Merge pull request #23 from abubeck/groovy_dev

Added calibrations for rob@work towers
ipa320 · Aug 8, 2013 · bde7671 · bde7671
2 parents 5cb10ef + a6d7a4d
commit bde7671
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Showing 9 changed files with 91 additions and 4 deletions.
diff --git a/raw3-1/calibration/calibration.urdf.xacro b/raw3-1/calibration/calibration.urdf.xacro
@@ -6,6 +6,16 @@
 	<!-- *********************** -->
 	<!-- upper robot calibration -->
 	<!-- *********************** -->
+
+	<!-- tower mount positions | relative to base_link -->
+	<property name="tower_x" value="${def_tower_x+offset_tower_x}"/>
+	<property name="tower_y" value="${def_tower_y+offset_tower_y}"/>
+	<property name="tower_z" value="${def_tower_z+offset_tower_z}"/>
+	<property name="tower_roll" value="${def_tower_roll+offset_tower_roll}"/>
+	<property name="tower_pitch" value="${def_tower_pitch+offset_tower_pitch}"/>
+	<property name="tower_yaw" value="${def_tower_yaw+offset_tower_yaw}"/>
+
+
 	<!-- torso mount positions | relative to base_link -->
 	<property name="torso_x" value="${def_torso_x+offset_torso_x}"/>
 	<property name="torso_y" value="${def_torso_y+offset_torso_y}"/>

diff --git a/raw3-1/calibration/calibration_default.urdf.xacro b/raw3-1/calibration/calibration_default.urdf.xacro
@@ -5,6 +5,14 @@
 	<!-- kinematic chain reference positions -->
 	<!-- *********************************** -->
 
+	<!-- tower mount positions | relative to base_link -->
+	<property name="def_tower_x" value="0.357"/>
+	<property name="def_tower_y" value="0.0"/>
+	<property name="def_tower_z" value="0.306"/>
+	<property name="def_tower_roll" value="0.0"/>
+	<property name="def_tower_pitch" value="0.0"/>
+	<property name="def_tower_yaw" value="3.14159265359"/>
+
 	<!-- torso reference positions | used as calibration_rising for torso chain -->
 	<!-- ! set these values to make torso straight with (0, 0, 0) joint angles ! -->
 	<property name="torso_pan_ref" value="-0.4363323130"/>

diff --git a/raw3-1/calibration/calibration_offset.urdf.xacro b/raw3-1/calibration/calibration_offset.urdf.xacro
@@ -4,6 +4,14 @@
 	<!-- upper robot calibration -->
 	<!-- *********************** -->
 
+	<!-- tower mount positions | relative to base_link -->
+	<property name="offset_tower_x" value="0.0"/>
+	<property name="offset_tower_y" value="0.0"/>
+	<property name="offset_tower_z" value="0.0"/>
+	<property name="offset_tower_roll" value="0.0"/>
+	<property name="offset_tower_pitch" value="0.0"/>
+	<property name="offset_tower_yaw" value="0.0"/>	
+
 	<!-- torso mount positions | relative to base_link -->
 	<property name="offset_torso_x" value="0.0"/>
 	<property name="offset_torso_y" value="0.0"/>

diff --git a/raw3-2/calibration/calibration.urdf.xacro b/raw3-2/calibration/calibration.urdf.xacro
@@ -3,4 +3,15 @@
 	<include filename="$(find cob_calibration_data)/raw3-2/calibration/calibration_default.urdf.xacro" />
 	<include filename="$(find cob_calibration_data)/raw3-2/calibration/calibration_offset.urdf.xacro" />>
 
+	<!-- *********************** -->
+	<!-- upper robot calibration -->
+	<!-- *********************** -->
+	<!-- tower mount positions | relative to base_link -->
+	<property name="tower_x" value="${def_tower_x+offset_tower_x}"/>
+	<property name="tower_y" value="${def_tower_y+offset_tower_y}"/>
+	<property name="tower_z" value="${def_tower_z+offset_tower_z}"/>
+	<property name="tower_roll" value="${def_tower_roll+offset_tower_roll}"/>
+	<property name="tower_pitch" value="${def_tower_pitch+offset_tower_pitch}"/>
+	<property name="tower_yaw" value="${def_tower_yaw+offset_tower_yaw}"/>
+
 </robot>
diff --git a/raw3-2/calibration/calibration_default.urdf.xacro b/raw3-2/calibration/calibration_default.urdf.xacro
@@ -1,4 +1,14 @@
 <?xml version="1.0"?>
 <robot>
-
+	<!-- *********************************** -->
+	<!-- kinematic chain reference positions -->
+	<!-- *********************************** -->
+
+	<!-- tower mount positions | relative to base_link -->
+	<property name="def_tower_x" value="0.356"/>
+	<property name="def_tower_y" value="0.0"/>
+	<property name="def_tower_z" value="0.306"/>
+	<property name="def_tower_roll" value="0.0"/>
+	<property name="def_tower_pitch" value="0.0"/>
+	<property name="def_tower_yaw" value="3.14159265359"/>
 </robot>
diff --git a/raw3-2/calibration/calibration_offset.urdf.xacro b/raw3-2/calibration/calibration_offset.urdf.xacro
@@ -1,4 +1,15 @@
 <?xml version="1.0" ?>
 <robot>
-
+
+	<!-- *********************************** -->
+	<!-- kinematic chain reference positions -->
+	<!-- *********************************** -->
+
+	<!-- tower mount positions | relative to base_link -->
+	<property name="offset_tower_x" value="0.0"/>
+	<property name="offset_tower_y" value="0.0"/>
+	<property name="offset_tower_z" value="0.0"/>
+	<property name="offset_tower_roll" value="0.0"/>
+	<property name="offset_tower_pitch" value="0.0"/>
+	<property name="offset_tower_yaw" value="0.0"/>	
 </robot>
diff --git a/raw3-4/calibration/calibration.urdf.xacro b/raw3-4/calibration/calibration.urdf.xacro
@@ -1,6 +1,14 @@
 <?xml version="1.0"?>
 <robot>
 	<include filename="$(find cob_calibration_data)/raw3-4/calibration/calibration_default.urdf.xacro" />
-	<include filename="$(find cob_calibration_data)/raw3-4/calibration/calibration_offset.urdf.xacro" />>
+	<include filename="$(find cob_calibration_data)/raw3-4/calibration/calibration_offset.urdf.xacro" />
+
+	<!-- tower mount positions | relative to base_link -->
+	<property name="tower_x" value="${def_tower_x+offset_tower_x}"/>
+	<property name="tower_y" value="${def_tower_y+offset_tower_y}"/>
+	<property name="tower_z" value="${def_tower_z+offset_tower_z}"/>
+	<property name="tower_roll" value="${def_tower_roll+offset_tower_roll}"/>
+	<property name="tower_pitch" value="${def_tower_pitch+offset_tower_pitch}"/>
+	<property name="tower_yaw" value="${def_tower_yaw+offset_tower_yaw}"/>
 
 </robot>
diff --git a/raw3-4/calibration/calibration_default.urdf.xacro b/raw3-4/calibration/calibration_default.urdf.xacro
@@ -1,4 +1,14 @@
 <?xml version="1.0"?>
 <robot>
-
+	<!-- *********************************** -->
+	<!-- kinematic chain reference positions -->
+	<!-- *********************************** -->
+
+	<!-- tower mount positions | relative to base_link -->
+	<property name="def_tower_x" value="0.357"/>
+	<property name="def_tower_y" value="0.0"/>
+	<property name="def_tower_z" value="0.306"/>
+	<property name="def_tower_roll" value="0.0"/>
+	<property name="def_tower_pitch" value="0.0"/>
+	<property name="def_tower_yaw" value="3.14159265359"/>
 </robot>
diff --git a/raw3-4/calibration/calibration_offset.urdf.xacro b/raw3-4/calibration/calibration_offset.urdf.xacro
@@ -1,4 +1,15 @@
 <?xml version="1.0" ?>
 <robot>
+	<!-- *********************** -->
+	<!-- upper robot calibration -->
+	<!-- *********************** -->
+
+	<!-- tower mount positions | relative to base_link -->
+	<property name="offset_tower_x" value="0.0"/>
+	<property name="offset_tower_y" value="0.0"/>
+	<property name="offset_tower_z" value="0.0"/>
+	<property name="offset_tower_roll" value="0.0"/>
+	<property name="offset_tower_pitch" value="0.0"/>
+	<property name="offset_tower_yaw" value="0.0"/>	
 
 </robot>