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Gazebo上での初期姿勢設定
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@Kuwamai
Kuwamai committed Oct 25, 2023
1 parent b809c33 commit 023e3db
Showing 1 changed file with 57 additions and 19 deletions.
76 changes: 57 additions & 19 deletions urdf/sciurus17.gazebo_ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,9 @@
<param name="min">${NAME_JOINT_BODY_LOWER_LIMIT}</param>
<param name="max">${NAME_JOINT_BODY_UPPER_LIMIT}</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
Expand All @@ -23,7 +25,9 @@
<param name="min">${JOINT_NECK_1_LOWER_LIMIT}"</param>
<param name="max">${JOINT_NECK_1_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
Expand All @@ -33,7 +37,9 @@
<param name="min">${JOINT_NECK_2_LOWER_LIMIT}"</param>
<param name="max">${JOINT_NECK_2_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
Expand All @@ -43,7 +49,9 @@
<param name="min">${JOINT_ARM_R_1_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_R_1_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
Expand All @@ -53,7 +61,9 @@
<param name="min">${JOINT_ARM_R_2_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_R_2_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="position">
<param name="initial_value">-1.5707</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
Expand All @@ -63,7 +73,9 @@
<param name="min">${JOINT_ARM_R_3_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_R_3_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
Expand All @@ -73,7 +85,9 @@
<param name="min">${JOINT_ARM_R_4_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_R_4_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="position">
<param name="initial_value">2.7262</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
Expand All @@ -83,7 +97,9 @@
<param name="min">${JOINT_ARM_R_5_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_R_5_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
Expand All @@ -93,7 +109,9 @@
<param name="min">${JOINT_ARM_R_6_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_R_6_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="position">
<param name="initial_value">-2.0943</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
Expand All @@ -103,7 +121,9 @@
<param name="min">${JOINT_ARM_R_7_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_R_7_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
Expand All @@ -113,7 +133,9 @@
<param name="min">${JOINT_HAND_R_LOWER_LIMIT}"</param>
<param name="max">${JOINT_HAND_R_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
Expand All @@ -132,7 +154,9 @@
<param name="min">${JOINT_ARM_L_1_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_L_1_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
Expand All @@ -142,7 +166,9 @@
<param name="min">${JOINT_ARM_L_2_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_L_2_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="position">
<param name="initial_value">1.5707</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
Expand All @@ -152,7 +178,9 @@
<param name="min">${JOINT_ARM_L_3_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_L_3_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
Expand All @@ -162,7 +190,9 @@
<param name="min">${JOINT_ARM_L_4_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_L_4_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="position">
<param name="initial_value">-2.7262</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
Expand All @@ -172,7 +202,9 @@
<param name="min">${JOINT_ARM_L_5_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_L_5_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
Expand All @@ -182,7 +214,9 @@
<param name="min">${JOINT_ARM_L_6_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_L_6_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="position">
<param name="initial_value">2.09439</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
Expand All @@ -192,7 +226,9 @@
<param name="min">${JOINT_ARM_L_7_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_L_7_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
Expand All @@ -202,7 +238,9 @@
<param name="min">${JOINT_HAND_L_LOWER_LIMIT}"</param>
<param name="max">${JOINT_HAND_L_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
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