iiwa fixes

kroshu · Nov 10, 2023 · 8351237 · 8351237
1 parent a53bb93
commit 8351237
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Showing 8 changed files with 12 additions and 261 deletions.
diff --git a/kuka_lbr_iisy_support/config/simple_urdf.rviz b/kuka_lbr_iisy_support/config/simple_urdf.rviz
diff --git a/kuka_lbr_iisy_support/launch/test_lbr_iisy11_r1300.launch.py b/kuka_lbr_iisy_support/launch/test_lbr_iisy11_r1300.launch.py
@@ -36,7 +36,7 @@ def generate_launch_description():
 
     # RViz
     rviz_config_file = PathJoinSubstitution([FindPackageShare(
-        'kuka_lbr_iisy_support'), "config", "simple_urdf.rviz"])
+        'kuka_resources'), "config", "simple_urdf.rviz"])
     rviz_node = Node(package='rviz2',
                      executable='rviz2',
                      name='rviz2_launch',

diff --git a/kuka_lbr_iisy_support/launch/test_lbr_iisy15_r930.launch.py b/kuka_lbr_iisy_support/launch/test_lbr_iisy15_r930.launch.py
@@ -36,7 +36,7 @@ def generate_launch_description():
 
     # RViz
     rviz_config_file = PathJoinSubstitution([FindPackageShare(
-        'kuka_lbr_iisy_support'), "config", "simple_urdf.rviz"])
+        'kuka_resources'), "config", "simple_urdf.rviz"])
     rviz_node = Node(package='rviz2',
                      executable='rviz2',
                      name='rviz2_launch',

diff --git a/kuka_lbr_iisy_support/launch/test_lbr_iisy3_r760.launch.py b/kuka_lbr_iisy_support/launch/test_lbr_iisy3_r760.launch.py
@@ -36,7 +36,7 @@ def generate_launch_description():
 
     # RViz
     rviz_config_file = PathJoinSubstitution([FindPackageShare(
-        'kuka_lbr_iisy_support'), "config", "simple_urdf.rviz"])
+        'kuka_resources'), "config", "simple_urdf.rviz"])
     rviz_node = Node(package='rviz2',
                      executable='rviz2',
                      name='rviz2_launch',

diff --git a/kuka_lbr_iiwa_moveit_config/srdf/lbr_iiwa_arm.macro.xacro b/kuka_lbr_iiwa_moveit_config/srdf/lbr_iiwa_arm.macro.xacro
@@ -25,7 +25,7 @@
     </group_state>
 
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
-    <virtual_joint name="virtual_joint" type="floating" parent_frame="world" child_link="${prefix}base_link_inertia" />
+    <!-- <virtual_joint name="virtual_joint" type="floating" parent_frame="world" child_link="${prefix}base_link_inertia" /> -->
 
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
     <end_effector name="flange" parent_link="${prefix}flange" group="end_effector" parent_group="lbr_iiwa_arm"/>

diff --git a/kuka_lbr_iiwa_support/launch/test_lbr_iiwa14_r820.launch.py b/kuka_lbr_iiwa_support/launch/test_lbr_iiwa14_r820.launch.py
@@ -36,7 +36,7 @@ def generate_launch_description():
 
     # RViz
     rviz_config_file = PathJoinSubstitution([FindPackageShare(
-        'kuka_lbr_iiwa_support'), "config", "simple_urdf.rviz"])
+        'kuka_resources'), "config", "simple_urdf.rviz"])
     rviz_node = Node(package='rviz2',
                      executable='rviz2',
                      name='rviz2_launch',

diff --git a/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820_macro.xacro b/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820_macro.xacro
@@ -170,6 +170,11 @@
     </link>
 
     <!-- joints - main serial chain -->
+    <joint name="${prefix}base_link-base_link_inertia" type="fixed">
+      <parent link="${prefix}base_link" />
+      <child link="${prefix}base_link_inertia" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
     <joint name="${prefix}joint_a1" type="revolute">
       <parent link="${prefix}base_link_inertia"/>
       <child link="${prefix}link_1"/>
@@ -240,7 +245,7 @@
     <link name="${prefix}tool0" />
     <joint name="${prefix}link7-tool0" type="fixed">
       <parent link="${prefix}link_7"/>
-      <child link="${prefix}flange"/>
+      <child link="${prefix}tool0"/>
       <origin rpy="-0.0 0.0 0.0" xyz="0.0 0.0 0.071"/>
     </joint>
   </xacro:macro>

diff --git a/kuka_lbr_iiwa_support/urdf/lbr_iiwa_ros2_control.xacro b/kuka_lbr_iiwa_support/urdf/lbr_iiwa_ros2_control.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="kuka_lbr_iisy_ros2_control" params="name prefix use_fake_hardware:=false gazebo_sim:=false">
+  <xacro:macro name="kuka_lbr_iiwa_ros2_control" params="name prefix io_access use_fake_hardware:=false gazebo_sim:=false">
     <ros2_control name="${name}" type="system">
       <hardware>
         <xacro:if value="${use_fake_hardware}">