ur机器人ros-urdf

新建工作空间

mkdir -p ~/catkin_ws/src
cd catkin_ws_ur5/src
git clone -b melodic-devel https://github.com/ros-industrial/universal_robot.git
cd ..
rosdep update
rosdep install --rosdistro melodic --ignore-src --from-paths src
catkin_make
source ~/catkin_ws/devel/setup.bash

测试

roslaunch ur_description view_ur5.launch

在这里插入图片描述

添加夹爪

view_ur5_gripper.launch文件(修改rviz配置)

包含 load_ur5_gripper.launch

<?xml version="1.0"?>
<launch><!-- change --><!-- <include file="$(find ur_description)/launch/load_ur5.launch"/> --><include file="$(find ur_description)/launch/load_ur5_gripper.launch"/><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 ur_description)/cfg/view_robot.rviz" required="true" />
</launch>

load_ur5_gripper.launch文件

包含load_ur_gripper.launch

<?xml version="1.0"?>
<launch><!--ur5 parameters files --><arg name="joint_limit_params" default="$(find ur_description)/config/ur5/joint_limits.yaml"/><arg name="kinematics_params" default="$(find ur_description)/config/ur5/default_kinematics.yaml"/><arg name="physical_params" default="$(find ur_description)/config/ur5/physical_parameters.yaml"/><arg name="visual_params" default="$(find ur_description)/config/ur5/visual_parameters.yaml"/><!--common parameters --><arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" /><arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/><arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" /><arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" /><arg name="robot_model" value="ur5" /><!-- use common launch file and pass all arguments to it --><!-- change --><include file="$(find ur_description)/launch/load_ur_gripper.launch" pass_all_args="true"/><!-- <include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/> -->
</launch>

load_ur_gripper.launch

robot_description command设置为’$(find ur_description)/urdf/ur5_gripper.xacro’

<?xml version="1.0"?>
<launch><!--ur parameters files --><arg name="joint_limit_params" doc="YAML file containing the joint limit values"/><arg name="kinematics_params" doc="YAML file containing the robot's kinematic parameters. These will be different for each robot as they contain the robot's calibration."/><arg name="physical_params" doc="YAML file containing the phycical parameters of the robots"/><arg name="visual_params" doc="YAML file containing the visual model of the robots"/><!--common parameters  --><arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" /><arg name="safety_limits" default="false" doc="If True, enable the safety limits controller"/><arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" /><arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" /><arg name="robot_model" /><!-- 固定写法--><!-- change --><!-- <param name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur.xacro' --><!-- <param name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur_gripper.xacro' --><!-- 直接ur5_gripper.xacro更方便--><param name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur5_gripper.xacro'robot_model:=$(arg robot_model)joint_limit_params:=$(arg joint_limit_params)kinematics_params:=$(arg kinematics_params)physical_params:=$(arg physical_params)visual_params:=$(arg visual_params)transmission_hw_interface:=$(arg transmission_hw_interface)safety_limits:=$(arg safety_limits)safety_pos_margin:=$(arg safety_pos_margin)safety_k_position:=$(arg safety_k_position)"/>
</launch>

ur5_gripper.xacro （设置prefix值）

包含ur5_macro_gripper.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur5_robot"><!--This is a convenience top-level xacro which loads the macro for the UR5ewhich defines the default values for the various "parameters files"parameters for a UR5e.This file is only useful when loading a stand-alone, completely isolatedrobot with only default values for all parameters such as the kinematics,visual and physical parameters and joint limits.This file is not intended to be integrated into a larger scene or othercomposite xacro.Instead, xacro:include 'inc/ur5e_macro.xacro' and override the defaultsfor the arguments to that macro.Refer to 'inc/ur_macro.xacro' for more information.--><!-- change --><!-- <xacro:include filename="$(find ur_description)/urdf/inc/ur5_macro.xacro"/> --><xacro:include filename="$(find ur_description)/urdf/inc/ur5_macro_gripper.xacro"/><xacro:ur5_robot prefix="" />
</robot>

ur5_macro_gripper.xacro (模型参数设置夹爪添加)

<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro"><xacro:macro name="ur5_robot" params="prefixjoint_limits_parameters_file:='$(find ur_description)/config/ur5/joint_limits.yaml'kinematics_parameters_file:='$(find ur_description)/config/ur5/default_kinematics.yaml'physical_parameters_file:='$(find ur_description)/config/ur5/physical_parameters.yaml'visual_parameters_file:='$(find ur_description)/config/ur5/visual_parameters.yaml'transmission_hw_interface:=hardware_interface/PositionJointInterfacesafety_limits:=falsesafety_pos_margin:=0.15safety_k_position:=20"><!-- change --><!-- <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/> --><xacro:include filename="$(find ur_description)/urdf/inc/ur_macro_gripper.xacro"/><xacro:ur_robotprefix="${prefix}"joint_limits_parameters_file="${joint_limits_parameters_file}"kinematics_parameters_file="${kinematics_parameters_file}"physical_parameters_file="${physical_parameters_file}"visual_parameters_file="${visual_parameters_file}"transmission_hw_interface="${transmission_hw_interface}"safety_limits="${safety_limits}"safety_pos_margin="${safety_pos_margin}"safety_k_position="${safety_k_position}"/><!-- base_link - world joint --><link name="world" /><joint name="world_joint" type="fixed"><parent link="world" /><child link = "${prefix}base_link" /><origin xyz="0.0 0.0 0" rpy="0.0 0.0 0.0" /></joint><!--gripper--><xacro:include filename="$(find robotiq_2f_85_gripper_visualization)/urdf/robotiq_arg2f_85_model_macro.xacro" /><xacro:include filename="$(find robotiq_85_description)/urdf/robotiq_85_gripper.urdf.xacro" /><xacro:robotiq_85_gripper prefix="" parent="${prefix}tool0" ><origin xyz="0 0 0" rpy="0 ${-pi/2} 0"/></xacro:robotiq_85_gripper><!--camera--><xacro:include filename="$(find realsense2_description)/urdf/_d415.urdf.xacro" /><xacro:sensor_d415 parent="${prefix}base_link" use_nominal_extrinsics="false" add_plug="false" use_mesh="true"><origin xyz="0 0 1" rpy="0 0 0"/></xacro:sensor_d415></xacro:macro>
</robot>

ur_macro_gripper.xacro(定义joint 和 link 添加ee_link )

<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro"><xacro:include filename="$(find ur_description)/urdf/inc/ur_transmissions.xacro" /><xacro:include filename="$(find ur_description)/urdf/inc/ur_common.xacro" /><xacro:macro name="ur_robot" params="prefixjoint_limits_parameters_filekinematics_parameters_filephysical_parameters_filevisual_parameters_filetransmission_hw_interface:=hardware_interface/PositionJointInterfacesafety_limits:=falsesafety_pos_margin:=0.15safety_k_position:=20"><!-- Load configuration data from the provided .yaml files --><xacro:read_model_datajoint_limits_parameters_file="${joint_limits_parameters_file}" kinematics_parameters_file="${kinematics_parameters_file}"physical_parameters_file="${physical_parameters_file}"visual_parameters_file="${visual_parameters_file}"/><!-- Add URDF transmission elements (for ros_control) --><xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" /><!-- links: main serial chain --><link name="${prefix}base_link"/><link name="${prefix}base_link_inertia"><visual><origin xyz="0 0 0" rpy="0 0 ${pi}"/><geometry><mesh filename="${base_visual_mesh}"/></geometry><material name="${base_visual_material_name}"><color rgba="${base_visual_material_color}"/></material></visual><collision><origin xyz="0 0 0" rpy="0 0 ${pi}"/><geometry><mesh filename="${base_collision_mesh}"/></geometry></collision><xacro:cylinder_inertial radius="${base_inertia_radius}" length="${base_inertia_length}" mass="${base_mass}"><origin xyz="0 0 0" rpy="0 0 0" /></xacro:cylinder_inertial></link><link name="${prefix}shoulder_link"><visual><origin xyz="0 0 0" rpy="0 0 ${pi}"/><geometry><mesh filename="${shoulder_visual_mesh}"/></geometry><material name="${shoulder_visual_material_name}"><color rgba="${shoulder_visual_material_color}"/></material></visual><collision><origin xyz="0 0 0" rpy="0 0 ${pi}"/><geometry><mesh filename="${shoulder_collision_mesh}"/></geometry></collision><xacro:cylinder_inertial radius="${shoulder_inertia_radius}" length="${shoulder_inertia_length}" mass="${shoulder_mass}"><origin xyz="0 0 0" rpy="0 0 0" /></xacro:cylinder_inertial></link><link name="${prefix}upper_arm_link"><visual><origin xyz="0 0 ${shoulder_offset}" rpy="${pi/2} 0 ${-pi/2}"/><geometry><mesh filename="${upper_arm_visual_mesh}"/></geometry><material name="${upper_arm_visual_material_name}"><color rgba="${upper_arm_visual_material_color}"/></material></visual><collision><origin xyz="0 0 ${shoulder_offset}" rpy="${pi/2} 0 ${-pi/2}"/><geometry><mesh filename="${upper_arm_collision_mesh}"/></geometry></collision><xacro:cylinder_inertial radius="${upperarm_inertia_radius}" length="${upperarm_inertia_length}" mass="${upper_arm_mass}"><origin xyz="${-0.5 * upperarm_inertia_length} 0.0 ${upper_arm_inertia_offset}" rpy="0 ${pi/2} 0" /></xacro:cylinder_inertial></link><link name="${prefix}forearm_link"><visual><origin xyz="0 0 ${elbow_offset}" rpy="${pi/2} 0 ${-pi/2}"/><geometry><mesh filename="${forearm_visual_mesh}"/></geometry><material name="${forearm_visual_material_name}"><color rgba="${forearm_visual_material_color}"/></material></visual><collision><origin xyz="0 0 ${elbow_offset}" rpy="${pi/2} 0 ${-pi/2}"/><geometry><mesh filename="${forearm_collision_mesh}"/></geometry></collision><xacro:cylinder_inertial radius="${forearm_inertia_radius}" length="${forearm_inertia_length}"  mass="${forearm_mass}"><origin xyz="${-0.5 * forearm_inertia_length} 0.0 ${elbow_offset}" rpy="0 ${pi/2} 0" /></xacro:cylinder_inertial></link><link name="${prefix}wrist_1_link"><visual><!-- TODO: Move this to a parameter --><origin xyz="0 0 ${wrist_1_visual_offset}" rpy="${pi/2} 0 0"/><geometry><mesh filename="${wrist_1_visual_mesh}"/></geometry><material name="${wrist_1_visual_material_name}"><color rgba="${wrist_1_visual_material_color}"/></material></visual><collision><origin xyz="0 0 ${wrist_1_visual_offset}" rpy="${pi/2} 0 0"/><geometry><mesh filename="${wrist_1_collision_mesh}"/></geometry></collision><xacro:cylinder_inertial radius="${wrist_1_inertia_radius}" length="${wrist_1_inertia_length}"  mass="${wrist_1_mass}"><origin xyz="0 0 0" rpy="0 0 0" /></xacro:cylinder_inertial></link><link name="${prefix}wrist_2_link"><visual><origin xyz="0 0 ${wrist_2_visual_offset}" rpy="0 0 0"/><geometry><mesh filename="${wrist_2_visual_mesh}"/></geometry><material name="${wrist_2_visual_material_name}"><color rgba="${wrist_2_visual_material_color}"/></material></visual><collision><origin xyz="0 0 ${wrist_2_visual_offset}" rpy="0 0 0"/><geometry><mesh filename="${wrist_2_collision_mesh}"/></geometry></collision><xacro:cylinder_inertial radius="${wrist_2_inertia_radius}" length="${wrist_2_inertia_length}"  mass="${wrist_2_mass}"><origin xyz="0 0 0" rpy="0 0 0" /></xacro:cylinder_inertial></link><link name="${prefix}wrist_3_link"><visual><origin xyz="0 0 ${wrist_3_visual_offset}" rpy="${pi/2} 0 0"/><geometry><mesh filename="${wrist_3_visual_mesh}"/></geometry><material name="${wrist_3_visual_material_name}"><color rgba="${wrist_3_visual_material_color}"/></material></visual><collision><origin xyz="0 0 ${wrist_3_visual_offset}" rpy="${pi/2} 0 0"/><geometry><mesh filename="${wrist_3_collision_mesh}"/></geometry></collision><xacro:cylinder_inertial radius="${wrist_3_inertia_radius}" length="${wrist_3_inertia_length}"  mass="${wrist_3_mass}"><origin xyz="0.0 0.0 ${-0.5 * wrist_3_inertia_length}" rpy="0 0 0" /></xacro:cylinder_inertial></link><!-- joints: main serial chain --><!-- base_link-base_link_inertia --><joint name="${prefix}base_link-base_link_inertia" type="fixed"><parent link="${prefix}base_link" /><child link="${prefix}base_link_inertia" /><!-- 'base_link' is REP-103 aligned (so X+ forward), while the internalframes of the robot/controller have X+ pointing backwards.Use the joint between 'base_link' and 'base_link_inertia' (a dummylink/frame) to introduce the necessary rotation over Z (of pi rad).--><origin xyz="0 0 0" rpy="0 0 ${pi}" /></joint><!-- shoulder_pan_joint --><joint name="${prefix}shoulder_pan_joint" type="revolute"><parent link="${prefix}base_link_inertia" /><child link="${prefix}shoulder_link" /><origin xyz="${shoulder_x} ${shoulder_y} ${shoulder_z}" rpy="${shoulder_roll} ${shoulder_pitch} ${shoulder_yaw}" /><axis xyz="0 0 1" /><limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}"effort="${shoulder_pan_effort_limit}" velocity="${shoulder_pan_velocity_limit}"/><xacro:if value="${safety_limits}"><safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/></xacro:if><dynamics damping="0" friction="0"/></joint><!-- shoulder_lift_joint --><joint name="${prefix}shoulder_lift_joint" type="revolute"><parent link="${prefix}shoulder_link" /><child link="${prefix}upper_arm_link" /><origin xyz="${upper_arm_x} ${upper_arm_y} ${upper_arm_z}" rpy="${upper_arm_roll} ${upper_arm_pitch} ${upper_arm_yaw}" /><axis xyz="0 0 1" /><limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}"effort="${shoulder_lift_effort_limit}" velocity="${shoulder_lift_velocity_limit}"/><xacro:if value="${safety_limits}"><safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/></xacro:if><dynamics damping="0" friction="0"/></joint><!-- elbow_joint --><joint name="${prefix}elbow_joint" type="revolute"><parent link="${prefix}upper_arm_link" /><child link="${prefix}forearm_link" /><origin xyz="${forearm_x} ${forearm_y} ${forearm_z}" rpy="${forearm_roll} ${forearm_pitch} ${forearm_yaw}" /><axis xyz="0 0 1" /><limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}"effort="${elbow_joint_effort_limit}" velocity="${elbow_joint_velocity_limit}"/><xacro:if value="${safety_limits}"><safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/></xacro:if><dynamics damping="0" friction="0"/></joint><!-- wrist_1_joint --><joint name="${prefix}wrist_1_joint" type="revolute"><parent link="${prefix}forearm_link" /><child link="${prefix}wrist_1_link" /><origin xyz="${wrist_1_x} ${wrist_1_y} ${wrist_1_z}" rpy="${wrist_1_roll} ${wrist_1_pitch} ${wrist_1_yaw}" /><axis xyz="0 0 1" /><limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}"effort="${wrist_1_effort_limit}" velocity="${wrist_1_velocity_limit}"/><xacro:if value="${safety_limits}"><safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/></xacro:if><dynamics damping="0" friction="0"/></joint><!-- wrist_2_joint --><joint name="${prefix}wrist_2_joint" type="revolute"><parent link="${prefix}wrist_1_link" /><child link="${prefix}wrist_2_link" /><origin xyz="${wrist_2_x} ${wrist_2_y} ${wrist_2_z}" rpy="${wrist_2_roll} ${wrist_2_pitch} ${wrist_2_yaw}" /><axis xyz="0 0 1" /><limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}"effort="${wrist_2_effort_limit}" velocity="${wrist_2_velocity_limit}"/><xacro:if value="${safety_limits}"><safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/></xacro:if><dynamics damping="0" friction="0"/></joint><!-- wrist_3_joint --><joint name="${prefix}wrist_3_joint" type="revolute"><parent link="${prefix}wrist_2_link" /><child link="${prefix}wrist_3_link" /><origin xyz="${wrist_3_x} ${wrist_3_y} ${wrist_3_z}" rpy="${wrist_3_roll} ${wrist_3_pitch} ${wrist_3_yaw}" /><axis xyz="0 0 1" /><limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}"effort="${wrist_3_effort_limit}" velocity="${wrist_3_velocity_limit}"/><xacro:if value="${safety_limits}"><safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/></xacro:if><dynamics damping="0" friction="0"/></joint><!-- 添加ee_link --><!-- ee_link --><joint name="${prefix}ee_fixed_joint" type="fixed"><parent link="${prefix}wrist_3_link" /><child link = "${prefix}ee_link" /><!--origin xyz="0.0 ${wrist_3_length+0.155} 0.0" rpy="0.0 0.0 ${pi/2.0}" /--><origin xyz="0.0  0.0 ${wrist_3_y+0.142}" rpy="0 0  0" /></joint><!--link name="${prefix}ee_link"><collision><geometry><box size="0.01 0.01 0.01"/></geometry><origin rpy="0 0 0" xyz="-0.01 0 0"/></collision></link--><link name="${prefix}ee_link"/><!-- ROS-Industrial 'base' frame: base_link to UR 'Base' Coordinates transform --><link name="${prefix}base"/><joint name="${prefix}base_link-base_fixed_joint" type="fixed"><!-- Note the rotation over Z of pi radians: as base_link is REP-103aligned (ie: has X+ forward, Y+ left and Z+ up), this is neededto correctly align 'base' with the 'Base' coordinate system ofthe UR controller.--><origin xyz="0 0 0" rpy="0 0 ${pi}"/><parent link="${prefix}base_link"/><child link="${prefix}base"/></joint><!-- ROS-Industrial 'flange' frame: attachment point for EEF models --><link name="${prefix}flange" /><joint name="${prefix}wrist_3-flange" type="fixed"><parent link="${prefix}wrist_3_link" /><child link="${prefix}flange" /><origin xyz="0 0 0" rpy="0 ${-pi/2.0} ${-pi/2.0}" /></joint><!-- ROS-Industrial 'tool0' frame: all-zeros tool frame --><link name="${prefix}tool0"/><joint name="${prefix}flange-tool0" type="fixed"><!-- default toolframe: X+ left, Y+ up, Z+ front --><origin xyz="0 0 0" rpy="${pi/2.0} 0 ${pi/2.0}"/><parent link="${prefix}flange"/><child link="${prefix}tool0"/></joint></xacro:macro>
</robot>

其他

ur_gripper.xacro (ur5_gripper.xacro 更方便)

包含ur_macro_gripper.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg robot_model)_robot"><!-- import main macro --><!-- change --><!-- <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/> --><xacro:include filename="$(find ur_description)/urdf/inc/ur_macro_gripper.xacro"/><!-- parameters --><xacro:arg name="joint_limit_params" default=""/><xacro:arg name="kinematics_params" default=""/><xacro:arg name="physical_params" default=""/><xacro:arg name="visual_params" default=""/><!-- legal values:- hardware_interface/PositionJointInterface- hardware_interface/VelocityJointInterface- hardware_interface/EffortJointInterface--><xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/><xacro:arg name="safety_limits" default="false"/><xacro:arg name="safety_pos_margin" default="0.15"/><xacro:arg name="safety_k_position" default="20"/><!-- arm --><xacro:ur_robotprefix=""joint_limits_parameters_file="$(arg joint_limit_params)"kinematics_parameters_file="$(arg kinematics_params)"physical_parameters_file="$(arg physical_params)"visual_parameters_file="$(arg visual_params)"transmission_hw_interface="$(arg transmission_hw_interface)"safety_limits="$(arg safety_limits)"safety_pos_margin="$(arg safety_pos_margin)"safety_k_position="$(arg safety_k_position)"/>
</robot>