add: xarm7 API

.vscode/launch.json

@@ -0,0 +1,15 @@
+{
+    // 使用 IntelliSense 了解相关属性。 
+    // 悬停以查看现有属性的描述。
+    // 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Python 调试程序: 当前文件",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "${file}",
+            "console": "integratedTerminal"
+        }
+    ]
+}

Asset/xarm7_robot.urdf

@@ -0,0 +1,359 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from xarm_device.urdf.xacro         | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="xarm7" xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- Insert at the beginning of xarm_device_macro.xacro -->
+  <material name="Black">
+    <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+  <material name="Red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+  <material name="White">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <material name="Silver">
+    <color rgba="0.753 0.753 0.753 1.0"/>
+  </material>
+  <link name="world"/>
+  <joint name="world_joint" type="fixed">
+    <parent link="world"/>
+    <child link="link_base"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <link name="link_base">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.021131 -0.0016302 0.056488"/>
+      <mass value="0.88556"/>
+      <inertia ixx="0.0030595" ixy="0.00012259" ixz="-0.00062705" iyy="0.0037783" iyz="0.00027023" izz="0.0020125"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm7/visual/link_base.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm7/collision/link_base.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <link name="link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0002 0.02905 -0.01233"/>
+      <mass value="2.382"/>
+      <inertia ixx="0.0056905" ixy="-1.579e-05" ixz="5.125e-06" iyy="0.0049566" iyz="-0.000873378" izz="0.003316654"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm7/visual/link1.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm7/collision/link1.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.267"/>
+    <parent link="link_base"/>
+    <child link="link1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="50" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
+    <dynamics damping="10" friction="1"/>
+  </joint>
+  <link name="link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00022 -0.12856 0.01735"/>
+      <mass value="1.869"/>
+      <inertia ixx="0.0095989" ixy="1.541e-06" ixz="5.56e-06" iyy="0.00382472" iyz="-0.00317156" izz="0.007565669"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm7/visual/link2.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm7/collision/link2.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint2" type="revolute">
+    <origin rpy="-1.5708 0 0" xyz="0 0 0"/>
+    <parent link="link1"/>
+    <child link="link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="50" lower="-2.059" upper="2.0944" velocity="3.14"/>
+    <dynamics damping="10" friction="1"/>
+  </joint>
+  <link name="link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0466 -0.02463 -0.00768"/>
+      <mass value="1.6383"/>
+      <inertia ixx="0.00310955" ixy="0.00030837" ixz="-0.00058453" iyy="0.00264483" iyz="0.000338893" izz="0.0026624"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm7/visual/link3.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm7/collision/link3.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint3" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0 -0.293 0"/>
+    <parent link="link2"/>
+    <child link="link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="30" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
+    <dynamics damping="5" friction="1"/>
+  </joint>
+  <link name="link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.07047 -0.11575 0.012"/>
+      <mass value="1.7269"/>
+      <inertia ixx="0.005889" ixy="0.00137112" ixz="0.00088143" iyy="0.00359703" iyz="-0.001762155" izz="0.00543244"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm7/visual/link4.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm7/collision/link4.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint4" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0.0525 0 0"/>
+    <parent link="link3"/>
+    <child link="link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="30" lower="-0.19198" upper="3.927" velocity="3.14"/>
+    <dynamics damping="5" friction="1"/>
+  </joint>
+  <link name="link5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00032 0.01604 -0.026"/>
+      <mass value="1.3203"/>
+      <inertia ixx="0.00534665" ixy="1.5117e-05" ixz="-3.69e-07" iyy="0.0049779" iyz="-0.00022132" izz="0.0013624"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm7/visual/link5.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm7/collision/link5.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint5" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0.0775 -0.3425 0"/>
+    <parent link="link4"/>
+    <child link="link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="30" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
+    <dynamics damping="5" friction="1"/>
+  </joint>
+  <link name="link6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.06469 0.03278 0.02141"/>
+      <mass value="1.325"/>
+      <inertia ixx="0.0014745" ixy="-0.000488" ixz="0.0002953" iyy="0.0019037" iyz="0.00014749" izz="0.0023652"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm7/visual/link6.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm7/collision/link6.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint6" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0 0 0"/>
+    <parent link="link5"/>
+    <child link="link6"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="20" lower="-1.69297" upper="3.14159265359" velocity="3.14"/>
+    <dynamics damping="2" friction="1"/>
+  </joint>
+  <link name="link7">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.00677 -0.01098"/>
+      <mass value="0.17"/>
+      <inertia ixx="9.3e-05" ixy="-0.0" ixz="-0.0" iyy="5.87e-05" iyz="-3.6e-06" izz="0.000132"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm7/visual/link7.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="Silver"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm7/collision/link7.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint7" type="revolute">
+    <origin rpy="-1.5708 0 0" xyz="0.076 0.097 0"/>
+    <parent link="link6"/>
+    <child link="link7"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="20" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
+    <dynamics damping="2" friction="1"/>
+  </joint>
+  <link name="link_eef"/>
+  <joint name="joint_eef" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="link7"/>
+    <child link="link_eef"/>
+  </joint>
+  <!-- <link name="${prefix}link_eef" />
+    <joint name="${prefix}joint_eef" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${prefix}link7" />
+      <child link="${prefix}link_eef" />
+    </joint> -->
+  <transmission name="tran1">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint1">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor1">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>100</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="tran2">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint2">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor2">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>100</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="tran3">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint3">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor3">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>100</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="tran4">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint4">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor4">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>100</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="tran5">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint5">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor5">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>100</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="tran6">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint6">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor6">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>100</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="tran7">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint7">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor7">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>100</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <gazebo reference="link_base">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link1">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link2">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link3">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link4">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link5">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link6">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link7">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+
+  <gazebo>
+    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
+      <robotNamespace>/xarm</robotNamespace>
+      <!-- <controlPeriod>0.0001</controlPeriod> -->
+      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+      <legacyModeNS>true</legacyModeNS>
+      <!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
+    </plugin>
+  </gazebo>
+  <!-- Insert at the end of xarm_device_macro.xacro -->
+</robot>