia
+        ixx="0.00040609"
+        ixy="-1.1866E-05"
+        ixz="8.3967E-07"
+        iyy="0.00028636"
+        iyz="4.7151E-08"
+        izz="0.00030158" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm/meshes/Link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm/meshes/Link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="j3"
+    type="revolute">
+    <origin
+      xyz="0 -0.388 0.002795"
+      rpy="0 0 -1.5708" />
+    <parent
+      link="Link2" />
+    <child
+      link="Link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.00"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="Link4">
+    <inertial>
+      <origin
+        xyz="4.9724E-05 -0.0020707 0.1436"
+        rpy="0 0 0" />
+      <mass
+        value="0.60215" />
+      <inertia
+        ixx="0.00052581"
+        ixy="1.2387E-08"
+        ixz="-1.2413E-08"
+        iyy="0.00054695"
+        iyz="1.1252E-06"
+        izz="0.0001498" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm/meshes/Link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm/meshes/Link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="j4"
+    type="revolute">
+    <origin
+      xyz="0.047775 -0.0905 -0.001395"
+      rpy="-1.5708 0 -1.5708" />
+    <parent
+      link="Link3" />
+    <child
+      link="Link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="6.28"
+      effort="20"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="Link5">
+    <inertial>
+      <origin
+        xyz="-1.7073E-05 0.058169 0.0029732"
+        rpy="0 0 0" />
+      <mass
+        value="0.21817" />
+      <inertia
+        ixx="8.1233E-05"
+        ixy="1.143E-08"
+        ixz="-1.1372E-08"
+        iyy="8.1275E-05"
+        iyz="-5.0118E-07"
+        izz="8.3976E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm/meshes/Link5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm/meshes/Link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="j5"
+    type="revolute">
+    <origin
+      xyz="0 -0.004 0.241"
+      rpy="1.5708 0 -3.1416" />
+    <parent
+      link="Link4" />
+    <child
+      link="Link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.75"
+      upper="1.75"
+      effort="20"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="Link6">
+    <inertial>
+      <origin
+        xyz="2.1332E-05 0.00053897 0.099935"
+        rpy="0 0 0" />
+      <mass
+        value="0.57513" />
+      <inertia
+        ixx="0.00025729"
+        ixy="-1.8584E-06"
+        ixz="1.1458E-07"
+        iyy="0.00016925"
+        iyz="5.6071E-08"
+        izz="0.00024392" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm/meshes/Link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm/meshes/Link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="j6"
+    type="revolute">
+    <origin
+      xyz="0 0.1065 0.0040025"
+      rpy="1.5708 0 3.1416" />
+    <parent
+      link="Link5" />
+    <child
+      link="Link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="6.3"
+      effort="20"
+      velocity="3.14" />
+  </joint>
+</robot>