renyuan

reyuan/a9/config/joint_names_a9.yaml

@@ -1 +0,0 @@
-controller_joint_names: ['', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6', ]

reyuan/a9/urdf/a9.csv

@@ -1,9 +0,0 @@
-Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
-base_link,-0.110121070288428,-0.0129999995820303,0.159000000973282,0,0,0,0.0148298653353077,2.02744416702812E-06,-1.54215522606031E-15,-3.37592192750916E-14,1.40267326461625E-06,-2.76126618174793E-15,1.40267288470545E-06,0,0,0,0,0,0,package://a9/meshes/base_link.STL,1,1,0,1,0,0,0,0,0,0,package://a9/meshes/base_link.STL,,FANUC M-10iA8L - 底座-1,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
-Link_1,0.802922442229256,0.00984539192698494,1.19598646678643,0,0,0,8.19341168850207,0.19323050511757,0.0386299594946521,-0.388616965148905,1.42567974975729,0.0128991341474255,1.24513273855516,0,0,0,0,0,0,package://a9/meshes/Link_1.STL,1,1,0,1,0,0,0,0,0,0,package://a9/meshes/Link_1.STL,,FANUC M-10iA8L - 1-1,Origin_joint_1,Axis_joint_1,joint_1,revolute,0,0,0.278,0,0,0,base_link,0,0,1,0,0,-3,3,,,,,,,,
-Link_2,0.117746157865896,0.0426453911640452,1.20871486266949,0,0,0,8.19341168850207,0.723493788556202,0.0285843029943905,-0.653933580723206,1.42567974975729,0.0290103266895879,0.714869455116528,0,0,0,0,0,0,package://a9/meshes/Link_2.STL,1,1,0,1,0,0,0,0,0,0,package://a9/meshes/Link_2.STL,,FANUC M-10iA8L - 2-1,Origin_joint_2,Axis_joint_2,joint_2,revolute,0.15,-0.0328,0.172,0,0.47052,0,Link_1,0,1,0,0,0,-3,3,,,,,,,,
-Link_3,0.00164806841162357,0.0743961632896021,-0.0125870623969895,0,0,0,1.10722558532838,0.00281804497282514,1.0820613146504E-05,-2.30905562044302E-05,0.00127732014523064,5.62797076557556E-06,0.0028367630953507,0,0,0,0,0,0,package://a9/meshes/Link_3.STL,1,1,0,1,0,0,0,0,0,0,package://a9/meshes/Link_3.STL,,FANUC M-10iA8L - 3-1,Origin_joint_3,Axis_joint_3,joint_3,revolute,-0.59925,0,0.50037,0,-0.28892,0,Link_2,0,1,0,0,0,-3,3,,,,,,,,
-Link_4,0.751501000756241,-0.00505225715113682,0.690060032582326,0,0,0,8.19341168850207,0.419099372956719,-0.0348631653478693,-0.581012917159635,1.42564974048808,-0.0218580250133829,1.01929387998522,0,0,0,0,0,0,package://a9/meshes/Link_4.STL,1,1,0,1,0,0,0,0,0,0,package://a9/meshes/Link_4.STL,,FANUC M-10iA8L - 4-1,Origin_joint_4,Axis_joint_4,joint_4,revolute,-0.084223,0.0347,0.16884,-3.119,-1.0471,-0.013042,Link_3,0.86603,0,0.5,0,0,-3,3,,,,,,,,
-Link_5,0.206551018322306,-0.00505225715114058,-0.104834036546721,0,0,0,8.19341168850207,0.745717188604768,0.0281122476978264,-0.653399595391099,1.42564974048808,0.030048545471202,0.69267606433717,0,0,0,0,0,0,package://a9/meshes/Link_5.STL,1,1,0,1,0,0,0,0,0,0,package://a9/meshes/Link_5.STL,,FANUC M-10iA8L - 5-1,Origin_joint_5,Axis_joint_5,joint_5,revolute,0.92436,0,0.53588,3.1416,-0.25867,3.1416,Link_4,0,1,0,0,0,-3,3,,,,,,,,
-Link_6,0.12280626304832,0.10284172733946,-0.0673247079199191,0,0,0,8.19341168850207,1.25065484857243,-0.370837141231599,-0.214061773475593,0.581725625286335,-0.544088624970368,1.03166251957125,0,0,0,0,0,0,package://a9/meshes/Link_6.STL,1,1,0,1,0,0,0,0,0,0,package://a9/meshes/Link_6.STL,,FANUC M-10iA8L - 6-1,Origin_joint_6,Axis_joint_6,joint_6,revolute,0.037697,-0.0006997,-0.064094,0.44032,0.19669,-0.83053,Link_5,0.49999,0,-0.86603,0,0,-3,3,,,,,,,,
-Link_7,0.0296425829147993,-6.47728578861279E-06,0.162281442392356,0,0,0,7.07143232149748,0.0103947066541271,8.00167786886164E-07,0.00131122028195651,0.0112643862205598,-2.38846633634112E-06,0.0065729384023248,0,0,0,0,0,0,package://a9/meshes/Link_7.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://a9/meshes/Link_7.STL,,META激光跟踪-2,Origin_joint_72,Axis_joint_7,joint_7,fixed,0,0,0,-2.6972,0.28661,-2.1066,Link_6,0,0,0,,,,,,,,,,,,

reyuan/a9/urdf/a9.urdf

@@ -1,465 +0,0 @@
-<?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: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
-     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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-    <visual>
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-    <child
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-    <axis
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-  <link name="end_link_now" />
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-  <joint name="end_joint" type="fixed">
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-    <child link = "end_link_now" />
-    <origin xyz="-0.045 0.0 0.4" rpy="0.0 0.4 3.14" />
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-  
-</robot>

reyuan/fanuc_m10ia_11/.vscode/c_cpp_properties.json

@@ -0,0 +1,38 @@
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+        "/home/tong/moveir_ws/src/geometric_shapes/include/**",
+        "/home/tong/moveir_ws/src/moveit/moveit_planners/chomp/chomp_interface/include/**",
+        "/home/tong/moveir_ws/src/moveit_resources/prbt_ikfast_manipulator_plugin/include/**",
+        "/home/tong/moveir_ws/src/moveit/moveit_ros/benchmarks/include/**",
+        "/home/tong/moveir_ws/src/moveit/moveit_plugins/moveit_ros_control_interface/include/**",
+        "/home/tong/moveir_ws/src/moveit/moveit_ros/move_group/include/**",
+        "/home/tong/moveir_ws/src/moveit/moveit_ros/occupancy_map_monitor/include/**",
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+        "/home/tong/moveir_ws/src/moveit/moveit_setup_assistant/include/**",
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+        "/home/tong/moveir_ws/src/moveit_visual_tools/include/**",
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+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}

reyuan/fanuc_m10ia_11/.vscode/settings.json

@@ -0,0 +1,10 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/home/tong/moveir_ws/devel/lib/python3/dist-packages",
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/home/tong/moveir_ws/devel/lib/python3/dist-packages",
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ]
+}

reyuan/a9/CMakeLists.txt → reyuan/fanuc_m10ia_11/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 2.8.3)
 
-project(a9)
+project(fanuc_m10ia_11)
 
 find_package(catkin REQUIRED)
 

reyuan/fanuc_m10ia_11/config/joint_names_fanuc_m10ia_11.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', ]

reyuan/a9/launch/display.launch → reyuan/fanuc_m10ia_11/launch/display.launch

@@ -3,7 +3,7 @@
     name="model" />
   <param
     name="robot_description"
-    textfile="$(find a9)/urdf/a9.urdf" />
+    textfile="$(find fanuc_m10ia_11)/urdf/fanuc_m10ia_11.urdf" />
   <node
     name="joint_state_publisher_gui"
     pkg="joint_state_publisher_gui"
@@ -16,5 +16,5 @@
     name="rviz"
     pkg="rviz"
     type="rviz"
-    args="-d $(find a9)/urdf.rviz" />
+    args="-d $(find fanuc_m10ia_11)/launch/visual.rviz" />
 </launch>

reyuan/a9/launch/gazebo.launch → reyuan/fanuc_m10ia_11/launch/gazebo.launch

@@ -10,7 +10,7 @@
     name="spawn_model"
     pkg="gazebo_ros"
     type="spawn_model"
-    args="-file $(find a9)/urdf/a9.urdf -urdf -model a9"
+    args="-file $(find fanuc_m10ia_11)/urdf/fanuc_m10ia_11.urdf -urdf -model fanuc_m10ia_11"
     output="screen" />
   <node
     name="fake_joint_calibration"

reyuan/fanuc_m10ia_11/launch/visual.rviz

@@ -0,0 +1,231 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /TF1
+        - /TF1/Frames1
+      Splitter Ratio: 0.5
+    Tree Height: 721
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        ee_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        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
+        tool_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        world_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        base_link:
+          Value: true
+        ee_link:
+          Value: true
+        link1:
+          Value: true
+        link2:
+          Value: true
+        link3:
+          Value: true
+        link4:
+          Value: true
+        link5:
+          Value: true
+        link6:
+          Value: true
+        tool_link:
+          Value: true
+        world_link:
+          Value: true
+      Marker Alpha: 1
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        world_link:
+          base_link:
+            link1:
+              link2:
+                link3:
+                  link4:
+                    link5:
+                      link6:
+                        ee_link:
+                          tool_link:
+                            {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: world_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 4.31269645690918
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: -1.1648733615875244
+        Y: -0.39082252979278564
+        Z: 1.0450078248977661
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.9847968816757202
+      Target Frame: <Fixed Frame>
+      Yaw: 0.22288765013217926
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1018
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000035cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000006240000035c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 0
+  Y: 28

reyuan/a9/package.xml → reyuan/fanuc_m10ia_11/package.xml

@@ -1,10 +1,10 @@
 <package format="2">
-  <name>a9</name>
+  <name>fanuc_m10ia_11</name>
   <version>1.0.0</version>
   <description>
-    <p>URDF Description package for a9</p>
+    <p>URDF Description package for fanuc_m10ia_11</p>
     <p>This package contains configuration data, 3D models and launch files
-for a9 robot</p>
+for fanuc_m10ia_11 robot</p>
   </description>
   <author>TODO</author>
   <maintainer email="TODO@email.com" />

reyuan/fanuc_m10ia_11/urdf/fanuc_m10ia_11.csv

@@ -0,0 +1,8 @@
+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
+base_link,0.012984,0.00048961,0.12327,0,0,0,13.511,0.1373,0.00087636,0.003867,0.14276,4.9465E-05,0.11338,0,0,0,0,0,0,package://fanuc_m10ia_11/meshes/base_link.STL,0.26667,0.26667,0.26667,1,0,0,0,0,0,0,package://fanuc_m10ia_11/meshes/base_link.STL,,底座-1,frame1,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+link1,0.046379,0.040259,0.11802,0,0,0,10.873,0.1054,-0.0045186,-0.021996,0.13842,-0.018604,0.12811,0,0,0,0,0,0,package://fanuc_m10ia_11/meshes/link1.STL,1,1,0,1,0,0,0,0,0,0,package://fanuc_m10ia_11/meshes/link1.STL,,轴1-1,frame2,Axis_joint1,joint1,revolute,0.0064875,6.5871E-05,0.273,0,0,0,base_link,0,0,1,0,0,-2.9671,2.9671,,,,,,,,
+link2,0.05291,0.17755,-0.048961,0,0,0,36.602,11.349,-5.226,-0.2569,4.0762,-0.25187,15.125,0,0,0,0,0,0,package://fanuc_m10ia_11/meshes/link2.STL,1,1,0,1,0,0,0,0,0,0,package://fanuc_m10ia_11/meshes/link2.STL,,轴2-1,frame3,Axis_joint2,joint2,revolute,0.14975,-0.042266,0.172,1.5708,0,0,link1,0,0,1,0,0,-1.6581,2.7925,,,,,,,,
+link3,0.079158,-0.087511,0.069201,0,0,0,5.3113,0.037702,0.0082399,-0.001985,0.020224,0.0023782,0.038051,0,0,0,0,0,0,package://fanuc_m10ia_11/meshes/link3.STL,1,1,0,1,0,0,0,0,0,0,package://fanuc_m10ia_11/meshes/link3.STL,,轴3-1,frame4,Axis_joint3,joint3,revolute,0.0027653,0.79224,0.0203,3.1416,0,0,link2,0,0,1,0,0,-3.2289,4.8346,,,,,,,,
+link4,0.033387,-0.00015103,0.47587,0,0,0,6.9067,0.43369,0.00010105,-0.04807,0.43976,0.00052043,0.019367,0,0,0,0,0,0,package://fanuc_m10ia_11/meshes/link4.STL,1,1,0,1,0,0,0,0,0,0,package://fanuc_m10ia_11/meshes/link4.STL,,轴4-1,frame5,Axis_joint4,joint4,revolute,0.18173,-0.18635,0.062125,0,1.5708,0,link3,0,0,1,0,0,-3.4907,3.4907,,,,,,,,
+link5,-1.032,0.80245,0.052761,0,0,0,36.602,11.349,5.226,0.2569,4.0762,-0.25187,15.125,0,0,0,0,0,0,package://fanuc_m10ia_11/meshes/link5.STL,1,1,0,1,0,0,0,0,0,0,package://fanuc_m10ia_11/meshes/link5.STL,,轴5-1,frame6,Axis_joint5,joint5,revolute,0.045625,-0.0014127,0.90042,0,-1.5708,0,link4,0,0,1,0,0,-2.4435,2.4435,,,,,,,,
+link6,-0.80245,-0.0067605,-1.1271,0,0,0,36.602,4.0762,-0.25187,-5.226,15.125,-0.2569,11.349,0,0,0,0,0,0,package://fanuc_m10ia_11/meshes/link6.STL,0.098,0.098,0.098,1,0,0,0,0,0,0,package://fanuc_m10ia_11/meshes/link6.STL,,轴6-1,frame7,Axis_joint6,joint6,revolute,0.095084,0,0.046,-1.5708,0,-1.5708,link5,0,0,1,0,0,-4.7124,4.7124,,,,,,,,

reyuan/fanuc_m10ia_11/urdf/fanuc_m10ia_11.urdf

@@ -0,0 +1,418 @@
+<?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: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="fanuc_m10ia_11">
+
+  <link name="world_link" />
+  <joint name="world_joint" type="fixed">
+    <parent link="world_link" />
+    <child link="base_link" />
+    <origin xyz="0 0 2.17" rpy="0 3.14 0" />
+  </joint>
+
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.012984 0.00048961 0.12327"
+        rpy="0 0 0" />
+      <mass
+        value="13.511" />
+      <inertia
+        ixx="0.1373"
+        ixy="0.00087636"
+        ixz="0.003867"
+        iyy="0.14276"
+        iyz="4.9465E-05"
+        izz="0.11338" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://fanuc_m10ia_11/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.26667 0.26667 0.26667 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://fanuc_m10ia_11/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link1">
+    <inertial>
+      <origin
+        xyz="0.046379 0.040259 0.11802"
+        rpy="0 0 0" />
+      <mass
+        value="10.873" />
+      <inertia
+        ixx="0.1054"
+        ixy="-0.0045186"
+        ixz="-0.021996"
+        iyy="0.13842"
+        iyz="-0.018604"
+        izz="0.12811" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://fanuc_m10ia_11/meshes/link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://fanuc_m10ia_11/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0.0064875 6.5871E-05 0.273"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.9671"
+      upper="2.9671"
+      effort="0"
+      velocity="3.49" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="0.05291 0.17755 -0.048961"
+        rpy="0 0 0" />
+      <mass
+        value="36.602" />
+      <inertia
+        ixx="11.349"
+        ixy="-5.226"
+        ixz="-0.2569"
+        iyy="4.0762"
+        iyz="-0.25187"
+        izz="15.125" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://fanuc_m10ia_11/meshes/link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://fanuc_m10ia_11/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0.14975 -0.042266 0.172"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.6581"
+      upper="2.7925"
+      effort="0"
+      velocity="3.49" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="0.079158 -0.087511 0.069201"
+        rpy="0 0 0" />
+      <mass
+        value="5.3113" />
+      <inertia
+        ixx="0.037702"
+        ixy="0.0082399"
+        ixz="-0.001985"
+        iyy="0.020224"
+        iyz="0.0023782"
+        izz="0.038051" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://fanuc_m10ia_11/meshes/link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://fanuc_m10ia_11/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.0027653 0.79224 0.0203"
+      rpy="3.1416 0 0" />
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.2289"
+      upper="4.8346"
+      effort="0"
+      velocity="3.67" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="0.033387 -0.00015103 0.47587"
+        rpy="0 0 0" />
+      <mass
+        value="6.9067" />
+      <inertia
+        ixx="0.43369"
+        ixy="0.00010105"
+        ixz="-0.04807"
+        iyy="0.43976"
+        iyz="0.00052043"
+        izz="0.019367" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://fanuc_m10ia_11/meshes/link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://fanuc_m10ia_11/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="0.18173 -0.18635 0.062125"
+      rpy="0 1.5708 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.4907"
+      upper="3.4907"
+      effort="0"
+      velocity="7.50" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="-1.032 0.80245 0.052761"
+        rpy="0 0 0" />
+      <mass
+        value="36.602" />
+      <inertia
+        ixx="11.349"
+        ixy="5.226"
+        ixz="0.2569"
+        iyy="4.0762"
+        iyz="-0.25187"
+        izz="15.125" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://fanuc_m10ia_11/meshes/link5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://fanuc_m10ia_11/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint5"
+    type="revolute">
+    <origin
+      xyz="0.045625 -0.0014127 0.90042"
+      rpy="0 -1.5708 0" />
+    <parent
+      link="link4" />
+    <child
+      link="link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.4435"
+      upper="2.4435"
+      effort="0"
+      velocity="7.50" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="-0.80245 -0.0067605 -1.1271"
+        rpy="0 0 0" />
+      <mass
+        value="36.602" />
+      <inertia
+        ixx="4.0762"
+        ixy="-0.25187"
+        ixz="-5.226"
+        iyy="15.125"
+        iyz="-0.2569"
+        izz="11.349" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://fanuc_m10ia_11/meshes/link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.098 0.098 0.098 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://fanuc_m10ia_11/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="0.095084 0 0.046"
+      rpy="-1.5708 0 -1.5708" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-4.7124"
+      upper="4.7124"
+      effort="0"
+      velocity="11.00" />
+  </joint>
+
+  <link name="ee_link" />
+  <joint name="ee_joint" type="fixed">
+    <parent link="link6" />
+    <child link="ee_link" />
+    <origin xyz="0.051 0.1209 0.3107" rpy="0 0 0" />
+  </joint>
+
+  <link name="tool_link" />
+  <joint name="tool_joint" type="fixed">
+    <parent link="ee_link" />
+    <child link="tool_link" />
+    <origin xyz="0 0 0.004" rpy="0 0 0" />
+  </joint>
+
+</robot>

reyuan/fanuc_m10ia_moveit_config/.setup_assistant

@@ -0,0 +1,11 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: fanuc_m10ia_11
+    relative_path: urdf/fanuc_m10ia_11.urdf
+    xacro_args: ""
+  SRDF:
+    relative_path: config/fanuc_m10ia_11.srdf
+  CONFIG:
+    author_name: lst
+    author_email: lst12345@123.com
+    generated_timestamp: 1730166505

reyuan/fanuc_m10ia_moveit_config/.vscode/c_cpp_properties.json

@@ -0,0 +1,38 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/home/tong/moveir_ws/devel/include/**",
+        "/opt/ros/noetic/include/**",
+        "/home/tong/moveir_ws/src/moveit/moveit_planners/chomp/chomp_motion_planner/include/**",
+        "/home/tong/moveir_ws/src/geometric_shapes/include/**",
+        "/home/tong/moveir_ws/src/moveit/moveit_planners/chomp/chomp_interface/include/**",
+        "/home/tong/moveir_ws/src/moveit_resources/prbt_ikfast_manipulator_plugin/include/**",
+        "/home/tong/moveir_ws/src/moveit/moveit_ros/benchmarks/include/**",
+        "/home/tong/moveir_ws/src/moveit/moveit_plugins/moveit_ros_control_interface/include/**",
+        "/home/tong/moveir_ws/src/moveit/moveit_ros/move_group/include/**",
+        "/home/tong/moveir_ws/src/moveit/moveit_ros/occupancy_map_monitor/include/**",
+        "/home/tong/moveir_ws/src/moveit/moveit_ros/robot_interaction/include/**",
+        "/home/tong/moveir_ws/src/moveit/moveit_ros/moveit_servo/include/**",
+        "/home/tong/moveir_ws/src/moveit/moveit_setup_assistant/include/**",
+        "/home/tong/moveir_ws/src/moveit/moveit_plugins/moveit_simple_controller_manager/include/**",
+        "/home/tong/moveir_ws/src/moveit_visual_tools/include/**",
+        "/home/tong/moveir_ws/src/moveit/moveit_planners/pilz_industrial_motion_planner/include/**",
+        "/home/tong/moveir_ws/src/moveit/moveit_planners/pilz_industrial_motion_planner_testutils/include/**",
+        "/home/tong/moveir_ws/src/rviz_visual_tools/include/**",
+        "/home/tong/moveir_ws/src/srdfdom/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}

reyuan/fanuc_m10ia_moveit_config/.vscode/settings.json

@@ -0,0 +1,10 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/home/tong/moveir_ws/devel/lib/python3/dist-packages",
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/home/tong/moveir_ws/devel/lib/python3/dist-packages",
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ]
+}

reyuan/robot_config/CMakeLists.txt → reyuan/fanuc_m10ia_moveit_config/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.1.3)
-project(robot_config)
+project(fanuc_m10ia_moveit_config)
 
 find_package(catkin REQUIRED)
 

reyuan/robot_config/config/chomp_planning.yaml → reyuan/fanuc_m10ia_moveit_config/config/chomp_planning.yaml

@@ -16,4 +16,3 @@ collision_threshold: 0.07
 use_stochastic_descent: true
 enable_failure_recovery: false
 max_recovery_attempts: 5
-trajectory_initialization_method: "fillTrajectory"

reyuan/robot_config/config/fake_controllers.yaml → reyuan/fanuc_m10ia_moveit_config/config/fake_controllers.yaml

@@ -2,12 +2,12 @@ controller_list:
   - name: fake_manipulator_controller
     type: $(arg fake_execution_type)
     joints:
-      - joint_1
-      - joint_2
-      - joint_3
-      - joint_4
-      - joint_5
-      - joint_6
+      - joint1
+      - joint2
+      - joint3
+      - joint4
+      - joint5
+      - joint6
 initial:  # Define initial robot poses per group
   - group: manipulator
     pose: home

reyuan/fanuc_m10ia_moveit_config/config/fanuc_m10ia_11.srdf

@@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="fanuc_m10ia_11">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="manipulator">
+        <chain base_link="world_link" tip_link="tool_link"/>
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="zero" group="manipulator">
+        <joint name="joint1" value="0"/>
+        <joint name="joint2" value="0"/>
+        <joint name="joint3" value="0"/>
+        <joint name="joint4" value="0"/>
+        <joint name="joint5" value="0"/>
+        <joint name="joint6" value="0"/>
+    </group_state>
+    <group_state name="home" group="manipulator">
+        <joint name="joint1" value="0"/>
+        <joint name="joint2" value="1.5182"/>
+        <joint name="joint3" value="1.5265"/>
+        <joint name="joint4" value="0"/>
+        <joint name="joint5" value="-1.75"/>
+        <joint name="joint6" value="0"/>
+    </group_state>
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="base_link" link2="link1" reason="Adjacent"/>
+    <disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
+    <disable_collisions link1="link1" link2="link3" reason="Never"/>
+    <disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
+    <disable_collisions link1="link2" link2="link5" reason="Never"/>
+    <disable_collisions link1="link2" link2="link6" reason="Never"/>
+    <disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
+    <disable_collisions link1="link3" link2="link5" reason="Never"/>
+    <disable_collisions link1="link3" link2="link6" reason="Never"/>
+    <disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
+    <disable_collisions link1="link4" link2="link6" reason="Never"/>
+    <disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
+</robot>

reyuan/fanuc_m10ia_moveit_config/config/gazebo_fanuc_m10ia_11.urdf

@@ -0,0 +1,286 @@
+<?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: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot name="fanuc_m10ia_11">
+    <link name="world_link" />
+    <joint name="world_joint" type="fixed">
+        <parent link="world_link" />
+        <child link="base_link" />
+        <origin xyz="0 0 2.17" rpy="0 3.14 0" />
+    </joint>
+    <link name="base_link">
+        <inertial>
+            <origin xyz="0.012984 0.00048961 0.12327" rpy="0 0 0" />
+            <mass value="13.511" />
+            <inertia ixx="0.1373" ixy="0.00087636" ixz="0.003867" iyy="0.14276" iyz="4.9465E-05" izz="0.11338" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://fanuc_m10ia_11/meshes/base_link.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.26667 0.26667 0.26667 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://fanuc_m10ia_11/meshes/base_link.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <link name="link1">
+        <inertial>
+            <origin xyz="0.046379 0.040259 0.11802" rpy="0 0 0" />
+            <mass value="10.873" />
+            <inertia ixx="0.1054" ixy="-0.0045186" ixz="-0.021996" iyy="0.13842" iyz="-0.018604" izz="0.12811" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://fanuc_m10ia_11/meshes/link1.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 0 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://fanuc_m10ia_11/meshes/link1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint1" type="revolute">
+        <origin xyz="0.0064875 6.5871E-05 0.273" rpy="0 0 0" />
+        <parent link="base_link" />
+        <child link="link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.9671" upper="2.9671" effort="0" velocity="3.49" />
+    </joint>
+    <link name="link2">
+        <inertial>
+            <origin xyz="0.05291 0.17755 -0.048961" rpy="0 0 0" />
+            <mass value="36.602" />
+            <inertia ixx="11.349" ixy="-5.226" ixz="-0.2569" iyy="4.0762" iyz="-0.25187" izz="15.125" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://fanuc_m10ia_11/meshes/link2.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 0 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://fanuc_m10ia_11/meshes/link2.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint2" type="revolute">
+        <origin xyz="0.14975 -0.042266 0.172" rpy="1.5708 0 0" />
+        <parent link="link1" />
+        <child link="link2" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.6581" upper="2.7925" effort="0" velocity="3.49" />
+    </joint>
+    <link name="link3">
+        <inertial>
+            <origin xyz="0.079158 -0.087511 0.069201" rpy="0 0 0" />
+            <mass value="5.3113" />
+            <inertia ixx="0.037702" ixy="0.0082399" ixz="-0.001985" iyy="0.020224" iyz="0.0023782" izz="0.038051" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://fanuc_m10ia_11/meshes/link3.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 0 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://fanuc_m10ia_11/meshes/link3.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint3" type="revolute">
+        <origin xyz="0.0027653 0.79224 0.0203" rpy="3.1416 0 0" />
+        <parent link="link2" />
+        <child link="link3" />
+        <axis xyz="0 0 1" />
+        <limit lower="-3.2289" upper="4.8346" effort="0" velocity="3.67" />
+    </joint>
+    <link name="link4">
+        <inertial>
+            <origin xyz="0.033387 -0.00015103 0.47587" rpy="0 0 0" />
+            <mass value="6.9067" />
+            <inertia ixx="0.43369" ixy="0.00010105" ixz="-0.04807" iyy="0.43976" iyz="0.00052043" izz="0.019367" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://fanuc_m10ia_11/meshes/link4.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 0 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://fanuc_m10ia_11/meshes/link4.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint4" type="revolute">
+        <origin xyz="0.18173 -0.18635 0.062125" rpy="0 1.5708 0" />
+        <parent link="link3" />
+        <child link="link4" />
+        <axis xyz="0 0 1" />
+        <limit lower="-3.4907" upper="3.4907" effort="0" velocity="7.50" />
+    </joint>
+    <link name="link5">
+        <inertial>
+            <origin xyz="-1.032 0.80245 0.052761" rpy="0 0 0" />
+            <mass value="36.602" />
+            <inertia ixx="11.349" ixy="5.226" ixz="0.2569" iyy="4.0762" iyz="-0.25187" izz="15.125" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://fanuc_m10ia_11/meshes/link5.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 0 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://fanuc_m10ia_11/meshes/link5.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint5" type="revolute">
+        <origin xyz="0.045625 -0.0014127 0.90042" rpy="0 -1.5708 0" />
+        <parent link="link4" />
+        <child link="link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.4435" upper="2.4435" effort="0" velocity="7.50" />
+    </joint>
+    <link name="link6">
+        <inertial>
+            <origin xyz="-0.80245 -0.0067605 -1.1271" rpy="0 0 0" />
+            <mass value="36.602" />
+            <inertia ixx="4.0762" ixy="-0.25187" ixz="-5.226" iyy="15.125" iyz="-0.2569" izz="11.349" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://fanuc_m10ia_11/meshes/link6.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.098 0.098 0.098 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://fanuc_m10ia_11/meshes/link6.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint6" type="revolute">
+        <origin xyz="0.095084 0 0.046" rpy="-1.5708 0 -1.5708" />
+        <parent link="link5" />
+        <child link="link6" />
+        <axis xyz="0 0 1" />
+        <limit lower="-4.7124" upper="4.7124" effort="0" velocity="11.00" />
+    </joint>
+    <link name="ee_link" />
+    <joint name="ee_joint" type="fixed">
+        <parent link="link6" />
+        <child link="ee_link" />
+        <origin xyz="0.051 0.1209 0.3107" rpy="0 0 0" />
+    </joint>
+    <link name="tool_link" />
+    <joint name="tool_joint" type="fixed">
+        <parent link="ee_link" />
+        <child link="tool_link" />
+        <origin xyz="0 0 0.004" rpy="0 0 0" />
+    </joint>
+    <transmission name="trans_joint1">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint1">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint1_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_joint2">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint2">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint2_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_joint3">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint3">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint3_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_joint4">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint4">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint4_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_joint5">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint5">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint5_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_joint6">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint6">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint6_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <gazebo>
+        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+            <robotNamespace>/</robotNamespace>
+        </plugin>
+    </gazebo>
+</robot>
+

reyuan/robot_config/config/joint_limits.yaml → reyuan/fanuc_m10ia_moveit_config/config/joint_limits.yaml

@@ -8,33 +8,33 @@ default_acceleration_scaling_factor: 0.1
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
 joint_limits:
-  joint_1:
+  joint1:
     has_velocity_limits: true
-    max_velocity: 3.403392
+    max_velocity: 3.49
     has_acceleration_limits: false
     max_acceleration: 0
-  joint_2:
+  joint2:
     has_velocity_limits: true
-    max_velocity: 3.054326
+    max_velocity: 3.49
     has_acceleration_limits: false
     max_acceleration: 0
-  joint_3:
+  joint3:
     has_velocity_limits: true
-    max_velocity: 3.141593
+    max_velocity: 3.67
     has_acceleration_limits: false
     max_acceleration: 0
-  joint_4:
+  joint4:
     has_velocity_limits: true
-    max_velocity: 6.283185
+    max_velocity: 7.5
     has_acceleration_limits: false
     max_acceleration: 0
-  joint_5:
+  joint5:
     has_velocity_limits: true
-    max_velocity: 6.283185
+    max_velocity: 7.5
     has_acceleration_limits: false
     max_acceleration: 0
-  joint_6:
+  joint6:
     has_velocity_limits: true
-    max_velocity: 9.599311
+    max_velocity: 11
     has_acceleration_limits: false
-    max_acceleration: 0
+    max_acceleration: 0

reyuan/robot_config/launch/chomp_planning_pipeline.launch.xml → reyuan/fanuc_m10ia_moveit_config/launch/chomp_planning_pipeline.launch.xml

@@ -17,5 +17,5 @@
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
   <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
 
-  <rosparam command="load" file="$(find robot_config)/config/chomp_planning.yaml" />
+  <rosparam command="load" file="$(find fanuc_m10ia_moveit_config)/config/chomp_planning.yaml" />
 </launch>

reyuan/robot_config/launch/default_warehouse_db.launch → reyuan/fanuc_m10ia_moveit_config/launch/default_warehouse_db.launch

@@ -2,7 +2,7 @@
 
   <arg name="reset" default="false"/>
   <!-- If not specified, we'll use a default database location -->
-  <arg name="moveit_warehouse_database_path" default="$(find robot_config)/default_warehouse_mongo_db" />
+  <arg name="moveit_warehouse_database_path" default="$(find fanuc_m10ia_moveit_config)/default_warehouse_mongo_db" />
 
   <!-- Launch the warehouse with the configured database location -->
   <include file="$(dirname)/warehouse.launch">

reyuan/robot_config/launch/demo.launch → reyuan/fanuc_m10ia_moveit_config/launch/demo.launch

@@ -6,7 +6,7 @@
   <!-- By default, we do not start a database (it can be large) -->
   <arg name="db" default="false" />
   <!-- Allow user to specify database location -->
-  <arg name="db_path" default="$(find robot_config)/default_warehouse_mongo_db" />
+  <arg name="db_path" default="$(find fanuc_m10ia_moveit_config)/default_warehouse_mongo_db" />
 
   <!-- By default, we are not in debug mode -->
   <arg name="debug" default="false" />

reyuan/robot_config/launch/fake_moveit_controller_manager.launch.xml → reyuan/fanuc_m10ia_moveit_config/launch/fake_moveit_controller_manager.launch.xml

@@ -7,6 +7,6 @@
   <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
 
   <!-- The rest of the params are specific to this plugin -->
-  <rosparam subst_value="true" file="$(find robot_config)/config/fake_controllers.yaml"/>
+  <rosparam subst_value="true" file="$(find fanuc_m10ia_moveit_config)/config/fake_controllers.yaml"/>
 
 </launch>

reyuan/robot_config/launch/gazebo.launch → reyuan/fanuc_m10ia_moveit_config/launch/gazebo.launch

@@ -5,7 +5,7 @@
   <arg name="paused" default="false" doc="Start Gazebo paused"/>
   <arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
   <arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
-  <arg name="initial_joint_positions" default=" -J joint_1 0 -J joint_2 0 -J joint_3 0 -J joint_4 0 -J joint_5 0 -J joint_6 0" doc="Initial joint configuration of the robot"/>
+  <arg name="initial_joint_positions" default=" -J joint1 0 -J joint2 0 -J joint3 0 -J joint4 0 -J joint5 0 -J joint6 0" doc="Initial joint configuration of the robot"/>
 
   <!-- Start Gazebo paused to allow the controllers to pickup the initial pose -->
   <include file="$(find gazebo_ros)/launch/empty_world.launch" pass_all_args="true">
@@ -13,7 +13,7 @@
   </include>
 
   <!-- Set the robot urdf on the parameter server -->
-  <param name="robot_description" textfile="$(find robot_config)/config/gazebo_a9.urdf" />
+  <param name="robot_description" textfile="$(find fanuc_m10ia_moveit_config)/config/gazebo_fanuc_m10ia_11.urdf" />
 
   <!-- Unpause the simulation after loading the robot model -->
   <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
@@ -23,7 +23,7 @@
     respawn="false" output="screen" />
 
   <!-- Load the controller parameters onto the parameter server -->
-  <rosparam file="$(find robot_config)/config/gazebo_controllers.yaml" />
+  <rosparam file="$(find fanuc_m10ia_moveit_config)/config/gazebo_controllers.yaml" />
   <include file="$(dirname)/ros_controllers.launch"/>
 
   <!-- Spawn the Gazebo ROS controllers -->

reyuan/robot_config/launch/move_group.launch → reyuan/fanuc_m10ia_moveit_config/launch/move_group.launch

@@ -77,7 +77,7 @@
 
   <!-- Sensors Functionality -->
   <include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
-    <arg name="moveit_sensor_manager" value="a9" />
+    <arg name="moveit_sensor_manager" value="fanuc_m10ia_11" />
   </include>
 
   <!-- Start the actual move_group node/action server -->

reyuan/robot_config/launch/moveit.rviz → reyuan/fanuc_m10ia_moveit_config/launch/moveit.rviz

@@ -5,15 +5,11 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Global Options1
-        - /Grid1
         - /MotionPlanning1
         - /MotionPlanning1/Scene Geometry1
-        - /MotionPlanning1/Planning Request1
-        - /RobotModel1
-        - /RobotModel1/Links1
         - /MarkerArray1
       Splitter Ratio: 0.5
-    Tree Height: 356
+    Tree Height: 370
   - Class: rviz/Help
     Name: Help
   - Class: rviz/Views
@@ -44,7 +40,7 @@ Visualization Manager:
         Z: 0
       Plane: XY
       Plane Cell Count: 10
-      Reference Frame: world
+      Reference Frame: <Fixed Frame>
       Value: true
     - Acceleration_Scaling_Factor: 0.1
       Class: moveit_rviz_plugin/MotionPlanning
@@ -78,51 +74,50 @@ Visualization Manager:
           Expand Link Details: false
           Expand Tree: false
           Link Tree Style: Links in Alphabetic Order
-          Link_1:
+          base_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          Link_2:
+          ee_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
-            Value: true
-          Link_3:
+          link1:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          Link_4:
+          link2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          Link_5:
+          link3:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          Link_6:
+          link4:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          Link_7:
+          link5:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          base_link:
+          link6:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          end_link_now:
+          tool_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
-          world:
+          world_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
@@ -155,7 +150,7 @@ Visualization Manager:
         Show Workspace: false
         Start State Alpha: 1
         Start State Color: 0; 255; 0
-      Planning Scene Topic: move_group/monitored_planning_scene
+      Planning Scene Topic: /move_group/monitored_planning_scene
       Robot Description: robot_description
       Scene Geometry:
         Scene Alpha: 1
@@ -172,126 +167,108 @@ Visualization Manager:
           Expand Link Details: false
           Expand Tree: false
           Link Tree Style: Links in Alphabetic Order
-          Link_1:
+          base_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          Link_2:
+          ee_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
-            Value: true
-          Link_3:
+          link1:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          Link_4:
+          link2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          Link_5:
+          link3:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          Link_6:
+          link4:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          Link_7:
+          link5:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          base_link:
+          link6:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          end_link_now:
+          tool_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
-          world:
+          world_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
         Robot Alpha: 0.5
-        Show Robot Collision: false
-        Show Robot Visual: false
+        Show Robot Collision: true
+        Show Robot Visual: true
       Value: true
       Velocity_Scaling_Factor: 0.1
-    - Alpha: 1
-      Class: rviz/RobotModel
-      Collision Enabled: false
+    - Class: rviz/TF
       Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-        Link_1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        Link_2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        Link_3:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        Link_4:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        Link_5:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        Link_6:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        Link_7:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
         base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
+          Value: false
+        ee_link:
+          Value: false
+        link1:
+          Value: false
+        link2:
+          Value: false
+        link3:
+          Value: false
+        link4:
+          Value: false
+        link5:
+          Value: false
+        link6:
+          Value: false
+        tool_link:
           Value: true
-        end_link_now:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        world:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-      Name: RobotModel
-      Robot Description: robot_description
-      TF Prefix: ""
+        world_link:
+          Value: false
+      Marker Alpha: 1
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        world_link:
+          base_link:
+            link1:
+              link2:
+                link3:
+                  link4:
+                    link5:
+                      link6:
+                        ee_link:
+                          tool_link:
+                            {}
       Update Interval: 0
       Value: true
-      Visual Enabled: true
     - Class: rviz/MarkerArray
       Enabled: true
-      Marker Topic: rviz_visual_tools
+      Marker Topic: /rviz_visual_tools
       Name: MarkerArray
       Namespaces:
         Path: true
@@ -302,37 +279,11 @@ Visualization Manager:
         point1  1.334480  0.021110  1.496050: true
       Queue Size: 100
       Value: true
-    - Alpha: 1
-      Class: rviz/Axes
-      Enabled: true
-      Length: 0.054999999701976776
-      Name: Axes
-      Radius: 0.009999999776482582
-      Reference Frame: end_link_now
-      Show Trail: false
-      Value: true
-    - Class: rviz/TF
-      Enabled: false
-      Filter (blacklist): ""
-      Filter (whitelist): ""
-      Frame Timeout: 15
-      Frames:
-        All Enabled: true
-      Marker Alpha: 1
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        {}
-      Update Interval: 0
-      Value: false
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
     Default Light: true
-    Fixed Frame: world
+    Fixed Frame: world_link
     Frame Rate: 30
   Name: root
   Tools:
@@ -344,7 +295,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.1933258771896362
+      Distance: 1.7586157321929932
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -352,17 +303,17 @@ Visualization Manager:
         Value: false
       Field of View: 0.75
       Focal Point:
-        X: -1.124035358428955
-        Y: -0.2431718409061432
-        Z: 1.108873724937439
+        X: -1.0072178840637207
+        Y: -0.5438960790634155
+        Z: 1.3512202501296997
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.9297969341278076
-      Target Frame: world
-      Yaw: 4.546980857849121
+      Pitch: 0.7449998259544373
+      Target Frame: world_link
+      Yaw: 4.566797256469727
     Saved: ~
 Window Geometry:
   Displays:
@@ -376,7 +327,7 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000001f3000003a0fc0200000007fb000000100044006900730070006c006100790073010000003d000001f5000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000238000001a50000017d00ffffff00000587000003a000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f3000003a0fc0200000007fb000000100044006900730070006c006100790073010000003d00000203000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000246000001970000017d00ffffff00000587000003a000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
   Width: 1920

reyuan/robot_config/launch/ompl-chomp_planning_pipeline.launch.xml → reyuan/fanuc_m10ia_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml

@@ -1,6 +1,6 @@
 <launch>
   <!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
-  <include file="$(find robot_config)/launch/ompl_planning_pipeline.launch.xml">
+  <include file="$(find fanuc_m10ia_moveit_config)/launch/ompl_planning_pipeline.launch.xml">
     <arg name="planning_adapters"
          default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
                   default_planner_request_adapters/AddTimeParameterization
@@ -13,7 +13,7 @@
   </include>
 
   <!-- load chomp config -->
-  <rosparam command="load" file="$(find robot_config)/config/chomp_planning.yaml" />
+  <rosparam command="load" file="$(find fanuc_m10ia_moveit_config)/config/chomp_planning.yaml" />
 
   <!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
   <param name="trajectory_initialization_method" value="fillTrajectory"/>

reyuan/robot_config/launch/ompl_planning_pipeline.launch.xml → reyuan/fanuc_m10ia_moveit_config/launch/ompl_planning_pipeline.launch.xml

@@ -19,6 +19,6 @@
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
   <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
 
-  <rosparam command="load" file="$(find robot_config)/config/ompl_planning.yaml"/>
+  <rosparam command="load" file="$(find fanuc_m10ia_moveit_config)/config/ompl_planning.yaml"/>
 
 </launch>

reyuan/robot_config/launch/planning_context.launch → reyuan/fanuc_m10ia_moveit_config/launch/planning_context.launch

@@ -6,20 +6,20 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find a9)/urdf/a9.urdf"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find fanuc_m10ia_11)/urdf/fanuc_m10ia_11.urdf"/>
 
   <!-- The semantic description that corresponds to the URDF -->
-  <param name="$(arg robot_description)_semantic" textfile="$(find robot_config)/config/a9.srdf" />
+  <param name="$(arg robot_description)_semantic" textfile="$(find fanuc_m10ia_moveit_config)/config/fanuc_m10ia_11.srdf" />
 
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
-    <rosparam command="load" file="$(find robot_config)/config/joint_limits.yaml"/>
-    <rosparam command="load" file="$(find robot_config)/config/cartesian_limits.yaml"/>
+    <rosparam command="load" file="$(find fanuc_m10ia_moveit_config)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find fanuc_m10ia_moveit_config)/config/cartesian_limits.yaml"/>
   </group>
 
   <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
   <group ns="$(arg robot_description)_kinematics">
-    <rosparam command="load" file="$(find robot_config)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find fanuc_m10ia_moveit_config)/config/kinematics.yaml"/>
 
   </group>
 

reyuan/robot_config/launch/ros_controllers.launch → reyuan/fanuc_m10ia_moveit_config/launch/ros_controllers.launch

@@ -2,7 +2,7 @@
 <launch>
 
   <!-- Load joint controller configurations from YAML file to parameter server -->
-  <rosparam file="$(find robot_config)/config/ros_controllers.yaml" command="load"/>
+  <rosparam file="$(find fanuc_m10ia_moveit_config)/config/ros_controllers.yaml" command="load"/>
 
   <!-- Load the controllers -->
   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"

reyuan/robot_config/launch/run_benchmark_ompl.launch → reyuan/fanuc_m10ia_moveit_config/launch/run_benchmark_ompl.launch

@@ -15,7 +15,7 @@
 
   <!-- Start Benchmark Executable -->
   <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
-    <rosparam command="load" file="$(find robot_config)/config/ompl_planning.yaml"/>
+    <rosparam command="load" file="$(find fanuc_m10ia_moveit_config)/config/ompl_planning.yaml"/>
   </node>
 
 </launch>

reyuan/robot_config/launch/sensor_manager.launch.xml → reyuan/fanuc_m10ia_moveit_config/launch/sensor_manager.launch.xml

@@ -3,7 +3,7 @@
   <!-- This file makes it easy to include the settings for sensor managers -->
 
   <!-- Params for 3D sensors config -->
-  <rosparam command="load" file="$(find robot_config)/config/sensors_3d.yaml" />
+  <rosparam command="load" file="$(find fanuc_m10ia_moveit_config)/config/sensors_3d.yaml" />
 
   <!-- Params for the octomap monitor -->
   <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
@@ -11,7 +11,7 @@
   <param name="max_range" type="double" value="5.0" />
 
   <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
-  <arg name="moveit_sensor_manager" default="a9" />
+  <arg name="moveit_sensor_manager" default="fanuc_m10ia_11" />
   <include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
 
 </launch>

reyuan/robot_config/launch/setup_assistant.launch → reyuan/fanuc_m10ia_moveit_config/launch/setup_assistant.launch

@@ -8,7 +8,7 @@
 
   <!-- Run -->
   <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
-        args="--config_pkg=robot_config"
+        args="--config_pkg=fanuc_m10ia_moveit_config"
         launch-prefix="$(arg launch_prefix)"
         required="true"
         output="screen" />

reyuan/robot_config/launch/simple_moveit_controller_manager.launch.xml → reyuan/fanuc_m10ia_moveit_config/launch/simple_moveit_controller_manager.launch.xml

@@ -3,6 +3,6 @@
   <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
 
   <!-- Load controller list to the parameter server -->
-  <rosparam file="$(find robot_config)/config/simple_moveit_controllers.yaml" />
-  <rosparam file="$(find robot_config)/config/ros_controllers.yaml" />
+  <rosparam file="$(find fanuc_m10ia_moveit_config)/config/simple_moveit_controllers.yaml" />
+  <rosparam file="$(find fanuc_m10ia_moveit_config)/config/ros_controllers.yaml" />
 </launch>

reyuan/robot_config/launch/stomp_planning_pipeline.launch.xml → reyuan/fanuc_m10ia_moveit_config/launch/stomp_planning_pipeline.launch.xml

@@ -19,5 +19,5 @@
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
   <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
 
-  <rosparam command="load" file="$(find robot_config)/config/stomp_planning.yaml"/>
+  <rosparam command="load" file="$(find fanuc_m10ia_moveit_config)/config/stomp_planning.yaml"/>
 </launch>

reyuan/robot_config/package.xml → reyuan/fanuc_m10ia_moveit_config/package.xml

@@ -1,12 +1,12 @@
 <package>
 
-  <name>robot_config</name>
+  <name>fanuc_m10ia_moveit_config</name>
   <version>0.3.0</version>
   <description>
-     An automatically generated package with all the configuration and launch files for using the a9 with the MoveIt Motion Planning Framework
+     An automatically generated package with all the configuration and launch files for using the fanuc_m10ia_11 with the MoveIt Motion Planning Framework
   </description>
-  <author email="123@163.com">123</author>
-  <maintainer email="123@163.com">123</maintainer>
+  <author email="lst12345@123.com">lst</author>
+  <maintainer email="lst12345@123.com">lst</maintainer>
 
   <license>BSD</license>
 
@@ -35,7 +35,7 @@
   <!-- <run_depend>gazebo_ros_control</run_depend> -->
   <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
   <!-- <run_depend>warehouse_ros_mongo</run_depend> -->
-  <run_depend>a9</run_depend>
+  <run_depend>fanuc_m10ia_11</run_depend>
 
 
 </package>

reyuan/lst_robot_r/.vscode/settings.json

@@ -2,11 +2,13 @@
     "python.autoComplete.extraPaths": [
         "/home/tong/catkin_ws/devel/lib/python3/dist-packages",
         "/home/tong/moveit_ws/devel/lib/python3/dist-packages",
+        "/home/tong/moveir_ws/devel/lib/python3/dist-packages",
         "/opt/ros/noetic/lib/python3/dist-packages"
     ],
     "python.analysis.extraPaths": [
         "/home/tong/catkin_ws/devel/lib/python3/dist-packages",
         "/home/tong/moveit_ws/devel/lib/python3/dist-packages",
+        "/home/tong/moveir_ws/devel/lib/python3/dist-packages",
         "/opt/ros/noetic/lib/python3/dist-packages"
     ]
 }

reyuan/lst_robot_r/README.md

@@ -6,25 +6,25 @@
 
 ### 2.package(SRC)
 1. **lst_robot_r**  
-  1.1 **launch**-launch启动文件  
-  2.2 **msg**-自定义消息  
-  3.3 **scripts**-Python代码  
+1.1 **launch**-launch启动文件  
+2.2 **msg**-自定义消息  
+3.3 **scripts**-Python代码  
 
 2. **a9**  
-  2.1 **config**-机械臂先关配置文件  
-  2.2 **launch**-launch启动文件  
-  2.3 **meshes**-机械臂STL文件  
-  2.4 **urdf**-机械臂urdf模型  
+2.1 **config**-机械臂先关配置文件  
+2.2 **launch**-launch启动文件  
+2.3 **meshes**-机械臂STL文件  
+2.4 **urdf**-机械臂urdf模型  
 
 3. **robot_config**  
-  3.1 **config**-moveit配置文件，常用srdf(修改机器人配置)  
-  3.2 **launch**-launch启动文件，包括demo.launch文件  
+3.1 **config**-moveit配置文件，常用srdf(修改机器人配置)  
+3.2 **launch**-launch启动文件，包括demo.launch文件  
 
 4. **Data**  
-  4.1 点云数据，起始点终点数据，导出的其他的数据(轨迹关节值、末端执行器笛卡尔坐标)  
+4.1 点云数据，起始点终点数据，导出的其他的数据(轨迹关节值、末端执行器笛卡尔坐标)  
 
 5. **visual**  
-  5.1 规划结果可视化  
+5.1 规划结果可视化  
 
 ## 2024.9.30
 - 添加修改笛卡尔路径参数的函数(速度，加速度)
@@ -35,9 +35,9 @@
 - 增加点云数据，起始点终点数据，测试碰撞检测
 
 ## 2024.10.17
-- 修改规划逻辑，规划完一条焊缝后，末端执行器向上移动0.1m，然后继续规划下一条焊缝
-- 参照：https://github.com/ros-industrial/fanuc/blob/kinetic/fanuc_m20ia_support/urdf/m20ia_macro.xacro
-修改机器人关节限位参数
-
-
+- 修改规划逻辑(简单避障)，规划完一条焊缝后，末端执行器向上移动0.1m，然后继续规划下一条焊缝
+- 修改urdf关节运动范围为FAUNC m10iA-8L实际运动范围  
 
+## 2024.10.29
+- 配置机械臂moveit_config文件
+- 修改模型为fanuc_m10iA/8l

reyuan/lst_robot_r/scripts/command.py

@@ -25,7 +25,7 @@ def load_visual():
     command = "rosrun visual visual_node"
     subprocess.Popen(['gnome-terminal', '--', 'bash', '-c', command])
 def load_rviz():
-    command = "roslaunch robot_config demo.launch"
+    command = "roslaunch fanuc_m10ia_moveit_config demo.launch"
     subprocess.Popen(['gnome-terminal', '--', 'bash', '-c', command])
 def launch_publish_pointcloud():
     file_name = "dycl_0506.py"
@@ -47,4 +47,4 @@ def launch_moveit_control_server_background():
     file_name = "moveitServer2.py"
     absolute_path = os.path.join(script_directory, file_name)
     command = ["python3", absolute_path]
-    subprocess.call(command)
+    subprocess.call(command)

reyuan/lst_robot_r/scripts/dycl_0506.py

@@ -112,7 +112,7 @@ ptCloud_scaled2.points = o3d.utility.Vector3dVector(data_scaled2)
 def build_pointcloud2_msg(points):
     msg = PointCloud2()
     msg.header.stamp = rospy.Time(0)
-    msg.header.frame_id = "world"
+    msg.header.frame_id = "world_link"
 
     if len(points.shape) == 3:
         msg.height = points.shape[1]

reyuan/lst_robot_r/scripts/moveitServer2.py

@@ -65,6 +65,7 @@ class MoveIt_Control:
         self.home_pose=self.get_now_pose()
         #self.go_ready()
 
+
     #TODO plan_cartesian_path
     def plan_cartesian_path_LLL(self,point_s,point_e,waypoints,trajectory,trajectory_with_type,a=1,v=1):
         fraction = 0.0  # 路径规划覆盖率
@@ -152,7 +153,6 @@ class MoveIt_Control:
             acceleration_scaling_factor=1)
         
         return retimed_traj
-
     
     def get_now_pose(self):
         # 获取机械臂当前位姿
@@ -209,9 +209,8 @@ class MoveIt_Control:
 
         constraints = Constraints()#创建一个新的约束信息 
         constraints.position_constraints.append(position_constraint)
-        # constraints.orientation_constraints.append(orientation_constraint)
+
         return constraints
-    
 
     #TODO move_p_flexible
     def move_p_flexible(self,point,points,trajectory,trajectory_with_type,a=1,v=1):

reyuan/lst_robot_r/scripts/start.py

@@ -17,6 +17,7 @@ from rospy.service import ServiceException
 import actionlib_msgs.msg._GoalStatusArray
 import sys
 import time
+
 def wait_for_topic(topic_name, message_type):
     try:
         message = rospy.wait_for_message(topic_name, message_type, timeout=None)
@@ -69,7 +70,7 @@ if __name__ == "__main__":
                 if(aaa =='1' or aaa=='2'):
                     rospy.set_param("sign_control",aaa)
                 else:
-                    command.close_rviz("/usr/bin/python3 /opt/ros/noetic/bin/roslaunch robot_config demo.launch")
+                    command.close_rviz("/usr/bin/python3 /opt/ros/noetic/bin/roslaunch fanuc_m10ia_moveit_config demo.launch")
                     exit(0)
                 waited_once = True
         elif sign_control == "1":
@@ -88,9 +89,9 @@ if __name__ == "__main__":
             time.sleep(10)
             command.load_visual()
             # 等待 /move_group/monitored_planning_scene 话题发布消息
-            # rospy.loginfo("等待场景地图加载完毕...")
-            # wait_for_topic('/move_group/monitored_planning_scene', PlanningScene)
-            # rospy.loginfo(f"场景地图已加载完毕")
+            rospy.loginfo("等待场景地图加载完毕...")
+            wait_for_topic('/move_group/monitored_planning_scene', PlanningScene)
+            rospy.loginfo(f"场景地图已加载完毕")
             rospy.set_param("sign_pointcloud",1)
             #rospy.loginfo("终止点云发布，关闭发布窗口")
             

reyuan/robot_config/.setup_assistant

@@ -1,11 +0,0 @@
-moveit_setup_assistant_config:
-  URDF:
-    package: a9
-    relative_path: urdf/a9.urdf
-    xacro_args: ""
-  SRDF:
-    relative_path: config/a9.srdf
-  CONFIG:
-    author_name: 123
-    author_email: 123@163.com
-    generated_timestamp: 1727407047

reyuan/robot_config/config/a9.srdf

@@ -1,56 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!--This does not replace URDF, and is not an extension of URDF.
-    This is a format for representing semantic information about the robot structure.
-    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
--->
-<robot name="a9">
-    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
-    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
-    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
-    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
-    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
-    <group name="manipulator">
-        <chain base_link="world" tip_link="end_link_now"/>
-    </group>
-    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
-    <group_state name="home" group="manipulator">
-        <joint name="joint_1" value="0"/>
-        <joint name="joint_2" value="-1.1311"/>
-        <joint name="joint_3" value="1.459"/>
-        <joint name="joint_4" value="-3.158"/>
-        <joint name="joint_5" value="-0.258"/>
-        <joint name="joint_6" value="-0.022"/>
-    </group_state>
-    <group_state name="zero" group="manipulator">
-        <joint name="joint_1" value="0"/>
-        <joint name="joint_2" value="0"/>
-        <joint name="joint_3" value="0"/>
-        <joint name="joint_4" value="0"/>
-        <joint name="joint_5" value="0"/>
-        <joint name="joint_6" value="0"/>
-    </group_state>
-    <group_state name="ready" group="manipulator">
-        <joint name="joint_1" value="0"/>
-        <joint name="joint_2" value="-1.278"/>
-        <joint name="joint_3" value="1.459"/>
-        <joint name="joint_4" value="0"/>
-        <joint name="joint_5" value="2.490"/>
-        <joint name="joint_6" value="3.102"/>
-    </group_state>
-    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
-    <disable_collisions link1="Link_1" link2="Link_2" reason="Adjacent"/>
-    <disable_collisions link1="Link_1" link2="Link_3" reason="Never"/>
-    <disable_collisions link1="Link_1" link2="base_link" reason="Adjacent"/>
-    <disable_collisions link1="Link_2" link2="Link_3" reason="Adjacent"/>
-    <disable_collisions link1="Link_2" link2="Link_5" reason="Never"/>
-    <disable_collisions link1="Link_2" link2="Link_6" reason="Never"/>
-    <disable_collisions link1="Link_3" link2="Link_4" reason="Adjacent"/>
-    <disable_collisions link1="Link_3" link2="Link_5" reason="Never"/>
-    <disable_collisions link1="Link_3" link2="Link_6" reason="Never"/>
-    <disable_collisions link1="Link_3" link2="Link_7" reason="Never"/>
-    <disable_collisions link1="Link_4" link2="Link_5" reason="Adjacent"/>
-    <disable_collisions link1="Link_4" link2="Link_6" reason="Never"/>
-    <disable_collisions link1="Link_5" link2="Link_6" reason="Adjacent"/>
-    <disable_collisions link1="Link_5" link2="Link_7" reason="Never"/>
-    <disable_collisions link1="Link_6" link2="Link_7" reason="Adjacent"/>
-</robot>

reyuan/robot_config/config/gazebo_a9.urdf

@@ -1,308 +0,0 @@
-<?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: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
-     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
-<robot name="a9">
-    <link name="world" />
-    <joint name="world_joint" type="fixed">
-        <parent link="world" />
-        <child link="base_link" />
-        <origin xyz="0.0 0.0 2.17" rpy="0.0 3.14 0.0" />
-    </joint>
-    <link name="base_link">
-        <inertial>
-            <origin xyz="-0.110121070288428 -0.0129999995820303 0.159000000973282" rpy="0 0 0" />
-            <mass value="0.0148298653353077" />
-            <inertia ixx="2.02744416702812E-06" ixy="-1.54215522606031E-15" ixz="-3.37592192750916E-14" iyy="1.40267326461625E-06" iyz="-2.76126618174793E-15" izz="1.40267288470545E-06" />
-        </inertial>
-        <visual>
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <geometry>
-                <mesh filename="package://a9/meshes/base_link.STL" />
-            </geometry>
-            <material name="">
-                <color rgba="1 1 0 1" />
-            </material>
-        </visual>
-        <collision>
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <geometry>
-                <mesh filename="package://a9/meshes/base_link.STL" />
-            </geometry>
-        </collision>
-    </link>
-    <link name="Link_1">
-        <inertial>
-            <origin xyz="0.802922442229256 0.00984539192698494 1.19598646678643" rpy="0 0 0" />
-            <mass value="8.19341168850207" />
-            <inertia ixx="0.19323050511757" ixy="0.0386299594946521" ixz="-0.388616965148905" iyy="1.42567974975729" iyz="0.0128991341474255" izz="1.24513273855516" />
-        </inertial>
-        <visual>
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <geometry>
-                <mesh filename="package://a9/meshes/Link_1.STL" />
-            </geometry>
-            <material name="">
-                <color rgba="1 1 0 1" />
-            </material>
-        </visual>
-        <collision>
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <geometry>
-                <mesh filename="package://a9/meshes/Link_1.STL" />
-            </geometry>
-        </collision>
-    </link>
-    <joint name="joint_1" type="revolute">
-        <origin xyz="0 0 0.278" rpy="0 0 0" />
-        <parent link="base_link" />
-        <child link="Link_1" />
-        <axis xyz="0 0 1" />
-        <limit lower="-3.8" upper="3.8" effort="0" velocity="0" />
-    </joint>
-    <link name="Link_2">
-        <inertial>
-            <origin xyz="0.117746157865896 0.0426453911640452 1.20871486266949" rpy="0 0 0" />
-            <mass value="8.19341168850207" />
-            <inertia ixx="0.723493788556202" ixy="0.0285843029943905" ixz="-0.653933580723206" iyy="1.42567974975729" iyz="0.0290103266895879" izz="0.714869455116528" />
-        </inertial>
-        <visual>
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <geometry>
-                <mesh filename="package://a9/meshes/Link_2.STL" />
-            </geometry>
-            <material name="">
-                <color rgba="1 1 0 1" />
-            </material>
-        </visual>
-        <collision>
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <geometry>
-                <mesh filename="package://a9/meshes/Link_2.STL" />
-            </geometry>
-        </collision>
-    </link>
-    <joint name="joint_2" type="revolute">
-        <origin xyz="0.15 -0.0328 0.172" rpy="0 0.47052 0" />
-        <parent link="Link_1" />
-        <child link="Link_2" />
-        <axis xyz="0 1 0" />
-        <limit lower="-3.8" upper="3.8" effort="0" velocity="0" />
-    </joint>
-    <link name="Link_3">
-        <inertial>
-            <origin xyz="0.00164806841162357 0.0743961632896021 -0.0125870623969895" rpy="0 0 0" />
-            <mass value="1.10722558532838" />
-            <inertia ixx="0.00281804497282514" ixy="1.0820613146504E-05" ixz="-2.30905562044302E-05" iyy="0.00127732014523064" iyz="5.62797076557556E-06" izz="0.0028367630953507" />
-        </inertial>
-        <visual>
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <geometry>
-                <mesh filename="package://a9/meshes/Link_3.STL" />
-            </geometry>
-            <material name="">
-                <color rgba="1 1 0 1" />
-            </material>
-        </visual>
-        <collision>
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <geometry>
-                <mesh filename="package://a9/meshes/Link_3.STL" />
-            </geometry>
-        </collision>
-    </link>
-    <joint name="joint_3" type="revolute">
-        <origin xyz="-0.59925 0 0.50037" rpy="0 -0.28892 0" />
-        <parent link="Link_2" />
-        <child link="Link_3" />
-        <axis xyz="0 1 0" />
-        <limit lower="-3.8" upper="3.8" effort="0" velocity="0" />
-    </joint>
-    <link name="Link_4">
-        <inertial>
-            <origin xyz="0.751501000756241 -0.00505225715113682 0.690060032582326" rpy="0 0 0" />
-            <mass value="8.19341168850207" />
-            <inertia ixx="0.419099372956719" ixy="-0.0348631653478693" ixz="-0.581012917159635" iyy="1.42564974048808" iyz="-0.0218580250133829" izz="1.01929387998522" />
-        </inertial>
-        <visual>
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <geometry>
-                <mesh filename="package://a9/meshes/Link_4.STL" />
-            </geometry>
-            <material name="">
-                <color rgba="1 1 0 1" />
-            </material>
-        </visual>
-        <collision>
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <geometry>
-                <mesh filename="package://a9/meshes/Link_4.STL" />
-            </geometry>
-        </collision>
-    </link>
-    <joint name="joint_4" type="revolute">
-        <origin xyz="-0.084223 0.0347 0.16884" rpy="-3.119 -1.0471 -0.013042" />
-        <parent link="Link_3" />
-        <child link="Link_4" />
-        <axis xyz="0.86603 0 0.5" />
-        <limit lower="-3.8" upper="3.8" effort="0" velocity="0" />
-    </joint>
-    <link name="Link_5">
-        <inertial>
-            <origin xyz="0.206551018322306 -0.00505225715114058 -0.104834036546721" rpy="0 0 0" />
-            <mass value="8.19341168850207" />
-            <inertia ixx="0.745717188604768" ixy="0.0281122476978264" ixz="-0.653399595391099" iyy="1.42564974048808" iyz="0.030048545471202" izz="0.69267606433717" />
-        </inertial>
-        <visual>
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <geometry>
-                <mesh filename="package://a9/meshes/Link_5.STL" />
-            </geometry>
-            <material name="">
-                <color rgba="1 1 0 1" />
-            </material>
-        </visual>
-        <collision>
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <geometry>
-                <mesh filename="package://a9/meshes/Link_5.STL" />
-            </geometry>
-        </collision>
-    </link>
-    <joint name="joint_5" type="revolute">
-        <origin xyz="0.92436 0 0.53588" rpy="3.1416 -0.25867 3.1416" />
-        <parent link="Link_4" />
-        <child link="Link_5" />
-        <axis xyz="0 1 0" />
-        <limit lower="-3.8" upper="3.8" effort="0" velocity="0" />
-    </joint>
-    <link name="Link_6">
-        <inertial>
-            <origin xyz="0.12280626304832 0.10284172733946 -0.0673247079199191" rpy="0 0 0" />
-            <mass value="8.19341168850207" />
-            <inertia ixx="1.25065484857243" ixy="-0.370837141231599" ixz="-0.214061773475593" iyy="0.581725625286335" iyz="-0.544088624970368" izz="1.03166251957125" />
-        </inertial>
-        <visual>
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <geometry>
-                <mesh filename="package://a9/meshes/Link_6.STL" />
-            </geometry>
-            <material name="">
-                <color rgba="1 1 0 1" />
-            </material>
-        </visual>
-        <collision>
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <geometry>
-                <mesh filename="package://a9/meshes/Link_6.STL" />
-            </geometry>
-        </collision>
-    </link>
-    <joint name="joint_6" type="revolute">
-        <origin xyz="0.037697 -0.0006997 -0.064094" rpy="0.44032 0.19669 -0.83053" />
-        <parent link="Link_5" />
-        <child link="Link_6" />
-        <axis xyz="0.49999 0 -0.86603" />
-        <limit lower="-3.8" upper="3.8" effort="0" velocity="0" />
-    </joint>
-    <link name="Link_7">
-        <inertial>
-            <origin xyz="0.0296425829147993 -6.47728578861279E-06 0.162281442392356" rpy="0 0 0" />
-            <mass value="7.07143232149748" />
-            <inertia ixx="0.0103947066541271" ixy="8.00167786886164E-07" ixz="0.00131122028195651" iyy="0.0112643862205598" iyz="-2.38846633634112E-06" izz="0.0065729384023248" />
-        </inertial>
-        <visual>
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <geometry>
-                <mesh filename="package://a9/meshes/Link_7.STL" />
-            </geometry>
-            <material name="">
-                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
-            </material>
-        </visual>
-        <collision>
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <geometry>
-                <mesh filename="package://a9/meshes/Link_7.STL" />
-            </geometry>
-        </collision>
-    </link>
-    <joint name="joint_7" type="fixed">
-        <origin xyz="0 0 0" rpy="-2.6972 0.28661 -2.1066" />
-        <parent link="Link_6" />
-        <child link="Link_7" />
-        <axis xyz="0 0 0" />
-    </joint>
-    <link name="end_link_now" />
-    <joint name="end_joint" type="fixed">
-        <parent link="Link_7" />
-        <child link="end_link_now" />
-        <origin xyz="-0.045 0.0 0.4" rpy="0.0 0.4 3.14" />
-    </joint>
-    <transmission name="trans_joint_1">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="joint_1">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="joint_1_motor">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_joint_2">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="joint_2">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="joint_2_motor">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_joint_3">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="joint_3">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="joint_3_motor">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_joint_4">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="joint_4">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="joint_4_motor">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_joint_5">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="joint_5">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="joint_5_motor">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_joint_6">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="joint_6">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="joint_6_motor">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <gazebo>
-        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
-            <robotNamespace>/</robotNamespace>
-        </plugin>
-    </gazebo>
-</robot>
-

reyuan/visual/CMakeLists.txt

@@ -5,7 +5,7 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   rospy
   std_msgs
-  robot_config
+  fanuc_m10ia_moveit_config
 )
 
 catkin_package(