实战解读ros的.xacro文件 ------机械臂

pigot.xacro

<?xml version="1.0" ?>

<robot name="pigot" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <!-- Import all Gazebo elements -->   <!--引入所有的gazebo元素-->
  <xacro:include filename="$(find pigot_description)/urdf/pigot.gazebo" />  <!--pigot_description 为pkg名-->
  <xacro:include filename="$(find pigot_description)/urdf/pigot_model.xacro" />
  <xacro:include filename="$(find pigot_description)/urdf/pigot_trans.xacro" />

</robot>

pigot_arm_model.xacro

<?xml version="1.0" ?>
<robot name="pigot" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <xacro:property name="motor_torque" value="500"/>  <!--电机1扭矩值-->
  <xacro:property name="motor_torque2" value="1"/>   <!--电机2扭矩值-->
  <xacro:property name="motor_vec" value="12.56"/>   <!--电机速度值-->
  <xacro:property name="motor_damp" value="0.1"/>    <!--电机阻尼值-->
  <xacro:property name="motor_fric" value="0.1"/> 	 <!--电机摩擦值-->

  <joint name="arm_base_joint" type="fixed">      <!--机械臂的基座关节-->
    <origin
      xyz="0 -0.3 0.05"   <!--原点坐标x,y,z-->
      rpy="0 0 0" />      <!--r,p,y角-->
    <parent link="body_link" />     <!--父杆件为"body_link"-->
    <child link="arm_base_link" />  <!--子杆件为"arm_base_link"-->
  </joint>

  <link
    name="arm_base_link">
    <inertial>
      <origin
        xyz="1.3475E-34 0.045611 -1.2189E-18"
        rpy="0 0 0" />
      <mass   <!--定义质量-->
        value="3.2045" />
      <inertia
        ixx="0.0078844"   <!--定义连杆的转动惯量矩阵-->
        ixy="0"     <!--ixx,iyy,izz称为惯量距，其余三个交叉项称为惯量积-->
        ixz="0"		<!--这六个相互独立的量取决于所在坐标系的位姿。-->
        iyy="0.01238"
        iyz="0"
        izz="0.0078844" />
    </inertial>
    <visual>   <!--连杆的可视化属性。用来指定连杆显示的形状（正方形、长方形、球形等）-->
      <origin
        xyz="0 0 0"       <!--相对于连杆坐标系的参考坐标系-->
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://pigot_stl_model/meshes/arm_base_link.STL" />
      </geometry>
      <material   <!--可视化组件的材料-->
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>    <!--连杆的碰撞属性-->
      <origin      <!--碰撞组件的参考坐标系相对于连杆坐标系的坐标系-->
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://pigot_stl_model/meshes/arm_base_link.STL" />
      </geometry>
    </collision>
  </link>

  <link
    name="arm_link_1">   <!--手臂第一段的link-->
    <inertial>
      <origin
        xyz="4.5445E-08 0.055988 -3.3733E-07"
        rpy="0 0 0" />
      <mass
        value="1.9264" />
      <inertia
        ixx="0.0047546"
        ixy="0"
        ixz="0"
        iyy="0.0039615"
        iyz="0"
        izz="0.0054808" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://pigot_stl_model/meshes/arm_link_1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://pigot_stl_model/meshes/arm_link_1.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="arm_rot_1"   <!--第一个旋转关节-->
    type="revolute">
    <origin
      xyz="0 0 0.079989"
      rpy="1.5708 -1.2246E-16 -3.1416" />
    <parent
      link="arm_base_link" />   <!--连接基座连杆与手臂的第一个连杆-->
    <child
      link="arm_link_1" />
    <axis
      xyz="0 1 0" />
    <limit                <!--关节限制-->
      lower="-3.1415926"
      upper="3.1415926"
      effort="${motor_torque}"
      velocity="${motor_vec}" />
    <dynamics             <!--动态参数-->       
      damping="${motor_damp}"
      friction="${motor_fric}" />
  </joint>

  <link
    name="arm_link_2">  <!--手臂第二段的link-->
    <inertial>
      <origin
        xyz="4.1945E-10 0.2726 -9.6287E-12"
        rpy="0 0 0" />
      <mass
        value="5.1205" />
      <inertia
        ixx="0.18641"
        ixy="0"
        ixz="0"
        iyy="0.0046691"
        iyz="0"
        izz="0.18457" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://pigot_stl_model/meshes/arm_link_2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://pigot_stl_model/meshes/arm_link_2.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="arm_rot_2"
    type="revolute">
    <origin
      xyz="0 0.10001 0"
      rpy="3.1416 0 3.1416" />
    <parent
      link="arm_link_1" />
    <child
      link="arm_link_2" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-1.5708"
      upper="1.5708"
      effort="${motor_torque}"
      velocity="${motor_vec}" />
    <dynamics
      damping="${motor_damp}"
      friction="${motor_fric}" />
  </joint>

  <link
    name="arm_link_3">
    <inertial>
      <origin
        xyz="-3.4632E-18 0.28121 1.1102E-16"
        rpy="0 0 0" />
      <mass
        value="4.0428" />
      <inertia
        ixx="0.13186"
        ixy="0"
        ixz="0"
        iyy="0.0026352"
        iyz="0"
        izz="0.13085" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://pigot_stl_model/meshes/arm_link_3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://pigot_stl_model/meshes/arm_link_3.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="arm_rot_3"
    type="revolute">
    <origin
      xyz="0 0.6 0"
      rpy="1.5708 0 0" />
    <parent
      link="arm_link_2" />
    <child
      link="arm_link_3" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-3.1415"
      upper="1.5708"
      effort="${motor_torque}"
      velocity="${motor_vec}" />
    <dynamics
      damping="${motor_damp}"
      friction="${motor_fric}" />
  </joint>

  <link
    name="arm_link_4">
    <inertial>
      <origin
        xyz="1.9004E-18 0.049824 0"
        rpy="0 0 0" />
      <mass
        value="0.14194" />
      <inertia
        ixx="0.00011174"
        ixy="0"
        ixz="0"
        iyy="0.00011174"
        iyz="0"
        izz="0.00011749" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://pigot_stl_model/meshes/arm_link_4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://pigot_stl_model/meshes/arm_link_4.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="arm_rot_4"
    type="revolute">
    <origin
      xyz="0 0.56 0"
      rpy="0 0 0" />
    <parent
      link="arm_link_3" />
    <child
      link="arm_link_4" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-3.1415"
      upper="3.1415"
      effort="${motor_torque2}"
      velocity="${motor_vec}" />
    <dynamics
      damping="${motor_damp}"
      friction="${motor_fric}" />
  </joint>

  <link
    name="arm_link_5">
    <inertial>
      <origin
        xyz="-1.1102E-16 -0.014377 -2.4389E-17"
        rpy="0 0 0" />
      <mass
        value="0.093662" />
      <inertia
        ixx="3.295E-05"
        ixy="0"
        ixz="0"
        iyy="2.0685E-05"
        iyz="0"
        izz="3.7289E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://pigot_stl_model/meshes/arm_link_5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://pigot_stl_model/meshes/arm_link_5.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="arm_rot_5"
    type="revolute">
    <origin
      xyz="0 0.08 0"
      rpy="-1.5708 0 1.5708" />
    <parent
      link="arm_link_4" />
    <child
      link="arm_link_5" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.1415"
      upper="0"
      effort="${motor_torque2}"
      velocity="${motor_vec}" />
    <dynamics
      damping="${motor_damp}"
      friction="${motor_fric}" />
  </joint>

  <link
    name="arm_link_6">
    <inertial>
      <origin
        xyz="-2.2204E-16 -0.017582 -6.0852E-17"
        rpy="0 0 0" />
      <mass
        value="0.064062" />
      <inertia
        ixx="4.4304E-05"
        ixy="0"
        ixz="0"
        iyy="4.6087E-05"
        iyz="0"
        izz="6.4353E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://pigot_stl_model/meshes/arm_link_6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://pigot_stl_model/meshes/arm_link_6.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="arm_rot_6"
    type="revolute">
    <origin
      xyz="0 -0.025 0"
      rpy="0 0 0" />
    <parent
      link="arm_link_5" />
    <child
      link="arm_link_6" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-3.1415"
      upper="3.1415"
      effort="${motor_torque2}"
      velocity="${motor_vec}" />
    <dynamics
      damping="${motor_damp}"
      friction="${motor_fric}" />
  </joint>

  <link
    name="finger_link_1">
    <inertial>
      <origin
        xyz="0.0022619 0.033929 -1.1102E-16"
        rpy="0 0 0" />
      <mass
        value="0.017522" />
      <inertia
        ixx="8.7174E-06"
        ixy="1.1268E-07"
        ixz="0"
        iyy="1.347E-06"
        iyz="0"
        izz="7.4361E-06" />
    </inertial>
      <!--inertia
        ixx="0.001"
        ixy="0"
        ixz="0"
        iyy="0.001"
        iyz="0"
        izz="0.001" />
    </inertial-->
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://pigot_stl_model/meshes/finger_link_1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://pigot_stl_model/meshes/finger_link_1.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="finger_pri_1"
    type="prismatic">
    <origin
      xyz="0 -0.025 -0.045"
      rpy="3.1416 1.5708 0" />
    <parent
      link="arm_link_6" />
    <child
      link="finger_link_1" />
    <axis
      xyz="-1 0 0" />
    <limit
      lower="0"
      upper="0.04"
      effort="${motor_torque2}"
      velocity="${motor_vec}" />
    <dynamics
      damping="${motor_damp}"
      friction="${motor_fric}" />
  </joint>

  <link
    name="finger_link_2">
    <inertial>
      <origin
        xyz="0.0022619 0.033929 0"
        rpy="0 0 0" />
      <mass
        value="0.017522" />
      <inertia
        ixx="8.7174E-06"
        ixy="1.1268E-07"
        ixz="0"
        iyy="1.347E-06"
        iyz="0"
        izz="7.4361E-06" />
    </inertial>
      <!--inertia
        ixx="0.001"
        ixy="0"
        ixz="0"
        iyy="0.001"
        iyz="0"
        izz="0.001" />
    </inertial-->
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://pigot_stl_model/meshes/finger_link_2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://pigot_stl_model/meshes/finger_link_2.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="finger_pri_2"
    type="prismatic">            <!--滑动关节-->
    <origin
      xyz="0 -0.025 0.045"
      rpy="3.1416 -1.5708 0" />
    <parent
      link="arm_link_6" />
    <child
      link="finger_link_2" />
    <axis
      xyz="-1 0 0" />
    <limit
      lower="0"
      upper="0.04"
      effort="${motor_torque2}"
      velocity="${motor_vec}" />
    <mimic
      joint="finger_pri_1"/>
    <dynamics
      damping="${motor_damp}"
      friction="${motor_fric}" />
  </joint>

</robot>