diff --git a/README.md b/README.md index be73ae28c..93a157273 100644 --- a/README.md +++ b/README.md @@ -92,7 +92,7 @@ Don't forget to source the correct setup shell files and use a new terminal for To bring up the simulated robot in Gazebo, run: -```roslaunch ur_gazebo ur5_bringup.launch``` +```roslaunch ur_gazebo bringup.launch model:=ur5``` ___MoveIt! with a simulated robot___ diff --git a/ur10_moveit_config/.setup_assistant b/ur10_moveit_config/.setup_assistant index a613a4fcc..812587597 100644 --- a/ur10_moveit_config/.setup_assistant +++ b/ur10_moveit_config/.setup_assistant @@ -1,8 +1,8 @@ moveit_setup_assistant_config: URDF: package: ur_description - relative_path: urdf/ur10.xacro - xacro_args: "" + relative_path: urdf/ur.xacro + xacro_args: model:=ur10 SRDF: relative_path: config/ur10.srdf CONFIG: diff --git a/ur10_moveit_config/config/ur10.srdf b/ur10_moveit_config/config/ur10.srdf index 0c456855c..1cf8b762b 100644 --- a/ur10_moveit_config/config/ur10.srdf +++ b/ur10_moveit_config/config/ur10.srdf @@ -32,9 +32,9 @@ - - - + + + diff --git a/ur10_moveit_config/launch/moveit.rviz b/ur10_moveit_config/launch/moveit.rviz index cfc2fec04..bf8abfe43 100644 --- a/ur10_moveit_config/launch/moveit.rviz +++ b/ur10_moveit_config/launch/moveit.rviz @@ -80,7 +80,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false @@ -176,7 +176,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false diff --git a/ur10_moveit_config/launch/planning_context.launch b/ur10_moveit_config/launch/planning_context.launch index b3bd21211..ed598ff28 100644 --- a/ur10_moveit_config/launch/planning_context.launch +++ b/ur10_moveit_config/launch/planning_context.launch @@ -6,7 +6,7 @@ - + diff --git a/ur10e_moveit_config/.setup_assistant b/ur10e_moveit_config/.setup_assistant index f2f266c98..06d7ab8c6 100644 --- a/ur10e_moveit_config/.setup_assistant +++ b/ur10e_moveit_config/.setup_assistant @@ -1,8 +1,8 @@ moveit_setup_assistant_config: URDF: package: ur_description - relative_path: urdf/ur10e.xacro - xacro_args: "" + relative_path: urdf/ur.xacro + xacro_args: model:=ur10e SRDF: relative_path: config/ur10e.srdf CONFIG: diff --git a/ur10e_moveit_config/config/ur10e.srdf b/ur10e_moveit_config/config/ur10e.srdf index 6d3e8f368..0c681ddb9 100644 --- a/ur10e_moveit_config/config/ur10e.srdf +++ b/ur10e_moveit_config/config/ur10e.srdf @@ -32,9 +32,9 @@ - - - + + + diff --git a/ur10e_moveit_config/launch/moveit.rviz b/ur10e_moveit_config/launch/moveit.rviz index cfc2fec04..bf8abfe43 100644 --- a/ur10e_moveit_config/launch/moveit.rviz +++ b/ur10e_moveit_config/launch/moveit.rviz @@ -80,7 +80,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false @@ -176,7 +176,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false diff --git a/ur10e_moveit_config/launch/planning_context.launch b/ur10e_moveit_config/launch/planning_context.launch index a0121a8de..fa22fc107 100644 --- a/ur10e_moveit_config/launch/planning_context.launch +++ b/ur10e_moveit_config/launch/planning_context.launch @@ -6,7 +6,7 @@ - + diff --git a/ur16e_moveit_config/.setup_assistant b/ur16e_moveit_config/.setup_assistant index aa8aaae2c..769b83b4a 100644 --- a/ur16e_moveit_config/.setup_assistant +++ b/ur16e_moveit_config/.setup_assistant @@ -1,8 +1,8 @@ moveit_setup_assistant_config: URDF: package: ur_description - relative_path: urdf/ur16e.xacro - xacro_args: "" + relative_path: urdf/ur.xacro + xacro_args: model:=ur16e SRDF: relative_path: config/ur16e.srdf CONFIG: diff --git a/ur16e_moveit_config/config/ur16e.srdf b/ur16e_moveit_config/config/ur16e.srdf index bee309614..df44cbd82 100644 --- a/ur16e_moveit_config/config/ur16e.srdf +++ b/ur16e_moveit_config/config/ur16e.srdf @@ -32,9 +32,9 @@ - - - + + + diff --git a/ur16e_moveit_config/launch/moveit.rviz b/ur16e_moveit_config/launch/moveit.rviz index cfc2fec04..bf8abfe43 100644 --- a/ur16e_moveit_config/launch/moveit.rviz +++ b/ur16e_moveit_config/launch/moveit.rviz @@ -80,7 +80,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false @@ -176,7 +176,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false diff --git a/ur16e_moveit_config/launch/planning_context.launch b/ur16e_moveit_config/launch/planning_context.launch index 2c61f888c..8f73d01d8 100644 --- a/ur16e_moveit_config/launch/planning_context.launch +++ b/ur16e_moveit_config/launch/planning_context.launch @@ -6,7 +6,7 @@ - + diff --git a/ur3_moveit_config/.setup_assistant b/ur3_moveit_config/.setup_assistant index 92ffcddc0..f85632033 100644 --- a/ur3_moveit_config/.setup_assistant +++ b/ur3_moveit_config/.setup_assistant @@ -1,8 +1,8 @@ moveit_setup_assistant_config: URDF: package: ur_description - relative_path: urdf/ur3.xacro - xacro_args: "" + relative_path: urdf/ur.xacro + xacro_args: model:=ur3 SRDF: relative_path: config/ur3.srdf CONFIG: diff --git a/ur3_moveit_config/config/ur3.srdf b/ur3_moveit_config/config/ur3.srdf index 8a5515966..f5175b8e0 100644 --- a/ur3_moveit_config/config/ur3.srdf +++ b/ur3_moveit_config/config/ur3.srdf @@ -32,9 +32,9 @@ - - - + + + diff --git a/ur3_moveit_config/launch/moveit.rviz b/ur3_moveit_config/launch/moveit.rviz index cfc2fec04..bf8abfe43 100644 --- a/ur3_moveit_config/launch/moveit.rviz +++ b/ur3_moveit_config/launch/moveit.rviz @@ -80,7 +80,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false @@ -176,7 +176,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false diff --git a/ur3_moveit_config/launch/planning_context.launch b/ur3_moveit_config/launch/planning_context.launch index 8356b2332..442b28b0b 100644 --- a/ur3_moveit_config/launch/planning_context.launch +++ b/ur3_moveit_config/launch/planning_context.launch @@ -6,7 +6,7 @@ - + diff --git a/ur3e_moveit_config/.setup_assistant b/ur3e_moveit_config/.setup_assistant index ee6c9797c..98c84c75e 100644 --- a/ur3e_moveit_config/.setup_assistant +++ b/ur3e_moveit_config/.setup_assistant @@ -1,8 +1,8 @@ moveit_setup_assistant_config: URDF: package: ur_description - relative_path: urdf/ur3e.xacro - xacro_args: "" + relative_path: urdf/ur.xacro + xacro_args: model:=ur3e SRDF: relative_path: config/ur3e.srdf CONFIG: diff --git a/ur3e_moveit_config/config/ur3e.srdf b/ur3e_moveit_config/config/ur3e.srdf index 173fe8c7f..63b9fdd6d 100644 --- a/ur3e_moveit_config/config/ur3e.srdf +++ b/ur3e_moveit_config/config/ur3e.srdf @@ -32,9 +32,9 @@ - - - + + + diff --git a/ur3e_moveit_config/launch/moveit.rviz b/ur3e_moveit_config/launch/moveit.rviz index cfc2fec04..bf8abfe43 100644 --- a/ur3e_moveit_config/launch/moveit.rviz +++ b/ur3e_moveit_config/launch/moveit.rviz @@ -80,7 +80,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false @@ -176,7 +176,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false diff --git a/ur3e_moveit_config/launch/planning_context.launch b/ur3e_moveit_config/launch/planning_context.launch index 49ef7dfeb..36cf273d2 100644 --- a/ur3e_moveit_config/launch/planning_context.launch +++ b/ur3e_moveit_config/launch/planning_context.launch @@ -6,7 +6,7 @@ - + diff --git a/ur5_moveit_config/.setup_assistant b/ur5_moveit_config/.setup_assistant index 12a72528d..4f333bdb9 100644 --- a/ur5_moveit_config/.setup_assistant +++ b/ur5_moveit_config/.setup_assistant @@ -1,8 +1,8 @@ moveit_setup_assistant_config: URDF: package: ur_description - relative_path: urdf/ur5.xacro - xacro_args: "" + relative_path: urdf/ur.xacro + xacro_args: model:=ur5 SRDF: relative_path: config/ur5.srdf CONFIG: diff --git a/ur5_moveit_config/config/ur5.srdf b/ur5_moveit_config/config/ur5.srdf index 641144203..1661ec880 100644 --- a/ur5_moveit_config/config/ur5.srdf +++ b/ur5_moveit_config/config/ur5.srdf @@ -32,9 +32,9 @@ - - - + + + diff --git a/ur5_moveit_config/launch/moveit.rviz b/ur5_moveit_config/launch/moveit.rviz index cfc2fec04..bf8abfe43 100644 --- a/ur5_moveit_config/launch/moveit.rviz +++ b/ur5_moveit_config/launch/moveit.rviz @@ -80,7 +80,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false @@ -176,7 +176,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false diff --git a/ur5_moveit_config/launch/planning_context.launch b/ur5_moveit_config/launch/planning_context.launch index a2a3ebff4..192afba7c 100644 --- a/ur5_moveit_config/launch/planning_context.launch +++ b/ur5_moveit_config/launch/planning_context.launch @@ -6,7 +6,7 @@ - + diff --git a/ur5e_moveit_config/.setup_assistant b/ur5e_moveit_config/.setup_assistant index 3fae5acd7..26974ff33 100644 --- a/ur5e_moveit_config/.setup_assistant +++ b/ur5e_moveit_config/.setup_assistant @@ -1,8 +1,8 @@ moveit_setup_assistant_config: URDF: package: ur_description - relative_path: urdf/ur5e.xacro - xacro_args: "" + relative_path: urdf/ur.xacro + xacro_args: model:=ur5e SRDF: relative_path: config/ur5e.srdf CONFIG: diff --git a/ur5e_moveit_config/config/ur5e.srdf b/ur5e_moveit_config/config/ur5e.srdf index daab73c7b..2a845885b 100644 --- a/ur5e_moveit_config/config/ur5e.srdf +++ b/ur5e_moveit_config/config/ur5e.srdf @@ -32,9 +32,9 @@ - - - + + + diff --git a/ur5e_moveit_config/launch/moveit.rviz b/ur5e_moveit_config/launch/moveit.rviz index cfc2fec04..bf8abfe43 100644 --- a/ur5e_moveit_config/launch/moveit.rviz +++ b/ur5e_moveit_config/launch/moveit.rviz @@ -80,7 +80,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false @@ -176,7 +176,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - base_link_inertia: + base_inertia_link: Alpha: 1 Show Axes: false Show Trail: false diff --git a/ur5e_moveit_config/launch/planning_context.launch b/ur5e_moveit_config/launch/planning_context.launch index 9052fd96f..99d4d77c3 100644 --- a/ur5e_moveit_config/launch/planning_context.launch +++ b/ur5e_moveit_config/launch/planning_context.launch @@ -6,7 +6,7 @@ - + diff --git a/ur_description/CMakeLists.txt b/ur_description/CMakeLists.txt index 0cc1bd625..d97f35c66 100644 --- a/ur_description/CMakeLists.txt +++ b/ur_description/CMakeLists.txt @@ -1,20 +1,14 @@ cmake_minimum_required(VERSION 3.0.2) project(ur_description) - find_package(catkin REQUIRED) - catkin_package() if (CATKIN_ENABLE_TESTING) find_package(roslaunch REQUIRED) - roslaunch_add_file_check(tests/roslaunch_test_ur10e.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur10.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur16e.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur3e.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur3.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur5e.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur5.xml) + foreach(model ur3 ur3e ur5 ur5e ur10 ur10e ur16e) + roslaunch_add_file_check(launch/test.launch model=${model}) + endforeach() endif() -install(DIRECTORY cfg config launch meshes urdf +install(DIRECTORY config launch meshes urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur_description/config/ur10/joint_limits.yaml b/ur_description/config/ur10/joint_limits.yaml index 9e55c53cb..7786b7dfb 100644 --- a/ur_description/config/ur10/joint_limits.yaml +++ b/ur_description/config/ur10/joint_limits.yaml @@ -28,7 +28,7 @@ joint_limits: max_position: !degrees 360.0 max_velocity: !degrees 120.0 min_position: !degrees -360.0 - elbow_joint: + elbow: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true @@ -37,7 +37,7 @@ joint_limits: max_effort: 150.0 # we artificially limit this joint to half its actual joint position limit # to avoid (MoveIt/OMPL) planning problems, as due to the physical - # construction of the robot, it's impossible to rotate the 'elbow_joint' + # construction of the robot, it's impossible to rotate the 'elbow' # over more than approx +- 1 pi (the shoulder lift joint gets in the way). # # This leads to planning problems as the search space will be divided into diff --git a/ur_description/config/ur10/physical_parameters.yaml b/ur_description/config/ur10/physical_parameters.yaml index e6515389b..f5c564c2d 100644 --- a/ur_description/config/ur10/physical_parameters.yaml +++ b/ur_description/config/ur10/physical_parameters.yaml @@ -35,7 +35,7 @@ inertia_parameters: shoulder: radius: 0.075 length: 0.178 - upperarm: + upper_arm: radius: 0.075 length: 0.612 forearm: diff --git a/ur_description/config/ur10/visual_parameters.yaml b/ur_description/config/ur10/visual_parameters.yaml index 168fbfff2..4144afcfd 100644 --- a/ur_description/config/ur10/visual_parameters.yaml +++ b/ur_description/config/ur10/visual_parameters.yaml @@ -9,6 +9,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10/collision/base.stl" + offset: + yaw: 3.14159265359 shoulder: visual: @@ -18,16 +20,21 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10/collision/shoulder.stl" + offset: + yaw: 3.14159265359 upper_arm: visual: - mesh: "package://ur_description/meshes/ur10/visual/upperarm.dae" + mesh: "package://ur_description/meshes/ur10/visual/upper_arm.dae" material: name: "LightGrey" color: "0.7 0.7 0.7 1.0" collision: - mesh: "package://ur_description/meshes/ur10/collision/upperarm.stl" - mesh_files: + mesh: "package://ur_description/meshes/ur10/collision/upper_arm.stl" + offset: + z: 0.220941 # shoulder_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 forearm: visual: @@ -37,6 +44,10 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10/collision/forearm.stl" + offset: + z: 0.049042 # elbow_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 wrist_1: visual: @@ -46,7 +57,9 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10/collision/wrist1.stl" - visual_offset: -0.1149 + offset: + z: -0.1149 + roll: 1.57079632679 wrist_2: visual: @@ -56,7 +69,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10/collision/wrist2.stl" - visual_offset: -0.1158 + offset: + z: -0.1158 wrist_3: visual: @@ -66,4 +80,6 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10/collision/wrist3.stl" - visual_offset: -0.0922 + offset: + z: -0.0922 + roll: 1.57079632679 diff --git a/ur_description/config/ur10e/joint_limits.yaml b/ur_description/config/ur10e/joint_limits.yaml index 983a43ce1..748028cf7 100644 --- a/ur_description/config/ur10e/joint_limits.yaml +++ b/ur_description/config/ur10e/joint_limits.yaml @@ -28,7 +28,7 @@ joint_limits: max_position: !degrees 360.0 max_velocity: !degrees 120.0 min_position: !degrees -360.0 - elbow_joint: + elbow: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true @@ -37,7 +37,7 @@ joint_limits: max_effort: 150.0 # we artificially limit this joint to half its actual joint position limit # to avoid (MoveIt/OMPL) planning problems, as due to the physical - # construction of the robot, it's impossible to rotate the 'elbow_joint' + # construction of the robot, it's impossible to rotate the 'elbow' # over more than approx +- 1 pi (the shoulder lift joint gets in the way). # # This leads to planning problems as the search space will be divided into diff --git a/ur_description/config/ur10e/physical_parameters.yaml b/ur_description/config/ur10e/physical_parameters.yaml index ffae062fd..bf25223b1 100644 --- a/ur_description/config/ur10e/physical_parameters.yaml +++ b/ur_description/config/ur10e/physical_parameters.yaml @@ -4,7 +4,7 @@ dh_parameters: d1: 0.181 a2: -0.613 a3: -0.571 - d4: 0.174 # wrist1_length = d4 - elbow_offset - shoulder_offset + d4: 0.174 # wrist1_length = d4 - elbow_offset - shoulder_offset d5: 0.120 d6: 0.117 @@ -35,7 +35,7 @@ inertia_parameters: shoulder: radius: 0.075 length: 0.178 - upperarm: + upper_arm: radius: 0.075 length: 0.612 forearm: diff --git a/ur_description/config/ur10e/visual_parameters.yaml b/ur_description/config/ur10e/visual_parameters.yaml index 9bd6002d6..4d1e2ed2d 100644 --- a/ur_description/config/ur10e/visual_parameters.yaml +++ b/ur_description/config/ur10e/visual_parameters.yaml @@ -9,6 +9,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/base.stl" + offset: + yaw: 3.14159265359 shoulder: visual: @@ -18,16 +20,21 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/shoulder.stl" + offset: + yaw: 3.14159265359 upper_arm: visual: - mesh: "package://ur_description/meshes/ur10e/visual/upperarm.dae" + mesh: "package://ur_description/meshes/ur10e/visual/upper_arm.dae" material: name: "LightGrey" color: "0.7 0.7 0.7 1.0" collision: - mesh: "package://ur_description/meshes/ur10e/collision/upperarm.stl" - mesh_files: + mesh: "package://ur_description/meshes/ur10e/collision/upper_arm.stl" + offset: + z: 0.1762 # shoulder_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 forearm: visual: @@ -37,6 +44,10 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/forearm.stl" + offset: + z: 0.0393 # elbow_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 wrist_1: visual: @@ -46,7 +57,9 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/wrist1.stl" - visual_offset: -0.135 + offset: + z: -0.135 + roll: 1.57079632679 wrist_2: visual: @@ -56,7 +69,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/wrist2.stl" - visual_offset: -0.12 + offset: + z: -0.12 wrist_3: visual: @@ -66,4 +80,6 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/wrist3.stl" - visual_offset: -0.1168 + offset: + z: -0.1168 + roll: 1.57079632679 diff --git a/ur_description/config/ur16e/joint_limits.yaml b/ur_description/config/ur16e/joint_limits.yaml index 272bb4843..cf8ada8dc 100644 --- a/ur_description/config/ur16e/joint_limits.yaml +++ b/ur_description/config/ur16e/joint_limits.yaml @@ -28,7 +28,7 @@ joint_limits: max_position: !degrees 360.0 max_velocity: !degrees 120.0 min_position: !degrees -360.0 - elbow_joint: + elbow: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true @@ -37,7 +37,7 @@ joint_limits: max_effort: 150.0 # we artificially limit this joint to half its actual joint position limit # to avoid (MoveIt/OMPL) planning problems, as due to the physical - # construction of the robot, it's impossible to rotate the 'elbow_joint' + # construction of the robot, it's impossible to rotate the 'elbow' # over more than approx +- 1 pi (the shoulder lift joint gets in the way). # # This leads to planning problems as the search space will be divided into diff --git a/ur_description/config/ur16e/physical_parameters.yaml b/ur_description/config/ur16e/physical_parameters.yaml index 658d51d7f..ae04bc706 100644 --- a/ur_description/config/ur16e/physical_parameters.yaml +++ b/ur_description/config/ur16e/physical_parameters.yaml @@ -37,7 +37,7 @@ inertia_parameters: shoulder: radius: 0.075 length: 0.178 - upperarm: + upper_arm: radius: 0.075 length: 0.4784 forearm: diff --git a/ur_description/config/ur16e/visual_parameters.yaml b/ur_description/config/ur16e/visual_parameters.yaml index 7925fc183..55ad46e38 100644 --- a/ur_description/config/ur16e/visual_parameters.yaml +++ b/ur_description/config/ur16e/visual_parameters.yaml @@ -10,6 +10,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/base.stl" + offset: + yaw: 3.14159265359 shoulder: visual: @@ -19,16 +21,21 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/shoulder.stl" + offset: + yaw: 3.14159265359 upper_arm: visual: - mesh: "package://ur_description/meshes/ur16e/visual/upperarm.dae" + mesh: "package://ur_description/meshes/ur16e/visual/upper_arm.dae" material: name: "LightGrey" color: "0.7 0.7 0.7 1.0" collision: - mesh: "package://ur_description/meshes/ur16e/collision/upperarm.stl" - mesh_files: + mesh: "package://ur_description/meshes/ur16e/collision/upper_arm.stl" + offset: + z: 0.176 # shoulder_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 forearm: visual: @@ -38,6 +45,10 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur16e/collision/forearm.stl" + offset: + z: 0.040 # elbow_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 wrist_1: visual: @@ -47,7 +58,9 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/wrist1.stl" - visual_offset: -0.135 + offset: + z: -0.135 + roll: 1.57079632679 wrist_2: visual: @@ -57,7 +70,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/wrist2.stl" - visual_offset: -0.12 + offset: + z: -0.12 wrist_3: visual: @@ -67,4 +81,6 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur10e/collision/wrist3.stl" - visual_offset: -0.1168 + offset: + z: -0.1168 + roll: 1.57079632679 diff --git a/ur_description/config/ur3/joint_limits.yaml b/ur_description/config/ur3/joint_limits.yaml index 461288abf..ce057245a 100644 --- a/ur_description/config/ur3/joint_limits.yaml +++ b/ur_description/config/ur3/joint_limits.yaml @@ -28,7 +28,7 @@ joint_limits: max_position: !degrees 360.0 max_velocity: !degrees 180.0 min_position: !degrees -360.0 - elbow_joint: + elbow: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true @@ -37,7 +37,7 @@ joint_limits: max_effort: 28.0 # we artificially limit this joint to half its actual joint position limit # to avoid (MoveIt/OMPL) planning problems, as due to the physical - # construction of the robot, it's impossible to rotate the 'elbow_joint' + # construction of the robot, it's impossible to rotate the 'elbow' # over more than approx +- 1 pi (the shoulder lift joint gets in the way). # # This leads to planning problems as the search space will be divided into diff --git a/ur_description/config/ur3/physical_parameters.yaml b/ur_description/config/ur3/physical_parameters.yaml index ce207b722..801e55d33 100644 --- a/ur_description/config/ur3/physical_parameters.yaml +++ b/ur_description/config/ur3/physical_parameters.yaml @@ -35,7 +35,7 @@ inertia_parameters: shoulder: radius: 0.075 length: 0.178 - upperarm: + upper_arm: radius: 0.075 length: 0.24365 forearm: diff --git a/ur_description/config/ur3/visual_parameters.yaml b/ur_description/config/ur3/visual_parameters.yaml index d16f51cbc..da30c0b3b 100644 --- a/ur_description/config/ur3/visual_parameters.yaml +++ b/ur_description/config/ur3/visual_parameters.yaml @@ -7,6 +7,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3/collision/base.stl" + offset: + yaw: 3.14159265359 shoulder: visual: @@ -16,16 +18,21 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3/collision/shoulder.stl" + offset: + yaw: 3.14159265359 upper_arm: visual: - mesh: "package://ur_description/meshes/ur3/visual/upperarm.dae" + mesh: "package://ur_description/meshes/ur3/visual/upper_arm.dae" material: name: "LightGrey" color: "0.7 0.7 0.7 1.0" collision: - mesh: "package://ur_description/meshes/ur3/collision/upperarm.stl" - mesh_files: + mesh: "package://ur_description/meshes/ur3/collision/upper_arm.stl" + offset: + z: 0.1198 # shoulder_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 forearm: visual: @@ -35,6 +42,10 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3/collision/forearm.stl" + offset: + z: 0.0275 # elbow_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 wrist_1: visual: @@ -44,7 +55,9 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3/collision/wrist1.stl" - visual_offset: -0.085 + offset: + z: -0.085 + roll: 1.57079632679 wrist_2: visual: @@ -54,7 +67,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3/collision/wrist2.stl" - visual_offset: -0.085 + offset: + z: -0.085 wrist_3: visual: @@ -64,4 +78,6 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3/collision/wrist3.stl" - visual_offset: -0.082 + offset: + z: -0.082 + roll: 1.57079632679 diff --git a/ur_description/config/ur3e/joint_limits.yaml b/ur_description/config/ur3e/joint_limits.yaml index 85b6f644f..21cbd6ca5 100644 --- a/ur_description/config/ur3e/joint_limits.yaml +++ b/ur_description/config/ur3e/joint_limits.yaml @@ -28,7 +28,7 @@ joint_limits: max_position: !degrees 360.0 max_velocity: !degrees 180.0 min_position: !degrees -360.0 - elbow_joint: + elbow: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true @@ -37,7 +37,7 @@ joint_limits: max_effort: 28.0 # we artificially limit this joint to half its actual joint position limit # to avoid (MoveIt/OMPL) planning problems, as due to the physical - # construction of the robot, it's impossible to rotate the 'elbow_joint' + # construction of the robot, it's impossible to rotate the 'elbow' # over more than approx +- 1 pi (the shoulder lift joint gets in the way). # # This leads to planning problems as the search space will be divided into diff --git a/ur_description/config/ur3e/physical_parameters.yaml b/ur_description/config/ur3e/physical_parameters.yaml index 337c1f24f..6ac5ed022 100644 --- a/ur_description/config/ur3e/physical_parameters.yaml +++ b/ur_description/config/ur3e/physical_parameters.yaml @@ -4,7 +4,7 @@ dh_parameters: d1: 0.152 a2: -0.244 a3: -0.213 - d4: 0.131 # wrist1_length = d4 - elbow_offset - shoulder_offset + d4: 0.131 # wrist1_length = d4 - elbow_offset - shoulder_offset d5: 0.085 d6: 0.092 @@ -35,7 +35,7 @@ inertia_parameters: shoulder: radius: 0.075 length: 0.178 - upperarm: + upper_arm: radius: 0.075 length: 0.24365 forearm: diff --git a/ur_description/config/ur3e/visual_parameters.yaml b/ur_description/config/ur3e/visual_parameters.yaml index de8a20720..86a7d7d6c 100644 --- a/ur_description/config/ur3e/visual_parameters.yaml +++ b/ur_description/config/ur3e/visual_parameters.yaml @@ -7,6 +7,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3e/collision/base.stl" + offset: + yaw: 3.14159265359 shoulder: visual: @@ -16,16 +18,21 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3e/collision/shoulder.stl" + offset: + yaw: 3.14159265359 upper_arm: visual: - mesh: "package://ur_description/meshes/ur3e/visual/upperarm.dae" + mesh: "package://ur_description/meshes/ur3e/visual/upper_arm.dae" material: name: "LightGrey" color: "0.7 0.7 0.7 1.0" collision: - mesh: "package://ur_description/meshes/ur3e/collision/upperarm.stl" - mesh_files: + mesh: "package://ur_description/meshes/ur3e/collision/upper_arm.stl" + offset: + z: 0.120 # shoulder_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 forearm: visual: @@ -35,6 +42,10 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3e/collision/forearm.stl" + offset: + z: 0.027 # elbow_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 wrist_1: visual: @@ -44,7 +55,9 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3e/collision/wrist1.stl" - visual_offset: -0.104 + offset: + z: -0.104 + roll: 1.57079632679 wrist_2: visual: @@ -54,7 +67,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3e/collision/wrist2.stl" - visual_offset: -0.08535 + offset: + z: -0.08535 wrist_3: visual: @@ -64,4 +78,6 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3e/collision/wrist3.stl" - visual_offset: -0.0921 + offset: + z: -0.0921 + roll: 1.57079632679 diff --git a/ur_description/config/ur5/joint_limits.yaml b/ur_description/config/ur5/joint_limits.yaml index 28eacc3d9..109ef4c5c 100644 --- a/ur_description/config/ur5/joint_limits.yaml +++ b/ur_description/config/ur5/joint_limits.yaml @@ -28,7 +28,7 @@ joint_limits: max_position: !degrees 360.0 max_velocity: !degrees 180.0 min_position: !degrees -360.0 - elbow_joint: + elbow: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true @@ -37,7 +37,7 @@ joint_limits: max_effort: 150.0 # we artificially limit this joint to half its actual joint position limit # to avoid (MoveIt/OMPL) planning problems, as due to the physical - # construction of the robot, it's impossible to rotate the 'elbow_joint' + # construction of the robot, it's impossible to rotate the 'elbow' # over more than approx +- 1 pi (the shoulder lift joint gets in the way). # # This leads to planning problems as the search space will be divided into diff --git a/ur_description/config/ur5/physical_parameters.yaml b/ur_description/config/ur5/physical_parameters.yaml index 9d0a4030d..b09697b26 100644 --- a/ur_description/config/ur5/physical_parameters.yaml +++ b/ur_description/config/ur5/physical_parameters.yaml @@ -35,7 +35,7 @@ inertia_parameters: shoulder: radius: 0.075 length: 0.178 - upperarm: + upper_arm: radius: 0.06 length: 0.425 forearm: diff --git a/ur_description/config/ur5/visual_parameters.yaml b/ur_description/config/ur5/visual_parameters.yaml index 69845109d..aeaaa0573 100644 --- a/ur_description/config/ur5/visual_parameters.yaml +++ b/ur_description/config/ur5/visual_parameters.yaml @@ -7,6 +7,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5/collision/base.stl" + offset: + yaw: 3.14159265359 shoulder: visual: @@ -16,16 +18,21 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5/collision/shoulder.stl" + offset: + yaw: 3.14159265359 upper_arm: visual: - mesh: "package://ur_description/meshes/ur5/visual/upperarm.dae" + mesh: "package://ur_description/meshes/ur5/visual/upper_arm.dae" material: name: "LightGrey" color: "0.7 0.7 0.7 1.0" collision: - mesh: "package://ur_description/meshes/ur5/collision/upperarm.stl" - mesh_files: + mesh: "package://ur_description/meshes/ur5/collision/upper_arm.stl" + offset: + z: 0.13585 # shoulder_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 forearm: visual: @@ -35,6 +42,10 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5/collision/forearm.stl" + offset: + z: 0.0165 # elbow_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 wrist_1: visual: @@ -44,7 +55,9 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5/collision/wrist1.stl" - visual_offset: -0.093 + offset: + z: -0.093 + roll: 1.57079632679 wrist_2: visual: @@ -54,7 +67,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5/collision/wrist2.stl" - visual_offset: -0.095 + offset: + z: -0.095 wrist_3: visual: @@ -64,4 +78,6 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5/collision/wrist3.stl" - visual_offset: -0.0818 + offset: + z: -0.0818 + roll: 1.57079632679 diff --git a/ur_description/config/ur5e/joint_limits.yaml b/ur_description/config/ur5e/joint_limits.yaml index dddc059a8..e3e10b8db 100644 --- a/ur_description/config/ur5e/joint_limits.yaml +++ b/ur_description/config/ur5e/joint_limits.yaml @@ -28,7 +28,7 @@ joint_limits: max_position: !degrees 360.0 max_velocity: !degrees 180.0 min_position: !degrees -360.0 - elbow_joint: + elbow: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true @@ -37,7 +37,7 @@ joint_limits: max_effort: 150.0 # we artificially limit this joint to half its actual joint position limit # to avoid (MoveIt/OMPL) planning problems, as due to the physical - # construction of the robot, it's impossible to rotate the 'elbow_joint' + # construction of the robot, it's impossible to rotate the 'elbow' # over more than approx +- 1 pi (the shoulder lift joint gets in the way). # # This leads to planning problems as the search space will be divided into diff --git a/ur_description/config/ur5e/physical_parameters.yaml b/ur_description/config/ur5e/physical_parameters.yaml index 8955ed24d..47d8b79a8 100644 --- a/ur_description/config/ur5e/physical_parameters.yaml +++ b/ur_description/config/ur5e/physical_parameters.yaml @@ -4,7 +4,7 @@ dh_parameters: d1: 0.163 a2: -0.42500 a3: -0.39225 - d4: 0.134 # wrist1_length = d4 - elbow_offset - shoulder_offset + d4: 0.134 # wrist1_length = d4 - elbow_offset - shoulder_offset d5: 0.100 d6: 0.100 @@ -35,7 +35,7 @@ inertia_parameters: shoulder: radius: 0.06 length: 0.15 - upperarm: + upper_arm: radius: 0.06 length: 0.425 forearm: diff --git a/ur_description/config/ur5e/visual_parameters.yaml b/ur_description/config/ur5e/visual_parameters.yaml index 6d0156a59..20acbeeaa 100644 --- a/ur_description/config/ur5e/visual_parameters.yaml +++ b/ur_description/config/ur5e/visual_parameters.yaml @@ -7,6 +7,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5e/collision/base.stl" + offset: + yaw: 3.14159265359 shoulder: visual: @@ -16,16 +18,21 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5e/collision/shoulder.stl" + offset: + yaw: 3.14159265359 upper_arm: visual: - mesh: "package://ur_description/meshes/ur5e/visual/upperarm.dae" + mesh: "package://ur_description/meshes/ur5e/visual/upper_arm.dae" material: name: "LightGrey" color: "0.7 0.7 0.7 1.0" collision: - mesh: "package://ur_description/meshes/ur5e/collision/upperarm.stl" - mesh_files: + mesh: "package://ur_description/meshes/ur5e/collision/upper_arm.stl" + offset: + z: 0.138 # shoulder_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 forearm: visual: @@ -35,6 +42,10 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5e/collision/forearm.stl" + offset: + z: 0.007 # elbow_offset measured from model + roll: 1.57079632679 + yaw: -1.57079632679 wrist_1: visual: @@ -44,7 +55,9 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5e/collision/wrist1.stl" - visual_offset: -0.127 + offset: + z: -0.127 + roll: 1.57079632679 wrist_2: visual: @@ -54,7 +67,8 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5e/collision/wrist2.stl" - visual_offset: -0.0997 + offset: + z: -0.0997 wrist_3: visual: @@ -64,4 +78,6 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur5e/collision/wrist3.stl" - visual_offset: -0.0989 + offset: + z: -0.0989 + roll: 1.57079632679 diff --git a/ur_description/launch/load.launch b/ur_description/launch/load.launch new file mode 100644 index 000000000..9a38eef92 --- /dev/null +++ b/ur_description/launch/load.launch @@ -0,0 +1,47 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/load_ur.launch b/ur_description/launch/load_ur.launch deleted file mode 100644 index 20cba4fb7..000000000 --- a/ur_description/launch/load_ur.launch +++ /dev/null @@ -1,44 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur_description/launch/load_ur10.launch b/ur_description/launch/load_ur10.launch deleted file mode 100644 index 6a6cc9811..000000000 --- a/ur_description/launch/load_ur10.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur_description/launch/load_ur10e.launch b/ur_description/launch/load_ur10e.launch deleted file mode 100644 index 3176cefa3..000000000 --- a/ur_description/launch/load_ur10e.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur_description/launch/load_ur16e.launch b/ur_description/launch/load_ur16e.launch deleted file mode 100644 index 445131818..000000000 --- a/ur_description/launch/load_ur16e.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur_description/launch/load_ur3.launch b/ur_description/launch/load_ur3.launch deleted file mode 100644 index 7be472376..000000000 --- a/ur_description/launch/load_ur3.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur_description/launch/load_ur3e.launch b/ur_description/launch/load_ur3e.launch deleted file mode 100644 index f314c98b8..000000000 --- a/ur_description/launch/load_ur3e.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur_description/launch/load_ur5.launch b/ur_description/launch/load_ur5.launch deleted file mode 100644 index 597af189d..000000000 --- a/ur_description/launch/load_ur5.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur_description/launch/load_ur5e.launch b/ur_description/launch/load_ur5e.launch deleted file mode 100644 index a080347e9..000000000 --- a/ur_description/launch/load_ur5e.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur_description/launch/test.launch b/ur_description/launch/test.launch new file mode 100644 index 000000000..28823ccce --- /dev/null +++ b/ur_description/launch/test.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_description/launch/view.launch b/ur_description/launch/view.launch new file mode 100644 index 000000000..6493b5058 --- /dev/null +++ b/ur_description/launch/view.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ur_description/cfg/view_robot.rviz b/ur_description/launch/view.rviz similarity index 100% rename from ur_description/cfg/view_robot.rviz rename to ur_description/launch/view.rviz diff --git a/ur_description/launch/view_ur10.launch b/ur_description/launch/view_ur10.launch deleted file mode 100644 index cabdbf5a0..000000000 --- a/ur_description/launch/view_ur10.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/ur_description/launch/view_ur10e.launch b/ur_description/launch/view_ur10e.launch deleted file mode 100644 index dc4c4e1b8..000000000 --- a/ur_description/launch/view_ur10e.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/ur_description/launch/view_ur16e.launch b/ur_description/launch/view_ur16e.launch deleted file mode 100644 index c9c604955..000000000 --- a/ur_description/launch/view_ur16e.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/ur_description/launch/view_ur3.launch b/ur_description/launch/view_ur3.launch deleted file mode 100644 index 96d5dd222..000000000 --- a/ur_description/launch/view_ur3.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/ur_description/launch/view_ur3e.launch b/ur_description/launch/view_ur3e.launch deleted file mode 100644 index c0b9f67a3..000000000 --- a/ur_description/launch/view_ur3e.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/ur_description/launch/view_ur5.launch b/ur_description/launch/view_ur5.launch deleted file mode 100644 index 2428313a1..000000000 --- a/ur_description/launch/view_ur5.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/ur_description/launch/view_ur5e.launch b/ur_description/launch/view_ur5e.launch deleted file mode 100644 index 1d1a08b76..000000000 --- a/ur_description/launch/view_ur5e.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/ur_description/meshes/ur10/collision/upperarm.stl b/ur_description/meshes/ur10/collision/upper_arm.stl similarity index 100% rename from ur_description/meshes/ur10/collision/upperarm.stl rename to ur_description/meshes/ur10/collision/upper_arm.stl diff --git a/ur_description/meshes/ur10/visual/upperarm.dae b/ur_description/meshes/ur10/visual/upper_arm.dae similarity index 100% rename from ur_description/meshes/ur10/visual/upperarm.dae rename to ur_description/meshes/ur10/visual/upper_arm.dae diff --git a/ur_description/meshes/ur10e/collision/upperarm.stl b/ur_description/meshes/ur10e/collision/upper_arm.stl similarity index 100% rename from ur_description/meshes/ur10e/collision/upperarm.stl rename to ur_description/meshes/ur10e/collision/upper_arm.stl diff --git a/ur_description/meshes/ur10e/visual/upperarm.dae b/ur_description/meshes/ur10e/visual/upper_arm.dae similarity index 100% rename from ur_description/meshes/ur10e/visual/upperarm.dae rename to ur_description/meshes/ur10e/visual/upper_arm.dae diff --git a/ur_description/meshes/ur16e/collision/upperarm.stl b/ur_description/meshes/ur16e/collision/upper_arm.stl similarity index 100% rename from ur_description/meshes/ur16e/collision/upperarm.stl rename to ur_description/meshes/ur16e/collision/upper_arm.stl diff --git a/ur_description/meshes/ur16e/visual/upperarm.dae b/ur_description/meshes/ur16e/visual/upper_arm.dae similarity index 100% rename from ur_description/meshes/ur16e/visual/upperarm.dae rename to ur_description/meshes/ur16e/visual/upper_arm.dae diff --git a/ur_description/meshes/ur3/collision/upperarm.stl b/ur_description/meshes/ur3/collision/upper_arm.stl similarity index 100% rename from ur_description/meshes/ur3/collision/upperarm.stl rename to ur_description/meshes/ur3/collision/upper_arm.stl diff --git a/ur_description/meshes/ur3/visual/upperarm.dae b/ur_description/meshes/ur3/visual/upper_arm.dae similarity index 100% rename from ur_description/meshes/ur3/visual/upperarm.dae rename to ur_description/meshes/ur3/visual/upper_arm.dae diff --git a/ur_description/meshes/ur3e/collision/upperarm.stl b/ur_description/meshes/ur3e/collision/upper_arm.stl similarity index 100% rename from ur_description/meshes/ur3e/collision/upperarm.stl rename to ur_description/meshes/ur3e/collision/upper_arm.stl diff --git a/ur_description/meshes/ur3e/visual/upperarm.dae b/ur_description/meshes/ur3e/visual/upper_arm.dae similarity index 100% rename from ur_description/meshes/ur3e/visual/upperarm.dae rename to ur_description/meshes/ur3e/visual/upper_arm.dae diff --git a/ur_description/meshes/ur5/collision/upperarm.stl b/ur_description/meshes/ur5/collision/upper_arm.stl similarity index 100% rename from ur_description/meshes/ur5/collision/upperarm.stl rename to ur_description/meshes/ur5/collision/upper_arm.stl diff --git a/ur_description/meshes/ur5/visual/upperarm.dae b/ur_description/meshes/ur5/visual/upper_arm.dae similarity index 100% rename from ur_description/meshes/ur5/visual/upperarm.dae rename to ur_description/meshes/ur5/visual/upper_arm.dae diff --git a/ur_description/meshes/ur5e/collision/upperarm.stl b/ur_description/meshes/ur5e/collision/upper_arm.stl similarity index 100% rename from ur_description/meshes/ur5e/collision/upperarm.stl rename to ur_description/meshes/ur5e/collision/upper_arm.stl diff --git a/ur_description/meshes/ur5e/visual/upperarm.dae b/ur_description/meshes/ur5e/visual/upper_arm.dae similarity index 100% rename from ur_description/meshes/ur5e/visual/upperarm.dae rename to ur_description/meshes/ur5e/visual/upper_arm.dae diff --git a/ur_description/tests/roslaunch_test_ur10.xml b/ur_description/tests/roslaunch_test_ur10.xml deleted file mode 100644 index 7eb1d2b12..000000000 --- a/ur_description/tests/roslaunch_test_ur10.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_description/tests/roslaunch_test_ur10e.xml b/ur_description/tests/roslaunch_test_ur10e.xml deleted file mode 100644 index 779de29f9..000000000 --- a/ur_description/tests/roslaunch_test_ur10e.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_description/tests/roslaunch_test_ur16e.xml b/ur_description/tests/roslaunch_test_ur16e.xml deleted file mode 100644 index ff7fc896d..000000000 --- a/ur_description/tests/roslaunch_test_ur16e.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_description/tests/roslaunch_test_ur3.xml b/ur_description/tests/roslaunch_test_ur3.xml deleted file mode 100644 index 365b093a1..000000000 --- a/ur_description/tests/roslaunch_test_ur3.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_description/tests/roslaunch_test_ur3e.xml b/ur_description/tests/roslaunch_test_ur3e.xml deleted file mode 100644 index a2ffbe31b..000000000 --- a/ur_description/tests/roslaunch_test_ur3e.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_description/tests/roslaunch_test_ur5.xml b/ur_description/tests/roslaunch_test_ur5.xml deleted file mode 100644 index 15698ad70..000000000 --- a/ur_description/tests/roslaunch_test_ur5.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_description/tests/roslaunch_test_ur5e.xml b/ur_description/tests/roslaunch_test_ur5e.xml deleted file mode 100644 index ca0466995..000000000 --- a/ur_description/tests/roslaunch_test_ur5e.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_description/urdf/common.xacro b/ur_description/urdf/common.xacro new file mode 100644 index 000000000..652f20e48 --- /dev/null +++ b/ur_description/urdf/common.xacro @@ -0,0 +1,81 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_description/urdf/inc/ur10_macro.xacro b/ur_description/urdf/inc/ur10_macro.xacro deleted file mode 100644 index 1e853659a..000000000 --- a/ur_description/urdf/inc/ur10_macro.xacro +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - diff --git a/ur_description/urdf/inc/ur10e_macro.xacro b/ur_description/urdf/inc/ur10e_macro.xacro deleted file mode 100644 index fe0f0f265..000000000 --- a/ur_description/urdf/inc/ur10e_macro.xacro +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - diff --git a/ur_description/urdf/inc/ur16e_macro.xacro b/ur_description/urdf/inc/ur16e_macro.xacro deleted file mode 100644 index 302d530aa..000000000 --- a/ur_description/urdf/inc/ur16e_macro.xacro +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - diff --git a/ur_description/urdf/inc/ur3_macro.xacro b/ur_description/urdf/inc/ur3_macro.xacro deleted file mode 100644 index 5a569f5a8..000000000 --- a/ur_description/urdf/inc/ur3_macro.xacro +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - diff --git a/ur_description/urdf/inc/ur3e_macro.xacro b/ur_description/urdf/inc/ur3e_macro.xacro deleted file mode 100644 index 4695c5ea5..000000000 --- a/ur_description/urdf/inc/ur3e_macro.xacro +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - diff --git a/ur_description/urdf/inc/ur5_macro.xacro b/ur_description/urdf/inc/ur5_macro.xacro deleted file mode 100644 index 645b240c1..000000000 --- a/ur_description/urdf/inc/ur5_macro.xacro +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - diff --git a/ur_description/urdf/inc/ur5e_macro.xacro b/ur_description/urdf/inc/ur5e_macro.xacro deleted file mode 100644 index 44cf92b3b..000000000 --- a/ur_description/urdf/inc/ur5e_macro.xacro +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - diff --git a/ur_description/urdf/inc/ur_common.xacro b/ur_description/urdf/inc/ur_common.xacro deleted file mode 100644 index e841d912b..000000000 --- a/ur_description/urdf/inc/ur_common.xacro +++ /dev/null @@ -1,219 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_description/urdf/inc/ur_macro.xacro b/ur_description/urdf/inc/ur_macro.xacro deleted file mode 100644 index a78a5e38f..000000000 --- a/ur_description/urdf/inc/ur_macro.xacro +++ /dev/null @@ -1,336 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_description/urdf/inc/ur_transmissions.xacro b/ur_description/urdf/inc/ur_transmissions.xacro deleted file mode 100644 index fd44d69b9..000000000 --- a/ur_description/urdf/inc/ur_transmissions.xacro +++ /dev/null @@ -1,73 +0,0 @@ - - - - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - - diff --git a/ur_description/urdf/macro.xacro b/ur_description/urdf/macro.xacro new file mode 100644 index 000000000..9ec380d4d --- /dev/null +++ b/ur_description/urdf/macro.xacro @@ -0,0 +1,259 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + ${transmission_hw_interface} + + + + + + + + + + + + + + + + + + + diff --git a/ur_description/urdf/ur.xacro b/ur_description/urdf/ur.xacro index cbcffab2a..9a85ca840 100644 --- a/ur_description/urdf/ur.xacro +++ b/ur_description/urdf/ur.xacro @@ -1,33 +1,31 @@ - + + + + + + + + + + + + - - + + - - - - - - - - - - - - - + + diff --git a/ur_description/urdf/ur10.xacro b/ur_description/urdf/ur10.xacro deleted file mode 100644 index 11b254ed7..000000000 --- a/ur_description/urdf/ur10.xacro +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - diff --git a/ur_description/urdf/ur10e.xacro b/ur_description/urdf/ur10e.xacro deleted file mode 100644 index 837b08d7a..000000000 --- a/ur_description/urdf/ur10e.xacro +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - diff --git a/ur_description/urdf/ur16e.xacro b/ur_description/urdf/ur16e.xacro deleted file mode 100644 index a79d11a43..000000000 --- a/ur_description/urdf/ur16e.xacro +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - diff --git a/ur_description/urdf/ur3.xacro b/ur_description/urdf/ur3.xacro deleted file mode 100644 index 1d025ab70..000000000 --- a/ur_description/urdf/ur3.xacro +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - diff --git a/ur_description/urdf/ur3e.xacro b/ur_description/urdf/ur3e.xacro deleted file mode 100644 index f4f8cae17..000000000 --- a/ur_description/urdf/ur3e.xacro +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - diff --git a/ur_description/urdf/ur5.xacro b/ur_description/urdf/ur5.xacro deleted file mode 100644 index ce69dc6ab..000000000 --- a/ur_description/urdf/ur5.xacro +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - diff --git a/ur_description/urdf/ur5e.xacro b/ur_description/urdf/ur5e.xacro deleted file mode 100644 index f71216e68..000000000 --- a/ur_description/urdf/ur5e.xacro +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - diff --git a/ur_gazebo/CMakeLists.txt b/ur_gazebo/CMakeLists.txt index c74e7b36e..f3ce1e7c2 100644 --- a/ur_gazebo/CMakeLists.txt +++ b/ur_gazebo/CMakeLists.txt @@ -1,21 +1,14 @@ cmake_minimum_required(VERSION 3.0.2) - project(ur_gazebo) - find_package(catkin REQUIRED) - catkin_package() if (CATKIN_ENABLE_TESTING) find_package(roslaunch REQUIRED) - roslaunch_add_file_check(tests/roslaunch_test_ur3.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur3e.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur5.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur5e.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur10.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur10e.xml) - roslaunch_add_file_check(tests/roslaunch_test_ur16e.xml) + foreach(model ur3 ur3e ur5 ur5e ur10 ur10e ur16e) + roslaunch_add_file_check(launch/test.launch model=${model}) + endforeach() endif() -install(DIRECTORY config launch urdf +install(DIRECTORY controllers launch urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur_gazebo/config/ur10_controllers.yaml b/ur_gazebo/controllers/ur10.yaml similarity index 100% rename from ur_gazebo/config/ur10_controllers.yaml rename to ur_gazebo/controllers/ur10.yaml diff --git a/ur_gazebo/config/ur10e_controllers.yaml b/ur_gazebo/controllers/ur10e.yaml similarity index 100% rename from ur_gazebo/config/ur10e_controllers.yaml rename to ur_gazebo/controllers/ur10e.yaml diff --git a/ur_gazebo/config/ur16e_controllers.yaml b/ur_gazebo/controllers/ur16e.yaml similarity index 100% rename from ur_gazebo/config/ur16e_controllers.yaml rename to ur_gazebo/controllers/ur16e.yaml diff --git a/ur_gazebo/config/ur3_controllers.yaml b/ur_gazebo/controllers/ur3.yaml similarity index 100% rename from ur_gazebo/config/ur3_controllers.yaml rename to ur_gazebo/controllers/ur3.yaml diff --git a/ur_gazebo/config/ur3e_controllers.yaml b/ur_gazebo/controllers/ur3e.yaml similarity index 100% rename from ur_gazebo/config/ur3e_controllers.yaml rename to ur_gazebo/controllers/ur3e.yaml diff --git a/ur_gazebo/config/ur5_controllers.yaml b/ur_gazebo/controllers/ur5.yaml similarity index 100% rename from ur_gazebo/config/ur5_controllers.yaml rename to ur_gazebo/controllers/ur5.yaml diff --git a/ur_gazebo/config/ur5e_controllers.yaml b/ur_gazebo/controllers/ur5e.yaml similarity index 100% rename from ur_gazebo/config/ur5e_controllers.yaml rename to ur_gazebo/controllers/ur5e.yaml diff --git a/ur_gazebo/launch/bringup.launch b/ur_gazebo/launch/bringup.launch new file mode 100644 index 000000000..49d277b5b --- /dev/null +++ b/ur_gazebo/launch/bringup.launch @@ -0,0 +1,48 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/inc/ur_control.launch.xml b/ur_gazebo/launch/control.launch similarity index 54% rename from ur_gazebo/launch/inc/ur_control.launch.xml rename to ur_gazebo/launch/control.launch index 3d93c6d66..15cb5dc25 100644 --- a/ur_gazebo/launch/inc/ur_control.launch.xml +++ b/ur_gazebo/launch/control.launch @@ -16,44 +16,47 @@ --> - - - + + + - - - - - - - + + + + + + + + - - - - - + + + + + + + $(arg unpause) + $(arg world_pose) + $(arg initial_joint_positions) + -model $(arg gazebo_model_name)" + output="screen" respawn="false"/> + args="$(arg controllers)" output="screen" respawn="false"/> - + args="--stopped $(arg stopped_controllers)" output="screen" respawn="false"/> diff --git a/ur_gazebo/launch/inc/load_ur.launch.xml b/ur_gazebo/launch/inc/load_ur.launch.xml deleted file mode 100644 index 3828d0777..000000000 --- a/ur_gazebo/launch/inc/load_ur.launch.xml +++ /dev/null @@ -1,46 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/inc/load_ur10.launch.xml b/ur_gazebo/launch/inc/load_ur10.launch.xml deleted file mode 100644 index a5f6c0162..000000000 --- a/ur_gazebo/launch/inc/load_ur10.launch.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/inc/load_ur10e.launch.xml b/ur_gazebo/launch/inc/load_ur10e.launch.xml deleted file mode 100644 index 9acf8ffc6..000000000 --- a/ur_gazebo/launch/inc/load_ur10e.launch.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/inc/load_ur16e.launch.xml b/ur_gazebo/launch/inc/load_ur16e.launch.xml deleted file mode 100644 index 8c79bd9c9..000000000 --- a/ur_gazebo/launch/inc/load_ur16e.launch.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/inc/load_ur3.launch.xml b/ur_gazebo/launch/inc/load_ur3.launch.xml deleted file mode 100644 index beb2de095..000000000 --- a/ur_gazebo/launch/inc/load_ur3.launch.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/inc/load_ur3e.launch.xml b/ur_gazebo/launch/inc/load_ur3e.launch.xml deleted file mode 100644 index 95eb214ed..000000000 --- a/ur_gazebo/launch/inc/load_ur3e.launch.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/inc/load_ur5.launch.xml b/ur_gazebo/launch/inc/load_ur5.launch.xml deleted file mode 100644 index 1bc482b6e..000000000 --- a/ur_gazebo/launch/inc/load_ur5.launch.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/inc/load_ur5e.launch.xml b/ur_gazebo/launch/inc/load_ur5e.launch.xml deleted file mode 100644 index 72f7f9cac..000000000 --- a/ur_gazebo/launch/inc/load_ur5e.launch.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/load.launch b/ur_gazebo/launch/load.launch new file mode 100644 index 000000000..cd125b97f --- /dev/null +++ b/ur_gazebo/launch/load.launch @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/test.launch b/ur_gazebo/launch/test.launch new file mode 100644 index 000000000..d77c8829f --- /dev/null +++ b/ur_gazebo/launch/test.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch deleted file mode 100644 index 5102f8230..000000000 --- a/ur_gazebo/launch/ur10_bringup.launch +++ /dev/null @@ -1,75 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch deleted file mode 100644 index 177d8e59e..000000000 --- a/ur_gazebo/launch/ur10e_bringup.launch +++ /dev/null @@ -1,75 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch deleted file mode 100644 index a2018ff7c..000000000 --- a/ur_gazebo/launch/ur16e_bringup.launch +++ /dev/null @@ -1,75 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/ur3_bringup.launch deleted file mode 100644 index 6f22a1d71..000000000 --- a/ur_gazebo/launch/ur3_bringup.launch +++ /dev/null @@ -1,75 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch deleted file mode 100644 index 93cec225f..000000000 --- a/ur_gazebo/launch/ur3e_bringup.launch +++ /dev/null @@ -1,75 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch deleted file mode 100644 index f4edf3307..000000000 --- a/ur_gazebo/launch/ur5_bringup.launch +++ /dev/null @@ -1,75 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch deleted file mode 100644 index 4dcf940c5..000000000 --- a/ur_gazebo/launch/ur5e_bringup.launch +++ /dev/null @@ -1,75 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/tests/roslaunch_test_ur10.xml b/ur_gazebo/tests/roslaunch_test_ur10.xml deleted file mode 100644 index 02e6458c7..000000000 --- a/ur_gazebo/tests/roslaunch_test_ur10.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_gazebo/tests/roslaunch_test_ur10e.xml b/ur_gazebo/tests/roslaunch_test_ur10e.xml deleted file mode 100644 index 8443ef3d4..000000000 --- a/ur_gazebo/tests/roslaunch_test_ur10e.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_gazebo/tests/roslaunch_test_ur16e.xml b/ur_gazebo/tests/roslaunch_test_ur16e.xml deleted file mode 100644 index 566e1f1cd..000000000 --- a/ur_gazebo/tests/roslaunch_test_ur16e.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_gazebo/tests/roslaunch_test_ur3.xml b/ur_gazebo/tests/roslaunch_test_ur3.xml deleted file mode 100644 index d9c9c148d..000000000 --- a/ur_gazebo/tests/roslaunch_test_ur3.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_gazebo/tests/roslaunch_test_ur3e.xml b/ur_gazebo/tests/roslaunch_test_ur3e.xml deleted file mode 100644 index 4a10cd48f..000000000 --- a/ur_gazebo/tests/roslaunch_test_ur3e.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_gazebo/tests/roslaunch_test_ur5.xml b/ur_gazebo/tests/roslaunch_test_ur5.xml deleted file mode 100644 index dae9deae7..000000000 --- a/ur_gazebo/tests/roslaunch_test_ur5.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_gazebo/tests/roslaunch_test_ur5e.xml b/ur_gazebo/tests/roslaunch_test_ur5e.xml deleted file mode 100644 index 0cf392035..000000000 --- a/ur_gazebo/tests/roslaunch_test_ur5e.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_gazebo/urdf/macro.xacro b/ur_gazebo/urdf/macro.xacro new file mode 100644 index 000000000..1764caa0e --- /dev/null +++ b/ur_gazebo/urdf/macro.xacro @@ -0,0 +1,94 @@ + + + + + + + + + + + + + + + + + + + + true + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/urdf/ur.xacro b/ur_gazebo/urdf/ur.xacro index 2d202a7d6..f123f6a6f 100644 --- a/ur_gazebo/urdf/ur.xacro +++ b/ur_gazebo/urdf/ur.xacro @@ -1,8 +1,8 @@ - + - + + - - - - - + controller .yaml files in the 'config' directory. --> + + + + - + diff --git a/ur_gazebo/urdf/ur_macro.xacro b/ur_gazebo/urdf/ur_macro.xacro deleted file mode 100644 index fca825035..000000000 --- a/ur_gazebo/urdf/ur_macro.xacro +++ /dev/null @@ -1,109 +0,0 @@ - - - - - - - - - - - - - - - - - true - - - true - - - true - - - true - - - true - - - true - - - true - - - - - - - - - - -