别人克隆后没有 install，source 会直接失败。把展开后的 install 放进仓库，符号链接和指向本机 build 的 egg-link 收成真实文件，Python 入口改走当前环境的解释器，这样不用先 colcon build 也能启动。
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
arm_dev
+1
@@ -0,0 +1 @@
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||||
flexiv_description;robot_state_publisher;joint_state_publisher;joint_state_publisher_gui;xacro;rviz2
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||||
+1
@@ -0,0 +1 @@
|
||||
/home/cc/ros2/install/flexiv_bringup:/home/cc/ros2/install/flexiv_test_nodes:/home/cc/ros2/install/flexiv_robot_states_broadcaster:/home/cc/ros2/install/flexiv_gripper:/home/cc/ros2/install/flexiv_msgs:/home/cc/ros2/install/flexiv_hardware:/home/cc/ros2/install/arm_bringup:/home/cc/ros2/install/arm_moveit_config:/home/cc/ros2/install/arm_description:/home/cc/ros2/install/flexiv_description:/home/cc/ros2/install/arm_driver_flexiv:/home/cc/ros2/install/arm_control:/home/cc/ros2/install/arm_application:/home/cc/ros2/install/arm_msgs:/home/cc/ros2/install/arm_kinematics:/home/cc/ros2/install/arm_interfaces:/home/cc/anaconda3/envs/ros_flexiv
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+14
@@ -0,0 +1,14 @@
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# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
|
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set(PACKAGE_VERSION "0.1.0")
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|
||||
set(PACKAGE_VERSION_EXACT False)
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set(PACKAGE_VERSION_COMPATIBLE False)
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||||
|
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if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
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set(PACKAGE_VERSION_EXACT True)
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set(PACKAGE_VERSION_COMPATIBLE True)
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endif()
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||||
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if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
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set(PACKAGE_VERSION_COMPATIBLE True)
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endif()
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@@ -0,0 +1,42 @@
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# generated from ament/cmake/core/templates/nameConfig.cmake.in
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||||
|
||||
# prevent multiple inclusion
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if(_arm_description_CONFIG_INCLUDED)
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# ensure to keep the found flag the same
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if(NOT DEFINED arm_description_FOUND)
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# explicitly set it to FALSE, otherwise CMake will set it to TRUE
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set(arm_description_FOUND FALSE)
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elseif(NOT arm_description_FOUND)
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# use separate condition to avoid uninitialized variable warning
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set(arm_description_FOUND FALSE)
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endif()
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return()
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endif()
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set(_arm_description_CONFIG_INCLUDED TRUE)
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# output package information
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if(NOT arm_description_FIND_QUIETLY)
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message(STATUS "Found arm_description: 0.1.0 (${arm_description_DIR})")
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endif()
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|
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# warn when using a deprecated package
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if(NOT "" STREQUAL "")
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set(_msg "Package 'arm_description' is deprecated")
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# append custom deprecation text if available
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if(NOT "" STREQUAL "TRUE")
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set(_msg "${_msg} ()")
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endif()
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# optionally quiet the deprecation message
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if(NOT ${arm_description_DEPRECATED_QUIET})
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message(DEPRECATION "${_msg}")
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endif()
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endif()
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|
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# flag package as ament-based to distinguish it after being find_package()-ed
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set(arm_description_FOUND_AMENT_PACKAGE TRUE)
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|
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# include all config extra files
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set(_extras "")
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foreach(_extra ${_extras})
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include("${arm_description_DIR}/${_extra}")
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endforeach()
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@@ -0,0 +1,21 @@
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# Flexiv Rizon 4 — site robot Rizon4-063989
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robot_model: Rizon4
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robot_sn: Rizon4-063989
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dof: 7
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load_gripper: false
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# Official flexiv_description: SN hyphen is kept in the prefix
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joint_prefix: "Rizon4-063989_"
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joint_names:
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- joint1
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- joint2
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- joint3
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- joint4
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- joint5
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- joint6
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- joint7
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|
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base_frame: base_link
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ee_frame: tcp
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flange_frame: flange
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@@ -0,0 +1 @@
|
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prepend-non-duplicate;AMENT_PREFIX_PATH;
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@@ -0,0 +1,4 @@
|
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# copied from
|
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# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
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ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
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@@ -0,0 +1 @@
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prepend-non-duplicate-if-exists;PATH;bin
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@@ -0,0 +1,5 @@
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# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
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|
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if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
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ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
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fi
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@@ -0,0 +1 @@
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prepend-non-duplicate;CMAKE_PREFIX_PATH;
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@@ -0,0 +1,3 @@
|
||||
# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
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colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
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||||
@@ -0,0 +1,3 @@
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||||
# generated from colcon_core/shell/template/hook_prepend_value.sh.em
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||||
|
||||
_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
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||||
@@ -0,0 +1,75 @@
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.conditions import IfCondition, UnlessCondition
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from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.parameter_descriptions import ParameterValue
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from launch_ros.substitutions import FindPackageShare
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import os
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|
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|
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def generate_launch_description():
|
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use_gui = LaunchConfiguration('use_gui')
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||||
use_rviz = LaunchConfiguration('use_rviz')
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robot_sn = LaunchConfiguration('robot_sn')
|
||||
rizon_type = LaunchConfiguration('rizon_type')
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load_gripper = LaunchConfiguration('load_gripper')
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|
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urdf_path = PathJoinSubstitution(
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[FindPackageShare('arm_description'), 'urdf', 'arm.urdf.xacro']
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)
|
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rviz_config = PathJoinSubstitution(
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[FindPackageShare('flexiv_description'), 'rviz', 'view_rizon.rviz']
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)
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robot_description = ParameterValue(
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Command([
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'xacro ', urdf_path,
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' robot_sn:=', robot_sn,
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' rizon_type:=', rizon_type,
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' load_gripper:=', load_gripper,
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]),
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||||
value_type=str,
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||||
)
|
||||
|
||||
return LaunchDescription([
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DeclareLaunchArgument('use_gui', default_value='true'),
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DeclareLaunchArgument('use_rviz', default_value='true'),
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# 默认取当前臂（scripts/env.sh 已导出）；不再写死某个 SN。
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DeclareLaunchArgument(
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'robot_sn',
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default_value=os.environ.get('SITE_ROBOT_SN', '').strip(),
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),
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DeclareLaunchArgument('rizon_type', default_value='Rizon4'),
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DeclareLaunchArgument('load_gripper', default_value='false'),
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Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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parameters=[{'robot_description': robot_description}],
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output='screen',
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),
|
||||
Node(
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||||
package='joint_state_publisher_gui',
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executable='joint_state_publisher_gui',
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name='joint_state_publisher_gui',
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||||
condition=IfCondition(use_gui),
|
||||
output='screen',
|
||||
),
|
||||
Node(
|
||||
package='joint_state_publisher',
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||||
executable='joint_state_publisher',
|
||||
name='joint_state_publisher',
|
||||
condition=UnlessCondition(use_gui),
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||||
output='screen',
|
||||
),
|
||||
Node(
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||||
package='rviz2',
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||||
executable='rviz2',
|
||||
name='rviz2',
|
||||
arguments=['-d', rviz_config],
|
||||
condition=IfCondition(use_rviz),
|
||||
output='screen',
|
||||
),
|
||||
])
|
||||
@@ -0,0 +1,46 @@
|
||||
# generated from ament_package/template/package_level/local_setup.bash.in
|
||||
|
||||
# source local_setup.sh from same directory as this file
|
||||
_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
|
||||
# provide AMENT_CURRENT_PREFIX to shell script
|
||||
AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
|
||||
# store AMENT_CURRENT_PREFIX to restore it before each environment hook
|
||||
_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
|
||||
|
||||
# trace output
|
||||
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
|
||||
echo "# . \"$_this_path/local_setup.sh\""
|
||||
fi
|
||||
. "$_this_path/local_setup.sh"
|
||||
unset _this_path
|
||||
|
||||
# unset AMENT_ENVIRONMENT_HOOKS
|
||||
# if not appending to them for return
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
|
||||
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
|
||||
# list all environment hooks of this package
|
||||
|
||||
# source all shell-specific environment hooks of this package
|
||||
# if not returning them
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
_package_local_setup_IFS=$IFS
|
||||
IFS=":"
|
||||
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
|
||||
# restore AMENT_CURRENT_PREFIX for each environment hook
|
||||
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
|
||||
# restore IFS before sourcing other files
|
||||
IFS=$_package_local_setup_IFS
|
||||
. "$_hook"
|
||||
done
|
||||
unset _hook
|
||||
IFS=$_package_local_setup_IFS
|
||||
unset _package_local_setup_IFS
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
unset _package_local_setup_AMENT_CURRENT_PREFIX
|
||||
unset AMENT_CURRENT_PREFIX
|
||||
@@ -0,0 +1,2 @@
|
||||
source;share/arm_description/environment/ament_prefix_path.sh
|
||||
source;share/arm_description/environment/path.sh
|
||||
@@ -0,0 +1,184 @@
|
||||
# generated from ament_package/template/package_level/local_setup.sh.in
|
||||
|
||||
# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
|
||||
# or fall back to the destination set at configure time
|
||||
: ${AMENT_CURRENT_PREFIX:="/home/cc/ros2/install/arm_description"}
|
||||
if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
|
||||
"exist. Consider sourcing a different extension than '.sh'." 1>&2
|
||||
else
|
||||
AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
fi
|
||||
|
||||
# function to append values to environment variables
|
||||
# using colons as separators and avoiding leading separators
|
||||
ament_append_value() {
|
||||
# arguments
|
||||
_listname="$1"
|
||||
_value="$2"
|
||||
#echo "listname $_listname"
|
||||
#eval echo "list value \$$_listname"
|
||||
#echo "value $_value"
|
||||
|
||||
# avoid leading separator
|
||||
eval _values=\"\$$_listname\"
|
||||
if [ -z "$_values" ]; then
|
||||
eval export $_listname=\"$_value\"
|
||||
#eval echo "set list \$$_listname"
|
||||
else
|
||||
# field separator must not be a colon
|
||||
_ament_append_value_IFS=$IFS
|
||||
unset IFS
|
||||
eval export $_listname=\"\$$_listname:$_value\"
|
||||
#eval echo "append list \$$_listname"
|
||||
IFS=$_ament_append_value_IFS
|
||||
unset _ament_append_value_IFS
|
||||
fi
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# function to append non-duplicate values to environment variables
|
||||
# using colons as separators and avoiding leading separators
|
||||
ament_append_unique_value() {
|
||||
# arguments
|
||||
_listname=$1
|
||||
_value=$2
|
||||
#echo "listname $_listname"
|
||||
#eval echo "list value \$$_listname"
|
||||
#echo "value $_value"
|
||||
|
||||
# check if the list contains the value
|
||||
eval _values=\$$_listname
|
||||
_duplicate=
|
||||
_ament_append_unique_value_IFS=$IFS
|
||||
IFS=":"
|
||||
if [ "$AMENT_SHELL" = "zsh" ]; then
|
||||
ament_zsh_to_array _values
|
||||
fi
|
||||
for _item in $_values; do
|
||||
# ignore empty strings
|
||||
if [ -z "$_item" ]; then
|
||||
continue
|
||||
fi
|
||||
if [ $_item = $_value ]; then
|
||||
_duplicate=1
|
||||
fi
|
||||
done
|
||||
unset _item
|
||||
|
||||
# append only non-duplicates
|
||||
if [ -z "$_duplicate" ]; then
|
||||
# avoid leading separator
|
||||
if [ -z "$_values" ]; then
|
||||
eval $_listname=\"$_value\"
|
||||
#eval echo "set list \$$_listname"
|
||||
else
|
||||
# field separator must not be a colon
|
||||
unset IFS
|
||||
eval $_listname=\"\$$_listname:$_value\"
|
||||
#eval echo "append list \$$_listname"
|
||||
fi
|
||||
fi
|
||||
IFS=$_ament_append_unique_value_IFS
|
||||
unset _ament_append_unique_value_IFS
|
||||
unset _duplicate
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# function to prepend non-duplicate values to environment variables
|
||||
# using colons as separators and avoiding trailing separators
|
||||
ament_prepend_unique_value() {
|
||||
# arguments
|
||||
_listname="$1"
|
||||
_value="$2"
|
||||
#echo "listname $_listname"
|
||||
#eval echo "list value \$$_listname"
|
||||
#echo "value $_value"
|
||||
|
||||
# check if the list contains the value
|
||||
eval _values=\"\$$_listname\"
|
||||
_duplicate=
|
||||
_ament_prepend_unique_value_IFS=$IFS
|
||||
IFS=":"
|
||||
if [ "$AMENT_SHELL" = "zsh" ]; then
|
||||
ament_zsh_to_array _values
|
||||
fi
|
||||
for _item in $_values; do
|
||||
# ignore empty strings
|
||||
if [ -z "$_item" ]; then
|
||||
continue
|
||||
fi
|
||||
if [ "$_item" = "$_value" ]; then
|
||||
_duplicate=1
|
||||
fi
|
||||
done
|
||||
unset _item
|
||||
|
||||
# prepend only non-duplicates
|
||||
if [ -z "$_duplicate" ]; then
|
||||
# avoid trailing separator
|
||||
if [ -z "$_values" ]; then
|
||||
eval export $_listname=\"$_value\"
|
||||
#eval echo "set list \$$_listname"
|
||||
else
|
||||
# field separator must not be a colon
|
||||
unset IFS
|
||||
eval export $_listname=\"$_value:\$$_listname\"
|
||||
#eval echo "prepend list \$$_listname"
|
||||
fi
|
||||
fi
|
||||
IFS=$_ament_prepend_unique_value_IFS
|
||||
unset _ament_prepend_unique_value_IFS
|
||||
unset _duplicate
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# unset AMENT_ENVIRONMENT_HOOKS
|
||||
# if not appending to them for return
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
# list all environment hooks of this package
|
||||
ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/arm_description/environment/ament_prefix_path.sh"
|
||||
ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/arm_description/environment/path.sh"
|
||||
|
||||
# source all shell-specific environment hooks of this package
|
||||
# if not returning them
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
_package_local_setup_IFS=$IFS
|
||||
IFS=":"
|
||||
if [ "$AMENT_SHELL" = "zsh" ]; then
|
||||
ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
|
||||
if [ -f "$_hook" ]; then
|
||||
# restore IFS before sourcing other files
|
||||
IFS=$_package_local_setup_IFS
|
||||
# trace output
|
||||
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
|
||||
echo "# . \"$_hook\""
|
||||
fi
|
||||
. "$_hook"
|
||||
fi
|
||||
done
|
||||
unset _hook
|
||||
IFS=$_package_local_setup_IFS
|
||||
unset _package_local_setup_IFS
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
# reset AMENT_CURRENT_PREFIX after each package
|
||||
# allowing to source multiple package-level setup files
|
||||
unset AMENT_CURRENT_PREFIX
|
||||
@@ -0,0 +1,59 @@
|
||||
# generated from ament_package/template/package_level/local_setup.zsh.in
|
||||
|
||||
AMENT_SHELL=zsh
|
||||
|
||||
# source local_setup.sh from same directory as this file
|
||||
_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
|
||||
# provide AMENT_CURRENT_PREFIX to shell script
|
||||
AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
|
||||
# store AMENT_CURRENT_PREFIX to restore it before each environment hook
|
||||
_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
|
||||
|
||||
# function to convert array-like strings into arrays
|
||||
# to wordaround SH_WORD_SPLIT not being set
|
||||
ament_zsh_to_array() {
|
||||
local _listname=$1
|
||||
local _dollar="$"
|
||||
local _split="{="
|
||||
local _to_array="(\"$_dollar$_split$_listname}\")"
|
||||
eval $_listname=$_to_array
|
||||
}
|
||||
|
||||
# trace output
|
||||
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
|
||||
echo "# . \"$_this_path/local_setup.sh\""
|
||||
fi
|
||||
# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
|
||||
. "$_this_path/local_setup.sh"
|
||||
unset _this_path
|
||||
|
||||
# unset AMENT_ENVIRONMENT_HOOKS
|
||||
# if not appending to them for return
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
|
||||
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
|
||||
# list all environment hooks of this package
|
||||
|
||||
# source all shell-specific environment hooks of this package
|
||||
# if not returning them
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
_package_local_setup_IFS=$IFS
|
||||
IFS=":"
|
||||
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
|
||||
# restore AMENT_CURRENT_PREFIX for each environment hook
|
||||
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
|
||||
# restore IFS before sourcing other files
|
||||
IFS=$_package_local_setup_IFS
|
||||
. "$_hook"
|
||||
done
|
||||
unset _hook
|
||||
IFS=$_package_local_setup_IFS
|
||||
unset _package_local_setup_IFS
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
unset _package_local_setup_AMENT_CURRENT_PREFIX
|
||||
unset AMENT_CURRENT_PREFIX
|
||||
@@ -0,0 +1,2 @@
|
||||
# Placeholder: put STL/DAE meshes here and reference them from URDF, e.g.:
|
||||
# package://arm_description/meshes/link1.stl
|
||||
@@ -0,0 +1,39 @@
|
||||
# generated from colcon_bash/shell/template/package.bash.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# a bash script is able to determine its own path if necessary
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
# the prefix is two levels up from the package specific share directory
|
||||
_colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
|
||||
else
|
||||
_colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
# additional arguments: arguments to the script
|
||||
_colcon_package_bash_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$@"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# source sh script of this package
|
||||
_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/arm_description/package.sh"
|
||||
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
|
||||
COLCON_CURRENT_PREFIX="$_colcon_package_bash_COLCON_CURRENT_PREFIX"
|
||||
|
||||
# source bash hooks
|
||||
_colcon_package_bash_source_script "$COLCON_CURRENT_PREFIX/share/arm_description/local_setup.bash"
|
||||
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
|
||||
unset _colcon_package_bash_source_script
|
||||
unset _colcon_package_bash_COLCON_CURRENT_PREFIX
|
||||
@@ -0,0 +1,8 @@
|
||||
source;share/arm_description/hook/cmake_prefix_path.ps1
|
||||
source;share/arm_description/hook/cmake_prefix_path.dsv
|
||||
source;share/arm_description/hook/cmake_prefix_path.sh
|
||||
source;share/arm_description/local_setup.bash
|
||||
source;share/arm_description/local_setup.dsv
|
||||
source;share/arm_description/local_setup.ps1
|
||||
source;share/arm_description/local_setup.sh
|
||||
source;share/arm_description/local_setup.zsh
|
||||
@@ -0,0 +1,116 @@
|
||||
# generated from colcon_powershell/shell/template/package.ps1.em
|
||||
|
||||
# function to append a value to a variable
|
||||
# which uses colons as separators
|
||||
# duplicates as well as leading separators are avoided
|
||||
# first argument: the name of the result variable
|
||||
# second argument: the value to be prepended
|
||||
function colcon_append_unique_value {
|
||||
param (
|
||||
$_listname,
|
||||
$_value
|
||||
)
|
||||
|
||||
# get values from variable
|
||||
if (Test-Path Env:$_listname) {
|
||||
$_values=(Get-Item env:$_listname).Value
|
||||
} else {
|
||||
$_values=""
|
||||
}
|
||||
$_duplicate=""
|
||||
# start with no values
|
||||
$_all_values=""
|
||||
# iterate over existing values in the variable
|
||||
if ($_values) {
|
||||
$_values.Split(":") | ForEach {
|
||||
# not an empty string
|
||||
if ($_) {
|
||||
# not a duplicate of _value
|
||||
if ($_ -eq $_value) {
|
||||
$_duplicate="1"
|
||||
}
|
||||
if ($_all_values) {
|
||||
$_all_values="${_all_values}:$_"
|
||||
} else {
|
||||
$_all_values="$_"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
# append only non-duplicates
|
||||
if (!$_duplicate) {
|
||||
# avoid leading separator
|
||||
if ($_all_values) {
|
||||
$_all_values="${_all_values}:${_value}"
|
||||
} else {
|
||||
$_all_values="${_value}"
|
||||
}
|
||||
}
|
||||
|
||||
# export the updated variable
|
||||
Set-Item env:\$_listname -Value "$_all_values"
|
||||
}
|
||||
|
||||
# function to prepend a value to a variable
|
||||
# which uses colons as separators
|
||||
# duplicates as well as trailing separators are avoided
|
||||
# first argument: the name of the result variable
|
||||
# second argument: the value to be prepended
|
||||
function colcon_prepend_unique_value {
|
||||
param (
|
||||
$_listname,
|
||||
$_value
|
||||
)
|
||||
|
||||
# get values from variable
|
||||
if (Test-Path Env:$_listname) {
|
||||
$_values=(Get-Item env:$_listname).Value
|
||||
} else {
|
||||
$_values=""
|
||||
}
|
||||
# start with the new value
|
||||
$_all_values="$_value"
|
||||
# iterate over existing values in the variable
|
||||
if ($_values) {
|
||||
$_values.Split(":") | ForEach {
|
||||
# not an empty string
|
||||
if ($_) {
|
||||
# not a duplicate of _value
|
||||
if ($_ -ne $_value) {
|
||||
# keep non-duplicate values
|
||||
$_all_values="${_all_values}:$_"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
# export the updated variable
|
||||
Set-Item env:\$_listname -Value "$_all_values"
|
||||
}
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
# additional arguments: arguments to the script
|
||||
function colcon_package_source_powershell_script {
|
||||
param (
|
||||
$_colcon_package_source_powershell_script
|
||||
)
|
||||
# source script with conditional trace output
|
||||
if (Test-Path $_colcon_package_source_powershell_script) {
|
||||
if ($env:COLCON_TRACE) {
|
||||
echo ". '$_colcon_package_source_powershell_script'"
|
||||
}
|
||||
. "$_colcon_package_source_powershell_script"
|
||||
} else {
|
||||
Write-Error "not found: '$_colcon_package_source_powershell_script'"
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
# a powershell script is able to determine its own path
|
||||
# the prefix is two levels up from the package specific share directory
|
||||
$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
|
||||
|
||||
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/arm_description/hook/cmake_prefix_path.ps1"
|
||||
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/arm_description/local_setup.ps1"
|
||||
|
||||
Remove-Item Env:\COLCON_CURRENT_PREFIX
|
||||
@@ -0,0 +1,87 @@
|
||||
# generated from colcon_core/shell/template/package.sh.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# function to prepend a value to a variable
|
||||
# which uses colons as separators
|
||||
# duplicates as well as trailing separators are avoided
|
||||
# first argument: the name of the result variable
|
||||
# second argument: the value to be prepended
|
||||
_colcon_prepend_unique_value() {
|
||||
# arguments
|
||||
_listname="$1"
|
||||
_value="$2"
|
||||
|
||||
# get values from variable
|
||||
eval _values=\"\$$_listname\"
|
||||
# backup the field separator
|
||||
_colcon_prepend_unique_value_IFS=$IFS
|
||||
IFS=":"
|
||||
# start with the new value
|
||||
_all_values="$_value"
|
||||
# workaround SH_WORD_SPLIT not being set in zsh
|
||||
if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
|
||||
colcon_zsh_convert_to_array _values
|
||||
fi
|
||||
# iterate over existing values in the variable
|
||||
for _item in $_values; do
|
||||
# ignore empty strings
|
||||
if [ -z "$_item" ]; then
|
||||
continue
|
||||
fi
|
||||
# ignore duplicates of _value
|
||||
if [ "$_item" = "$_value" ]; then
|
||||
continue
|
||||
fi
|
||||
# keep non-duplicate values
|
||||
_all_values="$_all_values:$_item"
|
||||
done
|
||||
unset _item
|
||||
# restore the field separator
|
||||
IFS=$_colcon_prepend_unique_value_IFS
|
||||
unset _colcon_prepend_unique_value_IFS
|
||||
# export the updated variable
|
||||
eval export $_listname=\"$_all_values\"
|
||||
unset _all_values
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# since a plain shell script can't determine its own path when being sourced
|
||||
# either use the provided COLCON_CURRENT_PREFIX
|
||||
# or fall back to the build time prefix (if it exists)
|
||||
_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/cc/ros2/install/arm_description"
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
|
||||
echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
|
||||
unset _colcon_package_sh_COLCON_CURRENT_PREFIX
|
||||
return 1
|
||||
fi
|
||||
COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
unset _colcon_package_sh_COLCON_CURRENT_PREFIX
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
# additional arguments: arguments to the script
|
||||
_colcon_package_sh_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$@"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# source sh hooks
|
||||
_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/arm_description/hook/cmake_prefix_path.sh"
|
||||
_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/arm_description/local_setup.sh"
|
||||
|
||||
unset _colcon_package_sh_source_script
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
|
||||
# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
|
||||
@@ -0,0 +1,22 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>arm_description</name>
|
||||
<version>0.1.0</version>
|
||||
<description>URDF/Xacro wrapper for Flexiv Rizon 4 via flexiv_description.</description>
|
||||
<maintainer email="dev@example.com">arm_dev</maintainer>
|
||||
<license>Apache-2.0</license>
|
||||
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
|
||||
<exec_depend>flexiv_description</exec_depend>
|
||||
<exec_depend>robot_state_publisher</exec_depend>
|
||||
<exec_depend>joint_state_publisher</exec_depend>
|
||||
<exec_depend>joint_state_publisher_gui</exec_depend>
|
||||
<exec_depend>xacro</exec_depend>
|
||||
<exec_depend>rviz2</exec_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
</export>
|
||||
</package>
|
||||
@@ -0,0 +1,50 @@
|
||||
# generated from colcon_zsh/shell/template/package.zsh.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# a zsh script is able to determine its own path if necessary
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
# the prefix is two levels up from the package specific share directory
|
||||
_colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
|
||||
else
|
||||
_colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
# additional arguments: arguments to the script
|
||||
_colcon_package_zsh_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$@"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# function to convert array-like strings into arrays
|
||||
# to workaround SH_WORD_SPLIT not being set
|
||||
colcon_zsh_convert_to_array() {
|
||||
local _listname=$1
|
||||
local _dollar="$"
|
||||
local _split="{="
|
||||
local _to_array="(\"$_dollar$_split$_listname}\")"
|
||||
eval $_listname=$_to_array
|
||||
}
|
||||
|
||||
# source sh script of this package
|
||||
_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/arm_description/package.sh"
|
||||
unset convert_zsh_to_array
|
||||
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
|
||||
COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
|
||||
|
||||
# source zsh hooks
|
||||
_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/arm_description/local_setup.zsh"
|
||||
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
|
||||
unset _colcon_package_zsh_source_script
|
||||
unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
|
||||
@@ -0,0 +1,58 @@
|
||||
Panels:
|
||||
Displays:
|
||||
class: rviz_common/Displays
|
||||
name: Displays
|
||||
displays:
|
||||
- class: rviz_default_plugins/Grid
|
||||
name: Grid
|
||||
enabled: true
|
||||
Cell Size: 0.25
|
||||
Reference Frame: <Fixed Frame>
|
||||
- class: rviz_default_plugins/RobotModel
|
||||
name: RobotModel
|
||||
enabled: true
|
||||
Description Source: Topic
|
||||
Description Topic:
|
||||
Value: /robot_description
|
||||
Visual Enabled: true
|
||||
Collision Enabled: false
|
||||
Alpha: 1
|
||||
- class: rviz_default_plugins/TF
|
||||
name: TF
|
||||
enabled: true
|
||||
Show Names: true
|
||||
Show Axes: true
|
||||
Frame Timeout: 15
|
||||
Marker Scale: 0.15
|
||||
Views:
|
||||
class: rviz_common/Views
|
||||
name: Views
|
||||
Current:
|
||||
class: rviz_default_plugins/Orbit
|
||||
name: Current View
|
||||
Distance: 2.2
|
||||
Focal Point:
|
||||
X: 0.25
|
||||
Y: 0.0
|
||||
Z: 0.35
|
||||
Pitch: 0.45
|
||||
Yaw: 0.85
|
||||
Visualization Manager:
|
||||
class: ""
|
||||
displays: ~
|
||||
tools:
|
||||
- class: rviz_default_plugins/Interact
|
||||
- class: rviz_default_plugins/MoveCamera
|
||||
- class: rviz_default_plugins/Select
|
||||
- class: rviz_default_plugins/FocusCamera
|
||||
views:
|
||||
current:
|
||||
class: rviz_default_plugins/Orbit
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
# Official flexiv_description Fixed Frame (or Rizon4-063989_base_link)
|
||||
Fixed Frame: world
|
||||
Frame Rate: 30
|
||||
Window Geometry:
|
||||
Height: 800
|
||||
Width: 1200
|
||||
@@ -0,0 +1,31 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:macro name="arm_gazebo" params="prefix">
|
||||
<gazebo reference="${prefix}base_link">
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
<gazebo reference="${prefix}link1">
|
||||
<material>Gazebo/Red</material>
|
||||
</gazebo>
|
||||
<gazebo reference="${prefix}link2">
|
||||
<material>Gazebo/Blue</material>
|
||||
</gazebo>
|
||||
<gazebo reference="${prefix}link3">
|
||||
<material>Gazebo/Green</material>
|
||||
</gazebo>
|
||||
<gazebo reference="${prefix}link4">
|
||||
<material>Gazebo/Yellow</material>
|
||||
</gazebo>
|
||||
<gazebo reference="${prefix}link5">
|
||||
<material>Gazebo/Orange</material>
|
||||
</gazebo>
|
||||
<gazebo reference="${prefix}link6">
|
||||
<material>Gazebo/Purple</material>
|
||||
</gazebo>
|
||||
<gazebo reference="${prefix}link7">
|
||||
<material>Gazebo/Grey</material>
|
||||
</gazebo>
|
||||
</xacro:macro>
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,204 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<!--
|
||||
Flexiv Rizon 4 的轻量级 7 自由度运动学替身。
|
||||
若需要精确的网格 / 运动学，请安装官方 flexiv_description，
|
||||
并通过 arm_bringup 启动（使用 flexiv_description / flexiv_bringup）。
|
||||
关节命名遵循 Flexiv 约定：{prefix}joint1 .. {prefix}joint7，
|
||||
其中 prefix 通常是 robot_sn 把 '-' 换成 '_'，例如 Rizon4_123456_
|
||||
-->
|
||||
|
||||
<xacro:macro name="arm_inertial_box" params="mass x y z">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="${mass}"/>
|
||||
<inertia
|
||||
ixx="${(1/12)*mass*(y*y+z*z)}" ixy="0.0" ixz="0.0"
|
||||
iyy="${(1/12)*mass*(x*x+z*z)}" iyz="0.0"
|
||||
izz="${(1/12)*mass*(x*x+y*y)}"/>
|
||||
</inertial>
|
||||
</xacro:macro>
|
||||
|
||||
<xacro:macro name="arm_visual_cylinder" params="length radius rgba">
|
||||
<visual>
|
||||
<origin xyz="0 0 ${length/2}" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="${length}" radius="${radius}"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="${rgba}"/>
|
||||
</material>
|
||||
</visual>
|
||||
</xacro:macro>
|
||||
|
||||
<xacro:macro name="arm_collision_cylinder" params="length radius">
|
||||
<collision>
|
||||
<origin xyz="0 0 ${length/2}" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="${length}" radius="${radius}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</xacro:macro>
|
||||
|
||||
<!-- 近似的连杆长度（m）；生产使用请替换为官方 URDF -->
|
||||
<xacro:property name="L1" value="0.15"/>
|
||||
<xacro:property name="L2" value="0.36"/>
|
||||
<xacro:property name="L3" value="0.12"/>
|
||||
<xacro:property name="L4" value="0.31"/>
|
||||
<xacro:property name="L5" value="0.10"/>
|
||||
<xacro:property name="L6" value="0.08"/>
|
||||
<xacro:property name="L7" value="0.07"/>
|
||||
|
||||
<xacro:macro name="arm_robot" params="prefix">
|
||||
|
||||
<link name="${prefix}base_link">
|
||||
<visual>
|
||||
<origin xyz="0 0 0.06" rpy="0 0 0"/>
|
||||
<geometry><cylinder length="0.12" radius="0.09"/></geometry>
|
||||
<material name=""><color rgba="0.15 0.15 0.18 1"/></material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0.06" rpy="0 0 0"/>
|
||||
<geometry><cylinder length="0.12" radius="0.09"/></geometry>
|
||||
</collision>
|
||||
<xacro:arm_inertial_box mass="3.0" x="0.18" y="0.18" z="0.12"/>
|
||||
</link>
|
||||
|
||||
<!-- joint1：底座偏航（±165°） -->
|
||||
<joint name="${prefix}joint1" type="revolute">
|
||||
<parent link="${prefix}base_link"/>
|
||||
<child link="${prefix}link1"/>
|
||||
<origin xyz="0 0 0.12" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.8798" upper="2.8798" effort="123" velocity="2.0944"/>
|
||||
<dynamics damping="0.1" friction="0.05"/>
|
||||
</joint>
|
||||
<link name="${prefix}link1">
|
||||
<xacro:arm_visual_cylinder length="${L1}" radius="0.05" rgba="0.85 0.25 0.2 1"/>
|
||||
<xacro:arm_collision_cylinder length="${L1}" radius="0.05"/>
|
||||
<xacro:arm_inertial_box mass="2.0" x="0.1" y="0.1" z="${L1}"/>
|
||||
</link>
|
||||
|
||||
<!-- joint2 -->
|
||||
<joint name="${prefix}joint2" type="revolute">
|
||||
<parent link="${prefix}link1"/>
|
||||
<child link="${prefix}link2"/>
|
||||
<origin xyz="0 0 ${L1}" rpy="0 ${pi/2} 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.3562" upper="2.3562" effort="123" velocity="2.0944"/>
|
||||
<dynamics damping="0.1" friction="0.05"/>
|
||||
</joint>
|
||||
<link name="${prefix}link2">
|
||||
<xacro:arm_visual_cylinder length="${L2}" radius="0.045" rgba="0.2 0.55 0.85 1"/>
|
||||
<xacro:arm_collision_cylinder length="${L2}" radius="0.045"/>
|
||||
<xacro:arm_inertial_box mass="2.5" x="0.09" y="0.09" z="${L2}"/>
|
||||
</link>
|
||||
|
||||
<!-- joint3 -->
|
||||
<joint name="${prefix}joint3" type="revolute">
|
||||
<parent link="${prefix}link2"/>
|
||||
<child link="${prefix}link3"/>
|
||||
<origin xyz="0 0 ${L2}" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-3.0543" upper="3.0543" effort="64" velocity="2.4435"/>
|
||||
<dynamics damping="0.08" friction="0.04"/>
|
||||
</joint>
|
||||
<link name="${prefix}link3">
|
||||
<xacro:arm_visual_cylinder length="${L3}" radius="0.04" rgba="0.2 0.75 0.45 1"/>
|
||||
<xacro:arm_collision_cylinder length="${L3}" radius="0.04"/>
|
||||
<xacro:arm_inertial_box mass="1.2" x="0.08" y="0.08" z="${L3}"/>
|
||||
</link>
|
||||
|
||||
<!-- joint4 -->
|
||||
<joint name="${prefix}joint4" type="revolute">
|
||||
<parent link="${prefix}link3"/>
|
||||
<child link="${prefix}link4"/>
|
||||
<origin xyz="0 0 ${L3}" rpy="0 ${pi/2} 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-1.9548" upper="2.7751" effort="64" velocity="2.4435"/>
|
||||
<dynamics damping="0.08" friction="0.04"/>
|
||||
</joint>
|
||||
<link name="${prefix}link4">
|
||||
<xacro:arm_visual_cylinder length="${L4}" radius="0.038" rgba="0.9 0.7 0.2 1"/>
|
||||
<xacro:arm_collision_cylinder length="${L4}" radius="0.038"/>
|
||||
<xacro:arm_inertial_box mass="1.8" x="0.076" y="0.076" z="${L4}"/>
|
||||
</link>
|
||||
|
||||
<!-- joint5 -->
|
||||
<joint name="${prefix}joint5" type="revolute">
|
||||
<parent link="${prefix}link4"/>
|
||||
<child link="${prefix}link5"/>
|
||||
<origin xyz="0 0 ${L4}" rpy="0 ${-pi/2} 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-3.0543" upper="3.0543" effort="39" velocity="4.8869"/>
|
||||
<dynamics damping="0.05" friction="0.02"/>
|
||||
</joint>
|
||||
<link name="${prefix}link5">
|
||||
<xacro:arm_visual_cylinder length="${L5}" radius="0.032" rgba="0.6 0.35 0.85 1"/>
|
||||
<xacro:arm_collision_cylinder length="${L5}" radius="0.032"/>
|
||||
<xacro:arm_inertial_box mass="0.8" x="0.064" y="0.064" z="${L5}"/>
|
||||
</link>
|
||||
|
||||
<!-- joint6 -->
|
||||
<joint name="${prefix}joint6" type="revolute">
|
||||
<parent link="${prefix}link5"/>
|
||||
<child link="${prefix}link6"/>
|
||||
<origin xyz="0 0 ${L5}" rpy="0 ${pi/2} 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-1.4835" upper="4.6251" effort="39" velocity="4.8869"/>
|
||||
<dynamics damping="0.05" friction="0.02"/>
|
||||
</joint>
|
||||
<link name="${prefix}link6">
|
||||
<xacro:arm_visual_cylinder length="${L6}" radius="0.03" rgba="0.35 0.75 0.75 1"/>
|
||||
<xacro:arm_collision_cylinder length="${L6}" radius="0.03"/>
|
||||
<xacro:arm_inertial_box mass="0.5" x="0.06" y="0.06" z="${L6}"/>
|
||||
</link>
|
||||
|
||||
<!-- joint7：法兰偏航 -->
|
||||
<joint name="${prefix}joint7" type="revolute">
|
||||
<parent link="${prefix}link6"/>
|
||||
<child link="${prefix}link7"/>
|
||||
<origin xyz="0 0 ${L6}" rpy="0 ${-pi/2} 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-3.0543" upper="3.0543" effort="39" velocity="4.8869"/>
|
||||
<dynamics damping="0.03" friction="0.01"/>
|
||||
</joint>
|
||||
<link name="${prefix}link7">
|
||||
<visual>
|
||||
<origin xyz="0 0 ${L7/2}" rpy="0 0 0"/>
|
||||
<geometry><cylinder length="${L7}" radius="0.035"/></geometry>
|
||||
<material name=""><color rgba="0.25 0.25 0.28 1"/></material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 ${L7/2}" rpy="0 0 0"/>
|
||||
<geometry><cylinder length="${L7}" radius="0.035"/></geometry>
|
||||
</collision>
|
||||
<xacro:arm_inertial_box mass="0.3" x="0.07" y="0.07" z="${L7}"/>
|
||||
</link>
|
||||
|
||||
<!-- TCP / 法兰（Flexiv 使用 flange + tcp 两个坐标系） -->
|
||||
<joint name="${prefix}flange_joint" type="fixed">
|
||||
<parent link="${prefix}link7"/>
|
||||
<child link="${prefix}flange"/>
|
||||
<origin xyz="0 0 ${L7}" rpy="0 0 0"/>
|
||||
</joint>
|
||||
<link name="${prefix}flange"/>
|
||||
|
||||
<joint name="${prefix}tcp_joint" type="fixed">
|
||||
<parent link="${prefix}flange"/>
|
||||
<child link="${prefix}tcp"/>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
</joint>
|
||||
<link name="${prefix}tcp"/>
|
||||
|
||||
<!-- 应用层使用的别名 -->
|
||||
<joint name="${prefix}tool0_joint" type="fixed">
|
||||
<parent link="${prefix}tcp"/>
|
||||
<child link="${prefix}tool0"/>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
</joint>
|
||||
<link name="${prefix}tool0"/>
|
||||
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
@@ -0,0 +1,54 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:macro name="arm_ros2_control" params="prefix use_fake_hardware:=true">
|
||||
<ros2_control name="Rizon4System" type="system">
|
||||
<hardware>
|
||||
<xacro:if value="${use_fake_hardware}">
|
||||
<plugin>mock_components/GenericSystem</plugin>
|
||||
</xacro:if>
|
||||
<xacro:unless value="${use_fake_hardware}">
|
||||
<!-- 官方 Flexiv 硬件插件（需要 flexiv_hardware） -->
|
||||
<plugin>flexiv_hardware/FlexivHardwareInterface</plugin>
|
||||
</xacro:unless>
|
||||
</hardware>
|
||||
|
||||
<joint name="${prefix}joint1">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${prefix}joint2">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${prefix}joint3">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${prefix}joint4">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${prefix}joint5">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${prefix}joint6">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${prefix}joint7">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
</ros2_control>
|
||||
</xacro:macro>
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,68 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- Project wrapper: official flexiv_description + tcp/tool0. -->
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="$(arg rizon_type)">
|
||||
<!-- rizon_type: Rizon4, Rizon4s, Rizon4M, Rizon4R, Rizon10, Rizon10s -->
|
||||
<xacro:arg name="rizon_type" default="Rizon4"/>
|
||||
<xacro:include filename="$(find flexiv_description)/urdf/common/rizon_robot.xacro"/>
|
||||
|
||||
<xacro:arg name="arm_prefix" default=""/>
|
||||
<!-- 必须由 launch 传入真实 SN（mock_control / ros2_control / display 都会传）。
|
||||
这里刻意留一个**明显是占位符**的默认值，而不是某台臂的真实 SN：
|
||||
默认成真实 SN 的话，忘记传参时会安静地去驱动上一台臂的关节名，
|
||||
而 <prefix> 变成 UNSET_ARM_SN_ 至少能让控制器报错信息里带着它。 -->
|
||||
<xacro:arg name="robot_sn" default="UNSET_ARM_SN"/>
|
||||
<xacro:arg name="joint_limits_parameters_file"
|
||||
default="$(find flexiv_description)/config/$(arg rizon_type)/joint_limits.yaml"/>
|
||||
<xacro:arg name="kinematics_parameters_file"
|
||||
default="$(find flexiv_description)/config/$(arg rizon_type)/default_kinematics.yaml"/>
|
||||
<xacro:arg name="inertia_parameters_file"
|
||||
default="$(find flexiv_description)/config/$(arg rizon_type)/inertia_parameters.yaml"/>
|
||||
<xacro:arg name="visual_parameters_file"
|
||||
default="$(find flexiv_description)/config/$(arg rizon_type)/visual_parameters.yaml"/>
|
||||
<xacro:arg name="load_gripper" default="false"/>
|
||||
<xacro:arg name="gripper_name" default="Flexiv-GN01"/>
|
||||
<xacro:arg name="load_mounted_ft_sensor" default="false"/>
|
||||
<xacro:arg name="ros2_control" default="false"/>
|
||||
<xacro:arg name="rdk_control_mode" default="joint_position"/>
|
||||
<xacro:arg name="use_fake_hardware" default="true"/>
|
||||
<xacro:arg name="fake_sensor_commands" default="false"/>
|
||||
<xacro:arg name="initial_positions_file"
|
||||
default="$(find flexiv_description)/config/initial_positions.yaml"/>
|
||||
<xacro:arg name="mounting_file"
|
||||
default="$(find flexiv_description)/config/single_robot_mounting.yaml"/>
|
||||
|
||||
<xacro:property name="mounting" value="${xacro.load_yaml('$(arg mounting_file)')}"/>
|
||||
<xacro:property name="sn" value="$(arg robot_sn)"/>
|
||||
<xacro:property name="ap" value="$(arg arm_prefix)"/>
|
||||
<xacro:property name="prefix"
|
||||
value="${(ap + '_' + sn + '_') if ap != '' and sn != '' else (ap + sn + '_') if (ap + sn) != '' else ''}"/>
|
||||
|
||||
<xacro:rizon_robot
|
||||
rizon_type="$(arg rizon_type)"
|
||||
robot_sn="$(arg robot_sn)"
|
||||
joint_limits_parameters_file="$(arg joint_limits_parameters_file)"
|
||||
kinematics_parameters_file="$(arg kinematics_parameters_file)"
|
||||
inertia_parameters_file="$(arg inertia_parameters_file)"
|
||||
visual_parameters_file="$(arg visual_parameters_file)"
|
||||
arm_prefix="$(arg arm_prefix)"
|
||||
load_gripper="$(arg load_gripper)"
|
||||
gripper_name="$(arg gripper_name)"
|
||||
load_mounted_ft_sensor="$(arg load_mounted_ft_sensor)"
|
||||
ros2_control="$(arg ros2_control)"
|
||||
rdk_control_mode="$(arg rdk_control_mode)"
|
||||
use_fake_hardware="$(arg use_fake_hardware)"
|
||||
fake_sensor_commands="$(arg fake_sensor_commands)"
|
||||
initial_positions_file="$(arg initial_positions_file)"
|
||||
base_rpy="${radians(mounting['orientation']['rx'])} ${radians(mounting['orientation']['ry'])} ${radians(mounting['orientation']['rz'])}"/>
|
||||
|
||||
<joint name="${prefix}tcp_joint" type="fixed">
|
||||
<parent link="${prefix}flange"/>
|
||||
<child link="${prefix}tcp"/>
|
||||
</joint>
|
||||
<link name="${prefix}tcp"/>
|
||||
<joint name="${prefix}tool0_joint" type="fixed">
|
||||
<parent link="${prefix}tcp"/>
|
||||
<child link="${prefix}tool0"/>
|
||||
</joint>
|
||||
<link name="${prefix}tool0"/>
|
||||
</robot>
|
||||
@@ -0,0 +1 @@
|
||||
flexiv_description:joint_state_publisher:joint_state_publisher_gui:robot_state_publisher:rviz2:xacro
|
||||
Reference in New Issue
Block a user