Added simple robot arm playground example #2

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cbteeple wants to merge 1 commit into GrauleM:legacy from cbteeple:devel-robot-arm

.gitignore

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@@ Expand Up / @@ -114,6 +114,9 @@ venv.bak/ @@
     .spyderproject
     .spyproject
+    # VSCode project setings
+    .vscode
     # Rope project settings
     .ropeproject
@@ Expand Down @@

...ur_robot_arms/additional_urdfs/universal_robots/meshes/ur10e/collision/base.stl

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...iscellaneous/ur_robot_arms/additional_urdfs/universal_robots/meshes/ur10e/visual/base.dae

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...llaneous/ur_robot_arms/additional_urdfs/universal_robots/meshes/ur10e/visual/shoulder.dae

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...llaneous/ur_robot_arms/additional_urdfs/universal_robots/meshes/ur10e/visual/upperarm.dae

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...cellaneous/ur_robot_arms/additional_urdfs/universal_robots/meshes/ur10e/visual/wrist2.dae

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.../ur_robot_arms/additional_urdfs/universal_robots/meshes/ur3e/collision/base.stl

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...robot_arms/additional_urdfs/universal_robots/meshes/ur3e/collision/upperarm.stl

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...miscellaneous/ur_robot_arms/additional_urdfs/universal_robots/meshes/ur3e/visual/base.dae

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...cellaneous/ur_robot_arms/additional_urdfs/universal_robots/meshes/ur3e/visual/forearm.dae

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...ellaneous/ur_robot_arms/additional_urdfs/universal_robots/meshes/ur3e/visual/shoulder.dae

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...ellaneous/ur_robot_arms/additional_urdfs/universal_robots/meshes/ur3e/visual/upperarm.dae

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...scellaneous/ur_robot_arms/additional_urdfs/universal_robots/meshes/ur3e/visual/wrist1.dae

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...scellaneous/ur_robot_arms/additional_urdfs/universal_robots/meshes/ur3e/visual/wrist2.dae

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...miscellaneous/ur_robot_arms/additional_urdfs/universal_robots/meshes/ur5e/visual/base.dae

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...cellaneous/ur_robot_arms/additional_urdfs/universal_robots/meshes/ur5e/visual/forearm.dae

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...ellaneous/ur_robot_arms/additional_urdfs/universal_robots/meshes/ur5e/visual/shoulder.dae

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...ellaneous/ur_robot_arms/additional_urdfs/universal_robots/meshes/ur5e/visual/upperarm.dae

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...scellaneous/ur_robot_arms/additional_urdfs/universal_robots/meshes/ur5e/visual/wrist1.dae

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...scellaneous/ur_robot_arms/additional_urdfs/universal_robots/meshes/ur5e/visual/wrist2.dae

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...es/miscellaneous/ur_robot_arms/additional_urdfs/universal_robots/urdf/common.gazebo.xacro

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+    <?xml version="1.0"?>
+    <robot xmlns:xacro="http://ros.org/wiki/xacro">
+      <gazebo>
+        <plugin name="ros_control" filename="libgazebo_ros_control.so">
+          <!--robotNamespace>/</robotNamespace-->
+          <!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
+        </plugin>
+    <!--
+        <plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
+          <alwaysOn>true</alwaysOn>
+          <updateRate>1.0</updateRate>
+          <timeout>5</timeout>
+          <powerStateTopic>power_state</powerStateTopic>
+          <powerStateRate>10.0</powerStateRate>
+          <fullChargeCapacity>87.78</fullChargeCapacity>
+          <dischargeRate>-474</dischargeRate>
+          <chargeRate>525</chargeRate>
+          <dischargeVoltage>15.52</dischargeVoltage>
+          <chargeVoltage>16.41</chargeVoltage>
+        </plugin>
+    -->
+      </gazebo>
+    </robot>

examples/miscellaneous/ur_robot_arms/additional_urdfs/universal_robots/urdf/ur.gazebo.xacro

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+    <?xml version="1.0"?>
+    <robot xmlns:xacro="http://ros.org/wiki/xacro">
+      <xacro:macro name="ur_arm_gazebo" params="prefix">
+        <gazebo reference="${prefix}shoulder_link">
+          <selfCollide>true</selfCollide>
+        </gazebo>
+        <gazebo reference="${prefix}upper_arm_link">
+          <selfCollide>true</selfCollide>
+        </gazebo>
+        <gazebo reference="${prefix}forearm_link">
+          <selfCollide>true</selfCollide>
+        </gazebo>
+        <gazebo reference="${prefix}wrist_1_link">
+          <selfCollide>true</selfCollide>
+        </gazebo>
+        <gazebo reference="${prefix}wrist_3_link">
+          <selfCollide>true</selfCollide>
+        </gazebo>
+        <gazebo reference="${prefix}wrist_2_link">
+          <selfCollide>true</selfCollide>
+        </gazebo>
+        <gazebo reference="${prefix}ee_link">
+          <selfCollide>true</selfCollide>
+        </gazebo>
+      </xacro:macro>
+    </robot>

.../miscellaneous/ur_robot_arms/additional_urdfs/universal_robots/urdf/ur.transmission.xacro

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@@ -0,0 +1,68 @@
+    <?xml version="1.0"?>
+    <robot xmlns:xacro="http://ros.org/wiki/xacro">
+      <xacro:macro name="ur_arm_transmission" params="prefix">
+        <transmission name="${prefix}shoulder_pan_trans">
+          <type>transmission_interface/SimpleTransmission</type>
+          <joint name="${prefix}shoulder_pan_joint">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+          </joint>
+          <actuator name="${prefix}shoulder_pan_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+          </actuator>
+        </transmission>
+        <transmission name="${prefix}shoulder_lift_trans">
+          <type>transmission_interface/SimpleTransmission</type>
+          <joint name="${prefix}shoulder_lift_joint">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+          </joint>
+          <actuator name="${prefix}shoulder_lift_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+          </actuator>
+        </transmission>
+        <transmission name="${prefix}elbow_trans">
+          <type>transmission_interface/SimpleTransmission</type>
+          <joint name="${prefix}elbow_joint">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+          </joint>
+          <actuator name="${prefix}elbow_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+          </actuator>
+        </transmission>
+        <transmission name="${prefix}wrist_1_trans">
+          <type>transmission_interface/SimpleTransmission</type>
+          <joint name="${prefix}wrist_1_joint">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+          </joint>
+          <actuator name="${prefix}wrist_1_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+          </actuator>
+        </transmission>
+        <transmission name="${prefix}wrist_2_trans">
+          <type>transmission_interface/SimpleTransmission</type>
+          <joint name="${prefix}wrist_2_joint">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+          </joint>
+          <actuator name="${prefix}wrist_2_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+          </actuator>
+        </transmission>
+        <transmission name="${prefix}wrist_3_trans">
+          <type>transmission_interface/SimpleTransmission</type>
+          <joint name="${prefix}wrist_3_joint">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+          </joint>
+          <actuator name="${prefix}wrist_3_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+          </actuator>
+        </transmission>
+      </xacro:macro>
+    </robot>

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Added simple robot arm playground example #2

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Added simple robot arm playground example #2

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Added simple robot arm playground example #2

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