更新pro 600 URDF模型初始姿态

Author: wangWking

demo_img/pro600/pro600.png

@@ -143,12 +143,12 @@
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz="0 0 -1"/>
-    <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/>
-    <!-- <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/> -->
+    <!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" 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 = "1.5708 -1.5708 0"/>   -->
-    <origin xyz= "0 0  0" rpy = "1.5708 0 0"/>
+    <origin xyz= "0 0  0" rpy = "1.5708 -1.5708 0"/>  
+    <!-- <origin xyz= "0 0  0" rpy = "1.5708 0 0"/> -->
   </joint>
 
 
@@ -162,12 +162,12 @@
 
   <joint name="joint5_to_joint4" type="revolute">
     <axis xyz=" 0 0 -1"/>
-    <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/>
-    <!-- <limit effort = "1000.0" lower = "-2.96" upper = "2.97" 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= "0.25 0  -0.1091" rpy = "0 0 1.5708"/>   -->
-    <origin xyz= "0.25 0  -0.1091" rpy = "0 0 0"/>  
+    <origin xyz= "0.25 0  -0.1091" rpy = "0 0 1.5708"/>  
+    <!-- <origin xyz= "0.25 0  -0.1091" rpy = "0 0 0"/>   -->
   </joint>
 
   <joint name="joint6_to_joint5" type="revolute">

mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600.urdf

@@ -9,7 +9,7 @@ Panels:
         - /RobotModel1
         - /TF1
       Splitter Ratio: 0.5
-    Tree Height: 775
+    Tree Height: 609
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -18,17 +18,18 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.588679016
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
     Expanded:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
   - Class: rviz/Time
-    Experimental: false
     Name: Time
     SyncMode: 0
     SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
 Toolbars:
   toolButtonStyle: 2
 Visualization Manager:
@@ -40,7 +41,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.0299999993
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -105,6 +106,8 @@ Visualization Manager:
       Visual Enabled: true
     - Class: rviz/TF
       Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
       Frame Timeout: 15
       Frames:
         All Enabled: true
@@ -122,7 +125,8 @@ Visualization Manager:
           Value: true
         link6:
           Value: true
-      Marker Scale: 0.300000012
+      Marker Alpha: 1
+      Marker Scale: 0.20000000298023224
       Name: TF
       Show Arrows: true
       Show Axes: true
@@ -153,7 +157,10 @@ Visualization Manager:
     - Class: rviz/FocusCamera
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
       Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
     - Class: rviz/SetGoal
       Topic: /move_base_simple/goal
     - Class: rviz/PublishPoint
@@ -163,33 +170,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 2.0593462
+      Distance: 2.0004639625549316
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
-        X: -0.0706475973
-        Y: -0.0814988762
-        Z: 0.107583851
+        X: -0.07064759731292725
+        Y: -0.0814988762140274
+        Z: 0.10758385062217712
       Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
+      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.660398126
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.45539799332618713
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 3.10539246
+      Yaw: 2.6153931617736816
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1056
+  Height: 906
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000393000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -198,6 +205,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1855
-  X: 65
-  Y: 24
+  Width: 1848
+  X: 72
+  Y: 27

mycobot_pro/mycobot_600/config/mycobot_600.rviz

@@ -22,6 +22,9 @@ def callback(data):
         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, 1000)