mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
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160 lines
6.4 KiB
XML
160 lines
6.4 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://wiki.ros.org/xacro" name="elite_robot">
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<xacro:macro name="elite_robot" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' cs_type:='cs66' fake_dev:='true' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0" >
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<!-- robot name parameter -->
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<xacro:arg name="name" default="cs"/>
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<!-- import main macro -->
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<xacro:include filename="${mesh_path}/devices/elite_robot/urdf/cs_macro.xacro"/>
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<!-- possible 'cs_type' values: cs63, cs66, cs612, cs616, cs620, cs625 -->
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<!-- the default value should raise an error in case this was called without defining the type -->
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<xacro:arg name="cs_type" default="${cs_type}"/>
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<!-- parameters -->
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<xacro:arg name="tf_prefix" default="${station_name}${device_name}" />
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<xacro:arg name="joint_limit_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/joint_limits.yaml"/>
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<xacro:arg name="kinematics_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/default_kinematics.yaml"/>
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<xacro:arg name="physical_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/physical_parameters.yaml"/>
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<xacro:arg name="visual_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/visual_parameters.yaml"/>
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<xacro:arg name="transmission_hw_interface" default=""/>
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<xacro:arg name="safety_limits" default="false"/>
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<xacro:arg name="safety_pos_margin" default="0.15"/>
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<xacro:arg name="safety_k_position" default="20"/>
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<!-- ros2_control related parameters -->
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<xacro:arg name="headless_mode" default="false" />
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<xacro:arg name="robot_ip" default="0.0.0.0" />
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<xacro:arg name="script_filename" default=""/>
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<xacro:arg name="output_recipe_filename" default=""/>
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<xacro:arg name="input_recipe_filename" default=""/>
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<xacro:arg name="local_ip" default="0.0.0.0"/>
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<xacro:arg name="script_command_port" default="50004"/>
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<xacro:arg name="reverse_port" default="50001"/>
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<xacro:arg name="script_sender_port" default="50002"/>
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<xacro:arg name="trajectory_port" default="50003"/>
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<!-- tool communication related parameters-->
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<xacro:arg name="use_tool_communication" default="false" />
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<xacro:arg name="tool_voltage" default="0" />
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<xacro:arg name="tool_parity" default="0" />
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<xacro:arg name="tool_baud_rate" default="115200" />
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<xacro:arg name="tool_stop_bits" default="1" />
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<xacro:arg name="tool_tcp_port" default="54321" />
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<!-- Simulation parameters -->
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<xacro:arg name="use_fake_hardware" default="${fake_dev}" />
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<xacro:arg name="fake_sensor_commands" default="${fake_dev}" />
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<xacro:arg name="sim_gazebo" default="false" />
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<xacro:arg name="sim_ignition" default="false" />
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<xacro:arg name="simulation_controllers" default="" />
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<!-- initial position for simulations (Fake Hardware, Gazebo, Ignition) -->
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<xacro:arg name="initial_positions_file" default="${mesh_path}/devices/elite_robot/config/initial_positions.yaml"/>
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<!-- convert to property to use substitution in function -->
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<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
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<joint name="${station_name}${device_name}base_link_joint" type="fixed">
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<origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
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<parent link="${parent_link}"/>
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<child link="${station_name}${device_name}device_link"/>
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<axis xyz="0 0 0"/>
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</joint>
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<link name="${station_name}${device_name}device_link"/>
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<!-- arm -->
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<xacro:cs_robot
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name="$(arg name)"
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tf_prefix="$(arg tf_prefix)"
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parent="${station_name}${device_name}device_link"
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joint_limits_parameters_file="$(arg joint_limit_params)"
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kinematics_parameters_file="$(arg kinematics_params)"
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physical_parameters_file="$(arg physical_params)"
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visual_parameters_file="$(arg visual_params)"
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transmission_hw_interface="$(arg transmission_hw_interface)"
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safety_limits="$(arg safety_limits)"
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safety_pos_margin="$(arg safety_pos_margin)"
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safety_k_position="$(arg safety_k_position)"
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use_fake_hardware="$(arg use_fake_hardware)"
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fake_sensor_commands="$(arg fake_sensor_commands)"
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sim_gazebo="$(arg sim_gazebo)"
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sim_ignition="$(arg sim_ignition)"
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headless_mode="$(arg headless_mode)"
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initial_positions="${xacro.load_yaml(initial_positions_file)}"
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use_tool_communication="$(arg use_tool_communication)"
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tool_voltage="$(arg tool_voltage)"
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tool_parity="$(arg tool_parity)"
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tool_baud_rate="$(arg tool_baud_rate)"
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tool_stop_bits="$(arg tool_stop_bits)"
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tool_tcp_port="$(arg tool_tcp_port)"
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robot_ip="$(arg robot_ip)"
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script_filename="$(arg script_filename)"
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output_recipe_filename="$(arg output_recipe_filename)"
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input_recipe_filename="$(arg input_recipe_filename)"
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local_ip="$(arg local_ip)"
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script_command_port="$(arg script_command_port)"
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reverse_port="$(arg reverse_port)"
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script_sender_port="$(arg script_sender_port)"
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trajectory_port="$(arg trajectory_port)"
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mesh_path="${mesh_path}"
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>
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<origin xyz="0 0 0" rpy="0 0 0" /> <!-- position robot in the world -->
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</xacro:cs_robot>
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<link name="${station_name}${device_name}gripper">
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<inertial>
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<origin
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xyz="-2.76718112539598E-05 0.0255270141715087 0.0270559267296449"
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rpy="0 0 0" />
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<mass
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value="0.2571510360664" />
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<inertia
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ixx="0.000164806957167171"
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ixy="1.52519074989277E-08"
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ixz="9.6332716899636E-08"
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iyy="8.72759579414916E-05"
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iyz="-5.40735277087457E-07"
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izz="0.000196871100878503" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="file://${mesh_path}/devices/elite_robot/meshes/gripper.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.749019607843137 0.749019607843137 0.749019607843137 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="file://${mesh_path}/devices/elite_robot/meshes/gripper.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="${station_name}${device_name}gripper_joint"
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type="fixed">
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<origin
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xyz="0 0 -0.003"
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rpy="0 0 -1.570796326589793" />
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<parent
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link="${station_name}${device_name}tool0" />
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<child
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link="${station_name}${device_name}gripper" />
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<axis
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xyz="0 0 0" />
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</joint>
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</xacro:macro>
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</robot>
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