Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add IKFast plugin for m1509 #110

Open
wants to merge 3 commits into
base: master
Choose a base branch
from
Open

Add IKFast plugin for m1509 #110

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
9115884
Change orientation of joints
May 9, 2022
3f0734e
Add ikfast for m1509
May 9, 2022
6074d5e
Add m1509 ikfast plugin
May 9, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
32 changes: 16 additions & 16 deletions dsr_description/xacro/macro.m1509.blue.xacro
100755 → 100644
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -54,8 +54,8 @@
<joint name="joint2" type="revolute">
<parent link="link1" />
<child link="link2" />
<origin rpy="0 -1.571 -1.571" xyz="0 0.0345 0" />
<axis xyz="0 0 1" />
<origin rpy="0 0 0" xyz="0 0.0345 0" />
<axis xyz="0 1 0" />
<limit effort="346" lower="-6.2832" upper="6.2832" velocity="2.618"/>
<dynamics friction="0" />
</joint>
Expand All @@ -67,25 +67,25 @@
izz="0.36866"/>
</inertial>
<collision>
<origin rpy="0 -1.571 0" xyz="0.2 0 0.1525" />
<origin rpy="0 0 -1.571" xyz="0 0.1525 0.2" />
<geometry>
<cylinder radius="0.08" length="0.5"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<origin rpy="0 -1.571 -1.571" xyz="0 0 0" />
<geometry>
<mesh filename="package://dsr_description/meshes/m1509_blue/MF1509_2_0.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<origin rpy="0 -1.571 -1.571" xyz="0 0 0" />
<geometry>
<mesh filename="package://dsr_description/meshes/m1509_blue/MF1509_2_1.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<origin rpy="0 -1.571 -1.571" xyz="0 0 0" />
<geometry>
<mesh filename="package://dsr_description/meshes/m1509_blue/MF1509_2_2.dae" scale="0.001 0.001 0.001" />
</geometry>
Expand All @@ -95,8 +95,8 @@
<joint name="joint3" type="revolute">
<parent link="link2" />
<child link="link3" />
<origin rpy="0 0 1.571" xyz="0.411 0 0" />
<axis xyz="0 0 1" />
<origin rpy="0 0 0" xyz="0 0 0.411" />
<axis xyz="0 1 0" />
<limit effort="163" lower="-2.618" upper="2.618" velocity="3.1416"/>
<dynamics friction="0" />
</joint>
Expand All @@ -109,7 +109,7 @@
izz="0.011095"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<origin rpy="${-pi/2} 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://dsr_description/meshes/m1509_blue/MF1509_3_0.dae" scale="0.001 0.001 0.001" />
</geometry>
Expand All @@ -119,7 +119,7 @@
<joint name="joint4" type="revolute">
<parent link="link3" />
<child link="link4" />
<origin rpy="1.571 0 0" xyz="0 -0.368 0" />
<origin rpy="0 0 0" xyz="0 0 0.368" />
<axis xyz="0 0 1" />
<limit effort="50" lower="-6.2832" upper="6.2832" velocity="3.927"/>
<dynamics friction="0" />
Expand Down Expand Up @@ -155,9 +155,9 @@
<joint name="joint5" type="revolute">
<parent link="link4" />
<child link="link5" />
<origin rpy="-1.571 0 0" xyz="0 0 0" />
<axis xyz="0 0 1" />
<limit effort="50" lower="-6.2832" upper="6.2832" velocity="3.927"/>
<origin rpy="0 0 0" xyz="0 0 0" />
<axis xyz="0 1 0" />
<limit effort="50" lower="-3.1415" upper="3.1415" velocity="3.927"/>
<dynamics friction="0" />
</joint>
<link name="link5">
Expand All @@ -169,13 +169,13 @@
izz="0.0097685"/>
</inertial>
<collision>
<origin rpy="1.571 0 0" xyz="0 0 0" />
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<cylinder radius="0.06" length="0.15"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<origin rpy="-1.571 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://dsr_description/meshes/m1509_blue/MF1509_5_0.dae" scale="0.001 0.001 0.001" />
</geometry>
Expand All @@ -185,7 +185,7 @@
<joint name="joint6" type="revolute">
<parent link="link5" />
<child link="link6" />
<origin rpy="1.571 0 0" xyz="0 -0.121 0" />
<origin rpy="0 0 0" xyz="0 0 0.121" />
<axis xyz="0 0 1" />
<limit effort="50" lower="-6.2832" upper="6.2832" velocity="3.927"/>
<dynamics friction="0" />
Expand Down
43 changes: 43 additions & 0 deletions m1509_ikfast_arm_plugin/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,43 @@
cmake_minimum_required(VERSION 3.1)
project(m1509_ikfast_arm_plugin)

find_package(catkin REQUIRED COMPONENTS
moveit_core
pluginlib
roscpp
tf_conversions
)

include_directories(${catkin_INCLUDE_DIRS})

catkin_package()

include_directories(include src/solvers)

find_package(LAPACK REQUIRED)

macro(add_ikfast_plugin groupname)
set(IKFAST_PLUGIN_GROUPNAME ${groupname})
configure_file(src/m1509_GROUPNAME_moveit_ikfast_plugin.cpp.in ${CMAKE_BINARY_DIR}/m1509_${groupname}_moveit_ikfast_plugin.cpp)

add_library(m1509_${groupname}_moveit_ikfast_plugin ${CMAKE_BINARY_DIR}/m1509_${groupname}_moveit_ikfast_plugin.cpp)
target_link_libraries(m1509_${groupname}_moveit_ikfast_plugin ${catkin_LIBRARIES} ${LAPACK_LIBRARIES})
set_target_properties(m1509_${groupname}_moveit_ikfast_plugin PROPERTIES
CXX_STANDARD 11
CXX_STANDARD_REQUIRED YES
CXX_EXTENSIONS NO)

install(TARGETS m1509_${groupname}_moveit_ikfast_plugin
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
endmacro()

add_ikfast_plugin(arm)

install(
FILES
m1509_arm_moveit_ikfast_plugin_description.xml
DESTINATION
${CATKIN_PACKAGE_SHARE_DESTINATION}
)
Loading