From c7408b3fcaa822294ed6b66efbba1b79fb8438da Mon Sep 17 00:00:00 2001 From: Robert Arno Kampf Date: Sun, 20 Nov 2022 14:34:46 +0100 Subject: [PATCH 01/15] Deleted model specific xacro and launch files Will be replaced by generic ones --- ur_description/launch/load_ur10.launch | 18 ----- ur_description/launch/load_ur10e.launch | 18 ----- ur_description/launch/load_ur16e.launch | 18 ----- ur_description/launch/load_ur3.launch | 18 ----- ur_description/launch/load_ur3e.launch | 18 ----- ur_description/launch/load_ur5.launch | 18 ----- ur_description/launch/load_ur5e.launch | 18 ----- ur_description/launch/view_ur10.launch | 8 -- ur_description/launch/view_ur10e.launch | 8 -- ur_description/launch/view_ur16e.launch | 8 -- ur_description/launch/view_ur3e.launch | 8 -- ur_description/launch/view_ur5.launch | 8 -- ur_description/launch/view_ur5e.launch | 8 -- ur_description/tests/roslaunch_test_ur10.xml | 10 --- ur_description/tests/roslaunch_test_ur10e.xml | 10 --- ur_description/tests/roslaunch_test_ur16e.xml | 10 --- ur_description/tests/roslaunch_test_ur3e.xml | 10 --- ur_description/tests/roslaunch_test_ur5.xml | 10 --- ur_description/tests/roslaunch_test_ur5e.xml | 10 --- ur_description/urdf/inc/ur10_macro.xacro | 47 ------------ ur_description/urdf/inc/ur10e_macro.xacro | 47 ------------ ur_description/urdf/inc/ur16e_macro.xacro | 47 ------------ ur_description/urdf/inc/ur3_macro.xacro | 47 ------------ ur_description/urdf/inc/ur3e_macro.xacro | 47 ------------ ur_description/urdf/inc/ur5_macro.xacro | 47 ------------ ur_description/urdf/inc/ur5e_macro.xacro | 47 ------------ ur_description/urdf/ur10.xacro | 22 ------ ur_description/urdf/ur10e.xacro | 22 ------ ur_description/urdf/ur16e.xacro | 22 ------ ur_description/urdf/ur3.xacro | 22 ------ ur_description/urdf/ur3e.xacro | 22 ------ ur_description/urdf/ur5.xacro | 22 ------ ur_description/urdf/ur5e.xacro | 22 ------ ur_gazebo/launch/inc/load_ur10.launch.xml | 19 ----- ur_gazebo/launch/inc/load_ur10e.launch.xml | 19 ----- ur_gazebo/launch/inc/load_ur16e.launch.xml | 19 ----- ur_gazebo/launch/inc/load_ur3.launch.xml | 19 ----- ur_gazebo/launch/inc/load_ur3e.launch.xml | 19 ----- ur_gazebo/launch/inc/load_ur5.launch.xml | 19 ----- ur_gazebo/launch/inc/load_ur5e.launch.xml | 19 ----- ur_gazebo/launch/ur10_bringup.launch | 75 ------------------- ur_gazebo/launch/ur10e_bringup.launch | 75 ------------------- ur_gazebo/launch/ur16e_bringup.launch | 75 ------------------- ur_gazebo/launch/ur3e_bringup.launch | 75 ------------------- ur_gazebo/launch/ur5_bringup.launch | 75 ------------------- ur_gazebo/launch/ur5e_bringup.launch | 75 ------------------- ur_gazebo/tests/roslaunch_test_ur10.xml | 10 --- ur_gazebo/tests/roslaunch_test_ur10e.xml | 10 --- ur_gazebo/tests/roslaunch_test_ur16e.xml | 10 --- ur_gazebo/tests/roslaunch_test_ur3e.xml | 10 --- ur_gazebo/tests/roslaunch_test_ur5.xml | 10 --- ur_gazebo/tests/roslaunch_test_ur5e.xml | 10 --- 52 files changed, 1360 deletions(-) delete mode 100644 ur_description/launch/load_ur10.launch delete mode 100644 ur_description/launch/load_ur10e.launch delete mode 100644 ur_description/launch/load_ur16e.launch delete mode 100644 ur_description/launch/load_ur3.launch delete mode 100644 ur_description/launch/load_ur3e.launch delete mode 100644 ur_description/launch/load_ur5.launch delete mode 100644 ur_description/launch/load_ur5e.launch delete mode 100644 ur_description/launch/view_ur10.launch delete mode 100644 ur_description/launch/view_ur10e.launch delete mode 100644 ur_description/launch/view_ur16e.launch delete mode 100644 ur_description/launch/view_ur3e.launch delete mode 100644 ur_description/launch/view_ur5.launch delete mode 100644 ur_description/launch/view_ur5e.launch delete mode 100644 ur_description/tests/roslaunch_test_ur10.xml delete mode 100644 ur_description/tests/roslaunch_test_ur10e.xml delete mode 100644 ur_description/tests/roslaunch_test_ur16e.xml delete mode 100644 ur_description/tests/roslaunch_test_ur3e.xml delete mode 100644 ur_description/tests/roslaunch_test_ur5.xml delete mode 100644 ur_description/tests/roslaunch_test_ur5e.xml delete mode 100644 ur_description/urdf/inc/ur10_macro.xacro delete mode 100644 ur_description/urdf/inc/ur10e_macro.xacro delete mode 100644 ur_description/urdf/inc/ur16e_macro.xacro delete mode 100644 ur_description/urdf/inc/ur3_macro.xacro delete mode 100644 ur_description/urdf/inc/ur3e_macro.xacro delete mode 100644 ur_description/urdf/inc/ur5_macro.xacro delete mode 100644 ur_description/urdf/inc/ur5e_macro.xacro delete mode 100644 ur_description/urdf/ur10.xacro delete mode 100644 ur_description/urdf/ur10e.xacro delete mode 100644 ur_description/urdf/ur16e.xacro delete mode 100644 ur_description/urdf/ur3.xacro delete mode 100644 ur_description/urdf/ur3e.xacro delete mode 100644 ur_description/urdf/ur5.xacro delete mode 100644 ur_description/urdf/ur5e.xacro delete mode 100644 ur_gazebo/launch/inc/load_ur10.launch.xml delete mode 100644 ur_gazebo/launch/inc/load_ur10e.launch.xml delete mode 100644 ur_gazebo/launch/inc/load_ur16e.launch.xml delete mode 100644 ur_gazebo/launch/inc/load_ur3.launch.xml delete mode 100644 ur_gazebo/launch/inc/load_ur3e.launch.xml delete mode 100644 ur_gazebo/launch/inc/load_ur5.launch.xml delete mode 100644 ur_gazebo/launch/inc/load_ur5e.launch.xml delete mode 100644 ur_gazebo/launch/ur10_bringup.launch delete mode 100644 ur_gazebo/launch/ur10e_bringup.launch delete mode 100644 ur_gazebo/launch/ur16e_bringup.launch delete mode 100644 ur_gazebo/launch/ur3e_bringup.launch delete mode 100644 ur_gazebo/launch/ur5_bringup.launch delete mode 100644 ur_gazebo/launch/ur5e_bringup.launch delete mode 100644 ur_gazebo/tests/roslaunch_test_ur10.xml delete mode 100644 ur_gazebo/tests/roslaunch_test_ur10e.xml delete mode 100644 ur_gazebo/tests/roslaunch_test_ur16e.xml delete mode 100644 ur_gazebo/tests/roslaunch_test_ur3e.xml delete mode 100644 ur_gazebo/tests/roslaunch_test_ur5.xml delete mode 100644 ur_gazebo/tests/roslaunch_test_ur5e.xml diff --git a/ur_description/launch/load_ur10.launch b/ur_description/launch/load_ur10.launch deleted file mode 100644 index 6a6cc9811..000000000 --- a/ur_description/launch/load_ur10.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur_description/launch/load_ur10e.launch b/ur_description/launch/load_ur10e.launch deleted file mode 100644 index 3176cefa3..000000000 --- a/ur_description/launch/load_ur10e.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur_description/launch/load_ur16e.launch b/ur_description/launch/load_ur16e.launch deleted file mode 100644 index 445131818..000000000 --- a/ur_description/launch/load_ur16e.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur_description/launch/load_ur3.launch b/ur_description/launch/load_ur3.launch deleted file mode 100644 index 7be472376..000000000 --- a/ur_description/launch/load_ur3.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur_description/launch/load_ur3e.launch b/ur_description/launch/load_ur3e.launch deleted file mode 100644 index f314c98b8..000000000 --- a/ur_description/launch/load_ur3e.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur_description/launch/load_ur5.launch b/ur_description/launch/load_ur5.launch deleted file mode 100644 index 597af189d..000000000 --- a/ur_description/launch/load_ur5.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur_description/launch/load_ur5e.launch b/ur_description/launch/load_ur5e.launch deleted file mode 100644 index a080347e9..000000000 --- a/ur_description/launch/load_ur5e.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur_description/launch/view_ur10.launch b/ur_description/launch/view_ur10.launch deleted file mode 100644 index cabdbf5a0..000000000 --- a/ur_description/launch/view_ur10.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/ur_description/launch/view_ur10e.launch b/ur_description/launch/view_ur10e.launch deleted file mode 100644 index dc4c4e1b8..000000000 --- a/ur_description/launch/view_ur10e.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/ur_description/launch/view_ur16e.launch b/ur_description/launch/view_ur16e.launch deleted file mode 100644 index c9c604955..000000000 --- a/ur_description/launch/view_ur16e.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/ur_description/launch/view_ur3e.launch b/ur_description/launch/view_ur3e.launch deleted file mode 100644 index c0b9f67a3..000000000 --- a/ur_description/launch/view_ur3e.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/ur_description/launch/view_ur5.launch b/ur_description/launch/view_ur5.launch deleted file mode 100644 index 2428313a1..000000000 --- a/ur_description/launch/view_ur5.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/ur_description/launch/view_ur5e.launch b/ur_description/launch/view_ur5e.launch deleted file mode 100644 index 1d1a08b76..000000000 --- a/ur_description/launch/view_ur5e.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/ur_description/tests/roslaunch_test_ur10.xml b/ur_description/tests/roslaunch_test_ur10.xml deleted file mode 100644 index 7eb1d2b12..000000000 --- a/ur_description/tests/roslaunch_test_ur10.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_description/tests/roslaunch_test_ur10e.xml b/ur_description/tests/roslaunch_test_ur10e.xml deleted file mode 100644 index 779de29f9..000000000 --- a/ur_description/tests/roslaunch_test_ur10e.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_description/tests/roslaunch_test_ur16e.xml b/ur_description/tests/roslaunch_test_ur16e.xml deleted file mode 100644 index ff7fc896d..000000000 --- a/ur_description/tests/roslaunch_test_ur16e.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_description/tests/roslaunch_test_ur3e.xml b/ur_description/tests/roslaunch_test_ur3e.xml deleted file mode 100644 index a2ffbe31b..000000000 --- a/ur_description/tests/roslaunch_test_ur3e.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_description/tests/roslaunch_test_ur5.xml b/ur_description/tests/roslaunch_test_ur5.xml deleted file mode 100644 index 15698ad70..000000000 --- a/ur_description/tests/roslaunch_test_ur5.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_description/tests/roslaunch_test_ur5e.xml b/ur_description/tests/roslaunch_test_ur5e.xml deleted file mode 100644 index ca0466995..000000000 --- a/ur_description/tests/roslaunch_test_ur5e.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_description/urdf/inc/ur10_macro.xacro b/ur_description/urdf/inc/ur10_macro.xacro deleted file mode 100644 index 1e853659a..000000000 --- a/ur_description/urdf/inc/ur10_macro.xacro +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - diff --git a/ur_description/urdf/inc/ur10e_macro.xacro b/ur_description/urdf/inc/ur10e_macro.xacro deleted file mode 100644 index fe0f0f265..000000000 --- a/ur_description/urdf/inc/ur10e_macro.xacro +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - diff --git a/ur_description/urdf/inc/ur16e_macro.xacro b/ur_description/urdf/inc/ur16e_macro.xacro deleted file mode 100644 index 302d530aa..000000000 --- a/ur_description/urdf/inc/ur16e_macro.xacro +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - diff --git a/ur_description/urdf/inc/ur3_macro.xacro b/ur_description/urdf/inc/ur3_macro.xacro deleted file mode 100644 index 5a569f5a8..000000000 --- a/ur_description/urdf/inc/ur3_macro.xacro +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - diff --git a/ur_description/urdf/inc/ur3e_macro.xacro b/ur_description/urdf/inc/ur3e_macro.xacro deleted file mode 100644 index 4695c5ea5..000000000 --- a/ur_description/urdf/inc/ur3e_macro.xacro +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - diff --git a/ur_description/urdf/inc/ur5_macro.xacro b/ur_description/urdf/inc/ur5_macro.xacro deleted file mode 100644 index 645b240c1..000000000 --- a/ur_description/urdf/inc/ur5_macro.xacro +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - diff --git a/ur_description/urdf/inc/ur5e_macro.xacro b/ur_description/urdf/inc/ur5e_macro.xacro deleted file mode 100644 index 44cf92b3b..000000000 --- a/ur_description/urdf/inc/ur5e_macro.xacro +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - diff --git a/ur_description/urdf/ur10.xacro b/ur_description/urdf/ur10.xacro deleted file mode 100644 index 11b254ed7..000000000 --- a/ur_description/urdf/ur10.xacro +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - diff --git a/ur_description/urdf/ur10e.xacro b/ur_description/urdf/ur10e.xacro deleted file mode 100644 index 837b08d7a..000000000 --- a/ur_description/urdf/ur10e.xacro +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - diff --git a/ur_description/urdf/ur16e.xacro b/ur_description/urdf/ur16e.xacro deleted file mode 100644 index a79d11a43..000000000 --- a/ur_description/urdf/ur16e.xacro +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - diff --git a/ur_description/urdf/ur3.xacro b/ur_description/urdf/ur3.xacro deleted file mode 100644 index 1d025ab70..000000000 --- a/ur_description/urdf/ur3.xacro +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - diff --git a/ur_description/urdf/ur3e.xacro b/ur_description/urdf/ur3e.xacro deleted file mode 100644 index f4f8cae17..000000000 --- a/ur_description/urdf/ur3e.xacro +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - diff --git a/ur_description/urdf/ur5.xacro b/ur_description/urdf/ur5.xacro deleted file mode 100644 index ce69dc6ab..000000000 --- a/ur_description/urdf/ur5.xacro +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - diff --git a/ur_description/urdf/ur5e.xacro b/ur_description/urdf/ur5e.xacro deleted file mode 100644 index f71216e68..000000000 --- a/ur_description/urdf/ur5e.xacro +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - diff --git a/ur_gazebo/launch/inc/load_ur10.launch.xml b/ur_gazebo/launch/inc/load_ur10.launch.xml deleted file mode 100644 index a5f6c0162..000000000 --- a/ur_gazebo/launch/inc/load_ur10.launch.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/inc/load_ur10e.launch.xml b/ur_gazebo/launch/inc/load_ur10e.launch.xml deleted file mode 100644 index 9acf8ffc6..000000000 --- a/ur_gazebo/launch/inc/load_ur10e.launch.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/inc/load_ur16e.launch.xml b/ur_gazebo/launch/inc/load_ur16e.launch.xml deleted file mode 100644 index 8c79bd9c9..000000000 --- a/ur_gazebo/launch/inc/load_ur16e.launch.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/inc/load_ur3.launch.xml b/ur_gazebo/launch/inc/load_ur3.launch.xml deleted file mode 100644 index beb2de095..000000000 --- a/ur_gazebo/launch/inc/load_ur3.launch.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/inc/load_ur3e.launch.xml b/ur_gazebo/launch/inc/load_ur3e.launch.xml deleted file mode 100644 index 95eb214ed..000000000 --- a/ur_gazebo/launch/inc/load_ur3e.launch.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/inc/load_ur5.launch.xml b/ur_gazebo/launch/inc/load_ur5.launch.xml deleted file mode 100644 index 1bc482b6e..000000000 --- a/ur_gazebo/launch/inc/load_ur5.launch.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/inc/load_ur5e.launch.xml b/ur_gazebo/launch/inc/load_ur5e.launch.xml deleted file mode 100644 index 72f7f9cac..000000000 --- a/ur_gazebo/launch/inc/load_ur5e.launch.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch deleted file mode 100644 index 5102f8230..000000000 --- a/ur_gazebo/launch/ur10_bringup.launch +++ /dev/null @@ -1,75 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch deleted file mode 100644 index 177d8e59e..000000000 --- a/ur_gazebo/launch/ur10e_bringup.launch +++ /dev/null @@ -1,75 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch deleted file mode 100644 index a2018ff7c..000000000 --- a/ur_gazebo/launch/ur16e_bringup.launch +++ /dev/null @@ -1,75 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch deleted file mode 100644 index 93cec225f..000000000 --- a/ur_gazebo/launch/ur3e_bringup.launch +++ /dev/null @@ -1,75 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch deleted file mode 100644 index f4edf3307..000000000 --- a/ur_gazebo/launch/ur5_bringup.launch +++ /dev/null @@ -1,75 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch deleted file mode 100644 index 4dcf940c5..000000000 --- a/ur_gazebo/launch/ur5e_bringup.launch +++ /dev/null @@ -1,75 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/tests/roslaunch_test_ur10.xml b/ur_gazebo/tests/roslaunch_test_ur10.xml deleted file mode 100644 index 02e6458c7..000000000 --- a/ur_gazebo/tests/roslaunch_test_ur10.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_gazebo/tests/roslaunch_test_ur10e.xml b/ur_gazebo/tests/roslaunch_test_ur10e.xml deleted file mode 100644 index 8443ef3d4..000000000 --- a/ur_gazebo/tests/roslaunch_test_ur10e.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_gazebo/tests/roslaunch_test_ur16e.xml b/ur_gazebo/tests/roslaunch_test_ur16e.xml deleted file mode 100644 index 566e1f1cd..000000000 --- a/ur_gazebo/tests/roslaunch_test_ur16e.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_gazebo/tests/roslaunch_test_ur3e.xml b/ur_gazebo/tests/roslaunch_test_ur3e.xml deleted file mode 100644 index 4a10cd48f..000000000 --- a/ur_gazebo/tests/roslaunch_test_ur3e.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_gazebo/tests/roslaunch_test_ur5.xml b/ur_gazebo/tests/roslaunch_test_ur5.xml deleted file mode 100644 index dae9deae7..000000000 --- a/ur_gazebo/tests/roslaunch_test_ur5.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_gazebo/tests/roslaunch_test_ur5e.xml b/ur_gazebo/tests/roslaunch_test_ur5e.xml deleted file mode 100644 index 0cf392035..000000000 --- a/ur_gazebo/tests/roslaunch_test_ur5e.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - From fc489890fa809acd91b117022ad0d22bd8ba6e69 Mon Sep 17 00:00:00 2001 From: Robert Arno Kampf Date: Sun, 20 Nov 2022 15:02:44 +0100 Subject: [PATCH 02/15] Moved and renamed xacro, launch, rviz and yaml files --- ur_description/launch/{load_ur.launch => load.launch} | 0 .../{tests/roslaunch_test_ur3.xml => launch/test.launch} | 0 ur_description/launch/{view_ur3.launch => view.launch} | 0 ur_description/{cfg/view_robot.rviz => launch/view.rviz} | 0 ur_description/urdf/{inc/ur_common.xacro => common.xacro} | 0 ur_description/urdf/{inc/ur_macro.xacro => macro.xacro} | 0 .../urdf/{inc/ur_transmissions.xacro => transmissions.xacro} | 0 ur_gazebo/{config/ur10_controllers.yaml => controllers/ur10.yaml} | 0 .../{config/ur10e_controllers.yaml => controllers/ur10e.yaml} | 0 .../{config/ur16e_controllers.yaml => controllers/ur16e.yaml} | 0 ur_gazebo/{config/ur3_controllers.yaml => controllers/ur3.yaml} | 0 ur_gazebo/{config/ur3e_controllers.yaml => controllers/ur3e.yaml} | 0 ur_gazebo/{config/ur5_controllers.yaml => controllers/ur5.yaml} | 0 ur_gazebo/{config/ur5e_controllers.yaml => controllers/ur5e.yaml} | 0 ur_gazebo/launch/{ur3_bringup.launch => bringup.launch} | 0 ur_gazebo/launch/{inc/ur_control.launch.xml => control.launch} | 0 ur_gazebo/launch/{inc/load_ur.launch.xml => load.launch} | 0 ur_gazebo/{tests/roslaunch_test_ur3.xml => launch/test.launch} | 0 ur_gazebo/urdf/{ur_macro.xacro => macro.xacro} | 0 19 files changed, 0 insertions(+), 0 deletions(-) rename ur_description/launch/{load_ur.launch => load.launch} (100%) rename ur_description/{tests/roslaunch_test_ur3.xml => launch/test.launch} (100%) rename ur_description/launch/{view_ur3.launch => view.launch} (100%) rename ur_description/{cfg/view_robot.rviz => launch/view.rviz} (100%) rename ur_description/urdf/{inc/ur_common.xacro => common.xacro} (100%) rename ur_description/urdf/{inc/ur_macro.xacro => macro.xacro} (100%) rename ur_description/urdf/{inc/ur_transmissions.xacro => transmissions.xacro} (100%) rename ur_gazebo/{config/ur10_controllers.yaml => controllers/ur10.yaml} (100%) rename ur_gazebo/{config/ur10e_controllers.yaml => controllers/ur10e.yaml} (100%) rename ur_gazebo/{config/ur16e_controllers.yaml => controllers/ur16e.yaml} (100%) rename ur_gazebo/{config/ur3_controllers.yaml => controllers/ur3.yaml} (100%) rename ur_gazebo/{config/ur3e_controllers.yaml => controllers/ur3e.yaml} (100%) rename ur_gazebo/{config/ur5_controllers.yaml => controllers/ur5.yaml} (100%) rename ur_gazebo/{config/ur5e_controllers.yaml => controllers/ur5e.yaml} (100%) rename ur_gazebo/launch/{ur3_bringup.launch => bringup.launch} (100%) rename ur_gazebo/launch/{inc/ur_control.launch.xml => control.launch} (100%) rename ur_gazebo/launch/{inc/load_ur.launch.xml => load.launch} (100%) rename ur_gazebo/{tests/roslaunch_test_ur3.xml => launch/test.launch} (100%) rename ur_gazebo/urdf/{ur_macro.xacro => macro.xacro} (100%) diff --git a/ur_description/launch/load_ur.launch b/ur_description/launch/load.launch similarity index 100% rename from ur_description/launch/load_ur.launch rename to ur_description/launch/load.launch diff --git a/ur_description/tests/roslaunch_test_ur3.xml b/ur_description/launch/test.launch similarity index 100% rename from ur_description/tests/roslaunch_test_ur3.xml rename to ur_description/launch/test.launch diff --git a/ur_description/launch/view_ur3.launch b/ur_description/launch/view.launch similarity index 100% rename from ur_description/launch/view_ur3.launch rename to ur_description/launch/view.launch diff --git a/ur_description/cfg/view_robot.rviz b/ur_description/launch/view.rviz similarity index 100% rename from ur_description/cfg/view_robot.rviz rename to ur_description/launch/view.rviz diff --git a/ur_description/urdf/inc/ur_common.xacro b/ur_description/urdf/common.xacro similarity index 100% rename from ur_description/urdf/inc/ur_common.xacro rename to ur_description/urdf/common.xacro diff --git a/ur_description/urdf/inc/ur_macro.xacro b/ur_description/urdf/macro.xacro similarity index 100% rename from ur_description/urdf/inc/ur_macro.xacro rename to ur_description/urdf/macro.xacro diff --git a/ur_description/urdf/inc/ur_transmissions.xacro b/ur_description/urdf/transmissions.xacro similarity index 100% rename from ur_description/urdf/inc/ur_transmissions.xacro rename to ur_description/urdf/transmissions.xacro diff --git a/ur_gazebo/config/ur10_controllers.yaml b/ur_gazebo/controllers/ur10.yaml similarity index 100% rename from ur_gazebo/config/ur10_controllers.yaml rename to ur_gazebo/controllers/ur10.yaml diff --git a/ur_gazebo/config/ur10e_controllers.yaml b/ur_gazebo/controllers/ur10e.yaml similarity index 100% rename from ur_gazebo/config/ur10e_controllers.yaml rename to ur_gazebo/controllers/ur10e.yaml diff --git a/ur_gazebo/config/ur16e_controllers.yaml b/ur_gazebo/controllers/ur16e.yaml similarity index 100% rename from ur_gazebo/config/ur16e_controllers.yaml rename to ur_gazebo/controllers/ur16e.yaml diff --git a/ur_gazebo/config/ur3_controllers.yaml b/ur_gazebo/controllers/ur3.yaml similarity index 100% rename from ur_gazebo/config/ur3_controllers.yaml rename to ur_gazebo/controllers/ur3.yaml diff --git a/ur_gazebo/config/ur3e_controllers.yaml b/ur_gazebo/controllers/ur3e.yaml similarity index 100% rename from ur_gazebo/config/ur3e_controllers.yaml rename to ur_gazebo/controllers/ur3e.yaml diff --git a/ur_gazebo/config/ur5_controllers.yaml b/ur_gazebo/controllers/ur5.yaml similarity index 100% rename from ur_gazebo/config/ur5_controllers.yaml rename to ur_gazebo/controllers/ur5.yaml diff --git a/ur_gazebo/config/ur5e_controllers.yaml b/ur_gazebo/controllers/ur5e.yaml similarity index 100% rename from ur_gazebo/config/ur5e_controllers.yaml rename to ur_gazebo/controllers/ur5e.yaml diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/bringup.launch similarity index 100% rename from ur_gazebo/launch/ur3_bringup.launch rename to ur_gazebo/launch/bringup.launch diff --git a/ur_gazebo/launch/inc/ur_control.launch.xml b/ur_gazebo/launch/control.launch similarity index 100% rename from ur_gazebo/launch/inc/ur_control.launch.xml rename to ur_gazebo/launch/control.launch diff --git a/ur_gazebo/launch/inc/load_ur.launch.xml b/ur_gazebo/launch/load.launch similarity index 100% rename from ur_gazebo/launch/inc/load_ur.launch.xml rename to ur_gazebo/launch/load.launch diff --git a/ur_gazebo/tests/roslaunch_test_ur3.xml b/ur_gazebo/launch/test.launch similarity index 100% rename from ur_gazebo/tests/roslaunch_test_ur3.xml rename to ur_gazebo/launch/test.launch diff --git a/ur_gazebo/urdf/ur_macro.xacro b/ur_gazebo/urdf/macro.xacro similarity index 100% rename from ur_gazebo/urdf/ur_macro.xacro rename to ur_gazebo/urdf/macro.xacro From 67203b1cf262faaceda221e1a1a6d95ba4e1c430 Mon Sep 17 00:00:00 2001 From: Robert Kampf Date: Sun, 20 Nov 2022 16:41:39 +0100 Subject: [PATCH 03/15] Simplification of generic xacro and launch files Model specific xacro and launch files replaced by generic ones. Default arguments and parameters only defined once in lowest level files by replacing empty strings. Omit properties same as default. Still all properties can be overridden in upper level files. Less redefining of arguments and parameters by pass_all_args in launch and using upper level parameters in xacro files. Paths, file names, names, comments and format adjusted. --- README.md | 2 +- ur10_moveit_config/.setup_assistant | 4 +- .../launch/planning_context.launch | 2 +- ur10e_moveit_config/.setup_assistant | 4 +- .../launch/planning_context.launch | 2 +- ur16e_moveit_config/.setup_assistant | 4 +- .../launch/planning_context.launch | 2 +- ur3_moveit_config/.setup_assistant | 4 +- .../launch/planning_context.launch | 2 +- ur3e_moveit_config/.setup_assistant | 4 +- .../launch/planning_context.launch | 2 +- ur5_moveit_config/.setup_assistant | 4 +- .../launch/planning_context.launch | 2 +- ur5e_moveit_config/.setup_assistant | 4 +- .../launch/planning_context.launch | 2 +- ur_description/CMakeLists.txt | 14 ++--- ur_description/launch/load.launch | 35 ++++++----- ur_description/launch/test.launch | 10 +-- ur_description/launch/view.launch | 10 +-- ur_description/urdf/macro.xacro | 63 ++++++++++++++----- ur_description/urdf/ur.xacro | 57 +++++++++-------- ur_gazebo/CMakeLists.txt | 15 ++--- ur_gazebo/launch/bringup.launch | 47 +++----------- ur_gazebo/launch/control.launch | 8 +-- ur_gazebo/launch/load.launch | 39 ++++++------ ur_gazebo/launch/test.launch | 10 +-- ur_gazebo/urdf/macro.xacro | 43 +++++-------- ur_gazebo/urdf/ur.xacro | 19 +++--- 28 files changed, 202 insertions(+), 212 deletions(-) diff --git a/README.md b/README.md index be73ae28c..93a157273 100644 --- a/README.md +++ b/README.md @@ -92,7 +92,7 @@ Don't forget to source the correct setup shell files and use a new terminal for To bring up the simulated robot in Gazebo, run: -```roslaunch ur_gazebo ur5_bringup.launch``` +```roslaunch ur_gazebo bringup.launch model:=ur5``` ___MoveIt! with a simulated robot___ diff --git a/ur10_moveit_config/.setup_assistant b/ur10_moveit_config/.setup_assistant index a613a4fcc..812587597 100644 --- a/ur10_moveit_config/.setup_assistant +++ b/ur10_moveit_config/.setup_assistant @@ -1,8 +1,8 @@ moveit_setup_assistant_config: URDF: package: ur_description - relative_path: urdf/ur10.xacro - xacro_args: "" + relative_path: urdf/ur.xacro + xacro_args: model:=ur10 SRDF: relative_path: config/ur10.srdf CONFIG: diff --git a/ur10_moveit_config/launch/planning_context.launch b/ur10_moveit_config/launch/planning_context.launch index b3bd21211..ed598ff28 100644 --- a/ur10_moveit_config/launch/planning_context.launch +++ b/ur10_moveit_config/launch/planning_context.launch @@ -6,7 +6,7 @@ - + diff --git a/ur10e_moveit_config/.setup_assistant b/ur10e_moveit_config/.setup_assistant index f2f266c98..06d7ab8c6 100644 --- a/ur10e_moveit_config/.setup_assistant +++ b/ur10e_moveit_config/.setup_assistant @@ -1,8 +1,8 @@ moveit_setup_assistant_config: URDF: package: ur_description - relative_path: urdf/ur10e.xacro - xacro_args: "" + relative_path: urdf/ur.xacro + xacro_args: model:=ur10e SRDF: relative_path: config/ur10e.srdf CONFIG: diff --git a/ur10e_moveit_config/launch/planning_context.launch b/ur10e_moveit_config/launch/planning_context.launch index a0121a8de..fa22fc107 100644 --- a/ur10e_moveit_config/launch/planning_context.launch +++ b/ur10e_moveit_config/launch/planning_context.launch @@ -6,7 +6,7 @@ - + diff --git a/ur16e_moveit_config/.setup_assistant b/ur16e_moveit_config/.setup_assistant index aa8aaae2c..769b83b4a 100644 --- a/ur16e_moveit_config/.setup_assistant +++ b/ur16e_moveit_config/.setup_assistant @@ -1,8 +1,8 @@ moveit_setup_assistant_config: URDF: package: ur_description - relative_path: urdf/ur16e.xacro - xacro_args: "" + relative_path: urdf/ur.xacro + xacro_args: model:=ur16e SRDF: relative_path: config/ur16e.srdf CONFIG: diff --git a/ur16e_moveit_config/launch/planning_context.launch b/ur16e_moveit_config/launch/planning_context.launch index 2c61f888c..8f73d01d8 100644 --- a/ur16e_moveit_config/launch/planning_context.launch +++ b/ur16e_moveit_config/launch/planning_context.launch @@ -6,7 +6,7 @@ - + diff --git a/ur3_moveit_config/.setup_assistant b/ur3_moveit_config/.setup_assistant index 92ffcddc0..f85632033 100644 --- a/ur3_moveit_config/.setup_assistant +++ b/ur3_moveit_config/.setup_assistant @@ -1,8 +1,8 @@ moveit_setup_assistant_config: URDF: package: ur_description - relative_path: urdf/ur3.xacro - xacro_args: "" + relative_path: urdf/ur.xacro + xacro_args: model:=ur3 SRDF: relative_path: config/ur3.srdf CONFIG: diff --git a/ur3_moveit_config/launch/planning_context.launch b/ur3_moveit_config/launch/planning_context.launch index 8356b2332..442b28b0b 100644 --- a/ur3_moveit_config/launch/planning_context.launch +++ b/ur3_moveit_config/launch/planning_context.launch @@ -6,7 +6,7 @@ - + diff --git a/ur3e_moveit_config/.setup_assistant b/ur3e_moveit_config/.setup_assistant index ee6c9797c..98c84c75e 100644 --- a/ur3e_moveit_config/.setup_assistant +++ b/ur3e_moveit_config/.setup_assistant @@ -1,8 +1,8 @@ moveit_setup_assistant_config: URDF: package: ur_description - relative_path: urdf/ur3e.xacro - xacro_args: "" + relative_path: urdf/ur.xacro + xacro_args: model:=ur3e SRDF: relative_path: config/ur3e.srdf CONFIG: diff --git a/ur3e_moveit_config/launch/planning_context.launch b/ur3e_moveit_config/launch/planning_context.launch index 49ef7dfeb..36cf273d2 100644 --- a/ur3e_moveit_config/launch/planning_context.launch +++ b/ur3e_moveit_config/launch/planning_context.launch @@ -6,7 +6,7 @@ - + diff --git a/ur5_moveit_config/.setup_assistant b/ur5_moveit_config/.setup_assistant index 12a72528d..4f333bdb9 100644 --- a/ur5_moveit_config/.setup_assistant +++ b/ur5_moveit_config/.setup_assistant @@ -1,8 +1,8 @@ moveit_setup_assistant_config: URDF: package: ur_description - relative_path: urdf/ur5.xacro - xacro_args: "" + relative_path: urdf/ur.xacro + xacro_args: model:=ur5 SRDF: relative_path: config/ur5.srdf CONFIG: diff --git a/ur5_moveit_config/launch/planning_context.launch b/ur5_moveit_config/launch/planning_context.launch index a2a3ebff4..192afba7c 100644 --- a/ur5_moveit_config/launch/planning_context.launch +++ b/ur5_moveit_config/launch/planning_context.launch @@ -6,7 +6,7 @@ - + diff --git a/ur5e_moveit_config/.setup_assistant b/ur5e_moveit_config/.setup_assistant index 3fae5acd7..26974ff33 100644 --- a/ur5e_moveit_config/.setup_assistant +++ b/ur5e_moveit_config/.setup_assistant @@ -1,8 +1,8 @@ moveit_setup_assistant_config: URDF: package: ur_description - relative_path: urdf/ur5e.xacro - xacro_args: "" + relative_path: urdf/ur.xacro + xacro_args: model:=ur5e SRDF: relative_path: config/ur5e.srdf CONFIG: diff --git a/ur5e_moveit_config/launch/planning_context.launch b/ur5e_moveit_config/launch/planning_context.launch index 9052fd96f..99d4d77c3 100644 --- a/ur5e_moveit_config/launch/planning_context.launch +++ b/ur5e_moveit_config/launch/planning_context.launch @@ -6,7 +6,7 @@ - + diff --git a/ur_description/CMakeLists.txt b/ur_description/CMakeLists.txt index 0cc1bd625..d97f35c66 100644 --- a/ur_description/CMakeLists.txt +++ b/ur_description/CMakeLists.txt @@ -1,20 +1,14 @@ cmake_minimum_required(VERSION 3.0.2) project(ur_description) - find_package(catkin REQUIRED) - catkin_package() if (CATKIN_ENABLE_TESTING) find_package(roslaunch REQUIRED) - roslaunch_add_file_check(tests/roslaunch_test_ur10e.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur10.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur16e.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur3e.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur3.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur5e.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur5.xml) + foreach(model ur3 ur3e ur5 ur5e ur10 ur10e ur16e) + roslaunch_add_file_check(launch/test.launch model=${model}) + endforeach() endif() -install(DIRECTORY cfg config launch meshes urdf +install(DIRECTORY config launch meshes urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur_description/launch/load.launch b/ur_description/launch/load.launch index 20cba4fb7..1d33ed124 100644 --- a/ur_description/launch/load.launch +++ b/ur_description/launch/load.launch @@ -1,17 +1,19 @@ - - - - - - - - - - + + + + + + + + - + + + + + + safety_k_position:=$(arg safety_k_position) + "/> diff --git a/ur_description/launch/test.launch b/ur_description/launch/test.launch index 365b093a1..28823ccce 100644 --- a/ur_description/launch/test.launch +++ b/ur_description/launch/test.launch @@ -1,10 +1,10 @@ - - + + - - - + + + diff --git a/ur_description/launch/view.launch b/ur_description/launch/view.launch index 96d5dd222..6493b5058 100644 --- a/ur_description/launch/view.launch +++ b/ur_description/launch/view.launch @@ -1,8 +1,8 @@ - - - - - + + + + + diff --git a/ur_description/urdf/macro.xacro b/ur_description/urdf/macro.xacro index a78a5e38f..8bb8adfc4 100644 --- a/ur_description/urdf/macro.xacro +++ b/ur_description/urdf/macro.xacro @@ -7,8 +7,8 @@ expecting a flattened '.urdf' file. See the top-level '.xacro' for that (but note: that .xacro must still be processed by the xacro command). - For use in '.launch' files: use one of the 'load_urX.launch' convenience - launch files. + For use in '.launch' files: use the 'load.launch' convenience + launch file. This file models the base kinematic chain of a UR robot, which then gets parameterised by various configuration files to convert it into a UR3(e), @@ -51,23 +51,56 @@ - Muhammad Asif Rana --> - - + - + safety_limits:=^|'' + safety_pos_margin:=^|'' + safety_k_position:=^|'' + "> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_description/urdf/ur.xacro b/ur_description/urdf/ur.xacro index cbcffab2a..2a9eb4408 100644 --- a/ur_description/urdf/ur.xacro +++ b/ur_description/urdf/ur.xacro @@ -1,33 +1,36 @@ - - - - - - - - - - - + + + + + + + - - - - + --> + + + + + + + - - + + diff --git a/ur_gazebo/CMakeLists.txt b/ur_gazebo/CMakeLists.txt index c74e7b36e..f3ce1e7c2 100644 --- a/ur_gazebo/CMakeLists.txt +++ b/ur_gazebo/CMakeLists.txt @@ -1,21 +1,14 @@ cmake_minimum_required(VERSION 3.0.2) - project(ur_gazebo) - find_package(catkin REQUIRED) - catkin_package() if (CATKIN_ENABLE_TESTING) find_package(roslaunch REQUIRED) - roslaunch_add_file_check(tests/roslaunch_test_ur3.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur3e.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur5.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur5e.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur10.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur10e.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur16e.xml) + foreach(model ur3 ur3e ur5 ur5e ur10 ur10e ur16e) + roslaunch_add_file_check(launch/test.launch model=${model}) + endforeach() endif() -install(DIRECTORY config launch urdf +install(DIRECTORY controllers launch urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur_gazebo/launch/bringup.launch b/ur_gazebo/launch/bringup.launch index 6f22a1d71..49d277b5b 100644 --- a/ur_gazebo/launch/bringup.launch +++ b/ur_gazebo/launch/bringup.launch @@ -1,16 +1,16 @@ - - - - - - - - - - - - - - - - - + - - - - - - - + + - - + + - - - - - - - + diff --git a/ur_gazebo/launch/control.launch b/ur_gazebo/launch/control.launch index 3d93c6d66..d50bcbeda 100644 --- a/ur_gazebo/launch/control.launch +++ b/ur_gazebo/launch/control.launch @@ -16,9 +16,9 @@ --> - - - + + + @@ -26,7 +26,7 @@ - + diff --git a/ur_gazebo/launch/load.launch b/ur_gazebo/launch/load.launch index 3828d0777..20572465a 100644 --- a/ur_gazebo/launch/load.launch +++ b/ur_gazebo/launch/load.launch @@ -1,39 +1,36 @@ - + + - - - - - + + + + + - - - + + + + safety_k_position:=$(arg safety_k_position) + "/> diff --git a/ur_gazebo/launch/test.launch b/ur_gazebo/launch/test.launch index d9c9c148d..d77c8829f 100644 --- a/ur_gazebo/launch/test.launch +++ b/ur_gazebo/launch/test.launch @@ -1,10 +1,10 @@ - - + + - - - + + + diff --git a/ur_gazebo/urdf/macro.xacro b/ur_gazebo/urdf/macro.xacro index fca825035..1cc5cef27 100644 --- a/ur_gazebo/urdf/macro.xacro +++ b/ur_gazebo/urdf/macro.xacro @@ -12,13 +12,13 @@ expecting a flattened '.urdf' file. See the top-level '.xacro' for that (but note: that .xacro must still be processed by the xacro command). - For use in '.launch' files: use one of the 'load_urX.launch' convenience + For use in '.launch' files: use the 'load.launch' convenience launch files. NOTE: this Gazebo model makes use of the same set of parameter files as the main xacro macro (in ur_description). It is therefor possible to use the kinematic calibration exported from a REAL UR robot. Please refer to the - ur_macro.xacro in ur_description for more information about this. + macro.xacro in ur_description for more information about this. Main author of the migration to yaml configs: Ludovic Delval. @@ -38,39 +38,30 @@ - Felix Exner --> - - + - - + - + diff --git a/ur_gazebo/urdf/ur.xacro b/ur_gazebo/urdf/ur.xacro index 2d202a7d6..962c7eb07 100644 --- a/ur_gazebo/urdf/ur.xacro +++ b/ur_gazebo/urdf/ur.xacro @@ -1,8 +1,8 @@ - + - + + @@ -46,13 +47,14 @@ controller .yaml files in the 'config' directory. --> - - - + + + - + From 1b3a9c713db7a58f91e7c1182582870fafa79c4d Mon Sep 17 00:00:00 2001 From: Robert Arno Kampf Date: Sat, 19 Nov 2022 17:05:49 +0100 Subject: [PATCH 04/15] Renamed base_link_inertia to base_inertia_link Consistent link naming desirable for link and joint macros. --- ur10_moveit_config/config/ur10.srdf | 6 +++--- ur10_moveit_config/launch/moveit.rviz | 4 ++-- ur10e_moveit_config/config/ur10e.srdf | 6 +++--- ur10e_moveit_config/launch/moveit.rviz | 4 ++-- ur16e_moveit_config/config/ur16e.srdf | 6 +++--- ur16e_moveit_config/launch/moveit.rviz | 4 ++-- ur3_moveit_config/config/ur3.srdf | 6 +++--- ur3_moveit_config/launch/moveit.rviz | 4 ++-- ur3e_moveit_config/config/ur3e.srdf | 6 +++--- ur3e_moveit_config/launch/moveit.rviz | 4 ++-- ur5_moveit_config/config/ur5.srdf | 6 +++--- ur5_moveit_config/launch/moveit.rviz | 4 ++-- ur5e_moveit_config/config/ur5e.srdf | 6 +++--- ur5e_moveit_config/launch/moveit.rviz | 4 ++-- ur_description/urdf/macro.xacro | 7 +++++-- 15 files changed, 40 insertions(+), 37 deletions(-) diff --git a/ur10_moveit_config/config/ur10.srdf b/ur10_moveit_config/config/ur10.srdf index 0c456855c..1cf8b762b 100644 --- a/ur10_moveit_config/config/ur10.srdf +++ b/ur10_moveit_config/config/ur10.srdf @@ -32,9 +32,9 @@ - - - + + + diff --git a/ur10_moveit_config/launch/moveit.rviz b/ur10_moveit_config/launch/moveit.rviz index cfc2fec04..bf8abfe43 100644 --- a/ur10_moveit_config/launch/moveit.rviz +++ b/ur10_moveit_config/launch/moveit.rviz @@ -80,7 +80,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false @@ -176,7 +176,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false diff --git a/ur10e_moveit_config/config/ur10e.srdf b/ur10e_moveit_config/config/ur10e.srdf index 6d3e8f368..0c681ddb9 100644 --- a/ur10e_moveit_config/config/ur10e.srdf +++ b/ur10e_moveit_config/config/ur10e.srdf @@ -32,9 +32,9 @@ - - - + + + diff --git a/ur10e_moveit_config/launch/moveit.rviz b/ur10e_moveit_config/launch/moveit.rviz index cfc2fec04..bf8abfe43 100644 --- a/ur10e_moveit_config/launch/moveit.rviz +++ b/ur10e_moveit_config/launch/moveit.rviz @@ -80,7 +80,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false @@ -176,7 +176,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false diff --git a/ur16e_moveit_config/config/ur16e.srdf b/ur16e_moveit_config/config/ur16e.srdf index bee309614..df44cbd82 100644 --- a/ur16e_moveit_config/config/ur16e.srdf +++ b/ur16e_moveit_config/config/ur16e.srdf @@ -32,9 +32,9 @@ - - - + + + diff --git a/ur16e_moveit_config/launch/moveit.rviz b/ur16e_moveit_config/launch/moveit.rviz index cfc2fec04..bf8abfe43 100644 --- a/ur16e_moveit_config/launch/moveit.rviz +++ b/ur16e_moveit_config/launch/moveit.rviz @@ -80,7 +80,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false @@ -176,7 +176,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false diff --git a/ur3_moveit_config/config/ur3.srdf b/ur3_moveit_config/config/ur3.srdf index 8a5515966..f5175b8e0 100644 --- a/ur3_moveit_config/config/ur3.srdf +++ b/ur3_moveit_config/config/ur3.srdf @@ -32,9 +32,9 @@ - - - + + + diff --git a/ur3_moveit_config/launch/moveit.rviz b/ur3_moveit_config/launch/moveit.rviz index cfc2fec04..bf8abfe43 100644 --- a/ur3_moveit_config/launch/moveit.rviz +++ b/ur3_moveit_config/launch/moveit.rviz @@ -80,7 +80,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false @@ -176,7 +176,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false diff --git a/ur3e_moveit_config/config/ur3e.srdf b/ur3e_moveit_config/config/ur3e.srdf index 173fe8c7f..63b9fdd6d 100644 --- a/ur3e_moveit_config/config/ur3e.srdf +++ b/ur3e_moveit_config/config/ur3e.srdf @@ -32,9 +32,9 @@ - - - + + + diff --git a/ur3e_moveit_config/launch/moveit.rviz b/ur3e_moveit_config/launch/moveit.rviz index cfc2fec04..bf8abfe43 100644 --- a/ur3e_moveit_config/launch/moveit.rviz +++ b/ur3e_moveit_config/launch/moveit.rviz @@ -80,7 +80,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false @@ -176,7 +176,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false diff --git a/ur5_moveit_config/config/ur5.srdf b/ur5_moveit_config/config/ur5.srdf index 641144203..1661ec880 100644 --- a/ur5_moveit_config/config/ur5.srdf +++ b/ur5_moveit_config/config/ur5.srdf @@ -32,9 +32,9 @@ - - - + + + diff --git a/ur5_moveit_config/launch/moveit.rviz b/ur5_moveit_config/launch/moveit.rviz index cfc2fec04..bf8abfe43 100644 --- a/ur5_moveit_config/launch/moveit.rviz +++ b/ur5_moveit_config/launch/moveit.rviz @@ -80,7 +80,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false @@ -176,7 +176,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false diff --git a/ur5e_moveit_config/config/ur5e.srdf b/ur5e_moveit_config/config/ur5e.srdf index daab73c7b..2a845885b 100644 --- a/ur5e_moveit_config/config/ur5e.srdf +++ b/ur5e_moveit_config/config/ur5e.srdf @@ -32,9 +32,9 @@ - - - + + + diff --git a/ur5e_moveit_config/launch/moveit.rviz b/ur5e_moveit_config/launch/moveit.rviz index cfc2fec04..bf8abfe43 100644 --- a/ur5e_moveit_config/launch/moveit.rviz +++ b/ur5e_moveit_config/launch/moveit.rviz @@ -80,7 +80,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false @@ -176,7 +176,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false diff --git a/ur_description/urdf/macro.xacro b/ur_description/urdf/macro.xacro index 8bb8adfc4..98dd6b36f 100644 --- a/ur_description/urdf/macro.xacro +++ b/ur_description/urdf/macro.xacro @@ -105,12 +105,15 @@ physical_parameters_file="${physical_parameters_file}" visual_parameters_file="${visual_parameters_file}"/> - + - + + + + From 89a1966747de464b73d93aa0b665dbdc5adcf39a Mon Sep 17 00:00:00 2001 From: Robert Arno Kampf Date: Sat, 19 Nov 2022 17:15:56 +0100 Subject: [PATCH 05/15] Renamed elbow_joint to elbow Consistent naming in joint_limits.yaml --- ur_description/config/ur10/joint_limits.yaml | 4 ++-- ur_description/config/ur10e/joint_limits.yaml | 4 ++-- ur_description/config/ur16e/joint_limits.yaml | 4 ++-- ur_description/config/ur3/joint_limits.yaml | 4 ++-- ur_description/config/ur3e/joint_limits.yaml | 4 ++-- ur_description/config/ur5/joint_limits.yaml | 4 ++-- ur_description/config/ur5e/joint_limits.yaml | 4 ++-- 7 files changed, 14 insertions(+), 14 deletions(-) diff --git a/ur_description/config/ur10/joint_limits.yaml b/ur_description/config/ur10/joint_limits.yaml index 9e55c53cb..7786b7dfb 100644 --- a/ur_description/config/ur10/joint_limits.yaml +++ b/ur_description/config/ur10/joint_limits.yaml @@ -28,7 +28,7 @@ joint_limits: max_position: !degrees 360.0 max_velocity: !degrees 120.0 min_position: !degrees -360.0 - elbow_joint: + elbow: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true @@ -37,7 +37,7 @@ joint_limits: max_effort: 150.0 # we artificially limit this joint to half its actual joint position limit # to avoid (MoveIt/OMPL) planning problems, as due to the physical - # construction of the robot, it's impossible to rotate the 'elbow_joint' + # construction of the robot, it's impossible to rotate the 'elbow' # over more than approx +- 1 pi (the shoulder lift joint gets in the way). # # This leads to planning problems as the search space will be divided into diff --git a/ur_description/config/ur10e/joint_limits.yaml b/ur_description/config/ur10e/joint_limits.yaml index 983a43ce1..748028cf7 100644 --- a/ur_description/config/ur10e/joint_limits.yaml +++ b/ur_description/config/ur10e/joint_limits.yaml @@ -28,7 +28,7 @@ joint_limits: max_position: !degrees 360.0 max_velocity: !degrees 120.0 min_position: !degrees -360.0 - elbow_joint: + elbow: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true @@ -37,7 +37,7 @@ joint_limits: max_effort: 150.0 # we artificially limit this joint to half its actual joint position limit # to avoid (MoveIt/OMPL) planning problems, as due to the physical - # construction of the robot, it's impossible to rotate the 'elbow_joint' + # construction of the robot, it's impossible to rotate the 'elbow' # over more than approx +- 1 pi (the shoulder lift joint gets in the way). # # This leads to planning problems as the search space will be divided into diff --git a/ur_description/config/ur16e/joint_limits.yaml b/ur_description/config/ur16e/joint_limits.yaml index 272bb4843..cf8ada8dc 100644 --- a/ur_description/config/ur16e/joint_limits.yaml +++ b/ur_description/config/ur16e/joint_limits.yaml @@ -28,7 +28,7 @@ joint_limits: max_position: !degrees 360.0 max_velocity: !degrees 120.0 min_position: !degrees -360.0 - elbow_joint: + elbow: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true @@ -37,7 +37,7 @@ joint_limits: max_effort: 150.0 # we artificially limit this joint to half its actual joint position limit # to avoid (MoveIt/OMPL) planning problems, as due to the physical - # construction of the robot, it's impossible to rotate the 'elbow_joint' + # construction of the robot, it's impossible to rotate the 'elbow' # over more than approx +- 1 pi (the shoulder lift joint gets in the way). # # This leads to planning problems as the search space will be divided into diff --git a/ur_description/config/ur3/joint_limits.yaml b/ur_description/config/ur3/joint_limits.yaml index 461288abf..ce057245a 100644 --- a/ur_description/config/ur3/joint_limits.yaml +++ b/ur_description/config/ur3/joint_limits.yaml @@ -28,7 +28,7 @@ joint_limits: max_position: !degrees 360.0 max_velocity: !degrees 180.0 min_position: !degrees -360.0 - elbow_joint: + elbow: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true @@ -37,7 +37,7 @@ joint_limits: max_effort: 28.0 # we artificially limit this joint to half its actual joint position limit # to avoid (MoveIt/OMPL) planning problems, as due to the physical - # construction of the robot, it's impossible to rotate the 'elbow_joint' + # construction of the robot, it's impossible to rotate the 'elbow' # over more than approx +- 1 pi (the shoulder lift joint gets in the way). # # This leads to planning problems as the search space will be divided into diff --git a/ur_description/config/ur3e/joint_limits.yaml b/ur_description/config/ur3e/joint_limits.yaml index 85b6f644f..21cbd6ca5 100644 --- a/ur_description/config/ur3e/joint_limits.yaml +++ b/ur_description/config/ur3e/joint_limits.yaml @@ -28,7 +28,7 @@ joint_limits: max_position: !degrees 360.0 max_velocity: !degrees 180.0 min_position: !degrees -360.0 - elbow_joint: + elbow: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true @@ -37,7 +37,7 @@ joint_limits: max_effort: 28.0 # we artificially limit this joint to half its actual joint position limit # to avoid (MoveIt/OMPL) planning problems, as due to the physical - # construction of the robot, it's impossible to rotate the 'elbow_joint' + # construction of the robot, it's impossible to rotate the 'elbow' # over more than approx +- 1 pi (the shoulder lift joint gets in the way). # # This leads to planning problems as the search space will be divided into diff --git a/ur_description/config/ur5/joint_limits.yaml b/ur_description/config/ur5/joint_limits.yaml index 28eacc3d9..109ef4c5c 100644 --- a/ur_description/config/ur5/joint_limits.yaml +++ b/ur_description/config/ur5/joint_limits.yaml @@ -28,7 +28,7 @@ joint_limits: max_position: !degrees 360.0 max_velocity: !degrees 180.0 min_position: !degrees -360.0 - elbow_joint: + elbow: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true @@ -37,7 +37,7 @@ joint_limits: max_effort: 150.0 # we artificially limit this joint to half its actual joint position limit # to avoid (MoveIt/OMPL) planning problems, as due to the physical - # construction of the robot, it's impossible to rotate the 'elbow_joint' + # construction of the robot, it's impossible to rotate the 'elbow' # over more than approx +- 1 pi (the shoulder lift joint gets in the way). # # This leads to planning problems as the search space will be divided into diff --git a/ur_description/config/ur5e/joint_limits.yaml b/ur_description/config/ur5e/joint_limits.yaml index dddc059a8..e3e10b8db 100644 --- a/ur_description/config/ur5e/joint_limits.yaml +++ b/ur_description/config/ur5e/joint_limits.yaml @@ -28,7 +28,7 @@ joint_limits: max_position: !degrees 360.0 max_velocity: !degrees 180.0 min_position: !degrees -360.0 - elbow_joint: + elbow: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true @@ -37,7 +37,7 @@ joint_limits: max_effort: 150.0 # we artificially limit this joint to half its actual joint position limit # to avoid (MoveIt/OMPL) planning problems, as due to the physical - # construction of the robot, it's impossible to rotate the 'elbow_joint' + # construction of the robot, it's impossible to rotate the 'elbow' # over more than approx +- 1 pi (the shoulder lift joint gets in the way). # # This leads to planning problems as the search space will be divided into From 25b50044f61f047c99b3ef7587fa90ea7f47f599 Mon Sep 17 00:00:00 2001 From: Robert Arno Kampf Date: Sat, 19 Nov 2022 17:22:44 +0100 Subject: [PATCH 06/15] Renamed upperarm to upper_arm Consistent naming in physical_parameters.yaml and of mesh files --- ur_description/config/ur10/physical_parameters.yaml | 2 +- ur_description/config/ur10/visual_parameters.yaml | 4 ++-- .../config/ur10e/physical_parameters.yaml | 4 ++-- ur_description/config/ur10e/visual_parameters.yaml | 4 ++-- .../config/ur16e/physical_parameters.yaml | 2 +- ur_description/config/ur16e/visual_parameters.yaml | 4 ++-- ur_description/config/ur3/physical_parameters.yaml | 2 +- ur_description/config/ur3/visual_parameters.yaml | 4 ++-- ur_description/config/ur3e/physical_parameters.yaml | 4 ++-- ur_description/config/ur3e/visual_parameters.yaml | 4 ++-- ur_description/config/ur5/physical_parameters.yaml | 2 +- ur_description/config/ur5/visual_parameters.yaml | 4 ++-- ur_description/config/ur5e/physical_parameters.yaml | 4 ++-- ur_description/config/ur5e/visual_parameters.yaml | 4 ++-- .../ur10/collision/{upperarm.stl => upper_arm.stl} | Bin .../ur10/visual/{upperarm.dae => upper_arm.dae} | 0 .../ur10e/collision/{upperarm.stl => upper_arm.stl} | Bin .../ur10e/visual/{upperarm.dae => upper_arm.dae} | 0 .../ur16e/collision/{upperarm.stl => upper_arm.stl} | Bin .../ur16e/visual/{upperarm.dae => upper_arm.dae} | 0 .../ur3/collision/{upperarm.stl => upper_arm.stl} | Bin .../ur3/visual/{upperarm.dae => upper_arm.dae} | 0 .../ur3e/collision/{upperarm.stl => upper_arm.stl} | Bin .../ur3e/visual/{upperarm.dae => upper_arm.dae} | 0 .../ur5/collision/{upperarm.stl => upper_arm.stl} | Bin .../ur5/visual/{upperarm.dae => upper_arm.dae} | 0 .../ur5e/collision/{upperarm.stl => upper_arm.stl} | Bin .../ur5e/visual/{upperarm.dae => upper_arm.dae} | 0 28 files changed, 24 insertions(+), 24 deletions(-) rename ur_description/meshes/ur10/collision/{upperarm.stl => upper_arm.stl} (100%) rename ur_description/meshes/ur10/visual/{upperarm.dae => upper_arm.dae} (100%) rename ur_description/meshes/ur10e/collision/{upperarm.stl => upper_arm.stl} (100%) rename ur_description/meshes/ur10e/visual/{upperarm.dae => upper_arm.dae} (100%) rename ur_description/meshes/ur16e/collision/{upperarm.stl => upper_arm.stl} (100%) rename ur_description/meshes/ur16e/visual/{upperarm.dae => upper_arm.dae} (100%) rename ur_description/meshes/ur3/collision/{upperarm.stl => upper_arm.stl} (100%) rename ur_description/meshes/ur3/visual/{upperarm.dae => upper_arm.dae} (100%) rename ur_description/meshes/ur3e/collision/{upperarm.stl => upper_arm.stl} (100%) rename ur_description/meshes/ur3e/visual/{upperarm.dae => upper_arm.dae} (100%) rename ur_description/meshes/ur5/collision/{upperarm.stl => upper_arm.stl} (100%) rename ur_description/meshes/ur5/visual/{upperarm.dae => upper_arm.dae} (100%) rename ur_description/meshes/ur5e/collision/{upperarm.stl => upper_arm.stl} (100%) rename ur_description/meshes/ur5e/visual/{upperarm.dae => upper_arm.dae} (100%) diff --git a/ur_description/config/ur10/physical_parameters.yaml b/ur_description/config/ur10/physical_parameters.yaml index e6515389b..f5c564c2d 100644 --- a/ur_description/config/ur10/physical_parameters.yaml +++ b/ur_description/config/ur10/physical_parameters.yaml @@ -35,7 +35,7 @@ inertia_parameters: shoulder: radius: 0.075 length: 0.178 - upperarm: + upper_arm: radius: 0.075 length: 0.612 forearm: diff --git a/ur_description/config/ur10/visual_parameters.yaml b/ur_description/config/ur10/visual_parameters.yaml index 168fbfff2..0979da68b 100644 --- a/ur_description/config/ur10/visual_parameters.yaml +++ b/ur_description/config/ur10/visual_parameters.yaml @@ -21,12 +21,12 @@ mesh_files: upper_arm: visual: - mesh: "package://ur_description/meshes/ur10/visual/upperarm.dae" + mesh: "package://ur_description/meshes/ur10/visual/upper_arm.dae" material: name: "LightGrey" color: "0.7 0.7 0.7 1.0" collision: - mesh: "package://ur_description/meshes/ur10/collision/upperarm.stl" + mesh: "package://ur_description/meshes/ur10/collision/upper_arm.stl" mesh_files: forearm: diff --git a/ur_description/config/ur10e/physical_parameters.yaml b/ur_description/config/ur10e/physical_parameters.yaml index ffae062fd..bf25223b1 100644 --- a/ur_description/config/ur10e/physical_parameters.yaml +++ b/ur_description/config/ur10e/physical_parameters.yaml @@ -4,7 +4,7 @@ dh_parameters: d1: 0.181 a2: -0.613 a3: -0.571 - d4: 0.174 # wrist1_length = d4 - elbow_offset - shoulder_offset + d4: 0.174 # wrist1_length = d4 - elbow_offset - shoulder_offset d5: 0.120 d6: 0.117 @@ -35,7 +35,7 @@ inertia_parameters: shoulder: radius: 0.075 length: 0.178 - upperarm: + upper_arm: radius: 0.075 length: 0.612 forearm: diff --git a/ur_description/config/ur10e/visual_parameters.yaml b/ur_description/config/ur10e/visual_parameters.yaml index 9bd6002d6..aef382308 100644 --- a/ur_description/config/ur10e/visual_parameters.yaml +++ b/ur_description/config/ur10e/visual_parameters.yaml @@ -21,12 +21,12 @@ mesh_files: upper_arm: visual: - mesh: "package://ur_description/meshes/ur10e/visual/upperarm.dae" + mesh: "package://ur_description/meshes/ur10e/visual/upper_arm.dae" material: name: "LightGrey" color: "0.7 0.7 0.7 1.0" collision: - mesh: "package://ur_description/meshes/ur10e/collision/upperarm.stl" + mesh: "package://ur_description/meshes/ur10e/collision/upper_arm.stl" mesh_files: forearm: diff --git a/ur_description/config/ur16e/physical_parameters.yaml b/ur_description/config/ur16e/physical_parameters.yaml index 658d51d7f..ae04bc706 100644 --- a/ur_description/config/ur16e/physical_parameters.yaml +++ b/ur_description/config/ur16e/physical_parameters.yaml @@ -37,7 +37,7 @@ inertia_parameters: shoulder: radius: 0.075 length: 0.178 - upperarm: + upper_arm: radius: 0.075 length: 0.4784 forearm: diff --git a/ur_description/config/ur16e/visual_parameters.yaml b/ur_description/config/ur16e/visual_parameters.yaml index 7925fc183..956ae9432 100644 --- a/ur_description/config/ur16e/visual_parameters.yaml +++ b/ur_description/config/ur16e/visual_parameters.yaml @@ -22,12 +22,12 @@ mesh_files: upper_arm: visual: - mesh: "package://ur_description/meshes/ur16e/visual/upperarm.dae" + mesh: "package://ur_description/meshes/ur16e/visual/upper_arm.dae" material: name: "LightGrey" color: "0.7 0.7 0.7 1.0" collision: - mesh: "package://ur_description/meshes/ur16e/collision/upperarm.stl" + mesh: "package://ur_description/meshes/ur16e/collision/upper_arm.stl" mesh_files: forearm: diff --git a/ur_description/config/ur3/physical_parameters.yaml b/ur_description/config/ur3/physical_parameters.yaml index ce207b722..801e55d33 100644 --- a/ur_description/config/ur3/physical_parameters.yaml +++ b/ur_description/config/ur3/physical_parameters.yaml @@ -35,7 +35,7 @@ inertia_parameters: shoulder: radius: 0.075 length: 0.178 - upperarm: + upper_arm: radius: 0.075 length: 0.24365 forearm: diff --git a/ur_description/config/ur3/visual_parameters.yaml b/ur_description/config/ur3/visual_parameters.yaml index d16f51cbc..41987f4b0 100644 --- a/ur_description/config/ur3/visual_parameters.yaml +++ b/ur_description/config/ur3/visual_parameters.yaml @@ -19,12 +19,12 @@ mesh_files: upper_arm: visual: - mesh: "package://ur_description/meshes/ur3/visual/upperarm.dae" + mesh: "package://ur_description/meshes/ur3/visual/upper_arm.dae" material: name: "LightGrey" color: "0.7 0.7 0.7 1.0" collision: - mesh: "package://ur_description/meshes/ur3/collision/upperarm.stl" + mesh: "package://ur_description/meshes/ur3/collision/upper_arm.stl" mesh_files: forearm: diff --git a/ur_description/config/ur3e/physical_parameters.yaml b/ur_description/config/ur3e/physical_parameters.yaml index 337c1f24f..6ac5ed022 100644 --- a/ur_description/config/ur3e/physical_parameters.yaml +++ b/ur_description/config/ur3e/physical_parameters.yaml @@ -4,7 +4,7 @@ dh_parameters: d1: 0.152 a2: -0.244 a3: -0.213 - d4: 0.131 # wrist1_length = d4 - elbow_offset - shoulder_offset + d4: 0.131 # wrist1_length = d4 - elbow_offset - shoulder_offset d5: 0.085 d6: 0.092 @@ -35,7 +35,7 @@ inertia_parameters: shoulder: radius: 0.075 length: 0.178 - upperarm: + upper_arm: radius: 0.075 length: 0.24365 forearm: diff --git a/ur_description/config/ur3e/visual_parameters.yaml b/ur_description/config/ur3e/visual_parameters.yaml index de8a20720..e0e0e42d5 100644 --- a/ur_description/config/ur3e/visual_parameters.yaml +++ b/ur_description/config/ur3e/visual_parameters.yaml @@ -19,12 +19,12 @@ mesh_files: upper_arm: visual: - mesh: "package://ur_description/meshes/ur3e/visual/upperarm.dae" + mesh: "package://ur_description/meshes/ur3e/visual/upper_arm.dae" material: name: "LightGrey" color: "0.7 0.7 0.7 1.0" collision: - mesh: "package://ur_description/meshes/ur3e/collision/upperarm.stl" + mesh: "package://ur_description/meshes/ur3e/collision/upper_arm.stl" mesh_files: forearm: diff --git a/ur_description/config/ur5/physical_parameters.yaml b/ur_description/config/ur5/physical_parameters.yaml index 9d0a4030d..b09697b26 100644 --- a/ur_description/config/ur5/physical_parameters.yaml +++ b/ur_description/config/ur5/physical_parameters.yaml @@ -35,7 +35,7 @@ inertia_parameters: shoulder: radius: 0.075 length: 0.178 - upperarm: + upper_arm: radius: 0.06 length: 0.425 forearm: diff --git a/ur_description/config/ur5/visual_parameters.yaml b/ur_description/config/ur5/visual_parameters.yaml index 69845109d..c2f150fe1 100644 --- a/ur_description/config/ur5/visual_parameters.yaml +++ b/ur_description/config/ur5/visual_parameters.yaml @@ -19,12 +19,12 @@ mesh_files: upper_arm: visual: - mesh: "package://ur_description/meshes/ur5/visual/upperarm.dae" + mesh: "package://ur_description/meshes/ur5/visual/upper_arm.dae" material: name: "LightGrey" color: "0.7 0.7 0.7 1.0" collision: - mesh: "package://ur_description/meshes/ur5/collision/upperarm.stl" + mesh: "package://ur_description/meshes/ur5/collision/upper_arm.stl" mesh_files: forearm: diff --git a/ur_description/config/ur5e/physical_parameters.yaml b/ur_description/config/ur5e/physical_parameters.yaml index 8955ed24d..47d8b79a8 100644 --- a/ur_description/config/ur5e/physical_parameters.yaml +++ b/ur_description/config/ur5e/physical_parameters.yaml @@ -4,7 +4,7 @@ dh_parameters: d1: 0.163 a2: -0.42500 a3: -0.39225 - d4: 0.134 # wrist1_length = d4 - elbow_offset - shoulder_offset + d4: 0.134 # wrist1_length = d4 - elbow_offset - shoulder_offset d5: 0.100 d6: 0.100 @@ -35,7 +35,7 @@ inertia_parameters: shoulder: radius: 0.06 length: 0.15 - upperarm: + upper_arm: radius: 0.06 length: 0.425 forearm: diff --git a/ur_description/config/ur5e/visual_parameters.yaml b/ur_description/config/ur5e/visual_parameters.yaml index 6d0156a59..69be48a79 100644 --- a/ur_description/config/ur5e/visual_parameters.yaml +++ b/ur_description/config/ur5e/visual_parameters.yaml @@ -19,12 +19,12 @@ mesh_files: upper_arm: visual: - mesh: "package://ur_description/meshes/ur5e/visual/upperarm.dae" + mesh: "package://ur_description/meshes/ur5e/visual/upper_arm.dae" material: name: "LightGrey" color: "0.7 0.7 0.7 1.0" collision: - mesh: "package://ur_description/meshes/ur5e/collision/upperarm.stl" + mesh: "package://ur_description/meshes/ur5e/collision/upper_arm.stl" mesh_files: forearm: diff --git a/ur_description/meshes/ur10/collision/upperarm.stl b/ur_description/meshes/ur10/collision/upper_arm.stl similarity index 100% rename from ur_description/meshes/ur10/collision/upperarm.stl rename to ur_description/meshes/ur10/collision/upper_arm.stl diff --git a/ur_description/meshes/ur10/visual/upperarm.dae b/ur_description/meshes/ur10/visual/upper_arm.dae similarity index 100% rename from ur_description/meshes/ur10/visual/upperarm.dae rename to ur_description/meshes/ur10/visual/upper_arm.dae diff --git a/ur_description/meshes/ur10e/collision/upperarm.stl b/ur_description/meshes/ur10e/collision/upper_arm.stl similarity index 100% rename from ur_description/meshes/ur10e/collision/upperarm.stl rename to ur_description/meshes/ur10e/collision/upper_arm.stl diff --git a/ur_description/meshes/ur10e/visual/upperarm.dae b/ur_description/meshes/ur10e/visual/upper_arm.dae similarity index 100% rename from ur_description/meshes/ur10e/visual/upperarm.dae rename to ur_description/meshes/ur10e/visual/upper_arm.dae diff --git a/ur_description/meshes/ur16e/collision/upperarm.stl b/ur_description/meshes/ur16e/collision/upper_arm.stl similarity index 100% rename from ur_description/meshes/ur16e/collision/upperarm.stl rename to ur_description/meshes/ur16e/collision/upper_arm.stl diff --git a/ur_description/meshes/ur16e/visual/upperarm.dae b/ur_description/meshes/ur16e/visual/upper_arm.dae similarity index 100% rename from ur_description/meshes/ur16e/visual/upperarm.dae rename to ur_description/meshes/ur16e/visual/upper_arm.dae diff --git a/ur_description/meshes/ur3/collision/upperarm.stl b/ur_description/meshes/ur3/collision/upper_arm.stl similarity index 100% rename from ur_description/meshes/ur3/collision/upperarm.stl rename to ur_description/meshes/ur3/collision/upper_arm.stl diff --git a/ur_description/meshes/ur3/visual/upperarm.dae b/ur_description/meshes/ur3/visual/upper_arm.dae similarity index 100% rename from ur_description/meshes/ur3/visual/upperarm.dae rename to ur_description/meshes/ur3/visual/upper_arm.dae diff --git a/ur_description/meshes/ur3e/collision/upperarm.stl b/ur_description/meshes/ur3e/collision/upper_arm.stl similarity index 100% rename from ur_description/meshes/ur3e/collision/upperarm.stl rename to ur_description/meshes/ur3e/collision/upper_arm.stl diff --git a/ur_description/meshes/ur3e/visual/upperarm.dae b/ur_description/meshes/ur3e/visual/upper_arm.dae similarity index 100% rename from ur_description/meshes/ur3e/visual/upperarm.dae rename to ur_description/meshes/ur3e/visual/upper_arm.dae diff --git a/ur_description/meshes/ur5/collision/upperarm.stl b/ur_description/meshes/ur5/collision/upper_arm.stl similarity index 100% rename from ur_description/meshes/ur5/collision/upperarm.stl rename to ur_description/meshes/ur5/collision/upper_arm.stl diff --git a/ur_description/meshes/ur5/visual/upperarm.dae b/ur_description/meshes/ur5/visual/upper_arm.dae similarity index 100% rename from ur_description/meshes/ur5/visual/upperarm.dae rename to ur_description/meshes/ur5/visual/upper_arm.dae diff --git a/ur_description/meshes/ur5e/collision/upperarm.stl b/ur_description/meshes/ur5e/collision/upper_arm.stl similarity index 100% rename from ur_description/meshes/ur5e/collision/upperarm.stl rename to ur_description/meshes/ur5e/collision/upper_arm.stl diff --git a/ur_description/meshes/ur5e/visual/upperarm.dae b/ur_description/meshes/ur5e/visual/upper_arm.dae similarity index 100% rename from ur_description/meshes/ur5e/visual/upperarm.dae rename to ur_description/meshes/ur5e/visual/upper_arm.dae From ffc1090800684c803c9e0af214ccb7ac89a9964e Mon Sep 17 00:00:00 2001 From: Robert Arno Kampf Date: Sat, 19 Nov 2022 17:33:49 +0100 Subject: [PATCH 07/15] Offsets of meshes added in visual_parameters.yaml Addressing in macro.xacro: --- .../config/ur10/visual_parameters.yaml | 24 +++++++++++++++---- .../config/ur10e/visual_parameters.yaml | 24 +++++++++++++++---- .../config/ur16e/visual_parameters.yaml | 24 +++++++++++++++---- .../config/ur3/visual_parameters.yaml | 24 +++++++++++++++---- .../config/ur3e/visual_parameters.yaml | 24 +++++++++++++++---- .../config/ur5/visual_parameters.yaml | 24 +++++++++++++++---- .../config/ur5e/visual_parameters.yaml | 24 +++++++++++++++---- 7 files changed, 140 insertions(+), 28 deletions(-) diff --git a/ur_description/config/ur10/visual_parameters.yaml b/ur_description/config/ur10/visual_parameters.yaml index 0979da68b..4144afcfd 100644 --- a/ur_description/config/ur10/visual_parameters.yaml +++ b/ur_description/config/ur10/visual_parameters.yaml @@ -9,6 +9,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10/collision/base.stl" + offset: + yaw: 3.14159265359 shoulder: visual: @@ -18,6 +20,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10/collision/shoulder.stl" + offset: + yaw: 3.14159265359 upper_arm: visual: @@ -27,7 +31,10 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10/collision/upper_arm.stl" - mesh_files: + offset: + z: 0.220941 # shoulder_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 forearm: visual: @@ -37,6 +44,10 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10/collision/forearm.stl" + offset: + z: 0.049042 # elbow_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 wrist_1: visual: @@ -46,7 +57,9 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10/collision/wrist1.stl" - visual_offset: -0.1149 + offset: + z: -0.1149 + roll: 1.57079632679 wrist_2: visual: @@ -56,7 +69,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10/collision/wrist2.stl" - visual_offset: -0.1158 + offset: + z: -0.1158 wrist_3: visual: @@ -66,4 +80,6 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10/collision/wrist3.stl" - visual_offset: -0.0922 + offset: + z: -0.0922 + roll: 1.57079632679 diff --git a/ur_description/config/ur10e/visual_parameters.yaml b/ur_description/config/ur10e/visual_parameters.yaml index aef382308..4d1e2ed2d 100644 --- a/ur_description/config/ur10e/visual_parameters.yaml +++ b/ur_description/config/ur10e/visual_parameters.yaml @@ -9,6 +9,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/base.stl" + offset: + yaw: 3.14159265359 shoulder: visual: @@ -18,6 +20,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/shoulder.stl" + offset: + yaw: 3.14159265359 upper_arm: visual: @@ -27,7 +31,10 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/upper_arm.stl" - mesh_files: + offset: + z: 0.1762 # shoulder_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 forearm: visual: @@ -37,6 +44,10 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/forearm.stl" + offset: + z: 0.0393 # elbow_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 wrist_1: visual: @@ -46,7 +57,9 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/wrist1.stl" - visual_offset: -0.135 + offset: + z: -0.135 + roll: 1.57079632679 wrist_2: visual: @@ -56,7 +69,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/wrist2.stl" - visual_offset: -0.12 + offset: + z: -0.12 wrist_3: visual: @@ -66,4 +80,6 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/wrist3.stl" - visual_offset: -0.1168 + offset: + z: -0.1168 + roll: 1.57079632679 diff --git a/ur_description/config/ur16e/visual_parameters.yaml b/ur_description/config/ur16e/visual_parameters.yaml index 956ae9432..55ad46e38 100644 --- a/ur_description/config/ur16e/visual_parameters.yaml +++ b/ur_description/config/ur16e/visual_parameters.yaml @@ -10,6 +10,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/base.stl" + offset: + yaw: 3.14159265359 shoulder: visual: @@ -19,6 +21,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/shoulder.stl" + offset: + yaw: 3.14159265359 upper_arm: visual: @@ -28,7 +32,10 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur16e/collision/upper_arm.stl" - mesh_files: + offset: + z: 0.176 # shoulder_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 forearm: visual: @@ -38,6 +45,10 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur16e/collision/forearm.stl" + offset: + z: 0.040 # elbow_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 wrist_1: visual: @@ -47,7 +58,9 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/wrist1.stl" - visual_offset: -0.135 + offset: + z: -0.135 + roll: 1.57079632679 wrist_2: visual: @@ -57,7 +70,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/wrist2.stl" - visual_offset: -0.12 + offset: + z: -0.12 wrist_3: visual: @@ -67,4 +81,6 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/wrist3.stl" - visual_offset: -0.1168 + offset: + z: -0.1168 + roll: 1.57079632679 diff --git a/ur_description/config/ur3/visual_parameters.yaml b/ur_description/config/ur3/visual_parameters.yaml index 41987f4b0..da30c0b3b 100644 --- a/ur_description/config/ur3/visual_parameters.yaml +++ b/ur_description/config/ur3/visual_parameters.yaml @@ -7,6 +7,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3/collision/base.stl" + offset: + yaw: 3.14159265359 shoulder: visual: @@ -16,6 +18,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3/collision/shoulder.stl" + offset: + yaw: 3.14159265359 upper_arm: visual: @@ -25,7 +29,10 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3/collision/upper_arm.stl" - mesh_files: + offset: + z: 0.1198 # shoulder_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 forearm: visual: @@ -35,6 +42,10 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3/collision/forearm.stl" + offset: + z: 0.0275 # elbow_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 wrist_1: visual: @@ -44,7 +55,9 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3/collision/wrist1.stl" - visual_offset: -0.085 + offset: + z: -0.085 + roll: 1.57079632679 wrist_2: visual: @@ -54,7 +67,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3/collision/wrist2.stl" - visual_offset: -0.085 + offset: + z: -0.085 wrist_3: visual: @@ -64,4 +78,6 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3/collision/wrist3.stl" - visual_offset: -0.082 + offset: + z: -0.082 + roll: 1.57079632679 diff --git a/ur_description/config/ur3e/visual_parameters.yaml b/ur_description/config/ur3e/visual_parameters.yaml index e0e0e42d5..86a7d7d6c 100644 --- a/ur_description/config/ur3e/visual_parameters.yaml +++ b/ur_description/config/ur3e/visual_parameters.yaml @@ -7,6 +7,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3e/collision/base.stl" + offset: + yaw: 3.14159265359 shoulder: visual: @@ -16,6 +18,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3e/collision/shoulder.stl" + offset: + yaw: 3.14159265359 upper_arm: visual: @@ -25,7 +29,10 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3e/collision/upper_arm.stl" - mesh_files: + offset: + z: 0.120 # shoulder_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 forearm: visual: @@ -35,6 +42,10 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3e/collision/forearm.stl" + offset: + z: 0.027 # elbow_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 wrist_1: visual: @@ -44,7 +55,9 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3e/collision/wrist1.stl" - visual_offset: -0.104 + offset: + z: -0.104 + roll: 1.57079632679 wrist_2: visual: @@ -54,7 +67,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3e/collision/wrist2.stl" - visual_offset: -0.08535 + offset: + z: -0.08535 wrist_3: visual: @@ -64,4 +78,6 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3e/collision/wrist3.stl" - visual_offset: -0.0921 + offset: + z: -0.0921 + roll: 1.57079632679 diff --git a/ur_description/config/ur5/visual_parameters.yaml b/ur_description/config/ur5/visual_parameters.yaml index c2f150fe1..aeaaa0573 100644 --- a/ur_description/config/ur5/visual_parameters.yaml +++ b/ur_description/config/ur5/visual_parameters.yaml @@ -7,6 +7,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5/collision/base.stl" + offset: + yaw: 3.14159265359 shoulder: visual: @@ -16,6 +18,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5/collision/shoulder.stl" + offset: + yaw: 3.14159265359 upper_arm: visual: @@ -25,7 +29,10 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5/collision/upper_arm.stl" - mesh_files: + offset: + z: 0.13585 # shoulder_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 forearm: visual: @@ -35,6 +42,10 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5/collision/forearm.stl" + offset: + z: 0.0165 # elbow_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 wrist_1: visual: @@ -44,7 +55,9 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5/collision/wrist1.stl" - visual_offset: -0.093 + offset: + z: -0.093 + roll: 1.57079632679 wrist_2: visual: @@ -54,7 +67,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5/collision/wrist2.stl" - visual_offset: -0.095 + offset: + z: -0.095 wrist_3: visual: @@ -64,4 +78,6 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5/collision/wrist3.stl" - visual_offset: -0.0818 + offset: + z: -0.0818 + roll: 1.57079632679 diff --git a/ur_description/config/ur5e/visual_parameters.yaml b/ur_description/config/ur5e/visual_parameters.yaml index 69be48a79..20acbeeaa 100644 --- a/ur_description/config/ur5e/visual_parameters.yaml +++ b/ur_description/config/ur5e/visual_parameters.yaml @@ -7,6 +7,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5e/collision/base.stl" + offset: + yaw: 3.14159265359 shoulder: visual: @@ -16,6 +18,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5e/collision/shoulder.stl" + offset: + yaw: 3.14159265359 upper_arm: visual: @@ -25,7 +29,10 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5e/collision/upper_arm.stl" - mesh_files: + offset: + z: 0.138 # shoulder_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 forearm: visual: @@ -35,6 +42,10 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5e/collision/forearm.stl" + offset: + z: 0.007 # elbow_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 wrist_1: visual: @@ -44,7 +55,9 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5e/collision/wrist1.stl" - visual_offset: -0.127 + offset: + z: -0.127 + roll: 1.57079632679 wrist_2: visual: @@ -54,7 +67,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5e/collision/wrist2.stl" - visual_offset: -0.0997 + offset: + z: -0.0997 wrist_3: visual: @@ -64,4 +78,6 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5e/collision/wrist3.stl" - visual_offset: -0.0989 + offset: + z: -0.0989 + roll: 1.57079632679 From b0a7fb09540a85b69a26ff6dd00840a3d5f1afbf Mon Sep 17 00:00:00 2001 From: Robert Arno Kampf Date: Sat, 19 Nov 2022 17:37:53 +0100 Subject: [PATCH 08/15] Fractions and squares cylinder_inertial macro --- ur_description/urdf/common.xacro | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/ur_description/urdf/common.xacro b/ur_description/urdf/common.xacro index e841d912b..95349db15 100644 --- a/ur_description/urdf/common.xacro +++ b/ur_description/urdf/common.xacro @@ -10,15 +10,14 @@ --> - - - + + + - - + diff --git a/ur_description/urdf/macro.xacro b/ur_description/urdf/macro.xacro index 98dd6b36f..073958937 100644 --- a/ur_description/urdf/macro.xacro +++ b/ur_description/urdf/macro.xacro @@ -60,7 +60,7 @@ kinematics_parameters_file:=^|'' physical_parameters_file:=^|'' visual_parameters_file:=^|'' - transmission_hw_interface:=hardware_interface/PositionJointInterface + transmission_hw_interface:=^|'' safety_limits:=^|'' safety_pos_margin:=^|'' safety_k_position:=^|'' @@ -82,6 +82,19 @@ + + + + + + + + + + + + + diff --git a/ur_description/urdf/ur.xacro b/ur_description/urdf/ur.xacro index 2a9eb4408..9a85ca840 100644 --- a/ur_description/urdf/ur.xacro +++ b/ur_description/urdf/ur.xacro @@ -7,12 +7,7 @@ - - + diff --git a/ur_gazebo/launch/load.launch b/ur_gazebo/launch/load.launch index 20572465a..cd125b97f 100644 --- a/ur_gazebo/launch/load.launch +++ b/ur_gazebo/launch/load.launch @@ -23,7 +23,7 @@ - + diff --git a/ur_gazebo/urdf/macro.xacro b/ur_gazebo/urdf/macro.xacro index 1cc5cef27..57d79562f 100644 --- a/ur_gazebo/urdf/macro.xacro +++ b/ur_gazebo/urdf/macro.xacro @@ -46,11 +46,15 @@ kinematics_parameters_file:=^|'' physical_parameters_file:=^|'' visual_parameters_file:=^|'' - transmission_hw_interface:=hardware_interface/EffortJointInterface + transmission_hw_interface:=^|'' safety_limits:=^|'' safety_pos_margin:=^|'' safety_k_position:=^|'' "> + + + + - + controller .yaml files in the 'config' directory. --> + From 532ac051ec9c60677df5220f2d7f16bb5d51fdb2 Mon Sep 17 00:00:00 2001 From: Robert Kampf Date: Sun, 20 Nov 2022 03:23:10 +0100 Subject: [PATCH 10/15] Gazebo arguments added in control.launch initial_joint_positions, world_pose and unpause at spawning argument added to control.launch, as by moveit_setup_assistant. --- ur_gazebo/launch/control.launch | 37 ++++++++++++++++++--------------- 1 file changed, 20 insertions(+), 17 deletions(-) diff --git a/ur_gazebo/launch/control.launch b/ur_gazebo/launch/control.launch index d50bcbeda..15cb5dc25 100644 --- a/ur_gazebo/launch/control.launch +++ b/ur_gazebo/launch/control.launch @@ -21,39 +21,42 @@ - - - - - + + + + + - + + - - - - - + + + + + + + $(arg unpause) + $(arg world_pose) + $(arg initial_joint_positions) + -model $(arg gazebo_model_name)" + output="screen" respawn="false"/> + args="$(arg controllers)" output="screen" respawn="false"/> - + args="--stopped $(arg stopped_controllers)" output="screen" respawn="false"/> From 38cc14262db3cd0d1842c4bc8dff1b08abc29fc6 Mon Sep 17 00:00:00 2001 From: Robert Kampf Date: Sun, 20 Nov 2022 03:23:42 +0100 Subject: [PATCH 11/15] Gazebo reference link macro Comments adjusted --- ur_gazebo/urdf/macro.xacro | 38 ++++++++++++++------------------------ 1 file changed, 14 insertions(+), 24 deletions(-) diff --git a/ur_gazebo/urdf/macro.xacro b/ur_gazebo/urdf/macro.xacro index 57d79562f..1764caa0e 100644 --- a/ur_gazebo/urdf/macro.xacro +++ b/ur_gazebo/urdf/macro.xacro @@ -67,28 +67,20 @@ - - - true - - - true - - - true - - - true - - - true - - - true - - - true - + + + + true + + + + + + + + + + - - From 2cf5434b677cfa507c57e4209d1c7dc4afaae986 Mon Sep 17 00:00:00 2001 From: Robert Kampf Date: Sun, 20 Nov 2022 03:29:29 +0100 Subject: [PATCH 12/15] Link macro using configuration data --- ur_description/urdf/macro.xacro | 201 ++++++++++---------------------- 1 file changed, 59 insertions(+), 142 deletions(-) diff --git a/ur_description/urdf/macro.xacro b/ur_description/urdf/macro.xacro index 073958937..9c8889c73 100644 --- a/ur_description/urdf/macro.xacro +++ b/ur_description/urdf/macro.xacro @@ -127,151 +127,68 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - + + + + + + + + + + + + @@ -276,7 +282,7 @@ aligned (ie: has X+ forward, Y+ left and Z+ up), this is needed to correctly align 'base' with the 'Base' coordinate system of the UR controller. - --> + @@ -290,13 +296,9 @@ - - - - - - - - + + + + From 68f9d3dffa4123a7ed84f907df3c3733b5a1168a Mon Sep 17 00:00:00 2001 From: Robert Kampf Date: Sun, 20 Nov 2022 16:42:22 +0100 Subject: [PATCH 14/15] Revolute joint macro using configuration data --- ur_description/urdf/macro.xacro | 145 ++++++++---------------- ur_description/urdf/transmissions.xacro | 73 ------------ 2 files changed, 50 insertions(+), 168 deletions(-) delete mode 100644 ur_description/urdf/transmissions.xacro diff --git a/ur_description/urdf/macro.xacro b/ur_description/urdf/macro.xacro index 4859a0240..9ec380d4d 100644 --- a/ur_description/urdf/macro.xacro +++ b/ur_description/urdf/macro.xacro @@ -51,8 +51,6 @@ - Muhammad Asif Rana --> - - - - - @@ -202,99 +197,59 @@ Use the joint between 'base_link' and 'base_inertia_link' (a dummy link/frame) to introduce the necessary rotation over Z (of pi rad). --> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + ${transmission_hw_interface} + + + + + + + + + + + + diff --git a/ur_description/urdf/transmissions.xacro b/ur_description/urdf/transmissions.xacro deleted file mode 100644 index fd44d69b9..000000000 --- a/ur_description/urdf/transmissions.xacro +++ /dev/null @@ -1,73 +0,0 @@ - - - - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - - From 95048b7c6cde214af111da64e379363c08bd0a57 Mon Sep 17 00:00:00 2001 From: Robert Kampf Date: Sun, 20 Nov 2022 03:35:34 +0100 Subject: [PATCH 15/15] Cleared unused properties in common.xacro --- ur_description/urdf/common.xacro | 203 +++++-------------------------- 1 file changed, 33 insertions(+), 170 deletions(-) diff --git a/ur_description/urdf/common.xacro b/ur_description/urdf/common.xacro index 95349db15..652f20e48 100644 --- a/ur_description/urdf/common.xacro +++ b/ur_description/urdf/common.xacro @@ -28,134 +28,48 @@ --> - - - - + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + - - - - - - - - - - - - - - - - - - + + + + + + - - - - - - - - - - - - + + + + + + + + + + + @@ -163,56 +77,5 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -