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Commit 2e1fee2f authored by gavanderhoorn's avatar gavanderhoorn
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description: add '_joint' suffix to newly introduced joint tags. 

This is more in-line with naming of existing joint tags.
parent db6b1637
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ur_description/urdf/ur10.urdf.xacro
+ 2
− 2
View file @ 2e1fee2f
...@@ -302,7 +302,7 @@ ...@@ -302,7 +302,7 @@
<!-- ROS base_link to UR 'Base' Coordinates transform --> <!-- ROS base_link to UR 'Base' Coordinates transform -->
<link name="${prefix}base"/> <link name="${prefix}base"/>
<joint name="${prefix}base_link-base" type="fixed"> <joint name="${prefix}base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is <!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180 not corrected wrt the real robot (ie: rotated over 180
degrees) degrees)
...@@ -314,7 +314,7 @@ ...@@ -314,7 +314,7 @@
<!-- Frame coincident with all-zeros TCP on UR controller --> <!-- Frame coincident with all-zeros TCP on UR controller -->
<link name="${prefix}tool0"/> <link name="${prefix}tool0"/>
<joint name="${prefix}wrist_3_link-tool0" type="fixed"> <joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed">
<origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/> <origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
<parent link="${prefix}wrist_3_link"/> <parent link="${prefix}wrist_3_link"/>
<child link="${prefix}tool0"/> <child link="${prefix}tool0"/>
......
ur_description/urdf/ur10_joint_limited_robot.urdf
+ 2
− 2
View file @ 2e1fee2f
...@@ -283,7 +283,7 @@ ...@@ -283,7 +283,7 @@
</actuator> </actuator>
</transmission> </transmission>
<link name="base"/> <link name="base"/>
<joint name="base_link-base" type="fixed"> <joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is <!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180 not corrected wrt the real robot (ie: rotated over 180
degrees) degrees)
...@@ -293,7 +293,7 @@ ...@@ -293,7 +293,7 @@
<child link="base"/> <child link="base"/>
</joint> </joint>
<link name="tool0"/> <link name="tool0"/>
<joint name="wrist_3_link-tool0" type="fixed"> <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.570796325 0 0" xyz="0 0.0922 0"/> <origin rpy="-1.570796325 0 0" xyz="0 0.0922 0"/>
<parent link="wrist_3_link"/> <parent link="wrist_3_link"/>
<child link="tool0"/> <child link="tool0"/>
......
ur_description/urdf/ur10_robot.urdf
+ 2
− 2
View file @ 2e1fee2f
...@@ -283,7 +283,7 @@ ...@@ -283,7 +283,7 @@
</actuator> </actuator>
</transmission> </transmission>
<link name="base"/> <link name="base"/>
<joint name="base_link-base" type="fixed"> <joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is <!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180 not corrected wrt the real robot (ie: rotated over 180
degrees) degrees)
...@@ -293,7 +293,7 @@ ...@@ -293,7 +293,7 @@
<child link="base"/> <child link="base"/>
</joint> </joint>
<link name="tool0"/> <link name="tool0"/>
<joint name="wrist_3_link-tool0" type="fixed"> <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.570796325 0 0" xyz="0 0.0922 0"/> <origin rpy="-1.570796325 0 0" xyz="0 0.0922 0"/>
<parent link="wrist_3_link"/> <parent link="wrist_3_link"/>
<child link="tool0"/> <child link="tool0"/>
......
ur_description/urdf/ur5.urdf.xacro
+ 2
− 2
View file @ 2e1fee2f
...@@ -317,7 +317,7 @@ ...@@ -317,7 +317,7 @@
<!-- ROS base_link to UR 'Base' Coordinates transform --> <!-- ROS base_link to UR 'Base' Coordinates transform -->
<link name="${prefix}base"/> <link name="${prefix}base"/>
<joint name="${prefix}base_link-base" type="fixed"> <joint name="${prefix}base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is <!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180 not corrected wrt the real robot (ie: rotated over 180
degrees) degrees)
...@@ -329,7 +329,7 @@ ...@@ -329,7 +329,7 @@
<!-- Frame coincident with all-zeros TCP on UR controller --> <!-- Frame coincident with all-zeros TCP on UR controller -->
<link name="${prefix}tool0"/> <link name="${prefix}tool0"/>
<joint name="${prefix}wrist_3_link-tool0" type="fixed"> <joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed">
<origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/> <origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
<parent link="${prefix}wrist_3_link"/> <parent link="${prefix}wrist_3_link"/>
<child link="${prefix}tool0"/> <child link="${prefix}tool0"/>
......
ur_description/urdf/ur5_joint_limited_robot.urdf
+ 2
− 2
View file @ 2e1fee2f
...@@ -283,7 +283,7 @@ ...@@ -283,7 +283,7 @@
</actuator> </actuator>
</transmission> </transmission>
<link name="base"/> <link name="base"/>
<joint name="base_link-base" type="fixed"> <joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is <!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180 not corrected wrt the real robot (ie: rotated over 180
degrees) degrees)
...@@ -293,7 +293,7 @@ ...@@ -293,7 +293,7 @@
<child link="base"/> <child link="base"/>
</joint> </joint>
<link name="tool0"/> <link name="tool0"/>
<joint name="wrist_3_link-tool0" type="fixed"> <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.570796325 0 0" xyz="0 0.0823 0"/> <origin rpy="-1.570796325 0 0" xyz="0 0.0823 0"/>
<parent link="wrist_3_link"/> <parent link="wrist_3_link"/>
<child link="tool0"/> <child link="tool0"/>
......
ur_description/urdf/ur5_robot.urdf
+ 2
− 2
View file @ 2e1fee2f
...@@ -283,7 +283,7 @@ ...@@ -283,7 +283,7 @@
</actuator> </actuator>
</transmission> </transmission>
<link name="base"/> <link name="base"/>
<joint name="base_link-base" type="fixed"> <joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is <!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180 not corrected wrt the real robot (ie: rotated over 180
degrees) degrees)
...@@ -293,7 +293,7 @@ ...@@ -293,7 +293,7 @@
<child link="base"/> <child link="base"/>
</joint> </joint>
<link name="tool0"/> <link name="tool0"/>
<joint name="wrist_3_link-tool0" type="fixed"> <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.570796325 0 0" xyz="0 0.0823 0"/> <origin rpy="-1.570796325 0 0" xyz="0 0.0823 0"/>
<parent link="wrist_3_link"/> <parent link="wrist_3_link"/>
<child link="tool0"/> <child link="tool0"/>
......
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