From d735627e3882f6eaa95e8a01f6fa5ca804a0c6c4 Mon Sep 17 00:00:00 2001
From: Kelsey <kphawkins@gmail.com>
Date: Wed, 9 Jul 2014 12:18:28 -0400
Subject: [PATCH] Changing base_link to ur_base_link in the description and
making base_link a dummy link to better support MoveIt.
---
ur10_moveit_config/.setup_assistant | 2 +-
ur10_moveit_config/config/fake_controllers.yaml | 2 +-
ur10_moveit_config/config/kinematics.yaml | 8 +-------
ur10_moveit_config/package.xml | 2 +-
ur5_moveit_config/.setup_assistant | 2 +-
ur5_moveit_config/config/ur5.srdf | 2 +-
ur5_moveit_config/package.xml | 2 +-
ur_description/urdf/ur10.urdf.xacro | 11 ++++++++++-
ur_description/urdf/ur10_joint_limited.urdf.xacro | 11 ++++++++++-
ur_description/urdf/ur5.urdf.xacro | 11 ++++++++++-
ur_description/urdf/ur5_joint_limited.urdf.xacro | 11 ++++++++++-
11 files changed, 47 insertions(+), 17 deletions(-)
diff --git a/ur10_moveit_config/.setup_assistant b/ur10_moveit_config/.setup_assistant
index 6216ff4..475e263 100644
--- a/ur10_moveit_config/.setup_assistant
+++ b/ur10_moveit_config/.setup_assistant
@@ -5,4 +5,4 @@ moveit_setup_assistant_config:
SRDF:
relative_path: config/ur10.srdf
CONFIG:
- generated_timestamp: 1395339352
\ No newline at end of file
+ generated_timestamp: 1404841877
\ No newline at end of file
diff --git a/ur10_moveit_config/config/fake_controllers.yaml b/ur10_moveit_config/config/fake_controllers.yaml
index ea35b78..a7300cf 100644
--- a/ur10_moveit_config/config/fake_controllers.yaml
+++ b/ur10_moveit_config/config/fake_controllers.yaml
@@ -6,4 +6,4 @@ controller_list:
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- - wrist_3_joint
+ - wrist_3_joint
\ No newline at end of file
diff --git a/ur10_moveit_config/config/kinematics.yaml b/ur10_moveit_config/config/kinematics.yaml
index 8168af8..969ba14 100644
--- a/ur10_moveit_config/config/kinematics.yaml
+++ b/ur10_moveit_config/config/kinematics.yaml
@@ -2,10 +2,4 @@ manipulator:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
- kinematics_solver_attempts: 3
-
-manipulator_new:
- kinematics_solver: ur_kinematics/UR10KinematicsPlugin
- kinematics_solver_search_resolution: 0.005
- kinematics_solver_timeout: 0.005
- kinematics_solver_attempts: 3
+ kinematics_solver_attempts: 3
\ No newline at end of file
diff --git a/ur10_moveit_config/package.xml b/ur10_moveit_config/package.xml
index 9a4f0d6..1507287 100644
--- a/ur10_moveit_config/package.xml
+++ b/ur10_moveit_config/package.xml
@@ -1,7 +1,7 @@
<package>
<name>ur10_moveit_config</name>
- <version>1.0.2</version>
+ <version>1.0.3</version>
<description>
An automatically generated package with all the configuration and launch files for using the ur10 with the MoveIt Motion Planning Framework
</description>
diff --git a/ur5_moveit_config/.setup_assistant b/ur5_moveit_config/.setup_assistant
index da441fc..29410e5 100644
--- a/ur5_moveit_config/.setup_assistant
+++ b/ur5_moveit_config/.setup_assistant
@@ -5,4 +5,4 @@ moveit_setup_assistant_config:
SRDF:
relative_path: config/ur5.srdf
CONFIG:
- generated_timestamp: 1395340824
\ No newline at end of file
+ generated_timestamp: 1404842691
\ No newline at end of file
diff --git a/ur5_moveit_config/config/ur5.srdf b/ur5_moveit_config/config/ur5.srdf
index 21165b5..a24eb2c 100644
--- a/ur5_moveit_config/config/ur5.srdf
+++ b/ur5_moveit_config/config/ur5.srdf
@@ -34,7 +34,7 @@
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
- <disable_collisions link1="base_link" link2="shoulder_link" reason="Adjacent" />
+ <disable_collisions link1="shoulder_link" link2="ur_base_link" reason="Adjacent" />
<disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent" />
<disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent" />
<disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent" />
diff --git a/ur5_moveit_config/package.xml b/ur5_moveit_config/package.xml
index 38abf30..110f881 100644
--- a/ur5_moveit_config/package.xml
+++ b/ur5_moveit_config/package.xml
@@ -1,7 +1,7 @@
<package>
<name>ur5_moveit_config</name>
- <version>1.0.2</version>
+ <version>1.0.3</version>
<description>
An automatically generated package with all the configuration and launch files for using the ur5 with the MoveIt Motion Planning Framework
</description>
diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
index d956482..f139dd4 100644
--- a/ur_description/urdf/ur10.urdf.xacro
+++ b/ur_description/urdf/ur10.urdf.xacro
@@ -51,6 +51,15 @@
<xacro:macro name="ur10_robot" params="prefix">
<link name="${prefix}base_link" >
+ </link>
+
+ <joint name="${prefix}base_link_joint" type="fixed">
+ <parent link="${prefix}base_link" />
+ <child link = "${prefix}ur_base_link" />
+ <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+ </joint>
+
+ <link name="${prefix}ur_base_link" >
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/Base.stl" />
@@ -73,7 +82,7 @@
</link>
<joint name="${prefix}shoulder_pan_joint" type="revolute">
- <parent link="${prefix}base_link" />
+ <parent link="${prefix}ur_base_link" />
<child link = "${prefix}shoulder_link" />
<origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
diff --git a/ur_description/urdf/ur10_joint_limited.urdf.xacro b/ur_description/urdf/ur10_joint_limited.urdf.xacro
index d7b9753..1f4860c 100644
--- a/ur_description/urdf/ur10_joint_limited.urdf.xacro
+++ b/ur_description/urdf/ur10_joint_limited.urdf.xacro
@@ -51,6 +51,15 @@
<xacro:macro name="ur10_robot" params="prefix">
<link name="${prefix}base_link" >
+ </link>
+
+ <joint name="${prefix}base_link_joint" type="fixed">
+ <parent link="${prefix}base_link" />
+ <child link = "${prefix}ur_base_link" />
+ <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+ </joint>
+
+ <link name="${prefix}ur_base_link" >
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/Base.stl" />
@@ -73,7 +82,7 @@
</link>
<joint name="${prefix}shoulder_pan_joint" type="revolute">
- <parent link="${prefix}base_link" />
+ <parent link="${prefix}ur_base_link" />
<child link = "${prefix}shoulder_link" />
<origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro
index 2cba887..843f385 100644
--- a/ur_description/urdf/ur5.urdf.xacro
+++ b/ur_description/urdf/ur5.urdf.xacro
@@ -52,6 +52,15 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<xacro:macro name="ur5_robot" params="prefix">
<link name="${prefix}base_link" >
+ </link>
+
+ <joint name="${prefix}base_link_joint" type="fixed">
+ <parent link="${prefix}base_link" />
+ <child link = "${prefix}ur_base_link" />
+ <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+ </joint>
+
+ <link name="${prefix}ur_base_link" >
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/Base.dae" />
@@ -71,7 +80,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
</link>
<joint name="${prefix}shoulder_pan_joint" type="revolute">
- <parent link="${prefix}base_link" />
+ <parent link="${prefix}ur_base_link" />
<child link = "${prefix}shoulder_link" />
<origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
<axis xyz="0 0 1" />
diff --git a/ur_description/urdf/ur5_joint_limited.urdf.xacro b/ur_description/urdf/ur5_joint_limited.urdf.xacro
index 0dd533c..1fe33a4 100644
--- a/ur_description/urdf/ur5_joint_limited.urdf.xacro
+++ b/ur_description/urdf/ur5_joint_limited.urdf.xacro
@@ -52,6 +52,15 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<xacro:macro name="ur5_robot" params="prefix">
<link name="${prefix}base_link" >
+ </link>
+
+ <joint name="${prefix}base_link_joint" type="fixed">
+ <parent link="${prefix}base_link" />
+ <child link = "${prefix}ur_base_link" />
+ <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+ </joint>
+
+ <link name="${prefix}ur_base_link" >
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/Base.dae" />
@@ -71,7 +80,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
</link>
<joint name="${prefix}shoulder_pan_joint" type="revolute">
- <parent link="${prefix}base_link" />
+ <parent link="${prefix}ur_base_link" />
<child link = "${prefix}shoulder_link" />
<origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
<axis xyz="0 0 1" />
--
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