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Commit 17c135a

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author
Dan Zimmerman
committed
Possibly working hardware dep injection
1 parent 1fc7991 commit 17c135a

13 files changed

+300
-108
lines changed

‎config/ur10/joint_dynamics_parameters.yaml‎

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# Joint dynamics parameters
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# useful to specialize these for Gazebo Classic
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# or Gazebo Sim (Formerly Ignition Gazebo) simulations
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joint_dynamics:
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shoulder_pan_joint:
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damping: 0.0
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friction: 0.0
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shoulder_lift_joint:
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damping: 0.0
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friction: 0.0
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elbow_joint:
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damping: 0.0
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friction: 0.0
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wrist_1_joint:
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damping: 0.0
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friction: 0.0
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wrist_2_joint:
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damping: 0.0
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friction: 0.0
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wrist_3_joint:
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damping: 0.0
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friction: 0.0
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‎config/ur10e/joint_dynamics_parameters.yaml‎

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# Joint dynamics parameters
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# useful to specialize these for Gazebo Classic
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# or Gazebo Sim (Formerly Ignition Gazebo) simulations
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joint_dynamics:
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shoulder_pan_joint:
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damping: 0.0
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friction: 0.0
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shoulder_lift_joint:
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damping: 0.0
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friction: 0.0
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elbow_joint:
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damping: 0.0
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friction: 0.0
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wrist_1_joint:
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damping: 0.0
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friction: 0.0
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wrist_2_joint:
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damping: 0.0
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friction: 0.0
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wrist_3_joint:
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damping: 0.0
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friction: 0.0
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‎config/ur16e/joint_dynamics_parameters.yaml‎

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# Joint dynamics parameters
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# useful to specialize these for Gazebo Classic
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# or Gazebo Sim (Formerly Ignition Gazebo) simulations
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joint_dynamics:
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shoulder_pan_joint:
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damping: 0.0
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friction: 0.0
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shoulder_lift_joint:
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damping: 0.0
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friction: 0.0
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elbow_joint:
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damping: 0.0
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friction: 0.0
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wrist_1_joint:
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damping: 0.0
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friction: 0.0
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wrist_2_joint:
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damping: 0.0
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friction: 0.0
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wrist_3_joint:
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damping: 0.0
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friction: 0.0
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‎config/ur3/joint_dynamics_parameters.yaml‎

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# Joint dynamics parameters
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# useful to specialize these for Gazebo Classic
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# or Gazebo Sim (Formerly Ignition Gazebo) simulations
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5+
joint_dynamics:
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shoulder_pan_joint:
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damping: 0.0
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friction: 0.0
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shoulder_lift_joint:
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damping: 0.0
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friction: 0.0
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elbow_joint:
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damping: 0.0
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friction: 0.0
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wrist_1_joint:
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damping: 0.0
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friction: 0.0
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wrist_2_joint:
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damping: 0.0
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friction: 0.0
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wrist_3_joint:
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damping: 0.0
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friction: 0.0
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‎config/ur3e/joint_dynamics_parameters.yaml‎

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# Joint dynamics parameters
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# useful to specialize these for Gazebo Classic
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# or Gazebo Sim (Formerly Ignition Gazebo) simulations
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5+
joint_dynamics:
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shoulder_pan_joint:
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damping: 0.0
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friction: 0.0
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shoulder_lift_joint:
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damping: 0.0
11+
friction: 0.0
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elbow_joint:
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damping: 0.0
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friction: 0.0
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wrist_1_joint:
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damping: 0.0
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friction: 0.0
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wrist_2_joint:
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damping: 0.0
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friction: 0.0
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wrist_3_joint:
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damping: 0.0
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friction: 0.0
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‎config/ur5/joint_dynamics_parameters.yaml‎

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# Joint dynamics parameters
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# useful to specialize these for Gazebo Classic
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# or Gazebo Sim (Formerly Ignition Gazebo) simulations
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5+
joint_dynamics:
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shoulder_pan_joint:
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damping: 0.0
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friction: 0.0
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shoulder_lift_joint:
10+
damping: 0.0
11+
friction: 0.0
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elbow_joint:
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damping: 0.0
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friction: 0.0
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wrist_1_joint:
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damping: 0.0
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friction: 0.0
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wrist_2_joint:
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damping: 0.0
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friction: 0.0
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wrist_3_joint:
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damping: 0.0
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friction: 0.0
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‎config/ur5e/joint_dynamics_parameters.yaml‎

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# Joint dynamics parameters
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# useful to specialize these for Gazebo Classic
3+
# or Gazebo Sim (Formerly Ignition Gazebo) simulations
4+
5+
joint_dynamics:
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shoulder_pan_joint:
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damping: 0.0
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friction: 0.0
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shoulder_lift_joint:
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damping: 0.0
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friction: 0.0
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elbow_joint:
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damping: 0.0
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friction: 0.0
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wrist_1_joint:
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damping: 0.0
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friction: 0.0
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wrist_2_joint:
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damping: 0.0
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friction: 0.0
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wrist_3_joint:
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damping: 0.0
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friction: 0.0
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‎urdf/inc/NOT_HERE_ur_hardware.xacro‎

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This file was deleted.

‎urdf/inc/ur_common.xacro‎

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<mesh filename="${mesh}"/>
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</xacro:macro>
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<xacro:macro name="read_model_data" params="joint_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file force_abs_paths">
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<xacro:macro name="read_model_data" params="joint_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file joint_dynamics_parameters_file force_abs_paths">
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<xacro:property name="force_abs_paths" value="${force_abs_paths}" scope="parent"/>
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<!-- Read .yaml files from disk, load content into properties -->
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<xacro:property name="config_joint_limit_parameters" value="${xacro.load_yaml(joint_limits_parameters_file)}"/>
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<xacro:property name="config_kinematics_parameters" value="${xacro.load_yaml(kinematics_parameters_file)}"/>
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<xacro:property name="config_physical_parameters" value="${xacro.load_yaml(physical_parameters_file)}"/>
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<xacro:property name="config_visual_parameters" value="${xacro.load_yaml(visual_parameters_file)}"/>
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<xacro:property name="config_joint_dynamics" value="${xacro.load_yaml(joint_dynamics_parameters_file)}"/>
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<!-- Extract subsections from yaml dictionaries -->
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<xacro:property name="sec_limits" value="${config_joint_limit_parameters['joint_limits']}"/>
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<xacro:property name="sec_inertia_parameters" value="${config_physical_parameters['inertia_parameters']}" />
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<xacro:property name="sec_mesh_files" value="${config_visual_parameters['mesh_files']}" scope="parent"/>
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<xacro:property name="sec_kinematics" value="${config_kinematics_parameters['kinematics']}" />
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<xacro:property name="sec_joint_dynamics" value="${config_joint_dynamics['joint_dynamics']}" />
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<!-- JOINTS LIMIT PARAMETERS -->
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<xacro:property name="shoulder_pan_lower_limit" value="${sec_limits['shoulder_pan_joint']['min_position']}" scope="parent"/>
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<xacro:property name="wrist_3_velocity_limit" value="${sec_limits['wrist_3_joint']['max_velocity']}" scope="parent"/>
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<xacro:property name="wrist_3_effort_limit" value="${sec_limits['wrist_3_joint']['max_effort']}" scope="parent"/>
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<!-- JOINT DYNAMICS PARAMETERS -->
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<xacro:property name="shoulder_pan_damping" value="${sec_joint_dynamics['shoulder_pan_joint']['damping']}" scope="parent"/>
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<xacro:property name="shoulder_pan_friction" value="${sec_joint_dynamics['shoulder_pan_joint']['friction']}" scope="parent"/>
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<xacro:property name="shoulder_lift_damping" value="${sec_joint_dynamics['shoulder_lift_joint']['damping']}" scope="parent"/>
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<xacro:property name="shoulder_lift_friction" value="${sec_joint_dynamics['shoulder_lift_joint']['friction']}" scope="parent"/>
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<xacro:property name="elbow_joint_damping" value="${sec_joint_dynamics['elbow_joint']['damping']}" scope="parent"/>
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<xacro:property name="elbow_joint_friction" value="${sec_joint_dynamics['elbow_joint']['friction']}" scope="parent"/>
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<xacro:property name="wrist_1_damping" value="${sec_joint_dynamics['wrist_1_joint']['damping']}" scope="parent"/>
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<xacro:property name="wrist_1_friction" value="${sec_joint_dynamics['wrist_1_joint']['friction']}" scope="parent"/>
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<xacro:property name="wrist_2_damping" value="${sec_joint_dynamics['wrist_2_joint']['damping']}" scope="parent"/>
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<xacro:property name="wrist_2_friction" value="${sec_joint_dynamics['wrist_2_joint']['friction']}" scope="parent"/>
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<xacro:property name="wrist_3_damping" value="${sec_joint_dynamics['wrist_3_joint']['damping']}" scope="parent"/>
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<xacro:property name="wrist_3_friction" value="${sec_joint_dynamics['wrist_3_joint']['friction']}" scope="parent"/>
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<!-- DH PARAMETERS -->
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<xacro:property name="d1" value="${sec_dh_parameters['d1']}" scope="parent"/>
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<xacro:property name="a2" value="${sec_dh_parameters['a2']}" scope="parent"/>

‎urdf/ur.ros2_control.xacro‎

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<!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
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<ros2_control name="${name}" type="system">
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<!-- Hardware dependency injection from outside the macro-->
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<!-- Start hardware dependency injection from outside the macro-->
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<xacro:insert_block name="hardware_system" />
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<!-- -->
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<!-- End hardware dependency injection -->
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<joint name="${prefix}shoulder_pan_joint">
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<command_interface name="position">
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<param name="min">{-2*pi}</param>

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