According to ros-controls/gazebo_ros2_control#295, comments in the xa…

…cro cause parsing issues
nicholasl23638 · Jul 21, 2024 · 4493ae0 · 4493ae0
1 parent 648eca3
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diff --git a/hyperdog_gazebo_sim/description/gazebo_ros2_control_plugin.xacro b/hyperdog_gazebo_sim/description/gazebo_ros2_control_plugin.xacro
@@ -1,18 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-<!-- ************* JOINT CONTROLLER GAZEBO PLUGIN ************** -->
-
-    <!-- 
-    _____________________________________________________________________
-        include this file into: /description/hyperdog.urdf.xacro 
-        using following line: 
-                    <xacro:include filename="gazebo_ros2_control_plugin.xacro" /> 
-    _____________________________________________________________________ -->
-
-
-
-    <!-- CONFIGURE JOINTS OF THE ROBOT -->
     <ros2_control name="GazeboSystem" type="System">
         <hardware>
             <plugin>gazebo_ros2_control/GazeboSystem</plugin>
@@ -163,7 +151,6 @@
         </joint>
     </ros2_control>
 
-    <!--  CONFIGURE THE GAZEBO PLUGIN -->
     <gazebo>
         <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
           <parameters>$(find hyperdog_gazebo_sim)/config/hyperdog_joint_controller.yaml</parameters>

diff --git a/hyperdog_gazebo_sim/description/hyperdog_gazebo.xacro b/hyperdog_gazebo_sim/description/hyperdog_gazebo.xacro
@@ -1,16 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-<!--
-    _____________________________________________________________________
-        include this file into: /description/hyperdog.urdf.xacro 
-        using following line: 
-                    <xacro:include filename="hyperdog_gazebo.xacro" /> 
-    _____________________________________________________________________ 
-    * Gazebo is unable to use the same <material> tags that are already in the URDF (that RViz uses).
-    Instead, we need to add gazebo tags for our links that refer to Gazebo materials
--->
-
     <xacro:include filename="physics.xacro" /> 
 
     <xacro:macro name="gz_hip">
@@ -31,8 +21,6 @@
         <maxVel>0.01</maxVel>
         <self_collide>1</self_collide>
         <material>Gazebo/Orange</material>
-        <!-- <implicitSpringDamper>1</implicitSpringDamper>
-        <springStiffness>100</springStiffness> -->
     </xacro:macro>
 
     <xacro:macro name="gz_lleg">
@@ -45,8 +33,6 @@
         <self_collide>1</self_collide> 
         <material>Gazebo/DarkYellow</material>
         <minDepth>0.001</minDepth> 
-        <!-- <implicitSpringDamper>1</implicitSpringDamper>
-        <springStiffness>100</springStiffness> -->
     </xacro:macro>
 
     <xacro:macro name="gz_foot">
@@ -67,17 +53,13 @@
 
 
 
-    <!-- body -->
     <gazebo reference="base_link">
         <mu1>0.05</mu1>
         <mu2>0.05</mu2>
-        <!-- <kp>1000000.0</kp>
-        <kd>1.0</kd> -->
         <maxVel>0.01</maxVel>
         <material>Gazebo/DarkGrey  </material>
     </gazebo>
 
-    <!-- hip -->
     <gazebo reference="FR_hip_link">
         <xacro:gz_hip></xacro:gz_hip>
     </gazebo>   
@@ -91,7 +73,6 @@
         <xacro:gz_hip></xacro:gz_hip>
     </gazebo>
 
-    <!-- uleg -->
     <gazebo reference="FR_uleg_link">
         <xacro:gz_uleg></xacro:gz_uleg>
     </gazebo>   
@@ -105,7 +86,6 @@
         <xacro:gz_uleg></xacro:gz_uleg>
     </gazebo>
 
-    <!-- lleg -->
     <gazebo reference="FR_lleg_link">
         <xacro:gz_lleg></xacro:gz_lleg>
     </gazebo>
@@ -119,8 +99,6 @@
         <xacro:gz_lleg></xacro:gz_lleg>
     </gazebo>
 
-
-    <!-- feet -->
     <gazebo reference="FR_foot">
         <xacro:gz_foot></xacro:gz_foot>
     </gazebo>

diff --git a/hyperdog_gazebo_sim/description/hyperdog_urdf_joints.xacro b/hyperdog_gazebo_sim/description/hyperdog_urdf_joints.xacro
@@ -1,16 +1,8 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-<!-- 
-    _____________________________________________________________________
-        include this file into: /description/hyperdog.urdf.xacro 
-        using following line: 
-                    <xacro:include filename="hyperdog_urdf_joints.xacro" /> 
-    _____________________________________________________________________ -->
-
     <xacro:include filename="consts.xacro" /> 
 
-    <!-- Limits -->
     <xacro:macro name="hip_limits">
         <limit lower="${hip_low_limit}" upper="${hip_up_limit}" velocity="${velocity}" effort="${effort}"/> <!-- effort = 7 -->
     </xacro:macro>
@@ -22,13 +14,11 @@
     </xacro:macro>
 
 
-    <!-- ******** Inertial-base joint ********** -->
     <joint name="inertial_joint" type="fixed">
         <parent link="base_link"/>
         <child link="inertial_link"/>
     </joint>
 
-    <!-- *********  FR_hip joint ********* -->
     <joint name="FR_hip_joint" type="revolute">
         <axis xyz="-1 0 0"/>
         <origin xyz="0.175 -0.066 0" rpy="0 0 0"/>
@@ -39,7 +29,6 @@
             <xacro:hip_joint_dynamics></xacro:hip_joint_dynamics>
         </xacro:if>
     </joint>
-    <!-- *********  FL_hip  ********* -->
     <joint name="FL_hip_joint" type="revolute">
         <axis xyz="1 0 0"/>
         <origin xyz="0.175 0.066 0" rpy="0 0 0"/>
@@ -50,7 +39,6 @@
             <xacro:hip_joint_dynamics></xacro:hip_joint_dynamics>
         </xacro:if>
     </joint>
-    <!-- *********  BR_hip  ********* -->
     <joint name="BR_hip_joint" type="revolute">
         <axis xyz="-1 0 0"/>
         <origin xyz="-0.175 -0.066 0" rpy="0 0 0"/>
@@ -61,7 +49,6 @@
             <xacro:hip_joint_dynamics></xacro:hip_joint_dynamics>
         </xacro:if>
     </joint>
-    <!-- *********  BL_hip  ********* -->
     <joint name="BL_hip_joint" type="revolute">
         <axis xyz="1 0 0"/>
         <origin xyz="-0.175 0.066 0" rpy="0 0 0"/>
@@ -76,7 +63,6 @@
 
 
 
-    <!-- *********  FR_uleg joint ********* -->
     <joint name="FR_uleg_joint" type="revolute">
         <axis xyz="0 -1 0"/>
         <origin xyz="0 -0.104 0" rpy="0 0 0"/>
@@ -87,7 +73,6 @@
             <xacro:uleg_joint_dynamics></xacro:uleg_joint_dynamics>
         </xacro:if>
     </joint>
-    <!-- *********  FL_uleg  ********* -->
     <joint name="FL_uleg_joint" type="revolute">
         <axis xyz="0 -1 0"/>
         <origin xyz="0 0.104 0" rpy="0 0 0"/>
@@ -98,7 +83,6 @@
             <xacro:uleg_joint_dynamics></xacro:uleg_joint_dynamics>
         </xacro:if>
     </joint>
-    <!-- *********  BR_uleg  ********* -->
     <joint name="BR_uleg_joint" type="revolute">
         <axis xyz="0 -1 0"/>
         <origin xyz="0 -0.104 0" rpy="0 0 0"/>
@@ -109,7 +93,6 @@
             <xacro:uleg_joint_dynamics></xacro:uleg_joint_dynamics>
         </xacro:if>
     </joint>
-    <!-- *********  BL_uleg  ********* -->
     <joint name="BL_uleg_joint" type="revolute">
         <axis xyz="0 -1 0"/>
         <origin xyz="0 0.104 0" rpy="0 0 0"/>
@@ -123,7 +106,6 @@
 
 
 
-    <!-- *********  FR_lleg  ********* -->
     <joint name="FR_lleg_joint" type="revolute">
         <axis xyz="0 1 0"/>
         <origin xyz="-0.15 0 0" rpy="0 0.0 0"/>
@@ -134,7 +116,6 @@
             <xacro:lleg_joint_dynamics></xacro:lleg_joint_dynamics>
         </xacro:if>
     </joint>
-    <!-- *********  FL_lleg  ********* -->
     <joint name="FL_lleg_joint" type="revolute">
         <axis xyz="0 1 0"/>
         <origin xyz="-0.15 0 0" rpy="0 0.0 0"/>
@@ -145,7 +126,6 @@
             <xacro:lleg_joint_dynamics></xacro:lleg_joint_dynamics>
         </xacro:if>
     </joint>
-    <!-- *********  BR_lleg  ********* -->
     <joint name="BR_lleg_joint" type="revolute">
         <origin xyz="-0.15 0 0" rpy="0 0.0 0"/>
         <parent link="BR_uleg_link"/>
@@ -156,7 +136,6 @@
             <xacro:lleg_joint_dynamics></xacro:lleg_joint_dynamics>
         </xacro:if>
     </joint>
-    <!-- *********  BL_lleg  ********* -->
     <joint name="BL_lleg_joint" type="revolute">
         <axis xyz="0 1 0"/>
         <origin xyz="-0.15 0 0" rpy="0 0.0 0"/>
@@ -170,25 +149,21 @@
 
 
 
-     <!-- *********  FR_FOOT  ********* -->
      <joint name="FR_foot_fixed" type="fixed">
         <origin rpy="0 0 0" xyz="0.14 0 0"/>
         <parent link="FR_lleg_link"/>
         <child link="FR_foot"/>
       </joint>
-     <!-- *********  FL_FOOT  ********* -->
      <joint name="FL_foot_fixed" type="fixed">
         <origin rpy="0 0 0" xyz="0.14 0 0"/>
         <parent link="FL_lleg_link"/>
         <child link="FL_foot"/>
       </joint>
-     <!-- *********  BR_FOOT  ********* -->
      <joint name="BR_foot_fixed" type="fixed">
         <origin rpy="0 0 0" xyz="0.14 0 0"/>
         <parent link="BR_lleg_link"/>
         <child link="BR_foot"/>
       </joint>
-    <!-- *********  BL_FOOT  ********* -->
     <joint name="BL_foot_fixed" type="fixed">
         <origin rpy="0 0 0" xyz="0.14 0 0"/>
         <parent link="BL_lleg_link"/>