air_dual_arm urdf added

air_description/urdf/air.urdf

@@ -59,8 +59,8 @@
     name="virtual_camera_joint"
     type="fixed">
     <origin
-      xyz="0 0 1.2"
-      rpy="0 0.5 0" />
+      xyz="-0.0138 0.0548 1.0685"
+      rpy="0 0.45 -0.1605" />
     <parent
       link="base_link"/>
     <child link="camera_link"/>
@@ -326,7 +326,7 @@
       xyz="0 0 1" />
     <limit
       lower="-1.4"
-      upper="0.184"
+      upper="0.14"
       effort="0"
       velocity="0.13" />
   </joint>

air_dual_arm_description/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(air_dual_arm_description)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)

air_dual_arm_description/config/joint_names_air_dual_arm_description.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['', 's2_2j', 's3_2j', 'e_2j', 'roll_2j', 'pitch_2j', 'yaw_2j', ]

air_dual_arm_description/launch/display.launch

@@ -0,0 +1,20 @@
+<launch>
+  <arg
+    name="model" />
+  <param
+    name="robot_description"
+    textfile="$(find air_dual_arm_description)/urdf/air_dual_arm.urdf" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find air_dual_arm_description)/urdf.rviz" />
+</launch>

air_dual_arm_description/launch/gazebo.launch

@@ -0,0 +1,20 @@
+<launch>
+  <include
+    file="$(find gazebo_ros)/launch/empty_world.launch" />
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 base_link base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find air_dual_arm_description)/urdf/air_dual_arm.urdf -urdf -model air_dual_arm"
+    output="screen" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>

air_dual_arm_description/package.xml

@@ -0,0 +1,21 @@
+<package format="2">
+  <name>air_dual_arm_description</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for air_dual_arm_description</p>
+    <p>This package contains configuration data, 3D models and launch files
+for air_dual_arm_description robot</p>
+  </description>
+  <author>TODO</author>
+  <maintainer email="[email protected]" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roslaunch</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>gazebo</depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>

air_dual_arm_description/urdf/air_dual_arm_description.csv

@@ -0,0 +1,9 @@
+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
+base_link,-0.00671332757855918,0.437069422553028,-0.0034914249700704,0,0,0,6.75653562194786,0.968920953957114,-0.0158745347568793,0.000438931552270697,0.262307848620788,0.0167493441759554,1.01905987425296,0,0,0,0,0,0,package://air_dual_arm_description/meshes/base_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://air_dual_arm_description/meshes/base_link.STL,,baselink_2-2,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+s1_2,0.00144932232329789,-1.20160357181675,-0.18514893524172,0,0,0,0.830099234775224,0.00325478169189378,-0.000240096808711399,9.27582020728465E-05,0.00341758310179649,-0.000732394678304828,0.00293879726561975,0,0,0,0,0,0,package://air_dual_arm_description/meshes/s1_2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://air_dual_arm_description/meshes/s1_2.STL,,s1_2-1,Origin_s1_2j,,s1_2j,fixed,0,0.01,0,-1.5708,0,3.1416,base_link,0,0,0,0,0,0,0,,,,,,,,
+s2_2,-0.278940431120281,0.104204508109313,1.22653977628627,0,0,0,0.101764872719582,0.000162084960529921,-4.19141040380866E-05,-4.81218815399426E-06,7.27187717379077E-05,-8.5487555780691E-06,0.000165564791609755,0,0,0,0,0,0,package://air_dual_arm_description/meshes/s2_2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://air_dual_arm_description/meshes/s2_2.STL,,s2_2-2,Origin_s2_2j,,s2_2j,revolute,-1.2769,-1.0959,0.20462,-1.8587,-1.1882,-1.3879,s1_2,0,0,0,0,0,0,0,,,,,,,,
+s3_2,-0.0869218170036163,-1.04686722433353,-0.23575054953878,0,0,0,0.562432726876803,0.0025044178772249,-2.94881813188873E-05,1.14283315631501E-06,0.000275618898420833,-4.01105669616828E-05,0.00242878623308717,0,0,0,0,0,0,package://air_dual_arm_description/meshes/s3_2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://air_dual_arm_description/meshes/s3_2.STL,,s3_2-1,Origin_s3_2j,,s3_2j,revolute,-0.49986,-1.1048,1.192,-2.4676,-1.4347,-1.0468,s2_2,0,0,0,0,0,0,0,,,,,,,,
+e_2,-0.238131630239796,-0.860390577170511,-0.236188295888906,0,0,0,0.461489267312831,0.000222005498543675,-2.13012558823608E-05,7.48982457139938E-06,0.00177579570891963,4.10858388100283E-05,0.00177847625873136,0,0,0,0,0,0,package://air_dual_arm_description/meshes/e_2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://air_dual_arm_description/meshes/e_2.STL,,e_2-1,Origin_e_2j,,e_2j,revolute,0,0,0,0,0,0,s3_2,0,0,0,0,0,0,0,,,,,,,,
+roll_2,-7.67285124325667E-11,-5.09407294124742E-10,9.34640143057663E-11,0,0,0,0.012290315300748,2.9985227053183E-06,-6.85310910692683E-14,4.77164215069794E-15,2.99851964850534E-06,-1.26143569013624E-13,5.704074893964E-06,0,0,0,0,0,0,package://air_dual_arm_description/meshes/roll_2.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://air_dual_arm_description/meshes/roll_2.STL,,roll_2-1,Origin_roll_2j,,roll_2j,revolute,-0.3695,-0.87069,-0.2315,-1.5708,0.7854,1.5708,e_2,0,0,0,0,0,0,0,,,,,,,,
+pitch_2,-0.857962945204146,0.234226990447952,0.394340991999136,0,0,0,0.0411107848147419,2.99980626219616E-05,3.58794161691275E-06,1.12439529077132E-06,2.9998164475052E-05,1.12436594478042E-06,4.86107826042292E-05,0,0,0,0,0,0,package://air_dual_arm_description/meshes/pitch_2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://air_dual_arm_description/meshes/pitch_2.STL,,pitch_2-1,Origin_pitch_2j,,pitch_2j,revolute,0.4449,-0.77229,-0.3695,0,0,-0.7854,roll_2,0,0,0,0,0,0,0,,,,,,,,
+yaw_2,-0.594571070589579,-0.845712375811783,-0.213810996080744,0,0,0,0.131144794168005,4.12011684375215E-05,-3.95261155964128E-07,-7.09539122214338E-07,2.28647213010841E-05,2.99287441643928E-08,2.90711647206533E-05,0,0,0,0,0,0,package://air_dual_arm_description/meshes/yaw_2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://air_dual_arm_description/meshes/yaw_2.STL,,yaw_2-2,Origin_yaw_2j,,yaw_2j,revolute,0.015,-0.0093496,-0.046063,0.7854,1.5059,-0.7854,pitch_2,0,0,0,0,0,0,0,,,,,,,,