Merge pull request #6 from AGH-CEAI/humble-devel

Sync development from AGH-CEAI

Author: macmacal

CHANGELOG.md

@@ -14,6 +14,13 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Fixed
 ### Security
 
+## [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

CITATION.cff

@@ -0,0 +1,17 @@
+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:
+  - type: doi
+    value: 10.5281/zenodo.15047935
+date-released: 2025-03-18

README.md

@@ -2,7 +2,11 @@
 ### For the driver, check the [robotiq_hande_driver](https://github.com/AGH-CEAI/robotiq_hande_driver/) package from AGH UST.
 ---
 
+[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 [![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit)
+[![DOI](https://zenodo.org/badge/760425699.svg)](https://doi.org/10.5281/zenodo.15047934)
+
+
 
 This package contains meshes and URDF description of [Robotiq Hand-E gripper](https://robotiq.com/products/hand-e-adaptive-robot-gripper). It was originally developed for integration with Universal Robots e-series (UR5e), however it is be possible to change the coupler model to fit your needs. **PRs are welcome!**
 

package.xml

@@ -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>

urdf/cylinder_inertial.xacro

@@ -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>

urdf/robotiq_hande_gripper.xacro

@@ -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>
@@ -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">
@@ -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">