Changing base_link to ur_base_link in the description and making

base_link a dummy link to better support MoveIt.
BillHoover · Jul 9, 2014 · d735627 · d735627
1 parent 37db3fc
commit d735627
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Showing 11 changed files with 47 additions and 17 deletions.
diff --git 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
+    generated_timestamp: 1404841877
diff --git 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
diff --git 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
diff --git 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
@@ -5,4 +5,4 @@ moveit_setup_assistant_config:
   SRDF:
     relative_path: config/ur5.srdf
   CONFIG:
-    generated_timestamp: 1395340824
+    generated_timestamp: 1404842691
diff --git 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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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" />