增加guguji的ros2下仿真软件包

guguji_ros2/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(guguji)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)

guguji_ros2/config/joint_names_guguji.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['', 'eft_hip_pitch_joint', 'left_knee_pitch_joint', 'left_ankle_pitch_joint', 'left_ankle_joint', 'right_hip_pitch_joint', 'right_knee_pitch_joint', 'right_ankle_pitch_joint', 'right_ankle_joint', ]

guguji_ros2/launch/display.launch

@@ -0,0 +1,20 @@
+<launch>
+  <arg
+    name="model" />
+  <param
+    name="robot_description"
+    textfile="$(find guguji)/urdf/guguji.urdf" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find guguji)/urdf.rviz" />
+</launch>

guguji_ros2/launch/gazebo.launch

@@ -0,0 +1,20 @@
+<launch>
+  <include
+    file="$(find gazebo_ros)/launch/empty_world.launch" />
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 base_link base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find guguji)/urdf/guguji.urdf -urdf -model guguji"
+    output="screen" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>

guguji_ros2/package.xml

@@ -0,0 +1,21 @@
+<package format="2">
+  <name>guguji</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for guguji</p>
+    <p>This package contains configuration data, 3D models and launch files
+for guguji robot</p>
+  </description>
+  <author>TODO</author>
+  <maintainer email="TODO@email.com" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roslaunch</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>gazebo</depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>

guguji_ros2/urdf/guguji.csv

@@ -0,0 +1,10 @@
+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
+base_link,-0.01311,4.4564E-15,-0.038387,0,0,0,0.79357,0.00242,-5.1575E-18,-4.465E-06,0.0007494,-1.1414E-08,0.0022891,0,0,0,0,0,0,package://guguji/meshes/base_link.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://guguji/meshes/base_link.STL,,PLA00_ASM_1-1/PLAAC-1_1-1;PLA00_ASM_1-1/PLA00-1;RS00_ASM-5;RS00_ASM-1,base,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+left_hip_pitch_link,-0.020507,0.056794,-0.042649,0,0,0,0.36126,0.00033468,2.8388E-06,-1.7075E-06,0.00033343,4.5382E-05,0.00029074,0,0,0,0,0,0,package://guguji/meshes/left_hip_pitch_link.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://guguji/meshes/left_hip_pitch_link.STL,,PLA00_ASM_1-1/PLALF_ASM_1-1/PLAAC-2_1-1;RS00_ASM-2,left_hip_pitch,left_hip_pitch-z,eft_hip_pitch_joint,revolute,0.0212,0.075,-0.045,0,0,0,base_link,-1,0,-8.3367E-05,0,0,0,0,,,,,,,,
+left_knee_pitch_link,-0.079749,-0.02485,-0.05519,0,0,0,0.30699,0.00018914,-9.6861E-06,-0.00012324,0.00045996,-7.9583E-06,0.00036515,0,0,0,0,0,0,package://guguji/meshes/left_knee_pitch_link.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://guguji/meshes/left_knee_pitch_link.STL,,PLA00_ASM_1-1/PLALF_ASM_1-1/PLAAC-3_1-1;RS00_ASM-3,left_knee_pitch,left_knee_pitch-z,left_knee_pitch_joint,revolute,-0.0207,0.086,-0.065,0,-8.3367E-05,0,left_hip_pitch_link,0,-1,0,0,0,0,0,,,,,,,,
+left_ankle_pitch_link,0.025229,0.041641,-0.055333,0,0,0,0.16139,0.00032566,-6.0329E-07,7.4777E-05,0.00022706,1.0258E-06,0.00019522,0,0,0,0,0,0,package://guguji/meshes/left_ankle_pitch_link.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://guguji/meshes/left_ankle_pitch_link.STL,,PLA00_ASM_1-1/PLALF_ASM_1-1/PLAAC-4_1-1,left_ankle_pitch,left_ankle-z,left_ankle_pitch_joint,revolute,-0.10001,-0.068602,-0.064992,0,0,0,left_knee_pitch_link,0,-1,0,0,0,0,0,,,,,,,,
+left_foot_link,0.00086189,-0.028039,-0.012007,0,0,0,0.52086,0.00034206,6.9489E-06,1.2323E-05,0.0011393,2.4066E-06,0.0013288,0,0,0,0,0,0,package://guguji/meshes/left_foot_link.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://guguji/meshes/left_foot_link.STL,,LF44-1;RS00_ASM-9;RS00_ASM-4,left_ankl,left_ankle-z,left_ankle_joint,revolute,0.04999,0.068602,-0.115,0,0,0,left_ankle_pitch_link,0,-1,0,0,0,0,0,,,,,,,,
+right_hip_pitch_link,-0.020511,-0.056935,-0.042647,0,0,0,0.36126,0.00033468,-2.8417E-06,-1.6994E-06,0.00033343,-4.5381E-05,0.00029074,0,0,0,0,0,0,package://guguji/meshes/right_hip_pitch_link.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://guguji/meshes/right_hip_pitch_link.STL,,PLA00_ASM_1-1/PLARF_ASM_1-1/PLAAC-2_MIR_1-1;RS00_ASM-6,right_hip_pitch,right_hip_pitch-z,right_hip_pitch_joint,revolute,0.0212,-0.075,-0.045,0,-8.3367E-05,0,base_link,1,0,0,0,0,0,0,,,,,,,,
+right_knee_pitch_link,-0.079749,0.025083,-0.05519,0,0,0,0.30699,0.00018914,9.6861E-06,-0.00012325,0.00045996,7.9583E-06,0.00036515,0,0,0,0,0,0,package://guguji/meshes/right_knee_pitch_link.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://guguji/meshes/right_knee_pitch_link.STL,,PLA00_ASM_1-1/PLARF_ASM_1-1/PLAAC-3_MIR_1-1;RS00_ASM-7,right_knee_pitch,right_knee-z,right_knee_pitch_joint,revolute,-0.020705,-0.0864,-0.064998,0,0,0,right_hip_pitch_link,0,1,0,0,0,0,0,,,,,,,,
+right_ankle_pitch_link,0.025229,-0.041641,-0.055333,0,0,0,0.16139,0.00032566,6.0329E-07,7.4777E-05,0.00022706,-1.0258E-06,0.00019522,0,0,0,0,0,0,package://guguji/meshes/right_ankle_pitch_link.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://guguji/meshes/right_ankle_pitch_link.STL,,PLA00_ASM_1-1/PLARF_ASM_1-1/PLAAC-4_MIR_1-1,right_ankle_pitch,right_ankle_pitch-z,right_ankle_pitch_joint,continuous,-0.10001,0.069002,-0.064992,0,0,0,right_knee_pitch_link,0,1,0,,,,,,,,,,,,
+right_foot_link,0.0011206,0.029513,-0.015613,0,0,0,0.40057,0.00029071,-6.947E-06,1.2318E-05,0.0010904,-2.4067E-06,0.0012771,0,0,0,0,0,0,package://guguji/meshes/right_foot_link.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://guguji/meshes/right_foot_link.STL,,LF44Z-1;RS00_ASM-8;LF-43-1,right_ankle,right_ankle-z,right_ankle_joint,revolute,0.04999,-0.069002,-0.115,0,0,0,right_ankle_pitch_link,0,1,0,0,0,0,0,,,,,,,,

guguji_ros2/urdf/guguji.urdf

@@ -0,0 +1,506 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="guguji">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.01311 4.4564E-15 -0.038387"
+        rpy="0 0 0" />
+      <mass
+        value="0.79357" />
+      <inertia
+        ixx="0.00242"
+        ixy="-5.1575E-18"
+        ixz="-4.465E-06"
+        iyy="0.0007494"
+        iyz="-1.1414E-08"
+        izz="0.0022891" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://guguji/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://guguji/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="left_hip_pitch_link">
+    <inertial>
+      <origin
+        xyz="-0.020507 0.056794 -0.042649"
+        rpy="0 0 0" />
+      <mass
+        value="0.36126" />
+      <inertia
+        ixx="0.00033468"
+        ixy="2.8388E-06"
+        ixz="-1.7075E-06"
+        iyy="0.00033343"
+        iyz="4.5382E-05"
+        izz="0.00029074" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://guguji/meshes/left_hip_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://guguji/meshes/left_hip_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="eft_hip_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.0212 0.075 -0.045"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="left_hip_pitch_link" />
+    <axis
+      xyz="-1 0 -8.3367E-05" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="left_knee_pitch_link">
+    <inertial>
+      <origin
+        xyz="-0.079749 -0.02485 -0.05519"
+        rpy="0 0 0" />
+      <mass
+        value="0.30699" />
+      <inertia
+        ixx="0.00018914"
+        ixy="-9.6861E-06"
+        ixz="-0.00012324"
+        iyy="0.00045996"
+        iyz="-7.9583E-06"
+        izz="0.00036515" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://guguji/meshes/left_knee_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://guguji/meshes/left_knee_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_knee_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0207 0.086 -0.065"
+      rpy="0 -8.3367E-05 0" />
+    <parent
+      link="left_hip_pitch_link" />
+    <child
+      link="left_knee_pitch_link" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="left_ankle_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.025229 0.041641 -0.055333"
+        rpy="0 0 0" />
+      <mass
+        value="0.16139" />
+      <inertia
+        ixx="0.00032566"
+        ixy="-6.0329E-07"
+        ixz="7.4777E-05"
+        iyy="0.00022706"
+        iyz="1.0258E-06"
+        izz="0.00019522" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://guguji/meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://guguji/meshes/left_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ankle_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="-0.10001 -0.068602 -0.064992"
+      rpy="0 0 0" />
+    <parent
+      link="left_knee_pitch_link" />
+    <child
+      link="left_ankle_pitch_link" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="left_foot_link">
+    <inertial>
+      <origin
+        xyz="0.00086189 -0.028039 -0.012007"
+        rpy="0 0 0" />
+      <mass
+        value="0.52086" />
+      <inertia
+        ixx="0.00034206"
+        ixy="6.9489E-06"
+        ixz="1.2323E-05"
+        iyy="0.0011393"
+        iyz="2.4066E-06"
+        izz="0.0013288" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://guguji/meshes/left_foot_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://guguji/meshes/left_foot_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ankle_joint"
+    type="revolute">
+    <origin
+      xyz="0.04999 0.068602 -0.115"
+      rpy="0 0 0" />
+    <parent
+      link="left_ankle_pitch_link" />
+    <child
+      link="left_foot_link" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="right_hip_pitch_link">
+    <inertial>
+      <origin
+        xyz="-0.020511 -0.056935 -0.042647"
+        rpy="0 0 0" />
+      <mass
+        value="0.36126" />
+      <inertia
+        ixx="0.00033468"
+        ixy="-2.8417E-06"
+        ixz="-1.6994E-06"
+        iyy="0.00033343"
+        iyz="-4.5381E-05"
+        izz="0.00029074" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://guguji/meshes/right_hip_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://guguji/meshes/right_hip_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.0212 -0.075 -0.045"
+      rpy="0 -8.3367E-05 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="right_hip_pitch_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="right_knee_pitch_link">
+    <inertial>
+      <origin
+        xyz="-0.079749 0.025083 -0.05519"
+        rpy="0 0 0" />
+      <mass
+        value="0.30699" />
+      <inertia
+        ixx="0.00018914"
+        ixy="9.6861E-06"
+        ixz="-0.00012325"
+        iyy="0.00045996"
+        iyz="7.9583E-06"
+        izz="0.00036515" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://guguji/meshes/right_knee_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://guguji/meshes/right_knee_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_knee_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="-0.020705 -0.0864 -0.064998"
+      rpy="0 0 0" />
+    <parent
+      link="right_hip_pitch_link" />
+    <child
+      link="right_knee_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="right_ankle_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.025229 -0.041641 -0.055333"
+        rpy="0 0 0" />
+      <mass
+        value="0.16139" />
+      <inertia
+        ixx="0.00032566"
+        ixy="6.0329E-07"
+        ixz="7.4777E-05"
+        iyy="0.00022706"
+        iyz="-1.0258E-06"
+        izz="0.00019522" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://guguji/meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://guguji/meshes/right_ankle_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ankle_pitch_joint"
+    type="continuous">
+    <origin
+      xyz="-0.10001 0.069002 -0.064992"
+      rpy="0 0 0" />
+    <parent
+      link="right_knee_pitch_link" />
+    <child
+      link="right_ankle_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+  </joint>
+  <link
+    name="right_foot_link">
+    <inertial>
+      <origin
+        xyz="0.0011206 0.029513 -0.015613"
+        rpy="0 0 0" />
+      <mass
+        value="0.40057" />
+      <inertia
+        ixx="0.00029071"
+        ixy="-6.947E-06"
+        ixz="1.2318E-05"
+        iyy="0.0010904"
+        iyz="-2.4067E-06"
+        izz="0.0012771" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://guguji/meshes/right_foot_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://guguji/meshes/right_foot_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ankle_joint"
+    type="revolute">
+    <origin
+      xyz="0.04999 -0.069002 -0.115"
+      rpy="0 0 0" />
+    <parent
+      link="right_ankle_pitch_link" />
+    <child
+      link="right_foot_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+</robot>