因时夹爪urdf文件改写为xacro并搭配aubo_i5机械臂

double_c之

于 2024-03-16 21:56:59 发布

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分类专栏：科研文章标签：人工智能机械臂夹爪 Ubuntu20.04

本文链接：https://blog.csdn.net/qq_39568387/article/details/136659056

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因时夹爪urdf文件改写为xacro并搭配aubo_i5机械臂

一、因时夹爪内容

因时夹爪型号：EG2-4C
夹爪的urdf文件内容：

<robot
  name="jawasm1">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="0.00339303654278191 -2.1205433560656E-05 -0.0099185365078758"
        rpy="0 0 0" />
      <mass
        value="0.105853592307918" />
      <inertia
        ixx="3.93795927851199E-05"
        ixy="-8.7395226509728E-08"
        ixz="5.91928672040786E-07"
        iyy="0.000106376720416166"
        iyz="-1.82858764303774E-10"
        izz="0.000125852616063213" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jawasm1/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jawasm1/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="Link1">
    <inertial>
      <origin
        xyz="0.0164149658242926 9.75754915755189E-09 0.00898193900447147"
        rpy="0 0 0" />
      <mass
        value="0.00647716099397792" />
      <inertia
        ixx="2.95068972140683E-07"
        ixy="8.63208170411155E-13"
        ixz="-1.92008628754607E-09"
        iyy="1.69979619476872E-06"
        iyz="-1.99232397395103E-13"
        izz="1.45016449434989E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jawasm1/meshes/Link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jawasm1/meshes/Link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Link1"
    type="revolute">
    <origin
      xyz="0.036 -0.04 -0.019"
      rpy="-3.0158E-16 -7.1586E-16 -0.30719" />
    <parent
      link="base_link" />
    <child
      link="Link1" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="1"
      effort="1"
      velocity="1" />
  </joint>
  <link
    name="Link11">
    <inertial>
      <origin
        xyz="0.011366555972498 0.0118642725662323 0.0060000073930068"
        rpy="0 0 0" />
      <mass
        value="0.0127543420299361" />
      <inertia
        ixx="5.68538478020233E-07"
        ixy="-2.68012262729007E-07"
        ixz="9.34125984931838E-13"
        iyy="1.45145776457487E-06"
        iyz="9.34355360561326E-13"
        izz="1.50564598220449E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jawasm1/meshes/Link11.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jawasm1/meshes/Link11.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Link11"
    type="revolute">
    <origin
      xyz="0.042 0 0.003"
      rpy="5.0393E-16 5.6225E-16 0.30719" />
    <parent
      link="Link1" />
    <child
      link="Link11" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1"
      upper="0"
      effort="1"
      velocity="1" />
  </joint>
  <link
    name="Link2">
    <inertial>
      <origin
        xyz="0.0164149658242926 9.75754915755189E-09 0.00898193900447147"
        rpy="0 0 0" />
      <mass
        value="0.00647716099397793" />
      <inertia
        ixx="2.95068972140683E-07"
        ixy="8.63208169650113E-13"
        ixz="-1.92008628755341E-09"
        iyy="1.69979619476872E-06"
        iyz="-1.99232397320157E-13"
        izz="1.45016449434989E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jawasm1/meshes/Link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jawasm1/meshes/Link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Link2"
    type="revolute">
    <origin
      xyz="0.036 0.04 -0.019"
      rpy="-2.6397E-16 3.7199E-16 0.30719" />
    <parent
      link="base_link" />
    <child
      link="Link2" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1"
      upper="0"
      effort="1"
      velocity="1" />
  </joint>
  <link
    name="Link22">
    <inertial>
      <origin
        xyz="-0.011366555972498 0.0118642725662323 -0.0060000073930068"
        rpy="0 0 0" />
      <mass
        value="0.0127543420299362" />
      <inertia
        ixx="5.68538478020238E-07"
        ixy="2.6801226272901E-07"
        ixz="9.34125986250171E-13"
        iyy="1.45145776457489E-06"
        iyz="-9.34355361631596E-13"
        izz="1.5056459822045E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jawasm1/meshes/Link22.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jawasm1/meshes/Link22.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Link22"
    type="revolute">
    <origin
      xyz="0.042 0 0.015"
      rpy="-3.641E-16 2.4584E-16 2.8344" />
    <parent
      link="Link2" />
    <child
      link="Link22" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="1"
      effort="1"
      velocity="1" />
  </joint>
</robot>

二、改写为xacro模式

1.首先，在urdf文件夹下创建 .xacro文件，使用命令 touch .xacro
2.xacro抬头改为

<?xml version="1.0" ?> 3.urdf中的其他的link和joint配置从 .urdf 复制到 .xacro文件模型中。

<?xml version="1.0" ?>
<robot name="jawasm1" xmlns:xacro="http://www.ros.org/wiki/xacro">
    <link
        name="base_link">
        <inertial>
        <origin
            xyz="0.00339303654278191 -2.1205433560656E-05 -0.0099185365078758"
            rpy="0 0 0" />
        <mass
            value="0.105853592307918" />
        <inertia
            ixx="3.93795927851199E-05"
            ixy="-8.7395226509728E-08"
            ixz="5.91928672040786E-07"
            iyy="0.000106376720416166"
            iyz="-1.82858764303774E-10"
            izz="0.000125852616063213" />
        </inertial>
        <visual>
        <origin
            xyz="0 0 0"
            rpy="0 0 0" />
        <geometry>
            <mesh
            filename="package://jawasm1/meshes/base_link.STL" />
        </geometry>
        <material
            name="">
            <color
            rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
        </material>
        </visual>
        <collision>
        <origin
            xyz="0 0 0"
            rpy="0 0 0" />
        <geometry>
            <mesh
            filename="package://jawasm1/meshes/base_link.STL" />
        </geometry>
        </collision>
    </link>
    <link
        name="Link1">
        <inertial>
        <origin
            xyz="0.0164149658242926 9.75754915755189E-09 0.00898193900447147"
            rpy="0 0 0" />
        <mass
            value="0.00647716099397792" />
        <inertia
            ixx="2.95068972140683E-07"
            ixy="8.63208170411155E-13"
            ixz="-1.92008628754607E-09"
            iyy="1.69979619476872E-06"
            iyz="-1.99232397395103E-13"
            izz="1.45016449434989E-06" />
        </inertial>
        <visual>
        <origin
            xyz="0 0 0"
            rpy="0 0 0" />
        <geometry>
            <mesh
            filename="package://jawasm1/meshes/Link1.STL" />
        </geometry>
        <material
            name="">
            <color
            rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
        </material>
        </visual>
        <collision>
        <origin
            xyz="0 0 0"
            rpy="0 0 0" />
        <geometry>
            <mesh
            filename="package://jawasm1/meshes/Link1.STL" />
        </geometry>
        </collision>
    </link>
    <joint
        name="Link1"
        type="revolute">
        <origin
        xyz="0.036 -0.04 -0.019"
        rpy="-3.0158E-16 -7.1586E-16 -0.30719" />
        <parent
        link="base_link" />
        <child
        link="Link1" />
        <axis
        xyz="0 0 1" />
        <limit
        lower="0"
        upper="1"
        effort="1"
        velocity="1" />
    </joint>
    <link
        name="Link11">
        <inertial>
        <origin
            xyz="0.011366555972498 0.0118642725662323 0.0060000073930068"
            rpy="0 0 0" />
        <mass
            value="0.0127543420299361" />
        <inertia
            ixx="5.68538478020233E-07"
            ixy="-2.68012262729007E-07"
            ixz="9.34125984931838E-13"
            iyy="1.45145776457487E-06"
            iyz="9.34355360561326E-13"
            izz="1.50564598220449E-06" />
        </inertial>
        <visual>
        <origin
            xyz="0 0 0"
            rpy="0 0 0" />
        <geometry>
            <mesh
            filename="package://jawasm1/meshes/Link11.STL" />
        </geometry>
        <material
            name="">
            <color
            rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
        </material>
        </visual>
        <collision>
        <origin
            xyz="0 0 0"
            rpy="0 0 0" />
        <geometry>
            <mesh
            filename="package://jawasm1/meshes/Link11.STL" />
        </geometry>
        </collision>
    </link>
    <joint
        name="Link11"
        type="revolute">
        <origin
        xyz="0.042 0 0.003"
        rpy="5.0393E-16 5.6225E-16 0.30719" />
        <parent
        link="Link1" />
        <child
        link="Link11" />
        <axis
        xyz="0 0 1" />
        <limit
        lower="-1"
        upper="0"
        effort="1"
        velocity="1" />
    </joint>
    <link
        name="Link2">
        <inertial>
        <origin
            xyz="0.0164149658242926 9.75754915755189E-09 0.00898193900447147"
            rpy="0 0 0" />
        <mass
            value="0.00647716099397793" />
        <inertia
            ixx="2.95068972140683E-07"
            ixy="8.63208169650113E-13"
            ixz="-1.92008628755341E-09"
            iyy="1.69979619476872E-06"
            iyz="-1.99232397320157E-13"
            izz="1.45016449434989E-06" />
        </inertial>
        <visual>
        <origin
            xyz="0 0 0"
            rpy="0 0 0" />
        <geometry>
            <mesh
            filename="package://jawasm1/meshes/Link2.STL" />
        </geometry>
        <material
            name="">
            <color
            rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
        </material>
        </visual>
        <collision>
        <origin
            xyz="0 0 0"
            rpy="0 0 0" />
        <geometry>
            <mesh
            filename="package://jawasm1/meshes/Link2.STL" />
        </geometry>
        </collision>
    </link>
    <joint
        name="Link2"
        type="revolute">
        <origin
        xyz="0.036 0.04 -0.019"
        rpy="-2.6397E-16 3.7199E-16 0.30719" />
        <parent
        link="base_link" />
        <child
        link="Link2" />
        <axis
        xyz="0 0 1" />
        <limit
        lower="-1"
        upper="0"
        effort="1"
        velocity="1" />
    </joint>
    <link
        name="Link22">
        <inertial>
        <origin
            xyz="-0.011366555972498 0.0118642725662323 -0.0060000073930068"
            rpy="0 0 0" />
        <mass
            value="0.0127543420299362" />
        <inertia
            ixx="5.68538478020238E-07"
            ixy="2.6801226272901E-07"
            ixz="9.34125986250171E-13"
            iyy="1.45145776457489E-06"
            iyz="-9.34355361631596E-13"
            izz="1.5056459822045E-06" />
        </inertial>
        <visual>
        <origin
            xyz="0 0 0"
            rpy="0 0 0" />
        <geometry>
            <mesh
            filename="package://jawasm1/meshes/Link22.STL" />
        </geometry>
        <material
            name="">
            <color
            rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
        </material>
        </visual>
        <collision>
        <origin
            xyz="0 0 0"
            rpy="0 0 0" />
        <geometry>
            <mesh
            filename="package://jawasm1/meshes/Link22.STL" />
        </geometry>
        </collision>
    </link>
    <joint
        name="Link22"
        type="revolute">
        <origin
        xyz="0.042 0 0.015"
        rpy="-3.641E-16 2.4584E-16 2.8344" />
        <parent
        link="Link2" />
        <child
        link="Link22" />
        <axis
        xyz="0 0 1" />
        <limit
        lower="0"
        upper="1"
        effort="1"
        velocity="1" />
    </joint>
</robot>

简言之，可以把xacro看成是一个计算机语言。
然后编译以下，查看是否通过rviz能显示出完整夹爪
编译之前，先到夹爪的launch文件夹，修改里面的display.launch文件
第一处修改是textfile对应路径下将原先的jawasm1.urdf改为我们新添加的jawasm1.xacro文件（一会验证这个改写的xacro文件是不是有效）
第二处修改是node下的type参数，将原先的state_publisher改为robot_state_publisher
修改后如下：

<launch>
  <arg
    name="model" />
  <arg
    name="gui"
    default="True" />
  <param
    name="robot_description"
    textfile="$(find jawasm1)/robots/jawasm1.xacro" />
  <param
    name="use_gui"
    value="$(arg gui)" />
  <node
    name="joint_state_publisher"
    pkg="joint_state_publisher"
    type="joint_state_publisher" />
  <node
    name="robot_state_publisher"
    pkg="robot_state_publisher"
    type="robot_state_publisher" />
  <node
    name="rviz"
    pkg="rviz"
    type="rviz"
    args="-d $(find jawasm1)/urdf.rviz" />
</launch>

编译步骤：
打开终端：
catkin_make
source devel/setup.bash
roslaunch jawasm1 display.launch
在这里插入图片描述

得到的rviz显示如下：
先选择Fixed Frame里选项base_link
再点击左下角的Add按钮选择Robot Model
在这里插入图片描述然后即可出现夹爪模型：

在这里插入图片描述

三、aubo i5搭配因时夹爪

参考aubo i5搭配其他夹爪的案例(链接: https://github.com/hai-h-nguyen/aubo-i5-full)，我们把这款因时夹爪搭配aubo i5机械臂
在aubo_description文件夹下新建一个文件，命名为aubo_i5_gripper.urdf，将aubo_description文件夹下的aubo_i5.urdf文件内容复制过来，再在对应位置添加上夹爪的内容信息，主要是机械臂末端link和夹爪的gripper_base_link通过joint(这里我在代码里命名为hand_joint)连接起来，以及连接夹爪和机械臂末端的hand_joint的 x、y、 z设置问题，防止夹爪添加到机械臂末端属于嵌入太深的情况，具体可以调节hand_joint里的y值、z值来理解我说的这种情况。
具体更新后的内容如下：

<?xml version="1.0"?>
<robot  name="aubo_i5">

  <link name="base_link">
    <inertial>
      <origin xyz="-1.4795E-13 0.0015384 0.020951" rpy="0 0 0" />
      <mass value="0.83419" />
      <inertia ixx="0.0014414" ixy="7.8809E-15" ixz="8.5328E-16" iyy="0.0013542" iyz="-1.4364E-05" izz="0.0024659" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/base_link.DAE" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/base_link.STL" />
      </geometry>
    </collision>
  </link>

  <link name="shoulder_Link">
    <inertial>
      <origin xyz="3.2508868974735E-07 0.00534955349296065 -0.00883689325611056" rpy="0 0 0" />
      <mass value="1.57658348693929" />
      <inertia ixx="0.0040640448663128" ixy="0" ixz="0" iyy="0.00392863238466817" iyz="-0.000160151642851425" izz="0.0030869857349184" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/shoulder_Link.DAE" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/shoulder_Link.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="shoulder_joint" type="revolute">
    <origin xyz="0 0 0.122" rpy="0 0 3.1416" />
    <parent link="base_link" />
    <child link="shoulder_Link" />
    <axis xyz="0 0 1" />
    <limit lower="-3.04" upper="3.04" effort="0" velocity="0" />
  </joint>

  <link name="upperArm_Link">
    <inertial>
      <origin xyz="0.203996646979614 2.01304585036544E-10 0.0127641545395984" rpy="0 0 0" />
      <mass value="4.04175782265494" />
      <inertia ixx="0.00965399211106204" ixy="0" ixz="0" iyy="0.144993869035655" iyz="0" izz="0.142607184038966" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/upperArm_Link.DAE" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/upperArm_Link.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="upperArm_joint" type="revolute">
    <origin xyz="0 0.1215 0" rpy="-1.5708 -1.5708 0" />
    <parent link="shoulder_Link" />
    <child link="upperArm_Link" />
    <axis xyz="0 0 1" />
    <limit lower="-3.04" upper="3.04" effort="0" velocity="0" />
  </joint>

  <link name="foreArm_Link">
    <inertial>
      <origin xyz="0.188922115560337 6.78882434739072E-07 0.0981026740461557" rpy="0 0 0" />
      <mass  value="2.27145669098343" />
      <inertia ixx="0.00214322284946289" ixy="0" ixz="-0.00073120631553383" iyy="0.0443926090878205" iyz="0" izz="0.0441273797128365" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/foreArm_Link.DAE" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/foreArm_Link.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="foreArm_joint" type="revolute">
    <origin xyz="0.408 0 0" rpy="-3.1416 -5.1632E-18 -5.459E-16" />
    <parent link="upperArm_Link" />
    <child link="foreArm_Link" />
    <axis xyz="0 0 1" />
    <limit lower="-3.04" upper="3.04" effort="0" velocity="0" />
  </joint>

  <link name="wrist1_Link">
    <inertial>
      <origin xyz="7.54205137428592E-07 0.0062481254331257 -0.00392367464072373" rpy="0 0 0" />
      <mass value="0.500477539188764" />
      <inertia ixx="0.00071194605962081" ixy="0" ixz="0" iyy="0.00040588242872958" iyz="-2.30808694377512E-05" izz="0.000685574004861334" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist1_Link.DAE" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist1_Link.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="wrist1_joint" type="revolute">
    <origin xyz="0.376 0 0" rpy="3.1416 -1.8323E-15 1.5708" />
    <parent link="foreArm_Link" />
    <child link="wrist1_Link" />
    <axis xyz="0 0 1" />
    <limit lower="-3.04" upper="3.04" effort="0" velocity="0" />
  </joint>

  <link name="wrist2_Link">
    <inertial>
      <origin xyz="-7.54207620578635E-07 -0.00624812542617262 -0.00392367464115684" rpy="0 0 0" />
      <mass value="0.500477539245988" />
      <inertia ixx="0.00071194605981829" ixy="0" ixz="0" iyy="0.000405882428755442" iyz="2.30808694515886E-05" izz="0.000685574005112107" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist2_Link.DAE" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist2_Link.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="wrist2_joint" type="revolute">
    <origin xyz="0 0.1025 0" rpy="-1.5708 -1.8709E-15 -1.6653E-16" />
    <parent link="wrist1_Link" />
    <child link="wrist2_Link" />
    <axis xyz="0 0 1" />
    <limit lower="-3.04" upper="3.04" effort="0" velocity="0" />
  </joint>

  <link name="wrist3_Link">
    <inertial>
      <origin xyz="3.92048778449938E-10 0.000175788057281467 -0.0213294490706684" rpy="0 0 0" />
      <mass value="0.158309554874285" />
      <inertia ixx="7.31376196034769E-05" ixy="0" ixz="0" iyy="7.19528188876563E-05" iyz="0" izz="0.000108772439051422" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_description/meshes/aubo_i5/visual/wrist3_Link.DAE" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://aubo_description/meshes/aubo_i5/collision/wrist3_Link.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="wrist3_joint" type="revolute">
    <origin xyz="0 -0.094 0" rpy="1.5708 0 1.7907E-15" />
    <parent link="wrist2_Link" />
    <child link="wrist3_Link" />
    <axis xyz="0 0 1" />
    <limit lower="-3.04" upper="3.04" effort="0" velocity="0" />
  </joint>

  <link
    name="gripper_base_link">
    <inertial>
      <origin
        xyz="0.00339303654278191 -2.1205433560656E-05 -0.0099185365078758"
        rpy="0 0 0" />
      <mass
        value="0.105853592307918" />
      <inertia
        ixx="3.93795927851199E-05"
        ixy="-8.7395226509728E-08"
        ixz="5.91928672040786E-07"
        iyy="0.000106376720416166"
        iyz="-1.82858764303774E-10"
        izz="0.000125852616063213" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jawasm1/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jawasm1/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="hand_joint" type="fixed">
    <origin xyz="0 0 0.0125" rpy="0 -1.57079632679 1.57079632679" />
    <parent link="wrist3_Link" />
    <child link="gripper_base_link" />
    <axis xyz="0 0 0" />
  </joint>

  <link
    name="Link1">
    <inertial>
      <origin
        xyz="0.0164149658242926 9.75754915755189E-09 0.00898193900447147"
        rpy="0 0 0" />
      <mass
        value="0.00647716099397792" />
      <inertia
        ixx="2.95068972140683E-07"
        ixy="8.63208170411155E-13"
        ixz="-1.92008628754607E-09"
        iyy="1.69979619476872E-06"
        iyz="-1.99232397395103E-13"
        izz="1.45016449434989E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jawasm1/meshes/Link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jawasm1/meshes/Link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Link1"
    type="revolute">
    <origin
      xyz="0.036 -0.04 -0.019"
      rpy="-3.0158E-16 -7.1586E-16 -0.30719" />
    <parent
      link="gripper_base_link" />
    <child
      link="Link1" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="1"
      effort="1"
      velocity="1" />
  </joint>
  <link
    name="Link11">
    <inertial>
      <origin
        xyz="0.011366555972498 0.0118642725662323 0.0060000073930068"
        rpy="0 0 0" />
      <mass
        value="0.0127543420299361" />
      <inertia
        ixx="5.68538478020233E-07"
        ixy="-2.68012262729007E-07"
        ixz="9.34125984931838E-13"
        iyy="1.45145776457487E-06"
        iyz="9.34355360561326E-13"
        izz="1.50564598220449E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jawasm1/meshes/Link11.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jawasm1/meshes/Link11.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Link11"
    type="revolute">
    <origin
      xyz="0.042 0 0.003"
      rpy="5.0393E-16 5.6225E-16 0.30719" />
    <parent
      link="Link1" />
    <child
      link="Link11" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1"
      upper="0"
      effort="1"
      velocity="1" />
  </joint>
  <link
        name="Link2">
        <inertial>
        <origin
            xyz="0.0164149658242926 9.75754915755189E-09 0.00898193900447147"
            rpy="0 0 0" />
        <mass
            value="0.00647716099397793" />
        <inertia
            ixx="2.95068972140683E-07"
            ixy="8.63208169650113E-13"
            ixz="-1.92008628755341E-09"
            iyy="1.69979619476872E-06"
            iyz="-1.99232397320157E-13"
            izz="1.45016449434989E-06" />
        </inertial>
        <visual>
        <origin
            xyz="0 0 0"
            rpy="0 0 0" />
        <geometry>
            <mesh
            filename="package://jawasm1/meshes/Link2.STL" />
        </geometry>
        <material
            name="">
            <color
            rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
        </material>
        </visual>
        <collision>
        <origin
            xyz="0 0 0"
            rpy="0 0 0" />
        <geometry>
            <mesh
            filename="package://jawasm1/meshes/Link2.STL" />
        </geometry>
        </collision>
    </link>
    <joint
        name="Link2"
        type="revolute">
        <origin
        xyz="0.036 0.04 -0.019"
        rpy="-2.6397E-16 3.7199E-16 0.30719" />
        <parent
        link="gripper_base_link" />
        <child
        link="Link2" />
        <axis
        xyz="0 0 1" />
        <limit
        lower="-1"
        upper="0"
        effort="1"
        velocity="1" />
    </joint>
    <link
        name="Link22">
        <inertial>
        <origin
            xyz="-0.011366555972498 0.0118642725662323 -0.0060000073930068"
            rpy="0 0 0" />
        <mass
            value="0.0127543420299362" />
        <inertia
            ixx="5.68538478020238E-07"
            ixy="2.6801226272901E-07"
            ixz="9.34125986250171E-13"
            iyy="1.45145776457489E-06"
            iyz="-9.34355361631596E-13"
            izz="1.5056459822045E-06" />
        </inertial>
        <visual>
        <origin
            xyz="0 0 0"
            rpy="0 0 0" />
        <geometry>
            <mesh
            filename="package://jawasm1/meshes/Link22.STL" />
        </geometry>
        <material
            name="">
            <color
            rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
        </material>
        </visual>
        <collision>
        <origin
            xyz="0 0 0"
            rpy="0 0 0" />
        <geometry>
            <mesh
            filename="package://jawasm1/meshes/Link22.STL" />
        </geometry>
        </collision>
    </link>
    <joint
        name="Link22"
        type="revolute">
        <origin
        xyz="0.042 0 0.015"
        rpy="-3.641E-16 2.4584E-16 2.8344" />
        <parent
        link="Link2" />
        <child
        link="Link22" />
        <axis
        xyz="0 0 1" />
        <limit
        lower="0"
        upper="1"
        effort="1"
        velocity="1" />
    </joint>


  <link name="world" />

  <joint name="world_joint" type="fixed">
    <parent link="world" />
    <child link = "pedestal_Link" />
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
  </joint>

  <link 
    name="pedestal_Link">
    <visual>
      <geometry>
        <mesh
          filename="package://aubo_description/meshes/aubo_i5/collision/pedestal.STL" />
      </geometry>
    </visual>
  </link>

  <joint 
    name="pedestal_joint" 
    type="fixed">
    <parent link="pedestal_Link"/>
    <child link="base_link"/>
    <origin xyz="0.0 0.0 0.40" rpy="0.0 0.0 0.0" />
</joint>
</robot>

验证这个新建的文件，记得修改一下aubo_description文件夹下的display.launch
第一处修改是textfile，将原先的aubo_i5.urdf换为aubo_i5_gripper.urdf
第二处修改是node下的type参数，将原先的state_publisher改为robot_state_publisher

<launch>
  <arg
    name="model" />
  <arg
    name="gui"
    default="False" />
  <param
    name="robot_description"
    textfile="$(find aubo_description)/urdf/aubo_i5_gripper.urdf" />
  <param
    name="use_gui"
    value="$(arg gui)" />
  <node
    name="joint_state_publisher"
    pkg="joint_state_publisher"
    type="joint_state_publisher" />
  <node
    name="robot_state_publisher"
    pkg="robot_state_publisher"
    type="robot_state_publisher" />
  <node
    name="rviz"
    pkg="rviz"
    type="rviz"
    args="-d $(find aubo_description)/urdf.rviz" />
</launch>

编译命令步骤：
catkin_make
source devel/setup.bash
roslaunch aubo_description display.launch
在这里插入图片描述