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christophfroehlichchristophfroehlich
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Move r6bot into description package
1 parent fc301ce commit b00f132

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+179
-133
lines changed

‎example_7/CMakeLists.txt

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@@ -79,7 +79,7 @@ install(
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DESTINATION include/ros2_control_demo_example_7
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)
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install(
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DIRECTORY description/launch description/ros2_control description/urdf description/rviz description/srdf description/meshes
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DIRECTORY description/launch description/ros2_control description/urdf
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DESTINATION share/ros2_control_demo_example_7
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)
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install(

‎example_7/bringup/launch/r6bot_controller.launch.py

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@@ -46,7 +46,7 @@ def generate_launch_description():
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]
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)
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rviz_config_file = PathJoinSubstitution(
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[FindPackageShare("ros2_control_demo_example_7"), "rviz", "view_robot.rviz"]
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[FindPackageShare("ros2_control_demo_description"), "r6bot/rviz", "view_robot.rviz"]
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)
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control_node = Node(

‎example_7/description/launch/view_r6bot.launch.py

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@@ -51,7 +51,7 @@ def generate_launch_description():
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robot_description = {"robot_description": robot_description_content}
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rviz_config_file = PathJoinSubstitution(
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[FindPackageShare("ros2_control_demo_example_7"), "rviz", "view_robot.rviz"]
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[FindPackageShare("ros2_control_demo_description"), "r6bot/rviz", "view_robot.rviz"]
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)
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joint_state_publisher_node = Node(

‎example_7/description/urdf/r6bot.urdf.xacro

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://wiki.ros.org/xacro" name="r6bot">
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<!-- helper macro -->
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<xacro:include filename="$(find ros2_control_demo_example_7)/urdf/inc/create_link.xacro"/>
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<!-- Import r6bot macro -->
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<xacro:include filename="$(find ros2_control_demo_description)/r6bot/urdf/r6bot_description.urdf.xacro"/>
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<!-- create link fixed to the "world" -->
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<link name="world"/>
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<xacro:create_link
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link_name="base_link"
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xyz_offset="0 0 0"
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rpy_offset="0 0 0"
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mesh_package="ros2_control_demo_example_7"
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mesh_name="link_0"
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/>
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<xacro:create_link
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link_name="link_1"
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xyz_offset="0 0 0"
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rpy_offset="0 0 0"
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mesh_package="ros2_control_demo_example_7"
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mesh_name="link_1"
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/>
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<xacro:create_link
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link_name="link_2"
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xyz_offset="0 0 0"
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rpy_offset="0 0 0"
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mesh_package="ros2_control_demo_example_7"
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mesh_name="link_2"
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/>
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<xacro:create_link
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link_name="link_3"
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xyz_offset="0 0 0"
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rpy_offset="0 0 0"
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mesh_package="ros2_control_demo_example_7"
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mesh_name="link_3"
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/>
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<xacro:create_link
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link_name="link_4"
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xyz_offset="0 0 0"
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rpy_offset="0 0 0"
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mesh_package="ros2_control_demo_example_7"
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mesh_name="link_4"
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/>
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<xacro:create_link
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link_name="link_5"
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xyz_offset="0 0 0"
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rpy_offset="0 0 0"
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mesh_package="ros2_control_demo_example_7"
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mesh_name="link_5"
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/>
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<xacro:create_link
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link_name="link_6"
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xyz_offset="0 0 0"
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rpy_offset="0 0 0"
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mesh_package="ros2_control_demo_example_7"
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mesh_name="link_6"
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/>
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<link name="ft_frame"/>
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<link name="tool0"/>
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<!-- base_joint fixes base_link to the environment -->
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<joint name="base_joint" type="fixed">
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<parent link="world"/>
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<child link="base_link"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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</joint>
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<!-- joints - main serial chain -->
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<joint name="joint_1" type="revolute">
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<parent link="base_link"/>
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<child link="link_1"/>
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<origin xyz="0 0 0.061584" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/>
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</joint>
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<joint name="joint_2" type="revolute">
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<parent link="link_1"/>
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<child link="link_2"/>
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<origin xyz="-0.101717 0 0.182284" rpy="${-pi/2} -${pi/3} ${pi/2}"/>
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<axis xyz="0 0 1"/>
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<limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/>
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</joint>
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<joint name="joint_3" type="revolute">
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<parent link="link_2"/>
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<child link="link_3"/>
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<origin xyz="0.685682 0 0.041861" rpy="0 ${pi} ${pi+pi/2}"/>
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<axis xyz="0 0 1"/>
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<limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/>
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</joint>
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<joint name="joint_4" type="revolute">
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<parent link="link_3"/>
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<child link="link_4"/>
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<origin xyz="0.518777 0 0.067458" rpy="0 ${pi} ${pi+pi/6}"/>
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<axis xyz="0 0 1"/>
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<limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/>
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</joint>
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<joint name="joint_5" type="revolute">
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<parent link="link_4"/>
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<child link="link_5"/>
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<origin xyz="0.112654 0 0.110903" rpy="${pi/2} ${pi} ${pi/2}"/>
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<axis xyz="0 0 1"/>
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<limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/>
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</joint>
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<joint name="joint_6" type="revolute">
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<parent link="link_5"/>
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<child link="link_6"/>
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<origin xyz="-0.085976 0 0.133436" rpy="0 ${-pi/2} 0"/>
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<axis xyz="0 0 1"/>
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<limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/>
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</joint>
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<joint name="joint-ft_frame" type="fixed">
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<parent link="link_6"/>
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<child link="ft_frame"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</joint>
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<joint name="joint-tool" type="fixed">
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<parent link="ft_frame"/>
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<child link="tool0"/>
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<origin xyz="0 0 .185" rpy="0 0 0"/>
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</joint>
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<xacro:r6bot_description/>
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<!-- ros2 control tag -->
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<!-- Import r6bot ros2_control description -->
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<xacro:include filename="$(find ros2_control_demo_example_7)/ros2_control/r6bot.ros2_control.xacro" />
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<xacro:r6bot_ros2_control name="r6bot"/>

‎example_7/package.xml

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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>ros2controlcli</exec_depend>
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<exec_depend>ros2launch</exec_depend>
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<exec_depend>ros2_control_demo_description</exec_depend>
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<exec_depend>rviz2</exec_depend>
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<exec_depend>urdf</exec_depend>
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<exec_depend>xacro</exec_depend>

‎ros2_control_demo_description/CMakeLists.txt

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cmake_minimum_required(VERSION 3.5)
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project(ros2_control_demo_description)
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find_package(ament_cmake REQUIRED)
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install(
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DIRECTORY r6bot/launch r6bot/meshes r6bot/srdf r6bot/urdf r6bot/rviz
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DESTINATION share/${PROJECT_NAME}/r6bot
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)
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ament_package()

‎ros2_control_demo_description/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>ros2_control_demo_description</name>
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<version>0.0.0</version>
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<description>Package with URDF and description files of test robots.</description>
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<maintainer email="denis@stogl.de">Denis Štogl</maintainer>
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<license>Apache-2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<exec_depend>joint_state_publisher_gui</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>rviz2</exec_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎example_7/description/meshes/collision/link_0.stl renamed to ‎ros2_control_demo_description/r6bot/meshes/collision/link_0.stl

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‎example_7/description/meshes/collision/link_1.stl renamed to ‎ros2_control_demo_description/r6bot/meshes/collision/link_1.stl

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‎example_7/description/meshes/collision/link_2.stl renamed to ‎ros2_control_demo_description/r6bot/meshes/collision/link_2.stl

File renamed without changes.

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