======ROS 스터디 #11: 매니퓰레이터======
2021년 02월 17일 수요일 19:00\\
ZOOM 화상회의



=====1. =====
<sxh>

</sxh>

====1.1. ====



====1.2. ====

====1.3. urdf 파일 만들기 및 실행 ====

=== urdf 파일 만들기 ===
<sxh bash>
cd ~/catkin_ws/src
catkin_create_pkg testbot_description urdf
cd testbot_description
mkdir urdf
cd urdf
gedit testbot.urdf
</sxh>


**urdf **

<sxh xml title:testbot.urdf>

<?xml version="1.0" ?>
<robot name="testbot">

  <material name="black">
    <color rgba="0.0 0.0 0.0 1.0"/>
  </material>
  <material name="orange">
    <color rgba="1.0 0.4 0.0 1.0"/>
  </material>

  <link name="base"/>

  <joint name="fixed" type="fixed">
    <parent link="base"/>
    <child link="link1"/>
  </joint>

  <link name="link1">
    <collision>
      <origin xyz="0 0 0.25" rpy="0 0 0"/>
      <geometry>
        <box size="0.1 0.1 0.5"/>
      </geometry>
    </collision>
    <visual>
      <origin xyz="0 0 0.25" rpy="0 0 0"/>
      <geometry>
        <box size="0.1 0.1 0.5"/>
      </geometry>
      <material name="black"/>
    </visual>
    <inertial>
      <origin xyz="0 0 0.25" rpy="0 0 0"/>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

  <joint name="joint1" type="revolute">
    <parent link="link1"/>
    <child link="link2"/>
    <origin xyz="0 0 0.5" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="30" lower="-2.617" upper="2.617" velocity="1.571"/>
  </joint>

  <link name="link2">
    <collision>
      <origin xyz="0 0 0.25" rpy="0 0 0"/>
      <geometry>
        <box size="0.1 0.1 0.5"/>
      </geometry>
    </collision>
    <visual>
      <origin xyz="0 0 0.25" rpy="0 0 0"/>
      <geometry>
        <box size="0.1 0.1 0.5"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <inertial>
      <origin xyz="0 0 0.25" rpy="0 0 0"/>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

  <joint name="joint2" type="revolute">
    <parent link="link2"/>
    <child link="link3"/>
    <origin xyz="0 0 0.5" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit effort="30" lower="-2.617" upper="2.617" velocity="1.571"/>
  </joint>

  <link name="link3">
    <collision>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <geometry>
        <box size="0.1 0.1 1"/>
      </geometry>
    </collision>
    <visual>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <geometry>
        <box size="0.1 0.1 1"/>
      </geometry>
      <material name="black"/>
    </visual>
    <inertial>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

  <joint name="joint3" type="revolute">
    <parent link="link3"/>
    <child link="link4"/>
    <origin xyz="0 0 1.0" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit effort="30" lower="-2.617" upper="2.617" velocity="1.571"/>
  </joint>

  <link name="link4">
    <collision>
      <origin xyz="0 0 0.25" rpy="0 0 0"/>
      <geometry>
        <box size="0.1 0.1 0.5"/>
      </geometry>
    </collision>
    <visual>
      <origin xyz="0 0 0.25" rpy="0 0 0"/>
      <geometry>
        <box size="0.1 0.1 0.5"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <inertial>
      <origin xyz="0 0 0.25" rpy="0 0 0"/>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

</robot>


</sxh>
==========================================================================================================================\\
문법검사
<sxh bash title:문법검사>
check_urdf testbot.urdf
</sxh>

그래프 표시
<sxh bash title:그래프 표시>
urdf_to_graphiz testbot.urdf
</sxh>

==========================================================================================================================\\

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런치파일 생성
<sxh bash title 런치파일 생성>
cd ~/catkin_ws/src/testbot_description
mkdir launch
cd launch
gedit testbot.launch
</sxh>






launch 
<sxh xml title:testbot.launch>
<launch>
  <arg name="model" default="$(find testbot_description)/urdf/testbot.urdf" />
  <arg name="gui" default="True" />
  <param name="robot_description" textfile="$(arg model)" />
  <param name="use_gui" value="$(arg gui)"/>
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
</launch>
</sxh>



<sxh bash>
roslaunch testbot_description testbot.launch
rviz
</sxh>



<sxh bash title:패키지 설치>
sudo apt-get install ros-melodic-ros-controllers ros-melodic-gazebo* ros-melodic-moveit* ros-melodic-industrial-core
</sxh>

<sxh bash>
cd ~/catkin_ws/src
git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench.git
git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs.git
git clone https://github.com/ROBOTIS-GIT/open_manipulator.git
git clone https://github.com/ROBOTIS-GIT/open_manipulator_msgs.git
git clone https://github.com/ROBOTIS-GIT/open_manipulator_simulations.git
git clone https://github.com/ROBOTIS-GIT/robotis_manipulator.git

cd ~/catkin_ws&&catkin_make
</sxh>




<sxh bash>
roslaunch open_manipulator_description open_manipulator_rviz.launch
roslaunch open_manipulator_gazebo open_manipulator_gazebo.launch
</sxh>
조인트 2번째 포지션 변경
rostopic pub /open_manipulator_chain/joint2_position/command std_msgs/Float64 "data: 1.0" --once


<sxh bash>
roslaunch open_manipulator_description open_manipulator_rviz.launch
roslaunch open_manipulator_control_gui open_manipulator_control_gui.launch
</sxh>