Moveit #47
tianrking
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Moveit
#47
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<?xml version="1.0" ?>
<sdf version="1.6">
<world name="default">
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>1 1 1 1</diffuse>
<specular>0.5 0.5 0.5 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<!-- 简单的模型用于演示 JointController -->
<model name="joint_controller_demo">
<pose>0 0 0 0 0 0</pose>
<!-- 基础连接 -->
<link name="base_link">
<pose>0.0 0.0 0.0 0 0 0</pose>
<inertial>
<mass>120.0</mass>
</inertial>
<visual name="base_visual">
<geometry>
<box>
<size>0.5 0.5 0.01</size>
</box>
</geometry>
<material>
<ambient>0.2 0.8 0.2 1</ambient>
<diffuse>0.8 0 0 1</diffuse>
</material>
</visual>
<collision name="base_collision">
<geometry>
<box>
<size>0.5 0.5 0.01</size>
</box>
</geometry>
</collision>
</link>
<!-- 旋转的部分 -->
<link name="rotor">
<pose>0.0 0.0 0.1 0 0 0</pose>
<inertial>
<mass>0.6</mass>
</inertial>
<visual name="visual">
<geometry>
<box>
<size>0.25 0.1 0.05</size>
</box>
</geometry>
<material>
<ambient>0.2 0.8 0.2 1</ambient>
<diffuse>0.8 0 0 1</diffuse>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>0.25 0.1 0.05</size>
</box>
</geometry>
</collision>
</link>
<!-- 固定关节 -->
<joint name="world_fixed" type="fixed">
<parent>world</parent>
<child>base_link</child>
</joint>
<!-- 旋转关节 -->
<joint name="j1" type="revolute">
<pose>0 0 -0.5 0 0 0</pose>
<parent>base_link</parent>
<child>rotor</child>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<!-- Joint Controller Plugin -->
<plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
<joint_name>j1</joint_name>
<initial_velocity>1.0</initial_velocity>
</plugin>
</model>
</world>
</sdf>
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sudo apt install ros-rolling-moveit*
ros2 launch moveit_setup_assistant setup_assistant.launch.py
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