The description package contains all the models used in the control of the physical robot and the simulation.
The URDF models are generated using xacro, for example with the template urdf/marimba.urdf.xacro for the marimba.
See marimba_display.launch to see how it's run for RViz.
The main files are found in the urdf folder.
Associated meshes are stored in the mesh folder using the stl format (normally binary flavour).
The central xacro file is marimbabot_ur5.urdf.xacro. The robot, marimba and mallet holder models are all loaded from this file.
Further configurations for the joints and ur5 controllers are imported from the config folder.
When running the marimbabot ur5 launch file, a parameter for the mallet mount can be specified. By default this remains the fixed mount for now
- fixed - the standard one mallet fixed mount
- flex - the one mallet flexible mount
- flex_double - the two mallet flexible mount with the integrated servo
roslaunch marimbabot_description marimbobot_ur5_display.launch mallet_holder_type:="flex_double"The marimba is modeled by the marimba.urdf.xacro file. Each bar is modelled on its own to allow for automatic targeting based on the tone and midi output generation in the simulation.
Multiple versions of the mallet holder were used in the development phase of the project.
The final version is the two_mallet_compliance_holder.urdf.xacro. It contains two mallets on flexible holders with one being controlled by a servo. It is selected with the "flex_double" option.
For one mallet implementations a static, single mallet was used. The model static_mallet_holder.urdf is selected with the "fixed" option
The flex_mallet_holder.urdf was rarely used in the development phase. It is a single mallet on a flexible mount. The "flex" option selects this version.
The marimba model used to helper files in its xacro definition. The materials.xacro defines the used materials in the model. utilities.xacro contains various helper functions to create urdf objects and shapes with many defaults applied.
The launch file can be found in the launch folder and are used in the launch files of the bringup package or for rviz based debugging or inspection.
The main launch file for the description package is marimbabot_ur5_upload.launch
The testing is setup for mostly inspecting models in rviz. The testing environments can be loaded with the launch files in the launch folder.
Further rviz config files used in some of the testing launch files are found in the config folder.
To see the a model in RViz, prepare your environment for the project and run:
roslaunch marimbabot_description marimba_display.launchThe marimba model will be displayed. Other files can be used in a similar fasion.
One further RViz launch file is the [marimbabot_ur5_display.launch](launch/ marimbabot_ur5_display.launch) which shows whole setup of the scene.
The flex_mallet_holder.launch and two_mallet_display.launch are used to develop and debug the mallet holder models.