diff --git a/onekey.sh b/onekey.sh index c279152..101aa04 100755 --- a/onekey.sh +++ b/onekey.sh @@ -360,8 +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} enable_arm_tel:=false" - roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} enable_arm_tel:="false" + print_command "roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} enable_arm_tel:=no" + roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} arm_type_tel:=${ARMTYPE} enable_arm_tel:="no" } diff --git a/src/spark/spark_bringup/launch/driver_bringup.launch b/src/spark/spark_bringup/launch/driver_bringup.launch index 242d927..e765cf3 100755 --- a/src/spark/spark_bringup/launch/driver_bringup.launch +++ b/src/spark/spark_bringup/launch/driver_bringup.launch @@ -1,5 +1,7 @@ + + @@ -11,6 +13,8 @@ + + diff --git a/src/spark/spark_description/launch/spark_description.launch b/src/spark/spark_description/launch/spark_description.launch index 38cfc50..855319e 100755 --- a/src/spark/spark_description/launch/spark_description.launch +++ b/src/spark/spark_description/launch/spark_description.launch @@ -10,7 +10,7 @@ - + diff --git a/src/spark/spark_description/robots/spark.urdf.xacro b/src/spark/spark_description/robots/spark.urdf.xacro index ee485ff..2b4e9c8 100755 --- a/src/spark/spark_description/robots/spark.urdf.xacro +++ b/src/spark/spark_description/robots/spark.urdf.xacro @@ -9,8 +9,13 @@ + + + - + + + diff --git a/src/spark/spark_description/urdf/spark_340.urdf.xacro b/src/spark/spark_description/urdf/spark_340.urdf.xacro index 773e454..eb14092 100755 --- a/src/spark/spark_description/urdf/spark_340.urdf.xacro +++ b/src/spark/spark_description/urdf/spark_340.urdf.xacro @@ -7,8 +7,7 @@ --> - - + @@ -45,14 +44,13 @@ + + + + + + - - - - - - - diff --git a/src/spark/spark_teleop/launch/teleop.launch b/src/spark/spark_teleop/launch/teleop.launch index d86f3fe..471864a 100755 --- a/src/spark/spark_teleop/launch/teleop.launch +++ b/src/spark/spark_teleop/launch/teleop.launch @@ -3,10 +3,15 @@ + + + + + diff --git a/src/spark/spark_teleop/rviz/teleop_d435.rviz b/src/spark/spark_teleop/rviz/teleop_d435.rviz index 3cee32c..759c7c1 100755 --- a/src/spark/spark_teleop/rviz/teleop_d435.rviz +++ b/src/spark/spark_teleop/rviz/teleop_d435.rviz @@ -4,6 +4,8 @@ Panels: Name: Displays Property Tree Widget: Expanded: + - /TF1 + - /TF1/Status1 - /TF1/Frames1 Splitter Ratio: 0.5 Tree Height: 140 @@ -65,6 +67,10 @@ Visualization Manager: Show Axes: false Show Trail: false Link Tree Style: Links in Alphabetic Order + ar_tag_link: + Alpha: 1 + Show Axes: false + Show Trail: false base_footprint: Alpha: 1 Show Axes: false @@ -183,11 +189,51 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - lidar_bottom_screw_frame: + lidar_link: Alpha: 1 Show Axes: false Show Trail: false - lidar_link: + Value: true + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_grasping_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + link_gripper_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_right: Alpha: 1 Show Axes: false Show Trail: false @@ -202,11 +248,20 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + sagittarius_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true spark_stack: Alpha: 1 Show Axes: false Show Trail: false Value: true + usb_cam_link: + Alpha: 1 + Show Axes: false + Show Trail: false Name: RobotModel Robot Description: robot_description TF Prefix: "" @@ -219,9 +274,11 @@ Visualization Manager: Frames: All Enabled: false IMU_link: - Value: true + Value: false + ar_tag_link: + Value: false base_footprint: - Value: true + Value: false base_gyro_link: Value: false base_link: @@ -286,18 +343,38 @@ Visualization Manager: Value: true left_wheel_link: Value: false - lidar_bottom_screw_frame: - Value: true lidar_link: Value: false + link1: + Value: false + link2: + Value: false + link3: + Value: false + link4: + Value: false + link5: + Value: false + link6: + Value: false + link_grasping_frame: + Value: false + link_gripper_left: + Value: false + link_gripper_right: + Value: false odom: - Value: true + Value: false right_wheel_link: Value: false room_base_link: Value: false + sagittarius_base_link: + Value: false spark_stack: Value: false + usb_cam_link: + Value: false Marker Alpha: 1 Marker Scale: 1 Name: TF @@ -363,8 +440,8 @@ Visualization Manager: {} left_wheel_link: {} - lidar_bottom_screw_frame: - lidar_link: + lidar_link: + laser_frame: {} right_wheel_link: {} @@ -372,8 +449,23 @@ Visualization Manager: {} spark_stack: {} - laser_frame: - {} + sagittarius_base_link: + link1: + link2: + link3: + link4: + link5: + link6: + ar_tag_link: + {} + link_grasping_frame: + {} + link_gripper_left: + {} + link_gripper_right: + {} + usb_cam_link: + {} Update Interval: 0 Value: true - Class: rviz/Image @@ -391,8 +483,8 @@ Visualization Manager: - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 24.765522003173828 - Min Value: -0.49686479568481445 + Max Value: 2.4960973262786865 + Min Value: -0.11600154638290405 Value: true Axis: Z Channel Name: intensity @@ -472,7 +564,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 4.319162368774414 + Distance: 1.5491176843643188 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -480,17 +572,17 @@ Visualization Manager: Value: false Field of View: 0.7853981852531433 Focal Point: - X: 0.07904946058988571 - Y: -0.19301681220531464 - Z: 0.4773929715156555 + X: 0.08042728900909424 + Y: -0.06426004320383072 + Z: 0.2163187712430954 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.4103982150554657 + Pitch: 0.39539822936058044 Target Frame: - Yaw: 2.0503973960876465 + Yaw: 1.6903985738754272 Saved: ~ Window Geometry: Displays: @@ -500,7 +592,7 @@ Window Geometry: Hide Right Dock: true Image: collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a0000017afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000000c9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000010c000000ab0000001600ffffff000000010000010f0000025efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003b80000003efc0100000002fb0000000800540069006d00650100000000000003b8000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002480000017a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000016a0000017afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000000c9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000010c000000ab0000001600ffffff000000010000010f0000025efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003c80000003efc0100000002fb0000000800540069006d00650100000000000003c8000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002580000017a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -509,6 +601,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 952 - X: 72 + Width: 968 + X: 56 Y: 27 diff --git a/src/spark_driver/arm/uArm/swiftpro/urdf/spark_pro_model.xacro b/src/spark_driver/arm/uArm/swiftpro/urdf/spark_pro_model.xacro new file mode 100755 index 0000000..6ae2f87 --- /dev/null +++ b/src/spark_driver/arm/uArm/swiftpro/urdf/spark_pro_model.xacro @@ -0,0 +1,272 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +