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Fix UR location for Mock HW #236

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merged 5 commits into from
Mar 12, 2024
Merged

Fix UR location for Mock HW #236

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1071470
Fix UR location for mock hw
Abishalini Mar 6, 2024
bd05b4b
Use pi/2
Abishalini Mar 7, 2024
9c53ef4
Make origin a macro param
Abishalini Mar 12, 2024
b65b5ac
Resolve conflict
Abishalini Mar 12, 2024
b84a10c
Fix description for site config
Abishalini Mar 12, 2024
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4 changes: 2 additions & 2 deletions src/picknik_ur_base_config/description/picknik_ur_macro.xacro
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="picknik_ur" params="parent child initial_positions_file">
<xacro:macro name="picknik_ur" params="parent child initial_positions_file *origin">
<!-- parameters -->
<xacro:arg name="use_fake_hardware" default="false"/>
<xacro:arg name="external_camera" default="false"/>
Expand Down Expand Up @@ -57,7 +57,7 @@
script_filename="$(find ur_robot_driver)/resources/ros_control.urscript"
output_recipe_filename="$(find ur_robot_driver)/resources/rtde_output_recipe.txt"
input_recipe_filename="$(find ur_robot_driver)/resources/rtde_input_recipe.txt">
<origin xyz="0 0 0" rpy="0 0 0"/>
<xacro:insert_block name="origin" />
</xacro:ur_robot>

<xacro:unless value="$(arg has_tool_changer)">
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4 changes: 3 additions & 1 deletion src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro
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Expand Up @@ -27,7 +27,9 @@
<xacro:include filename="$(arg environment_xacro)"/>

<!-- Robot: contains robot description from the world frame to the tool frame -->
<xacro:picknik_ur parent="world" child="tool0" initial_positions_file="$(arg initial_positions_file)" />
<xacro:picknik_ur parent="world" child="tool0" initial_positions_file="$(arg initial_positions_file)">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:picknik_ur>

<!-- Gripper and UR adapter and realsense camera -->
<xacro:picknik_ur_attachments parent="tool0" child="grasp_link" has_tool_changer="$(arg has_tool_changer)"/>
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4 changes: 3 additions & 1 deletion src/picknik_ur_mock_hw_config/description/picknik_ur_machine_tending.xacro
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Expand Up @@ -24,7 +24,9 @@
<xacro:include filename="$(arg environment_xacro)"/>

<!-- Robot: contains robot description from the world frame to the tool frame -->
<xacro:picknik_ur parent="world" child="tool0" initial_positions_file="$(arg initial_positions_file)" />
<xacro:picknik_ur parent="world" child="tool0" initial_positions_file="$(arg initial_positions_file)">
<origin xyz="0 0 0" rpy="0 0 ${pi/2}" />
</xacro:picknik_ur>

<!-- Gripper and UR adapter and realsense camera -->
<xacro:picknik_ur_attachments parent="tool0" child="grasp_link" has_tool_changer="$(arg has_tool_changer)"/>
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