-cmake_minimum_required(VERSION 2.8.3)\r
-project(miitzhand_bringup)\r
-\r
-## Compile as C++11, supported in ROS Kinetic and newer\r
-# add_compile_options(-std=c++11)\r
-\r
-## Find catkin macros and libraries\r
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)\r
-## is used, also find other catkin packages\r
-find_package(catkin REQUIRED COMPONENTS\r
- roscpp\r
- rospy\r
-)\r
-find_package(catkin REQUIRED COMPONENTS\r
- controller_interface\r
- effort_controllers\r
- urdf\r
-)\r
-find_package(cmake_modules REQUIRED)\r
-## System dependencies are found with CMake's conventions\r
-# find_package(Boost REQUIRED COMPONENTS system)\r
-\r
-\r
-## Uncomment this if the package has a setup.py. This macro ensures\r
-## modules and global scripts declared therein get installed\r
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html\r
-# catkin_python_setup()\r
-\r
-################################################\r
-## Declare ROS messages, services and actions ##\r
-################################################\r
-\r
-## To declare and build messages, services or actions from within this\r
-## package, follow these steps:\r
-## * Let MSG_DEP_SET be the set of packages whose message types you use in\r
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).\r
-## * In the file package.xml:\r
-## * add a build_depend tag for "message_generation"\r
-## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET\r
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in\r
-## but can be declared for certainty nonetheless:\r
-## * add a run_depend tag for "message_runtime"\r
-## * In this file (CMakeLists.txt):\r
-## * add "message_generation" and every package in MSG_DEP_SET to\r
-## find_package(catkin REQUIRED COMPONENTS ...)\r
-## * add "message_runtime" and every package in MSG_DEP_SET to\r
-## catkin_package(CATKIN_DEPENDS ...)\r
-## * uncomment the add_*_files sections below as needed\r
-## and list every .msg/.srv/.action file to be processed\r
-## * uncomment the generate_messages entry below\r
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)\r
-\r
-## Generate messages in the 'msg' folder\r
-# add_message_files(\r
-# FILES\r
-# Message1.msg\r
-# Message2.msg\r
-# )\r
-\r
-## Generate services in the 'srv' folder\r
-# add_service_files(\r
-# FILES\r
-# Service1.srv\r
-# Service2.srv\r
-# )\r
-\r
-## Generate actions in the 'action' folder\r
-# add_action_files(\r
-# FILES\r
-# Action1.action\r
-# Action2.action\r
-# )\r
-\r
-## Generate added messages and services with any dependencies listed here\r
-# generate_messages(\r
-# DEPENDENCIES\r
-# std_msgs # Or other packages containing msgs\r
-# )\r
-\r
-################################################\r
-## Declare ROS dynamic reconfigure parameters ##\r
-################################################\r
-\r
-## To declare and build dynamic reconfigure parameters within this\r
-## package, follow these steps:\r
-## * In the file package.xml:\r
-## * add a build_depend and a run_depend tag for "dynamic_reconfigure"\r
-## * In this file (CMakeLists.txt):\r
-## * add "dynamic_reconfigure" to\r
-## find_package(catkin REQUIRED COMPONENTS ...)\r
-## * uncomment the "generate_dynamic_reconfigure_options" section below\r
-## and list every .cfg file to be processed\r
-\r
-## Generate dynamic reconfigure parameters in the 'cfg' folder\r
-# generate_dynamic_reconfigure_options(\r
-# cfg/DynReconf1.cfg\r
-# cfg/DynReconf2.cfg\r
-# )\r
-\r
-###################################\r
-## catkin specific configuration ##\r
-###################################\r
-## The catkin_package macro generates cmake config files for your package\r
-## Declare things to be passed to dependent projects\r
-## INCLUDE_DIRS: uncomment this if you package contains header files\r
-## LIBRARIES: libraries you create in this project that dependent projects also need\r
-## CATKIN_DEPENDS: catkin_packages dependent projects also need\r
-## DEPENDS: system dependencies of this project that dependent projects also need\r
-catkin_package(\r
- LIBRARIES ${PROJECT_NAME}\r
- CATKIN_DEPENDS controller_interface control_msgs urdf\r
-# INCLUDE_DIRS include\r
-# LIBRARIES gabrielquanser_controllers\r
-# CATKIN_DEPENDS roscpp rospy\r
-# DEPENDS system_lib\r
-)\r
-\r
-###########\r
-## Build ##\r
-###########\r
-\r
-## Specify additional locations of header files\r
-## Your package locations should be listed before other locations\r
-include_directories(\r
-# include\r
- ${catkin_INCLUDE_DIRS}\r
-)\r
-\r
-## Declare a C++ library\r
-# add_library(${PROJECT_NAME}\r
-# src/${PROJECT_NAME}/gabrielquanser_controllers.cpp\r
-# )\r
-\r
-## Add cmake target dependencies of the library\r
-## as an example, code may need to be generated before libraries\r
-## either from message generation or dynamic reconfigure\r
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})\r
-\r
-## Declare a C++ executable\r
-## With catkin_make all packages are built within a single CMake context\r
-## The recommended prefix ensures that target names across packages don't collide\r
-# add_executable(${PROJECT_NAME}_node src/gabrielquanser_controllers_node.cpp)\r
-\r
-## Rename C++ executable without prefix\r
-## The above recommended prefix causes long target names, the following renames the\r
-## target back to the shorter version for ease of user use\r
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"\r
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")\r
-\r
-## Add cmake target dependencies of the executable\r
-## same as for the library above\r
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})\r
-\r
-## Specify libraries to link a library or executable target against\r
- #target_link_libraries(${PROJECT_NAME}_node\r
- # ${catkin_LIBRARIES}\r
- #)\r
-\r
-#############\r
-## Install ##\r
-#############\r
-\r
-# all install targets should use catkin DESTINATION variables\r
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html\r
-\r
-## Mark executable scripts (Python etc.) for installation\r
-## in contrast to setup.py, you can choose the destination\r
-# install(PROGRAMS\r
-# scripts/my_python_script\r
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\r
-# )\r
-\r
-## Mark executables and/or libraries for installation\r
-#install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node\r
- # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}\r
- # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}\r
- # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\r
- #)\r
-\r
-## Mark cpp header files for installation\r
- #install(DIRECTORY include/${PROJECT_NAME}/\r
- # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}\r
-# FILES_MATCHING PATTERN "*.h"\r
-# PATTERN ".svn" EXCLUDE\r
- #)\r
-\r
-## Mark other files for installation (e.g. launch and bag files, etc.)\r
-# install(FILES\r
-# # myfile1\r
-# # myfile2\r
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}\r
-# )\r
-\r
-#############\r
-## Testing ##\r
-#############\r
-\r
-## Add gtest based cpp test target and link libraries\r
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_gabrielquanser_controllers.cpp)\r
-# if(TARGET ${PROJECT_NAME}-test)\r
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})\r
-# endif()\r
-\r
-## Add folders to be run by python nosetests\r
-# catkin_add_nosetests(test)\r
+cmake_minimum_required(VERSION 2.8.3)
+project(miitzhand_bringup)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ rospy
+)
+find_package(catkin REQUIRED COMPONENTS
+ controller_interface
+ effort_controllers
+ urdf
+)
+find_package(cmake_modules REQUIRED)
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+ LIBRARIES ${PROJECT_NAME}
+ CATKIN_DEPENDS controller_interface control_msgs urdf
+# INCLUDE_DIRS include
+# LIBRARIES gabrielquanser_controllers
+# CATKIN_DEPENDS roscpp rospy
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/gabrielquanser_controllers.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/gabrielquanser_controllers_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+ #target_link_libraries(${PROJECT_NAME}_node
+ # ${catkin_LIBRARIES}
+ #)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+#install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+ # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+ #)
+
+## Mark cpp header files for installation
+ #install(DIRECTORY include/${PROJECT_NAME}/
+ # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+ #)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_gabrielquanser_controllers.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
-miitzhand: \r
-\r
- joint_state_controller:\r
- type: joint_state_controller/JointStateController\r
- publish_rate: 100\r
-\r
- Pol1_position_controller:\r
- type: effort_controllers/JointPositionController\r
- joint: Pol_J1 \r
- pid: {p: 200, i: 50, d: 10}\r
-\r
- Pol2_position_controller:\r
- type: effort_controllers/JointPositionController\r
- joint: Pol_J2\r
- pid: {p: 0.7, i: 1, d: 0.01}\r
-\r
- Pol3_position_controller:\r
- type: effort_controllers/JointPositionController\r
- joint: Pol_J3\r
- pid: {p: 0.1, i: 0.001, d: 0.0008}\r
-\r
- Ind1_position_controller:\r
- type: effort_controllers/JointPositionController\r
- joint: Ind_J1 \r
- pid: {p: 2, i: 0, d: 0}\r
-\r
- Ind2_position_controller:\r
- type: effort_controllers/JointPositionController\r
- joint: Ind_J2\r
- pid: {p: 2, i: 0, d: 0}\r
-\r
- Ind3_position_controller:\r
- type: effort_controllers/JointPositionController\r
- joint: Ind_J3\r
- pid: {p: 1, i: 0, d: 0}\r
-\r
- Med1_position_controller:\r
- type: effort_controllers/JointPositionController\r
- joint: Med_J1 \r
- pid: {p: 2, i: 1, d: 0}\r
-\r
- Med2_position_controller:\r
- type: effort_controllers/JointPositionController\r
- joint: Med_J2\r
- pid: {p: 1, i: 1, d: 0}\r
-\r
- Med3_position_controller:\r
- type: effort_controllers/JointPositionController\r
- joint: Med_J3\r
- pid: {p: 1, i: 1, d: 0}\r
-\r
- Ane1_position_controller:\r
- type: effort_controllers/JointPositionController\r
- joint: Ane_J1 \r
- pid: {p: 2, i: 1, d: 0}\r
-\r
- Ane2_position_controller:\r
- type: effort_controllers/JointPositionController\r
- joint: Ane_J2\r
- pid: {p: 1, i: 1, d: 0}\r
-\r
- Ane3_position_controller:\r
- type: effort_controllers/JointPositionController\r
- joint: Ane_J3\r
- pid: {p: 1, i: 1, d: 0}\r
- \r
- Min1_position_controller:\r
- type: effort_controllers/JointPositionController\r
- joint: Min_J1 \r
- pid: {p: 2, i: 1, d: 0}\r
-\r
- Min2_position_controller:\r
- type: effort_controllers/JointPositionController\r
- joint: Min_J2\r
- pid: {p: 1, i: 1, d: 0}\r
-\r
- Min3_position_controller:\r
- type: effort_controllers/JointPositionController\r
- joint: Min_J3\r
- pid: {p: 1, i: 1, d: 0}\r
+miitzhand:
+
+ joint_state_controller:
+ type: joint_state_controller/JointStateController
+ publish_rate: 100
+
+ Pol1_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Pol_J1
+ pid: {p: 200, i: 50, d: 10}
+
+ Pol2_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Pol_J2
+ pid: {p: 0.7, i: 1, d: 0.01}
+
+ Pol3_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Pol_J3
+ pid: {p: 0.1, i: 0.001, d: 0.0008}
+
+ Ind1_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Ind_J1
+ pid: {p: 2, i: 0, d: 0}
+
+ Ind2_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Ind_J2
+ pid: {p: 2, i: 0, d: 0}
+
+ Ind3_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Ind_J3
+ pid: {p: 1, i: 0, d: 0}
+
+ Med1_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Med_J1
+ pid: {p: 2, i: 1, d: 0}
+
+ Med2_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Med_J2
+ pid: {p: 1, i: 1, d: 0}
+
+ Med3_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Med_J3
+ pid: {p: 1, i: 1, d: 0}
+
+ Ane1_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Ane_J1
+ pid: {p: 2, i: 1, d: 0}
+
+ Ane2_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Ane_J2
+ pid: {p: 1, i: 1, d: 0}
+
+ Ane3_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Ane_J3
+ pid: {p: 1, i: 1, d: 0}
+
+ Min1_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Min_J1
+ pid: {p: 2, i: 1, d: 0}
+
+ Min2_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Min_J2
+ pid: {p: 1, i: 1, d: 0}
+
+ Min3_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Min_J3
+ pid: {p: 1, i: 1, d: 0}
-<?xml version="1.0"?>\r
-<package>\r
- <name>miitzhand_bringup</name>\r
- <version>0.0.0</version>\r
- <description>The package</description>\r
-\r
- <!-- One maintainer tag required, multiple allowed, one person per tag -->\r
- <!-- Example: -->\r
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->\r
- <maintainer email="gschmitz@ece.ufrgs.br">gabriel</maintainer>\r
-\r
-\r
- <!-- One license tag required, multiple allowed, one license per tag -->\r
- <!-- Commonly used license strings: -->\r
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->\r
- <license>MIT</license>\r
-\r
- <!-- <test_depend>gtest</test_depend> -->\r
- <buildtool_depend>catkin</buildtool_depend>\r
-\r
- <build_depend>controller_interface</build_depend>\r
- <build_depend>effort_controllers</build_depend>\r
- <build_depend>roscpp</build_depend>\r
- <build_depend>rospy</build_depend>\r
- <build_depend>control_msgs</build_depend>\r
- <build_depend>urdf</build_depend>\r
- <build_depend>cmake_modules</build_depend>\r
-\r
- <run_depend>cmake_modules</run_depend>\r
- <run_depend>roscpp</run_depend>\r
- <run_depend>rospy</run_depend>\r
- <run_depend>urdf</run_depend>\r
- <run_depend>control_msgs</run_depend>\r
- <run_depend>controller_interface</run_depend>\r
- <run_depend>controller_manager</run_depend>\r
- <run_depend>effort_controllers</run_depend>\r
- <run_depend>joint_state_controller</run_depend>\r
- <run_depend>joint_position_controller</run_depend>\r
-\r
-\r
- <!-- The export tag contains other, unspecified, tags -->\r
- <export>\r
- <!-- Other tools can request additional information be placed here -->\r
-\r
- </export>\r
-</package>\r
+<?xml version="1.0"?>
+<package>
+ <name>miitzhand_bringup</name>
+ <version>0.0.0</version>
+ <description>The package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="gschmitz@ece.ufrgs.br">gabriel</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>MIT</license>
+
+ <!-- <test_depend>gtest</test_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+
+ <build_depend>controller_interface</build_depend>
+ <build_depend>effort_controllers</build_depend>
+ <build_depend>roscpp</build_depend>
+ <build_depend>rospy</build_depend>
+ <build_depend>control_msgs</build_depend>
+ <build_depend>urdf</build_depend>
+ <build_depend>cmake_modules</build_depend>
+
+ <run_depend>cmake_modules</run_depend>
+ <run_depend>roscpp</run_depend>
+ <run_depend>rospy</run_depend>
+ <run_depend>urdf</run_depend>
+ <run_depend>control_msgs</run_depend>
+ <run_depend>controller_interface</run_depend>
+ <run_depend>controller_manager</run_depend>
+ <run_depend>effort_controllers</run_depend>
+ <run_depend>joint_state_controller</run_depend>
+ <run_depend>joint_position_controller</run_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
-cmake_minimum_required(VERSION 2.8.3)\r
-project(miitzhand_description)\r
-\r
-## Compile as C++11, supported in ROS Kinetic and newer\r
-# add_compile_options(-std=c++11)\r
-\r
-## Find catkin macros and libraries\r
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)\r
-## is used, also find other catkin packages\r
-find_package(catkin REQUIRED COMPONENTS\r
- roscpp\r
- rospy\r
-)\r
-find_package(catkin REQUIRED COMPONENTS\r
- controller_interface\r
- effort_controllers\r
- urdf\r
-)\r
-find_package(cmake_modules REQUIRED)\r
-## System dependencies are found with CMake's conventions\r
-# find_package(Boost REQUIRED COMPONENTS system)\r
-\r
-\r
-## Uncomment this if the package has a setup.py. This macro ensures\r
-## modules and global scripts declared therein get installed\r
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html\r
-# catkin_python_setup()\r
-\r
-################################################\r
-## Declare ROS messages, services and actions ##\r
-################################################\r
-\r
-## To declare and build messages, services or actions from within this\r
-## package, follow these steps:\r
-## * Let MSG_DEP_SET be the set of packages whose message types you use in\r
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).\r
-## * In the file package.xml:\r
-## * add a build_depend tag for "message_generation"\r
-## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET\r
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in\r
-## but can be declared for certainty nonetheless:\r
-## * add a run_depend tag for "message_runtime"\r
-## * In this file (CMakeLists.txt):\r
-## * add "message_generation" and every package in MSG_DEP_SET to\r
-## find_package(catkin REQUIRED COMPONENTS ...)\r
-## * add "message_runtime" and every package in MSG_DEP_SET to\r
-## catkin_package(CATKIN_DEPENDS ...)\r
-## * uncomment the add_*_files sections below as needed\r
-## and list every .msg/.srv/.action file to be processed\r
-## * uncomment the generate_messages entry below\r
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)\r
-\r
-## Generate messages in the 'msg' folder\r
-# add_message_files(\r
-# FILES\r
-# Message1.msg\r
-# Message2.msg\r
-# )\r
-\r
-## Generate services in the 'srv' folder\r
-# add_service_files(\r
-# FILES\r
-# Service1.srv\r
-# Service2.srv\r
-# )\r
-\r
-## Generate actions in the 'action' folder\r
-# add_action_files(\r
-# FILES\r
-# Action1.action\r
-# Action2.action\r
-# )\r
-\r
-## Generate added messages and services with any dependencies listed here\r
-# generate_messages(\r
-# DEPENDENCIES\r
-# std_msgs # Or other packages containing msgs\r
-# )\r
-\r
-################################################\r
-## Declare ROS dynamic reconfigure parameters ##\r
-################################################\r
-\r
-## To declare and build dynamic reconfigure parameters within this\r
-## package, follow these steps:\r
-## * In the file package.xml:\r
-## * add a build_depend and a run_depend tag for "dynamic_reconfigure"\r
-## * In this file (CMakeLists.txt):\r
-## * add "dynamic_reconfigure" to\r
-## find_package(catkin REQUIRED COMPONENTS ...)\r
-## * uncomment the "generate_dynamic_reconfigure_options" section below\r
-## and list every .cfg file to be processed\r
-\r
-## Generate dynamic reconfigure parameters in the 'cfg' folder\r
-# generate_dynamic_reconfigure_options(\r
-# cfg/DynReconf1.cfg\r
-# cfg/DynReconf2.cfg\r
-# )\r
-\r
-###################################\r
-## catkin specific configuration ##\r
-###################################\r
-## The catkin_package macro generates cmake config files for your package\r
-## Declare things to be passed to dependent projects\r
-## INCLUDE_DIRS: uncomment this if you package contains header files\r
-## LIBRARIES: libraries you create in this project that dependent projects also need\r
-## CATKIN_DEPENDS: catkin_packages dependent projects also need\r
-## DEPENDS: system dependencies of this project that dependent projects also need\r
-catkin_package(\r
- LIBRARIES ${PROJECT_NAME}\r
- CATKIN_DEPENDS controller_interface control_msgs urdf\r
-# INCLUDE_DIRS include\r
-# LIBRARIES gabrielquanser_controllers\r
-# CATKIN_DEPENDS roscpp rospy\r
-# DEPENDS system_lib\r
-)\r
-\r
-###########\r
-## Build ##\r
-###########\r
-\r
-## Specify additional locations of header files\r
-## Your package locations should be listed before other locations\r
-include_directories(\r
-# include\r
- ${catkin_INCLUDE_DIRS}\r
-)\r
-\r
-## Declare a C++ library\r
-# add_library(${PROJECT_NAME}\r
-# src/${PROJECT_NAME}/gabrielquanser_controllers.cpp\r
-# )\r
-\r
-## Add cmake target dependencies of the library\r
-## as an example, code may need to be generated before libraries\r
-## either from message generation or dynamic reconfigure\r
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})\r
-\r
-## Declare a C++ executable\r
-## With catkin_make all packages are built within a single CMake context\r
-## The recommended prefix ensures that target names across packages don't collide\r
-# add_executable(${PROJECT_NAME}_node src/gabrielquanser_controllers_node.cpp)\r
-\r
-## Rename C++ executable without prefix\r
-## The above recommended prefix causes long target names, the following renames the\r
-## target back to the shorter version for ease of user use\r
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"\r
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")\r
-\r
-## Add cmake target dependencies of the executable\r
-## same as for the library above\r
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})\r
-\r
-## Specify libraries to link a library or executable target against\r
- #target_link_libraries(${PROJECT_NAME}_node\r
- # ${catkin_LIBRARIES}\r
- #)\r
-\r
-#############\r
-## Install ##\r
-#############\r
-\r
-# all install targets should use catkin DESTINATION variables\r
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html\r
-\r
-## Mark executable scripts (Python etc.) for installation\r
-## in contrast to setup.py, you can choose the destination\r
-# install(PROGRAMS\r
-# scripts/my_python_script\r
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\r
-# )\r
-\r
-## Mark executables and/or libraries for installation\r
-#install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node\r
- # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}\r
- # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}\r
- # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\r
- #)\r
-\r
-## Mark cpp header files for installation\r
- #install(DIRECTORY include/${PROJECT_NAME}/\r
- # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}\r
-# FILES_MATCHING PATTERN "*.h"\r
-# PATTERN ".svn" EXCLUDE\r
- #)\r
-\r
-## Mark other files for installation (e.g. launch and bag files, etc.)\r
-# install(FILES\r
-# # myfile1\r
-# # myfile2\r
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}\r
-# )\r
-\r
-#############\r
-## Testing ##\r
-#############\r
-\r
-## Add gtest based cpp test target and link libraries\r
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_gabrielquanser_controllers.cpp)\r
-# if(TARGET ${PROJECT_NAME}-test)\r
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})\r
-# endif()\r
-\r
-## Add folders to be run by python nosetests\r
-# catkin_add_nosetests(test)\r
+cmake_minimum_required(VERSION 2.8.3)
+project(miitzhand_description)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ rospy
+)
+find_package(catkin REQUIRED COMPONENTS
+ controller_interface
+ effort_controllers
+ urdf
+)
+find_package(cmake_modules REQUIRED)
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+ LIBRARIES ${PROJECT_NAME}
+ CATKIN_DEPENDS controller_interface control_msgs urdf
+# INCLUDE_DIRS include
+# LIBRARIES gabrielquanser_controllers
+# CATKIN_DEPENDS roscpp rospy
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/gabrielquanser_controllers.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/gabrielquanser_controllers_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+ #target_link_libraries(${PROJECT_NAME}_node
+ # ${catkin_LIBRARIES}
+ #)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+#install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+ # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+ #)
+
+## Mark cpp header files for installation
+ #install(DIRECTORY include/${PROJECT_NAME}/
+ # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+ #)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_gabrielquanser_controllers.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
-<launch>\r
- <arg name="use_gui" default="true" />\r
- <include file="$(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 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 $(find miitzhand_description)/rviz/miitzhand.rviz" required="true" />\r
-</launch>\r
+<launch>
+ <arg name="use_gui" default="true" />
+ <include file="$(find miitzhand_description)/launch/urdf.launch" />
+ <node pkg="tf2_ros" type="static_transform_publisher" name="montagem_publisher" args="0 0 0 0 0 0 1 map world" />
+ <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" args="_use_gui:=$(arg use_gui)" />
+ <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+ <node name="rviz" pkg="rviz" type="rviz" args="-d $(find miitzhand_description)/rviz/miitzhand.rviz" required="true" />
+</launch>
-<?xml version="1.0"?>\r
-<package>\r
- <name>miitzhand_description</name>\r
- <version>0.0.0</version>\r
- <description>The package</description>\r
-\r
- <!-- One maintainer tag required, multiple allowed, one person per tag -->\r
- <!-- Example: -->\r
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->\r
- <maintainer email="gschmitz@ece.ufrgs.br">gabriel</maintainer>\r
-\r
-\r
- <!-- One license tag required, multiple allowed, one license per tag -->\r
- <!-- Commonly used license strings: -->\r
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->\r
- <license>MIT</license>\r
-\r
- <!-- <test_depend>gtest</test_depend> -->\r
- <buildtool_depend>catkin</buildtool_depend>\r
-\r
- <build_depend>controller_interface</build_depend>\r
- <build_depend>effort_controllers</build_depend>\r
- <build_depend>roscpp</build_depend>\r
- <build_depend>rospy</build_depend>\r
- <build_depend>control_msgs</build_depend>\r
- <build_depend>urdf</build_depend>\r
- <build_depend>cmake_modules</build_depend>\r
-\r
- <run_depend>cmake_modules</run_depend>\r
- <run_depend>roscpp</run_depend>\r
- <run_depend>rospy</run_depend>\r
- <run_depend>urdf</run_depend>\r
- <run_depend>control_msgs</run_depend>\r
- <run_depend>controller_interface</run_depend>\r
- <run_depend>controller_manager</run_depend>\r
- <run_depend>effort_controllers</run_depend>\r
- <run_depend>joint_state_controller</run_depend>\r
- <run_depend>joint_position_controller</run_depend>\r
-\r
-\r
- <!-- The export tag contains other, unspecified, tags -->\r
- <export>\r
- <!-- Other tools can request additional information be placed here -->\r
-\r
- </export>\r
-</package>\r
+<?xml version="1.0"?>
+<package>
+ <name>miitzhand_description</name>
+ <version>0.0.0</version>
+ <description>The package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="gschmitz@ece.ufrgs.br">gabriel</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>MIT</license>
+
+ <!-- <test_depend>gtest</test_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+
+ <build_depend>controller_interface</build_depend>
+ <build_depend>effort_controllers</build_depend>
+ <build_depend>roscpp</build_depend>
+ <build_depend>rospy</build_depend>
+ <build_depend>control_msgs</build_depend>
+ <build_depend>urdf</build_depend>
+ <build_depend>cmake_modules</build_depend>
+
+ <run_depend>cmake_modules</run_depend>
+ <run_depend>roscpp</run_depend>
+ <run_depend>rospy</run_depend>
+ <run_depend>urdf</run_depend>
+ <run_depend>control_msgs</run_depend>
+ <run_depend>controller_interface</run_depend>
+ <run_depend>controller_manager</run_depend>
+ <run_depend>effort_controllers</run_depend>
+ <run_depend>joint_state_controller</run_depend>
+ <run_depend>joint_position_controller</run_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
-<robot\r
- name="miitzhand">\r
-<link \r
- name="world"/> \r
- <link\r
- name="origin_link"/>\r
- <joint name="world" type="fixed" >\r
- <parent link="world"/>\r
- <child link="origin_link"/>\r
- </joint>\r
- <link\r
- name="base_link">\r
- <inertial>\r
- <origin\r
- xyz="-0.00037528 0.0019284 0.070349"\r
- rpy="0 0 0" />\r
- <mass\r
- value="0.16469" />\r
- <inertia\r
- ixx="0.0002481"\r
- ixy="-3.8181E-06"\r
- ixz="1.5344E-06"\r
- iyy="0.00015717"\r
- iyz="-1.4443E-06"\r
- izz="0.00010769" />\r
- </inertial>\r
- <visual>\r
- <origin\r
- xyz="0 0 0"\r
- rpy="0 0 0" />\r
- <geometry>\r
- <mesh\r
- filename="package://miitzhand_description/meshes/base_link.STL" />\r
- </geometry>\r
- <material\r
- name="">\r
- <color\r
- rgba="1 1 1 1" />\r
- </material>\r
- </visual>\r
- <collision>\r
- <origin\r
- xyz="0 0 0"\r
- rpy="0 0 0" />\r
- <geometry>\r
- <mesh\r
- filename="package://miitzhand_description/meshes/base_link.STL" />\r
- </geometry>\r
- </collision>\r
- </link>\r
-<joint name="origin_joint" type="fixed" >\r
- <parent link="origin_link"/>\r
- <child link="base_link"/>\r
-</joint>\r
- <link\r
- name="Min_L1">\r
- <inertial>\r
- <origin\r
- xyz="-0.01191 0.00021661 -0.02162"\r
- rpy="0 0 0" />\r
- <mass\r
- value="0.0096962" />\r
- <inertia\r
- ixx="2.3836E-06"\r
- ixy="4.7052E-11"\r
- ixz="-1.4317E-11"\r
- iyy="2.4105E-06"\r
- iyz="-5.6617E-08"\r
- izz="4.6379E-07" />\r
- </inertial>\r
- <visual>\r
- <origin\r
- xyz="0 0 0"\r
- rpy="0 0 0" />\r
- <geometry>\r
- <mesh\r
- filename="package://miitzhand_description/meshes/Min_L1.STL" />\r
- </geometry>\r
- <material\r
- name="">\r
- <color\r
- rgba="1 1 1 1" />\r
- </material>\r
- </visual>\r
- <collision>\r
- <origin\r
- xyz="0 0 0"\r
- rpy="0 0 0" />\r
- <geometry>\r
- <mesh\r
- filename="package://miitzhand_description/meshes/Min_L1.STL" />\r
- </geometry>\r
- </collision>\r
- </link>\r
- <joint\r
- name="Min_J1"\r
- type="revolute">\r
- <origin\r
- xyz="0.0025843 0.028763 0.1208"\r
- rpy="-3.0895 -0.087213 -1.6058" />\r
- <parent\r
- link="base_link" />\r
- <child\r
- link="Min_L1" />\r
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- filename="package://miitzhand_description/meshes/Pol_L2.STL" />\r
- </geometry>\r
- </collision>\r
- </link>\r
- <joint\r
- name="Pol_J2"\r
- type="revolute">\r
- <origin\r
- xyz="0.0095283 0 -0.025675"\r
- rpy="0.023564 -0.17453 3.1416" />\r
- <parent\r
- link="Pol_L1" />\r
- <child\r
- link="Pol_L2" />\r
- <axis\r
- xyz="-1 0 0" />\r
- <limit\r
- lower="0"\r
- upper="1.57"\r
- effort="30"\r
- velocity="2" />\r
- </joint>\r
- <link\r
- name="Pol_L3">\r
- <inertial>\r
- <origin\r
- xyz="0.025569 -0.00045399 0.0099715"\r
- rpy="0 0 0" />\r
- <mass\r
- value="0.004997" />\r
- <inertia\r
- ixx="4.9237E-07"\r
- ixy="6.3228E-11"\r
- ixz="7.7223E-12"\r
- iyy="4.632E-07"\r
- iyz="-2.5185E-08"\r
- izz="1.7179E-07" />\r
- </inertial>\r
- <visual>\r
- <origin\r
- xyz="0 0 0"\r
- rpy="0 0 0" />\r
- <geometry>\r
- <mesh\r
- filename="package://miitzhand_description/meshes/Pol_L3.STL" />\r
- </geometry>\r
- <material\r
- name="">\r
- <color\r
- rgba="1 1 1 1" />\r
- </material>\r
- </visual>\r
- <collision>\r
- <origin\r
- xyz="0 0 0"\r
- rpy="0 0 0" />\r
- <geometry>\r
- <mesh\r
- filename="package://miitzhand_description/meshes/Pol_L3.STL" />\r
- </geometry>\r
- </collision>\r
- </link>\r
- <joint\r
- name="Pol_J3"\r
- type="revolute">\r
- <origin\r
- xyz="0.01448 0 -0.047"\r
- rpy="-3.1102 5.5511E-17 -1.1102E-16" />\r
- <parent\r
- link="Pol_L2" />\r
- <child\r
- link="Pol_L3" />\r
- <axis\r
- xyz="-1 0 0" />\r
- <limit\r
- lower="0"\r
- 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
- <joint name="Pol_J1">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="Pol1_motor">\r
- <mechanicalReduction>1</mechanicalReduction>\r
- </actuator>\r
- </transmission>\r
-\r
-<transmission name="Pol2_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="Pol_J2">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="Pol2_motor">\r
- <mechanicalReduction>1</mechanicalReduction>\r
- </actuator>\r
- </transmission>\r
-\r
-<transmission name="Pol3_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="Pol_J3">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="Pol3_motor">\r
- <mechanicalReduction>1</mechanicalReduction>\r
- </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
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="Ind1_motor">\r
- <mechanicalReduction>1</mechanicalReduction>\r
- </actuator>\r
- </transmission>\r
-\r
-<transmission name="Ind2_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="Ind_J2">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="Ind2_motor">\r
- <mechanicalReduction>1</mechanicalReduction>\r
- </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
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="Ind3_motor">\r
- <mechanicalReduction>1</mechanicalReduction>\r
- </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
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="Med1_motor">\r
- <mechanicalReduction>1</mechanicalReduction>\r
- </actuator>\r
- </transmission>\r
-\r
-<transmission name="Med2_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="Med_J2">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="Med2_motor">\r
- <mechanicalReduction>1</mechanicalReduction>\r
- </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
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="Med3_motor">\r
- <mechanicalReduction>1</mechanicalReduction>\r
- </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
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="Ane1_motor">\r
- <mechanicalReduction>1</mechanicalReduction>\r
- </actuator>\r
- </transmission>\r
-\r
-<transmission name="Ane2_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="Ane_J2">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="Ane2_motor">\r
- <mechanicalReduction>1</mechanicalReduction>\r
- </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
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="Ane3_motor">\r
- <mechanicalReduction>1</mechanicalReduction>\r
- </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
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="Min1_motor">\r
- <mechanicalReduction>1</mechanicalReduction>\r
- </actuator>\r
- </transmission>\r
-\r
-<transmission name="Min2_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="Min_J2">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="Min2_motor">\r
- <mechanicalReduction>1</mechanicalReduction>\r
- </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
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="Min3_motor">\r
- <mechanicalReduction>1</mechanicalReduction>\r
- </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
- <controlPeriod>0.001</controlPeriod>\r
- <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>\r
- </plugin>\r
- </gazebo>\r
-</robot>\r
+<robot
+ name="miitzhand">
+<link
+ name="world"/>
+ <link
+ name="origin_link"/>
+ <joint name="world" type="fixed" >
+ <parent link="world"/>
+ <child link="origin_link"/>
+ </joint>
+ <link
+ name="base_link">
+ <inertial>
+ <origin
+ xyz="-0.00037528 0.0019284 0.070349"
+ rpy="0 0 0" />
+ <mass
+ value="0.16469" />
+ <inertia
+ ixx="0.0002481"
+ ixy="-3.8181E-06"
+ ixz="1.5344E-06"
+ iyy="0.00015717"
+ iyz="-1.4443E-06"
+ izz="0.00010769" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/base_link.STL" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/base_link.STL" />
+ </geometry>
+ </collision>
+ </link>
+<joint name="origin_joint" type="fixed" >
+ <parent link="origin_link"/>
+ <child link="base_link"/>
+</joint>
+ <link
+ name="Min_L1">
+ <inertial>
+ <origin
+ xyz="-0.01191 0.00021661 -0.02162"
+ rpy="0 0 0" />
+ <mass
+ value="0.0096962" />
+ <inertia
+ ixx="2.3836E-06"
+ ixy="4.7052E-11"
+ ixz="-1.4317E-11"
+ iyy="2.4105E-06"
+ iyz="-5.6617E-08"
+ izz="4.6379E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Min_L1.STL" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Min_L1.STL" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="Min_J1"
+ type="revolute">
+ <origin
+ xyz="0.0025843 0.028763 0.1208"
+ rpy="-3.0895 -0.087213 -1.6058" />
+ <parent
+ link="base_link" />
+ <child
+ link="Min_L1" />
+ <axis
+ xyz="-1 0 0" />
+ <limit
+ lower="0"
+ upper="1.57"
+ effort="30"
+ velocity="2" />
+ </joint>
+ <link
+ name="Min_L2">
+ <inertial>
+ <origin
+ xyz="0.011045 -0.00039673 -0.010872"
+ rpy="0 0 0" />
+ <mass
+ value="0.0052657" />
+ <inertia
+ ixx="6.1275E-07"
+ ixy="2.6274E-10"
+ ixz="-2.2276E-11"
+ iyy="6.3027E-07"
+ iyz="2.5431E-08"
+ izz="2.3451E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Min_L2.STL" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Min_L2.STL" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="Min_J2"
+ type="revolute">
+ <origin
+ xyz="-0.00086261 0 -0.047"
+ rpy="-0.0021314 -1.4016E-15 3.1416" />
+ <parent
+ link="Min_L1" />
+ <child
+ link="Min_L2" />
+ <axis
+ xyz="1 0 0" />
+ <limit
+ lower="0"
+ upper="1.57"
+ effort="30"
+ velocity="2" />
+ <mimic joint="Min_J1" multiplier="1" offset="0" />
+ </joint>
+ <link
+ name="Min_L3">
+ <inertial>
+ <origin
+ xyz="-0.010333 -0.00045398 0.0099715"
+ rpy="0 0 0" />
+ <mass
+ value="0.0049969" />
+ <inertia
+ ixx="4.9237E-07"
+ ixy="6.387E-11"
+ ixz="7.6183E-12"
+ iyy="4.632E-07"
+ iyz="-2.5186E-08"
+ izz="1.7179E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Min_L3.STL" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Min_L3.STL" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="Min_J3"
+ type="revolute">
+ <origin
+ xyz="0.00071495 0 -0.0267"
+ rpy="-3.0794 0 3.1416" />
+ <parent
+ link="Min_L2" />
+ <child
+ link="Min_L3" />
+ <axis
+ xyz="-1 0 0" />
+ <limit
+ lower="0"
+ upper="1.57"
+ effort="30"
+ velocity="2" />
+ <mimic joint="Min_J1" multiplier="1" offset="0" />
+ </joint>
+ <link
+ name="Ane_L1">
+ <inertial>
+ <origin
+ xyz="-0.01127 0.00021662 -0.02162"
+ rpy="0 0 0" />
+ <mass
+ value="0.0096962" />
+ <inertia
+ ixx="2.3836E-06"
+ ixy="4.7182E-11"
+ ixz="-1.3932E-11"
+ iyy="2.4105E-06"
+ iyz="-5.6617E-08"
+ izz="4.6379E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Ane_L1.STL" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Ane_L1.STL" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="Ane_J1"
+ type="revolute">
+ <origin
+ xyz="-0.003 0.0064525 0.12926"
+ rpy="-3.0449 -0.034907 -1.5708" />
+ <parent
+ link="base_link" />
+ <child
+ link="Ane_L1" />
+ <axis
+ xyz="-1 0 0" />
+ <limit
+ lower="0"
+ upper="1.57"
+ effort="30"
+ velocity="2" />
+ </joint>
+ <link
+ name="Ane_L2">
+ <inertial>
+ <origin
+ xyz="0.010487 -0.00039673 -0.010872"
+ rpy="0 0 0" />
+ <mass
+ value="0.0052657" />
+ <inertia
+ ixx="6.1275E-07"
+ ixy="2.624E-10"
+ ixz="-2.1855E-11"
+ iyy="6.3027E-07"
+ iyz="2.5431E-08"
+ izz="2.3451E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Ane_L2.STL" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Ane_L2.STL" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="Ane_J2"
+ type="revolute">
+ <origin
+ xyz="-0.00078134 0 -0.047"
+ rpy="0.04204 6.9389E-18 3.1416" />
+ <parent
+ link="Ane_L1" />
+ <child
+ link="Ane_L2" />
+ <axis
+ xyz="1 0 0" />
+ <limit
+ lower="0"
+ upper="1.57"
+ effort="30"
+ velocity="2" />
+ <mimic joint="Ane_J1" multiplier="1" offset="0" />
+ </joint>
+ <link
+ name="Ane_L3">
+ <inertial>
+ <origin
+ xyz="-0.0098289 -0.00045398 0.0099715"
+ rpy="0 0 0" />
+ <mass
+ value="0.0049969" />
+ <inertia
+ ixx="4.9237E-07"
+ ixy="6.3755E-11"
+ ixz="7.5284E-12"
+ iyy="4.632E-07"
+ iyz="-2.5186E-08"
+ izz="1.7179E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Ane_L3.STL" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Ane_L3.STL" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="Ane_J3"
+ type="revolute">
+ <origin
+ xyz="0.00066054 0 -0.0267"
+ rpy="-3.089 -1.3878E-17 -3.1416" />
+ <parent
+ link="Ane_L2" />
+ <child
+ link="Ane_L3" />
+ <axis
+ xyz="-1 0 0" />
+ <limit
+ lower="0"
+ upper="1.57"
+ effort="30"
+ velocity="2" />
+ <mimic joint="Ane_J1" multiplier="1" offset="0" />
+ </joint>
+ <link
+ name="Med_L1">
+ <inertial>
+ <origin
+ xyz="0.0068039 0.00021663 -0.02162"
+ rpy="0 0 0" />
+ <mass
+ value="0.0096962" />
+ <inertia
+ ixx="2.3836E-06"
+ ixy="4.7346E-11"
+ ixz="-1.3411E-11"
+ iyy="2.4105E-06"
+ iyz="-5.6616E-08"
+ izz="4.6379E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Med_L1.STL" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Med_L1.STL" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="Med_J1"
+ type="revolute">
+ <origin
+ xyz="-0.0034154 -0.00020889 0.1285"
+ rpy="-3.0417 -8.6736E-19 -1.5097" />
+ <parent
+ link="base_link" />
+ <child
+ link="Med_L1" />
+ <axis
+ xyz="-1 0 0" />
+ <limit
+ lower="0"
+ upper="1.57"
+ effort="30"
+ velocity="2" />
+ </joint>
+ <link
+ name="Med_L2">
+ <inertial>
+ <origin
+ xyz="-0.0068049 -0.00039803 -0.010872"
+ rpy="0 0 0" />
+ <mass
+ value="0.0052659" />
+ <inertia
+ ixx="6.1276E-07"
+ ixy="1.1335E-10"
+ ixz="4.1403E-11"
+ iyy="6.303E-07"
+ iyz="2.537E-08"
+ izz="2.345E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Med_L2.STL" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Med_L2.STL" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="Med_J2"
+ type="revolute">
+ <origin
+ xyz="0 0 -0.047"
+ rpy="0.092983 9.1051E-18 3.1416" />
+ <parent
+ link="Med_L1" />
+ <child
+ link="Med_L2" />
+ <axis
+ xyz="1 0 0" />
+ <limit
+ lower="0"
+ upper="1.57"
+ effort="30"
+ velocity="2" />
+ <mimic joint="Med_J1" multiplier="1" offset="0" />
+ </joint>
+ <link
+ name="Med_L3">
+ <inertial>
+ <origin
+ xyz="0.0068036 -0.00045399 0.0099715"
+ rpy="0 0 0" />
+ <mass
+ value="0.0049969" />
+ <inertia
+ ixx="4.9237E-07"
+ ixy="6.3732E-11"
+ ixz="7.6266E-12"
+ iyy="4.632E-07"
+ iyz="-2.5186E-08"
+ izz="1.7179E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Med_L3.STL" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Med_L3.STL" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="Med_J3"
+ type="revolute">
+ <origin
+ xyz="0 0 -0.0267"
+ rpy="3.135 1.0368E-18 -3.1416" />
+ <parent
+ link="Med_L2" />
+ <child
+ link="Med_L3" />
+ <axis
+ xyz="-1 0 0" />
+ <limit
+ lower="0"
+ upper="1.57"
+ effort="30"
+ velocity="2" />
+ <mimic joint="Med_J1" multiplier="1" offset="0" />
+ </joint>
+ <link
+ name="Ind_L1">
+ <inertial>
+ <origin
+ xyz="0.01165 0.00021663 -0.02162"
+ rpy="0 0 0" />
+ <mass
+ value="0.0096962" />
+ <inertia
+ ixx="2.3836E-06"
+ ixy="4.7439E-11"
+ ixz="-1.3332E-11"
+ iyy="2.4105E-06"
+ iyz="-5.6616E-08"
+ izz="4.6379E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Ind_L1.STL" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Ind_L1.STL" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="Ind_J1"
+ type="revolute">
+ <origin
+ xyz="-0.0011787 -0.019259 0.12848"
+ rpy="-3.0766 0.017364 -1.4694" />
+ <parent
+ link="base_link" />
+ <child
+ link="Ind_L1" />
+ <axis
+ xyz="-1 0 0" />
+ <limit
+ lower="0"
+ upper="1.57"
+ effort="30"
+ velocity="2" />
+ </joint>
+ <link
+ name="Ind_L2">
+ <inertial>
+ <origin
+ xyz="-0.011652 -0.000397 -0.010872"
+ rpy="0 0 0" />
+ <mass
+ value="0.0052656" />
+ <inertia
+ ixx="6.1273E-07"
+ ixy="2.5193E-10"
+ ixz="-2.4047E-11"
+ iyy="6.3027E-07"
+ iyz="2.5427E-08"
+ izz="2.345E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Ind_L2.STL" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Ind_L2.STL" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="Ind_J2"
+ type="revolute">
+ <origin
+ xyz="0 0 -0.047"
+ rpy="0.012461 -2.6021E-15 3.1416" />
+ <parent
+ link="Ind_L1" />
+ <child
+ link="Ind_L2" />
+ <axis
+ xyz="1 0 0" />
+ <limit
+ lower="0"
+ upper="1.57"
+ effort="30"
+ velocity="2" />
+ <mimic joint="Ind_J1" multiplier="1" offset="0" />
+ </joint>
+ <link
+ name="Ind_L3">
+ <inertial>
+ <origin
+ xyz="0.01021 -0.000454 0.0099715"
+ rpy="0 0 0" />
+ <mass
+ value="0.0049969" />
+ <inertia
+ ixx="4.9237E-07"
+ ixy="6.3775E-11"
+ ixz="7.6703E-12"
+ iyy="4.632E-07"
+ iyz="-2.5186E-08"
+ izz="1.7179E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Ind_L3.STL" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Ind_L3.STL" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="Ind_J3"
+ type="revolute">
+ <origin
+ xyz="-0.0014401 0 -0.0267"
+ rpy="3.0788 -2.6021E-15 -3.1416" />
+ <parent
+ link="Ind_L2" />
+ <child
+ link="Ind_L3" />
+ <axis
+ xyz="-1 0 0" />
+ <limit
+ lower="0"
+ upper="1.57"
+ effort="30"
+ velocity="2" />
+ <mimic joint="Ind_J1" multiplier="1" offset="0" />
+ </joint>
+ <link
+ name="Pol_L1">
+ <inertial>
+ <origin
+ xyz="-0.00037528 0.0019284 0.070349"
+ rpy="0 0 0" />
+ <mass
+ value="0.16469" />
+ <inertia
+ ixx="0.0002481"
+ ixy="-3.8181E-06"
+ ixz="1.5344E-06"
+ iyy="0.00015717"
+ iyz="-1.4443E-06"
+ izz="0.00010769" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Pol_L1.STL" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Pol_L1.STL" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="Pol_J1"
+ type="revolute">
+ <origin
+ xyz="-0.00033603 -0.03241 0.056854"
+ rpy="3.022 -0.511 1.8117" />
+ <parent
+ link="base_link" />
+ <child
+ link="Pol_L1" />
+ <axis
+ xyz="0 0 -1" />
+ <limit
+ lower="0"
+ upper="1.57"
+ effort="30"
+ velocity="2" />
+ </joint>
+ <link
+ name="Pol_L2">
+ <inertial>
+ <origin
+ xyz="0.040049 0.00021662 -0.02162"
+ rpy="0 0 0" />
+ <mass
+ value="0.0096962" />
+ <inertia
+ ixx="2.3836E-06"
+ ixy="4.7417E-11"
+ ixz="-1.3735E-11"
+ iyy="2.4105E-06"
+ iyz="-5.6616E-08"
+ izz="4.6379E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Pol_L2.STL" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Pol_L2.STL" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="Pol_J2"
+ type="revolute">
+ <origin
+ xyz="0.0095283 0 -0.025675"
+ rpy="0.023564 -0.17453 3.1416" />
+ <parent
+ link="Pol_L1" />
+ <child
+ link="Pol_L2" />
+ <axis
+ xyz="-1 0 0" />
+ <limit
+ lower="0"
+ upper="1.57"
+ effort="30"
+ velocity="2" />
+ </joint>
+ <link
+ name="Pol_L3">
+ <inertial>
+ <origin
+ xyz="0.025569 -0.00045399 0.0099715"
+ rpy="0 0 0" />
+ <mass
+ value="0.004997" />
+ <inertia
+ ixx="4.9237E-07"
+ ixy="6.3228E-11"
+ ixz="7.7223E-12"
+ iyy="4.632E-07"
+ iyz="-2.5185E-08"
+ izz="1.7179E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Pol_L3.STL" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/Pol_L3.STL" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="Pol_J3"
+ type="revolute">
+ <origin
+ xyz="0.01448 0 -0.047"
+ rpy="-3.1102 5.5511E-17 -1.1102E-16" />
+ <parent
+ link="Pol_L2" />
+ <child
+ link="Pol_L3" />
+ <axis
+ xyz="-1 0 0" />
+ <limit
+ lower="0"
+ upper="1.57"
+ effort="30"
+ velocity="2" />
+ <mimic joint="Pol_J2" multiplier="1" offset="0" />
+ </joint>
+<transmission name="Pol1_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="Pol_J1">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="Pol1_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+<transmission name="Pol2_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="Pol_J2">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="Pol2_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+<transmission name="Pol3_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="Pol_J3">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="Pol3_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <gazebo>
+
+ <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>Pol_J3</joint>
+ <mimicJoint>Pol_J2</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <maxEffor>30.0</maxEffor>
+ <sensitiveness>0.0</sensitiveness>
+ </plugin>
+ </gazebo>
+
+<transmission name="Ind1_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="Ind_J1">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="Ind1_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+<transmission name="Ind2_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="Ind_J2">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="Ind2_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <gazebo>
+ <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>Ind_J2</joint>
+ <mimicJoint>Ind_J1</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <maxEffor>30.0</maxEffor>
+ <sensitiveness>0.0</sensitiveness>
+ </plugin>
+ </gazebo>
+
+<transmission name="Ind3_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="Ind_J3">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="Ind3_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <gazebo>
+ <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>Ind_J3</joint>
+ <mimicJoint>Ind_J1</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <maxEffor>30.0</maxEffor>
+ <sensitiveness>0.0</sensitiveness>
+ </plugin>
+ </gazebo>
+
+<transmission name="Med1_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="Med_J1">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="Med1_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+<transmission name="Med2_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="Med_J2">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="Med2_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <gazebo>
+ <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>Med_J2</joint>
+ <mimicJoint>Med_J1</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <maxEffor>30.0</maxEffor>
+ <sensitiveness>0.0</sensitiveness>
+ </plugin>
+ </gazebo>
+
+<transmission name="Med3_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="Med_J3">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="Med3_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <gazebo>
+ <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>Med_J3</joint>
+ <mimicJoint>Med_J1</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <maxEffor>30.0</maxEffor>
+ <sensitiveness>0.0</sensitiveness>
+ </plugin>
+ </gazebo>
+
+<transmission name="Ane1_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="Ane_J1">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="Ane1_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+<transmission name="Ane2_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="Ane_J2">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="Ane2_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <gazebo>
+ <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>Ane_J2</joint>
+ <mimicJoint>Ane_J1</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <maxEffor>30.0</maxEffor>
+ <sensitiveness>0.0</sensitiveness>
+ </plugin>
+ </gazebo>
+
+<transmission name="Ane3_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="Ane_J3">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="Ane3_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <gazebo>
+ <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>Ane_J3</joint>
+ <mimicJoint>Ane_J1</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <maxEffor>30.0</maxEffor>
+ <sensitiveness>0.0</sensitiveness>
+ </plugin>
+ </gazebo>
+
+<transmission name="Min1_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="Min_J1">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="Min1_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+<transmission name="Min2_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="Min_J2">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="Min2_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <gazebo>
+ <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>Min_J2</joint>
+ <mimicJoint>Min_J1</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <maxEffor>30.0</maxEffor>
+ <sensitiveness>0.0</sensitiveness>
+ </plugin>
+ </gazebo>
+
+<transmission name="Min3_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="Min_J3">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="Min3_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <gazebo>
+ <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>Min_J3</joint>
+ <mimicJoint>Min_J1</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <maxEffor>30.0</maxEffor>
+ <sensitiveness>0.0</sensitiveness>
+ </plugin>
+ </gazebo>
+
+<gazebo>
+ <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+ <robotNamespace>/miitzhand</robotNamespace>
+ <controlPeriod>0.001</controlPeriod>
+ <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+ </plugin>
+ </gazebo>
+</robot>
projects / users / gschmitz / miitzhand.git / commitdiff