更新630 URDF模型初始姿态

Author: wangWking

demo_img/pro630/pro630.png

@@ -131,10 +131,11 @@
 
   <joint name="joint2_to_joint1" type="revolute">
     <axis xyz="0 0 -1"/>
-    <limit effort = "1000.0" lower = "-4.71" upper = "1.5707" velocity = "0"/>
+    <!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5707" velocity = "0"/> -->
+    <limit effort = "1000.0" lower = "-3.14159" upper = "3.14159" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-    <origin xyz= "0 0  0" rpy = "1.5707 0 0"/>
+    <origin xyz= "0 0  0" rpy = "1.5707 -1.5708 0"/>
   </joint>
 
 
@@ -148,10 +149,11 @@
 
   <joint name="joint4_to_joint3" type="revolute">
     <axis xyz=" 0 0 -1"/>
-    <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/>
+    <!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
+    <limit effort = "1000.0" lower = "-2.9670" upper = "2.9670" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-    <origin xyz= "0.267 0  -0.0745" rpy = "0 0 0"/>  
+    <origin xyz= "0.267 0  -0.0745" rpy = "0 0 1.5708"/>  
   </joint>
 
   <joint name="joint5_to_joint4" type="revolute">

mycobot_description/urdf/mycobot_pro_630/mycobot_pro_630.urdf

@@ -180,7 +180,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.5878180265426636
+      Distance: 2.1886165142059326
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -196,9 +196,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.5947973132133484
+      Pitch: 0.8997963666915894
       Target Frame: <Fixed Frame>
-      Yaw: 2.5353903770446777
+      Yaw: 3.4653899669647217
     Saved: ~
 Window Geometry:
   Displays:

mycobot_pro/mycobot_630/config/mycobot_630.rviz

@@ -21,6 +21,9 @@ def callback(data):
     for index, value in enumerate(data.position):
         radians_to_angles = round(math.degrees(value), 2)
         data_list.append(radians_to_angles)
+    
+    data_list[1] = data_list[1] - 90
+    data_list[3] = data_list[3] - 90
 
     rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
     mc.write_angles(data_list, 800)