Skip to content

Add pre-commit routines for prettier formatting on Xacro, launch and package XML files #58

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
jjaime2 merged 3 commits into from
Mar 15, 2025
Merged

Add pre-commit routines for prettier formatting on Xacro, launch and package XML files #58

Show file tree
Hide file tree
Changes from 2 commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
dcdb3b0
Add pre-commit check for prettier formatting on Xacro, launch and pac…
jjaime2 Feb 26, 2025
2c0e6ad
Run pre-commit
jjaime2 Feb 26, 2025
4477ee7
Update repo for Xacro pre-commit hooks, now points to PRL repo
jjaime2 Mar 15, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 7 additions & 0 deletions .pre-commit-config.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -67,3 +67,10 @@ repos:
- id: codespell
args:
- --ignore-words=.codespell-ignore

- repo: https://github.com/jjaime2/pre-commit-hooks-ros
rev: v1.0.0
hooks:
- id: prettier-xacro
- id: prettier-launch-xml
- id: prettier-package-xml
13 changes: 9 additions & 4 deletions ada_calibrate_camera/launch/publish_camera_extrinsics_launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,12 +2,17 @@
Copyright (c) 2024-2025, Personal Robotics Laboratory
License: BSD 3-Clause. See LICENSE.md file in root directory.
-->

<launch>
<arg name="calibration_file_name" default="auto" description="Name of the calibration file to save" />
<arg name="log_level" default="info" description="Log level to pass to create_action_servers: debug, info, warn" />
<arg name="calibration_file_name" default="auto" description="Name of the calibration file to save"/>
<arg name="log_level" default="info" description="Log level to pass to create_action_servers: debug, info, warn"/>

<node pkg="ada_calibrate_camera" exec="publish_camera_extrinsics" name="publish_camera_extrinsics" respawn="true" args="--ros-args --log-level $(var log_level) --log-level rcl:=INFO --log-level rmw_cyclonedds_cpp:=INFO">
<node
pkg="ada_calibrate_camera"
exec="publish_camera_extrinsics"
name="publish_camera_extrinsics"
respawn="true"
args="--ros-args --log-level $(var log_level) --log-level rcl:=INFO --log-level rmw_cyclonedds_cpp:=INFO"
>
<param from="$(find-pkg-share ada_calibrate_camera)/config/calibs/$(var calibration_file_name).yaml"/>
</node>
</launch>
4 changes: 1 addition & 3 deletions ada_description/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,9 +3,7 @@
<package format="3">
<name>ada_description</name>
<version>0.0.2</version>
<description>
URDF description for Assistive Dexterous Arm
</description>
<description>URDF description for Assistive Dexterous Arm</description>

<author>Ethan K. Gordon</author>

Expand Down
118 changes: 86 additions & 32 deletions ada_description/urdf/ada.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,51 +1,82 @@
<?xml version="1.0"?>

<robot xmlns:xi="http://www.w3.org/2001/XInclude"
<robot
xmlns:xi="http://www.w3.org/2001/XInclude"
xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
xmlns:xacro="http://www.ros.org/wiki/xacro" name="ada">

xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
xmlns:xacro="http://www.ros.org/wiki/xacro"
name="ada"
>
<xacro:include filename="$(find ada_description)/urdf/forque/forque.xacro"/>
<xacro:include filename="$(find ada_description)/urdf/camera/camera.xacro"/>
<xacro:include filename="$(find ada_description)/urdf/j2n6s200.xacro"/>

<xacro:arg name="use_forque" default="true"/>
<xacro:arg
name="use_forque"
default="true"
/>

<link name="root"/>

<link name="root_tilt"/>
<joint name="robot_tilt" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0" />
<child link="root_tilt" />
<parent link="root" />
<joint
name="robot_tilt"
type="revolute"
>
<origin
xyz="0 0 0"
rpy="0 0 0"
/>
<child link="root_tilt"/>
<parent link="root"/>
<axis xyz="-1 0 0"/>
<!-- effort copied from j2n6s200 joint 2, velocity is max velocity the wheelchair can tilt,
lower and upper limits generously encompass the range of the wheelchair's tilt-->
<limit effort="80" velocity="0.15" lower="${-J_PI}" upper="${J_PI}"/>
<dynamics damping="0.0" friction="0.0"/>
<limit
effort="80"
velocity="0.15"
lower="${-J_PI}"
upper="${J_PI}"
/>
<dynamics
damping="0.0"
friction="0.0"
/>
</joint>

<xacro:property name="robot_root" value="root_tilt" />
<xacro:property
name="robot_root"
value="root_tilt"
/>

<xacro:j2n6s200 base_parent="${robot_root}"/>

<xacro:camera_assembly base_parent="j2n6s200_link_6" base_xyz="0.0165 0 0.0011" base_rpy="${3*J_PI/2} 0 ${3*J_PI/2}"/>
<xacro:camera_assembly
base_parent="j2n6s200_link_6"
base_xyz="0.0165 0 0.0011"
base_rpy="${3*J_PI/2} 0 ${3*J_PI/2}"
/>

<!-- Hard-coded Extrinsics -->
<link name="camera_link" />
<joint name="extrinsics" type="fixed">
<origin xyz="0.0194 -0.01606 0.029014" rpy="0.17234 -1.56127 2.96967" />
<parent link="cameraMount" />
<child link="camera_link" />
<link name="camera_link"/>
<joint
name="extrinsics"
type="fixed"
>
<origin
xyz="0.0194 -0.01606 0.029014"
rpy="0.17234 -1.56127 2.96967"
/>
<parent link="cameraMount"/>
<child link="camera_link"/>
</joint>
<!-- Copy Realsense in case of simulation -->
<!--
Expand All @@ -57,20 +88,43 @@
</joint>
-->

<xacro:forque_assembly_link link_name="FTArmMount" link_mesh="2024_01_18_FTArmMount" mass="0.03783" cog="0.010957 -0.019223 -0.03777">
<inertia ixx="0.000018817" iyy="0.00001119989" iyz="-0.00000120296" izz="0.000026883" ixy="-0.0000003327" ixz="-0.000000092476"/>
<xacro:forque_assembly_link
link_name="FTArmMount"
link_mesh="2024_01_18_FTArmMount"
mass="0.03783"
cog="0.010957 -0.019223 -0.03777"
>
<inertia
ixx="0.000018817"
iyy="0.00001119989"
iyz="-0.00000120296"
izz="0.000026883"
ixy="-0.0000003327"
ixz="-0.000000092476"
/>
</xacro:forque_assembly_link>
<xacro:forque_assembly_joint joint_name="FTArmMount_to_arm" parent="j2n6s200_link_6" child="FTArmMount" joint_origin_xyz="0.0065 -0.011 -0.0075" joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}"/>
<xacro:forque_assembly_joint
joint_name="FTArmMount_to_arm"
parent="j2n6s200_link_6"
child="FTArmMount"
joint_origin_xyz="0.0065 -0.011 -0.0075"
joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}"
/>

<xacro:if value="$(arg use_forque)">
<xacro:forque_assembly base_parent="FTArmMount"/>

<link name="FTSensor" />
<joint name="EE_to_FTSensor" type="fixed">
<child link="FTSensor"/>
<parent link="j2n6s200_end_effector"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.092"/>
<link name="FTSensor"/>
<joint
name="EE_to_FTSensor"
type="fixed"
>
<child link="FTSensor"/>
<parent link="j2n6s200_end_effector"/>
<origin
rpy="0 0 0"
xyz="0.0 0.0 0.092"
/>
</joint>
</xacro:if>

</robot>
Loading