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Merge pull request #183 from rhaschke/improve-xacro-parameterization
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Cosmetic changes to xacro and launch files
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@gollth
gollth authored Nov 8, 2021
2 parents 8dc80d1 + bd69b61 commit 165a925
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Showing 4 changed files with 32 additions and 41 deletions.
49 changes: 25 additions & 24 deletions franka_description/robots/panda_arm.urdf.xacro
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@@ -1,20 +1,21 @@
<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">

<xacro:arg name="arm_id" default="panda" /> <!-- Name of this panda -->
<xacro:arg name="hand" default="false" /> <!-- Should a franka_gripper be mounted at the flange?" -->
<xacro:arg name="gazebo" default="false" /> <!-- Is the robot being simulated in gazebo?" -->

<xacro:property name="arm_id" value="$(arg arm_id)" />
<!-- Name of this panda -->
<xacro:arg name="arm_id" default="panda" />
<!-- Should a franka_gripper be mounted at the flange?" -->
<xacro:arg name="hand" default="false" />
<!-- Is the robot being simulated in gazebo?" -->
<xacro:arg name="gazebo" default="false" />

<xacro:unless value="$(arg gazebo)">
<!-- Create a URDF for a real hardware -->
<xacro:include filename="$(find franka_description)/robots/panda_arm.xacro" />
<xacro:panda_arm arm_id="${arm_id}" safety_distance="0.03"/>
<xacro:panda_arm arm_id="$(arg arm_id)" safety_distance="0.03"/>

<xacro:if value="$(arg hand)">
<xacro:include filename="$(find franka_description)/robots/hand.xacro"/>
<xacro:hand ns="${arm_id}" rpy="0 0 ${-pi/4}" connected_to="${arm_id}_link8" safety_distance="0.03"/>
<xacro:hand ns="$(arg arm_id)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id)_link8" safety_distance="0.03"/>
</xacro:if>
</xacro:unless>

Expand All @@ -27,40 +28,40 @@
<xacro:include filename="$(find franka_description)/robots/utils.xacro" />
<xacro:include filename="$(find franka_description)/robots/panda_gazebo.xacro" />

<xacro:panda_arm arm_id="${arm_id}" />
<xacro:panda_arm arm_id="$(arg arm_id)" />

<xacro:if value="$(arg hand)">
<xacro:hand ns="${arm_id}" rpy="0 0 ${-pi/4}" connected_to="${arm_id}_link8" />
<xacro:gazebo-joint joint="${arm_id}_finger_joint1" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_finger_joint2" transmission="hardware_interface/EffortJointInterface" />
<xacro:hand ns="$(arg arm_id)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id)_link8" />
<xacro:gazebo-joint joint="$(arg arm_id)_finger_joint1" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="$(arg arm_id)_finger_joint2" transmission="hardware_interface/EffortJointInterface" />
</xacro:if>

<!-- Gazebo requires a joint to a link called "world" for statically mounted robots -->
<link name="world" />
<joint name="world_joint" type="fixed">
<origin xyz="$(arg xyz)" rpy="$(arg rpy)" />
<parent link="world" />
<child link="${arm_id}_link0" />
<child link="$(arg arm_id)_link0" />
</joint>


<xacro:gazebo-joint joint="${arm_id}_joint1" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint2" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint3" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint4" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint5" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint6" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint7" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="$(arg arm_id)_joint1" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="$(arg arm_id)_joint2" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="$(arg arm_id)_joint3" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="$(arg arm_id)_joint4" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="$(arg arm_id)_joint5" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="$(arg arm_id)_joint6" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="$(arg arm_id)_joint7" transmission="hardware_interface/EffortJointInterface" />

<xacro:transmission-franka-state arm_id="${arm_id}" />
<xacro:transmission-franka-model arm_id="${arm_id}"
root="${arm_id}_joint1"
tip="${arm_id}_joint8"
<xacro:transmission-franka-state arm_id="$(arg arm_id)" />
<xacro:transmission-franka-model arm_id="$(arg arm_id)"
root="$(arg arm_id)_joint1"
tip="$(arg arm_id)_joint8"
/>

<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>${arm_id}</robotNamespace>
<robotNamespace>$(arg arm_id)</robotNamespace>
<controlPeriod>0.001</controlPeriod>
<robotSimType>franka_gazebo/FrankaHWSim</robotSimType>
</plugin>
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2 changes: 1 addition & 1 deletion franka_description/robots/panda_gazebo.xacro
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Expand Up @@ -8,7 +8,7 @@
<!-- || PandaRobot With Retrieval of Feasible Parameters Using || -->
<!-- || Penalty-Based Optimization || -->
<!-- || by: Claudio Gaz, Marco Cognetti, Alexander Oliva, || -->
<!-- || Paolo Robuffo Giordano, Alessandro de Lucaa || -->
<!-- || Paolo Robuffo Giordano, Alessandro de Luca || -->
<!-- =============================================================== -->

<xacro:macro name="panda_arm" params="arm_id:='panda'">
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20 changes: 5 additions & 15 deletions franka_gazebo/launch/panda.launch
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Expand Up @@ -31,6 +31,7 @@

<include file="$(find gazebo_ros)/launch/empty_world.launch" if="$(arg gazebo)">
<arg name="world_name" value="$(arg world)"/>
<!-- Always start in paused mode, and only unpause when spawning the model -->
<arg name="paused" value="true"/>
<arg name="gui" value="$(eval not arg('headless'))"/>
<arg name="use_sim_time" value="true"/>
Expand All @@ -51,23 +52,13 @@

<param name="m_ee" value="0.76" if="$(arg use_gripper)" />

<arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
<node name="$(arg arm_id)_model_spawner"
pkg="gazebo_ros"
type="spawn_model"
if="$(arg paused)"
args="-param robot_description -urdf -model $(arg arm_id)
args="-param robot_description -urdf -model $(arg arm_id) $(arg unpause)
$(arg initial_joint_positions)
">
</node>
<node name="$(arg arm_id)_model_spawner"
pkg="gazebo_ros"
type="spawn_model"
unless="$(arg paused)"
args="-param robot_description -urdf -model $(arg arm_id) -unpause
$(arg initial_joint_positions)
">
</node>

"/>

<!-- Spawn required ROS controllers -->
<node pkg="controller_manager"
Expand All @@ -85,8 +76,6 @@
args="franka_state_controller $(arg controller)"
/>

<remap to="cartesian_impedance_example_controller/equilibrium_pose" from="equilibrium_pose" />

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher">
<rosparam param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
Expand All @@ -104,6 +93,7 @@
type="interactive_marker.py"
if="$(eval arg('controller') == 'cartesian_impedance_example_controller')">
<param name="link_name" value="$(arg arm_id)_link0" />
<remap to="cartesian_impedance_example_controller/equilibrium_pose" from="equilibrium_pose" />
</node>

</group>
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2 changes: 1 addition & 1 deletion franka_gazebo/test/launch/panda-gazebo.urdf
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Expand Up @@ -7,7 +7,7 @@
<!-- || PandaRobot With Retrieval of Feasible Parameters Using || -->
<!-- || Penalty-Based Optimization || -->
<!-- || by: Claudio Gaz, Marco Cognetti, Alexander Oliva, || -->
<!-- || Paolo Robuffo Giordano,Alessandro de Lucaa third-party || -->
<!-- || Paolo Robuffo Giordano, Alessandro de Luca third-party || -->
<!-- =============================================================== -->
<link name="world"/>
<joint name="panda_joint_panda_mount" type="fixed">
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