1.在ROS官方下载UR的包
ur机械臂官方：https://github.com/ros-industrial/universal_robot
UR官方目前更新的包感觉嵌套太多了，所以这里我下载的是1.2.7版本的包，这个应该不影响后面的操作。可以先下载后再解压，因为git clone好像只能clone最新的版本。
下载后编译会报错，原因是在view_ur5.launch文件中机器人状态发布节点中type属性出错了，改正后就可以编译成功了。
2.下载robotiq_85_gripper包
ros-industrial：https://github.com/ros-industrial/robotiq
3.在UR5的urdf文件中加入夹爪
最好搞懂UR5的源码，下面是我根据源码分解的一个UR5机械臂，可参考源码理解。
ur5结构描述文件在ur_description/urdf/ur5.urdf.xacro中
直接贴出来吧
<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:include filename="$(find ur_description)/urdf/ur.transmission.xacro" />
<xacro:include filename="$(find ur_description)/urdf/ur.gazebo.xacro" />
<xacro:macro name="cylinder_inertial" params="radius length mass *origin">
<inertial>
<mass value="${mass}" />
<xacro:insert_block name="origin" />
<inertia ixx="${0.0833333 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0"
iyy="${0.0833333 * mass * (3 * radius * radius + length * length)}" iyz="0.0"
izz="${0.5 * mass * radius * radius}" />
</inertial>
</xacro:macro>
<!-- 定义ur5宏 -->
<xacro:macro name="ur5_robot" params="prefix joint_limited
shoulder_pan_lower_limit:=${-pi} shoulder_pan_upper_limit:=${pi}
shoulder_lift_lower_limit:=${-pi} shoulder_lift_upper_limit:=${pi}
elbow_joint_lower_limit:=${-pi} elbow_joint_upper_limit:=${pi}
wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi}
wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi}
wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi}
transmission_hw_interface:=hardware_interface/PositionJointInterface
safety_limits:=false safety_pos_margin:=0.15
safety_k_position:=20">
<!-- Inertia parameters 惯性参数-->
<xacro:property name="base_mass" value="4.0" /> <!-- This mass might be incorrect -->
<xacro:property name="shoulder_mass" value="3.7000" />
<xacro:property name="upper_arm_mass" value="8.3930" />
<xacro:property name="forearm_mass" value="2.2750" />
<xacro:property name="wrist_1_mass" value="1.2190" />
<xacro:property name="wrist_2_mass" value="1.2190" />
<xacro:property name="wrist_3_mass" value="0.1879" />
<xacro:property name="shoulder_cog" value="0.0 0.00193 -0.02561" />
<xacro:property name="upper_arm_cog" value="0.0 -0.024201 0.2125" />
<xacro:property name="forearm_cog" value="0.0 0.0265 0.11993" />
<xacro:property name="wrist_1_cog" value="0.0 0.110949 0.01634" />
<xacro:property name="wrist_2_cog" value="0.0 0.0018 0.11099" />
<xacro:property name="wrist_3_cog" value="0.0 0.001159 0.0" />
<!-- Kinematic model 动力学模型-->
<!-- Properties from urcontrol.conf -->
<!--
DH for UR5:
a = [0.00000, -0.42500, -0.39225, 0.00000, 0.00000, 0.0000]
d = [0.089159, 0.00000, 0.00000, 0.10915, 0.09465, 0.0823]
alpha = [ 1.570796327, 0, 0, 1.570796327, -1.570796327, 0 ]
q_home_offset = [0, -1.570796327, 0, -1.570796327, 0, 0]
joint_direction = [-1, -1, 1, 1, 1, 1]
mass = [3.7000, 8.3930, 2.2750, 1.2190, 1.2190, 0.1879]
center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, 0.0265], [0, -0.0018, 0.01634], [0, 0.0018,0.01634], [0, 0, -0.001159] ]
-->
<xacro:property name="d1" value="0.089159" />
<xacro:property name="a2" value="-0.42500" />
<xacro:property name="a3" value="-0.39225" />
<xacro:property name="d4" value="0.10915" />
<xacro:property name="d5" value="0.09465" />
<xacro:property name="d6" value="0.0823" />
<!-- Arbitrary offsets for shoulder/elbow joints 肩关节/肘关节任意偏移量，根据模型测量-->
<xacro:property name="shoulder_offset" value="0.13585" /> <!-- measured from model -->
<xacro:property name="elbow_offset" value="-0.1197" /> <!-- measured from model -->
<!-- link lengths used in model -->
<xacro:property name="shoulder_height" value="${d1}" />
<xacro:property name="upper_arm_length" value="${-a2}" />
<xacro:property name="forearm_length" value="${-a3}" />
<xacro:property name="wrist_1_length" value="${d4 - elbow_offset - shoulder_offset}" />
<xacro:property name="wrist_2_length" value="${d5}" />
<xacro:property name="wrist_3_length" value="${d6}" />
<!--property name="shoulder_height" value="0.089159" /-->
<!--property name="shoulder_offset" value="0.13585" /--> <!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 -->
<!--property name="upper_arm_length" value="0.42500" /-->
<!--property name="elbow_offset" value="0.1197" /--> <!-- CAD measured -->
<!--property name="forearm_length" value="0.39225" /-->
<!--property name="wrist_1_length" value="0.093" /--> <!-- CAD measured -->
<!--property name="wrist_2_length" value="0.09465" /--> <!-- In CAD this distance is 0.930, but in the spec it is 0.09465 -->
<!--property name="wrist_3_length" value="0.0823" /-->
<xacro:property name="shoulder_radius" value="0.060" /> <!-- manually measured -->
<xacro:property name="upper_arm_radius" value="0.054" /> <!-- manually measured -->
<xacro:property name="elbow_radius" value="0.060" /> <!-- manually measured -->
<xacro:property name="forearm_radius" value="0.040" /> <!-- manually measured -->
<xacro:property name="wrist_radius" value="0.045" /> <!-- manually measured -->
<!-- prefix前缀没啥作用，可以加可以不加 -->
<!-- 底座 -->
<link name="${prefix}base_link" >
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/base.dae" />
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/base.stl" />
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.06" length="0.05" mass="${base_mass}">
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
</xacro:cylinder_inertial>
</link>
<!-- 绕z轴旋转 肩连杆与底座的关节 -->
<joint name="${prefix}shoulder_pan_joint" type="revolute">
<parent link="${prefix}base_link" />
<child link = "${prefix}shoulder_link" />
<origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
<axis xyz="0 0 1" />
<xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless>
<xacro:if value="${joint_limited}">
<limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="150.0" velocity="3.15"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- 肩连杆 -->
<link name="${prefix}shoulder_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/shoulder.dae" />
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/shoulder.stl" />
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.06" length="0.15" mass="${shoulder_mass}">
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
</xacro:cylinder_inertial>
</link>
<!-- 肩连杆与上臂连杆的关节，绕y轴旋转 -->
<joint name="${prefix}shoulder_lift_joint" type="revolute">
<parent link="${prefix}shoulder_link" />
<child link = "${prefix}upper_arm_link" />
<origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
<axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless>
<xacro:if value="${joint_limited}">
<limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="150.0" velocity="3.15"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- 上臂连杆 -->
<link name="${prefix}upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/upperarm.dae" />
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/upperarm.stl" />
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.06" length="0.56" mass="${upper_arm_mass}">
<origin xyz="0.0 0.0 0.28" rpy="0 0 0" />
</xacro:cylinder_inertial>
</link>
<!-- 肘关节，上臂与前臂的关节 -->
<joint name="${prefix}elbow_joint" type="revolute">
<parent link="${prefix}upper_arm_link" />
<child link = "${prefix}forearm_link" />
<origin xyz="0.0 ${elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}">
<limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless>
<xacro:if value="${joint_limited}">
<limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.15"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- 前臂连杆 -->
<link name="${prefix}forearm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/forearm.dae" />
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl" />
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.06" length="${-a3}" mass="${forearm_mass}">
<origin xyz="0.0 0.0 ${-a3/2}" rpy="0 0 0" />
</xacro:cylinder_inertial>
</link>
<!-- 腕关节1，前臂和wrist_1_link的关节 -->
<joint name="${prefix}wrist_1_joint" type="revolute">
<parent link="${prefix}forearm_link" />
<child link = "${prefix}wrist_1_link" />
<origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
<axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless>
<xacro:if value="${joint_limited}">
<limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="28.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- 腕连杆1 -->
<link name="${prefix}wrist_1_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/wrist1.dae" />
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/wrist1.stl" />
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.06" length="0.12" mass="${wrist_1_mass}">
<origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0 0 0" />
</xacro:cylinder_inertial>
</link>
<!-- 腕连杆1与腕连杆2的关节 -->
<joint name="${prefix}wrist_2_joint" type="revolute">
<parent link="${prefix}wrist_1_link" />
<child link = "${prefix}wrist_2_link" />
<origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
<axis xyz="0 0 1" />
<xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless>
<xacro:if value="${joint_limited}">
<limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="28.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- 腕连杆2 -->
<link name="${prefix}wrist_2_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/wrist2.dae" />
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/wrist2.stl" />
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.06" length="0.12" mass="${wrist_2_mass}">
<origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0 0 0" />
</xacro:cylinder_inertial>
</link>
<!-- 腕连杆2与腕连杆3的关节 -->
<joint name="${prefix}wrist_3_joint" type="revolute">
<parent link="${prefix}wrist_2_link" />
<child link = "${prefix}wrist_3_link" />
<origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless>
<xacro:if value="${joint_limited}">
<limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="28.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- 腕连杆3 -->
<link name="${prefix}wrist_3_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/wrist3.dae" />
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/wrist3.stl" />
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.0375" length="0.0345" mass="${wrist_3_mass}">
<origin xyz="0.0 ${wrist_3_length - 0.0345/2} 0.0" rpy="${pi/2} 0 0" />
</xacro:cylinder_inertial>
</link>
<!-- 末端与腕连杆3的关节，固定 -->
<joint name="${prefix}ee_fixed_joint" type="fixed">
<parent link="${prefix}wrist_3_link" />
<child link = "${prefix}ee_link" />
<origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
</joint>
<!-- 末端连杆 -->
<link name="${prefix}ee_link">
<collision>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
<!-- 摩擦系数 ？ -->
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
</surface>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
</link>
<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />
<xacro:ur_arm_gazebo prefix="${prefix}" />
<!-- ROS base_link to UR 'Base' Coordinates transform -->
<link name="${prefix}base"/>
<joint name="${prefix}base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
degrees)
-->
<origin xyz="0 0 0" rpy="0 0 ${-pi}"/>
<parent link="${prefix}base_link"/>
<child link="${prefix}base"/>
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
<link name="${prefix}tool0"/>
<joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed">
<origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
<parent link="${prefix}wrist_3_link"/>
<child link="${prefix}tool0"/>
</joint>
</xacro:macro>
</robot>
在加入之前先看一下robotiq_85_gripper.urdf.xacro文件，该文件描述了夹爪的结构
robotiq_85_gripper其实已经封装的很好了，在上面的代码中，定义了一个robotiq_85_gripper宏，后面有三个参数：
prefix：其实就是一个名称前缀，在实例化宏的时候可以加也可以不加，加了后面可能还要修改一些名称，所以这里就不加了。
parent：表示要把夹爪接到哪个关节上，这里我们是接到UR5的末端ee_link上了。
*origin：origin前有一个“*”，表示这是一个块参数,在实现宏时指的是第一个元素
在ur_description/urdf/ur5_robot.urdf文件中包含robotiq_85_gripper，并且实例化该宏。
<!-- 把robotiq85_gripper包含进来 -->
<xacro:include filename="$(find robotiq_85_description)/urdf/robotiq_85_gripper.urdf.xacro" />
<!--实现robotiq_85_gripper宏，并将gripper装在ee_link上-->
<xacro:robotiq_85_gripper prefix="" parent="ee_link">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:robotiq_85_gripper>
添加完成后运行view_ur5.launch文件就可以在rviz中见到机械臂上装上夹爪了。
roslaunch ur_description view_ur5.launch
但是在Gazebo仿真世界中夹爪会散架，在网查找资料，robotiq 2f85 gripper有主动关节（finger joint）和被动关节（mimic joint）。标准Gazebo不支持Mimic 关节仿真， 所以需要安装一个插件，这个插件也是找的别人的。https://github.com/Luchuanzhao/gripper_breakdown_solution
插件装上之后就OK了
夹爪装完了，下期准备实现一下机械臂抓取。
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