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Fix xacro warnings in Jade #251

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Dec 29, 2016
Merged

Fix xacro warnings in Jade #251

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4 changes: 2 additions & 2 deletions ur10_moveit_config/launch/planning_context.launch
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<!-- Load universal robot description format (URDF) -->
<group if="$(arg load_robot_description)">
<param unless="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur10_robot.urdf.xacro'" />
<param if="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur10_joint_limited_robot.urdf.xacro'" />
<param unless="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur10_robot.urdf.xacro'" />
<param if="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur10_joint_limited_robot.urdf.xacro'" />
</group>

<!-- The semantic description that corresponds to the URDF -->
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4 changes: 2 additions & 2 deletions ur3_moveit_config/launch/planning_context.launch
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<!-- Load universal robot description format (URDF) -->
<group if="$(arg load_robot_description)">
<param unless="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur3_robot.urdf.xacro'" />
<param if="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur3_joint_limited_robot.urdf.xacro'" />
<param unless="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur3_robot.urdf.xacro'" />
<param if="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur3_joint_limited_robot.urdf.xacro'" />
</group>

<!-- The semantic description that corresponds to the URDF -->
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4 changes: 2 additions & 2 deletions ur5_moveit_config/launch/planning_context.launch
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<!-- Load universal robot description format (URDF) -->
<group if="$(arg load_robot_description)">
<param unless="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />
<param if="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro'" />
<param unless="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />
<param if="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro'" />
</group>

<!-- The semantic description that corresponds to the URDF -->
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4 changes: 2 additions & 2 deletions ur_description/launch/ur10_upload.launch
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<launch>
<arg name="limited" default="false"/>

<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur10_robot.urdf.xacro'" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur10_joint_limited_robot.urdf.xacro'" />
<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur10_robot.urdf.xacro'" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur10_joint_limited_robot.urdf.xacro'" />
</launch>
4 changes: 2 additions & 2 deletions ur_description/launch/ur3_upload.launch
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<launch>
<arg name="limited" default="false"/>

<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur3_robot.urdf.xacro'" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur3_joint_limited_robot.urdf.xacro'" />
<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur3_robot.urdf.xacro'" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur3_joint_limited_robot.urdf.xacro'" />
</launch>
4 changes: 2 additions & 2 deletions ur_description/launch/ur5_upload.launch
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<launch>
<arg name="limited" default="false"/>

<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro'" />
<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro'" />
</launch>
2 changes: 1 addition & 1 deletion ur_description/urdf/common.gazebo.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<robot xmlns:xacro="http://ros.org/wiki/xacro">

<gazebo>
<plugin name="ros_control" filename="libgazebo_ros_control.so">
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2 changes: 1 addition & 1 deletion ur_description/urdf/ur.gazebo.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<robot xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:macro name="ur_arm_gazebo" params="prefix">
<!-- nothing to do here at the moment -->
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2 changes: 1 addition & 1 deletion ur_description/urdf/ur.transmission.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<robot xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:macro name="ur_arm_transmission" params="prefix">

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64 changes: 31 additions & 33 deletions ur_description/urdf/ur10.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<robot xmlns:xacro="http://ros.org/wiki/xacro">

<!--
Author: Kelsey Hawkins
Contributers: Jimmy Da Silva, Ajit Krisshna N L, Muhammad Asif Rana
Author: Kelsey Hawkins
Contributers: Jimmy Da Silva, Ajit Krisshna N L, Muhammad Asif Rana
-->

<xacro:include filename="$(find ur_description)/urdf/ur.transmission.xacro" />
<xacro:include filename="$(find ur_description)/urdf/ur.gazebo.xacro" />

<property name="pi" value="3.14159265" />

<!-- Inertia parameters -->
<property name="base_mass" value="4.0" /> <!-- This mass might be incorrect -->
<property name="shoulder_mass" value="7.778" />
<property name="upper_arm_mass" value="12.93" />
<property name="forearm_mass" value="3.87" />
<property name="wrist_1_mass" value="1.96" />
<property name="wrist_2_mass" value="1.96" />
<property name="wrist_3_mass" value="0.202" />
<xacro:property name="base_mass" value="4.0" /> <!-- This mass might be incorrect -->
<xacro:property name="shoulder_mass" value="7.778" />
<xacro:property name="upper_arm_mass" value="12.93" />
<xacro:property name="forearm_mass" value="3.87" />
<xacro:property name="wrist_1_mass" value="1.96" />
<xacro:property name="wrist_2_mass" value="1.96" />
<xacro:property name="wrist_3_mass" value="0.202" />

<!-- These parameters are borrowed from the urcontrol.conf file
but are not verified for the correct permutation.
The permutation was guessed by looking at the UR5 parameters.
Serious use of these parameters needs further inspection. -->
<property name="shoulder_cog" value="0.00008 0.00244 -0.037" />
<property name="upper_arm_cog" value="0.00001 0.15061 0.38757" />
<property name="forearm_cog" value="-0.00012 0.06112 0.1984" />
<property name="wrist_1_cog" value="-0.00021 -0.00112 0.02269" />
<property name="wrist_2_cog" value="-0.00021 0.00112 0.002269" />
<property name="wrist_3_cog" value="0 -0.001156 -0.00149" />
<xacro:property name="shoulder_cog" value="0.00008 0.00244 -0.037" />
<xacro:property name="upper_arm_cog" value="0.00001 0.15061 0.38757" />
<xacro:property name="forearm_cog" value="-0.00012 0.06112 0.1984" />
<xacro:property name="wrist_1_cog" value="-0.00021 -0.00112 0.02269" />
<xacro:property name="wrist_2_cog" value="-0.00021 0.00112 0.002269" />
<xacro:property name="wrist_3_cog" value="0 -0.001156 -0.00149" />

<!-- Kinematic model -->
<!-- Properties from urcontrol.conf -->
<property name="ur10_d1" value="0.1273" />
<property name="ur10_a2" value="-0.612" />
<property name="ur10_a3" value="-0.5723" />
<property name="ur10_d4" value="0.163941" />
<property name="ur10_d5" value="0.1157" />
<property name="ur10_d6" value="0.0922" />
<xacro:property name="ur10_d1" value="0.1273" />
<xacro:property name="ur10_a2" value="-0.612" />
<xacro:property name="ur10_a3" value="-0.5723" />
<xacro:property name="ur10_d4" value="0.163941" />
<xacro:property name="ur10_d5" value="0.1157" />
<xacro:property name="ur10_d6" value="0.0922" />

<!-- Arbitrary offsets for shoulder/elbow joints -->
<property name="shoulder_offset" value="0.220941" /> <!-- measured from model -->
<property name="elbow_offset" value="-0.1719" /> <!-- measured from model -->
<xacro:property name="shoulder_offset" value="0.220941" /> <!-- measured from model -->
<xacro:property name="elbow_offset" value="-0.1719" /> <!-- measured from model -->

<!-- link lengths used in model -->
<property name="shoulder_height" value="${ur10_d1}" />
<property name="upper_arm_length" value="${-ur10_a2}" />
<property name="forearm_length" value="${-ur10_a3}" />
<property name="wrist_1_length" value="${ur10_d4 - elbow_offset - shoulder_offset}" />
<property name="wrist_2_length" value="${ur10_d5}" />
<property name="wrist_3_length" value="${ur10_d6}" />
<xacro:property name="shoulder_height" value="${ur10_d1}" />
<xacro:property name="upper_arm_length" value="${-ur10_a2}" />
<xacro:property name="forearm_length" value="${-ur10_a3}" />
<xacro:property name="wrist_1_length" value="${ur10_d4 - elbow_offset - shoulder_offset}" />
<xacro:property name="wrist_2_length" value="${ur10_d5}" />
<xacro:property name="wrist_3_length" value="${ur10_d6}" />

<xacro:macro name="cylinder_inertial" params="radius length mass *origin">
<inertial>
<mass value="${mass}" />
<insert_block name="origin" />
<xacro:insert_block name="origin" />
<inertia ixx="${0.0833333 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0"
iyy="${0.0833333 * mass * (3 * radius * radius + length * length)}" iyz="0.0"
izz="${0.5 * mass * radius * radius}" />
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2 changes: 1 addition & 1 deletion ur_description/urdf/ur10_joint_limited_robot.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
<robot xmlns:xacro="http://ros.org/wiki/xacro"
name="ur10" >

<!-- common stuff -->
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2 changes: 1 addition & 1 deletion ur_description/urdf/ur10_robot.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
<robot xmlns:xacro="http://ros.org/wiki/xacro"
name="ur10" >

<!-- common stuff -->
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60 changes: 29 additions & 31 deletions ur_description/urdf/ur3.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<robot xmlns:xacro="http://ros.org/wiki/xacro">

<!--
Author: Felix Messmer
Expand All @@ -8,53 +8,51 @@
<xacro:include filename="$(find ur_description)/urdf/ur.transmission.xacro" />
<xacro:include filename="$(find ur_description)/urdf/ur.gazebo.xacro" />

<property name="pi" value="3.14159265" />

<!-- Inertia parameters -->
<property name="base_mass" value="2.0" /> <!-- This mass might be incorrect -->
<property name="shoulder_mass" value="2.0" />
<property name="upper_arm_mass" value="3.42" />
<property name="forearm_mass" value="1.26" />
<property name="wrist_1_mass" value="0.8" />
<property name="wrist_2_mass" value="0.8" />
<property name="wrist_3_mass" value="0.35" />
<xacro:property name="base_mass" value="2.0" /> <!-- This mass might be incorrect -->
<xacro:property name="shoulder_mass" value="2.0" />
<xacro:property name="upper_arm_mass" value="3.42" />
<xacro:property name="forearm_mass" value="1.26" />
<xacro:property name="wrist_1_mass" value="0.8" />
<xacro:property name="wrist_2_mass" value="0.8" />
<xacro:property name="wrist_3_mass" value="0.35" />

<!-- These parameters are borrowed from the urcontrol.conf file
but are not verified for the correct permutation.
The permutation was guessed by looking at the UR5 parameters.
Serious use of these parameters needs further inspection. -->
<property name="shoulder_cog" value="0.0 -0.02 0.0" />
<property name="upper_arm_cog" value="0.13 0.0 0.1157" />
<property name="forearm_cog" value="0.05 0.0 0.0238" />
<property name="wrist_1_cog" value="0.0 0.0 0.01" />
<property name="wrist_2_cog" value="0.0 0.0 0.01" />
<property name="wrist_3_cog" value="0.0 0.0 -0.02" />
<xacro:property name="shoulder_cog" value="0.0 -0.02 0.0" />
<xacro:property name="upper_arm_cog" value="0.13 0.0 0.1157" />
<xacro:property name="forearm_cog" value="0.05 0.0 0.0238" />
<xacro:property name="wrist_1_cog" value="0.0 0.0 0.01" />
<xacro:property name="wrist_2_cog" value="0.0 0.0 0.01" />
<xacro:property name="wrist_3_cog" value="0.0 0.0 -0.02" />

<!-- Kinematic model -->
<!-- Properties from urcontrol.conf -->
<property name="ur3_d1" value="0.1519" />
<property name="ur3_a2" value="-0.24365" />
<property name="ur3_a3" value="-0.21325" />
<property name="ur3_d4" value="0.11235" />
<property name="ur3_d5" value="0.08535" />
<property name="ur3_d6" value="0.0819" />
<xacro:property name="ur3_d1" value="0.1519" />
<xacro:property name="ur3_a2" value="-0.24365" />
<xacro:property name="ur3_a3" value="-0.21325" />
<xacro:property name="ur3_d4" value="0.11235" />
<xacro:property name="ur3_d5" value="0.08535" />
<xacro:property name="ur3_d6" value="0.0819" />

<!-- Arbitrary offsets for shoulder/elbow joints -->
<property name="shoulder_offset" value="0.1198" /> <!-- measured from model -->
<property name="elbow_offset" value="-0.0925" /> <!-- measured from model -->
<xacro:property name="shoulder_offset" value="0.1198" /> <!-- measured from model -->
<xacro:property name="elbow_offset" value="-0.0925" /> <!-- measured from model -->

<!-- link lengths used in model -->
<property name="shoulder_height" value="${ur3_d1}" />
<property name="upper_arm_length" value="${-ur3_a2}" />
<property name="forearm_length" value="${-ur3_a3}" />
<property name="wrist_1_length" value="${ur3_d4 - elbow_offset - shoulder_offset}" />
<property name="wrist_2_length" value="${ur3_d5}" />
<property name="wrist_3_length" value="${ur3_d6}" />
<xacro:property name="shoulder_height" value="${ur3_d1}" />
<xacro:property name="upper_arm_length" value="${-ur3_a2}" />
<xacro:property name="forearm_length" value="${-ur3_a3}" />
<xacro:property name="wrist_1_length" value="${ur3_d4 - elbow_offset - shoulder_offset}" />
<xacro:property name="wrist_2_length" value="${ur3_d5}" />
<xacro:property name="wrist_3_length" value="${ur3_d6}" />

<xacro:macro name="cylinder_inertial" params="radius length mass *origin">
<inertial>
<mass value="${mass}" />
<insert_block name="origin" />
<xacro:insert_block name="origin" />
<inertia ixx="${0.0833333 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0"
iyy="${0.0833333 * mass * (3 * radius * radius + length * length)}" iyz="0.0"
izz="${0.5 * mass * radius * radius}" />
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2 changes: 1 addition & 1 deletion ur_description/urdf/ur3_joint_limited_robot.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
<robot xmlns:xacro="http://ros.org/wiki/xacro"
name="ur3" >

<!-- common stuff -->
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2 changes: 1 addition & 1 deletion ur_description/urdf/ur3_robot.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
<robot xmlns:xacro="http://ros.org/wiki/xacro"
name="ur3" >

<!-- common stuff -->
Expand Down
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