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Add parameters to set child and parent frames #47

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merged 2 commits into from
Feb 23, 2024
Merged

Add parameters to set child and parent frames #47

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a4071c2
add child parent as params
pac48 Feb 22, 2024
e18b4fa
Merge branch 'main' into pr-remove-ur-descriptions-duplication
pac48 Feb 23, 2024
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8 changes: 4 additions & 4 deletions robotiq_description/urdf/ur_to_robotiq_adapter.urdf.xacro
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Original file line number Diff line number Diff line change
@@ -1,10 +1,10 @@
<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="ur_to_robotiq" params="prefix connected_to rotation:=^|${0.0}">
<xacro:macro name="ur_to_robotiq" params="prefix parent child rotation:=^|${0.0}">

<joint name="${prefix}ur_to_robotiq_joint" type="fixed">
<!-- The parent link must be read from the robot model it is attached to. -->
<parent link="${connected_to}"/>
<parent link="${parent}"/>
<child link="${prefix}ur_to_robotiq_link"/>
<origin xyz="0 0 0" rpy="0 0 ${rotation}"/>
</joint>
Expand All @@ -31,11 +31,11 @@

<joint name="${prefix}gripper_side_joint" type="fixed">
<parent link="${prefix}ur_to_robotiq_link"/>
<child link="${prefix}gripper_mount_link"/>
<child link="${child}"/>
<!-- <origin xyz="0 0 0.011" rpy="0 ${-pi/2} ${pi/2}"/> -->
<origin xyz="0 0 0.011" rpy="0 0 0"/>
</joint>
<link name="${prefix}gripper_mount_link"/>
<link name="${child}"/>

</xacro:macro>
</robot>
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