Merge pull request #129 from YWpepper/demo_gazebo

Demo gazebo
elephantrobotics · Apr 28, 2024 · 36adf30 · 36adf30
2 parents ff3a4a9 + 142a096
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diff --git a/Mercury/mercury_a1_moveit/config/mercury_a1.urdf b/Mercury/mercury_a1_moveit/config/mercury_a1.urdf
@@ -1,6 +1,11 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
     <xacro:property name="width" value=".2" />
+    <link name="world"/>
+    <joint name="fixed" type="fixed">
+    <parent link="world"/>
+    <child link="base"/>
+    </joint>
     <link name="base">
         <visual>
             <geometry>

diff --git a/Mercury/mercury_a1_moveit/document/交接文档-wenY.md b/Mercury/mercury_a1_moveit/document/交接文档-wenY.md
@@ -0,0 +1,39 @@
+交接文档的link：
+
+https://github.com/YWpepper/mycobot_ros/tree/demo_gazebo/Mercury/mercury_a1_moveit/document
+
+目前电脑中主要有两个环境，其中ubuntu1804是18的环境，其中ubuntu64位是20.04的环境，其中目前只在1804环境下运行gazebo和ros，，密码都为Elephant
+
+![img](https://virginia-pepper.oss-cn-guangzhou.aliyuncs.com/img/blog/202404281510050.jpg)
+
+
+
+为了实现固定操作，此处修改代码用于固定base世界坐标系的标签
+
+![img](https://virginia-pepper.oss-cn-guangzhou.aliyuncs.com/img/blog/202404281510071.jpg)
+
+
+
+项目参考gitbook链接：
+
+[https://docs.elephantrobotics.com/docs/gitbook/12-ApplicationBaseROS/12.2-ROS2/12.2.1-ROS2%E7%9A%84%E5%AE%89%E8%A3%85.html](https://docs.elephantrobotics.com/docs/gitbook/12-ApplicationBaseROS/12.2-ROS2/12.2.1-ROS2的安装.html)
+
+
+
+  项目运行的方式：
+
+roslaunch mercury_a1_moveit demo_gazebo.launch
+
+其中demo.launch文件是ros+rviz的仿真
+
+其中gazebo.launch文件是gazebo的仿真文件
+
+其中demo_gazebo.launch文件是实现两个同步仿真
+
+![img](https://virginia-pepper.oss-cn-guangzhou.aliyuncs.com/img/blog/202404281510121.jpg)
+
+操作过程：
+
+选择目标位置 + plan ，我们在rviz中看见机器完成动作组的规划后，可以使用execute命令发送动作组给到gazebo进行仿真，便完成了操作。
+
+![img](https://virginia-pepper.oss-cn-guangzhou.aliyuncs.com/img/blog/202404281510124.jpg)
diff --git a/README.md b/README.md
@@ -141,6 +141,112 @@ Please adhere to this project's [code of conduct](CODE_OF_CONDUCT.md).
 
 ![Demo](./demo_img/320_moveit.png)
 
+## URDF Model Graph
+
+[mycobot 280 m5](./mycobot_description/urdf/mycobot_280_m5/mycobot_280_m5.urdf)
+
+![280 m5](./demo_img/280m5/280_m5.png)
+
+[mycobot 280 m5 gripper](./mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf)
+
+![280 m5 gripper](./demo_img/280m5/280_m5_gripper.png)
+
+[mycobot 280 m5 pump](./mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_pump.urdf)
+
+![280 m5 pump](./demo_img/280m5/280_m5_pump.png)
+
+[mycobot 280 m5 camera flange](./mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_camera_flange.urdf)
+
+![280 m5 camera flange](./demo_img/280m5/280_m5_camera_flange.png)
+
+[mycobot 280 m5 camera flange & pump](./mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_camera_flange_pump.urdf)
+
+![280 m5 camera flange & pump](./demo_img/280m5/280_m5_camera_flange_pump.png)
+
+[mycobot 280 pi](./mycobot_description/urdf/mycobot_280_pi/mycobot_280_pi.urdf)
+
+![280 pi](./demo_img/280pi/280_pi.png)
+
+[mycobot 280 pi pump](./mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_pump.urdf)
+
+![280 pi pump](./demo_img/280pi/280_pi_pump.png)
+
+[mycobot 280 pi camera flange](./mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange.urdf)
+
+![280 pi camera flange](./demo_img/280pi/280_pi_camera_flange.png)
+
+[mycobot 280 pi camera flange & pump](./mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange_pump.urdf)
+
+![280 pi camera flange pump](./demo_img/280pi/280_pi_camera_flange_pump.png)
+
+[mycobot 280 JetsonNano](./mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn.urdf)
+
+![280 jn](./demo_img/280jn/280jn.png)
+
+[mycobot 280 Arduino](./mycobot_description/urdf/mycobot_280_arduino/mycobot_280_arduino.urdf)
+
+![280 ar](./demo_img/280arduino/280_arduino.png)
+
+[mechArm 270 m5](./mycobot_description/urdf/mecharm_270_m5/mecharm_270_m5.urdf)
+
+![270 m5](./demo_img/270m5/270m5.png)
+
+[mechArm 270 pi](./mycobot_description/urdf/mecharm_270_pi/mecharm_270_pi.urdf)
+
+![270 pi](./demo_img/270pi/270pi.png)
+
+[myPalletizer 260 m5](./mycobot_description/urdf/mypalletizer_260_m5/mypalletizer_260_m5.urdf)
+
+![260 m5](./demo_img/260m5/260m5.png)
+
+[myPalletizer 260 pi](./mycobot_description/urdf/mypalletizer_260_pi/mypalletizer_260_pi.urdf)
+
+![260 pi](./demo_img/260pi/260pi.png)
+
+[mycobot 320 m5 2020](./mycobot_description/urdf/mycobot_320_m5_2020/mycobot_pro_320_m5_2020.urdf)
+
+![320 m5 2020](./demo_img/320m5_2020/320m5_2020.png)
+
+[mycobot 320 m5 2022](./mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022.urdf)
+
+![320 m5 2022](./demo_img/320m5_2022/320m5_2022.png)
+
+[mycobot 320 m5 2022 gripper](./mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_gripper.urdf)
+
+![320 m5 2022 gripper](./demo_img/320m5_2022/320m5_gripper_2022.png)
+
+[mycobot 320 pi 2022](./mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022.urdf)
+
+![320 pi 2022](./demo_img/320pi_2022/320pi_2022.png)
+
+[ultraArm P340](./mycobot_description/urdf/ultraArm_p340/ultraArm_p340.urdf)
+
+![p340](./demo_img/ultraArm_p340/ultraArmp340.png)
+
+[mycobot 280 pi aikit](./mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_vision_v2.urdf)
+
+![aikit 280pi](./demo_img/aikit/aikit_280pi.png)
+
+[mycobot 320 pi aikit](./mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_vision_v2_2022.urdf)
+
+![aikit 320pi](./demo_img/aikit/aikit_320pi.png)
+
+[mybuddy](./mycobot_description/urdf/mybuddy/mybuddy.urdf)
+
+![mybuddy](./demo_img/mybuddy/mybuddy.png)
+
+[mycobot pro 600](./mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600.urdf)
+
+![pro600](./demo_img/pro600/pro600.png)
+
+[myArm 300 Pi](./mycobot_description/urdf/myarm_300_pi/myarm_300_pi.urdf)
+
+![myarm](./demo_img/myarm300/myarm300.png)
+
+[mycobot pro 630](./mycobot_description/urdf/mycobot_pro_630/mycobot_pro_630.urdf)
+
+![pro630](./demo_img/pro630/pro630.png)
+
 ## Contributors
 
 Thanks goes to these people ([Emoji Key](https://allcontributors.org/docs/en/emoji-key)):

diff --git a/demo_img/260m5/260m5.png b/demo_img/260m5/260m5.png
diff --git a/demo_img/260pi/260pi.png b/demo_img/260pi/260pi.png
diff --git a/demo_img/270m5/270m5.png b/demo_img/270m5/270m5.png
diff --git a/demo_img/270pi/270pi.png b/demo_img/270pi/270pi.png
diff --git a/demo_img/280arduino/280_arduino.png b/demo_img/280arduino/280_arduino.png
diff --git a/demo_img/280jn/280jn.png b/demo_img/280jn/280jn.png
diff --git a/demo_img/280m5/280_m5.png b/demo_img/280m5/280_m5.png
diff --git a/demo_img/280m5/280_m5_camera_flange.png b/demo_img/280m5/280_m5_camera_flange.png
diff --git a/demo_img/280m5/280_m5_camera_flange_pump.png b/demo_img/280m5/280_m5_camera_flange_pump.png
diff --git a/demo_img/280m5/280_m5_gripper.png b/demo_img/280m5/280_m5_gripper.png
diff --git a/demo_img/280m5/280_m5_pump.png b/demo_img/280m5/280_m5_pump.png
diff --git a/demo_img/280pi/280_pi.png b/demo_img/280pi/280_pi.png
diff --git a/demo_img/280pi/280_pi_camera_flange.png b/demo_img/280pi/280_pi_camera_flange.png
diff --git a/demo_img/280pi/280_pi_camera_flange_pump.png b/demo_img/280pi/280_pi_camera_flange_pump.png
diff --git a/demo_img/280pi/280_pi_pump.png b/demo_img/280pi/280_pi_pump.png
diff --git a/demo_img/320m5_2020/320m5_2020.png b/demo_img/320m5_2020/320m5_2020.png
diff --git a/demo_img/320m5_2022/320m5_2022.png b/demo_img/320m5_2022/320m5_2022.png
diff --git a/demo_img/320m5_2022/320m5_gripper_2022.png b/demo_img/320m5_2022/320m5_gripper_2022.png
diff --git a/demo_img/320pi_2022/320pi_2022.png b/demo_img/320pi_2022/320pi_2022.png
diff --git a/demo_img/aikit/aikit_280pi.png b/demo_img/aikit/aikit_280pi.png
diff --git a/demo_img/aikit/aikit_320pi.png b/demo_img/aikit/aikit_320pi.png
diff --git a/demo_img/myarm300/myarm300.png b/demo_img/myarm300/myarm300.png
diff --git a/demo_img/mybuddy/mybuddy.png b/demo_img/mybuddy/mybuddy.png
diff --git a/demo_img/pro600/pro600.png b/demo_img/pro600/pro600.png
diff --git a/demo_img/pro630/pro630.png b/demo_img/pro630/pro630.png
diff --git a/demo_img/ultraArm_p340/ultraArmp340.png b/demo_img/ultraArm_p340/ultraArmp340.png
diff --git a/mecharm/mecharm/launch/follow.launch b/mecharm/mecharm/launch/follow.launch
@@ -1,6 +1,6 @@
 <launch>
 	<!-- Load file model .加载文件模型-->
-	<arg name="model" default="$(find mycobot_description)/urdf/mecharm/mecharm_urdf.urdf"/>
+	<arg name="model" default="$(find mycobot_description)/urdf/mecharm_270_m5/mecharm_270_m5.urdf"/>
 	<arg name="rvizconfig" default="$(find mecharm)/config/mecharm.rviz" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />

diff --git a/mecharm/mecharm/launch/simple_gui.launch b/mecharm/mecharm/launch/simple_gui.launch
@@ -3,7 +3,7 @@
 	<arg name="port" default="/dev/ttyUSB0" />
 	<arg name="baud" default="115200" />
 	<!-- Load file model ，加载文件模型-->
-	<arg name="model" default="$(find mycobot_description)/urdf/mecharm/mecharm_urdf.urdf"/>
+	<arg name="model" default="$(find mycobot_description)/urdf/mecharm_270_m5/mecharm_270_m5.urdf"/>
 	<arg name="rvizconfig" default="$(find mecharm)/config/mecharm.rviz" />
 	<arg name="gui" default="false" />
 

diff --git a/mecharm/mecharm/launch/slider_control.launch b/mecharm/mecharm/launch/slider_control.launch
@@ -3,7 +3,7 @@
 	<arg name="baud" default="1000000" /> -->
 
 	<!-- Load file model ，加载文件模型-->
-	<arg name="model" default="$(find mycobot_description)/urdf/mecharm/mecharm_urdf.urdf"/>
+	<arg name="model" default="$(find mycobot_description)/urdf/mecharm_270_m5/mecharm_270_m5.urdf"/>
 	<arg name="rvizconfig" default="$(find mecharm)/config/mecharm.rviz" />
 	<arg name="gui" default="true" />
 

diff --git a/mecharm/mecharm/launch/teleop_keyboard.launch b/mecharm/mecharm/launch/teleop_keyboard.launch
@@ -6,7 +6,7 @@
 	<!-- Load file model ，加载文件模型-->
 	<!-- <arg name="model" default="$(find mycobot_description)/urdf/260_urdf/mycobot_urdf.urdf"/>
 	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" /> -->
-	<arg name="model" default="$(find mycobot_description)/urdf/mecharm/mecharm_urdf.urdf"/>
+	<arg name="model" default="$(find mycobot_description)/urdf/mecharm_270_m5/mecharm_270_m5.urdf"/>
 	<arg name="rvizconfig" default="$(find mecharm)/config/mecharm.rviz" />
 	<arg name="gui" default="false" />
 

diff --git a/mecharm/mecharm/launch/test.launch b/mecharm/mecharm/launch/test.launch
@@ -1,6 +1,6 @@
 <launch>
 	<!-- Load file model，加载文件模型 -->
-	<arg name="model" default="$(find mycobot_description)/urdf/mecharm/mecharm_urdf.urdf"/>
+	<arg name="model" default="$(find mycobot_description)/urdf/mecharm_270_m5/mecharm_270_m5.urdf"/>
 	<arg name="rvizconfig" default="$(find mecharm)/config/mecharm.rviz" />
 
 	<arg name="gui" default="true" />

diff --git a/mecharm/mecharm/scripts/slider_control.py b/mecharm/mecharm/scripts/slider_control.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python
 # -*- coding:utf-8 -*-
 
 """[summary]
@@ -9,7 +9,8 @@
     port: serial prot string. Defaults is '/dev/ttyUSB0'
     baud: serial prot baudrate. Defaults is 115200.
 """
-
+import math
+import time
 import rospy
 from sensor_msgs.msg import JointState
 
@@ -22,25 +23,27 @@
 
 def callback(data):
     # rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
-    print(data.position)
     data_list = []
     for index, value in enumerate(data.position):
-        data_list.append(value)
-
-    # print(data_list)
-    mc.send_radians(data_list, 80)
-    # time.sleep(0.5)
+        radians_to_angles = round(math.degrees(value), 2)
+        data_list.append(radians_to_angles)
+        
+    rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
+    mc.send_angles(data_list, 25)
 
 
 def listener():
     global mc
     rospy.init_node("control_slider", anonymous=True)
 
     rospy.Subscriber("joint_states", JointState, callback)
-    port = rospy.get_param("~port", "/dev/ttyUSB0") # Select connected device. 选择连接设备
+    port = rospy.get_param("~port", "/dev/ttyUSB0") 
     baud = rospy.get_param("~baud", 115200)
     print(port, baud)
     mc = MyCobot(port, baud)
+    time.sleep(0.05)
+    mc.set_free_mode(1)
+    time.sleep(0.05)
 
     # spin() simply keeps python from exiting until this node is stopped
     # spin() 只是阻止python退出，直到该节点停止

diff --git a/mecharm/mecharm_moveit/CMakeLists.txt b/mecharm/mecharm_moveit/CMakeLists.txt
@@ -13,7 +13,6 @@ catkin_package()
 ## in contrast to setup.py, you can choose the destination
 catkin_install_python(PROGRAMS
   scripts/sync_plan.py
-  scripts/path_planning_and_obstacle_avoidance_demo.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 

diff --git a/mecharm/mecharm_moveit/launch/demo_gazebo.launch b/mecharm/mecharm_moveit/launch/demo_gazebo.launch
@@ -22,7 +22,7 @@
   <arg name="gazebo_gui" default="true"/>
   <arg name="paused" default="false"/>
   <!-- By default, use the urdf location provided from the package -->
-  <arg name="urdf_path" default="$(find mycobot_description)/urdf/mecharm/mecharm_urdf.urdf"/>
+  <arg name="urdf_path" default="$(find mycobot_description)/urdf/mecharm_270_m5/mecharm_270_m5.urdf"/>
 
   <!-- launch the gazebo simulator and spawn the robot -->
   <include file="$(find mecharm_moveit)/launch/gazebo.launch" >

diff --git a/mecharm/mecharm_moveit/launch/gazebo.launch b/mecharm/mecharm_moveit/launch/gazebo.launch
@@ -2,7 +2,7 @@
 <launch>
   <arg name="paused" default="false"/>
   <arg name="gazebo_gui" default="true"/>
-  <arg name="urdf_path" default="$(find mycobot_description)/urdf/mecharm/mecharm_urdf.urdf"/>
+  <arg name="urdf_path" default="$(find mycobot_description)/urdf/mecharm_270_m5/mecharm_270_m5.urdf"/>
 
   <!-- startup simulated world -->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">

diff --git a/mecharm/mecharm_moveit/launch/moveit.rviz b/mecharm/mecharm_moveit/launch/moveit.rviz
@@ -41,7 +41,7 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
-    - Acceleration_Scaling_Factor: 1
+    - Acceleration_Scaling_Factor: 0.5
       Class: moveit_rviz_plugin/MotionPlanning
       Enabled: true
       Move Group Namespace: ""
@@ -193,7 +193,7 @@ Visualization Manager:
         Show Robot Collision: false
         Show Robot Visual: false
       Value: true
-      Velocity_Scaling_Factor: 1
+      Velocity_Scaling_Factor: 0.5
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48

diff --git a/mecharm/mecharm_moveit/launch/planning_context.launch b/mecharm/mecharm_moveit/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mecharm/mecharm_urdf.urdf"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mecharm_270_m5/mecharm_270_m5.urdf"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find mecharm_moveit)/config/firefighter.srdf" />