加入机械臂相关选择。修改摄像头设备参数

onekey.sh

@@ -45,15 +45,24 @@ check_dev(){
 		echo -e "${Error} 底盘没有正确连接，请确认正确连接！！"
 	fi
 	#检查机械臂
-	if [ ! -n "$(lsusb -d 2341:0042)" ]; then
+	if [ -n "$(lsusb -d 2341:0042)" ]; then
-		echo -e "${Error} 机械臂没有正确连接，请确认正确连接！！"
+		echo -e "${Info} 正在使用UARM机械臂"	
+		ARMTYPE="uarm"		
+	elif [ -n "$(lsusb -d 2e88:4603)" ]; then
+		echo -e "${Info} 正在使用射手座机械臂"
+		ARMTYPE="sagittarius_arm"	
+	else
+		echo -e "${Error} 机械臂没有正确连接或未上电，请确认正确连接！！"	
+		ARMTYPE="uarm"				
 	fi
+
 	
 	#检查摄像头
 	check_camera
 	#检查雷达
 	check_lidar
 }
+
 #检查雷达设备
 check_lidar(){
 	BASEPATH=$(cd `dirname $0`; pwd)
@@ -301,6 +310,7 @@ master_uri_setup(){
 	wlan_ip=`/sbin/ifconfig wlan0|grep 'inet '|awk '{print $2}'`
 	enp3s_ip=`/sbin/ifconfig enp3s0|grep 'inet '|awk '{print $2}'`
 	wlo1_ip=`/sbin/ifconfig wlo1|grep 'inet '|awk '{print $2}'`
+	wlp0s_ip=`/sbin/ifconfig wlp0s20f3|grep 'inet '|awk '{print $2}'`
 	if [ $eth_ip ]; then
 		echo -e "${Info}使用有线网络eth0" 
 		local_ip=$eth_ip
@@ -316,9 +326,12 @@ master_uri_setup(){
 	elif [ $wlan_ip ]; then
 		echo -e "${Info}使用无线网络wlan0" 
 	  	local_ip=$wlan_ip
-        elif [ $enp3s_ip ]; then
+	elif [ $enp3s_ip ]; then
-                echo -e "${Info}使用无线网络enp3s0" 
+		echo -e "${Info}使用无线网络enp3s0" 
-                local_ip=$enp3s_ip	
+		local_ip=$enp3s_ip	
+	elif [ $wlp0s_ip ]; then
+		echo -e "${Info}使用无线网络wlp0s20f3" 
+		local_ip=$wlp0s_ip			
 	fi
 	export ROS_HOSTNAME=$local_ip
 	export ROS_MASTER_URI="http://${local_ip}:11311"
@@ -347,8 +360,8 @@ let_robot_go(){
 	echo -e "${Info}                           " 
 	echo -e "${Info}    退出请输入：Ctrl + c    " 
 	echo && stty erase ^? && read -p "按回车键（Enter）开始：" 
-	print_command "roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
+	print_command "roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} enable_arm_tel:=false"
-	roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
+	roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} enable_arm_tel:="false"
 }
 
 

src/3rd_app/darknet_ros/darknet_ros/launch/deeplearn_darknet_yoloV3.launch

@@ -6,7 +6,7 @@
   	
 	<!-- spark底盘驱动，机器人描述,底盘,相机 -->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
-		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 		<arg name="start_base" 		value="true"/>
 	</include>
 	

src/3rd_app/tensorflow_app/tensorflow_object_detector/launch/object_detect1.launch

@@ -16,7 +16,7 @@
 
 	<!-- spark底盘驱动，机器人描述,底盘,相机 -->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
-		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 		<arg name="start_base" 		value="false"/>
 	</include>
 

src/spark/spark_bringup/launch/driver_bringup.launch

@@ -5,11 +5,11 @@
 	<arg name="start_camera" default="true"/>
 	<arg name="serialport" default="/dev/sparkBase"/>
 	<arg name="dp_rgist" default="false"/>
-	<arg name="camera_types" default="astrapro" doc="camera type [astrapro, astra,d435]"/>
+	<arg name="camera_type_tel" default="astrapro" doc="camera type [astrapro, astra,d435]"/>
 	<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
   	<!--启动描述 -->
 	<include file="$(find spark_description)/launch/spark_description.launch">
-		<arg name="camera_types"	value="$(arg camera_types)"/>	
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>	
 		<arg name="lidar_type_tel" value="$(arg lidar_type_tel)"/>	
 	</include>
 

src/spark/spark_description/launch/spark_description.launch

@@ -2,22 +2,33 @@
 
 <launch>
 
-	<arg name="camera_types" default="astrapro" doc="camera types [asatra, astrapro, d435...]"/>
+	<arg name="camera_type_tel" default="astrapro" doc="camera types [asatra, astrapro, d435...]"/>
-
+    <arg name="arm_type_tel" default="uarm" doc="arm types [uarm, sagittarius_arm]"/>
  	<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
-        <arg name="model" default="$(find spark_description)/robots/spark.urdf.xacro"/>
+	<arg name="model" default="$(find spark_description)/robots/spark.urdf.xacro"/>
-   
+    <arg name="enable_arm_tel" default="false"/>   
   	<arg name="use_gui" default="false"/>
   	<arg name="publish_default_positions" default="true"/>
 
-	<param name="robot_description" command="$(find xacro)/xacro --inorder '$(arg model)' camera_types:=$(arg camera_types) lidar_type_tel:=$(arg lidar_type_tel)"/>
+	<param name="robot_description" command="$(find xacro)/xacro --inorder '$(arg model)' camera_type_tel:=$(arg camera_type_tel) lidar_type_tel:=$(arg lidar_type_tel)"/>
+
+
+    <group if="$(eval arg('arm_type_tel')=='sagittarius_arm')">
+        <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+            <param name="use_gui" value="$(arg use_gui)"/>
+            <param name="publish_default_positions" value="$(arg publish_default_positions)" />
+            <rosparam param="source_list">[wheel_states,sagittarius_joint_states]</rosparam>
+        </node>
+    </group>
+
+    <group if="$(eval arg('arm_type_tel')=='uarm')">
+        <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+            <param name="use_gui" value="$(arg use_gui)"/>
+            <param name="publish_default_positions" value="$(arg publish_default_positions)" />
+            <rosparam param="source_list">[wheel_states]</rosparam>
+        </node>
+    </group>
 
-  	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-  		<param name="use_gui" value="$(arg use_gui)"/>
-  		<param name="publish_default_positions" value="$(arg publish_default_positions)" />
-		<rosparam param="source_list">["wheel_states"]</rosparam>
-  	</node>
-  
   	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
       
   	<!--show robo with rviz

src/spark/spark_description/launch/spark_description_rviz.launch

@@ -1,13 +1,13 @@
 <!--spark description with rviz-->
 <launch>
-  <arg name="camera_types" default="astrapro" doc="camera types [asatra, astrapro, d435...]"/>
+  <arg name="camera_type_tel" default="astrapro" doc="camera types [asatra, astrapro, d435...]"/>
   <arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
   <arg name="model" default="$(find spark_description)/robots/spark.urdf.xacro"/>
   
   <arg name="use_gui" default="false"/>
   <arg name="publish_default_positions" default="true"/>
   
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(arg model)' camera_types:=$(arg camera_types) lidar_type_tel:=$(arg lidar_type_tel)"/>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(arg model)' camera_type_tel:=$(arg camera_type_tel) lidar_type_tel:=$(arg lidar_type_tel)"/>
 
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
   	<param name="use_gui" value="$(arg use_gui)"/>

src/spark/spark_description/robots/spark.urdf.xacro

@@ -7,10 +7,10 @@
 -->
 
 <robot name="spark" xmlns:xacro="http://ros.org/wiki/xacro">
-	<xacro:arg name="camera_types" default="astrapro"/>
+	<xacro:arg name="camera_type_tel" default="astrapro"/>
 	<xacro:arg name="lidar_type_tel"	default="3iroboticslidar2"/>
   	<xacro:include filename="$(find spark_description)/urdf/spark_340.urdf.xacro">
-		<xacro:arg name="camera_types"	value="$(arg camera_types)"/>	
+		<xacro:arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>	
 		<xacro:arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>	
 	</xacro:include> 	
 </robot>

src/spark/spark_description/urdf/spark_340.urdf.xacro

@@ -8,9 +8,15 @@
 
 <robot name="spark" xmlns:xacro="http://ros.org/wiki/xacro">
 
-  	<xacro:arg name="camera_types"	default="astrapro"/>
+	<xacro:arg name="enable_arm_tel"	default="false"/>
+	<xacro:property name="enable_arm"	value="$(arg enable_arm_tel)"/>
+	
+	<xacro:arg name="arm_type_tel"	default="uarm"/>
+	<xacro:property name="robot_arm_type"	value="$(arg arm_type_tel)"/>
 
-	<xacro:property name="camera"	value="$(arg camera_types)"/>
+  	<xacro:arg name="camera_type_tel"	default="astrapro"/>
+
+	<xacro:property name="camera"	value="$(arg camera_type_tel)"/>
 
   	<xacro:arg name="lidar_type_tel"	default="astrapro"/>
 
@@ -33,11 +39,20 @@
 	</xacro:if>
 
 	<xacro:if value="${camera == 'astrapro' or camera == 'astra'}">
-		<xacro:include filename="$(find spark_description)/urdf/sensors/spark_$(arg camera_types).urdf"/>
+		<xacro:include filename="$(find spark_description)/urdf/sensors/spark_$(arg camera_type_tel).urdf"/>
 	</xacro:if>
 
 	<xacro:if value="${camera == 'd435'}">
 		<xacro:include filename="$(find spark_description)/urdf/sensors/spark_d435.urdf.xacro"/>
 	</xacro:if>
 
+	<xacro:if value="${enable_arm == 'true'}">
+		<xacro:if value="${robot_arm_type == 'sagittarius_arm'}">
+  			<xacro:include filename="$(find sagittarius_descriptions)/urdf/spark_sagittarius_descriptions.urdf"/>  
+		</xacro:if>
+        	<xacro:if value="${robot_arm_type == 'uarm'}">
+  			<xacro:include filename="$(find swiftpro)/urdf/spark_pro_model.xacro"/>  
+		</xacro:if>
+	</xacro:if>
+
 </robot>

src/spark/spark_description/urdf/spark_sagittarius_descriptions.urdf

@@ -0,0 +1,599 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="sagittarius_arm">
+<!--     <joint name="sagittarius_base_joint" type="fixed">
+      <parent link="base_link"/>
+      <child link="sagittarius_base_frame" />
+    </joint>
+    <link name="sagittarius_base_frame"/>
+-->
+    <joint name="sagittarius_base_link_joint" type="fixed">
+      <origin xyz="0.044 0 0.138" rpy="0 0 0"/>
+      <parent link="base_footprint"/>
+      <child link="sagittarius_base_link" />
+    </joint>
+  <link
+    name="sagittarius_base_link">
+    <inertial>
+      <origin
+        xyz="0.00793179544277737 2.48115460577673E-19 0.0312047945759253"
+        rpy="0 0 0" />
+      <mass
+        value="0.940146705073746" />
+      <inertia
+        ixx="0.000950195835062344"
+        ixy="3.14825974312405E-20"
+        ixz="-0.000200082473207336"
+        iyy="0.00267650790326047"
+        iyz="-1.01412991222915E-19"
+        izz="0.002902663900239" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://sagittarius_descriptions/meshes/sagittarius_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 0.9" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://sagittarius_descriptions/meshes/sagittarius_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link1">
+    <inertial>
+      <origin
+        xyz="-7.74579608786574E-10 3.23354786979222E-12 0.0344870497564283"
+        rpy="0 0 0" />
+      <mass
+        value="0.123745079127031" />
+      <inertia
+        ixx="8.15779591743416E-05"
+        ixy="-4.25325094802094E-15"
+        ixz="-2.22201794150093E-12"
+        iyy="6.7607001964135E-05"
+        iyz="-1.59127137655435E-14"
+        izz="4.41297902395382E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://sagittarius_descriptions/meshes/link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 0.9" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://sagittarius_descriptions/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0.045 0 0.07"
+      rpy="0 0 0" />
+    <parent
+      link="sagittarius_base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-2"
+      upper="2"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="0.0119015312584793 -1.03639845764692E-08 0.150755903867182"
+        rpy="0 0 0" />
+      <mass
+        value="0.156160822791157" />
+      <inertia
+        ixx="0.000429266751802994"
+        ixy="-2.27426165787001E-11"
+        ixz="-5.58862834004722E-05"
+        iyy="0.000444676097748043"
+        iyz="-2.41993274420629E-10"
+        izz="7.916162292894E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://sagittarius_descriptions/meshes/link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 0.9" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://sagittarius_descriptions/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 -0.0001 0.055"
+      rpy="0 0 0" />
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="-1.57"
+      upper="1.4"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="0.054357321065004 -2.67256405253992E-08 0.00064594073830132"
+        rpy="0 0 0" />
+      <mass
+        value="0.0366487313200473" />
+      <inertia
+        ixx="9.28701176876329E-06"
+        ixy="-2.23878504272996E-11"
+        ixz="6.34310578103811E-07"
+        iyy="2.0727596617309E-05"
+        iyz="-1.71647322080315E-11"
+        izz="2.42416271089979E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://sagittarius_descriptions/meshes/link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 0.9" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://sagittarius_descriptions/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.033 -0.0001 0.179"
+      rpy="0 0 0" />
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="-1.48"
+      upper="1.8"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="0.0444029485674779 -0.00527865310158246 -1.43738021485262E-10"
+        rpy="0 0 0" />
+      <mass
+        value="0.124950088011432" />
+      <inertia
+        ixx="3.52699895078887E-05"
+        ixy="-1.14870103744551E-05"
+        ixz="2.45948329713632E-14"
+        iyy="0.00010928557067047"
+        iyz="-3.42525315676607E-12"
+        izz="0.000121451732690361" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://sagittarius_descriptions/meshes/link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 0.9" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://sagittarius_descriptions/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="0.0845 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-2.90"
+      upper="2.90"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="0.0391172635125616 1.22102848665318E-15 0.011359922796391"
+        rpy="0 0 0" />
+      <mass
+        value="0.0564710099602834" />
+      <inertia
+        ixx="1.77667699918498E-05"
+        ixy="3.77572698012408E-19"
+        ixz="-6.79618041712231E-07"
+        iyy="1.89643063051294E-05"
+        iyz="1.78381670331667E-19"
+        izz="1.66130972969903E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://sagittarius_descriptions/meshes/link5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 0.9" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://sagittarius_descriptions/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint5"
+    type="revolute">
+    <origin
+      xyz="0.08435 0.00065 0"
+      rpy="0 0 0" />
+    <parent
+      link="link4" />
+    <child
+      link="link5" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="-1.8"
+      upper="1.60"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="0.0330748503556987 -1.47583477394259E-10 0.00874151659437283"
+        rpy="0 0 0" />
+      <mass
+        value="0.0790875358325134" />
+      <inertia
+        ixx="4.00727396068743E-05"
+        ixy="1.5026227935429E-13"
+        ixz="6.77337873337555E-06"
+        iyy="4.37063090227749E-05"
+        iyz="-1.73263828329941E-13"
+        izz="5.69755186998711E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://sagittarius_descriptions/meshes/link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 0.9" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://sagittarius_descriptions/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="0.061387 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-3.1"
+      upper="3.1"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="usb_cam_link">
+  </link>
+  <joint
+    name="joint_usb_cam_frame"
+    type="fixed">
+    <origin
+      xyz="0.05 0 0.05825"
+      rpy="-1.57 0 -1.57" />
+    <parent
+      link="link6" />
+    <child
+      link="usb_cam_link" />
+    <axis
+      xyz="0 0 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="ar_tag_link">
+  </link>
+  <joint
+    name="joint_ar_tag_frame"
+    type="fixed">
+    <origin
+      xyz="0.025 0 0.036"
+      rpy="0 0 0" />
+    <parent
+      link="link6" />
+    <child
+      link="ar_tag_link" />
+    <axis
+      xyz="0 0 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_grasping_frame">
+    <inertial>
+      <origin
+        xyz="-0.29292863789122 -0.000855248417215765 -0.182862893125548"
+        rpy="0 0 0" />
+      <mass
+        value="1.55422651132493" />
+      <inertia
+        ixx="0.0246807389934657"
+        ixy="6.12977506319177E-05"
+        ixz="-0.0174568851774044"
+        iyy="0.0450160124726729"
+        iyz="0.000114187269419605"
+        izz="0.0218809326193524" />
+    </inertial>
+  </link>
+  <joint
+    name="joint_grasping_frame"
+    type="fixed">
+    <origin
+      xyz="0.0557 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="link6" />
+    <child
+      link="link_grasping_frame" />
+    <axis
+      xyz="0 0 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_gripper_left">
+    <inertial>
+      <origin
+        xyz="0.0168448613850675 0.00562743947549268 -3.34157867051821E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.0185082696416839" />
+      <inertia
+        ixx="1.65620668352765E-06"
+        ixy="3.12039082733024E-07"
+        ixz="-1.06123823321138E-09"
+        iyy="7.56731403094351E-06"
+        iyz="5.54920898904154E-11"
+        izz="6.37610666327876E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://sagittarius_descriptions/meshes/link_gripper_left.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 0.9" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://sagittarius_descriptions/meshes/link_gripper_left.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_gripper_left"
+    type="prismatic">
+    <origin
+      xyz="0.0695 0.033 0"
+      rpy="0 0 0" />
+    <parent
+      link="link6" />
+    <child
+      link="link_gripper_left" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.034"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_gripper_right">
+    <inertial>
+      <origin
+        xyz="0.0168448612901284 -0.00562743946967042 3.34158424380449E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.0185082695670405" />
+      <inertia
+        ixx="1.65620670013429E-06"
+        ixy="-3.12039085367371E-07"
+        ixz="1.06121397059487E-09"
+        iyy="7.56731399585561E-06"
+        iyz="5.54960746810554E-11"
+        izz="6.37610660879392E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://sagittarius_descriptions/meshes/link_gripper_right.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 0.9" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://sagittarius_descriptions/meshes/link_gripper_right.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_gripper_right"
+    type="prismatic">
+    <origin
+      xyz="0.0695 -0.033 0"
+      rpy="0 0 0" />
+    <parent
+      link="link6" />
+    <child
+      link="link_gripper_right" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="-0.034"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+</robot>

src/spark/spark_teleop/launch/app_op.launch

@@ -5,7 +5,7 @@
 	<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
 	<!--spark底盘驱动，机器人描述,底盘,相机-->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
-		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 		<arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>
 	</include>
  	<!-- 启动雷达 -->

src/spark/spark_test/launch/all_run_test_st.launch

@@ -16,7 +16,7 @@
 
 	<!-- spark底盘驱动，机器人描述,底盘,相机 -->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
-		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 		<arg name="start_base" 		value="true"/>
 	</include>
   	<!--UARM机械臂 -->

src/spark_app/spark_carry/launch/spark_carry_cal_cv2.launch

@@ -10,7 +10,7 @@
 
   <!--spark驱动，机器人描述，相机，底盘-->
   <include file="$(find spark_bringup)/launch/driver_bringup.launch">
-	<arg name="camera_types"	value="$(arg camera_type_tel)" />
+	<arg name="camera_type_tel"	value="$(arg camera_type_tel)" />
   </include>
   
   <!--摄像头订阅与视觉定位-->

src/spark_app/spark_carry/launch/spark_carry_object_only_cv2.launch

@@ -5,7 +5,7 @@
 
   	<!--导航-->
   	<include file="$(find spark_navigation)/launch/amcl_demo_lidar.launch">
-		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 		<arg name="start_camera"	value="true">	
 	</include>
     

src/spark_app/spark_follower/launch/bringup.launch

@@ -8,12 +8,12 @@
 
 	<!-- spark底盘驱动，机器人描述,底盘,相机 -->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
-		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 	</include>
 
 	<!-- -->
 	<include file="$(find spark_follower)/launch/nxfollower_bringup_nodelet.launch">
-		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 	</include>
 
 	<!--在rviz显示-->

src/spark_app/spark_follower/launch/nxfollower_bringup_nodelet.launch

@@ -3,14 +3,14 @@
  -->
 
 <launch>
-	<arg name="camera_types" default="astrapro" />
+	<arg name="camera_type_tel" default="astrapro" />
 
 	<include file="$(find spark_follower)/launch/include/velocity_smoother.launch.xml"/>
 
 	<node pkg="nodelet" type="nodelet" name="spark_base_nodelet_manager" args="manager"/>
 
 	<node pkg="nodelet" type="nodelet" name="nxfollower_nodelet" args="load nxfollower/NxFollowerNodelet spark_base_nodelet_manager" output="screen">
-		<remap from="/camera/depth/points" to="/camera/depth_registered/points"	if="$(eval arg('camera_types')=='d435')"/>
+		<remap from="/camera/depth/points" to="/camera/depth_registered/points"	if="$(eval arg('camera_type_tel')=='d435')"/>
 	</node>
 
 </launch>

src/spark_app/spark_navigation/launch/amcl_demo_lidar.launch

@@ -1,11 +1,11 @@
 <!--spark navigation lidar-->
 <launch>
 	<arg name="start_camera" default="false"/>
-	<arg name="camera_types" default="astrapro"/>
+	<arg name="camera_type_tel" default="astrapro"/>
 	<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
 	<!-- spark底盘驱动，机器人描述,底盘,相机 -->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
-		<arg name="camera_types"	value="$(arg camera_types)"/>
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 		<arg name="start_camera" 	value="$(arg start_camera)"/>
 		<arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>
 	</include>

src/spark_app/spark_navigation/launch/amcl_demo_lidar_rviz.launch

@@ -5,7 +5,7 @@
 	<arg name="camera_type_tel" default="astrapro" doc="camera type [astrapro, astra, d435...]"/>
 	<!-- spark底盘驱动，机器人描述,底盘,相机 -->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
-		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 		<arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>
 		<arg name="start_camera" default="false"/>
 	</include>

src/spark_app/spark_rtabmap/launch/rtab_demo (copy).launch

@@ -1,12 +1,12 @@
 <!--rtab_demo -->
 <launch>
   	<!-- camera -->
-  	<arg name="camera_types" default="" doc="camera type [astrapro, astra]"/>
+  	<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/>
 	<arg name="depthtolaser"	default="/camera/depth/image_rect_raw"/>
 
 	<!-- spark底盘驱动，机器人描述,底盘,相机 -->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
-		<arg name="camera_types"	value="$(arg camera_types)"/>
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 		<arg name="dp_rgist"		value="true"/>
 	</include>
 

src/spark_app/spark_rtabmap/launch/rtab_demo.launch

@@ -1,16 +1,16 @@
 <!--rtab_demo -->
 <launch>
   	<!-- camera -->
-  	<arg name="camera_types" default="" doc="camera type [astrapro, astra]"/>
+  	<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/>
 	<arg name="depthtolaser"	default="/camera/depth/points"/>
 
 	<!-- spark底盘驱动，机器人描述,底盘,相机 -->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
-		<arg name="camera_types"	value="$(arg camera_types)"/>
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 		<arg name="dp_rgist"		value="true"/>
 	</include>
 	<!-- Run the depthimage_to_laserscan node -->
-	<include file="$(find camera_driver_transfer)/launch/$(arg camera_types)_p2s.launch">
+	<include file="$(find camera_driver_transfer)/launch/$(arg camera_type_tel)_p2s.launch">
 	</include>
 
  

src/spark_app/spark_slam/launch/2d_slam_norviz.launch

@@ -10,7 +10,7 @@
 	<!-- spark底盘驱动，机器人描述,底盘,相机 -->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
 		<arg name="start_camera"	value="false"/>
-		<arg name="camera_types"	value="$(arg camera_types)"/>
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 		<arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>
 	</include>
 

src/spark_app/spark_slam/launch/2d_slam_teleop_auto.launch

@@ -7,7 +7,7 @@
 	<arg name="camera_type_tel"	default="astrapro"/>
 	<include file="$(find spark_slam)/launch/2d_slam.launch">
 		<arg name="slam_methods"	value="$(arg slam_methods_tel)"/>
-		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 		<arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>
  	</include> 
   	<!--创建新的终端，spark键盘控制 “wsad”分别代表“前后左右”-->

src/spark_driver/lidar/ydlidar_g2/urdf/ydlidar.urdf

@@ -93,16 +93,11 @@
     <axis
       xyz="0 0 0" />
   </joint>
-  <!-- lidar body, with origin at bottom screw mount -->
+
-    <joint name="lidar_joint" type="fixed">
-      <parent link="base_link"/>
-      <child link="lidar_bottom_screw_frame" />
-    </joint>
-    <link name="lidar_bottom_screw_frame"/>
 
     <joint name="lidar_link_joint" type="fixed">
       <origin xyz="0 0 0.08" rpy="0 0 0"/>
-      <parent link="lidar_bottom_screw_frame"/>
+      <parent link="base_link"/>
       <child link="lidar_link" />
     </joint>
-</robot>
+</robot>

src/spark_driver/lidar/ydlidar_g6/launch/G6_G7.launch

@@ -32,6 +32,6 @@
     <param name="range_max"    type="double" value="25.0" />
     <param name="frequency"    type="double" value="10.0"/>
   </node>
-  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser4"
+  <!--node pkg="tf" type="static_transform_publisher" name="base_link_to_laser4"
-    args="0.0 0.0 0.2 0.0 0.0 0.0 /base_footprint /laser_frame 40" />
+    args="0.0 0.0 0.2 0.0 0.0 0.0 /base_footprint /laser_frame 40" /-->
 </launch>