diff --git a/robotnik_gazebo_ignition/config/profile/rbrobout/ros2_control.yaml b/robotnik_gazebo_ignition/config/profile/rbrobout/ros2_control.yaml index 2f2e757..1b9168f 100644 --- a/robotnik_gazebo_ignition/config/profile/rbrobout/ros2_control.yaml +++ b/robotnik_gazebo_ignition/config/profile/rbrobout/ros2_control.yaml @@ -96,7 +96,7 @@ ros__parameters: publish_rate: 50 joints: - - $(var frame_prefix)lift_ewellix_lift_top_joint + - $(var frame_prefix)lift_joint - $(var frame_prefix)arm_shoulder_pan_joint - $(var frame_prefix)arm_shoulder_lift_joint - $(var frame_prefix)arm_elbow_joint @@ -114,5 +114,7 @@ state_publish_rate: 50.0 action_monitor_rate: 20.0 - allow_partial_joints_goal: false + # MoveIt plans only the 6 UR arm joints for the "arm" group, while this + # controller also exposes the lift joint. + allow_partial_joints_goal: true open_loop_control: true diff --git a/robotnik_gazebo_ignition/launch/spawn_robot.launch.py b/robotnik_gazebo_ignition/launch/spawn_robot.launch.py index 300a260..81fc3d1 100644 --- a/robotnik_gazebo_ignition/launch/spawn_robot.launch.py +++ b/robotnik_gazebo_ignition/launch/spawn_robot.launch.py @@ -181,6 +181,8 @@ def add_depth_camera(camera_name): add_camera("rear") add_camera("top_ptz") #add_depth_camera("front") + add_camera("wrist") + add_depth_camera("wrist") add_laser("front") add_laser("rear") add_pointcloud("top") diff --git a/robotnik_gazebo_ignition/models/BasicRoom/meshes/BasicRoom.glb b/robotnik_gazebo_ignition/models/BasicRoom/meshes/BasicRoom.glb new file mode 100644 index 0000000..8ea524f Binary files /dev/null and b/robotnik_gazebo_ignition/models/BasicRoom/meshes/BasicRoom.glb differ diff --git a/robotnik_gazebo_ignition/models/BasicRoom/model.config b/robotnik_gazebo_ignition/models/BasicRoom/model.config new file mode 100644 index 0000000..d8b5d4e --- /dev/null +++ b/robotnik_gazebo_ignition/models/BasicRoom/model.config @@ -0,0 +1,10 @@ + + + BasicRoom + 1.0 + model.sdf + + Jorge + + Habitación exportada desde Blender + diff --git a/robotnik_gazebo_ignition/models/BasicRoom/model.sdf b/robotnik_gazebo_ignition/models/BasicRoom/model.sdf new file mode 100644 index 0000000..fcc9293 --- /dev/null +++ b/robotnik_gazebo_ignition/models/BasicRoom/model.sdf @@ -0,0 +1,78 @@ + + + + true + + + + + + 0 0 0 1.5708 0 0 + + + meshes/BasicRoom.glb + 1 1 1 + + + + + + + + + + + + 0 0 -0.1229 0 0 0 + + + 60.0 40.0 0.25 + + + + + + + 0 20.5 0.0 0 0 0 + + + 63.0 1.0 10.2 + + + + + + + 0 -20.5 0.0 0 0 0 + + + 63.0 1.0 10.2 + + + + + + + 30.75 0 0.0 0 0 0 + + + 1.5 42.0 10.2 + + + + + + + -30.75 0 0.0 0 0 0 + + + 1.5 42.0 10.2 + + + + + + + diff --git a/robotnik_gazebo_ignition/models/Cardboard box/materials/textures/cardboard_box.png b/robotnik_gazebo_ignition/models/Cardboard box/materials/textures/cardboard_box.png new file mode 100644 index 0000000..ff478d6 Binary files /dev/null and b/robotnik_gazebo_ignition/models/Cardboard box/materials/textures/cardboard_box.png differ diff --git a/robotnik_gazebo_ignition/models/Cardboard box/meshes/cardboard_box.dae b/robotnik_gazebo_ignition/models/Cardboard box/meshes/cardboard_box.dae new file mode 100644 index 0000000..4037308 --- /dev/null +++ b/robotnik_gazebo_ignition/models/Cardboard box/meshes/cardboard_box.dae @@ -0,0 +1,175 @@ + + + + + ColeB + OpenCOLLADA for 3ds Max; 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+ + + + + + + + + 0 0 0 + + + + + + + cardboard_box.png + + + + + + + + + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + diff --git a/robotnik_gazebo_ignition/models/Cardboard box/meshes/cardboard_box.png b/robotnik_gazebo_ignition/models/Cardboard box/meshes/cardboard_box.png new file mode 100644 index 0000000..ff478d6 Binary files /dev/null and b/robotnik_gazebo_ignition/models/Cardboard box/meshes/cardboard_box.png differ diff --git a/robotnik_gazebo_ignition/models/Cardboard box/model.config b/robotnik_gazebo_ignition/models/Cardboard box/model.config new file mode 100644 index 0000000..2d396d0 --- /dev/null +++ b/robotnik_gazebo_ignition/models/Cardboard box/model.config @@ -0,0 +1,20 @@ + + + + Cardboard box + 1.0 + model.sdf + + + Nate Koenig + nate@osrfoundation.org + + + + Cole Biesemeyer + + + + A closed cardboard box. + + diff --git a/robotnik_gazebo_ignition/models/Cardboard box/model.sdf b/robotnik_gazebo_ignition/models/Cardboard box/model.sdf new file mode 100644 index 0000000..896b440 --- /dev/null +++ b/robotnik_gazebo_ignition/models/Cardboard box/model.sdf @@ -0,0 +1,51 @@ + + + + 0 0 0.15 0 0 0 + + + 2 + + 0.041666667 + 0 + 0 + 0.056666667 + 0 + 0.068333333 + + + + + + 0.5 0.4 0.3 + + + + + + 1.0 + 1.0 + + + + + 10000000.0 + 1.0 + 0.001 + 0.1 + + + + + + 0 0 -0.15 0 0 0 + + + meshes/cardboard_box.dae + 1.25931896 1.007455168 0.755591376 + + + + + + diff --git a/robotnik_gazebo_ignition/models/Cardboard box/thumbnails/1.png b/robotnik_gazebo_ignition/models/Cardboard box/thumbnails/1.png new file mode 100644 index 0000000..406b72a Binary files /dev/null and b/robotnik_gazebo_ignition/models/Cardboard box/thumbnails/1.png differ diff --git a/robotnik_gazebo_ignition/models/Cardboard box/thumbnails/2.png b/robotnik_gazebo_ignition/models/Cardboard box/thumbnails/2.png new file mode 100644 index 0000000..f662b49 Binary files /dev/null and b/robotnik_gazebo_ignition/models/Cardboard box/thumbnails/2.png differ diff --git a/robotnik_gazebo_ignition/models/Cardboard box/thumbnails/3.png b/robotnik_gazebo_ignition/models/Cardboard box/thumbnails/3.png new file mode 100644 index 0000000..b714c38 Binary files /dev/null and b/robotnik_gazebo_ignition/models/Cardboard box/thumbnails/3.png differ diff --git a/robotnik_gazebo_ignition/models/Cardboard box/thumbnails/4.png b/robotnik_gazebo_ignition/models/Cardboard box/thumbnails/4.png new file mode 100644 index 0000000..97b832b Binary files /dev/null and b/robotnik_gazebo_ignition/models/Cardboard box/thumbnails/4.png differ diff --git a/robotnik_gazebo_ignition/models/Cardboard box/thumbnails/5.png b/robotnik_gazebo_ignition/models/Cardboard box/thumbnails/5.png new file mode 100644 index 0000000..b714c38 Binary files /dev/null and b/robotnik_gazebo_ignition/models/Cardboard box/thumbnails/5.png differ diff --git a/robotnik_gazebo_ignition/models/flat_box/materials/textures/texture.png b/robotnik_gazebo_ignition/models/flat_box/materials/textures/texture.png new file mode 100644 index 0000000..038e6b8 Binary files /dev/null and b/robotnik_gazebo_ignition/models/flat_box/materials/textures/texture.png differ diff --git a/robotnik_gazebo_ignition/models/flat_box/meshes/model.mtl b/robotnik_gazebo_ignition/models/flat_box/meshes/model.mtl new file mode 100644 index 0000000..6b8ec6d --- /dev/null +++ b/robotnik_gazebo_ignition/models/flat_box/meshes/model.mtl @@ -0,0 +1,12 @@ +# Copyright 2020 Google LLC. +# +# This work is licensed under the Creative Commons Attribution 4.0 +# International License. To view a copy of this license, visit +# http://creativecommons.org/licenses/by/4.0/ or send a letter +# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA. +newmtl material_0 +# shader_type beckmann +map_Kd texture.png + +# Kd: Diffuse reflectivity. +Kd 1.000000 1.000000 1.000000 diff --git a/robotnik_gazebo_ignition/models/flat_box/meshes/model.obj b/robotnik_gazebo_ignition/models/flat_box/meshes/model.obj new file mode 100644 index 0000000..a296a26 --- /dev/null +++ b/robotnik_gazebo_ignition/models/flat_box/meshes/model.obj @@ -0,0 +1,13223 @@ +# Copyright 2020 Google LLC. +# +# This work is licensed under the Creative Commons Attribution 4.0 +# International License. To view a copy of this license, visit +# http://creativecommons.org/licenses/by/4.0/ or send a letter +# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA. +# Generated by Katamari OBJ encoder. +# Vertices: 2556 +# Faces: 5108 +mtllib model.mtl +v -0.104354 0.083463 0.001541 +v -0.105537 0.081564 0.001672 +v -0.105230 0.082364 0.002074 +v -0.104529 0.082310 0.001071 +v -0.103062 0.083723 0.001234 +v -0.105158 0.079373 0.000998 +v -0.105781 0.078678 0.001794 +v -0.105115 0.080349 0.003329 +v -0.104767 0.081181 0.003887 +v -0.104164 0.078592 0.000856 +v -0.104558 0.083325 0.002510 +v -0.103372 0.084098 0.002118 +v -0.102758 0.083690 0.003593 +v -0.103820 0.083064 0.003735 +v -0.104938 0.079985 0.004240 +v -0.104820 0.082120 0.004846 +v -0.104207 0.082670 0.004023 +v -0.105178 0.080357 0.004787 +v -0.105105 0.080200 0.005069 +v -0.105310 0.075412 0.001040 +v -0.106000 0.076489 0.001743 +v -0.105661 0.078693 0.002752 +v -0.105411 0.076415 0.002833 +v -0.106073 0.078493 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+} +annotations { + key: "sku" + value: "GCBOGP" +} +compatibilities { + name: "Gazebo" + version { + major: 11 + } +} +categories { + first: "Consumer Goods" +} diff --git a/robotnik_gazebo_ignition/models/flat_box/model.config b/robotnik_gazebo_ignition/models/flat_box/model.config new file mode 100644 index 0000000..369315a --- /dev/null +++ b/robotnik_gazebo_ignition/models/flat_box/model.config @@ -0,0 +1,18 @@ + + + flat_box + + Google + scanned-objects@google.com + + 1.0 + model.sdf + Flat box + diff --git a/robotnik_gazebo_ignition/models/flat_box/model.sdf b/robotnik_gazebo_ignition/models/flat_box/model.sdf new file mode 100644 index 0000000..aedc4e4 --- /dev/null +++ b/robotnik_gazebo_ignition/models/flat_box/model.sdf @@ -0,0 +1,29 @@ + + + + + + + + + meshes/model.obj + + + + + + + meshes/model.obj + + + + + + diff --git a/robotnik_gazebo_ignition/models/flat_box/thumbnails/0.jpg b/robotnik_gazebo_ignition/models/flat_box/thumbnails/0.jpg new file mode 100644 index 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To view a copy of this license, visit +# http://creativecommons.org/licenses/by/4.0/ or send a letter +# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA. +newmtl material_0 +# shader_type beckmann +map_Kd texture.png + +# Kd: Diffuse reflectivity. +Kd 1.000000 1.000000 1.000000 diff --git a/robotnik_gazebo_ignition/models/medium box/meshes/model.obj b/robotnik_gazebo_ignition/models/medium box/meshes/model.obj new file mode 100644 index 0000000..420592b --- /dev/null +++ b/robotnik_gazebo_ignition/models/medium box/meshes/model.obj @@ -0,0 +1,13170 @@ +# Copyright 2020 Google LLC. +# +# This work is licensed under the Creative Commons Attribution 4.0 +# International License. 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215 65 1014 213 65 1015 212 65 1016 213 3 1017 209 3 1018 208 3 1019 214 2 1020 212 2 1021 208 2 1022 211 0 1023 209 0 1024 213 0 1025 217 66 1026 219 66 1027 218 66 1028 218 67 1029 219 67 1030 223 67 1031 223 37 1032 221 37 1033 220 37 1034 221 68 1035 217 68 1036 216 68 1037 222 60 1038 220 60 1039 216 60 1040 219 69 1041 217 69 1042 221 69 1043 225 41 1044 227 41 1045 226 41 1046 227 1 1047 231 1 1048 230 1 1049 231 43 1050 229 43 1051 228 43 1052 228 70 1053 229 70 1054 225 70 1055 230 19 1056 228 19 1057 224 19 1058 227 20 1059 225 20 1060 229 20 1061 233 46 1062 235 46 1063 234 46 1064 234 71 1065 235 71 1066 239 71 1067 239 37 1068 237 37 1069 236 37 1070 237 3 1071 233 3 1072 232 3 1073 238 72 1074 236 72 1075 232 72 1076 235 69 1077 233 69 1078 237 69 1079

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