Versão atual, RVIZ com mimic joints.

diff --git a/miitzhand_description/launch/display.launch b/miitzhand_description/launch/display.launch
old mode 100755 (executable)
new mode 100644 (file)
index 97e795d..3854053
--- a/miitzhand_description/launch/display.launch
+++ b/miitzhand_description/launch/display.launch
@@ -1,7 +1,7 @@
 <launch>\r
         <arg name="use_gui" default="true" />\r
         <include file="$(find miitzhand_description)/launch/urdf.launch" />\r
-       <node pkg="tf2_ros" type="static_transform_publisher" name="montagem_publisher" args="0 0 0 0 0 0 1 map origin_link" />\r
+       <node pkg="tf2_ros" type="static_transform_publisher" name="montagem_publisher" args="0 0 0 0 0 0 1 map world" />\r
        <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" args="_use_gui:=$(arg use_gui)" />\r
         <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />\r
         <node name="rviz" pkg="rviz" type="rviz" args="-d $(find miitzhand_description)/rviz/miitzhand.rviz" required="true" />\r

diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index 7e2d869..7e2af28 100644 (file)
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -167,6 +167,7 @@
       upper="1.57"\r
       effort="30"\r
       velocity="2" />\r
+      <mimic joint="Min_J1" multiplier="1" offset="0" />\r
   </joint>\r
   <link\r
     name="Min_L3">\r
@@ -225,6 +226,7 @@
       upper="1.57"\r
       effort="30"\r
       velocity="2" />\r
+      <mimic joint="Min_J1" multiplier="1" offset="0" />\r
   </joint>\r
   <link\r
     name="Ane_L1">\r
@@ -341,6 +343,7 @@
       upper="1.57"\r
       effort="30"\r
       velocity="2" />\r
+      <mimic joint="Ane_J1" multiplier="1" offset="0" />\r
   </joint>\r
   <link\r
     name="Ane_L3">\r
@@ -399,6 +402,7 @@
       upper="1.57"\r
       effort="30"\r
       velocity="2" />\r
+      <mimic joint="Ane_J1" multiplier="1" offset="0" />\r
   </joint>\r
   <link\r
     name="Med_L1">\r
@@ -515,6 +519,7 @@
       upper="1.57"\r
       effort="30"\r
       velocity="2" />\r
+    <mimic joint="Med_J1" multiplier="1" offset="0" />\r
   </joint>\r
   <link\r
     name="Med_L3">\r
@@ -573,6 +578,7 @@
       upper="1.57"\r
       effort="30"\r
       velocity="2" />\r
+      <mimic joint="Med_J1" multiplier="1" offset="0" />\r
   </joint>\r
   <link\r
     name="Ind_L1">\r
@@ -689,6 +695,7 @@
       upper="1.57"\r
       effort="30"\r
       velocity="2" />\r
+    <mimic joint="Ind_J1" multiplier="1" offset="0" />\r
   </joint>\r
   <link\r
     name="Ind_L3">\r
@@ -747,6 +754,7 @@
       upper="1.57"\r
       effort="30"\r
       velocity="2" />\r
+      <mimic joint="Ind_J1" multiplier="1" offset="0" />\r
   </joint>\r
   <link\r
     name="Pol_L1">\r
@@ -921,6 +929,7 @@
       upper="1.57"\r
       effort="30"\r
       velocity="2" />\r
+      <mimic joint="Pol_J2" multiplier="1" offset="0" />\r
   </joint>\r
 <transmission name="Pol1_transmission">\r
         <type>transmission_interface/SimpleTransmission</type>\r
@@ -952,6 +961,18 @@
         </actuator>\r
   </transmission>\r
 \r
+    <gazebo>\r
+\r
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">\r
+  <joint>Pol_J3</joint>\r
+  <mimicJoint>Pol_J2</mimicJoint>\r
+  <multiplier>1.0</multiplier>\r
+  <offset>0.0</offset>\r
+  <maxEffor>30.0</maxEffor>\r
+  <sensitiveness>0.0</sensitiveness>\r
+  </plugin>\r
+  </gazebo>\r
+\r
 <transmission name="Ind1_transmission">\r
         <type>transmission_interface/SimpleTransmission</type>\r
         <joint name="Ind_J1">\r
@@ -972,6 +993,17 @@
         </actuator>\r
   </transmission>\r
 \r
+  <gazebo>\r
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">\r
+  <joint>Ind_J2</joint>\r
+  <mimicJoint>Ind_J1</mimicJoint>\r
+  <multiplier>1.0</multiplier>\r
+  <offset>0.0</offset>\r
+  <maxEffor>30.0</maxEffor>\r
+  <sensitiveness>0.0</sensitiveness>\r
+  </plugin>\r
+  </gazebo>\r
+\r
 <transmission name="Ind3_transmission">\r
         <type>transmission_interface/SimpleTransmission</type>\r
         <joint name="Ind_J3">\r
@@ -982,6 +1014,17 @@
         </actuator>\r
   </transmission>\r
 \r
+  <gazebo>\r
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">\r
+  <joint>Ind_J3</joint>\r
+  <mimicJoint>Ind_J1</mimicJoint>\r
+  <multiplier>1.0</multiplier>\r
+  <offset>0.0</offset>\r
+  <maxEffor>30.0</maxEffor>\r
+  <sensitiveness>0.0</sensitiveness>\r
+  </plugin>\r
+  </gazebo>\r
+\r
 <transmission name="Med1_transmission">\r
         <type>transmission_interface/SimpleTransmission</type>\r
         <joint name="Med_J1">\r
@@ -1002,6 +1045,17 @@
         </actuator>\r
   </transmission>\r
 \r
+  <gazebo>\r
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">\r
+  <joint>Med_J2</joint>\r
+  <mimicJoint>Med_J1</mimicJoint>\r
+  <multiplier>1.0</multiplier>\r
+  <offset>0.0</offset>\r
+  <maxEffor>30.0</maxEffor>\r
+  <sensitiveness>0.0</sensitiveness>\r
+  </plugin>\r
+  </gazebo>\r
+\r
 <transmission name="Med3_transmission">\r
         <type>transmission_interface/SimpleTransmission</type>\r
         <joint name="Med_J3">\r
@@ -1012,6 +1066,17 @@
         </actuator>\r
   </transmission>\r
 \r
+  <gazebo>\r
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">\r
+  <joint>Med_J3</joint>\r
+  <mimicJoint>Med_J1</mimicJoint>\r
+  <multiplier>1.0</multiplier>\r
+  <offset>0.0</offset>\r
+  <maxEffor>30.0</maxEffor>\r
+  <sensitiveness>0.0</sensitiveness>\r
+  </plugin>\r
+  </gazebo>\r
+\r
 <transmission name="Ane1_transmission">\r
         <type>transmission_interface/SimpleTransmission</type>\r
         <joint name="Ane_J1">\r
@@ -1032,6 +1097,17 @@
         </actuator>\r
   </transmission>\r
 \r
+  <gazebo>\r
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">\r
+  <joint>Ane_J2</joint>\r
+  <mimicJoint>Ane_J1</mimicJoint>\r
+  <multiplier>1.0</multiplier>\r
+  <offset>0.0</offset>\r
+  <maxEffor>30.0</maxEffor>\r
+  <sensitiveness>0.0</sensitiveness>\r
+  </plugin>\r
+  </gazebo>\r
+\r
 <transmission name="Ane3_transmission">\r
         <type>transmission_interface/SimpleTransmission</type>\r
         <joint name="Ane_J3">\r
@@ -1042,6 +1118,17 @@
         </actuator>\r
   </transmission>\r
 \r
+  <gazebo>\r
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">\r
+  <joint>Ane_J3</joint>\r
+  <mimicJoint>Ane_J1</mimicJoint>\r
+  <multiplier>1.0</multiplier>\r
+  <offset>0.0</offset>\r
+  <maxEffor>30.0</maxEffor>\r
+  <sensitiveness>0.0</sensitiveness>\r
+  </plugin>\r
+  </gazebo>\r
+\r
 <transmission name="Min1_transmission">\r
         <type>transmission_interface/SimpleTransmission</type>\r
         <joint name="Min_J1">\r
@@ -1062,6 +1149,17 @@
         </actuator>\r
   </transmission>\r
 \r
+  <gazebo>\r
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">\r
+  <joint>Min_J2</joint>\r
+  <mimicJoint>Min_J1</mimicJoint>\r
+  <multiplier>1.0</multiplier>\r
+  <offset>0.0</offset>\r
+  <maxEffor>30.0</maxEffor>\r
+  <sensitiveness>0.0</sensitiveness>\r
+  </plugin>\r
+  </gazebo>\r
+\r
 <transmission name="Min3_transmission">\r
         <type>transmission_interface/SimpleTransmission</type>\r
         <joint name="Min_J3">\r
@@ -1072,6 +1170,17 @@
         </actuator>\r
   </transmission>\r
 \r
+  <gazebo>\r
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">\r
+  <joint>Min_J3</joint>\r
+  <mimicJoint>Min_J1</mimicJoint>\r
+  <multiplier>1.0</multiplier>\r
+  <offset>0.0</offset>\r
+  <maxEffor>30.0</maxEffor>\r
+  <sensitiveness>0.0</sensitiveness>\r
+  </plugin>\r
+  </gazebo>\r
+\r
 <gazebo>\r
     <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">\r
      <robotNamespace>/miitzhand</robotNamespace>\r