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wangWkingwangWking
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优化630 moveit包-修复rviz添加地面后无法运动规划问题，更新URDF模型初始姿态
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‎mycobot_description/urdf/mycobot_pro_630/mycobot_pro_630_moveit.urdf

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
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<xacro:property name="width" value=".2" />
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<link name="base">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base.dae"/>
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</geometry>
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<origin xyz = "0 0 0 " rpy = " 1.5707 0 0"/>
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</visual>
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<collision>
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<origin xyz = "0 0 0.04 " rpy = " 0 0 1.5708"/>
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<geometry>
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<cylinder length="0.08" radius="0.06"/>
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</geometry>
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</collision>
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</link>
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<link name="link1">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link1.dae"/>
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</geometry>
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<origin xyz = "0 0 -0.06 " rpy = "0 0 3.1415926"/>
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</visual>
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<collision>
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<origin xyz = "0.0 0.0 -0.02 " rpy = " 0 0 1.5708"/>
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<geometry>
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<cylinder length="0.06" radius="0.03"/>
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</geometry>
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</collision>
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</link>
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<link name="link2">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link2.dae"/>
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</geometry>
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<origin xyz = "0 0 -0.0446 " rpy = " 0 -1.5707 -1.5707"/>
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</visual>
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<collision>
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<origin xyz = "0.14 0 -0.08 " rpy = " 0 1.5708 0"/>
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<geometry>
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<cylinder length="0.28" radius="0.028"/>
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</geometry>
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</collision>
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</link>
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<link name="link3">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link3.dae"/>
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</geometry>
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<origin xyz = "0 0 -0.0444 " rpy = " 0 1.5707 -1.5707"/>
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</visual>
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<collision>
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<origin xyz = "0.13 0.0 0.02 " rpy = "0 1.5708 0"/>
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<geometry>
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<cylinder length="0.28" radius="0.024"/>
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</geometry>
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</collision>
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</link>
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<link name="link4">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link4.dae"/>
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</geometry>
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<origin xyz = "0 0 0.041 " rpy = " -1.5707 0 1.5707"/>
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</visual>
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<collision>
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<origin xyz = "0.0 -0.01 0.007" rpy = " 1.5708 1.5708 0"/>
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<geometry>
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<cylinder length="0.05" radius="0.024"/>
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</geometry>
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</collision>
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</link>
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<link name="link5">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link5.dae"/>
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</geometry>
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<origin xyz = "-0.043 0 0 " rpy = " 0 -1.5707 3.1415926"/>
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</visual>
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<collision>
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<origin xyz = "0.0 0.0 -0.015 " rpy = " 0 0 -1.5708"/>
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<geometry>
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<cylinder length="0.05" radius="0.028"/>
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</geometry>
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</collision>
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</link>
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<link name="link6">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link6.dae"/>
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</geometry>
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<!-- <material name = "grey">
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<color rgba = "0.5 0.5 0.5 1"/>
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</material> -->
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<origin xyz = "0.01 0 0" rpy = " 0 1.5707 0"/>
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</visual>
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<collision>
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<origin xyz = "0.006 0.0 -0.0 " rpy = " 0 1.5708 0"/>
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<geometry>
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<cylinder length="0.006" radius="0.026"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint1_to_base" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
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<parent link="base"/>
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<child link="link1"/>
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<origin xyz= "0 0 0.22934" rpy = "0 0 0"/>
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</joint>
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<joint name="joint2_to_joint1" type="revolute">
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<axis xyz="0 0 -1"/>
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<!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5707" velocity = "0"/> -->
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<limit effort = "1000.0" lower = "-3.14159" upper = "3.14159" velocity = "0"/>
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<parent link="link1"/>
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<child link="link2"/>
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<origin xyz= "0 0 0" rpy = "1.5707 -1.5708 0"/>
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</joint>
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<joint name="joint3_to_joint2" type="revolute">
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<axis xyz=" 0 0 -1"/>
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<limit effort = "1000.0" lower = "-2.61" upper = "2.618" velocity = "0"/>
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<parent link="link2"/>
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<child link="link3"/>
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<origin xyz= "0.27 0 0 " rpy = "0 0 0"/>
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</joint>
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<joint name="joint4_to_joint3" type="revolute">
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<axis xyz=" 0 0 -1"/>
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<!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
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<limit effort = "1000.0" lower = "-2.9670" upper = "2.9670" velocity = "0"/>
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<parent link="link3"/>
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<child link="link4"/>
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<origin xyz= "0.267 0 -0.0745" rpy = "0 0 1.5708"/>
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</joint>
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<joint name="joint5_to_joint4" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort = "1000.0" lower = "-2.93" upper = "2.9321" velocity = "0"/>
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<parent link="link4"/>
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<child link="link5"/>
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<origin xyz= "0 -0.095 0.002" rpy = "1.5707 -1.5707 0"/>
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</joint>
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<joint name="joint6_to_joint5" type="revolute">
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<axis xyz="-1 0 0"/>
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<limit effort = "1000.0" lower = "-3.03" upper = "3.0368" velocity = "0"/>
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<parent link="link5"/>
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<child link="link6"/>
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<origin xyz= "-0.054 0 0" rpy = "-1.5707 0 0 "/>
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</joint>
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</robot>
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‎mycobot_pro/mycobot_630_moveit/.setup_assistant

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moveit_setup_assistant_config:
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URDF:
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package: mycobot_description
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relative_path: urdf/mycobot_pro_630/mycobot_pro_630.urdf
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relative_path: urdf/mycobot_pro_630/mycobot_pro_630_moveit.urdf
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xacro_args: "--inorder "
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SRDF:
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relative_path: config/firefighter.srdf
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CONFIG:
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author_name: wangweijian
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author_email: weijian.wang@elephantrobotics.com
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generated_timestamp: 1652406964
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generated_timestamp: 1736239899

‎mycobot_pro/mycobot_630_moveit/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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cmake_minimum_required(VERSION 3.1.3)
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project(mycobot_630_moveit)
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find_package(catkin REQUIRED
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rospy
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std_msgs
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moveit_msgs
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)
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find_package(catkin REQUIRED)
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catkin_package()
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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catkin_install_python(PROGRAMS
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scripts/sync_plan.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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PATTERN "setup_assistant.launch" EXCLUDE)
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install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

‎mycobot_pro/mycobot_630_moveit/config/cartesian_limits.yaml

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cartesian_limits:
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max_trans_vel: 1
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max_trans_acc: 2.25
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max_trans_dec: -5
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max_rot_vel: 1.57

‎mycobot_pro/mycobot_630_moveit/config/chomp_planning.yaml

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smoothness_cost_velocity: 0.0
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smoothness_cost_acceleration: 1.0
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smoothness_cost_jerk: 0.0
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ridge_factor: 0.01
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ridge_factor: 0.0
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use_pseudo_inverse: false
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pseudo_inverse_ridge_factor: 1e-4
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joint_update_limit: 0.1
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collision_clearence: 0.2
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collision_clearance: 0.2
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collision_threshold: 0.07
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use_stochastic_descent: true
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enable_failure_recovery: true
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max_recovery_attempts: 5
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enable_failure_recovery: false
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max_recovery_attempts: 5

‎mycobot_pro/mycobot_630_moveit/config/fake_controllers.yaml

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controller_list:
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- name: fake_arm_group_controller
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type: $(arg fake_execution_type)
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joints:
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- joint1_to_base
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- joint2_to_joint1
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- joint3_to_joint2
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- joint4_to_joint3
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- joint5_to_joint4
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- joint6_to_joint5
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- joint6_to_joint5
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initial: # Define initial robot poses per group
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- group: arm_group
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pose: init_pose

‎mycobot_pro/mycobot_630_moveit/config/firefighter.srdf

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<?xml version="1.0" ?>
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<?xml version="1.0" encoding="UTF-8"?>
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<!--This does not replace URDF, and is not an extension of URDF.
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This is a format for representing semantic information about the robot structure.
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A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
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<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
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<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
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<group name="arm_group">
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<joint name="joint1_to_base" />
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<joint name="joint2_to_joint1" />
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<joint name="joint3_to_joint2" />
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<joint name="joint4_to_joint3" />
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<joint name="joint5_to_joint4" />
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<joint name="joint6_to_joint5" />
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<joint name="joint1_to_base"/>
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<joint name="joint2_to_joint1"/>
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<joint name="joint3_to_joint2"/>
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<joint name="joint4_to_joint3"/>
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<joint name="joint5_to_joint4"/>
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<joint name="joint6_to_joint5"/>
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</group>
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<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
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<group_state name="init_pose" group="arm_group">
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<joint name="joint1_to_base" value="0" />
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<joint name="joint2_to_joint1" value="-1.5708" />
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<joint name="joint3_to_joint2" value="0" />
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<joint name="joint4_to_joint3" value="-1.5708" />
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<joint name="joint5_to_joint4" value="0" />
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<joint name="joint6_to_joint5" value="0" />
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<joint name="joint1_to_base" value="0"/>
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<joint name="joint2_to_joint1" value="0"/>
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<joint name="joint3_to_joint2" value="0"/>
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<joint name="joint4_to_joint3" value="0"/>
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<joint name="joint5_to_joint4" value="0"/>
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<joint name="joint6_to_joint5" value="0"/>
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</group_state>
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<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
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<!-- <virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="joint1" /> -->
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<virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="base" />
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<virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="base"/>
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<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
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<disable_collisions link1="base" link2="link1" reason="Adjacent" />
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<disable_collisions link1="base" link2="link2" reason="Never" />
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<disable_collisions link1="base" link2="link3" reason="Never" />
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<disable_collisions link1="base" link2="link4" reason="Never" />
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<disable_collisions link1="base" link2="link5" reason="Never" />
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<disable_collisions link1="base" link2="link6" reason="Never" />
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<disable_collisions link1="link1" link2="link2" reason="Adjacent" />
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<disable_collisions link1="link1" link2="link3" reason="Never" />
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<disable_collisions link1="link1" link2="link4" reason="Never" />
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<disable_collisions link1="link1" link2="link5" reason="Never" />
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<disable_collisions link1="link1" link2="link6" reason="Never" />
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<disable_collisions link1="link2" link2="link3" reason="Adjacent" />
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<disable_collisions link1="link2" link2="link4" reason="Never" />
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<disable_collisions link1="link2" link2="link5" reason="Never" />
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<disable_collisions link1="link2" link2="link6" reason="Never" />
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<disable_collisions link1="link3" link2="link4" reason="Adjacent" />
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<disable_collisions link1="link3" link2="link5" reason="Never" />
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<disable_collisions link1="link3" link2="link6" reason="Never" />
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<disable_collisions link1="link4" link2="link5" reason="Adjacent" />
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<disable_collisions link1="link4" link2="link6" reason="Never" />
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<disable_collisions link1="link5" link2="link6" reason="Adjacent" />
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<disable_collisions link1="base" link2="link1" reason="Adjacent"/>
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<disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
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<disable_collisions link1="link1" link2="link3" reason="Never"/>
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<disable_collisions link1="link1" link2="link4" reason="Never"/>
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<disable_collisions link1="link1" link2="link5" reason="Never"/>
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<disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
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<disable_collisions link1="link2" link2="link4" reason="Never"/>
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<disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
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<disable_collisions link1="link3" link2="link5" reason="Never"/>
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<disable_collisions link1="link3" link2="link6" reason="Never"/>
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<disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
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<disable_collisions link1="link4" link2="link6" reason="Never"/>
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<disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
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</robot>

‎mycobot_pro/mycobot_630_moveit/config/gazebo_controllers.yaml

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# Publish joint_states
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 50

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