diff --git a/.gitattributes b/.gitattributes index c84240117d4360452d9d8ac854cec7dd144187a3..b4bc63d821ff7b56ff5e3d4e8de6bb78c17f42f7 100644 --- a/.gitattributes +++ b/.gitattributes @@ -16,3 +16,41 @@ *.pkl filter=lfs diff=lfs merge=lfs -text *.h5 filter=lfs diff=lfs merge=lfs -text *.hdf5 filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/L_Link_1.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/L_Link_2.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/L_Link_3.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/L_Link_4.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/L_Link_5.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/L_Link_6.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/L_Link_7.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/R_Link_1.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/R_Link_2.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/R_Link_3.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/R_Link_4.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/R_Link_5.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/R_Link_6.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/R_Link_7.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/base_link.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/head_link1.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/head_link2.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/l_base_link.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/l_camera_rolink.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/ltool_Left_1_Link.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/ltool_Left_2_Link.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/ltool_Left_Support_Link.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/ltool_Right_1_Link.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/ltool_Right_2_Link.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/ltool_Right_Support_Link.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/ltool_base_link.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/platform_base_link.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/r_base_link.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/r_camera_rolink.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/rtool_Left_1_Link.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/rtool_Left_2_Link.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/rtool_Left_Support_Link.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/rtool_Right_1_Link.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/rtool_Right_2_Link.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/rtool_Right_Support_Link.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/rtool_base_link.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/wheellink_l.STL filter=lfs diff=lfs merge=lfs -text +RS-02/meshes/wheellink_r.STL filter=lfs diff=lfs merge=lfs -text diff --git a/RS-02/CMakeLists.txt b/RS-02/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..9d68969a74b7ac8c28153ba1e0847716009c2f6d --- /dev/null +++ b/RS-02/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(RS-02) + +find_package(catkin REQUIRED) + +catkin_package() + +find_package(roslaunch) + +foreach(dir config launch meshes urdf) + install(DIRECTORY ${dir}/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) +endforeach(dir) diff --git a/RS-02/config/joint_names_RS-02.yaml b/RS-02/config/joint_names_RS-02.yaml new file mode 100644 index 0000000000000000000000000000000000000000..672ac9aff3412520be5feeca4aa9be51794026e5 --- /dev/null +++ b/RS-02/config/joint_names_RS-02.yaml @@ -0,0 +1,2 @@ +controller_joint_names: ['', 'wheeljoint_r', 'wheeljoint_l', 'platform_base_joint', ] + diff --git a/RS-02/export.log b/RS-02/export.log new file mode 100644 index 0000000000000000000000000000000000000000..0feed9e6bcb2ef89426627e0e99c773eccd9d674 --- /dev/null +++ b/RS-02/export.log @@ -0,0 +1,209 @@ +2025-07-01 15:43:01,130 INFO Logger.cs: 70 - +-------------------------------------------------------------------------------- +2025-07-01 15:43:01,244 INFO Logger.cs: 71 - Logging commencing for SW2URDF exporter +2025-07-01 15:43:01,253 INFO Logger.cs: 73 - Commit version 1.6.0-1-g15f4949 +2025-07-01 15:43:01,254 INFO Logger.cs: 74 - Build version 1.6.7594.29634 +2025-07-01 15:43:01,280 INFO SwAddin.cs: 192 - Attempting to connect to SW +2025-07-01 15:43:01,281 INFO SwAddin.cs: 197 - Setting up callbacks +2025-07-01 15:43:01,282 INFO SwAddin.cs: 201 - Setting up command manager +2025-07-01 15:43:01,283 INFO SwAddin.cs: 204 - Adding command manager +2025-07-01 15:43:01,289 INFO SwAddin.cs: 263 - Adding Assembly export to file menu +2025-07-01 15:43:01,290 INFO SwAddin.cs: 272 - Adding Part export to file menu +2025-07-01 15:43:01,290 INFO SwAddin.cs: 210 - Adding event handlers +2025-07-01 15:43:01,689 INFO SwAddin.cs: 217 - Connecting plugin to SolidWorks +2025-07-01 18:12:16,648 INFO SwAddin.cs: 294 - Assembly export called for file 装配图-URDF.SLDASM +2025-07-01 18:12:18,726 INFO SwAddin.cs: 313 - Saving assembly +2025-07-01 18:12:20,618 INFO SwAddin.cs: 316 - Opening property manager +2025-07-01 18:12:20,657 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 装配图-URDF.SLDASM +2025-07-01 18:12:20,747 INFO ExportHelperExtension.cs: 1136 - Found 35 in 装配图-URDF.SLDASM +2025-07-01 18:12:20,748 INFO ExportHelperExtension.cs: 1145 - Found 4 features of type [CoordSys] in 装配图-URDF.SLDASM +2025-07-01 18:12:20,749 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2025-07-01 18:12:20,783 INFO ExportHelperExtension.cs: 1160 - 4 components to check +2025-07-01 18:12:20,785 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 基座-1 +2025-07-01 18:12:20,786 INFO ExportHelperExtension.cs: 1136 - Found 179 in 基座-1 +2025-07-01 18:12:20,787 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 基座-1 +2025-07-01 18:12:20,787 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 胸部-1 +2025-07-01 18:12:20,788 INFO ExportHelperExtension.cs: 1136 - Found 246 in 胸部-1 +2025-07-01 18:12:20,789 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 胸部-1 +2025-07-01 18:12:20,790 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 左侧轮子-1 +2025-07-01 18:12:20,791 INFO ExportHelperExtension.cs: 1136 - Found 22 in 左侧轮子-1 +2025-07-01 18:12:20,791 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 左侧轮子-1 +2025-07-01 18:12:20,792 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 右侧轮子-1 +2025-07-01 18:12:20,792 INFO ExportHelperExtension.cs: 1136 - Found 22 in 右侧轮子-1 +2025-07-01 18:12:20,793 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 右侧轮子-1 +2025-07-01 18:12:20,804 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 装配图-URDF.SLDASM +2025-07-01 18:12:20,805 INFO ExportHelperExtension.cs: 1136 - Found 35 in 装配图-URDF.SLDASM +2025-07-01 18:12:20,805 INFO ExportHelperExtension.cs: 1145 - Found 3 features of type [RefAxis] in 装配图-URDF.SLDASM +2025-07-01 18:12:20,806 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2025-07-01 18:12:20,807 INFO ExportHelperExtension.cs: 1160 - 4 components to check +2025-07-01 18:12:20,807 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 基座-1 +2025-07-01 18:12:21,015 INFO ExportHelperExtension.cs: 1136 - Found 179 in 基座-1 +2025-07-01 18:12:21,016 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 基座-1 +2025-07-01 18:12:21,016 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 胸部-1 +2025-07-01 18:12:21,017 INFO ExportHelperExtension.cs: 1136 - Found 246 in 胸部-1 +2025-07-01 18:12:21,019 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 胸部-1 +2025-07-01 18:12:21,020 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 左侧轮子-1 +2025-07-01 18:12:21,020 INFO ExportHelperExtension.cs: 1136 - Found 22 in 左侧轮子-1 +2025-07-01 18:12:21,021 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 左侧轮子-1 +2025-07-01 18:12:21,021 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 右侧轮子-1 +2025-07-01 18:12:21,022 INFO ExportHelperExtension.cs: 1136 - Found 22 in 右侧轮子-1 +2025-07-01 18:12:21,022 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 右侧轮子-1 +2025-07-01 18:12:22,426 INFO SwAddin.cs: 339 - Loading config tree +2025-07-01 18:12:22,430 INFO ExportPropertyManagerExtension.cs: 520 - Starting new configuration +2025-07-01 18:12:22,436 INFO SwAddin.cs: 344 - Showing property manager +2025-07-01 18:12:30,545 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-07-01 18:12:36,143 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-07-01 18:12:36,723 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-07-01 18:12:37,333 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-07-01 18:12:58,207 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-07-01 18:13:28,702 INFO SwAddin.cs: 294 - Assembly export called for file 装配图-URDF.SLDASM +2025-07-01 18:13:30,133 INFO SwAddin.cs: 313 - Saving assembly +2025-07-01 18:13:31,963 INFO SwAddin.cs: 316 - Opening property manager +2025-07-01 18:13:31,964 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 装配图-URDF.SLDASM +2025-07-01 18:13:31,965 INFO ExportHelperExtension.cs: 1136 - Found 35 in 装配图-URDF.SLDASM +2025-07-01 18:13:31,966 INFO ExportHelperExtension.cs: 1145 - Found 4 features of type [CoordSys] in 装配图-URDF.SLDASM +2025-07-01 18:13:31,967 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2025-07-01 18:13:31,967 INFO ExportHelperExtension.cs: 1160 - 4 components to check +2025-07-01 18:13:31,968 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 基座-1 +2025-07-01 18:13:31,969 INFO ExportHelperExtension.cs: 1136 - Found 179 in 基座-1 +2025-07-01 18:13:31,970 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 基座-1 +2025-07-01 18:13:31,971 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 胸部-1 +2025-07-01 18:13:31,972 INFO ExportHelperExtension.cs: 1136 - Found 246 in 胸部-1 +2025-07-01 18:13:31,974 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 胸部-1 +2025-07-01 18:13:31,975 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 左侧轮子-1 +2025-07-01 18:13:31,976 INFO ExportHelperExtension.cs: 1136 - Found 22 in 左侧轮子-1 +2025-07-01 18:13:31,976 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 左侧轮子-1 +2025-07-01 18:13:31,977 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 右侧轮子-1 +2025-07-01 18:13:31,977 INFO ExportHelperExtension.cs: 1136 - Found 22 in 右侧轮子-1 +2025-07-01 18:13:31,978 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 右侧轮子-1 +2025-07-01 18:13:31,979 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 装配图-URDF.SLDASM +2025-07-01 18:13:31,979 INFO ExportHelperExtension.cs: 1136 - Found 35 in 装配图-URDF.SLDASM +2025-07-01 18:13:31,980 INFO ExportHelperExtension.cs: 1145 - Found 3 features of type [RefAxis] in 装配图-URDF.SLDASM +2025-07-01 18:13:31,980 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2025-07-01 18:13:31,981 INFO ExportHelperExtension.cs: 1160 - 4 components to check +2025-07-01 18:13:31,986 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 基座-1 +2025-07-01 18:13:32,269 INFO ExportHelperExtension.cs: 1136 - Found 179 in 基座-1 +2025-07-01 18:13:32,271 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 基座-1 +2025-07-01 18:13:32,272 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 胸部-1 +2025-07-01 18:13:32,272 INFO ExportHelperExtension.cs: 1136 - Found 246 in 胸部-1 +2025-07-01 18:13:32,274 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 胸部-1 +2025-07-01 18:13:32,275 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 左侧轮子-1 +2025-07-01 18:13:32,276 INFO ExportHelperExtension.cs: 1136 - Found 22 in 左侧轮子-1 +2025-07-01 18:13:32,277 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 左侧轮子-1 +2025-07-01 18:13:32,278 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 右侧轮子-1 +2025-07-01 18:13:32,278 INFO ExportHelperExtension.cs: 1136 - Found 22 in 右侧轮子-1 +2025-07-01 18:13:32,279 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 右侧轮子-1 +2025-07-01 18:13:32,575 INFO SwAddin.cs: 339 - Loading config tree +2025-07-01 18:13:32,575 INFO ExportPropertyManagerExtension.cs: 520 - Starting new configuration +2025-07-01 18:13:32,576 INFO SwAddin.cs: 344 - Showing property manager +2025-07-01 18:13:46,436 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-07-01 18:13:50,876 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-07-01 18:13:51,079 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-07-01 18:13:51,229 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-07-01 18:13:51,381 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-07-01 18:13:52,289 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-07-01 18:14:10,455 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-07-01 18:14:12,345 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-07-01 18:14:18,230 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-07-01 18:14:53,681 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-07-01 18:14:55,634 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-07-01 18:14:57,549 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-07-01 18:15:39,045 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-07-01 18:15:40,899 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-07-01 18:15:45,745 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-07-01 18:16:33,365 INFO ExportPropertyManager.cs: 422 - Configuration saved +2025-07-01 18:16:46,131 INFO ExportHelperExtension.cs: 347 - Creating joint wheellink_r +2025-07-01 18:16:47,381 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child wheellink_r failed +2025-07-01 18:17:00,464 INFO ExportHelperExtension.cs: 347 - Creating joint wheellink_l +2025-07-01 18:17:00,754 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child wheellink_l failed +2025-07-01 18:17:14,514 INFO ExportHelperExtension.cs: 347 - Creating joint platform_base_link +2025-07-01 18:17:14,794 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child platform_base_link failed +2025-07-01 18:17:17,964 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 装配图-URDF.SLDASM +2025-07-01 18:17:17,969 INFO ExportHelperExtension.cs: 1136 - Found 36 in 装配图-URDF.SLDASM +2025-07-01 18:17:17,970 INFO ExportHelperExtension.cs: 1145 - Found 4 features of type [CoordSys] in 装配图-URDF.SLDASM +2025-07-01 18:17:17,970 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2025-07-01 18:17:17,970 INFO ExportHelperExtension.cs: 1160 - 4 components to check +2025-07-01 18:17:17,971 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 基座-1 +2025-07-01 18:17:17,971 INFO ExportHelperExtension.cs: 1136 - Found 179 in 基座-1 +2025-07-01 18:17:17,972 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 基座-1 +2025-07-01 18:17:17,992 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 胸部-1 +2025-07-01 18:17:17,993 INFO ExportHelperExtension.cs: 1136 - Found 246 in 胸部-1 +2025-07-01 18:17:17,995 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 胸部-1 +2025-07-01 18:17:17,996 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 左侧轮子-1 +2025-07-01 18:17:17,996 INFO ExportHelperExtension.cs: 1136 - Found 22 in 左侧轮子-1 +2025-07-01 18:17:17,997 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 左侧轮子-1 +2025-07-01 18:17:17,998 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 右侧轮子-1 +2025-07-01 18:17:17,998 INFO ExportHelperExtension.cs: 1136 - Found 22 in 右侧轮子-1 +2025-07-01 18:17:17,999 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 右侧轮子-1 +2025-07-01 18:17:17,999 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 装配图-URDF.SLDASM +2025-07-01 18:17:18,000 INFO ExportHelperExtension.cs: 1136 - Found 36 in 装配图-URDF.SLDASM +2025-07-01 18:17:18,000 INFO ExportHelperExtension.cs: 1145 - Found 3 features of type [RefAxis] in 装配图-URDF.SLDASM +2025-07-01 18:17:18,001 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2025-07-01 18:17:18,001 INFO ExportHelperExtension.cs: 1160 - 4 components to check +2025-07-01 18:17:18,001 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 基座-1 +2025-07-01 18:17:18,002 INFO ExportHelperExtension.cs: 1136 - Found 179 in 基座-1 +2025-07-01 18:17:18,003 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 基座-1 +2025-07-01 18:17:18,003 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 胸部-1 +2025-07-01 18:17:18,004 INFO ExportHelperExtension.cs: 1136 - Found 246 in 胸部-1 +2025-07-01 18:17:18,005 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 胸部-1 +2025-07-01 18:17:18,005 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 左侧轮子-1 +2025-07-01 18:17:18,006 INFO ExportHelperExtension.cs: 1136 - Found 22 in 左侧轮子-1 +2025-07-01 18:17:18,006 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 左侧轮子-1 +2025-07-01 18:17:18,006 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 右侧轮子-1 +2025-07-01 18:17:18,007 INFO ExportHelperExtension.cs: 1136 - Found 22 in 右侧轮子-1 +2025-07-01 18:17:18,007 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 右侧轮子-1 +2025-07-01 18:17:18,122 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2025-07-01 18:19:26,172 INFO AssemblyExportForm.cs: 253 - Completing URDF export +2025-07-01 18:19:26,184 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found 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+2025-07-01 18:20:29,645 INFO AssemblyExportForm.cs: 309 - Saving URDF package to C:\Users\ASUS\Desktop\rmc_aida_l_75_description +2025-07-01 18:20:29,647 INFO ExportHelper.cs: 147 - Beginning the export process +2025-07-01 18:20:29,649 INFO ExportHelper.cs: 153 - Creating package directories with name rmc_aida_l_75_description and save path C:\Users\ASUS\Desktop +2025-07-01 18:20:31,291 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at C:\Users\ASUS\Desktop\rmc_aida_l_75_description\CMakeLists.txt +2025-07-01 18:20:31,301 INFO ExportHelper.cs: 166 - Creating joint names config at C:\Users\ASUS\Desktop\rmc_aida_l_75_description\config\joint_names_rmc_aida_l_75_description.yaml +2025-07-01 18:20:31,304 INFO ExportHelper.cs: 170 - Creating package.xml at C:\Users\ASUS\Desktop\rmc_aida_l_75_description\package.xml +2025-07-01 18:20:31,307 INFO PackageXMLWriter.cs: 21 - Creating package.xml at C:\Users\ASUS\Desktop\rmc_aida_l_75_description\package.xml +2025-07-01 18:20:31,337 INFO ExportHelper.cs: 177 - Creating RVIZ launch file in C:\Users\ASUS\Desktop\rmc_aida_l_75_description\launch\ +2025-07-01 18:20:31,339 INFO ExportHelper.cs: 182 - Creating Gazebo launch file in C:\Users\ASUS\Desktop\rmc_aida_l_75_description\launch\ +2025-07-01 18:20:31,340 INFO ExportHelper.cs: 187 - Saving existing STL preferences +2025-07-01 18:20:31,341 INFO ExportHelper.cs: 450 - Saving users preferences +2025-07-01 18:20:31,342 INFO ExportHelper.cs: 190 - Modifying STL preferences +2025-07-01 18:20:31,342 INFO ExportHelper.cs: 464 - Setting STL preferences +2025-07-01 18:20:31,362 INFO ExportHelper.cs: 196 - Found 0 hidden components +2025-07-01 18:20:31,362 INFO ExportHelper.cs: 197 - Hiding all components +2025-07-01 18:20:31,758 INFO ExportHelper.cs: 204 - Beginning individual files export +2025-07-01 18:20:31,760 INFO ExportHelper.cs: 270 - Exporting link: base_link +2025-07-01 18:20:31,760 INFO ExportHelper.cs: 272 - Link base_link has 3 children +2025-07-01 18:20:31,761 INFO ExportHelper.cs: 270 - Exporting link: wheellink_r +2025-07-01 18:20:31,762 INFO ExportHelper.cs: 272 - Link wheellink_r has 0 children +2025-07-01 18:20:31,762 INFO ExportHelper.cs: 317 - wheellink_r: Exporting STL with coordinate frame wheellink_r +2025-07-01 18:20:31,763 INFO ExportHelper.cs: 322 - wheellink_r: Reference geometry name +2025-07-01 18:20:34,637 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\ASUS\Desktop\rmc_aida_l_75_description\meshes\wheellink_r.STL +2025-07-01 18:20:43,066 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2025-07-01 18:20:43,069 INFO ExportHelper.cs: 270 - Exporting link: wheellink_l +2025-07-01 18:20:43,069 INFO ExportHelper.cs: 272 - Link wheellink_l has 0 children +2025-07-01 18:20:43,070 INFO ExportHelper.cs: 317 - wheellink_l: Exporting STL with coordinate frame wheellink_l +2025-07-01 18:20:43,070 INFO ExportHelper.cs: 322 - wheellink_l: Reference geometry name +2025-07-01 18:20:43,142 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\ASUS\Desktop\rmc_aida_l_75_description\meshes\wheellink_l.STL +2025-07-01 18:20:52,640 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2025-07-01 18:20:52,642 INFO ExportHelper.cs: 270 - Exporting link: platform_base_link +2025-07-01 18:20:52,643 INFO ExportHelper.cs: 272 - Link platform_base_link has 0 children +2025-07-01 18:20:52,643 INFO ExportHelper.cs: 317 - platform_base_link: Exporting STL with coordinate frame platform_base_link +2025-07-01 18:20:52,648 INFO ExportHelper.cs: 322 - platform_base_link: Reference geometry name +2025-07-01 18:20:52,749 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\ASUS\Desktop\rmc_aida_l_75_description\meshes\platform_base_link.STL +2025-07-01 18:20:54,428 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2025-07-01 18:20:54,429 INFO ExportHelper.cs: 317 - base_link: Exporting STL with coordinate frame base_link +2025-07-01 18:20:54,429 INFO ExportHelper.cs: 322 - base_link: Reference geometry name +2025-07-01 18:20:54,598 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\ASUS\Desktop\rmc_aida_l_75_description\meshes\base_link.STL +2025-07-01 18:21:02,659 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2025-07-01 18:21:02,660 INFO ExportHelper.cs: 145 - Showing all components except previously hidden components +2025-07-01 18:21:02,855 INFO ExportHelper.cs: 145 - Resetting STL preferences +2025-07-01 18:21:02,856 INFO ExportHelper.cs: 478 - Returning STL preferences to user preferences +2025-07-01 18:21:02,857 INFO ExportHelper.cs: 228 - Writing URDF file to C:\Users\ASUS\Desktop\rmc_aida_l_75_description\urdf\rmc_aida_l_75_description.urdf +2025-07-01 18:21:02,874 INFO CSVImportExport.cs: 32 - Writing CSV file C:\Users\ASUS\Desktop\rmc_aida_l_75_description\urdf\rmc_aida_l_75_description.csv +2025-07-01 18:21:02,927 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2025-07-01 18:21:02,928 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2025-07-01 18:21:02,929 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2025-07-01 18:21:02,930 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2025-07-01 18:21:02,930 INFO ExportHelper.cs: 234 - Copying log file +2025-07-01 18:21:02,941 INFO ExportHelper.cs: 439 - Copying C:\Users\ASUS\sw2urdf_logs\sw2urdf.log to C:\Users\ASUS\Desktop\rmc_aida_l_75_description\export.log diff --git a/RS-02/launch/display.launch b/RS-02/launch/display.launch new file mode 100644 index 0000000000000000000000000000000000000000..b02d8ca8120ed27d2875f92beacf4b99d498dfb2 --- /dev/null +++ b/RS-02/launch/display.launch @@ -0,0 +1,20 @@ + + + + + + + \ No newline at end of file diff --git a/RS-02/launch/gazebo.launch b/RS-02/launch/gazebo.launch new file mode 100644 index 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sha256:5c34ebe9eae2cd363c7ce647a07bfa768c29e5d480a5f6af7c7c3227433d3055 +size 5654184 diff --git a/RS-02/meshes/wheellink_r.STL b/RS-02/meshes/wheellink_r.STL new file mode 100644 index 0000000000000000000000000000000000000000..facb78004e1108b2481e7a6442d137458c3cc9d8 --- /dev/null +++ b/RS-02/meshes/wheellink_r.STL @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77f843269e4a2d29ce0df1b702f3d19156fad3e1888774fcf6594a254129cf5f +size 5653684 diff --git a/RS-02/package.xml b/RS-02/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..b5fab3edfa4afb0ac925ce0220dc565f715e0ed9 --- /dev/null +++ b/RS-02/package.xml @@ -0,0 +1,21 @@ + + RS-02 + 1.0.0 + +

URDF Description package for RS-02

+

This package contains configuration data, 3D models and launch files +for RS-02 robot

+ + TODO + + BSD + catkin + roslaunch + robot_state_publisher + rviz + joint_state_publisher_gui + gazebo + + + + \ No newline at end of file diff --git a/RS-02/urdf/RS-02.csv b/RS-02/urdf/RS-02.csv new file mode 100644 index 0000000000000000000000000000000000000000..7ed99ab7b16ed1b3f81d227085fb2f369d2d9669 --- /dev/null +++ b/RS-02/urdf/RS-02.csv @@ -0,0 +1,5 @@ +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,-0.00013738,-0.018618,0.38563,0,0,0,12.388,1.1455,-0.0006544,7.0339E-05,1.1823,-0.052689,0.2861,0,0,0,0,0,0,package://rmc_aida_l_75_description/meshes/base_link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://rmc_aida_l_75_description/meshes/base_link.STL,,鍩哄骇-1,base_link,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,, +wheellink_r,-0.0889,-1.8475E-06,4.018E-06,0,0,0,0.47263,0.0020332,1.4004E-07,-3.3728E-07,0.0012169,-1.9009E-08,0.001217,0,0,0,0,0,0,package://rmc_aida_l_75_description/meshes/wheellink_r.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://rmc_aida_l_75_description/meshes/wheellink_r.STL,,鍙充晶杞瓙-1,wheellink_r,wheeljoint_r,wheeljoint_r,continuous,-0.091995,0.0068921,-0.020012,0,0,0,base_link,1,0,0,,,,,,,,,,,, +wheellink_l,0.0889,-1.5286E-06,4.1488E-06,0,0,0,0.47263,0.0020332,-1.3888E-07,3.3776E-07,0.0012169,-1.8245E-08,0.001217,0,0,0,0,0,0,package://rmc_aida_l_75_description/meshes/wheellink_l.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://rmc_aida_l_75_description/meshes/wheellink_l.STL,,宸︿晶杞瓙-1,wheellink_l,wheeljoint_l,wheeljoint_l,continuous,0.092005,0.0068921,-0.020012,0,0,0,base_link,-1,0,0,,,,,,,,,,,, +platform_base_link,-7.6358E-05,-0.075128,0.0015627,0,0,0,1.9507,0.010246,2.9298E-06,3.1841E-06,0.025575,4.6882E-05,0.017104,0,0,0,0,0,0,package://rmc_aida_l_75_description/meshes/platform_base_link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://rmc_aida_l_75_description/meshes/platform_base_link.STL,,鑳搁儴-1,platform_base_link,platform_base_joint,platform_base_joint,prismatic,0,-0.091349,0.49182,0,0,0,base_link,0,-0.0017418,-1,500,0.15,-0.3,0.87,,,,,,,, diff --git a/RS-02/urdf/RS-02.urdf b/RS-02/urdf/RS-02.urdf new file mode 100644 index 0000000000000000000000000000000000000000..79417baa917b73cba87dd033589e9b1a7341596e --- /dev/null +++ b/RS-02/urdf/RS-02.urdf @@ -0,0 +1,2679 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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