9.Moveit marm配置助手

机械专业的计算机小白

已于 2022-05-17 11:07:00 修改

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分类专栏： ROS 文章标签： arm开发

于 2022-05-17 09:48:04 首次发布

本文链接：https://blog.csdn.net/wzfafabga/article/details/124807734

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一.marm的URDF文件

<?xml version="1.0" ?>
<robot name="marm">
    <!-- /    COLOR    / -->
    <material name="Black">
        <color rgba="0 0 0 1" />
    </material>
    <material name="White">
        <color rgba="1 1 1 1" />
    </material>
    <material name="Blue">
        <color rgba="0 0 1 1" />
    </material>
    <material name="Red">
        <color rgba="1 0 0 1" />
    </material>

    <joint name="bottom_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0" />
        <parent link="base_link"/>
        <child link="bottom_link"/>
    </joint>
    <link name="bottom_link">
        <visual>
              <origin xyz=" 0 0 -0.01"  rpy="0 0 0"/>
                  <geometry>
                       <box size="0.2 0.2 0.02" />
                  </geometry>
              <material name="Brown" />
        </visual>
        <collision>
            <origin xyz=" 0 0 -0.01"  rpy="0 0 0"/>
            <geometry>
                <box size="0.2 0.2 0.02" />
            </geometry>
        </collision>
        <inertial>
            <mass value="500" />
            <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="1.0" />
        </inertial>
    </link>

    <!-- /    BASE    / -->
    <link name="base_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0" />
            <geometry>
                <cylinder length="0.04" radius="0.05" />
            </geometry>
            <material name="White" />
        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0 0 0" />
            <geometry>
                <cylinder length="0.04" radius="0.05" />
            </geometry>
        </collision>
        
<inertial>
            <mass value="0.1" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>

    </link>
    <!-- /   LINK1  // -->
    <link name="link1">
        <visual>
            <origin rpy="0 1.5707 0" xyz="-0.05 0 0" />
            <geometry>
                <cylinder length="0.1" radius="0.03" />
            </geometry>
            <material name="Blue" />
        </visual>
        <collision>
            <origin rpy="0 1.5707 0" xyz="-0.05 0 0" />
            <geometry>
                <cylinder length="0.1" radius="0.03" />
            </geometry>
        </collision>
        
<inertial>
            <mass value="0.1" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>

    </link>
    <joint name="joint1" type="revolute">
        <parent link="base_link" />
        <child link="link1" />
        <origin rpy="0 1.5707 0" xyz="0 0 0.02" />
        <axis xyz="-1 0 0" />
        <limit effort="300" lower="-3.14159" upper="3.14159" velocity="1" />
    </joint>
    <!-- ///   LINK2  // -->
    <link name="link2">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0.07" />
            <geometry>
                <cylinder length="0.14" radius="0.03" />
            </geometry>
            <material name="White" />
        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0 0 0.07" />
            <geometry>
                <cylinder length="0.14" radius="0.03" />
            </geometry>
        </collision>
        
<inertial>
            <mass value="0.1" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>

    </link>
    <joint name="joint2" type="revolute">
        <parent link="link1" />
        <child link="link2" />
        <origin rpy="-1.5707 0 1.5707" xyz="-0.1 0 0.0" />
        <axis xyz="1 0 0" />
        <limit effort="300" lower="-3.14159" upper="3.14159" velocity="1" />
    </joint>
    <!-- /   LINK3  / -->
    <link name&#