parametrized coupler mass (with bolts)

Author: macmacal

urdf/robotiq_hande_gripper.xacro

@@ -7,13 +7,14 @@
   <xacro:include filename="$(find robotiq_hande_description)/urdf/materials.xacro"/>
   <xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.ros2_control.xacro"/>
 
-  <xacro:macro name="robotiq_hande_gripper" params="name prefix parent tty use_fake_hardware">
+  <xacro:macro name="robotiq_hande_gripper" params="name prefix parent tty use_fake_hardware coupler_mass:=0.119">
     <!-- ros2_control parameters  -->
     <xacro:robotiq_hande_ros2_control name="${name}" prefix="${prefix}" tty="${tty}" use_fake_hardware="${use_fake_hardware}"/>
 
     <!-- Robotiq Coupler -->
     <!--  + Height added by the coupler (13.9mm) -->
     <!--  + Reference frame at the middle (6.95mm) -->
+    <!--  + Mass includes the bolts -->
 
     <joint name="${prefix}robotiq_hande_coupler_joint" type="fixed">
       <origin xyz="0 0 0.00695" rpy="0 0 ${-pi/2.0}"/>
@@ -35,7 +36,7 @@
       </collision>
 
       <inertial>
-        <mass value="0.168"/>
+        <mass value="${coupler_mass}"/>
         <inertia ixx="6.17674E-5" ixy="0.0" ixz="0.0" iyy="6.17674E-5" iyz="0.0" izz="1.18125E-4"/>
       </inertial>
     </link>