Add URDF property for profile density.

diff --git a/crane_description/urdf/base.xacro b/crane_description/urdf/base.xacro
index e7953ff..28ec223 100644 (file)
--- a/crane_description/urdf/base.xacro
+++ b/crane_description/urdf/base.xacro
@@ -30,13 +30,14 @@
        <xacro:property name="base_height" value="1080e-3"/>
 
        <xacro:property name="profile_width" value="80e-3"/>
+       <xacro:property name="profile_density" value="832.81"/>
 
        <xacro:macro name="base" params="name parent *origin">
                <xacro:rectangular name="base_bottom_front"
                                width="${profile_width}"
                                length="${base_width}"
                                height="${profile_width}"
-                               mass="${base_width*profile_width*profile_width*1.0}"
+                               mass="${base_width*profile_width*profile_width*profile_density}"
                                parent="${parent}">
                        <origin xyz="0 ${base_length/2} 0"/>
                </xacro:rectangular>
@@ -45,7 +46,7 @@
                                width="${profile_width}"
                                length="${base_width}"
                                height="${profile_width}"
-                               mass="${base_width*profile_width*profile_width*1.0}"
+                               mass="${base_width*profile_width*profile_width*profile_density}"
                                parent="${parent}">
                        <origin xyz="0 ${-base_length/2} 0"/>
                </xacro:rectangular>
@@ -54,7 +55,7 @@
                                width="${base_length}"
                                length="${profile_width}"
                                height="${profile_width}"
-                               mass="${base_width*profile_width*profile_width*1.0}"
+                               mass="${base_width*profile_width*profile_width*profile_density}"
                                parent="${parent}">
                        <origin xyz="${-base_width/2} 0 0"/>
                </xacro:rectangular>
@@ -63,7 +64,7 @@
                                width="${base_length}"
                                length="${profile_width}"
                                height="${profile_width}"
-                               mass="${base_width*profile_width*profile_width*1.0}"
+                               mass="${base_width*profile_width*profile_width*profile_density}"
                                parent="${parent}">
                        <origin xyz="${base_width/2} 0 0"/>
                </xacro:rectangular>
@@ -72,7 +73,7 @@
                                width="${profile_width}"
                                length="${profile_width}"
                                height="${base_height}"
-                               mass="${base_width*profile_width*profile_width*1.0}"
+                               mass="${base_width*profile_width*profile_width*profile_density}"
                                parent="${parent}">
                        <origin xyz="${-base_width/2} ${base_length/2} ${base_height/2}"/>
                </xacro:rectangular>
@@ -81,7 +82,7 @@
                                width="${profile_width}"
                                length="${profile_width}"
                                height="${base_height}"
-                               mass="${base_width*profile_width*profile_width*1.0}"
+                               mass="${base_width*profile_width*profile_width*profile_density}"
                                parent="${parent}">
                        <origin xyz="${base_width/2} ${base_length/2} ${base_height/2}"/>
                </xacro:rectangular>
@@ -90,7 +91,7 @@
                                width="${profile_width}"
                                length="${profile_width}"
                                height="${base_height}"
-                               mass="${base_width*profile_width*profile_width*1.0}"
+                               mass="${base_width*profile_width*profile_width*profile_density}"
                                parent="${parent}">
                        <origin xyz="${-base_width/2} ${-base_length/2} ${base_height/2}"/>
                </xacro:rectangular>
@@ -99,7 +100,7 @@
                                width="${profile_width}"
                                length="${profile_width}"
                                height="${base_height}"
-                               mass="${base_width*profile_width*profile_width*1.0}"
+                               mass="${base_width*profile_width*profile_width*profile_density}"
                                parent="${parent}">
                        <origin xyz="${base_width/2} ${-base_length/2} ${base_height/2}"/>
                </xacro:rectangular>
@@ -108,7 +109,7 @@
                                width="${profile_width}"
                                length="${base_width}"
                                height="${profile_width}"
-                               mass="${base_width*profile_width*profile_width*1.0}"
+                               mass="${base_width*profile_width*profile_width*profile_density}"
                                parent="${parent}">
                        <origin xyz="0 ${base_length/2} ${base_height}"/>
                </xacro:rectangular>
@@ -117,7 +118,7 @@
                                width="${profile_width}"
                                length="${base_width}"
                                height="${profile_width}"
-                               mass="${base_width*profile_width*profile_width*1.0}"
+                               mass="${base_width*profile_width*profile_width*profile_density}"
                                parent="${parent}">
                        <origin xyz="0 ${-base_length/2} ${base_height}"/>
                </xacro:rectangular>
@@ -126,7 +127,7 @@
                                width="${base_length}"
                                length="${profile_width}"
                                height="${profile_width}"
-                               mass="${base_width*profile_width*profile_width*1.0}"
+                               mass="${base_width*profile_width*profile_width*profile_density}"
                                parent="${parent}">
                        <origin xyz="${-base_width/2} 0 ${base_height}"/>
                </xacro:rectangular>
@@ -135,7 +136,7 @@
                                width="${base_length}"
                                length="${profile_width}"
                                height="${profile_width}"
-                               mass="${base_width*profile_width*profile_width*1.0}"
+                               mass="${base_width*profile_width*profile_width*profile_density}"
                                parent="${parent}">
                        <origin xyz="${base_width/2} 0 ${base_height}"/>
                </xacro:rectangular>

diff --git a/crane_description/urdf/bridge.xacro b/crane_description/urdf/bridge.xacro
index 601aaed..5d84530 100644 (file)
--- a/crane_description/urdf/bridge.xacro
+++ b/crane_description/urdf/bridge.xacro
@@ -30,24 +30,25 @@
        <xacro:property name="bridge_height" value="80e-3"/>
 
        <xacro:property name="profile_width" value="80e-3"/>
+       <xacro:property name="profile_density" value="832.81"/>
 
-       <xacro:macro name="bridge" params="name parent *origin">
+       <xacro:macro name="bridge" params="name parent effort velocity *origin">
                
                <link name="${name}_link"/>
        
                <joint name="${name}_joint" type="prismatic">
                        <xacro:insert_block name="origin"/>
-                       <parent link="${parent}" />
-                       <child link="${name}_link" />
-                       <axis xyz="1 0 0" />
-                       <limit lower="${-(base_width-bridge_width)/2}" upper="${(base_width-bridge_width)/2}" effort="1.0" velocity="10.0"/>
+                       <parent link="${parent}"/>
+                       <child link="${name}_link"/>
+                       <axis xyz="1 0 0"/>
+                       <limit lower="${-(base_width-bridge_width)/2}" upper="${(base_width-bridge_width)/2}" effort="${effort}" velocity="${velocity}"/>
                </joint>
        
                <xacro:rectangular name="bridge_front"
                                width="${profile_width}"
                                length="${bridge_width}"
                                height="${profile_width}"
-                               mass="${bridge_width*profile_width*profile_width*1.0}"
+                               mass="${bridge_width*profile_width*profile_width*profile_density}"
                                parent="${name}_link">
                        <origin xyz="0 ${bridge_length/2} 0"/>
                </xacro:rectangular>
@@ -56,7 +57,7 @@
                                width="${profile_width}"
                                length="${bridge_width}"
                                height="${profile_width}"
-                               mass="${bridge_width*profile_width*profile_width*1.0}"
+                               mass="${bridge_width*profile_width*profile_width*profile_density}"
                                parent="${name}_link">
                        <origin xyz="0 ${-bridge_length/2} 0"/>
                </xacro:rectangular>
@@ -65,7 +66,7 @@
                                width="${bridge_length}"
                                length="${profile_width}"
                                height="${profile_width}"
-                               mass="${bridge_width*profile_width*profile_width*1.0}"
+                               mass="${bridge_width*profile_width*profile_width*profile_density}"
                                parent="${name}_link">
                        <origin xyz="${-(bridge_width-profile_width)/2} 0 0"/>
                </xacro:rectangular>
@@ -74,7 +75,7 @@
                                width="${bridge_length}"
                                length="${profile_width}"
                                height="${profile_width}"
-                               mass="${bridge_width*profile_width*profile_width*1.0}"
+                               mass="${bridge_width*profile_width*profile_width*profile_density}"
                                parent="${name}_link">
                        <origin xyz="${(bridge_width-profile_width)/2} 0 0"/>
                </xacro:rectangular>

diff --git a/crane_description/urdf/crane.urdf.xacro b/crane_description/urdf/crane.urdf.xacro
index 5b4bfd9..9056d53 100644 (file)
--- a/crane_description/urdf/crane.urdf.xacro
+++ b/crane_description/urdf/crane.urdf.xacro
@@ -37,21 +37,21 @@
                <origin xyz="0 0 0"/>
        </xacro:base>
 
-       <xacro:bridge name="bridge" parent="base_link">
+       <xacro:bridge name="bridge" parent="base_link" effort="100.0" velocity="100.0">
                <origin xyz="0 0 ${base_height+profile_width}"/>
        </xacro:bridge>
 
-       <xacro:trolley name="trolley" parent="bridge_link">
+       <xacro:trolley name="trolley" parent="bridge_link" effort="100.0" velocity="100.0">
                <origin xyz="0 0 ${(bridge_height+trolley_height)/2}"/>
        </xacro:trolley>
 
-       <xacro:hoist name="hoist" parent="trolley_link">
+       <xacro:hoist name="hoist" parent="trolley_link" effort="100.0" velocity="100.0">
                <origin xyz="0 0 0"/>
        </xacro:hoist>
 
        <xacro:hook name="hook" parent="hoist_yaw_link">
                <origin xyz="0 0 0"/>
-               <limit lower="${-base_height}" upper="0"  effort="1.0" velocity="10.0"/>
+               <limit lower="${-base_height}" upper="0"  effort="100.0" velocity="100.0"/>
        </xacro:hook>
 
        <xacro:include filename="ros2_control.xacro"/>

diff --git a/crane_description/urdf/hoist.xacro b/crane_description/urdf/hoist.xacro
index 44e084d..c60bd2a 100644 (file)
--- a/crane_description/urdf/hoist.xacro
+++ b/crane_description/urdf/hoist.xacro
@@ -28,44 +28,45 @@
        <xacro:property name="hoist_width" value="${300e-3-2*trolley_height}"/>
        <xacro:property name="hoist_length" value="40e-3"/>
        <xacro:property name="hoist_height" value="40e-3"/>
+       <xacro:property name="profile_density" value="832.81"/>
 
-       <xacro:macro name="hoist" params="name parent *origin">
+       <xacro:macro name="hoist" params="name parent effort velocity *origin">
                
                <xacro:rectangular name="${name}"
                                width="${hoist_height}"
                                length="${hoist_width}"
                                height="${hoist_height}"
-                               mass="${hoist_width*hoist_height*hoist_height*1.0}"
+                               mass="${hoist_width*hoist_height*hoist_height*profile_density}"
                                parent="${parent}">
                        <xacro:insert_block name="origin"/>
                </xacro:rectangular>
 
                <joint name="${name}_roll_joint" type="revolute">
                        <origin rpy="0 0 0"/>
-                       <parent link="${name}_link" />
-                       <child link="${name}_roll_link" />
-                       <axis xyz="1 0 0" />
-                       <limit lower="${-pi/4}" upper="${pi/4}" effort="1.0" velocity="10.0"/>
+                       <parent link="${name}_link"/>
+                       <child link="${name}_roll_link"/>
+                       <axis xyz="1 0 0"/>
+                       <limit lower="${-pi/4}" upper="${pi/4}" effort="${effort}" velocity="${velocity}"/>
                </joint>
                
                <link name="${name}_roll_link"/>
 
                <joint name="${name}_pitch_joint" type="revolute">
                        <origin rpy="0 0 0"/>
-                       <parent link="${name}_roll_link" />
-                       <child link="${name}_pitch_link" />
-                       <axis xyz="0 1 0" />
-                       <limit lower="${-pi/4}" upper="${pi/4}" effort="1.0" velocity="10.0"/>
+                       <parent link="${name}_roll_link"/>
+                       <child link="${name}_pitch_link"/>
+                       <axis xyz="0 1 0"/>
+                       <limit lower="${-pi/4}" upper="${pi/4}" effort="${effort}" velocity="${velocity}"/>
                </joint>
                
                <link name="${name}_pitch_link"/>
 
                <joint name="${name}_yaw_joint" type="revolute">
                        <origin rpy="0 0 0"/>
-                       <parent link="${name}_pitch_link" />
-                       <child link="${name}_yaw_link" />
-                       <axis xyz="0 0 1" />
-                       <limit lower="${-pi/4}" upper="${pi/4}" effort="1.0" velocity="10.0"/>
+                       <parent link="${name}_pitch_link"/>
+                       <child link="${name}_yaw_link"/>
+                       <axis xyz="0 0 1"/>
+                       <limit lower="${-pi/4}" upper="${pi/4}" effort="${effort}" velocity="${velocity}"/>
                </joint>
                
                <link name="${name}_yaw_link"/>

diff --git a/crane_description/urdf/ros2_control.xacro b/crane_description/urdf/ros2_control.xacro
index 2955fdb..99e9cd7 100644 (file)
--- a/crane_description/urdf/ros2_control.xacro
+++ b/crane_description/urdf/ros2_control.xacro
@@ -51,8 +51,8 @@
 
                <joint name="bridge_joint">
                        <command_interface name="effort">
-                               <param name="min">-1.0</param>
-                               <param name="max">1.0</param>
+                               <param name="min">-100.0</param>
+                               <param name="max">100.0</param>
                        </command_interface>
                        <state_interface name="position"/>
                        <state_interface name="velocity"/>
@@ -61,8 +61,8 @@
 
                <joint name="trolley_joint">
                        <command_interface name="effort">
-                               <param name="min">-1.0</param>
-                               <param name="max">1.0</param>
+                               <param name="min">-100.0</param>
+                               <param name="max">100.0</param>
                        </command_interface>
                        <state_interface name="position"/>
                        <state_interface name="velocity"/>
@@ -86,8 +86,8 @@
 
                <joint name="hook_joint">
                        <command_interface name="effort">
-                               <param name="min">-1.0</param>
-                               <param name="max">1.0</param>
+                               <param name="min">-100.0</param>
+                               <param name="max">100.0</param>
                        </command_interface>
                        <state_interface name="position"/>
                        <state_interface name="velocity"/>

diff --git a/crane_description/urdf/trolley.xacro b/crane_description/urdf/trolley.xacro
index bea6409..a636266 100644 (file)
--- a/crane_description/urdf/trolley.xacro
+++ b/crane_description/urdf/trolley.xacro
@@ -28,24 +28,25 @@
        <xacro:property name="trolley_width" value="300e-3"/>
        <xacro:property name="trolley_length" value="300e-3"/>
        <xacro:property name="trolley_height" value="40e-3"/>
+       <xacro:property name="profile_density" value="832.81"/>
 
-       <xacro:macro name="trolley" params="name parent *origin">
+       <xacro:macro name="trolley" params="name parent effort velocity *origin">
                
                <link name="${name}_link"/>
        
                <joint name="${name}_joint" type="prismatic">
                        <xacro:insert_block name="origin"/>
-                       <parent link="${parent}" />
-                       <child link="${name}_link" />
-                       <axis xyz="0 1 0" />
-                       <limit lower="${-(bridge_length-trolley_width)/2}" upper="${(bridge_length-trolley_width)/2}" effort="1.0" velocity="10.0"/>
+                       <parent link="${parent}"/>
+                       <child link="${name}_link"/>
+                       <axis xyz="0 1 0"/>
+                       <limit lower="${-(bridge_length-trolley_width)/2}" upper="${(bridge_length-trolley_width)/2}" effort="${effort}" velocity="${velocity}"/>
                </joint>
        
                <xacro:rectangular name="trolley_front"
                                width="${trolley_height}"
                                length="${trolley_width}"
                                height="${trolley_height}"
-                               mass="${trolley_width*trolley_height*trolley_height*1.0}"
+                               mass="${trolley_width*trolley_height*trolley_height*profile_density}"
                                parent="${name}_link">
                        <origin xyz="0 ${trolley_length/2} 0"/>
                </xacro:rectangular>
@@ -54,7 +55,7 @@
                                width="${trolley_height}"
                                length="${trolley_width}"
                                height="${trolley_height}"
-                               mass="${trolley_width*trolley_height*trolley_height*1.0}"
+                               mass="${trolley_width*trolley_height*trolley_height*profile_density}"
                                parent="${name}_link">
                        <origin xyz="0 ${-trolley_length/2} 0"/>
                </xacro:rectangular>
@@ -63,7 +64,7 @@
                                width="${trolley_length}"
                                length="${trolley_height}"
                                height="${trolley_height}"
-                               mass="${trolley_width*trolley_height*trolley_height*1.0}"
+                               mass="${trolley_width*trolley_height*trolley_height*profile_density}"
                                parent="${name}_link">
                        <origin xyz="${-(trolley_width-trolley_height)/2} 0 0"/>
                </xacro:rectangular>
@@ -72,7 +73,7 @@
                                width="${trolley_length}"
                                length="${trolley_height}"
                                height="${trolley_height}"
-                               mass="${trolley_width*trolley_height*trolley_height*1.0}"
+                               mass="${trolley_width*trolley_height*trolley_height*profile_density}"
                                parent="${name}_link">
                        <origin xyz="${(trolley_width-trolley_height)/2} 0 0"/>
                </xacro:rectangular>