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SYNC: Parametrize mounting transform for the gripper #9

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Merged
macmacal merged 7 commits into from
Jun 27, 2025
Merged

SYNC: Parametrize mounting transform for the gripper #9

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8367515
Make gripper mounting pose configurable
sivral Jun 25, 2025
d532243
Format
sivral Jun 27, 2025
33e4eb4
Format
sivral Jun 27, 2025
953611f
Format
sivral Jun 27, 2025
21f45df
Update changelog
sivral Jun 27, 2025
548d091
Update changelog
sivral Jun 27, 2025
cff23d6
Merge pull request #11 from AGH-CEAI/feature/enable_custom_transform
sivral Jun 27, 2025
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0

### Added

* [PR-11](https://github.com/AGH-CEAI/robotiq_hande_description/pull/11) - Parametrized link transform for the gripper.
* [PR-1](https://github.com/AGH-CEAI/robotiq_hande_description/pull/1) - Configuration parameters for ModbusRTU.

### Changed
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21 changes: 19 additions & 2 deletions urdf/robotiq_hande_gripper.xacro
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Expand Up @@ -7,7 +7,24 @@
<xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.ros2_control.xacro"/>
<xacro:include filename="$(find robotiq_hande_description)/urdf/cylinder_inertial.xacro"/>

<xacro:macro name="robotiq_hande_gripper" params="name prefix parent grip_pos_min grip_pos_max tty baudrate parity data_bits stop_bit slave_id use_fake_hardware coupler_mass:=0.119">
<xacro:macro
name="robotiq_hande_gripper"
params="name
prefix
parent
grip_pos_min
grip_pos_max
tty
baudrate
parity
data_bits
stop_bit
slave_id
use_fake_hardware
coupler_mass:=0.119
xyz:='0 0 0'
rpy:='0 0 0'"
>
<!-- ros2_control parameters -->
<xacro:robotiq_hande_ros2_control
name="${name}"
Expand Down Expand Up @@ -36,7 +53,7 @@
<xacro:arg name="hande_radius" default="0.0375"/>

<joint name="${prefix}robotiq_hande_coupler_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<origin xyz="${xyz}" rpy="${rpy}"/>
<parent link="${parent}"/>
<child link="${prefix}robotiq_hande_coupler"/>
</joint>
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