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Correction of rs030n_macro.xacro&package.xml
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@ohno-atsushi
ohno-atsushi committed Oct 6, 2023
1 parent fdd6b86 commit 04fd063
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2 changes: 1 addition & 1 deletion khi_rs030n_moveit_config/package.xml
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<package>

<name>khi_rs030n_moveit_config</name>
<version>0.3.0</version>
<version>1.4.0</version>
<description>
An automatically generated package with all the configuration and launch files for using the khi_rs030n with the MoveIt Motion Planning Framework
</description>
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266 changes: 254 additions & 12 deletions khi_rs_description/urdf/rs030n_macro.xacro
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<?xml version="1.0" ?>
<robot name="khi_rs030n" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find khi_rs_description)/urdf/rs030n_macro.xacro"/>
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="khi_rs030n" params="prefix">

<!-- instantiate rs030n -->
<xacro:khi_rs030n prefix="" />
<xacro:include filename="$(find khi_rs_description)/urdf/rs.transmission.xacro" />
<xacro:include filename="$(find khi_rs_description)/urdf/common.gazebo.xacro" />

<!-- Fix rs030n to world -->
<!-- link rviz colors -->
<material name="White">
<color rgba="1 1 1 1"/>
</material>

<link name="world"/>
<material name="Black">
<color rgba="0 0 0 1"/>
</material>

<joint name="world2base" type="fixed">
<parent link="world"/>
<child link="base_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- DH parameters -->
<xacro:property name="dh_j1_j2_roty" value="${radians(-90)}"/>
<xacro:property name="dh_j3_j4_roty" value="${radians( 90)}"/>
<xacro:property name="dh_j4_j5_roty" value="${radians(-90)}"/>
<xacro:property name="dh_j5_j6_roty" value="${radians( 90)}"/>

<!-- link mass [kg] -->
<xacro:property name="j0_mass" value="177.752"/>
<xacro:property name="j1_mass" value="216.150"/>
<xacro:property name="j2_mass" value="70.847"/>
<xacro:property name="j3_mass" value="51.710"/>
<xacro:property name="j4_mass" value="31.675"/>
<xacro:property name="j5_mass" value="6.866"/>
<xacro:property name="j6_mass" value="0.0001"/>

<!-- link lengths [m] -->
<xacro:property name="j0_length" value="0.68"/>
<xacro:property name="j1_length" value="0.15"/>
<xacro:property name="j2_length" value="0.87"/>
<xacro:property name="j3_length" value="0.267"/>
<xacro:property name="j4_length" value="0.813"/>
<xacro:property name="j5_length" value="0.165"/>

<!-- joint limits [rad] -->
<xacro:property name="j1_lower_limit" value="${radians(-180)}"/>
<xacro:property name="j1_upper_limit" value="${radians( 180)}"/>
<xacro:property name="j2_lower_limit" value="${radians(-105)}"/>
<xacro:property name="j2_upper_limit" value="${radians( 140)}"/>
<xacro:property name="j3_lower_limit" value="${radians(-155)}"/>
<xacro:property name="j3_upper_limit" value="${radians( 135)}"/>
<xacro:property name="j4_lower_limit" value="${radians(-360)}"/>
<xacro:property name="j4_upper_limit" value="${radians( 360)}"/>
<xacro:property name="j5_lower_limit" value="${radians(-145)}"/>
<xacro:property name="j5_upper_limit" value="${radians( 145)}"/>
<xacro:property name="j6_lower_limit" value="${radians(-360)}"/>
<xacro:property name="j6_upper_limit" value="${radians( 360)}"/>

<!-- joint verocity limits [rad/s] -->
<xacro:property name="j1_velocity_limit" value="${radians( 180)}"/>
<xacro:property name="j2_velocity_limit" value="${radians( 180)}"/>
<xacro:property name="j3_velocity_limit" value="${radians( 185)}"/>
<xacro:property name="j4_velocity_limit" value="${radians( 260)}"/>
<xacro:property name="j5_velocity_limit" value="${radians( 260)}"/>
<xacro:property name="j6_velocity_limit" value="${radians(360)}"/>

<!-- link inertial(TODO : set correct link inertial )-->
<xacro:macro name="default_inertial" params="mass">
<inertial>
<mass value="${mass}" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</xacro:macro>

<!-- rs030n start -->

<!-- Link 0 -->
<link name="${prefix}base_link">
<visual>
<geometry>
<mesh filename="package://khi_rs_description/meshes/RS030N_J0.stl"/>
</geometry>
<material name="White"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://khi_rs_description/meshes/RS030N_J0.stl"/>
</geometry>
<material name="White"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<xacro:default_inertial mass="${j0_mass}"/>
</link>

<!-- Link 1 -->
<joint name="${prefix}joint1" type="revolute">
<axis xyz="0 0 -1" rpy="0 0 0" />
<limit effort="1000.0" lower="${j1_lower_limit}" upper="${j1_upper_limit}" velocity="${j1_velocity_limit}"/>
<origin xyz="0 0 ${j0_length}" rpy="0 0 0" />
<parent link="${prefix}base_link"/>
<child link="${prefix}link1"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>

<link name="${prefix}link1">
<visual>
<geometry>
<mesh filename="package://khi_rs_description/meshes/RS030N_J1.stl"/>
</geometry>
<material name="White"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://khi_rs_description/meshes/RS030N_J1.stl"/>
</geometry>
<material name="White"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<xacro:default_inertial mass="${j1_mass}"/>
</link>

<!-- Link 2 -->
<joint name="${prefix}joint2" type="revolute">
<axis xyz="0 0 1" rpy="0 0 0" />
<limit effort="1000.0" lower="${j2_lower_limit}" upper="${j2_upper_limit}" velocity="${j2_velocity_limit}"/>
<origin xyz="0 0 ${j1_length}" rpy="0 ${dh_j1_j2_roty} 0" />
<parent link="${prefix}link1"/>
<child link="${prefix}link2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>

<link name="${prefix}link2">
<visual>
<geometry>
<mesh filename="package://khi_rs_description/meshes/RS030N_J2.stl"/>
</geometry>
<material name="White"/>
<origin xyz="0 0 0" rpy="0 ${dh_j1_j2_roty*-1} 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://khi_rs_description/meshes/RS030N_J2.stl"/>
</geometry>
<material name="White"/>
<origin xyz="0 0 0" rpy="0 ${dh_j1_j2_roty*-1} 0"/>
</collision>
<xacro:default_inertial mass="0${j2_mass}"/>
</link>

<!-- Link 3 -->
<joint name="${prefix}joint3" type="revolute">
<axis xyz="0 0 -1" rpy="0 0 0" />
<limit effort="1000.0" lower="${j3_lower_limit}" upper="${j3_upper_limit}" velocity="${j3_velocity_limit}"/>
<origin xyz="${j2_length} 0 0" rpy="0 0 0" />
<parent link="${prefix}link2"/>
<child link="${prefix}link3"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>

<link name="${prefix}link3">
<visual>
<geometry>
<mesh filename="package://khi_rs_description/meshes/RS030N_J3.stl"/>
</geometry>
<material name="White"/>
<origin xyz="0 0 0" rpy="0 ${dh_j1_j2_roty*-1} 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://khi_rs_description/meshes/RS030N_J3.stl"/>
</geometry>
<material name="White"/>
<origin xyz="0 0 0" rpy="0 ${dh_j1_j2_roty*-1} 0"/>
</collision>
<xacro:default_inertial mass="${j3_mass}"/>
</link>

<!-- Link 4 -->
<joint name="${prefix}joint4" type="revolute">
<axis xyz="0 0 1" rpy="0 0 0" />
<limit effort="1000.0" lower="${j4_lower_limit}" upper="${j4_upper_limit}" velocity="${j4_velocity_limit}"/>
<origin xyz="${j3_length} 0 0" rpy="0 ${dh_j3_j4_roty} 0" />
<parent link="${prefix}link3"/>
<child link="${prefix}link4"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>

<link name="${prefix}link4">
<visual>
<geometry>
<mesh filename="package://khi_rs_description/meshes/RS030N_J4.stl"/>
</geometry>
<material name="White"/>
<origin xyz="0 0 ${j4_length}" rpy="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://khi_rs_description/meshes/RS030N_J4.stl"/>
</geometry>
<material name="White"/>
<origin xyz="0 0 ${j4_length}" rpy="0 0 0"/>
</collision>
<xacro:default_inertial mass="${j4_mass}"/>
</link>

<!-- Link 5 -->
<joint name="${prefix}joint5" type="revolute">
<axis xyz="0 0 -1" rpy="0 0 0" />
<limit effort="1000.0" lower="${j5_lower_limit}" upper="${j5_upper_limit}" velocity="${j5_velocity_limit}"/>
<origin xyz="0 0 ${j4_length}" rpy="0 ${dh_j4_j5_roty} 0" />
<parent link="${prefix}link4"/>
<child link="${prefix}link5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>

<link name="${prefix}link5">
<visual>
<geometry>
<mesh filename="package://khi_rs_description/meshes/RS030N_J5.stl"/>
</geometry>
<material name="White"/>
<origin xyz="0 0 0" rpy="0 ${dh_j4_j5_roty*-1} 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://khi_rs_description/meshes/RS030N_J5.stl"/>
</geometry>
<material name="White"/>
<origin xyz="0 0 0" rpy="0 ${dh_j4_j5_roty*-1} 0"/>
</collision>
<xacro:default_inertial mass="${j5_mass}"/>
</link>

<!-- Link 6 -->
<joint name="${prefix}joint6" type="revolute">
<axis xyz="0 0 1" rpy="0 0 0" />
<limit effort="1000.0" lower="${j6_lower_limit}" upper="${j6_upper_limit}" velocity="${j6_velocity_limit}"/>
<origin xyz="${j5_length} 0 0" rpy="0 ${dh_j5_j6_roty} 0" />
<parent link="${prefix}link5"/>
<child link="${prefix}link6"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>

<link name="${prefix}link6">
<visual>
<geometry>
<mesh filename="package://khi_rs_description/meshes/RS030N_J6.stl"/>
</geometry>
<material name="Black"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://khi_rs_description/meshes/RS030N_J6.stl"/>
</geometry>
<material name="Black"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</collision>
<xacro:default_inertial mass="${j6_mass}"/>
</link>
</xacro:macro>
</robot>

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