Skip to content
Snippets Groups Projects
Commit 25e274d3 authored by Erdal Pekel's avatar Erdal Pekel
Browse files

Panda in Gazebo + MoveIt! motion planning

parent f7f00b6d
Branches
No related tags found
No related merge requests found
Show whitespace changes
Inline Side-by-side
Showing
with 396 additions and 1 deletion
franka_control/config/panda_gazebo_control.yaml 0 → 100644
+ 40
− 0
View file @ 25e274d3
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
position_joint_trajectory_controller:
type: effort_controllers/JointTrajectoryController
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
gains:
panda_joint1: { p: 12000, d: 50, i: 0.0, i_clamp: 10000 }
panda_joint2: { p: 30000, d: 100, i: 0.02, i_clamp: 10000 }
panda_joint3: { p: 18000, d: 50, i: 0.01, i_clamp: 1 }
panda_joint4: { p: 18000, d: 70, i: 0.01, i_clamp: 10000 }
panda_joint5: { p: 12000, d: 70, i: 0.01, i_clamp: 1 }
panda_joint6: { p: 7000, d: 50, i: 0.01, i_clamp: 1 }
panda_joint7: { p: 2000, d: 20, i: 0.0, i_clamp: 1 }
constraints:
goal_time: 2.0
state_publish_rate: 25
franka_gripper:
type: effort_controllers/JointTrajectoryController
joints:
- panda_finger_joint1
- panda_finger_joint2
gains:
panda_finger_joint1: { p: 5, d: 3.0, i: 0, i_clamp: 1 }
panda_finger_joint2: { p: 5, d: 1.0, i: 0, i_clamp: 1 }
state_publish_rate: 25
franka_description/robots/hand.xacro
+ 24
− 0
View file @ 25e274d3
......@@ -19,6 +19,14 @@
<mesh filename="package://franka_description/meshes/collision/hand.stl"/>
</geometry>
</collision>
<!-- for simulation -->
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.68" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
<!-- end for simulation -->
</link>
<link name="${ns}_leftfinger">
<visual>
......@@ -31,6 +39,14 @@
<mesh filename="package://franka_description/meshes/collision/finger.stl"/>
</geometry>
</collision>
<!-- for simulation -->
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
<!-- end for simulation -->
</link>
<link name="${ns}_rightfinger">
<visual>
......@@ -45,6 +61,14 @@
<mesh filename="package://franka_description/meshes/collision/finger.stl"/>
</geometry>
</collision>
<!-- for simulation -->
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
<!-- end for simulation -->
</link>
<joint name="${ns}_finger_joint1" type="prismatic">
<parent link="${ns}_hand"/>
......
franka_description/robots/panda.gazebo.xacro 0 → 100644
+ 94
− 0
View file @ 25e274d3
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="panda_gazebo" params="robot_name">
<!-- Link0 -->
<gazebo reference="${robot_name}_link0">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link1 -->
<gazebo reference="${robot_name}_link1">
<material>Gazebo/White</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link2 -->
<gazebo reference="${robot_name}_link2">
<material>Gazebo/White</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link3 -->
<gazebo reference="${robot_name}_link3">
<material>Gazebo/White</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link4 -->
<gazebo reference="${robot_name}_link4">
<material>Gazebo/White</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link5 -->
<gazebo reference="${robot_name}_link5">
<material>Gazebo/White</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link6 -->
<gazebo reference="${robot_name}_link6">
<material>Gazebo/White</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link7 -->
<gazebo reference="${robot_name}_link7">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link8 -->
<gazebo reference="${robot_name}_link8">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- LinkHand -->
<gazebo reference="${robot_name}_hand">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- LinkRightFinger -->
<gazebo reference="${robot_name}_rightfinger">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- LinkLeftFinger -->
<gazebo reference="${robot_name}_leftfinger">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
</xacro:macro>
</robot>
franka_description/robots/panda.transmission.xacro 0 → 100644
+ 112
− 0
View file @ 25e274d3
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="panda_transmission" params="robot_name">
<!-- Load Gazebo lib and set the robot namespace -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<!-- <robotNamespace>/${robot_name}</robotNamespace> -->
</plugin>
</gazebo>
<transmission name="${robot_name}_tran_1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${robot_name}_tran_2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${robot_name}_tran_3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${robot_name}_tran_4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${robot_name}_tran_5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${robot_name}_tran_6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${robot_name}_tran_7">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint7">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_7">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${robot_name}_leftfinger">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_finger_joint1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_finger_joint1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${robot_name}_rightfinger">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_finger_joint2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_finger_joint2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>
franka_description/robots/panda_arm.xacro
+ 114
− 1
View file @ 25e274d3
......@@ -8,6 +8,19 @@
<origin rpy="${rpy}" xyz="${xyz}"/>
</joint>
</xacro:unless>
<!-- for simulation -->
<link name="world" />
<joint name="robot_to_world" type="fixed">
<parent link="world" />
<child link="${arm_id}_link0" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>
<xacro:property name="joint_damping" value="1.0"/>
<!-- end for simulation -->
<link name="${arm_id}_link0">
<visual>
<geometry>
......@@ -19,6 +32,14 @@
<mesh filename="package://${description_pkg}/meshes/collision/link0.stl"/>
</geometry>
</collision>
<!-- for simulation -->
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="3.06" />
<inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
</inertial>
<!-- end for simulation -->
</link>
<link name="${arm_id}_link1">
<visual>
......@@ -31,6 +52,14 @@
<mesh filename="package://${description_pkg}/meshes/collision/link1.stl"/>
</geometry>
</collision>
<!-- for simulation -->
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="2.34" />
<inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
</inertial>
<!-- end for simulation -->
</link>
<joint name="${arm_id}_joint1" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
......@@ -39,6 +68,10 @@
<child link="${arm_id}_link1"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
<!-- for simulation -->
<dynamics damping="${joint_damping}"/>
<!-- end for simulation -->
</joint>
<link name="${arm_id}_link2">
<visual>
......@@ -51,6 +84,14 @@
<mesh filename="package://${description_pkg}/meshes/collision/link2.stl"/>
</geometry>
</collision>
<!-- for simulation -->
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="2.36" />
<inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
</inertial>
<!-- end for simulation -->
</link>
<joint name="${arm_id}_joint2" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
......@@ -59,6 +100,10 @@
<child link="${arm_id}_link2"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
<!-- for simulation -->
<dynamics damping="${joint_damping}"/>
<!-- end for simulation -->
</joint>
<link name="${arm_id}_link3">
<visual>
......@@ -71,6 +116,14 @@
<mesh filename="package://${description_pkg}/meshes/collision/link3.stl"/>
</geometry>
</collision>
<!-- for simulation -->
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="2.38" />
<inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
</inertial>
<!-- end for simulation -->
</link>
<joint name="${arm_id}_joint3" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
......@@ -79,6 +132,10 @@
<child link="${arm_id}_link3"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
<!-- for simulation -->
<dynamics damping="${joint_damping}"/>
<!-- end for simulation -->
</joint>
<link name="${arm_id}_link4">
<visual>
......@@ -91,6 +148,14 @@
<mesh filename="package://${description_pkg}/meshes/collision/link4.stl"/>
</geometry>
</collision>
<!-- for simulation -->
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="2.43" />
<inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
</inertial>
<!-- end for simulation -->
</link>
<joint name="${arm_id}_joint4" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
......@@ -99,6 +164,10 @@
<child link="${arm_id}_link4"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
<!-- for simulation -->
<dynamics damping="${joint_damping}"/>
<!-- end for simulation -->
</joint>
<link name="${arm_id}_link5">
<visual>
......@@ -111,6 +180,14 @@
<mesh filename="package://${description_pkg}/meshes/collision/link5.stl"/>
</geometry>
</collision>
<!-- for simulation -->
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="3.5" />
<inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
</inertial>
<!-- end for simulation -->
</link>
<joint name="${arm_id}_joint5" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
......@@ -119,6 +196,10 @@
<child link="${arm_id}_link5"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
<!-- for simulation -->
<dynamics damping="${joint_damping}"/>
<!-- end for simulation -->
</joint>
<link name="${arm_id}_link6">
<visual>
......@@ -131,6 +212,14 @@
<mesh filename="package://${description_pkg}/meshes/collision/link6.stl"/>
</geometry>
</collision>
<!-- for simulation -->
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1.47" />
<inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
</inertial>
<!-- end for simulation -->
</link>
<joint name="${arm_id}_joint6" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
......@@ -139,6 +228,10 @@
<child link="${arm_id}_link6"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
<!-- for simulation -->
<dynamics damping="${joint_damping}"/>
<!-- end for simulation -->
</joint>
<link name="${arm_id}_link7">
<visual>
......@@ -151,6 +244,14 @@
<mesh filename="package://${description_pkg}/meshes/collision/link7.stl"/>
</geometry>
</collision>
<!-- for simulation -->
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.45" />
<inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
</inertial>
<!-- end for simulation -->
</link>
<joint name="${arm_id}_joint7" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
......@@ -159,8 +260,20 @@
<child link="${arm_id}_link7"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
<!-- for simulation -->
<dynamics damping="${joint_damping}"/>
<!-- end for simulation -->
</joint>
<link name="${arm_id}_link8"/>
<link name="${arm_id}_link8">
<!-- for simulation -->
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.0" />
<inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
</inertial>
<!-- end for simulation -->
</link>
<joint name="${arm_id}_joint8" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.107"/>
<parent link="${arm_id}_link7"/>
......
franka_description/robots/panda_arm_hand.urdf.xacro
+ 12
− 0
View file @ 25e274d3
......@@ -2,6 +2,18 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:include filename="$(find franka_description)/robots/panda_arm.xacro"/>
<xacro:include filename="$(find franka_description)/robots/hand.xacro"/>
<!-- for simulation -->
<xacro:include filename="$(find franka_description)/robots/panda.gazebo.xacro"/>
<xacro:include filename="$(find franka_description)/robots/panda.transmission.xacro"/>
<!-- end for simulation -->
<xacro:panda_arm />
<xacro:hand ns="panda" rpy="0 0 ${-pi/4}" connected_to="panda_link8"/>
<!-- for simulation -->
<xacro:arg name="robot_name" default="panda"/>
<xacro:panda_gazebo robot_name="$(arg robot_name)" />
<xacro:panda_transmission robot_name="$(arg robot_name)" />
<!-- end for simulation -->
</robot>
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Please register or to comment