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Jepear19Jepear19
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Add moveit packages and change launcher
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‎Industrial/ros2_SimRealRobotControl_gz/packages/ur5/ros2srrc_ur5_gazebo/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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project(ros2srrc_ur5_gazebo)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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# uncomment the following section in order to fill in
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# further dependencies manually.
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# find_package(<dependency> REQUIRED)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# uncomment the line when a copyright and license is not present in all source files
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#set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# uncomment the line when this package is not in a git repo
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#set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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install(
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DIRECTORY
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meshes
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models
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config
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urdf
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worlds
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DESTINATION
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share/${PROJECT_NAME}
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)
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ament_package()

‎Industrial/ros2_SimRealRobotControl_gz/packages/ur5/ros2srrc_ur5_gazebo/config/configurations.yaml‎

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# ROS 2 Sim-to-Real Robot Control: UR5 Robot.
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Configurations:
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- ID: "ur5_1"
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Name: "UR5 on top of Robot Stand."
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urdf: "ur5.urdf.xacro"
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rob: "ur5"
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ee: "none"
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- ID: "ur5_2"
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Name: "UR5 + Robotiq 2f-85 gripper on top of Robot Stand."
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urdf: "ur5_robotiq_2f85.urdf.xacro"
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rob: "ur5"
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ee: "robotiq_2f85"
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- ID: "ur5_3"
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Name: "UR5 + Robotiq HandE gripper on top of Robot Stand."
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urdf: "ur5_robotiq_hande.urdf.xacro"
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rob: "ur5"
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ee: "robotiq_hande"
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- ID: "ur5_4"
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Name: "UR5 + Robotiq 2f-85 gripper + INDEPENDENT Yamaha linear actuator"
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urdf: "ur5_robotiq_2f85_yamaha.urdf.xacro"
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rob: "ur5"
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ee: "robotiq_2f85"
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- ID: "ur5_5"
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Name: "UR5 + Robotiq 2f-85 gripper + MOVEIT2-controlled Yamaha linear actuator"
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urdf: "ur5_robotiq_2f85_yamaha_moveit.urdf.xacro"
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rob: "ur5"
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ee: "robotiq_2f85"
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- ID: "ur5_6"
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Name: "UR5 + Vacuum-Gripper on top of Yamaha linear actuator"
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urdf: "ur5_ls_vgr_yamaha.urdf.xacro"
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rob: "ur5"
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ee: "ls_vgr"
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- ID: "ur5_7"
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Name: "UR5 + Robotiq HandE gripper on top of Robot Stand."
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urdf: "ur5_robotiq_2f85_with_cams.urdf.xacro"
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rob: "ur5"
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ee: "robotiq_2f85"
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‎Industrial/ros2_SimRealRobotControl_gz/packages/ur5/ros2srrc_ur5_gazebo/config/models_info.yaml‎

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objects:
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blue_sphere:
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shape: sphere
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size: 0.03
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pose: {x: 0.45, y: 0.25, z: 1, roll: 0, pitch: 0, yaw: 0}
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color: blue
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red_sphere:
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shape: sphere
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size: 0.03
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pose: {x: 0.45, y: -0.25, z: 1, roll: 0, pitch: 0, yaw: 0}
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color: red
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green_sphere:
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shape: sphere
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size: 0.03
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pose: {x: 0.45, y: 0.09, z: 1, roll: 0, pitch: 0, yaw: 0}
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color: green
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yellow_sphere:
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shape: sphere
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size: 0.04
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pose: {x: 0.45, y: -0.09, z: 1, roll: 0, pitch: 0, yaw: 0}
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color: yellow
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green_cylinder:
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shape: cylinder
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size: {radius: 0.03, height: 0.05}
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pose: {x: 0.65, y: -0.09, z: 1, roll: 0, pitch: 0, yaw: 0}
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color: green
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yellow_cylinder:
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shape: cylinder
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size: {radius: 0.02, height: 0.06}
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pose: {x: 0.65, y: 0.25, z: 1, roll: 0, pitch: 0, yaw: 0}
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color: yellow
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red_cylinder:
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shape: cylinder
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size: {radius: 0.02, height: 0.06}
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pose: {x: 0.65, y: 0.09, z: 1, roll: 0, pitch: 0, yaw: 0}
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color: red
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blue_cylinder:
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shape: cylinder
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size: {radius: 0.04, height: 0.07}
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pose: {x: 0.65, y: -0.25, z: 1, roll: 0, pitch: 0, yaw: 0}
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color: blue
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obstacles:
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conveyor:
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shape: box
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size: {x: 0.8, y: 2.4, z: 0.1}
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pose: {x: 0.6, y: 0, z: 0.95, roll: 0, pitch: 0, yaw: 0}
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# target:
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# shape: box
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# size: {x: 0.5, y: 0.5, z: 0.35}
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# pose: {x: -0.5, y: 0.0, z: 0.76, roll: 0, pitch: 0, yaw: 0}
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targets:
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target1: {x: -0.68, y: -0.18, z: 1}
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target2: {x: -0.68, y: -0.06, z: 1}
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target3: {x: -0.68, y: 0.06, z: 1}
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target4: {x: -0.68, y: 0.18, z: 1}
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target5: {x: -0.56, y: -0.18, z: 1}
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target6: {x: -0.56, y: -0.06, z: 1}
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target7: {x: -0.56, y: 0.06, z: 1}
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target8: {x: -0.56, y: 0.18, z: 1}
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target9: {x: -0.44, y: -0.18, z: 1}
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target10: {x: -0.44, y: -0.06, z: 1}
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target11: {x: -0.44, y: 0.06, z: 1}
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target12: {x: -0.44, y: 0.18, z: 1}
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target13: {x: -0.32, y: -0.18, z: 1}
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target14: {x: -0.32, y: -0.06, z: 1}
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target15: {x: -0.32, y: 0.06, z: 1}
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target16: {x: -0.32, y: 0.18, z: 1}
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robot:
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pose: {x: 0, y: 0, z: 1.2, roll: 0, pitch: 0, yaw: 0}
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‎Industrial/ros2_SimRealRobotControl_gz/packages/ur5/ros2srrc_ur5_gazebo/meshes/kinetic.dae‎

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‎Industrial/ros2_SimRealRobotControl_gz/packages/ur5/ros2srrc_ur5_gazebo/meshes/kinetic.png‎

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‎Industrial/ros2_SimRealRobotControl_gz/packages/ur5/ros2srrc_ur5_gazebo/meshes/kinetic.stl‎

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‎Industrial/ros2_SimRealRobotControl_gz/packages/ur5/ros2srrc_ur5_gazebo/meshes/xtion_pro_live.png‎

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‎Industrial/ros2_SimRealRobotControl_gz/packages/ur5/ros2srrc_ur5_gazebo/models/blue_target/meshes/blue_target.dae‎

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<?xml version="1.0" encoding="utf-8"?>
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<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
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<asset>
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<contributor>
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<author>Blender User</author>
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<authoring_tool>Blender 2.83.1 commit date:2020-06-25, commit time:09:47, hash:8289fc688b3e</authoring_tool>
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</contributor>
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<created>2020-07-07T23:38:31</created>
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<modified>2020-07-07T23:38:31</modified>
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<unit name="meter" meter="1"/>
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<up_axis>Z_UP</up_axis>
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</asset>
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<library_cameras>
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<camera id="Camera-camera" name="Camera">
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<optics>
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<technique_common>
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<perspective>
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<xfov sid="xfov">39.59775</xfov>
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<aspect_ratio>1.777778</aspect_ratio>
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<znear sid="znear">0.1</znear>
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<zfar sid="zfar">100</zfar>
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</perspective>
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</technique_common>
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</optics>
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<extra>
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<technique profile="blender">
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<shiftx sid="shiftx" type="float">0</shiftx>
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<shifty sid="shifty" type="float">0</shifty>
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<dof_distance sid="dof_distance" type="float">10</dof_distance>
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</technique>
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</extra>
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</camera>
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</library_cameras>
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<library_lights>
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<light id="Light-light" name="Light">
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<technique_common>
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<point>
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<color sid="color">1000 1000 1000</color>
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<constant_attenuation>1</constant_attenuation>
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<linear_attenuation>0</linear_attenuation>
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<quadratic_attenuation>0.00111109</quadratic_attenuation>
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</point>
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</technique_common>
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<extra>
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<technique profile="blender">
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<type sid="type" type="int">0</type>
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<flag sid="flag" type="int">0</flag>
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<mode sid="mode" type="int">1</mode>
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<gamma sid="blender_gamma" type="float">1</gamma>
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<red sid="red" type="float">1</red>
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<green sid="green" type="float">1</green>
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<blue sid="blue" type="float">1</blue>
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<shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
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<shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
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<shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
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<energy sid="blender_energy" type="float">1000</energy>
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<dist sid="blender_dist" type="float">29.99998</dist>
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<spotsize sid="spotsize" type="float">75</spotsize>
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<spotblend sid="spotblend" type="float">0.15</spotblend>
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<att1 sid="att1" type="float">0</att1>
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<att2 sid="att2" type="float">1</att2>
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<falloff_type sid="falloff_type" type="int">2</falloff_type>
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<clipsta sid="clipsta" type="float">0.04999995</clipsta>
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<clipend sid="clipend" type="float">30.002</clipend>
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<bias sid="bias" type="float">1</bias>
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<soft sid="soft" type="float">3</soft>
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<bufsize sid="bufsize" type="int">2880</bufsize>
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<samp sid="samp" type="int">3</samp>
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<buffers sid="buffers" type="int">1</buffers>
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<area_shape sid="area_shape" type="int">1</area_shape>
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<area_size sid="area_size" type="float">0.1</area_size>
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<area_sizey sid="area_sizey" type="float">0.1</area_sizey>
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<area_sizez sid="area_sizez" type="float">1</area_sizez>
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</technique>
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</extra>
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</light>
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</library_lights>
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<library_effects>
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<effect id="Material-effect">
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<profile_COMMON>
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<technique sid="common">
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<lambert>
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<emission>
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<color sid="emission">0 0 0 1</color>
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</emission>
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<diffuse>
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<color sid="diffuse">0.008528705 0.2346173 0.8000001 1</color>
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</diffuse>
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<index_of_refraction>
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<float sid="ior">1.45</float>
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</index_of_refraction>
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</lambert>
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</technique>
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</profile_COMMON>
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</effect>
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</library_effects>
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<library_images/>
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<library_materials>
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<material id="Material-material" name="Material">
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<instance_effect url="#Material-effect"/>
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</material>
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</library_materials>
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<library_geometries>
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<geometry id="Cube-mesh" name="Cube">
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<mesh>
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<source id="Cube-mesh-positions">
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<float_array id="Cube-mesh-positions-array" count="144">0.3 0.3 -0.00999999 0.3 -0.3 -0.00999999 -0.3 0.3 -0.00999999 -0.3 -0.3 -0.00999999 -0.3 -0.27 -0.00999999 0.3 -0.27 -0.00999999 0.3 0.2715 -0.00999999 -0.3 0.2715 -0.00999999 0.27 0.3 -0.00999999 0.27 -0.3 -0.00999999 0.27 -0.27 -0.00999999 0.27 -0.27 0.00999999 0.27 0.2715 0.00999999 0.27 0.2715 -0.00999999 -0.2715 0.3 -0.00999999 -0.2715 -0.27 -0.00999999 -0.2715 0.2715 -0.00999999 -0.2715 -0.3 -0.00999999 -0.2715 -0.27 0.00999999 -0.2715 0.2715 0.00999999 -0.3 -0.27 0.3497115 -0.3 -0.3 0.3497115 -0.2715 0.3 0.3497115 -0.3 0.3 0.3497115 0.3 0.3 0.2444727 0.3 0.3 0.2244727 -0.3 -0.3 0.3697115 0.3 -0.3 0.2444727 0.3 -0.3 0.2244727 -0.3 0.3 0.3697115 -0.2715 -0.3 0.3697115 0.3 -0.27 0.2444727 0.27 -0.3 0.2244727 -0.3 0.2715 0.3697115 0.27 0.3 0.2444727 0.3 0.2715 0.2244727 -0.3 0.2715 0.3497115 0.3 0.2715 0.2444727 -0.3 -0.27 0.3697115 0.3 -0.27 0.2244727 0.27 -0.27 0.2444727 0.27 0.2715 0.2444727 0.27 0.3 0.2244727 0.27 -0.3 0.2444727 -0.2715 -0.3 0.3497115 -0.2715 0.3 0.3697115 -0.2715 -0.27 0.3697115 -0.2715 0.2715 0.3697115</float_array>
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<technique_common>
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<accessor source="#Cube-mesh-positions-array" count="48" stride="3">
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<param name="X" type="float"/>
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<param name="Y" type="float"/>
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<param name="Z" type="float"/>
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</accessor>
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</technique_common>
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</source>
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<source id="Cube-mesh-normals">
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<float_array id="Cube-mesh-normals-array" count="30">0 0 -1 0 1 0 1 0 0 -1 0 0 0 -1 0 0 0 1 0.2253327 0 0.9742819 0.2253324 0 0.9742819 0.2253333 0 0.9742817 0.2253334 0 0.9742818</float_array>
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<technique_common>
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<accessor source="#Cube-mesh-normals-array" count="10" stride="3">
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<param name="X" type="float"/>
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<param name="Y" type="float"/>
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<param name="Z" type="float"/>
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</accessor>
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</technique_common>
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</source>
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‎Industrial/ros2_SimRealRobotControl_gz/packages/ur5/ros2srrc_ur5_gazebo/models/blue_target/model.config‎

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<?xml version="1.0" ?>
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<model>
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<name>blue_target</name>
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<version>1.0</version>
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<sdf version="1.6">model.sdf</sdf>
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<author>
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<name></name>
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<email></email>
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</author>
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<description></description>
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</model>

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