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Recovered the old end effector models from git history. The IRB2400 w…
…ill continue to use the tool changer. We should really consider breaking out these work spaces.
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Jonathan Meyer
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May 2, 2017
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@@ -5,6 +5,4 @@ moveit_setup_assistant_config: | |
| SRDF: | ||
| relative_path: config/irb2400_workspace.srdf | ||
| CONFIG: | ||
| author_name: AustinDeric | ||
| author_email: [email protected] | ||
| generated_timestamp: 1490130796 | ||
| generated_timestamp: 1432224738 | ||
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godel_robots/abb/godel_irb2400/godel_irb2400_support/urdf/abb_blending_eff_macro.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,156 @@ | ||
| <?xml version="1.0" ?> | ||
| <robot xmlns:xacro="http://ros.org/wiki/xacro"> | ||
| <xacro:property name="ensenso_optical_x" value="0"/> | ||
| <xacro:property name="ensenso_optical_y" value="0.0909"/> | ||
| <xacro:property name="ensenso_optical_z" value="0.1255"/> | ||
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| <xacro:property name="keyence_optical_x" value="0"/> | ||
| <xacro:property name="keyence_optical_y" value="0.216"/> <!--To the face of the sensor: y = 0.216--> | ||
| <xacro:property name="keyence_optical_z" value="0.12192"/> | ||
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| <xacro:property name="keyence_tcp_x" value="0"/> | ||
| <xacro:property name="keyence_tcp_y" value="0.2863"/> | ||
| <xacro:property name="keyence_tcp_z" value="0.12192"/> | ||
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| <xacro:property name="kinect_mount_x" value="0.09"/> | ||
| <xacro:property name="kinect_mount_y" value="-0.065"/> | ||
| <xacro:property name="kinect_mount_z" value="0.15"/> | ||
|
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||
| <xacro:property name="blend_tcp_x" value="0"/> | ||
| <xacro:property name="blend_tcp_y" value="0"/> | ||
| <xacro:property name="blend_tcp_z" value="0.040"/> <!-- TBD --> | ||
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||
| <xacro:property name="chuck_tcp_x" value="-0.2483"/> | ||
| <xacro:property name="chuck_tcp_y" value="0"/> | ||
| <xacro:property name="chuck_tcp_z" value="0.12192"/> | ||
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| <xacro:property name="half_pi" value="1.5707963267948966"/> | ||
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| <xacro:macro name="blending_eff_definition" params="prefix"> | ||
| <!-- eff_frame is Base Link --> | ||
| <link name="${prefix}eff_frame"/> | ||
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| <!-- End Effector "Body" Geometry --> | ||
| <link name="${prefix}gripper_body"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://godel_irb2400_support/meshes/visual/Bracket.STL"/> | ||
| <!--<mesh filename="package://godel_irb2400_support/meshes/visual/ensenso_blending_eff.stl"/>--> | ||
| </geometry> | ||
| <material name="grey"> | ||
| <color rgba="0.5 0.5 0.5 1.0"/> | ||
| </material> | ||
| </visual> | ||
| <collision> | ||
| <geometry> | ||
| <mesh filename="package://godel_irb2400_support/meshes/collision/ensenso_blending_eff.stl"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
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| <joint name="${prefix}eff_frame_to_eff_body" type="fixed"> | ||
| <parent link="${prefix}eff_frame"/> | ||
| <child link="${prefix}gripper_body"/> | ||
| </joint> | ||
|
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| <link name="${prefix}blending_tool"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://godel_irb2400_support/meshes/visual/Blending_Tool.STL"/> | ||
| </geometry> | ||
| <material name="red"> | ||
| <color rgba="1 0 0 1"/> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
|
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| <joint name="${prefix}bracket_to_blending_tool" type="fixed"> | ||
| <parent link="${prefix}gripper_body"/> | ||
| <child link="${prefix}blending_tool"/> | ||
| </joint> | ||
|
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| <link name="${prefix}ensenso"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://godel_irb2400_support/meshes/visual/Ensenso.STL"/> | ||
| </geometry> | ||
| <material name="blue"> | ||
| <color rgba="0 0 1 1"/> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
|
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| <joint name="${prefix}bracket_to_ensenso" type="fixed"> | ||
| <parent link="${prefix}gripper_body"/> | ||
| <child link="${prefix}ensenso"/> | ||
| </joint> | ||
|
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| <link name="${prefix}keyence"> | ||
| <visual> | ||
| <geometry> | ||
| <mesh filename="package://godel_irb2400_support/meshes/visual/Laser_Sensor.STL"/> | ||
| </geometry> | ||
| <material name="yellow"> | ||
| <color rgba="1 1 0 1"/> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
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| <joint name="${prefix}bracket_to_keyence" type="fixed"> | ||
| <parent link="${prefix}gripper_body"/> | ||
| <child link="${prefix}keyence"/> | ||
| </joint> | ||
|
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| <!-- Frames for the motorized spindle on the end--> | ||
| <link name="${prefix}chuck_tip_frame"/> <!--The tip of the chuck--> | ||
| <link name="${prefix}tcp_frame"/> <!--The actual 'useful' work frame--> | ||
|
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| <joint name="${prefix}gripper_body_to_chuck" type="fixed"> | ||
| <parent link="${prefix}gripper_body"/> | ||
| <child link="${prefix}chuck_tip_frame"/> | ||
| <origin xyz="${chuck_tcp_x} ${chuck_tcp_y} ${chuck_tcp_z}" rpy="0 -${half_pi} 0"/> | ||
| </joint> | ||
|
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| <joint name="${prefix}chuck_to_blend_tcp_frame" type="fixed"> | ||
| <parent link="${prefix}chuck_tip_frame"/> | ||
| <child link="${prefix}tcp_frame"/> | ||
| <origin xyz="${blend_tcp_x} ${blend_tcp_y} ${blend_tcp_z}" rpy="0 0 0"/> | ||
| </joint> | ||
|
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| <!--Frames for the keyence profilometer--> | ||
| <link name="${prefix}keyence_sensor_optical_frame"/> <!--The emitter lens--> | ||
| <link name="${prefix}keyence_tcp_frame"/> <!--The nominal scan location (8cm forward of emitter)--> | ||
|
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| <joint name="${prefix}gripper_body_to_keyence_sof" type="fixed"> | ||
| <parent link="${prefix}gripper_body"/> | ||
| <child link="${prefix}keyence_sensor_optical_frame"/> | ||
| <origin xyz="${keyence_tcp_x} ${keyence_tcp_y} ${keyence_tcp_z}" rpy="${half_pi} ${half_pi} 0 "/> | ||
| </joint> | ||
|
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| <joint name="${prefix}gripper_body_to_keyence_tcp_f" type="fixed"> | ||
| <parent link="${prefix}gripper_body"/> | ||
| <child link="${prefix}keyence_tcp_frame"/> | ||
| <origin xyz="${keyence_tcp_x} ${keyence_tcp_y} ${keyence_tcp_z}" rpy="-${half_pi} ${half_pi} 0"/> | ||
| </joint> | ||
|
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| <!--Frames related to the motion of the camera--> | ||
| <link name="${prefix}ensenso_sensor_optical_frame"/> | ||
| <link name="${prefix}kinect2_move_frame"/> | ||
|
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| <joint name="${prefix}gripper_body_to_ensenso_sof" type="fixed"> | ||
| <parent link="${prefix}gripper_body"/> | ||
| <child link="${prefix}ensenso_sensor_optical_frame"/> | ||
| <origin xyz="${ensenso_optical_x} ${ensenso_optical_y} ${ensenso_optical_z}" rpy="0 0 0"/> | ||
| </joint> | ||
|
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| <joint name="${prefix}ensenso_move_frame_join" type="fixed"> | ||
| <parent link="${prefix}ensenso_sensor_optical_frame"/> | ||
| <child link="${prefix}kinect2_move_frame"/> | ||
| <origin rpy="0 -${half_pi} 0"/> | ||
| </joint> | ||
|
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| </xacro:macro> | ||
| </robot> |
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