通用机器人的URDF描述_Python_CMake_下载.zip

# Universal_Robots_ROS2_Description This repository contains description files and meshes for *Universal Robots* manipulators. ### Build status ROS2 Distro | Branch | Build status | Released packages :---------: | :----: | :----------: | :---------------: **Galactic** | [`galactic`](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/tree/galactic) | [](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/actions/workflows/binary-galactic.yml?branch=galactic) <br /> | [ur_description](https://index.ros.org/p/ur_description/#galactic) **Humble** | [`ros2`](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/tree/ros2) | [](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/actions/workflows/binary-humble.yml?branch=ros2) <br /> | [ur_description](https://index.ros.org/p/ur_description/#humble) **Rolling** | [`ros2`](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/tree/ros2) | [](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/actions/workflows/binary-rolling.yml?branch=ros2) <br /> | [ur_description](https://index.ros.org/p/ur_description/#rolling) Note that for ROS2 **Foxy** the description is in the [driver's repository](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/foxy). Please do not clone this repository into a Foxy workspace. ## Structure of the repository The most relevant files are: - `urdf/ur_macro.xacro` - macro file with UR-manipulator description. This file is usually included into external projects to visualize and configure UR manipulators properly. An example how to use this macro is in `urdf/ur.urdf.xacro` file. - `urdf/ur.ros2_control.xacro` - definition of manipulator's joints and interfaces for `ros2_control` framework. ## Testing description of a manipulator To visualize the robot install this repository to you workspace and execute the following: ``` ros2 launch ur_description view_ur.launch.py ur_type:=ur5e ``` To test other descriptions change the `ur_type` argument. ## Package / Description structure This package uses one description for all robots. The different robot variants are configured using four configuration files. These files can also be changed for further customizing a description.  Basically, the description can be modified using configuration values stored in four files: - `config/urXX/default_kinematics.yaml` - This contains the calibration values as they can be extracted from the robot. Changing these values with the one extracted from a real robot will result in a description matching the real robot exactly (w.r.t the `tool0` frame). It is highly recommended to use matching kinematic values in real-world applications. - `config/urXX/joint_limits.yaml` - If you'd like to further restrict the robot's joint limits, these limits can be modified there. - `config/urXX/physical_parameters.yaml` - Everything regarding physics simulation parameters (e.g. inertia poses and values) can be tuned here - `config/urXX/visual_parameters.yaml` - Some users change certain visual aspects, e.g. replacing the cap on the wrist_3_link. This config file specifies which meshes (both, visual and collision) should be used. The four configuration files have to be passed to `ur_macro.urdf` (more specific to the macro defined in that file) which is done inside the `ur.urdf.macro`. Contents of the files are parsed inside `ur_common.xacro`. Arguments that have to be passed to the main `ur.urdf.xacro` file are: - kinematics_params - Filename to the `default_kinematics.yaml` (or equivalent specific kinematics) file - joint_limit_params - Filename to the `joint_limits.yaml` file - physical_params - Filename to the `physical_parameters.yaml` file - visual_params - Filename to the `visual_params.yaml` file The launchfile `launch/view_ur.launch.py` abstracts these four parameters to one `ur_type` argument which will basically replace the `urXX` part of the paths as shown in the picture above. ## Creating your own description including this description In real-world applications you will most probably have a more complex description consisting of more objects than just the robot. It is recommended to create a separate ROS package containing this particular description. Inside this description you could also store your robot-specific kinematics parameters file. As mentioned above, see the `urdf/ur.urdf.xacro` file as an example to integrate a UR robot into your scene description. Basically, you could create a copy of that file and extend it with the modifications from your specific scene.