仿真机械臂夹爪

1、创建自己的夹爪流程

//  创建新的工作空间 
mkdir -p /home/hzx/autolabor_ws/teacher_zhao/demo02_joint_ws/src
cd /home/hzx/autolabor_ws/teacher_zhao/demo02_joint_ws
catkin_make

// 创建新的项目

catkin_create_pkg urdf_rviz urdf xacro gazebo_ros gazebo_ros_control gazebo_plugins

cd urdf_rviz
mkdir launch
mkdir config
mkdir -p urdf/urdf
mkdir -p urdf/xacro
mkdir meshes

cd urdf/urdf
gedit demo01.urdf   //  填入如下内容

cd ..
cd ..
cd launch
gedit demo01.launch

<?xml version="1.0"?>
<launch>
  <!-- 在参数服务器载入 urdf 文件 -->
  <param name="robot_description" textfile="$(find urdf_rviz)/urdf/urdf/demo01.urdf" />


  <!-- 设置GUI参数，显示关节控制插件 -->
  <param name="use_gui" value="true"/>
  <!-- 启动 rviz -->
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find urdf_rviz)/config/view_rviz.rviz"/>

  <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher"/>

  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"/>


</launch>

<!-- demo01.urdf -->


<?xml version="1.0" encoding="utf-8"?>
<robot name="demo">
	 					
  <link name="base_link">  					
    <visual>  								
      <geometry>  							
        <box size="0.2 0.2 0.2" />      					
      </geometry>

      <origin xyz="0 0 0" rpy="0 0 0"/>

      <material name="Blue">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
  </link>


  <link name="strack_link1">  							
    <visual>							
      <geometry>  								
        <box size="0.1 0.2 0.4" />      					
      </geometry>
      <origin xyz="0.05 0 -0.2" rpy="0 0 0"/>  
      <material name="Blue2">
        <color rgba="0 0.3 0.4 1"/>
      </material>
    </visual>  	
  </link>
 
  <joint name="strack_base_joint1" type="revolute">
    <parent link="base_link"/>
    <child link="strack_link1"/>
    <origin xyz="0.1 0 -0.1" rpy="0 0 0"/>  <!-- 关节安装在父级连杆的相对位置，然后调整连杆偏移角度 -->
    <axis xyz="0 1 0"/>
    <limit lower="-1.57" upper="0" effort="100" velocity="3" />
  </joint>


  <link name="strack_link2">  							
    <visual>  									
      <geometry>  								
        <box size="0.1 0.2 0.4" />       					
      </geometry>
      <origin xyz="0.05 0 -0.2" rpy="0 0 0"/>

      <material name="Blue2">
        <color rgba="0 0.3 0.4 1"/>
      </material>
    </visual>  	
  </link>
 
  <joint name="strack_base_joint2" type="revolute">
    <parent link="base_link"/>
    <child link="strack_link2"/>
    <origin xyz="-0.1 0 -0.1" rpy="0 0 3.14"/>
    <axis xyz="0 1 0"/>
    <limit lower="-1.57" upper="0" effort="100" velocity="3" />
  </joint>


  <link name="finger_link1">  							
    <visual>  									
      <geometry>  								
        <box size="0.1 0.2 0.2" />       					
      </geometry>
      <origin xyz="0.05 0 -0.1" rpy="0 0 0"/>

      <material name="Blue2">
        <color rgba="0 0.3 0.4 1"/>
      </material>
    </visual>  	
  </link>
 
  <joint name="finger_strack_joint1" type="revolute">
    <parent link="strack_link1"/>
    <child link="finger_link1"/>
    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="0.5235" effort="100" velocity="3" />
  </joint>


  <link name="finger_link2">  							
    <visual>  									
      <geometry>  								
        <box size="0.1 0.2 0.2" />        					
      </geometry>
      <origin xyz="0.05 0 -0.1" rpy="0 0 0"/>

      <material name="Blue2">
        <color rgba="0 0.3 0.4 1"/>
      </material>
    </visual>  	
  </link>
 
  <joint name="finger_strack_joint2" type="revolute">
    <parent link="strack_link2"/>
    <child link="finger_link2"/>
    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0" upper="0.5235" effort="100" velocity="3" />
  </joint>


</robot>

2、完成结果

cd /home/hzx/autolabor_ws/teacher_zhao/demo02_joint_ws
source devel/setup.bash 

roslaunch urdf_rviz demo01.launch