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URDFのリファクタリング #15

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c98b113
robotタグのxmlnsの古い記述を削除
YusukeKato May 8, 2025
a76b9e2
base_linkとworldのjointをS17に合わせる
YusukeKato May 8, 2025
bc83793
crane_x7マクロとそこで呼び出されるマクロのパラメータを削除
YusukeKato May 8, 2025
8c00433
残りのマクロのパラメータも削除
YusukeKato May 9, 2025
82db74d
不要な変数を削除
YusukeKato May 9, 2025
cc925fc
マテリアルの定義場所をS17に合わせる
YusukeKato May 9, 2025
3d29907
円周率の定数を削除してradians()に置き換える
YusukeKato May 9, 2025
7b0dd58
RVizの設定ファイルにおいてパラメータをキリのよい値に修正
YusukeKato May 9, 2025
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40 changes: 28 additions & 12 deletions launch/display.rviz
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ Panels:
- /RobotModel1
- /TF1
Splitter Ratio: 0.5
Tree Height: 802
Tree Height: 793
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expand Down Expand Up @@ -161,17 +161,26 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
dummy_mimic_fix:
Alpha: 1
Show Axes: false
Show Trail: false
world:
Alpha: 1
Show Axes: false
Show Trail: false
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz_default_plugins/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: true
Expand Down Expand Up @@ -215,6 +224,8 @@ Visualization Manager:
Value: true
crane_x7_wrist_link:
Value: true
dummy_mimic_fix:
Value: true
world:
Value: true
Marker Scale: 0.30000001192092896
Expand Down Expand Up @@ -254,6 +265,8 @@ Visualization Manager:
{}
crane_x7_gripper_finger_b_link:
{}
dummy_mimic_fix:
{}
Update Interval: 0
Value: true
Enabled: true
Expand All @@ -271,6 +284,9 @@ Visualization Manager:
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
Expand Down Expand Up @@ -299,39 +315,39 @@ Visualization Manager:
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 1.1836897134780884
Distance: 1
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.0668451264500618
Y: 0.009886191226541996
Z: 0.30861979722976685
X: 0
Y: 0
Z: 0.4000000059604645
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.23039844632148743
Pitch: 0.5
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.635398805141449
Yaw: 0.5
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1031
Height: 1016
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000003adfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003ad000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003adfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003ad000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000050f000003ad00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd000000040000000000000156000003a2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000003a2000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003a2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003a2000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004c9000003a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1920
X: 0
Y: 25
Width: 1850
X: 70
Y: 27
64 changes: 21 additions & 43 deletions urdf/crane_x7.gazebo.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -29,111 +29,89 @@
</visual>
</xacro:macro>

<xacro:macro name="gazebo_robot_settings"
params="name_link_mounting_plate
name_link_base
name_link_1
name_link_2
name_link_3
name_link_4
name_link_5
name_link_6
name_link_cover_2_l
name_link_cover_2_r
name_link_cover_4_l
name_link_cover_4_r
name_link_logo_symbol_l
name_link_logo_symbol_r
name_link_logo_text_l
name_link_logo_text_r
name_link_gripper_base
name_link_gripper_finger_a
name_link_gripper_finger_b
config_package
config_file_path
">
<xacro:macro name="gazebo_robot_settings">

<gazebo>
<plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(find ${config_package})/${config_file_path}</parameters>
<parameters>$(find ${GZ_CONTROL_CONFIG_PACKAGE})/${GZ_CONTROL_CONFIG_FILE_PATH}</parameters>
</plugin>
</gazebo>

<gazebo reference="${name_link_mounting_plate}">
<gazebo reference="${NAME_LINK_MOUNTING_PLATE}">
<xacro:material_gazebo_black/>
</gazebo>

<gazebo reference="${name_link_base}">
<gazebo reference="${NAME_LINK_BASE}">
<xacro:material_gazebo_red/>
</gazebo>

<gazebo reference="${name_link_1}">
<gazebo reference="${NAME_LINK_1}">
<xacro:material_gazebo_white/>
</gazebo>

<gazebo reference="${name_link_2}">
<gazebo reference="${NAME_LINK_2}">
<xacro:material_gazebo_white/>
</gazebo>

<gazebo reference="${name_link_3}">
<gazebo reference="${NAME_LINK_3}">
<xacro:material_gazebo_white/>
</gazebo>

<gazebo reference="${name_link_4}">
<gazebo reference="${NAME_LINK_4}">
<xacro:material_gazebo_white/>
</gazebo>

<gazebo reference="${name_link_5}">
<gazebo reference="${NAME_LINK_5}">
<xacro:material_gazebo_white/>
</gazebo>

<gazebo reference="${name_link_6}">
<gazebo reference="${NAME_LINK_6}">
<xacro:material_gazebo_white/>
</gazebo>

<gazebo reference="${name_link_cover_2_l}">
<gazebo reference="${NAME_LINK_COVER_2_L}">
<xacro:material_gazebo_red/>
</gazebo>

<gazebo reference="${name_link_cover_2_r}">
<gazebo reference="${NAME_LINK_COVER_2_R}">
<xacro:material_gazebo_red/>
</gazebo>

<gazebo reference="${name_link_cover_4_l}">
<gazebo reference="${NAME_LINK_COVER_4_L}">
<xacro:material_gazebo_red/>
</gazebo>

<gazebo reference="${name_link_cover_4_r}">
<gazebo reference="${NAME_LINK_COVER_4_R}">
<xacro:material_gazebo_red/>
</gazebo>

<gazebo reference="${name_link_logo_symbol_l}">
<gazebo reference="${NAME_LINK_LOGO_SYMBOL_L}">
<xacro:material_gazebo_red/>
</gazebo>

<gazebo reference="${name_link_logo_symbol_r}">
<gazebo reference="${NAME_LINK_LOGO_SYMBOL_R}">
<xacro:material_gazebo_red/>
</gazebo>

<gazebo reference="${name_link_logo_text_l}">
<gazebo reference="${NAME_LINK_LOGO_TEXT_L}">
<xacro:material_gazebo_black/>
</gazebo>

<gazebo reference="${name_link_logo_text_r}">
<gazebo reference="${NAME_LINK_LOGO_TEXT_R}">
<xacro:material_gazebo_black/>
</gazebo>

<gazebo reference="${name_link_gripper_base}">
<gazebo reference="${NAME_LINK_GRIPPER_BASE}">
<xacro:material_gazebo_red/>
</gazebo>

<gazebo reference="${name_link_gripper_finger_a}">
<gazebo reference="${NAME_LINK_GRIPPER_FINGER_A}">
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<xacro:material_gazebo_red/>
</gazebo>

<gazebo reference="${name_link_gripper_finger_b}">
<gazebo reference="${NAME_LINK_GRIPPER_FINGER_B}">
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<xacro:material_gazebo_red/>
Expand Down
83 changes: 28 additions & 55 deletions urdf/crane_x7.gazebo_ros2_control.xacro
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Original file line number Diff line number Diff line change
@@ -1,122 +1,95 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="crane_x7_gazebo_ros2_control_settings"
params="name
name_joint_1
name_joint_2
name_joint_3
name_joint_4
name_joint_5
name_joint_6
name_joint_7
name_joint_gripper_finger_a
name_joint_gripper_finger_b
joint_1_lower_limit
joint_1_upper_limit
joint_2_lower_limit
joint_2_upper_limit
joint_3_lower_limit
joint_3_upper_limit
joint_4_lower_limit
joint_4_upper_limit
joint_5_lower_limit
joint_5_upper_limit
joint_6_lower_limit
joint_6_upper_limit
joint_7_lower_limit
joint_7_upper_limit
joint_hand_lower_limit
joint_hand_upper_limit
">
<xacro:macro name="crane_x7_gazebo_ros2_control_settings">

<ros2_control name="${name}" type="system">
<ros2_control name="crane_x7" type="system">
<hardware>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</hardware>

<joint name="${name_joint_1}">
<joint name="${NAME_JOINT_1}">
<command_interface name="position">
<param name="min">${joint_1_lower_limit}</param>
<param name="max">${joint_1_upper_limit}</param>
<param name="min">${JOINT_1_LOWER_LIMIT}</param>
<param name="max">${JOINT_1_UPPER_LIMIT}</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${name_joint_2}">
<joint name="${NAME_JOINT_2}">
<command_interface name="position">
<param name="min">${joint_2_lower_limit}</param>
<param name="max">${joint_2_upper_limit}</param>
<param name="min">${JOINT_2_LOWER_LIMIT}</param>
<param name="max">${JOINT_2_UPPER_LIMIT}</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${name_joint_3}">
<joint name="${NAME_JOINT_3}">
<command_interface name="position">
<param name="min">${joint_3_lower_limit}</param>
<param name="max">${joint_3_upper_limit}</param>
<param name="min">${JOINT_3_LOWER_LIMIT}</param>
<param name="max">${JOINT_3_UPPER_LIMIT}</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${name_joint_4}">
<joint name="${NAME_JOINT_4}">
<command_interface name="position">
<param name="min">${joint_4_lower_limit}</param>
<param name="max">${joint_4_upper_limit}</param>
<param name="min">${JOINT_4_LOWER_LIMIT}</param>
<param name="max">${JOINT_4_UPPER_LIMIT}</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${name_joint_5}">
<joint name="${NAME_JOINT_5}">
<command_interface name="position">
<param name="min">${joint_5_lower_limit}</param>
<param name="max">${joint_5_upper_limit}</param>
<param name="min">${JOINT_5_LOWER_LIMIT}</param>
<param name="max">${JOINT_5_UPPER_LIMIT}</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${name_joint_6}">
<joint name="${NAME_JOINT_6}">
<command_interface name="position">
<param name="min">${joint_6_lower_limit}</param>
<param name="max">${joint_6_upper_limit}</param>
<param name="min">${JOINT_6_LOWER_LIMIT}</param>
<param name="max">${JOINT_6_UPPER_LIMIT}</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${name_joint_7}">
<joint name="${NAME_JOINT_7}">
<command_interface name="position">
<param name="min">${joint_7_lower_limit}</param>
<param name="max">${joint_7_upper_limit}</param>
<param name="min">${JOINT_7_LOWER_LIMIT}</param>
<param name="max">${JOINT_7_UPPER_LIMIT}</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${name_joint_gripper_finger_a}">
<joint name="${NAME_JOINT_GRIPPER_FINGER_A}">
<command_interface name="position">
<param name="min">${joint_hand_lower_limit}</param>
<param name="max">${joint_hand_upper_limit}</param>
<param name="min">${JOINT_HAND_LOWER_LIMIT}</param>
<param name="max">${JOINT_HAND_UPPER_LIMIT}</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

<joint name="${name_joint_gripper_finger_b}">
<param name="mimic">${name_joint_gripper_finger_a}</param>
<joint name="${NAME_JOINT_GRIPPER_FINGER_B}">
<param name="mimic">${NAME_JOINT_GRIPPER_FINGER_A}</param>
<param name="multiplier">1</param>
<state_interface name="position"/>
<state_interface name="velocity"/>
Expand Down
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