ROS2 URDF rb10-1300

launch 파일(gt3armsim.launch.py)

import os
from launch_ros.actions import Node
from launch import LaunchDescription
from launch.substitutions import Command
from launch.actions import ExecuteProcess
from ament_index_python.packages import get_package_share_directory


def generate_launch_description():

	
    pkg_path = os.path.join(get_package_share_directory("urdf_tutorial"))
    xacro_file = os.path.join(pkg_path, "urdf", "gt3control.xacro")

	
	# Robot State Publisher 
    robot_state_publisher = Node(package    ='robot_state_publisher',
								 executable ='robot_state_publisher',
								 name       ='robot_state_publisher',
								 output     ='both',
								 parameters =[{'robot_description': Command(['xacro', ' ', xacro_file])           
								}])


	# Spawn the robot in Gazebo
    spawn_entity_robot = Node(package     ='gazebo_ros', 
							  executable  ='spawn_entity.py', 
							  arguments   = ["-topic", "robot_description", "-entity", "with_robot"],
							  output      ='screen')

	# Gazebo   
    world_file_name = 'my_empty_world.world'
    world = os.path.join(get_package_share_directory('urdf_tutorial'), 'worlds', world_file_name)
    gazebo_node = ExecuteProcess(cmd=['gazebo', '--verbose', world,'-s', 'libgazebo_ros_factory.so'], output='screen')


	# load and START the controllers in launch file
	
    load_joint_state_broadcaster = ExecuteProcess(
										cmd=['ros2', 'control', 'load_controller', '--set-state', 'start','joint_state_broadcaster'],
										output='screen')

	
    load_joint_trajectory_controller = ExecuteProcess( 
										cmd=['ros2', 'control', 'load_controller', '--set-state', 'start', 'joint_trajectory_controller'], 
										output='screen')


    return LaunchDescription([robot_state_publisher, spawn_entity_robot, gazebo_node, load_joint_state_broadcaster, load_joint_trajectory_controller  ])

 

xacro 파일(rb10_1300.xacro)

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="rb10_1300e">
    
    <!-- MACROS -->
    <xacro:include filename="macros.xacro"/>
    <xacro:include filename="$(find urdf_tutorial)/urdf/macro.gazebo_config_control.xacro" />
	  <xacro:include filename="$(find urdf_tutorial)/urdf/macro.transmission.xacro" />
	  <xacro:include filename="$(find urdf_tutorial)/urdf/macro.internal_config.xacro" />
    <!-- Link Definitions -->

    <link name="world"/>
    
    <link name="base">
      <visual>
        <geometry>
          <mesh filename="file://$(find urdf_tutorial)/visual/link0.dae"/>
        </geometry>
      </visual>
      <collision>
        <geometry>
          <mesh filename="file://$(find urdf_tutorial)/collision/link0.stl"/>
        </geometry>
      </collision>
      <inertial>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <mass value="1.0"/>
        <inertia ixx="0.00166667" ixy="0.0" ixz="0.0" iyy="0.00166667" iyz="0.0" izz="0.00166667"/>
      </inertial>
    </link>

    <link name="link1">
      <visual>
        <geometry>
          <mesh filename="file://$(find urdf_tutorial)/visual/link1.dae"/>
        </geometry>
      </visual>
      <collision>
        <geometry>
          <mesh filename="file://$(find urdf_tutorial)/collision/link1.stl"/>
        </geometry>
      </collision>
      <inertial>
        <origin rpy="0 0 0" xyz="0.000021 -0.007855 -0.042537"/>
        <mass value="8.366"/>
        <inertia ixx="0.027403652" ixy="-0.000005926" ixz="-0.000010119" iyy="0.027770573" iyz="0.003030512" izz="0.026140211"/>
      </inertial>
    </link>

    <link name="link2">
      <visual>
        <geometry>
          <mesh filename="file://$(find urdf_tutorial)/visual/link2.dae"/>
        </geometry>
      </visual>
      <collision>
        <geometry>
          <mesh filename="file://$(find urdf_tutorial)/collision/link2.stl"/>
        </geometry>
      </collision>
      <inertial>
        <origin rpy="0 0 0" xyz="-0.000013 -0.155462 0.225241"/>
        <mass value="15.61"/>
        <inertia ixx="1.140650644" ixy="-0.000013042" ixz="-0.000067084" iyy="1.134398623" iyz="0.024507884" izz="0.050849068"/>
      </inertial>
    </link>

    <link name="link3">
      <visual>
        <geometry>
          <mesh filename="file://$(find urdf_tutorial)/visual/link3.dae"/>
        </geometry>
      </visual>
      <collision>
        <geometry>
          <mesh filename="file://$(find urdf_tutorial)/collision/link3.stl"/>
        </geometry>
      </collision>
      <inertial>
        <origin rpy="0 0 0" xyz="-0.000048 -0.013885 0.325013"/>
        <mass value="5.69"/>
        <inertia ixx="0.312033029" ixy="0.000009298" ixz="0.000011690" iyy="0.311287646" iyz="0.005331552" izz="0.011397824"/>
      </inertial>
    </link>

    <link name="link4">
      <visual>
        <geometry>
          <mesh filename="file://$(find urdf_tutorial)/visual/link4.dae"/>
        </geometry>
      </visual>
      <collision>
        <geometry>
          <mesh filename="file://$(find urdf_tutorial)/collision/link4.stl"/>
        </geometry>
      </collision>
      <inertial>
        <origin rpy="0 0 0" xyz="0.000093 -0.113949 0.026461"/>
        <mass value="2.062"/>
        <inertia ixx="0.0027111" ixy="-0.000008022" ixz="0.000011208" iyy="0.002715407" iyz="0.000144243" izz="0.002157043"/>
      </inertial>
    </link>

    <link name="link5">
      <visual>
        <geometry>
          <mesh filename="file://$(find urdf_tutorial)/visual/link5.dae"/>
        </geometry>
      </visual>
      <collision>
        <geometry>
          <mesh filename="file://$(find urdf_tutorial)/collision/link5.stl"/>
        </geometry>
      </collision>
      <inertial>
        <origin rpy="0 0 0" xyz="-0.000093 -0.026434 -0.003233"/>
        <mass value="2.061"/>
        <inertia ixx="0.002706437" ixy="0.000011205" ixz="-0.000008016" iyy="0.002153592" iyz="0.000141528" izz="0.002712272"/>
      </inertial>
    </link>

    <link name="link6">
      <visual>
        <geometry>
          <mesh filename="file://$(find urdf_tutorial)/visual/link6.dae"/>
        </geometry>
      </visual>
      <collision>
        <geometry>
          <mesh filename="file://$(find urdf_tutorial)/collision/link6.stl"/>
        </geometry>
      </collision>
      <inertial>
        <origin rpy="0 0 0" xyz="-0.000210 -0.092540 -0.000292"/>
        <mass value="0.406"/>
        <inertia ixx="0.000345314" ixy="0.000000573" ixz="0.000000661" iyy="0.000532873" iyz="-0.000000054" izz="0.000340021"/>
      </inertial>
    </link>

    <link name="tcp"/>

    <!-- Joint Definitions -->
    <joint name="gt3" type="fixed">
      <parent link="world"/>
      <child link="base"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </joint>

    <joint name="joint1" type="revolute">
      <origin rpy="0 0 0" xyz="0 0 0.197"/>
      <parent link="base"/>
      <child link="link1"/>
      <axis xyz="0 0 1"/>
      <limit effort="10" lower="-3.14" upper="3.14" velocity="3.14"/>
      <dynamics damping="60.0" friction="4.0" />
    </joint>

    <joint name="joint2" type="revolute">
      <origin rpy="0 0 0" xyz="0 -0.1875 0"/>
      <parent link="link1"/>
      <child link="link2"/>
      <axis xyz="0 1 0"/>
      <limit effort="10" lower="-3.14" upper="3.14" velocity="3.14"/>
      <dynamics damping="50.0" friction="3.0" />	
    </joint>

    <joint name="joint3" type="revolute">
      <origin rpy="0 0 0" xyz="0 0 0.6127"/>
      <parent link="link2"/>
      <child link="link3"/>
      <axis xyz="0 1 0"/>
      <limit effort="10" lower="-3.14" upper="3.14" velocity="3.14"/>
      <dynamics damping="40.0" friction="2.0"/>
    </joint>

    <joint name="joint4" type="revolute">
      <origin rpy="0 0 0" xyz="0 0.15 0.57015"/>
      <parent link="link3"/>
      <child link="link4"/>
      <axis xyz="0 1 0"/>
      <limit effort="10" lower="-3.14" upper="3.14" velocity="3.14"/>
      <dynamics damping="20.0" friction="1.0" />
    </joint>

    <joint name="joint5" type="revolute">
      <origin rpy="0 0 0" xyz="0 -0.11715 0"/>
      <parent link="link4"/>
      <child link="link5"/>
      <axis xyz="0 0 1"/>
      <limit effort="10" lower="-3.14" upper="3.14" velocity="3.14"/>
      <dynamics damping="10.0" friction="1.0" />
    </joint>

    <joint name="joint6" type="revolute">
      <origin rpy="0 0 0" xyz="0 0 0.11715"/>
      <parent link="link5"/>
      <child link="link6"/>
      <axis xyz="0 1 0"/>
      <limit effort="10" lower="-3.14" upper="3.14" velocity="3.14"/>
      <dynamics damping="10.0" friction="1.0" />
    </joint>

    <joint name="tcp_joint" type="fixed">
      <origin rpy="0 0 0" xyz="0 -0.1153 0"/>
      <parent link="link6"/>
      <child link="tcp"/>
    </joint>

    <xacro:config_ctr_gazebo /> 
	<xacro:dsr_transmission />
	<xacro:dsr_config_coeff />

</robot>

 

실행

cd ~/ch2_ws
colcon build --symlink-install
source install/setup.bash