Generically expose URDF joint dynamics. #56
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Icon45
reviewed
May 6, 2023
added 2 commits
May 6, 2023 15:52
…alRobots/Universal_Robots_ROS2_Description into dz/expose-joint-dyn-prop-file
…nzimmerman/Universal_Robots_ROS2_Description into dz/expose-joint-dyn-prop-file
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This should likely wait and build on top of #59 or equivalent. |
This was referenced May 9, 2023
Open
fmauch
reviewed
Sep 5, 2024
| @@ -41,14 +41,15 @@ | |||
| <mesh filename="${mesh}"/> | |||
| </xacro:macro> | |||
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| <xacro:macro name="read_model_data" params="joint_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file force_abs_paths"> | |||
| <xacro:macro name="read_model_data" params="joint_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file joint_dynamics force_abs_paths"> | |||
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I think I would prefer passing the filename down to here as we do with the other parameters, as well.
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Actually, I am not sure. It would be nicer to keep it on one level, however this way it is backwards compatible.
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This is aimed at simulation use cases like #54 and #55, where simulation needs dictate different non-zero joint dynamics parameters.
In
ur.urdf.xacroI provide an example loading the joint dynamics properties from a config file, but followed the treatment ofinitial_positionsso that no config file is necessary to use thexacro:ur_robotmacro in other contexts.For the Gazebo Classic use case, I want to compute the dynamics parameters dynamically from other data, setting the joints'
frictionattributes to a multiple of the joints' effort limits like here.(See discussion in #55 and Universal_Robots_ROS2_Gazebo_Simulation/#19 for context.)
In other user code including
ur_macro.xacroI think this should not require any changes.