From 8e0344920d29c4ae5a537ed6f24c5a1c583bc546 Mon Sep 17 00:00:00 2001
From: Arnold275 <30740057+Arnold275@users.noreply.github.com>
Date: Wed, 10 Jul 2019 18:13:42 +0200
Subject: [PATCH] Possibility to choose  to spawn finger_pads

Since not everyone is using standard Finger Pads  that got added on the 3rd of December.
I added the option to not spawn them, while spawning the gripper via.  <xacro:robotiq_arg2f_140 prefix="${prefix}gripper_"  />
To do so just add the parameter pad="0". eg. <xacro:robotiq_arg2f_140 prefix="${prefix}gripper_" pad="0" />
To keep it backward compatible, the parameter is on default 1. So if no parameter is set it just spawns them as before.
---
 .../urdf/robotiq_arg2f.xacro                   | 14 +++++++++-----
 .../urdf/robotiq_arg2f_140_model_macro.xacro   | 18 +++++++++---------
 2 files changed, 18 insertions(+), 14 deletions(-)

diff --git a/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f.xacro b/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f.xacro
index 618686d3..3473cdf8 100644
--- a/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f.xacro
+++ b/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f.xacro
@@ -25,18 +25,22 @@
     </link>
   </xacro:macro>
 
-  <xacro:macro name="finger_joints" params="prefix fingerprefix reflect">
+  <xacro:macro name="finger_joints" params="prefix fingerprefix reflect pad">
     <xacro:outer_finger_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
     <xacro:inner_knuckle_joint prefix="${prefix}" fingerprefix="${fingerprefix}" reflect="${reflect}"/>
     <xacro:inner_finger_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
-    <xacro:inner_finger_pad_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
+    <xacro:if value="${pad}">
+      <xacro:inner_finger_pad_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
+    </xacro:if>
   </xacro:macro>
-
-  <xacro:macro name="finger_links" params="prefix fingerprefix stroke">
+  
+  <xacro:macro name="finger_links" params="prefix fingerprefix stroke pad">
     <xacro:outer_knuckle prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
     <xacro:outer_finger prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
     <xacro:inner_finger prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
-    <xacro:inner_finger_pad prefix="${prefix}" fingerprefix="${fingerprefix}"/>
+    <xacro:if value="${pad}">
+      <xacro:inner_finger_pad prefix="${prefix}" fingerprefix="${fingerprefix}"/>
+    </xacro:if>
     <xacro:inner_knuckle prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
   </xacro:macro>
 </robot>
diff --git a/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_140_model_macro.xacro b/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_140_model_macro.xacro
index c31aff9f..81c5e1c8 100644
--- a/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_140_model_macro.xacro
+++ b/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_140_model_macro.xacro
@@ -192,7 +192,7 @@
 
   <xacro:include filename="$(find robotiq_2f_140_gripper_visualization)/urdf/robotiq_arg2f.xacro" />
 
-  <xacro:macro name="finger_joint" params="prefix">
+  <xacro:macro name="finger_joint" params="prefix pad">
     <joint name="${prefix}finger_joint" type="revolute">
       <origin xyz="0 -0.030601 0.054905" rpy="${pi / 2 + .725} 0 0" />
       <parent link="${prefix}robotiq_arg2f_base_link" />
@@ -200,10 +200,10 @@
       <axis xyz="-1 0 0" />
       <limit lower="0" upper="0.7" velocity="2.0" effort="1000" />
     </joint>
-    <xacro:finger_joints prefix="${prefix}" fingerprefix="left" reflect="1.0"/>
+    <xacro:finger_joints prefix="${prefix}" fingerprefix="left" reflect="1.0" pad="${pad}" />
   </xacro:macro>
 
-  <xacro:macro name="right_outer_knuckle_joint" params="prefix">
+  <xacro:macro name="right_outer_knuckle_joint" params="prefix pad">
     <joint name="${prefix}right_outer_knuckle_joint" type="revolute">
       <origin xyz="0 0.030601 0.054905" rpy="${pi / 2 + .725} 0 ${pi}" />
       <parent link="${prefix}robotiq_arg2f_base_link" />
@@ -212,15 +212,15 @@
       <limit lower="-0.725" upper="0.725" velocity="2.0" effort="1000" />
     <mimic joint="${prefix}finger_joint" multiplier="-1" offset="0" />
     </joint>
-    <xacro:finger_joints prefix="${prefix}" fingerprefix="right" reflect="-1.0"/>
+    <xacro:finger_joints prefix="${prefix}" fingerprefix="right" reflect="-1.0" pad="${pad}" />
   </xacro:macro>
 
-  <xacro:macro name="robotiq_arg2f_140" params="prefix">
+  <xacro:macro name="robotiq_arg2f_140" params="prefix pad:=1">
     <xacro:robotiq_arg2f_base_link prefix="${prefix}"/>
-    <xacro:finger_links prefix="${prefix}" fingerprefix="left" stroke="140"/>
-    <xacro:finger_links prefix="${prefix}" fingerprefix="right" stroke="140"/>
-    <xacro:finger_joint prefix="${prefix}"/>
-    <xacro:right_outer_knuckle_joint prefix="${prefix}"/>
+    <xacro:finger_links prefix="${prefix}" fingerprefix="left" stroke="140" pad="${pad}" />
+    <xacro:finger_links prefix="${prefix}" fingerprefix="right" stroke="140" pad="${pad}" />
+    <xacro:finger_joint prefix="${prefix}" pad="${pad}"/>
+    <xacro:right_outer_knuckle_joint prefix="${prefix}" pad="${pad}" />
     <xacro:robotiq_arg2f_transmission prefix="${prefix}"/>
   </xacro:macro>
 </robot>