diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
index 48894770b154aa16bddb63a5926cc983d362b1ac..333c5421f992d69cfa201698cfc348f4499edbe0 100644
--- a/ur_description/urdf/ur10.urdf.xacro
+++ b/ur_description/urdf/ur10.urdf.xacro
@@ -42,7 +42,7 @@
<!-- 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 -->
+ <property name="elbow_offset" value="-0.1719" /> <!-- measured from model -->
<!-- link lengths used in model -->
<property name="shoulder_height" value="${ur10_d1}" />
@@ -64,7 +64,7 @@
<xacro:macro name="ur10_robot" params="prefix joint_limited">
-
+
<link name="${prefix}base_link" >
<visual>
<geometry>
@@ -97,7 +97,7 @@
</xacro:if>
<dynamics damping="0.0" friction="0.0"/>
</joint>
-
+
<link name="${prefix}shoulder_link">
<visual>
<geometry>
@@ -120,7 +120,7 @@
<joint name="${prefix}shoulder_lift_joint" type="revolute">
<parent link="${prefix}shoulder_link" />
<child link = "${prefix}upper_arm_link" />
- <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
+ <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
<axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
@@ -281,7 +281,7 @@
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
</xacro:cylinder_inertial>
</link>
-
+
<joint name="${prefix}ee_fixed_joint" type="fixed">
<parent link="${prefix}wrist_3_link" />
<child link = "${prefix}ee_link" />
@@ -299,6 +299,26 @@
<xacro:ur10_arm_transmission prefix="${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_fixed_joint" 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_fixed_joint" 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 6889829eda0db558cdaf295046d9d89c5a2eaf01..a01152a26ffa2823b3a5f583261a97b1c58c6a4a 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_fixed_joint" 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_fixed_joint" 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 321c04a3b2b1431acbdebad72fc032579d9bd274..def9d241549a95129339f1431df4243d22ff2aad 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_fixed_joint" 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_fixed_joint" 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 7f474f11594d70065f77491016ac7b2e1ca90cc4..324ff520362af38c3854f7155f8886745219c373 100644
--- a/ur_description/urdf/ur5.urdf.xacro
+++ b/ur_description/urdf/ur5.urdf.xacro
@@ -43,7 +43,7 @@
<!-- Arbitrary offsets for shoulder/elbow joints -->
<property name="shoulder_offset" value="0.13585" /> <!-- measured from model -->
- <property name="elbow_offset" value="-0.1197" /> <!-- measured from model -->
+ <property name="elbow_offset" value="-0.1197" /> <!-- measured from model -->
<!-- link lengths used in model -->
<property name="shoulder_height" value="${ur5_d1}" />
@@ -52,7 +52,7 @@
<property name="wrist_1_length" value="${ur5_d4 - elbow_offset - shoulder_offset}" />
<property name="wrist_2_length" value="${ur5_d5}" />
<property name="wrist_3_length" value="${ur5_d6}" />
- <!--property name="shoulder_height" value="0.089159" /-->
+ <!--property name="shoulder_height" value="0.089159" /-->
<!--property name="shoulder_offset" value="0.13585" /--> <!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 -->
<!--property name="upper_arm_length" value="0.42500" /-->
<!--property name="elbow_offset" value="0.1197" /--> <!-- CAD measured -->
@@ -112,7 +112,7 @@
</xacro:if>
<dynamics damping="0.0" friction="0.0"/>
</joint>
-
+
<link name="${prefix}shoulder_link">
<visual>
<geometry>
@@ -135,7 +135,7 @@
<joint name="${prefix}shoulder_lift_joint" type="revolute">
<parent link="${prefix}shoulder_link" />
<child link = "${prefix}upper_arm_link" />
- <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
+ <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
<axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/>
@@ -296,7 +296,7 @@
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
</xacro:cylinder_inertial>
</link>
-
+
<joint name="${prefix}ee_fixed_joint" type="fixed">
<parent link="${prefix}wrist_3_link" />
<child link = "${prefix}ee_link" />
@@ -315,5 +315,25 @@
<xacro:ur5_arm_transmission prefix="${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_fixed_joint" 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_fixed_joint" 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 983a2c0446597e49924f22a06099c6e435a848e8..ebce3b0e343ac5c31256189283eb529f34abdaf9 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_fixed_joint" 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_fixed_joint" 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 0179fa8982dafdfcb0d1eeaf6eef9225010c34d4..4ff7e3e63d3dd8d31ab7c735c041dbd77cc5ecfd 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_fixed_joint" 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_fixed_joint" 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"/>