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Taehun Lim
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Merge pull request #7 from ROBOTIS-GIT/develop
update code to sync for new open_manipulator_package
2 parents 4b4ade6 + 9ce2572 commit bec1802

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‎open_manipulator_with_tb3_description/launch/open_manipulator_with_tb3_model.launch‎

Lines changed: 0 additions & 24 deletions
This file was deleted.

‎open_manipulator_with_tb3_description/launch/open_manipulator_with_tb3_rviz.launch‎

Lines changed: 9 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -1,18 +1,23 @@
11
<launch>
22
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [waffle, waffle_pi]"/>
3+
<arg name="use_gui" default="false" />
4+
<arg name="open_rviz" default="true" />
35

46
<param name="robot_description"
57
command="$(find xacro)/xacro --inorder '$(find open_manipulator_with_tb3_description)/urdf/open_manipulator_with_tb3_$(arg model).urdf.xacro'"/>
68

79
<!-- Send joint values -->
8-
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
9-
<param name="/use_gui" value="true"/>
10-
</node>
11-
10+
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
11+
<param name="/use_gui" value="$(arg use_gui)"/>
12+
<rosparam param="source_list">["/joint_states"]</rosparam>
13+
</node>
14+
1215
<!-- Combine joint values -->
1316
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher"/>
1417

1518
<!-- Show in Rviz -->
19+
<group if="$(arg open_rviz)">
1620
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find open_manipulator_with_tb3_description)/rviz/open_manipulator_with_tb3.rviz"/>
21+
</group>
1722
</launch>
1823

‎open_manipulator_with_tb3_description/rviz/open_manipulator_with_tb3.rviz‎

Lines changed: 64 additions & 48 deletions
Original file line numberDiff line numberDiff line change
@@ -8,7 +8,7 @@ Panels:
88
- /Status1
99
- /TF1
1010
Splitter Ratio: 0.5
11-
Tree Height: 745
11+
Tree Height: 746
1212
- Class: rviz/Selection
1313
Name: Selection
1414
- Class: rviz/Tool Properties
@@ -17,7 +17,7 @@ Panels:
1717
- /2D Nav Goal1
1818
- /Publish Point1
1919
Name: Tool Properties
20-
Splitter Ratio: 0.5886790156364441
20+
Splitter Ratio: 0.588679016
2121
- Class: rviz/Views
2222
Expanded:
2323
- /Current View1
@@ -34,10 +34,10 @@ Visualization Manager:
3434
- Alpha: 0.5
3535
Cell Size: 1
3636
Class: rviz/Grid
37-
Color: 160; 160; 164
37+
Color: 2; 2; 3
3838
Enabled: true
3939
Line Style:
40-
Line Width: 0.029999999329447746
40+
Line Width: 0.0299999993
4141
Value: Lines
4242
Name: Grid
4343
Normal Cell Count: 0
@@ -68,10 +68,16 @@ Visualization Manager:
6868
Show Axes: false
6969
Show Trail: false
7070
Value: true
71+
base_scan:
72+
Alpha: 1
73+
Show Axes: false
74+
Show Trail: false
75+
Value: true
7176
camera_link:
7277
Alpha: 1
7378
Show Axes: false
7479
Show Trail: false
80+
Value: true
7581
camera_rgb_frame:
7682
Alpha: 1
7783
Show Axes: false
@@ -90,12 +96,17 @@ Visualization Manager:
9096
Show Axes: false
9197
Show Trail: false
9298
Value: true
93-
grip_link:
99+
end_effector_link:
94100
Alpha: 1
95101
Show Axes: false
96102
Show Trail: false
97103
Value: true
98-
grip_link_sub:
104+
gripper_link:
105+
Alpha: 1
106+
Show Axes: false
107+
Show Trail: false
108+
Value: true
109+
gripper_link_sub:
99110
Alpha: 1
100111
Show Axes: false
101112
Show Trail: false
@@ -154,6 +165,8 @@ Visualization Manager:
154165
Value: true
155166
base_link:
156167
Value: true
168+
base_scan:
169+
Value: true
157170
camera_link:
158171
Value: true
159172
camera_rgb_frame:
@@ -164,9 +177,11 @@ Visualization Manager:
164177
Value: true
165178
caster_back_right_link:
166179
Value: true
167-
grip_link:
180+
end_effector_link:
168181
Value: true
169-
grip_link_sub:
182+
gripper_link:
183+
Value: true
184+
gripper_link_sub:
170185
Value: true
171186
imu_link:
172187
Value: true
@@ -180,44 +195,45 @@ Visualization Manager:
180195
Value: true
181196
link5:
182197
Value: true
183-
odom:
184-
Value: true
185198
wheel_left_link:
186199
Value: true
187200
wheel_right_link:
188201
Value: true
189-
Marker Scale: 0.30000001192092896
202+
Marker Scale: 0.300000012
190203
Name: TF
191204
Show Arrows: true
192205
Show Axes: true
193206
Show Names: false
194207
Tree:
195-
odom:
196-
base_footprint:
197-
base_link:
198-
camera_link:
199-
camera_rgb_frame:
200-
camera_rgb_optical_frame:
201-
{}
202-
caster_back_left_link:
203-
{}
204-
caster_back_right_link:
205-
{}
206-
imu_link:
207-
{}
208-
link1:
209-
link2:
210-
link3:
211-
link4:
212-
link5:
213-
grip_link:
214-
{}
215-
grip_link_sub:
216-
{}
217-
wheel_left_link:
218-
{}
219-
wheel_right_link:
220-
{}
208+
base_footprint:
209+
base_link:
210+
base_scan:
211+
{}
212+
camera_link:
213+
camera_rgb_frame:
214+
camera_rgb_optical_frame:
215+
{}
216+
caster_back_left_link:
217+
{}
218+
caster_back_right_link:
219+
{}
220+
imu_link:
221+
{}
222+
link1:
223+
link2:
224+
link3:
225+
link4:
226+
link5:
227+
end_effector_link:
228+
{}
229+
gripper_link:
230+
{}
231+
gripper_link_sub:
232+
{}
233+
wheel_left_link:
234+
{}
235+
wheel_right_link:
236+
{}
221237
Update Interval: 0
222238
Value: true
223239
Enabled: true
@@ -245,33 +261,33 @@ Visualization Manager:
245261
Views:
246262
Current:
247263
Class: rviz/Orbit
248-
Distance: 1.001585602760315
264+
Distance: 1.0015856
249265
Enable Stereo Rendering:
250-
Stereo Eye Separation: 0.05999999865889549
266+
Stereo Eye Separation: 0.0599999987
251267
Stereo Focal Distance: 1
252268
Swap Stereo Eyes: false
253269
Value: false
254270
Focal Point:
255-
X: 0.0018911764491349459
256-
Y: -0.058092471212148666
257-
Z: 0.09946992248296738
271+
X: 0.00189117645
272+
Y: -0.0580924712
273+
Z: 0.0994699225
258274
Focal Shape Fixed Size: true
259-
Focal Shape Size: 0.05000000074505806
275+
Focal Shape Size: 0.0500000007
260276
Invert Z Axis: false
261277
Name: Current View
262-
Near Clip Distance: 0.009999999776482582
263-
Pitch: 0.3153984546661377
278+
Near Clip Distance: 0.00999999978
279+
Pitch: 0.315398455
264280
Target Frame: <Fixed Frame>
265281
Value: Orbit (rviz)
266-
Yaw: 1.0153979063034058
282+
Yaw: 1.01539791
267283
Saved: ~
268284
Window Geometry:
269285
Displays:
270286
collapsed: false
271287
Height: 1027
272288
Hide Left Dock: false
273289
Hide Right Dock: true
274-
QMainWindow State: 000000ff00000000fd00000004000000000000015600000373fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003500000373000000b600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000038efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000350000038e0000009900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004ff0000003efc0100000002fb0000000800540069006d00650100000000000004ff0000024b00fffffffb0000000800540069006d00650100000000000004500000000000000000000003a50000037300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
290+
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000379fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000379000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000038efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000350000038e000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004ff0000003efc0100000002fb0000000800540069006d00650100000000000004ff0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000038f0000037900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
275291
Selection:
276292
collapsed: false
277293
Time:
@@ -282,4 +298,4 @@ Window Geometry:
282298
collapsed: true
283299
Width: 1279
284300
X: 1279
285-
Y: 0
301+
Y: 24

‎open_manipulator_with_tb3_description/urdf/open_manipulator_with_tb3.gazebo.xacro‎

Lines changed: 28 additions & 69 deletions
Original file line numberDiff line numberDiff line change
@@ -1,90 +1,49 @@
11
<?xml version="1.0"?>
2-
<robot>
3-
4-
<!-- World -->
5-
<gazebo reference="world">
6-
</gazebo>
2+
<robot xmlns:xacro="http://ros.org/wiki/xacro">
3+
4+
<!-- Gazebo Reference macro -->
5+
<xacro:macro name="RefLink" params="ref">
6+
<gazebo reference="${ref}">
7+
<kp>1000000.0</kp>
8+
<kd>100.0</kd>
9+
<mu1>30.0</mu1>
10+
<mu2>30.0</mu2>
11+
<maxVel>1.0</maxVel>
12+
<minDepth>0.001</minDepth>
13+
<material>Gazebo/DarkGrey</material>
14+
</gazebo>
15+
</xacro:macro>
716

817
<!-- Link1 -->
9-
<gazebo reference="link1">
10-
<kp>1000000.0</kp>
11-
<kd>100.0</kd>
12-
<mu1>30.0</mu1>
13-
<mu2>30.0</mu2>
14-
<maxVel>1.0</maxVel>
15-
<minDepth>0.001</minDepth>
16-
<material>Gazebo/DarkGrey</material>
17-
</gazebo>
18+
<RefLink ref="link1"/>
1819

1920
<!-- Link2 -->
20-
<gazebo reference="link2">
21-
<kp>1000000.0</kp>
22-
<kd>100.0</kd>
23-
<mu1>30.0</mu1>
24-
<mu2>30.0</mu2>
25-
<maxVel>1.0</maxVel>
26-
<minDepth>0.001</minDepth>
27-
<material>Gazebo/DarkGrey</material>
28-
</gazebo>
21+
<RefLink ref="link2"/>
2922

3023
<!-- Link3 -->
31-
<gazebo reference="link3">
32-
<kp>1000000.0</kp>
33-
<kd>100.0</kd>
34-
<mu1>30.0</mu1>
35-
<mu2>30.0</mu2>
36-
<maxVel>1.0</maxVel>
37-
<minDepth>0.001</minDepth>
38-
<material>Gazebo/DarkGrey</material>
39-
</gazebo>
24+
<RefLink ref="link3"/>
4025

4126
<!-- Link4 -->
42-
<gazebo reference="link4">
43-
<kp>1000000.0</kp>
44-
<kd>100.0</kd>
45-
<mu1>30.0</mu1>
46-
<mu2>30.0</mu2>
47-
<maxVel>1.0</maxVel>
48-
<minDepth>0.001</minDepth>
49-
<material>Gazebo/DarkGrey</material>
50-
</gazebo>
27+
<RefLink ref="link4"/>
5128

5229
<!-- Link5 -->
53-
<gazebo reference="link5">
54-
<kp>1000000.0</kp>
55-
<kd>100.0</kd>
56-
<mu1>30.0</mu1>
57-
<mu2>30.0</mu2>
58-
<maxVel>1.0</maxVel>
59-
<minDepth>0.001</minDepth>
60-
<material>Gazebo/DarkGrey</material>
61-
</gazebo>
30+
<RefLink ref="link5"/>
6231

63-
<!-- grip_link -->
64-
<gazebo reference="grip_link">
65-
<kp>1000000.0</kp>
66-
<kd>100.0</kd>
67-
<mu1>30.0</mu1>
68-
<mu2>30.0</mu2>
69-
<maxVel>1.0</maxVel>
70-
<minDepth>0.001</minDepth>
71-
<material>Gazebo/DarkGrey</material>
72-
</gazebo>
32+
<!-- gripper_link -->
33+
<RefLink ref="gripper_link"/>
34+
35+
<!-- gripper_link_sub -->
36+
<RefLink ref="gripper_link_sub"/>
7337

74-
<!-- grip_link_sub -->
75-
<gazebo reference="grip_link_sub">
76-
<kp>1000000.0</kp>
77-
<kd>100.0</kd>
78-
<mu1>30.0</mu1>
79-
<mu2>30.0</mu2>
80-
<maxVel>1.0</maxVel>
81-
<minDepth>0.001</minDepth>
82-
<material>Gazebo/DarkGrey</material>
38+
<!-- end effector link -->
39+
<gazebo reference="end_effector_link">
40+
<material>Gazebo/Red</material>
8341
</gazebo>
8442

8543
<!-- ros_control plugin -->
8644
<gazebo>
8745
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
46+
<robotNamespace>om_with_tb3</robotNamespace>
8847
<controlPeriod>0.001</controlPeriod>
8948
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
9049
</plugin>

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