建模实践2 —— 手写装有kinova机械臂的husky地面无人车的xacro模型

在上篇博客基础上，添加kinova机械臂

17.将kinova底座固定到husky上

<!--/// j2n6s300_link_base //-->
  <link name="j2n6s300_link_base" >
    <visual>
        <geometry>
            <mesh
                filename="package://my_description/meshes/base.dae"/>
        </geometry>
        <material name="carbon_fiber">
            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
        </material>
    </visual>
  </link>

  <joint name="j2n6s300_joint_base" type="fixed">
      <parent link="top_plate_link"/>
      <child link="j2n6s300_link_base"/>
      <axis xyz="0 0 0"/>
      <limit effort="0" velocity="0" lower="0" upper="0"/>
      <origin xyz="0.3058 0 0.0065" rpy="0 0 0"/>
      <dynamics damping="0.0" friction="0.0"/>
  </joint>

18.添加kinova的link1

<!--/// j2n6s300_link_1 //-->
  <link name="j2n6s300_link_1" >
    <visual>
        <geometry>
            <mesh
                filename="package://my_description/meshes/shoulder.dae"/>
        </geometry>
        <material name="carbon_fiber">
            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
        </material>
    </visual>

	  <visual>
        <geometry>
            <mesh
                filename="package://my_description/meshes/ring_big.dae"/>
        </geometry>
    </visual>
  </link>

  <joint name="j2n6s300_joint_1" type="continuous">
      <parent link="j2n6s300_link_base"/>
      <child link="j2n6s300_link_1"/>
      <axis xyz="0 0 1"/>
      <limit effort="40" velocity="0.62831853" lower="-6.2831853072" upper="6.2831853072"/>
      <origin xyz="0 0 0.15675" rpy="0 3.1415926535897931 0"/>
      <dynamics damping="0.0" friction="0.0"/>
  </joint>

19.添加kinova的link2

<!--/// j2n6s300_link_2 //-->
  <link name="j2n6s300_link_2" >
    <visual>
        <geometry>
            <mesh
                filename="package://my_description/meshes/arm.dae"/>
        </geometry>
        <material name="carbon_fiber">
            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
        </material>
    </visual>

	  <visual>
        <geometry>
            <mesh
                filename="package://my_description/meshes/ring_big.dae"/>
        </geometry>
    </visual>
  </link>

  <joint name="j2n6s300_joint_2" type="revolute">
      <parent link="j2n6s300_link_1"/>
      <child link="j2n6s300_link_2"/>
      <axis xyz="0 0 1"/>
      <limit effort="80" velocity="0.62831853" lower="0.8203047484" upper="5.4628805587"/>
      <origin xyz="0 0.0016 -0.11875" rpy="-1.5707963268 0 3.1415926535897931"/>
      <dynamics damping="0.0" friction="0.0"/>
  </joint>

20.添加kinova的link3

<!--/// j2n6s300_link_3 //-->
  <link name="j2n6s300_link_3" >
    <visual>
        <geometry>
            <mesh
                filename="package://my_description/meshes/forearm.dae"/>
        </geometry>
        <material name="carbon_fiber">
            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
        </material>
    </visual>

	  <visual>
        <geometry>
            <mesh
                filename="package://my_description/meshes/ring_big.dae"/>
        </geometry>
    </visual>
  </link>

  <joint name="j2n6s300_joint_3" type="revolute">
      <parent link="j2n6s300_link_2"/>
      <child link="j2n6s300_link_3"/>
      <axis xyz="0 0 1"/>
      <limit effort="40" velocity="0.62831853" lower="0.3316125579" upper="5.9515727493"/>
      <origin xyz="0 -0.410 0" rpy="0 3.1415926535897931 0"/>
      <dynamics damping="0.0" friction="0.0"/>
  </joint>

21.添加kinova的link4

<!--/// j2n6s300_link_4 //-->
  <link name="j2n6s300_link_4" >
    <visual>
        <geometry>
            <mesh
                filename="package://my_description/meshes/wrist.dae"/>
        </geometry>
        <material name="carbon_fiber">
            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
        </material>
    </visual>

	  <visual>
        <geometry>
            <mesh
                filename="package://my_description/meshes/ring_small.dae"/>
        </geometry>
    </visual>
  </link>

  <joint name="j2n6s300_joint_4" type="continuous">
      <parent link="j2n6s300_link_3"/>
      <child link="j2n6s300_link_4"/>
      <axis xyz="0 0 1"/>
      <limit effort="20" velocity="0.837758041" lower="-6.2831853072" upper="6.2831853072"/>
      <origin xyz="0 0.2073 -0.0114" rpy="-1.5707963268 0 3.1415926535897931"/>
      <dynamics damping="0.0" friction="0.0"/>
  </joint>

22.添加kinova的link5

23.添加kinova的link6

24.添加kinova的虚拟坐标系

25.添加kinova的第一个手指

26.添加kinova的第二个手指

27.添加kinova的第三个手指

28.小结

至此，装有kinova j2n6s300机械臂的husky地面无人车模型已经搭建完毕，emmm甚至觉得TF树都很漂亮（如下图）。


另外，本来是想写机器人的xacro模型的，可是却解析不了写的属性代码、macro、包含文件等，所以只好写的和URDF没什么区别，导致代码重复率高、篇幅长，不过对于初学者理解很友善。可能是因为哪里设置的不对，有待以后的学习中发现问题所在。