add gripper and camera
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ZFEI
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@ -7,6 +7,8 @@
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<xacro:include filename="$(find z1_description)/xacro/transmission.xacro"/>
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<xacro:arg name="UnitreeGripper" default="false"/>
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<xacro:arg name="RealSense" default="true"/>
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<xacro:arg name="HitbotGripper" default="true"/>
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<link name="world"/>
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@ -304,6 +306,56 @@
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<gazebo reference="gripperMover">
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<self_collide>true</self_collide>
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</gazebo>
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</xacro:if>
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<xacro:if value="$(arg RealSense)">
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<!-- Sensors -->
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<xacro:include filename="$(find z1_description)/xacro/sensors/intel_realsense.urdf.xacro"/>
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<!-- add the intel realsense to the sensor arch if needed -->
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<link name="realsense_mountpoint"/>
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<joint name="realsense_mountpoint_joint" type="fixed">
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<origin xyz="0.15 0 0.05" rpy="0 0 0" />
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<parent link="link06"/>
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<child link="realsense_mountpoint" />
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</joint>
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<xacro:intel_realsense_mount prefix="camera" frame="camera" topic="camera" parent_link="realsense_mountpoint"/>
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</xacro:if>
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<xacro:if value="$(arg HitbotGripper)">
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<joint name="gripper_mount" type="fixed">
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<origin xyz="0.1 0 -0.08" rpy="0 0 0" />
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<parent link="link06"/>
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<child link="link_gripper" />
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</joint>
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<link name="link_gripper">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="0.290087803254386" />
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<inertia
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ixx="0.000122722161885507"
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ixy="2.8456952860616E-06"
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ixz="3.69598304197937E-06"
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iyy="0.000255921213582023"
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iyz="1.99093327058819E-07"
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izz="0.00032692475873505" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://z1_description/xacro/gripper/hitbot_gripper.STL" />
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</geometry>
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<material name="">
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0.5 0 0.2" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://z1_description/xacro/gripper/hitbot_gripper.STL" />
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</geometry>
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</collision>
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</link>
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</xacro:if>
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<xacro:motorTransmission name="1"/>
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@ -0,0 +1,136 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="intel_realsense_mount" params="prefix frame topic parent_link">
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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<material name="black">
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<color rgba="0 0 0 1"/>
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</material>
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<xacro:macro name="intel_realsense" params="
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frame:=camera topic:=realsense
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h_fov:=1.5184351666666667 v_fov:=1.0122901111111111
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min_range:=0.105 max_range:=15
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width:=848 height:=480
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update_rate:=15
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robot_namespace:=/">
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<!-- this link is the origin for the camera's data -->
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<link name="${frame}" />
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<!--
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The gazebo plugin aligns the depth data with the Z axis, with X=left and Y=up
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ROS expects the depth data along the X axis, with Y=left and Z=up
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This link only exists to give the gazebo plugin the correctly-oriented frame
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-->
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<link name="${frame}_link" />
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<joint name="${frame}_link_joint" type="fixed">
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<parent link="${frame}"/>
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<child link="${frame}_link"/>
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<origin xyz="0.0 0 0" rpy="-1.5707963267948966 0 -1.5707963267948966"/>
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</joint>
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<!-- Some arbitrary link to simulate the realsense -->
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<link name="${prefix}_link" />
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<link name="${prefix}_depth_frame" />
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<link name="${prefix}_depth_optical_frame" />
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<joint name="${frame}_${prefix}_link_joint" type="fixed">
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<parent link="${frame}"/>
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<child link="${prefix}_link"/>
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<origin xyz="0.0 0 0" rpy="0 0 0"/>
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</joint>
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<joint name="${prefix}_link_depth_frame_joint" type="fixed">
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<parent link="${prefix}_link"/>
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<child link="${prefix}_depth_frame"/>
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<origin xyz="0.0 0 0" rpy="0 0 0"/>
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</joint>
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<joint name="${prefix}_depth_frame_depth_optical_frame_joint" type="fixed">
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<parent link="${prefix}_depth_frame"/>
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<child link="${prefix}_depth_optical_frame"/>
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<origin xyz="0.0 0 0" rpy="-1.5707963267948966 0 -1.5707963267948966"/>
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</joint>
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<gazebo reference="${frame}">
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<turnGravityOff>true</turnGravityOff>
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<sensor type="depth" name="${prefix}_realsense_depth">
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<update_rate>${update_rate}</update_rate>
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<camera>
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<!-- 75x65 degree FOV for the depth sensor -->
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<horizontal_fov>${h_fov}</horizontal_fov>
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<vertical_fov>${v_fov}</vertical_fov>
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<image>
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<width>${width}</width>
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<height>${height}</height>
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<!-- TODO: check what format the Realsense hardware delivers and set this to match! -->
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<format>RGB_INT8</format>
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</image>
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<clip>
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<!-- give the color sensor a maximum range of 50m so that the simulation renders nicely -->
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<near>0.01</near>
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<far>50.0</far>
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</clip>
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</camera>
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<plugin name="kinect_controller" filename="libgazebo_ros_openni_kinect.so">
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<baseline>0.2</baseline>
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<alwaysOn>true</alwaysOn>
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<updateRate>${update_rate}</updateRate>
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<cameraName>${topic}</cameraName>
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<imageTopicName>color/image_raw</imageTopicName>
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<cameraInfoTopicName>color/camera_info</cameraInfoTopicName>
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<depthImageTopicName>depth/image_rect_raw</depthImageTopicName>
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<depthImageInfoTopicName>depth/camera_info</depthImageInfoTopicName>
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<pointCloudTopicName>depth/color/points</pointCloudTopicName>
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<frameName>${frame}_link</frameName>
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<pointCloudCutoff>${min_range}</pointCloudCutoff>
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<pointCloudCutoffMax>${max_range}</pointCloudCutoffMax>
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<distortionK1>0.00000001</distortionK1>
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<distortionK2>0.00000001</distortionK2>
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<distortionK3>0.00000001</distortionK3>
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<distortionT1>0.00000001</distortionT1>
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<distortionT2>0.00000001</distortionT2>
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<CxPrime>0</CxPrime>
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<Cx>0</Cx>
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<Cy>0</Cy>
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<focalLength>0</focalLength>
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<hackBaseline>0</hackBaseline>
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</plugin>
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</sensor>
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</gazebo>
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</xacro:macro>
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<link name="${prefix}_realsense_lens">
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<visual>
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<!--
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the model's origin is in the middle & it's rotated to lie in
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the optical standard with X left, Y up, and Z forward
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-->
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<origin xyz="0.0115 0 0.0100" rpy="1.570796 0 1.570796" />
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<geometry>
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<!-- Origin of this mesh is the base of the bracket. -->
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<box size="0.042 0.042 0.023" />
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</geometry>
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<material name="black" />
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</visual>
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</link>
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<joint type="fixed" name="${prefix}_realsense_lens_joint">
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<origin xyz="0 0 0" rpy="0 0 0" />
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<parent link="${parent_link}" />
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<child link="${prefix}_realsense_lens" />
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</joint>
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<joint type="fixed" name="${prefix}_realsense_joint">
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<origin xyz="0.025 0 0" rpy="0 0 0" />
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<parent link="${prefix}_realsense_lens" />
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<child link="${prefix}_realsense" />
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</joint>
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<xacro:intel_realsense frame="${prefix}_realsense" topic="${topic}"/>
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</xacro:macro>
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</robot>
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@ -12,7 +12,8 @@
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<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
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<arg name="user_debug" default="false"/>
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<arg name="UnitreeGripperYN" default="true"/>
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<arg name="RealSense" default="true"/>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find unitree_gazebo)/worlds/$(arg wname).world"/>
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<arg name="debug" value="$(arg debug)"/>
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@ -25,7 +26,7 @@
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<!-- Load the URDF into the ROS Parameter Server -->
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<param name="robot_description"
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command="$(find xacro)/xacro --inorder '$(arg dollar)$(arg robot_path)/xacro/robot.xacro'
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UnitreeGripper:=$(arg UnitreeGripperYN)"/>
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UnitreeGripper:=$(arg UnitreeGripperYN) RealSense:=$(arg RealSense)"/>
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<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
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<!-- Set trunk and joint positions at startup -->
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