From db6b1637b37ac6e4bdbf581e5d68960b0af55b62 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Wed, 22 Apr 2015 09:00:14 +0200
Subject: [PATCH] description: add ROS-I base and tool0 frames. Fix #49 and
#95.
Note that 'base' is essentially 'base_link' but rotated by 180
degrees over the Z-axis. This is necessary as the visual and
collision geometries appear to also have their origins rotated
180 degrees wrt the real robot.
'tool0' is similar to 'ee_link', but with its orientation such
that it coincides with an all-zeros TCP setting on the UR
controller. Users are expected to attach their own TCP frames
to this frame, instead of updating it (see also [1]).
[1] http://wiki.ros.org/Industrial/Tutorials/WorkingWithRosIndustrialRobotSupportPackages#Standardised_links_.2BAC8_frames
---
ur_description/urdf/ur10.urdf.xacro | 20 +++++++++++++++++++
.../urdf/ur10_joint_limited_robot.urdf | 16 +++++++++++++++
ur_description/urdf/ur10_robot.urdf | 16 +++++++++++++++
ur_description/urdf/ur5.urdf.xacro | 20 +++++++++++++++++++
.../urdf/ur5_joint_limited_robot.urdf | 16 +++++++++++++++
ur_description/urdf/ur5_robot.urdf | 16 +++++++++++++++
6 files changed, 104 insertions(+)
diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
index c6a9e29..a4dd2fb 100644
--- a/ur_description/urdf/ur10.urdf.xacro
+++ b/ur_description/urdf/ur10.urdf.xacro
@@ -300,5 +300,25 @@
<xacro:ur10_arm_transmission prefix="${prefix}" />
<xacro:ur10_arm_gazebo prefix="${prefix}" />
+ <!-- ROS base_link to UR 'Base' Coordinates transform -->
+ <link name="${prefix}base"/>
+ <joint name="${prefix}base_link-base" type="fixed">
+ <!-- NOTE: this rotation is only needed as long as base_link itself is
+ not corrected wrt the real robot (ie: rotated over 180
+ degrees)
+ -->
+ <origin xyz="0 0 0" rpy="0 0 ${-pi}"/>
+ <parent link="${prefix}base_link"/>
+ <child link="${prefix}base"/>
+ </joint>
+
+ <!-- Frame coincident with all-zeros TCP on UR controller -->
+ <link name="${prefix}tool0"/>
+ <joint name="${prefix}wrist_3_link-tool0" type="fixed">
+ <origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
+ <parent link="${prefix}wrist_3_link"/>
+ <child link="${prefix}tool0"/>
+ </joint>
+
</xacro:macro>
</robot>
diff --git a/ur_description/urdf/ur10_joint_limited_robot.urdf b/ur_description/urdf/ur10_joint_limited_robot.urdf
index 6889829..3aab4c0 100644
--- a/ur_description/urdf/ur10_joint_limited_robot.urdf
+++ b/ur_description/urdf/ur10_joint_limited_robot.urdf
@@ -282,6 +282,22 @@
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
+ <link name="base"/>
+ <joint name="base_link-base" type="fixed">
+ <!-- NOTE: this rotation is only needed as long as base_link itself is
+ not corrected wrt the real robot (ie: rotated over 180
+ degrees)
+ -->
+ <origin rpy="0 0 -3.14159265" xyz="0 0 0"/>
+ <parent link="base_link"/>
+ <child link="base"/>
+ </joint>
+ <link name="tool0"/>
+ <joint name="wrist_3_link-tool0" type="fixed">
+ <origin rpy="-1.570796325 0 0" xyz="0 0.0922 0"/>
+ <parent link="wrist_3_link"/>
+ <child link="tool0"/>
+ </joint>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
diff --git a/ur_description/urdf/ur10_robot.urdf b/ur_description/urdf/ur10_robot.urdf
index 321c04a..a614413 100644
--- a/ur_description/urdf/ur10_robot.urdf
+++ b/ur_description/urdf/ur10_robot.urdf
@@ -282,6 +282,22 @@
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
+ <link name="base"/>
+ <joint name="base_link-base" type="fixed">
+ <!-- NOTE: this rotation is only needed as long as base_link itself is
+ not corrected wrt the real robot (ie: rotated over 180
+ degrees)
+ -->
+ <origin rpy="0 0 -3.14159265" xyz="0 0 0"/>
+ <parent link="base_link"/>
+ <child link="base"/>
+ </joint>
+ <link name="tool0"/>
+ <joint name="wrist_3_link-tool0" type="fixed">
+ <origin rpy="-1.570796325 0 0" xyz="0 0.0922 0"/>
+ <parent link="wrist_3_link"/>
+ <child link="tool0"/>
+ </joint>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro
index 4ccf0b3..2c5998b 100644
--- a/ur_description/urdf/ur5.urdf.xacro
+++ b/ur_description/urdf/ur5.urdf.xacro
@@ -315,5 +315,25 @@
<xacro:ur5_arm_transmission prefix="${prefix}" />
<xacro:ur5_arm_gazebo prefix="${prefix}" />
+ <!-- ROS base_link to UR 'Base' Coordinates transform -->
+ <link name="${prefix}base"/>
+ <joint name="${prefix}base_link-base" type="fixed">
+ <!-- NOTE: this rotation is only needed as long as base_link itself is
+ not corrected wrt the real robot (ie: rotated over 180
+ degrees)
+ -->
+ <origin xyz="0 0 0" rpy="0 0 ${-pi}"/>
+ <parent link="${prefix}base_link"/>
+ <child link="${prefix}base"/>
+ </joint>
+
+ <!-- Frame coincident with all-zeros TCP on UR controller -->
+ <link name="${prefix}tool0"/>
+ <joint name="${prefix}wrist_3_link-tool0" type="fixed">
+ <origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
+ <parent link="${prefix}wrist_3_link"/>
+ <child link="${prefix}tool0"/>
+ </joint>
+
</xacro:macro>
</robot>
diff --git a/ur_description/urdf/ur5_joint_limited_robot.urdf b/ur_description/urdf/ur5_joint_limited_robot.urdf
index 983a2c0..eb20008 100644
--- a/ur_description/urdf/ur5_joint_limited_robot.urdf
+++ b/ur_description/urdf/ur5_joint_limited_robot.urdf
@@ -282,6 +282,22 @@
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
+ <link name="base"/>
+ <joint name="base_link-base" type="fixed">
+ <!-- NOTE: this rotation is only needed as long as base_link itself is
+ not corrected wrt the real robot (ie: rotated over 180
+ degrees)
+ -->
+ <origin rpy="0 0 -3.14159265" xyz="0 0 0"/>
+ <parent link="base_link"/>
+ <child link="base"/>
+ </joint>
+ <link name="tool0"/>
+ <joint name="wrist_3_link-tool0" type="fixed">
+ <origin rpy="-1.570796325 0 0" xyz="0 0.0823 0"/>
+ <parent link="wrist_3_link"/>
+ <child link="tool0"/>
+ </joint>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
diff --git a/ur_description/urdf/ur5_robot.urdf b/ur_description/urdf/ur5_robot.urdf
index 0179fa8..a912fba 100644
--- a/ur_description/urdf/ur5_robot.urdf
+++ b/ur_description/urdf/ur5_robot.urdf
@@ -282,6 +282,22 @@
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
+ <link name="base"/>
+ <joint name="base_link-base" type="fixed">
+ <!-- NOTE: this rotation is only needed as long as base_link itself is
+ not corrected wrt the real robot (ie: rotated over 180
+ degrees)
+ -->
+ <origin rpy="0 0 -3.14159265" xyz="0 0 0"/>
+ <parent link="base_link"/>
+ <child link="base"/>
+ </joint>
+ <link name="tool0"/>
+ <joint name="wrist_3_link-tool0" type="fixed">
+ <origin rpy="-1.570796325 0 0" xyz="0 0.0823 0"/>
+ <parent link="wrist_3_link"/>
+ <child link="tool0"/>
+ </joint>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
--
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