diff --git a/assignment - robot_model1.pdf b/assignment - robot_model1.pdf new file mode 100644 index 0000000..40ef8af Binary files /dev/null and b/assignment - robot_model1.pdf differ diff --git a/src/parol6/CMakeLists.txt b/src/parol6/CMakeLists.txt new file mode 100644 index 0000000..dcbd824 --- /dev/null +++ b/src/parol6/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 3.8) +project(parol6) + + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +install( + DIRECTORY launch meshes urdf rviz + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/src/parol6/launch/display.launch.xml b/src/parol6/launch/display.launch.xml new file mode 100644 index 0000000..cd7f44f --- /dev/null +++ b/src/parol6/launch/display.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + diff --git a/src/parol6/launch/display_with_objects.launch.xml b/src/parol6/launch/display_with_objects.launch.xml new file mode 100644 index 0000000..eae7077 --- /dev/null +++ b/src/parol6/launch/display_with_objects.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/src/parol6/launch/gazebo.launch b/src/parol6/launch/gazebo.launch new file mode 100644 index 0000000..c6e6819 --- /dev/null +++ b/src/parol6/launch/gazebo.launch @@ -0,0 +1,20 @@ + + + + + + diff --git a/src/parol6/meshes/L1.STL b/src/parol6/meshes/L1.STL new file mode 100644 index 0000000..6800177 Binary files /dev/null and b/src/parol6/meshes/L1.STL differ diff --git a/src/parol6/meshes/L2.STL b/src/parol6/meshes/L2.STL new file mode 100644 index 0000000..5ee8cc9 Binary files /dev/null and b/src/parol6/meshes/L2.STL differ diff --git a/src/parol6/meshes/L3.STL b/src/parol6/meshes/L3.STL new file mode 100644 index 0000000..c010d03 Binary files /dev/null and b/src/parol6/meshes/L3.STL differ diff --git a/src/parol6/meshes/L4.STL b/src/parol6/meshes/L4.STL new file mode 100644 index 0000000..2e79225 Binary files /dev/null and b/src/parol6/meshes/L4.STL differ diff --git a/src/parol6/meshes/L5.STL b/src/parol6/meshes/L5.STL new file mode 100644 index 0000000..ace186c Binary files /dev/null and b/src/parol6/meshes/L5.STL differ diff --git a/src/parol6/meshes/L6.STL b/src/parol6/meshes/L6.STL new file mode 100644 index 0000000..0e5ac4c Binary files /dev/null and b/src/parol6/meshes/L6.STL differ diff --git a/src/parol6/meshes/base_conn_4.STL b/src/parol6/meshes/base_conn_4.STL new file mode 100644 index 0000000..e577333 Binary files /dev/null and b/src/parol6/meshes/base_conn_4.STL differ diff --git a/src/parol6/meshes/base_link.STL b/src/parol6/meshes/base_link.STL new file mode 100644 index 0000000..20121c5 Binary files /dev/null and b/src/parol6/meshes/base_link.STL differ diff --git a/src/parol6/meshes/board_conn_4.STL b/src/parol6/meshes/board_conn_4.STL new file mode 100644 index 0000000..f5a35bf Binary files /dev/null and b/src/parol6/meshes/board_conn_4.STL differ diff --git a/src/parol6/meshes/muntje.STL b/src/parol6/meshes/muntje.STL new file mode 100644 index 0000000..5f5ea3b Binary files /dev/null and b/src/parol6/meshes/muntje.STL differ diff --git a/src/parol6/meshes/muntjes houder.STL b/src/parol6/meshes/muntjes houder.STL new file mode 100644 index 0000000..4393ef9 Binary files /dev/null and b/src/parol6/meshes/muntjes houder.STL differ diff --git a/src/parol6/package.xml b/src/parol6/package.xml new file mode 100644 index 0000000..2be1f22 --- /dev/null +++ b/src/parol6/package.xml @@ -0,0 +1,15 @@ + + + + parol6 + 0.0.0 + TODO: Package description + sirdep + TODO: License declaration + + ament_cmake + + + ament_cmake + + diff --git a/src/parol6/rviz/display.rviz b/src/parol6/rviz/display.rviz new file mode 100644 index 0000000..d6f0ca7 --- /dev/null +++ b/src/parol6/rviz/display.rviz @@ -0,0 +1,164 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 549 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Viewsc + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 0.3 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - 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 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 2.0 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.785398 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 100 + Y: 100 diff --git a/src/parol6/rviz/urdf_config.rviz b/src/parol6/rviz/urdf_config.rviz new file mode 100644 index 0000000..d96c28b --- /dev/null +++ b/src/parol6/rviz/urdf_config.rviz @@ -0,0 +1,239 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 85 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1/Description Topic1 + Splitter Ratio: 0.5 + Tree Height: 517 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + elbow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + hand_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool_link: + Alpha: 1 + Show Axes: false + Show Trail: false + wrist_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + 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 + arm_link: + Value: true + base_link: + Value: true + elbow_link: + Value: true + forearm_link: + Value: true + hand_link: + Value: true + shoulder_link: + Value: true + tool_link: + Value: true + wrist_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + base_link: + shoulder_link: + arm_link: + elbow_link: + forearm_link: + wrist_link: + hand_link: + tool_link: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - 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 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 3.4432098865509033 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.299166202545166 + Y: -0.3069069981575012 + Z: 0.8311280012130737 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.3503985106945038 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.5403982400894165 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 854 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1213 + X: 400 + Y: 84 diff --git a/src/parol6/urdf/PAROL6.csv b/src/parol6/urdf/PAROL6.csv new file mode 100644 index 0000000..74ba98e --- /dev/null +++ b/src/parol6/urdf/PAROL6.csv @@ -0,0 +1,8 @@ +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,-0.0274562034602567,-0.00137265400595656,0.031237920982338,0,0,0,0.812661291810144,0.00110740279540382,4.67463481205112E-05,8.47873933528831E-06,0.00106582362830227,-2.6194130573118E-06,0.00147883396699374,0,0,0,0,0,0,package://PAROL6/meshes/base_link.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://PAROL6/meshes/base_link.STL,,Assem9^PACKAssem1-1,Coordinate System1,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,, +L1,0.00524529891406311,0.0289722820784871,0.0992791429452917,0,0,0,0.644800830530233,0.00109429409029172,-6.27156874097953E-05,-5.70466862844753E-05,0.00056996197700816,-0.000121686402940313,0.00129487722474286,0,0,0,0,0,0,package://PAROL6/meshes/L1.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://PAROL6/meshes/L1.STL,,Assem5^PACKAssem1-1,Coordinate System1,Axis1,L1,revolute,0,0,0,0,0,0,base_link,0,0,1,0,0,0,0,,,,,,,, +L2,-0.0094181617193695,-0.0783879603613605,0.0369429741417731,0,0,0,0.512334779399788,0.00123357482646866,3.63236238096924E-06,-3.30834557934783E-07,0.000205462733796053,4.86441772103282E-07,0.00132225033266162,0,0,0,0,0,0,package://PAROL6/meshes/L2.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://PAROL6/meshes/L2.STL,,Assem8^PACKAssem1-1,Coordinate System2,Axis2,L2,revolute,0.0234207210610375,0,0.1105,-1.5707963267949,0,0,L1,0,0,1,0,0,0,0,,,,,,,, +L3,0.0155509885239593,-0.0191127686426613,-0.00153322577917236,0,0,0,0.550970997806044,0.00057827573271994,0.000116505232322314,-1.19955293256513E-05,0.000567011676944701,1.55814255036021E-05,0.000815862001506843,0,0,0,0,0,0,package://PAROL6/meshes/L3.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://PAROL6/meshes/L3.STL,,Assem1^PACKAssem1-1,Coordinate System3,Axis3,L3,revolute,0,-0.18,0,3.1416,0,-1.5708,L2,0,0,-1,0,0,0,0,,,,,,,, +L4,0.000947028430634433,-0.008978947112462,-0.0924798659827059,0,0,0,0.39346362633915,0.000371672516830215,-1.05560000666389E-05,-1.56899445418326E-07,0.000332364226344361,-6.10397110934672E-05,0.000250606789571909,0,0,0,0,0,0,package://PAROL6/meshes/L4.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://PAROL6/meshes/L4.STL,,Assem2^PACKAssem1-1,Coordinate System4,Axis4,L4,revolute,0.0435,0,0,1.5707963267949,0,3.14159265358979,L3,0,0,-1,0,0,0,0,,,,,,,, +L5,6.7162171684676E-06,-0.00621420980825221,-0.000960871025916146,0,0,0,0.185171777001718,0.000109176748460021,-1.27195013439061E-07,8.4436049148633E-08,8.41307588934268E-05,-4.41596193640049E-07,0.000110629136236229,0,0,0,0,0,0,package://PAROL6/meshes/L5.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://PAROL6/meshes/L5.STL,,Assem3^PACKAssem1-1,Coordinate System5,Axis5,L5,revolute,0,0,-0.17635,-1.5708,0,0,L4,0,0,-1,0,0,0,0,,,,,,,, +L6,0.00632955087228015,-0.000453856352095022,-0.0554441567386594,0,0,0,0.0703261410665101,1.40276237518287E-05,3.15503246005279E-07,-9.28469598788221E-07,1.81406721166117E-05,-9.43630009030796E-07,2.34608103291027E-05,0,0,0,0,0,0,package://PAROL6/meshes/L6.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://PAROL6/meshes/L6.STL,,Assem7^PACKAssem1-1,Coordinate System6,Axis6,L6,continuous,0,0,0,1.5708,0,0,L5,0,0,-1,0,0,0,0,,,,,,,, diff --git a/src/parol6/urdf/PAROL6.urdf.xacro b/src/parol6/urdf/PAROL6.urdf.xacro new file mode 100644 index 0000000..79601dc --- /dev/null +++ b/src/parol6/urdf/PAROL6.urdf.xacro @@ -0,0 +1,317 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + + hardware_interface/PositionJointInterface + + + + hardware_interface/PositionJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + + hardware_interface/PositionJointInterface + + + + hardware_interface/PositionJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + + hardware_interface/PositionJointInterface + + + + hardware_interface/PositionJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + + hardware_interface/PositionJointInterface + + + + hardware_interface/PositionJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + + hardware_interface/PositionJointInterface + + + + hardware_interface/PositionJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + + hardware_interface/PositionJointInterface + + + + hardware_interface/PositionJointInterface + 1 + + + + + + / + + + + + true + + + + true + + + + true + + + + true + + + + true + + + + true + + + diff --git a/src/parol6/urdf/PAROL6_ros2_control.xacro b/src/parol6/urdf/PAROL6_ros2_control.xacro new file mode 100644 index 0000000..5d7f367 --- /dev/null +++ b/src/parol6/urdf/PAROL6_ros2_control.xacro @@ -0,0 +1,25 @@ + + + + + mock_components/GenericSystem + + + + + 0.0 + + + + + \ No newline at end of file diff --git a/src/parol6/urdf/PAROL6_with_objects.urdf.xacro b/src/parol6/urdf/PAROL6_with_objects.urdf.xacro new file mode 100644 index 0000000..ebfdf27 --- /dev/null +++ b/src/parol6/urdf/PAROL6_with_objects.urdf.xacro @@ -0,0 +1,121 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/parol6/urdf/base_conn_4.urdf b/src/parol6/urdf/base_conn_4.urdf new file mode 100644 index 0000000..1782877 --- /dev/null +++ b/src/parol6/urdf/base_conn_4.urdf @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/parol6/urdf/board_conn_4.urdf b/src/parol6/urdf/board_conn_4.urdf new file mode 100644 index 0000000..fc19210 --- /dev/null +++ b/src/parol6/urdf/board_conn_4.urdf @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/parol6/urdf/muntje.urdf b/src/parol6/urdf/muntje.urdf new file mode 100644 index 0000000..6fc005c --- /dev/null +++ b/src/parol6/urdf/muntje.urdf @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/parol6/urdf/muntjes_houder.urdf b/src/parol6/urdf/muntjes_houder.urdf new file mode 100644 index 0000000..f918c46 --- /dev/null +++ b/src/parol6/urdf/muntjes_houder.urdf @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +