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crane_plus_description package from crane_plus repocrane_plus crane_plus_control crane_plus_description crane_plus_examples crane_plus_gazebo crane_plus_moveit_config |
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Package Summary
| Tags | No category tags. |
| Version | 2.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/rt-net/crane_plus.git |
| VCS Type | git |
| VCS Version | humble-devel |
| Last Updated | 2023-09-08 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
CRANE+ V2 description package
Additional Links
No additional links.
Maintainers
- RT Corporation
Authors
- Shota Aoki
- Atsushi Kuwagata
crane_plus_description
このパッケージはCRANE+ V2のモデルデータ(xacro)を所持しています。
display robot model
下記のコマンドを実行して、robot_state_publisher、joint_state_publisher、rviz2を起動します。
CRANE+ V2のモデルが表示されるので、xacroファイルのデバッグに役立ちます。
$ ros2 launch crane_plus_description display.launch.py
Webカメラ搭載モデルの場合は、下記のコマンドを実行してください。
$ ros2 launch crane_plus_description display.launch.py use_camera:=true
configure servo angle limits
CRANE+ V2の実機を動かす場合は、
事前にサーボモータ内部の角度リミット（CW Angle Limit、CCW Angle Limit）を設定してください。
CRANE+ V2に搭載されているサーボモータはROBOTISのAX-12Aのため、 Dynamixel Wizard 2 を使用して角度リミットを設定できます。
crane_plus.urdf.xacroには、 下記のように各関節の角度リミットが定義されています。 この角度リミットに近い値をサーボモータに設定することを推奨します。
<xacro:property name="M_PI" value="3.14159"/>
<xacro:property name="TO_RADIAN" value="${M_PI / 180.0}"/>
<xacro:property name="SERVO_HOME" value="${TO_RADIAN * 150.0}"/>
<xacro:property name="JOINT_VELOCITY_LIMIT" value="2.0"/>
<xacro:property name="JOINT_1_LOWER_LIMIT" value="${0.0 * TO_RADIAN - SERVO_HOME}"/>
<xacro:property name="JOINT_1_UPPER_LIMIT" value="${300.0 * TO_RADIAN - SERVO_HOME}"/>
<xacro:property name="JOINT_2_LOWER_LIMIT" value="${45.45 * TO_RADIAN - SERVO_HOME}"/>
<xacro:property name="JOINT_2_UPPER_LIMIT" value="${252.20 * TO_RADIAN - SERVO_HOME}"/>
<xacro:property name="JOINT_3_LOWER_LIMIT" value="${3.52 * TO_RADIAN - SERVO_HOME}"/>
<xacro:property name="JOINT_3_UPPER_LIMIT" value="${290.62 * TO_RADIAN - SERVO_HOME}"/>
<xacro:property name="JOINT_4_LOWER_LIMIT" value="${44.57 * TO_RADIAN - SERVO_HOME}"/>
<xacro:property name="JOINT_4_UPPER_LIMIT" value="${251.32 * TO_RADIAN - SERVO_HOME}"/>
<xacro:property name="JOINT_HAND_LOWER_LIMIT" value="${109.38 * TO_RADIAN - SERVO_HOME}"/>
<xacro:property name="JOINT_HAND_UPPER_LIMIT" value="${188.27 * TO_RADIAN - SERVO_HOME}"/>
CHANGELOG
Changelog for package crane_plus_description
2.0.1 (2023-09-08)
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged crane_plus_description at Robotics Stack Exchange
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
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crane_plus_description package from crane_plus repocrane_plus crane_plus_control crane_plus_description crane_plus_examples crane_plus_gazebo crane_plus_ignition crane_plus_moveit_config |
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Package Summary
| Tags | No category tags. |
| Version | 1.2.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/rt-net/crane_plus.git |
| VCS Type | git |
| VCS Version | foxy-devel |
| Last Updated | 2023-08-08 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
CRANE+ V2 description package
Additional Links
No additional links.
Maintainers
- RT Corporation
Authors
- Shota Aoki
- Atsushi Kuwagata
crane_plus_description
このパッケージはCRANE+ V2のモデルデータ(xacro)を所持しています。
display robot model
下記のコマンドを実行して、robot_state_publisher、joint_state_publisher、rviz2を起動します。
CRANE+ V2のモデルが表示されるので、xacroファイルのデバッグに役立ちます。
$ ros2 launch crane_plus_description display.launch.py
Webカメラ搭載モデルの場合は、下記のコマンドを実行してください。
$ ros2 launch crane_plus_description display.launch.py use_camera:=true
configure servo angle limits
CRANE+ V2の実機を動かす場合は、
事前にサーボモータ内部の角度リミット（CW Angle Limit、CCW Angle Limit）を設定してください。
CRANE+ V2に搭載されているサーボモータはROBOTISのAX-12Aのため、 Dynamixel Wizard 2 を使用して角度リミットを設定できます。
crane_plus.urdf.xacroには、 下記のように各関節の角度リミットが定義されています。 この角度リミットに近い値をサーボモータに設定することを推奨します。
<xacro:property name="M_PI" value="3.14159"/>
<xacro:property name="TO_RADIAN" value="${M_PI / 180.0}"/>
<xacro:property name="SERVO_HOME" value="${TO_RADIAN * 150.0}"/>
<xacro:property name="JOINT_VELOCITY_LIMIT" value="2.0"/>
<xacro:property name="JOINT_1_LOWER_LIMIT" value="${0.0 * TO_RADIAN - SERVO_HOME}"/>
<xacro:property name="JOINT_1_UPPER_LIMIT" value="${300.0 * TO_RADIAN - SERVO_HOME}"/>
<xacro:property name="JOINT_2_LOWER_LIMIT" value="${45.45 * TO_RADIAN - SERVO_HOME}"/>
<xacro:property name="JOINT_2_UPPER_LIMIT" value="${252.20 * TO_RADIAN - SERVO_HOME}"/>
<xacro:property name="JOINT_3_LOWER_LIMIT" value="${3.52 * TO_RADIAN - SERVO_HOME}"/>
<xacro:property name="JOINT_3_UPPER_LIMIT" value="${290.62 * TO_RADIAN - SERVO_HOME}"/>
<xacro:property name="JOINT_4_LOWER_LIMIT" value="${44.57 * TO_RADIAN - SERVO_HOME}"/>
<xacro:property name="JOINT_4_UPPER_LIMIT" value="${251.32 * TO_RADIAN - SERVO_HOME}"/>
<xacro:property name="JOINT_HAND_LOWER_LIMIT" value="${109.38 * TO_RADIAN - SERVO_HOME}"/>
<xacro:property name="JOINT_HAND_UPPER_LIMIT" value="${188.27 * TO_RADIAN - SERVO_HOME}"/>
CHANGELOG
Changelog for package crane_plus_description
1.1.0 (2022-08-16)
- Update author tags (#49)
- effort limit
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged crane_plus_description at Robotics Stack Exchange
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.