Make the kinematic chain start from base_link instead of base.

ros-industrial · May 29, 2019 · 462aaa7 · 462aaa7
1 parent 8531055
commit 462aaa7
Showing 1 changed file with 8 additions and 3 deletions.
diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
@@ -58,8 +58,12 @@
     <xacro:property name="shoulder_offset" value="0.220941" />  <!-- measured from model -->
     <xacro:property name="elbow_offset" value="0.049042" /> <!-- measured from model -->
 
+    <!-- This is for compatibility reasons, as transformation between base and base_link was always 180 degree in the ur_description -->
+    <xacro:property name="base_correction" value="${pi}" />
+
     <link name="${prefix}base_link" >
       <visual>
+        <origin xyz="0 0 0" rpy="0 0 ${base_correction}"/>
         <geometry>
           <mesh filename="package://ur_description/meshes/ur10/visual/base.dae"/>
         </geometry>
@@ -68,6 +72,7 @@
         </material>
       </visual>
       <collision>
+        <origin xyz="0 0 0" rpy="0 0 ${base_correction}"/>
         <geometry>
           <mesh filename="package://ur_description/meshes/ur10/collision/base.stl"/>
         </geometry>
@@ -78,9 +83,9 @@
     </link>
 
     <joint name="${prefix}shoulder_pan_joint" type="revolute">
-      <parent link="${prefix}base" />
+      <parent link="${prefix}base_link" />
       <child link = "${prefix}shoulder_link" />
-      <origin xyz="${__kinematics['shoulder']['x']} ${__kinematics['shoulder']['y']} ${__kinematics['shoulder']['z']}" rpy="${__kinematics['shoulder']['roll']} ${__kinematics['shoulder']['pitch']} ${__kinematics['shoulder']['yaw']}" />
+      <origin xyz="${__kinematics['shoulder']['x']} ${__kinematics['shoulder']['y']} ${__kinematics['shoulder']['z']}" rpy="${__kinematics['shoulder']['roll']} ${__kinematics['shoulder']['pitch']} ${__kinematics['shoulder']['yaw'] + base_correction}" />
       <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
@@ -318,7 +323,7 @@
                  not corrected wrt the real robot (ie: rotated over 180
                  degrees)
       -->
-      <origin xyz="0 0 0" rpy="0 0 ${-pi}"/>
+      <origin xyz="0 0 0" rpy="0 0 ${-base_correction}"/>
       <parent link="${prefix}base_link"/>
       <child link="${prefix}base"/>
     </joint>