save, urdf generation not working

resibots · Jun 15, 2016 · 39c0284 · 39c0284
1 parent 5b5b7ed
commit 39c0284
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Showing 3 changed files with 17 additions and 0 deletions.
diff --git a/hexapod_description/urdf/coucou.urdf b/hexapod_description/urdf/coucou.urdf
diff --git a/hexapod_description/urdf/modules/body.xacro b/hexapod_description/urdf/modules/body.xacro
@@ -1,6 +1,12 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
     <!-- TORSO -->
+    <link name = "dummy_link"/>
+    <joint name="dummy_link_fix" type="fixed">
+        <parent link="dummy_link"/>
+        <child link="base_link"/>
+        <origin rpy="0 0 -0.3" xyz="-0.14 -0.08 0"/>
+    </joint>
     <link name="base_link">
         <xacro:visuals_collisions_body/>
         <inertial>

diff --git a/hexapod_description/urdf/modules/leg.xacro b/hexapod_description/urdf/modules/leg.xacro
@@ -80,6 +80,17 @@
                 <inertia ixx="${1/12*leg3_mass*(leg3_width*leg3_width+leg3_length*leg3_length)}" ixy="0" ixz="0" iyy="${1/12*leg3_mass*(leg3_width*leg3_width+leg3_length*leg3_length)}" iyz="0" izz="${1/12*leg3_mass*(2*leg3_width*leg3_width)}"/>
             </inertial>
         </link>
+        <joint name="sensor_${index}_fix" type="fixed">
+            <parent link="leg_${index}_3"/>
+            <child link="sensor_${index}"/>
+            <origin rpy="0 0 -0.3" xyz="-0.14 -0.08 0"/>
+        </joint>
+        <link name="sensor_${index}"/>
+        <dart_sensor type="force">
+          <link>sensor_${index}</link>
+          <frequency>1000</frequency>
+          <topic>optoforce_${index}</topic>
+        </dart_sensor>
     </xacro:macro>
   <!-- END OF LEG LINKS/JOINTS -->
 </robot>