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javizqhjavizqh
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Merge pull request #688 from JdeRobot/machine-vision-gz
Migrate machine vision to gazebo harmonic
2 parents 41945ec + 2ec7e48 commit 753eead

20 files changed

Lines changed: 2471 additions & 193 deletions

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‎Industrial/robotiq_description/urdf/robotiq_85_gripper.ros2_control.xacro‎

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</joint>
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</ros2_control>
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</xacro:macro>
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</robot>
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</robot>

‎Industrial/robotiq_description/urdf/robotiq_85_gripper.urdf.xacro‎

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<mu2>1.0</mu2>
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<minDepth>0.001</minDepth>
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</gazebo>
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<gazebo>
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<plugin filename="gz-sim-mimic-joint-system" name="gz::sim::systems::MimicJoint">
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<joint>${prefix}robotiq_85_right_knuckle_joint</joint>
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<mimic_joint>${prefix}robotiq_85_left_knuckle_joint</mimic_joint>
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<multiplier>1.0</multiplier>
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<offset>0.0</offset>
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</plugin>
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<plugin filename="gz-sim-mimic-joint-system" name="gz::sim::systems::MimicJoint">
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<joint>${prefix}robotiq_85_left_inner_knuckle_joint</joint>
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<mimic_joint>${prefix}robotiq_85_left_knuckle_joint</mimic_joint>
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<multiplier>1.0</multiplier>
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<offset>0.0</offset>
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</plugin>
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<plugin filename="gz-sim-mimic-joint-system" name="gz::sim::systems::MimicJoint">
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<joint>${prefix}robotiq_85_right_inner_knuckle_joint</joint>
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<mimic_joint>${prefix}robotiq_85_left_knuckle_joint</mimic_joint>
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<multiplier>1.0</multiplier>
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<offset>0.0</offset>
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</plugin>
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<plugin filename="gz-sim-mimic-joint-system" name="gz::sim::systems::MimicJoint">
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<joint>${prefix}robotiq_85_left_finger_tip_joint</joint>
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<mimic_joint>${prefix}robotiq_85_left_knuckle_joint</mimic_joint>
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<multiplier>-1.0</multiplier>
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<offset>0.0</offset>
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</plugin>
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<plugin filename="gz-sim-mimic-joint-system" name="gz::sim::systems::MimicJoint">
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<joint>${prefix}robotiq_85_right_finger_tip_joint</joint>
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<mimic_joint>${prefix}robotiq_85_left_knuckle_joint</mimic_joint>
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<multiplier>-1.0</multiplier>
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<offset>0.0</offset>
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</plugin>
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</gazebo>
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<xacro:robotiq_85_gripper_transmission prefix="${prefix}" />
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‎Industrial/ros2_SimRealRobotControl_gz/packages/ur5/machine_vision_harmonic/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: 0.28, 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: 0.28, 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: 0.28, roll: 0, pitch: 0, yaw: 0}
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color: green
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purple_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: 0.28, roll: 0, pitch: 0, yaw: 0}
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color: purple
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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: 0.28, roll: 0, pitch: 0, yaw: 0}
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color: green
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purple_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: 0.28, roll: 0, pitch: 0, yaw: 0}
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color: purple
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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: 0.28, 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: 0.03, height: 0.07}
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pose: {x: 0.65, y: -0.25, z: 0.28, 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: 0.25}
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target2: {x: -0.68, y: -0.06, z: 0.25}
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target3: {x: -0.68, y: 0.06, z: 0.25}
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target4: {x: -0.68, y: 0.18, z: 0.25}
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target5: {x: -0.56, y: -0.18, z: 0.25}
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target6: {x: -0.56, y: -0.06, z: 0.25}
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target7: {x: -0.56, y: 0.06, z: 0.25}
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target8: {x: -0.56, y: 0.18, z: 0.25}
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target9: {x: -0.44, y: -0.18, z: 0.25}
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target10: {x: -0.44, y: -0.06, z: 0.25}
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target11: {x: -0.44, y: 0.06, z: 0.25}
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target12: {x: -0.44, y: 0.18, z: 0.25}
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target13: {x: -0.32, y: -0.18, z: 0.25}
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target14: {x: -0.32, y: -0.06, z: 0.25}
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target15: {x: -0.32, y: 0.06, z: 0.25}
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target16: {x: -0.32, y: 0.18, z: 0.25}
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robot:
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pose: {x: 0, y: 0, z: 0.0, roll: 0, pitch: 0, yaw: 0}

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

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‎Industrial/ros2_SimRealRobotControl_gz/packages/ur5/ros2srrc_ur5_gazebo/urdf/cam_on_base_gz.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<link name="base_camera_link">
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<inertial>
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<origin xyz="-0.00936 -0.00003 -0.00273" rpy="0 0 0"/>
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<mass value="0.2197"/>
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<inertia ixx="4.29247e-06" ixy="0" ixz="2.565e-08"
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iyy="8.027e-08" iyz="0"
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izz="4.27339e-06"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="file://$(find ros2srrc_ur5_gazebo)/meshes/kinetic.glb"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="file://$(find ros2srrc_ur5_gazebo)/meshes/kinetic.stl"/>
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</geometry>
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</collision>
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</link>
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<joint name="base_camera_joint" type="fixed">
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<parent link="base_link"/>
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<child link="base_camera_link"/>
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<origin xyz="${cam_base_px} ${cam_base_py} ${cam_base_pz}"
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rpy="${cam_base_or} ${cam_base_op} ${cam_base_oy}"/>
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</joint>
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<link name="base_camera_optical_link"/>
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<joint name="base_camera_optical_joint" type="fixed">
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<parent link="base_camera_link"/>
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<child link="base_camera_optical_link"/>
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<origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
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</joint>
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<gazebo reference="base_camera_link">
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<sensor name="base_camera" type="rgbd_camera">
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<always_on>true</always_on>
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<visualize>true</visualize>
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<update_rate>30</update_rate>
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<topic>/base_camera</topic>
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<camera>
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<horizontal_fov>1.047</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.05</near>
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<far>8.0</far>
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</clip>
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</camera>
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</sensor>
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</gazebo>
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</robot>

‎Industrial/ros2_SimRealRobotControl_gz/packages/ur5/ros2srrc_ur5_gazebo/urdf/cam_on_base_params_gz.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:property name="cam_base_px" value="1.0" />
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<xacro:property name="cam_base_py" value="0.0" />
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<xacro:property name="cam_base_pz" value="1.4" />
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<xacro:property name="cam_base_or" value="1.57" />
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<xacro:property name="cam_base_op" value="0.4" />
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<xacro:property name="cam_base_oy" value="3.14" />
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<xacro:property name="parent_base" value="world" />
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</robot>

‎Industrial/ros2_SimRealRobotControl_gz/packages/ur5/ros2srrc_ur5_gazebo/urdf/cam_on_hand_gz.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<link name="hand_camera_link">
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<inertial>
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<origin xyz="-0.00936 -0.00003 -0.00273" rpy="0 0 0"/>
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<mass value="0.2197"/>
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<inertia ixx="4.29247e-06" ixy="0" ixz="2.565e-08"
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iyy="8.027e-08" iyz="0"
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izz="4.27339e-06"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="file://$(find ros2srrc_ur5_gazebo)/meshes/kinetic.glb"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="file://$(find ros2srrc_ur5_gazebo)/meshes/kinetic.stl"/>
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</geometry>
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</collision>
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</link>
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<joint name="hand_camera_joint" type="fixed">
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<parent link="tool0"/>
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<child link="hand_camera_link"/>
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<origin xyz="${cam_hand_px} ${cam_hand_py} ${cam_hand_pz}"
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rpy="${cam_hand_or} ${cam_hand_op} ${cam_hand_oy}"/>
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</joint>
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<link name="hand_camera_optical_link"/>
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<joint name="hand_camera_optical_joint" type="fixed">
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<parent link="hand_camera_link"/>
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<child link="hand_camera_optical_link"/>
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<origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
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</joint>
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<gazebo reference="hand_camera_link">
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<sensor name="hand_camera" type="rgbd_camera">
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<always_on>true</always_on>
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<visualize>true</visualize>
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<update_rate>30</update_rate>
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<topic>/hand_camera</topic>
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<camera>
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<horizontal_fov>1.047</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.05</near>
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<far>8.0</far>
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</clip>
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</camera>
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</sensor>
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</gazebo>
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</robot>

‎Industrial/ros2_SimRealRobotControl_gz/packages/ur5/ros2srrc_ur5_gazebo/urdf/cam_on_hand_params_gz.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:property name="cam_hand_px" value="0.0" />
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<xacro:property name="cam_hand_py" value="-0.067" />
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<xacro:property name="cam_hand_pz" value="0.03" />
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<xacro:property name="cam_hand_or" value="3.14" />
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<xacro:property name="cam_hand_op" value="-1.57" />
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<xacro:property name="cam_hand_oy" value="0" />
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<xacro:property name="parent_hand" value="tool0" />
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</robot>

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