Skip to content

Sync humble-release with humble-devel #7

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
slimasziom wants to merge 2 commits into from
Closed

Sync humble-release with humble-devel #7

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
0206a1f
Merge pull request #5 from AGH-CEAI/humble-release
macmacal Mar 17, 2025
2edd73c
FIX: change inertial macro name to avoid namespace collisions (#6)
slimasziom Mar 18, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions CHANGELOG.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
### Deprecated
### Removed
### Fixed

* [PR-6](https://github.com/AGH-CEAI/robotiq_hande_description/pull/6) - Added prefix to inertial macro name. Added descriptive names for params.

### Security

## [0.1.0] - 2025-03-13
Expand Down
13 changes: 10 additions & 3 deletions urdf/cylinder_inertial.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,10 +1,17 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="cylinder_inertial" params="r h m *origin">
<xacro:macro name="__robotiq_hande_cylinder_inertial" params="radius height mass *origin">
<inertial>
<mass value="${m}"/>
<mass value="${mass}"/>
<xacro:insert_block name="origin"/>
<inertia ixx="${0.0833333 * m * (3 * (r * r) + h * h)}" ixy="0.0" ixz="0.0" iyy="${0.0833333 * m * (3 * (r * r) + h * h)}" iyz="0.0" izz="${0.5 * m * (r * r)}"/>
<inertia
ixx="${0.0833333 * mass * (3 * (radius * radius) + height * height)}"
ixy="0.0"
ixz="0.0"
iyy="${0.0833333 * mass * (3 * (radius * radius) + height * height)}"
iyz="0.0"
izz="${0.5 * mass * (radius * radius)}"
/>
</inertial>
</xacro:macro>
</robot>
8 changes: 4 additions & 4 deletions urdf/robotiq_hande_gripper.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -55,9 +55,9 @@
</geometry>
</collision>

<xacro:cylinder_inertial r="$(arg hande_radius)" h="$(arg coupler_shell_height)" m="${coupler_mass}">
<xacro:__robotiq_hande_cylinder_inertial radius="$(arg hande_radius)" height="$(arg coupler_shell_height)" mass="${coupler_mass}">
<origin xyz="0 0 ${$(arg coupler_shell_height) / 2 - $(arg coupler_parent_cutoff)}" rpy="0 0 0"/>
</xacro:cylinder_inertial>
</xacro:__robotiq_hande_cylinder_inertial>
</link>

<joint name="${prefix}robotiq_hande_base_joint" type="fixed">
Expand All @@ -81,9 +81,9 @@
</geometry>
</collision>

<xacro:cylinder_inertial r="$(arg hande_radius)" h="$(arg hande_height)" m="0.86387">
<xacro:__robotiq_hande_cylinder_inertial radius="$(arg hande_radius)" height="$(arg hande_height)" mass="0.86387">
<origin xyz="0 0 ${$(arg hande_height) / 2}" rpy="0 0 0"/>
</xacro:cylinder_inertial>
</xacro:__robotiq_hande_cylinder_inertial>
</link>

<joint name="${prefix}robotiq_hande_left_finger_joint" type="prismatic">
Expand Down