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stretch_ros
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Re-apply innocuous xacro changes

bugfix/gazebo_rviz
hello-binit 3 years ago
parent
f6950284d6
commit
7bae212d32
5 changed files with 145 additions and 96 deletions
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  1. +3
    -3
      stretch_description/urdf/stretch_aruco.xacro
  2. +3
    -3
      stretch_description/urdf/stretch_d435i.xacro
  3. +18
    -21
      stretch_description/urdf/stretch_gripper.xacro
  4. +0
    -3
      stretch_description/urdf/stretch_laser_range_finder.xacro
  5. +121
    -66
      stretch_description/urdf/stretch_main.xacro

+ 3
- 3
stretch_description/urdf/stretch_aruco.xacro View File

@ -119,7 +119,7 @@
xyz="-2.77555756156289E-17 2.56739074444567E-16 -0.000125000000000042" xyz="-2.77555756156289E-17 2.56739074444567E-16 -0.000125000000000042"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.000399141592653546" />
value="0" />
<inertia <inertia
ixx="0" ixx="0"
ixy="0" ixy="0"
@ -174,7 +174,7 @@
xyz="1.11022302462516E-16 3.05311331771918E-16 -0.00012499999999821" xyz="1.11022302462516E-16 3.05311331771918E-16 -0.00012499999999821"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.000224999999999975" />
value="0" />
<inertia <inertia
ixx="0" ixx="0"
ixy="0" ixy="0"
@ -229,7 +229,7 @@
xyz="8.32667268468867E-17 1.77635683940025E-15 -0.000125000000000264" xyz="8.32667268468867E-17 1.77635683940025E-15 -0.000125000000000264"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.000225" />
value="0" />
<inertia <inertia
ixx="0" ixx="0"
ixy="0" ixy="0"

+ 3
- 3
stretch_description/urdf/stretch_d435i.xacro View File

@ -3,18 +3,18 @@
<xacro:arg name="use_nominal_extrinsics" default="true"/> <xacro:arg name="use_nominal_extrinsics" default="true"/>
<xacro:arg name="add_plug" default="false"/> <xacro:arg name="add_plug" default="false"/>
<xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro"/>
<xacro:include filename="$(find realsense2_description)/urdf/_d435i.urdf.xacro"/>
<!-- xyz = " <!-- xyz = "
depth (- recessed into head / + protruding from front) depth (- recessed into head / + protruding from front)
up and down (- down / + up) up and down (- down / + up)
sideways (- right / + left) sideways (- right / + left)
" --> " -->
<xacro:sensor_d435 parent="link_head_tilt" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
<xacro:sensor_d435i parent="link_head_tilt" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
<origin <origin
xyz="0.03 -0.0122 0.0182" xyz="0.03 -0.0122 0.0182"
rpy="0.0 0.0 0.0" /> rpy="0.0 0.0 0.0" />
</xacro:sensor_d435>
</xacro:sensor_d435i>
</robot> </robot>

+ 18
- 21
stretch_description/urdf/stretch_gripper.xacro View File

@ -12,12 +12,12 @@
<mass <mass
value="0.101902711393094" /> value="0.101902711393094" />
<inertia <inertia
ixx="2.79241618017607E-05"
ixy="-1.10819247449605E-05"
ixz="-1.50343284036654E-05"
iyy="3.67945130513069E-05"
iyz="-4.33280448535579E-06"
izz="4.14524691955231E-05" />
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -69,12 +69,12 @@
<mass <mass
value="0.0476207785199474" /> value="0.0476207785199474" />
<inertia <inertia
ixx="0"
ixx="0.001"
ixy="0" ixy="0"
ixz="0" ixz="0"
iyy="0"
iyy="0.001"
iyz="0" iyz="0"
izz="0" />
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -125,12 +125,12 @@
<mass <mass
value="0.00382159917455729" /> value="0.00382159917455729" />
<inertia <inertia
ixx="0"
ixx="0.001"
ixy="0" ixy="0"
ixz="0" ixz="0"
iyy="0"
iyy="0.001"
iyz="0" iyz="0"
izz="0" />
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -180,12 +180,12 @@
<mass <mass
value="0.0476207785199481" /> value="0.0476207785199481" />
<inertia <inertia
ixx="0"
ixx="0.001"
ixy="0" ixy="0"
ixz="0" ixz="0"
iyy="0"
iyy="0.001"
iyz="0" iyz="0"
izz="0" />
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -236,12 +236,12 @@
<mass <mass
value="0.00382160037319545" /> value="0.00382160037319545" />
<inertia <inertia
ixx="0"
ixx="0.001"
ixy="0" ixy="0"
ixz="0" ixz="0"
iyy="0"
iyy="0.001"
iyz="0" iyz="0"
izz="0" />
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -300,6 +300,3 @@
</joint> </joint>
</robot> </robot>

+ 0
- 3
stretch_description/urdf/stretch_laser_range_finder.xacro View File

@ -57,6 +57,3 @@
</joint> </joint>
</robot> </robot>

+ 121
- 66
stretch_description/urdf/stretch_main.xacro View File

@ -1,6 +1,11 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_main"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_main">
<xacro:property name="M_PI" value="3.1415926535897931" />
<xacro:property name="joint_damping" value="21.75"/>
<xacro:property name="joint_friction" value="10.48"/>
<xacro:property name="joint_spring_stiffness" value="0"/>
<xacro:property name="joint_spring_reference" value="0"/>
<link <link
name="base_link"> name="base_link">
<inertial> <inertial>
@ -49,14 +54,14 @@
xyz="1.25554620866719E-07 3.54748938447003E-07 0.0239581106165018" xyz="1.25554620866719E-07 3.54748938447003E-07 0.0239581106165018"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.00356714564938475" />
value="0.01" />
<inertia <inertia
ixx="0"
ixx="0.001"
ixy="0" ixy="0"
ixz="0" ixz="0"
iyy="0"
iyy="0.001"
iyz="0" iyz="0"
izz="0" />
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -95,6 +100,7 @@
link="link_right_wheel" /> link="link_right_wheel" />
<axis <axis
xyz="0 0 1" /> xyz="0 0 1" />
<dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="{joint_spring_stiffness}"/>
</joint> </joint>
<link <link
@ -104,14 +110,14 @@
xyz="1.2555462092223E-07 -3.54748938502514E-07 -0.0239581106165035" xyz="1.2555462092223E-07 -3.54748938502514E-07 -0.0239581106165035"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.00356714564938459" />
value="0.01" />
<inertia <inertia
ixx="0"
ixx="0.001"
ixy="0" ixy="0"
ixz="0" ixz="0"
iyy="0"
iyy="0.001"
iyz="0" iyz="0"
izz="0" />
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -150,8 +156,60 @@
link="link_left_wheel" /> link="link_left_wheel" />
<axis <axis
xyz="0 0 1" /> xyz="0 0 1" />
<dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="{joint_spring_stiffness}"/>
</joint> </joint>
<link name="caster_link">
<collision>
<geometry>
<sphere radius="0.032"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stretch_description/meshes/omni_wheel_m.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0" />
<inertia
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial>
</link>
<joint name="caster_joint" type="fixed">
<parent link="base_link"/>
<child link="caster_link"/>
<origin xyz="-0.245 0.0 0.032" rpy="${-M_PI/2} 0 0"/>
<axis xyz="0 0 1" />
</joint>
<link <link
name="link_mast"> name="link_mast">
<inertial> <inertial>
@ -330,12 +388,12 @@
<mass <mass
value="0.0626921047058405" /> value="0.0626921047058405" />
<inertia <inertia
ixx="0.000115246639451415"
ixy="4.42139679831176E-14"
ixz="1.89711279909763E-09"
iyy="0.000115246639420046"
iyz="-2.68592949587539E-09"
izz="9.38270676408352E-14" />
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -387,12 +445,12 @@
<mass <mass
value="0.0569074368576238" /> value="0.0569074368576238" />
<inertia <inertia
ixx="0.000105206697151872"
ixy="2.59896259031046E-14"
ixz="1.69941454517918E-09"
iyy="0.000105206697154717"
iyz="-1.60895568923743E-09"
izz="5.20570301686304E-14" />
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -444,12 +502,12 @@
<mass <mass
value="0.0511763619538321" /> value="0.0511763619538321" />
<inertia <inertia
ixx="9.58490021274768E-05"
ixy="2.27446667584309E-14"
ixz="1.54951672295709E-09"
iyy="9.5849002131875E-05"
iyz="-1.40692486873422E-09"
izz="4.57014633924348E-14" />
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -501,12 +559,12 @@
<mass <mass
value="0.101241250325294" /> value="0.101241250325294" />
<inertia <inertia
ixx="0.000227156999010352"
ixy="8.90680620109423E-06"
ixz="-7.91132210985695E-05"
iyy="0.000300732790537324"
iyz="7.21771824540896E-06"
izz="9.35784422621597E-05" />
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -558,12 +616,12 @@
<mass <mass
value="0.0405398981326229" /> value="0.0405398981326229" />
<inertia <inertia
ixx="2.20062857967227E-09"
ixy="1.15494401227051E-13"
ixz="1.02598056874346E-11"
iyy="2.20039759185237E-09"
iyz="-2.47692875363392E-11"
izz="3.26666802416509E-13" />
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -576,7 +634,7 @@
<material <material
name=""> name="">
<color <color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material> </material>
</visual> </visual>
<collision> <collision>
@ -603,10 +661,10 @@
<axis <axis
xyz="0 0 -1" /> xyz="0 0 -1" />
<!-- <!--
stowed to front ~225 deg: 3.15159 x 1.25 = 3.9395
using 4.0
stowed to back ~100 deg: 100 / 180 x 3.14159 = 1.7453
using -1.75
stowed to front ~225 deg: 3.15159 x 1.25 = 3.9395
using 4.0
stowed to back ~100 deg: 100 / 180 x 3.14159 = 1.7453
using -1.75
--> -->
<limit effort="100" lower="-1.75" upper="4.0" velocity="1.0"/> <limit effort="100" lower="-1.75" upper="4.0" velocity="1.0"/>
</joint> </joint>
@ -620,12 +678,12 @@
<mass <mass
value="0.129454717596498" /> value="0.129454717596498" />
<inertia <inertia
ixx="2.9340596231093E-05"
ixy="-7.89638931853666E-07"
ixz="-4.74678128515878E-06"
iyy="2.68283736177377E-05"
iyz="1.80251508621876E-06"
izz="1.4617291423745E-05" />
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -675,12 +733,12 @@
<mass <mass
value="0.035858341182617" /> value="0.035858341182617" />
<inertia <inertia
ixx="2.75847937559827E-05"
ixy="5.25762707913649E-07"
ixz="-9.28796751052893E-07"
iyy="2.08815921106858E-05"
iyz="1.17265055331737E-05"
izz="6.78612505435872E-06" />
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -732,12 +790,12 @@
<mass <mass
value="0.0701242408063442" /> value="0.0701242408063442" />
<inertia <inertia
ixx="1.73265934767466E-05"
ixy="2.38363792824069E-07"
ixz="7.96430204321056E-08"
iyy="4.11044416077217E-05"
iyz="-9.41955638215997E-07"
izz="2.38851808140542E-05" />
ixx="0.001"
ixy="0"
ixz="0"
iyy="0.001"
iyz="0"
izz="0.001" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@ -781,6 +839,3 @@
</joint> </joint>
</robot> </robot>

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