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Merged
slimasziom merged 8 commits into from
Mar 18, 2025
Merged

Humble release v0.1.1 #8

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5b62f08
Update CHANGELOG.md
macmacal Mar 17, 2025
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
bfc0196
CHG: changelog
slimasziom Mar 18, 2025
e9598cc
CHG: package version bump
slimasziom Mar 18, 2025
4e85596
added citation file
macmacal Mar 18, 2025
ac29c68
bumped version
macmacal Mar 18, 2025
d528eae
fixed default rotatation of hande
macmacal Mar 18, 2025
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14 changes: 8 additions & 6 deletions CHANGELOG.md
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Expand Up @@ -5,6 +5,13 @@ All notable changes to the `robotiq_hande_driver` package will be documented in
The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/),
and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).

## [0.1.1] - 2025-03-18

### Fixed

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


## [0.1.0] - 2025-03-13

### Added
Expand All @@ -15,11 +22,6 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0

* [PR-3](https://github.com/AGH-CEAI/robotiq_hande_description/pull/3) & [PR-4](https://github.com/AGH-CEAI/robotiq_hande_description/pull/3) - Changed the coupler model and simplified URDF files by editing the models.

### Deprecated

### Removed

### Fixed
* [PR-2](https://github.com/AGH-CEAI/robotiq_hande_description/pull/2) - Removed unnecessary quotation marks from parameter values.

### Security
* [PR-2](https://github.com/AGH-CEAI/robotiq_hande_description/pull/2) - Removed unnecessary quotation marks from parameter values.
15 changes: 15 additions & 0 deletions CITATION.cff
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@@ -0,0 +1,15 @@
cff-version: 1.2.0
message: "If you use this software, please cite it as below."
authors:
- family-names: Aleksandrowicz
given-names: Maciej
orcid: https://orcid.org/0000-0003-3388-5653
- family-names: Klimek
given-names: Krzysztof
orcid: https://orcid.org/0009-0004-6749-1833
- family-names: Płachno
given-names: Jakub
title: "Robotiq Hand-E ROS 2 Description Package"
version: 0.1.1
identifiers:
date-released: 2025-03-18
2 changes: 1 addition & 1 deletion package.xml
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Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>robotiq_hande_description</name>
<version>0.1.0</version>
<version>0.1.1</version>
<description>Contains meshes and URDF description of the Robotiq Hand-E gripper.</description>
<maintainer email="mac.aleksandrowicz@gmail.com">Maciej Aleksandrowicz</maintainer>
<license>Apache-2.0</license>
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13 changes: 10 additions & 3 deletions urdf/cylinder_inertial.xacro
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@@ -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>
10 changes: 5 additions & 5 deletions urdf/robotiq_hande_gripper.xacro
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Expand Up @@ -36,7 +36,7 @@
<xacro:arg name="hande_radius" default="0.0375"/>

<joint name="${prefix}robotiq_hande_coupler_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 ${-pi/2.0}"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="${parent}"/>
<child link="${prefix}robotiq_hande_coupler"/>
</joint>
Expand All @@ -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">
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