From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 28 Nov 2018 20:59:51 +0000 (-0200)
Subject: Change launch files.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=0fc67ec7914d9a0bc87967ae80b9fecb2c0ed4ec;p=ufrgs_wam.git

Change launch files.
---

diff --git a/wam_controllers/README b/wam_controllers/README
deleted file mode 100644
index 861d535..0000000
--- a/wam_controllers/README
+++ /dev/null
@@ -1,10 +0,0 @@
-To publish reference:
-
-rostopic pub /wam/computed_torque_controller/command trajectory_msgs/JointTrajectoryPoint "[0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" "[0.0, 0.0]"
-
-Arguments are positions, velocities, accelerations, effort, time from start in
-seconds and nanoseconds.
-
-Set starting position:
-
-rosservice call /gazebo/set_model_configuration wam joint ['wam_joint_1','wam_joint_2','wam_joint_3','wam_joint_4','wam_joint_5','wam_joint_6','wam_joint_7'] [0.0,0.75,0.0,1.5,0.0,0.9,0.0]
\ No newline at end of file
diff --git a/wam_controllers/launch/computed_torque.launch b/wam_controllers/launch/computed_torque.launch
index bec4906..ddcf49b 100644
--- a/wam_controllers/launch/computed_torque.launch
+++ b/wam_controllers/launch/computed_torque.launch
@@ -1,18 +1,9 @@
 <launch>
-       	<arg name="paused" default="true"/>
-
-	<include file="$(find wam_description)/launch/wam_sim.launch">
-		<arg name="paused" value="$(arg paused)"/>
-	</include>
-
 	<rosparam file="$(find wam_controllers)/config/computed_torque_control.yaml"
 		command="load"/>
 
 	<node name="controller_spawner" pkg="controller_manager" type="spawner"
-		respawn="false" output="screen" ns="/wam"
-		args="joint_state_controller computed_torque_controller"/>
-
-	<node name="robot_state_publisher" pkg="robot_state_publisher"
-		type="state_publisher"
-		ns="/wam" />
+		respawn="false" output="screen" ns="wam"
+		args="joint_state_controller computed_torque_controller" >
+	</node>
 </launch>
diff --git a/wam_controllers/launch/computed_torque_table.launch b/wam_controllers/launch/computed_torque_table.launch
deleted file mode 100644
index 8036b3b..0000000
--- a/wam_controllers/launch/computed_torque_table.launch
+++ /dev/null
@@ -1,16 +0,0 @@
-<launch>
-       	<arg name="paused" default="true"/>
-
-	<include file="$(find wam_description)/launch/wam_table_sim.launch">
-		<arg name="paused" value="$(arg paused)"/>
-	</include>
-
-	<rosparam file="$(find wam_controllers)/config/computed_torque_control.yaml" command="load"/>
-
-	<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-		output="screen" ns="/wam" args="joint_state_controller computed_torque_controller"/>
-
-	<node name="robot_state_publisher" pkg="robot_state_publisher"
-		type="state_publisher"
-		ns="/wam" />
-</launch>
diff --git a/wam_controllers/launch/display.launch b/wam_controllers/launch/display.launch
new file mode 100644
index 0000000..42fc09d
--- /dev/null
+++ b/wam_controllers/launch/display.launch
@@ -0,0 +1,15 @@
+<launch>
+	<arg name="table" default="true"/>
+	<arg name="use_gui" default="false"/>
+
+	<remap from="/joint_states" to="wam/joint_states" />
+
+	<include file="$(find wam_description)/launch/display.launch" >
+		<arg name="table" value="$(arg table)"/>
+		<arg name="use_gui" value="$(arg use_gui)" />
+
+	</include>
+
+	<!--include file="$(find wam_controllers)/launch/computed_torque.launch" /-->
+
+</launch>
diff --git a/wam_controllers/launch/gazebo.launch b/wam_controllers/launch/gazebo.launch
new file mode 100644
index 0000000..a968552
--- /dev/null
+++ b/wam_controllers/launch/gazebo.launch
@@ -0,0 +1,10 @@
+<launch>
+	<arg name="table" default="true"/>
+
+	<include file="$(find wam_description)/launch/gazebo.launch" >
+		<arg name="table" value="$(arg table)"/>
+	</include>
+
+	<include file="$(find wam_controllers)/launch/computed_torque.launch" />
+
+</launch>
diff --git a/wam_controllers/scripts/set_home.sh b/wam_controllers/scripts/set_home.sh
index 4641b95..1ff2f52 100755
--- a/wam_controllers/scripts/set_home.sh
+++ b/wam_controllers/scripts/set_home.sh
@@ -4,10 +4,10 @@ rosservice call /gazebo/set_model_configuration wam joint \
 "['wam_joint_1','wam_joint_2','wam_joint_3','wam_joint_4','wam_joint_5','wam_joint_6','wam_joint_7']" \
 "[0.0,-2.0,0.0,3.1,0.0,0.0,0.0]"
 
-#rostopic pub /wam/computed_torque_controller/command \
-#trajectory_msgs/JointTrajectoryPoint \
-#"[0.0,-2.0,0.0,3.1,0.0,0.0,0.0]" \
-#"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-#"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-#"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-#"[0.0, 0.0]" "-1"
+rostopic pub /wam/computed_torque_controller/command \
+trajectory_msgs/JointTrajectoryPoint \
+"[0.0,-2.0,0.0,3.1,0.0,0.0,0.0]" \
+"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
+"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
+"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
+"[0.0, 0.0]" "-1"
diff --git a/wam_description/launch/display.launch b/wam_description/launch/display.launch
index 5585094..fd1973b 100644
--- a/wam_description/launch/display.launch
+++ b/wam_description/launch/display.launch
@@ -1,9 +1,15 @@
 <launch>
-	<param name="robot_description" command="$(find xacro)/xacro.py '$(find wam_description)/xacro/wam_world.urdf.xacro'" />
+	<arg name="table" default="true"/>
+	<arg name="use_gui" default="true"/>
+
+	<include file="$(find wam_description)/launch/wam.launch" >
+		<arg name="table" value="$(arg table)" />
+	</include>
+
+	<node if="$(arg use_gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" args="_use_gui:=true" />
 
-	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-		<param name="use_gui" value="true" />
-	</node>
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
-	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find wam_description)/launch/urdf.rviz" required="true"/>
+
+	<node unless="$(arg table)" name="rviz" pkg="rviz" type="rviz" args="-d $(find wam_description)/rviz/urdf.rviz" required="true"/>
+	<node if="$(arg table)" name="rviz" pkg="rviz" type="rviz" args="-d $(find wam_description)/rviz/urdf.rviz -f world" required="true"/>
 </launch>
diff --git a/wam_description/launch/gazebo.launch b/wam_description/launch/gazebo.launch
new file mode 100644
index 0000000..d042323
--- /dev/null
+++ b/wam_description/launch/gazebo.launch
@@ -0,0 +1,15 @@
+<launch>
+	<arg name="paused" default="true"/>
+	<arg name="table" default="true"/>
+
+	<include file="$(find gazebo_ros)/launch/empty_world.launch">
+		<arg name="paused" value="$(arg paused)"/>
+		<arg name="world_name" value="worlds/empty_sky.world" />
+	</include>
+
+	<include file="$(find wam_description)/launch/wam.launch" >
+		<arg name="table" value="$(arg table)" />
+	</include>
+
+	<node name="wam_spawner" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model wam" respawn="false" output="screen" />
+</launch>
diff --git a/wam_description/launch/wam.launch b/wam_description/launch/wam.launch
index 2cac088..4933667 100644
--- a/wam_description/launch/wam.launch
+++ b/wam_description/launch/wam.launch
@@ -1,4 +1,12 @@
-<launch>
-	<param name="robot_description" command="$(find xacro)/xacro.py '$(find wam_description)/xacro/wam_world.urdf.xacro'" />
-	<node name="wam_spawner" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model wam" respawn="false" output="screen" />
+ <launch>
+	<arg name="table" default="true"/>
+	<arg name="world" default="false"/>
+
+	<group unless="$(arg world)">
+		<param unless="$(arg table)" name="robot_description" command="$(find xacro)/xacro.py '$(find wam_description)/xacro/wam.urdf.xacro'" />
+		<param if="$(arg table)" name="robot_description" command="$(find xacro)/xacro.py '$(find wam_description)/xacro/wam_table.urdf.xacro'" />
+	</group>
+
+	<param if="$(arg world)" name="robot_description" command="$(find xacro)/xacro.py '$(find wam_description)/xacro/wam_world.urdf.xacro'" />
+
 </launch>
diff --git a/wam_description/launch/wam_sim.launch b/wam_description/launch/wam_sim.launch
deleted file mode 100644
index 4215fb2..0000000
--- a/wam_description/launch/wam_sim.launch
+++ /dev/null
@@ -1,12 +0,0 @@
-<launch>
-	<arg name="paused" default="false"/>
-
-	<!-- Start Gazebo -->
-	<include file="$(find gazebo_ros)/launch/empty_world.launch">
-		<arg name="paused" value="$(arg paused)"/>
-		<arg name="world_name" value="worlds/empty_sky.world" />
-	</include>
-
-	<include file="$(find wam_description)/launch/wam.launch"/>
-
-</launch>
diff --git a/wam_description/launch/wam_table.launch b/wam_description/launch/wam_table.launch
deleted file mode 100644
index 1ee4e59..0000000
--- a/wam_description/launch/wam_table.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
-	<param name="robot_description" command="$(find xacro)/xacro.py '$(find wam_description)/xacro/wam_table.urdf.xacro'" />
-	<node name="wam_spawner" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model wam" respawn="false" output="screen" />
-</launch>
diff --git a/wam_description/launch/wam_table_sim.launch b/wam_description/launch/wam_table_sim.launch
deleted file mode 100644
index 74a017b..0000000
--- a/wam_description/launch/wam_table_sim.launch
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-	<arg name="paused" default="false"/>
-
-	<!-- Start Gazebo -->
-	<include file="$(find gazebo_ros)/launch/empty_world.launch">
-		<arg name="paused" value="$(arg paused)"/>
-		<arg name="world_name" value="worlds/empty_sky.world" />
-	</include>
-
-	<include file="$(find wam_description)/launch/wam_table.launch"/>
-</launch>
diff --git a/wam_description/package.xml b/wam_description/package.xml
index 77ce6de..f4d4f2a 100644
--- a/wam_description/package.xml
+++ b/wam_description/package.xml
@@ -1,8 +1,14 @@
 <?xml version="1.0"?>
 <package>
   <name>wam_description</name>
-  <version>2.0.0</version>
-  <description>The wam_description package</description>
+  <version>2.1.0</version>
+  <description><p>The wam_description package</p>
+  	<p>This package contains xacro files for the Barrett WAM robot
+  	arm. It is based on the iri_wam_description package developed by the
+  	IRI Robotics Lab but with robot parameters (mainly inertia
+  	parameters) adapted to the Barrett WAM available at UFRGS.
+  	</p>
+  </description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
   <!-- Example:  -->
@@ -13,7 +19,7 @@
   <!-- 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>GPLv3</license>
+  <license>LGPL</license>
 
 
   <!-- Url tags are optional, but mutiple are allowed, one per tag -->
@@ -21,6 +27,7 @@
   <!-- Example: -->
   <!-- <url type="website">http://wiki.ros.org/wam_description</url> -->
   <url type="website">http://www.ece.ufrgs.br/~fetter/ufrgs_wam</url>
+  <url type="website">http://ros.org/wiki/iri_wam_description</url>
 
 
   <!-- Author tags are optional, mutiple are allowed, one per tag -->
@@ -28,6 +35,7 @@
   <!-- Example: -->
   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
   <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
+  <author>IRI Robotics Lab, Sergi Foix (sfoix@iri.upc.edu)</author>
 
   <!-- The *_depend tags are used to specify dependencies -->
   <!-- Dependencies can be catkin packages or system dependencies -->
@@ -51,4 +59,4 @@
     <!-- Other tools can request additional information be placed here -->
 
   </export>
-</package>
\ No newline at end of file
+</package>
diff --git a/wam_description/launch/urdf.rviz b/wam_description/rviz/urdf.rviz
similarity index 89%
rename from wam_description/launch/urdf.rviz
rename to wam_description/rviz/urdf.rviz
index e597c6c..6ae11f5 100644
--- a/wam_description/launch/urdf.rviz
+++ b/wam_description/rviz/urdf.rviz
@@ -8,7 +8,7 @@ Panels:
         - /Status1
         - /Grid1
       Splitter Ratio: 0.5
-    Tree Height: 559
+    Tree Height: 553
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -108,10 +108,6 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        world:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
       Name: RobotModel
       Robot Description: robot_description
       TF Prefix: ""
@@ -121,7 +117,7 @@ Visualization Manager:
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: world
+    Fixed Frame: wam_origin
     Frame Rate: 30
   Name: root
   Tools:
@@ -165,7 +161,7 @@ Window Geometry:
   Height: 846
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000013c000002bafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000036000002ba000000b700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002bafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000036000002ba0000009b00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024700fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002ba00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000013c000002b6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000038000002b6000000b900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000038000002b60000009f00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025a00fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -175,5 +171,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1200
-  X: 501
+  X: 476
   Y: 54
diff --git a/wam_description/scripts/set_home.sh b/wam_description/scripts/set_home.sh
new file mode 100755
index 0000000..fdf13c1
--- /dev/null
+++ b/wam_description/scripts/set_home.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+
+rosservice call /gazebo/set_model_configuration wam joint \
+"['wam_joint_1','wam_joint_2','wam_joint_3','wam_joint_4',' \
+wam_joint_5','wam_joint_6','wam_joint_7']" \
+"[0.0,-2.0,0.0,3.1,0.0,0.0,0.0]"
diff --git a/wam_description/scripts/set_zero.sh b/wam_description/scripts/set_zero.sh
new file mode 100755
index 0000000..13a4b53
--- /dev/null
+++ b/wam_description/scripts/set_zero.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+
+rosservice call /gazebo/set_model_configuration wam joint \
+"['wam_joint_1','wam_joint_2','wam_joint_3','wam_joint_4', \
+'wam_joint_5','wam_joint_6','wam_joint_7']" \
+"[0.0,0.0,0.0,0.0,0.0,0.0,0.0]"
diff --git a/wam_description/xacro/table.urdf.xacro b/wam_description/xacro/table.urdf.xacro
index 37934a1..43435e5 100644
--- a/wam_description/xacro/table.urdf.xacro
+++ b/wam_description/xacro/table.urdf.xacro
@@ -29,6 +29,9 @@
       <geometry>
         <box size="${table_width} ${table_depth} ${table_top_thickness}" />
       </geometry>
+      <material name="Grey">
+		<color rgba="0.65 0.65 0.65 1.0"/>
+      </material>
     </visual> 
     <collision>
       <origin xyz="${table_x} ${table_y} ${table_z+table_height-table_top_thickness/2}" />
@@ -43,6 +46,7 @@
     <mu2>50.0</mu2>
     <kp>1000000.0</kp>
     <kd>1.0</kd>
+    <selfCollide>true</selfCollide>
   </gazebo>
 
   <joint name="leg1_joint" type="fixed" >
@@ -63,6 +67,9 @@
       <geometry>
         <cylinder radius="${leg_radius}" length="${table_height}" />
       </geometry>
+      <material name="Black">
+		<color rgba="0 0 0 1.0"/>
+      </material>
     </visual> 
     <collision>
       <origin xyz="0.0 0.0 ${-table_height/2}" rpy="0.0 0.0 0.0" />
@@ -77,7 +84,7 @@
     <mu2>1000.0</mu2>
     <kp>10000000.0</kp>
     <kd>1.0</kd>
-    <!-- <selfCollide>true</selfCollide> -->
+    <selfCollide>true</selfCollide>
   </gazebo>
 
   <joint name="leg2_joint" type="fixed" >
@@ -98,6 +105,9 @@
       <geometry>
         <cylinder radius="${leg_radius}" length="${table_height}" />
       </geometry>
+      <material name="Black">
+		<color rgba="0 0 0 1.0"/>
+      </material>
     </visual> 
     <collision>
       <origin xyz="0.0 0.0 ${-table_height/2}" rpy="0.0 0.0 0.0" />
@@ -112,7 +122,7 @@
     <mu2>1000.0</mu2>
     <kp>10000000.0</kp>
     <kd>1.0</kd>
-    <!-- <selfCollide>true</selfCollide> -->
+    <selfCollide>true</selfCollide>
   </gazebo>
 
   <joint name="leg3_joint" type="fixed" >
@@ -133,6 +143,9 @@
       <geometry>
         <cylinder radius="${leg_radius}" length="${table_height}" />
       </geometry>
+      <material name="Black">
+		<color rgba="0 0 0 1.0"/>
+      </material>
     </visual> 
     <collision>
       <origin xyz="0.0 0.0 ${-table_height/2}" rpy="0.0 0.0 0.0" />
@@ -147,7 +160,7 @@
     <mu2>1000.0</mu2>
     <kp>10000000.0</kp>
     <kd>1.0</kd>
-    <!-- <selfCollide>true</selfCollide> -->
+    <selfCollide>true</selfCollide>
   </gazebo>
 
   <joint name="leg4_joint" type="fixed" >
@@ -168,6 +181,9 @@
       <geometry>
         <cylinder radius="${leg_radius}" length="${table_height}" />
       </geometry>
+      <material name="Black">
+		<color rgba="0 0 0 1.0"/>
+      </material>
     </visual> 
     <collision>
       <origin xyz="0.0 0.0 ${-table_height/2}" rpy="0.0 0.0 0.0" />
@@ -182,10 +198,10 @@
     <mu2>1000.0</mu2>
     <kp>10000000.0</kp>
     <kd>1.0</kd>
-    <!-- <selfCollide>true</selfCollide> -->
+    <selfCollide>true</selfCollide>
   </gazebo>
   <gazebo>
-    <!-- <static>true</static> -->
+    <!--static>true</static-->
     <canonicalBody>table_top_link</canonicalBody>
   </gazebo>
 
diff --git a/wam_description/xacro/wam.urdf.xacro b/wam_description/xacro/wam.urdf.xacro
index c0db1f6..f559eea 100644
--- a/wam_description/xacro/wam.urdf.xacro
+++ b/wam_description/xacro/wam.urdf.xacro
@@ -13,28 +13,19 @@
 
   <xacro:include filename="$(find wam_description)/xacro/wam_tool_plate.urdf.xacro" />
 
-  <xacro:wam_base>
-  </xacro:wam_base>
-  <xacro:wam_j1 parent="wam_link_base">
-  </xacro:wam_j1>
-  <xacro:wam_j2 parent="wam_link_1">
-  </xacro:wam_j2>
-  <xacro:wam_j3 parent="wam_link_2">
-  </xacro:wam_j3>
-  <xacro:wam_j4 parent="wam_link_3">
-  </xacro:wam_j4>
-  <xacro:wam_j5 parent="wam_link_4">
-  </xacro:wam_j5>
-  <xacro:wam_j6 parent="wam_link_5">
-  </xacro:wam_j6>
-  <xacro:wam_j7 parent="wam_link_6">
-  </xacro:wam_j7>
-  <xacro:wam_tool_plate parent="wam_link_7">
-  </xacro:wam_tool_plate>
+  <xacro:wam_base/>
+  <xacro:wam_j1 parent="wam_link_base"/>
+  <xacro:wam_j2 parent="wam_link_1"/>
+  <xacro:wam_j3 parent="wam_link_2"/>
+  <xacro:wam_j4 parent="wam_link_3"/>
+  <xacro:wam_j5 parent="wam_link_4"/>
+  <xacro:wam_j6 parent="wam_link_5"/>
+  <xacro:wam_j7 parent="wam_link_6"/>
+  <xacro:wam_tool_plate parent="wam_link_7"/>
 
   <gazebo>
     <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" >
-      <robotNamespace>/wam</robotNamespace>
+      <robotNamespace>wam</robotNamespace>
 
       <!-- Custom plugin -->
       <!-- robotSimType>wam_gazebo_ros_control/WamRobotHWSim</robotSimType -->
diff --git a/wam_description/xacro/wam_base.urdf.xacro b/wam_description/xacro/wam_base.urdf.xacro
index 8acac63..4d1f765 100644
--- a/wam_description/xacro/wam_base.urdf.xacro
+++ b/wam_description/xacro/wam_base.urdf.xacro
@@ -18,7 +18,7 @@
 				<mesh filename="package://wam_description/meshes/wambase.stl" scale="1.0 1.0 1.0"/>
 			</geometry>
 			<material name="LightGrey">
-				<color rgba="0.9 0.9 0.9 1.0"/>
+				<color rgba="0.75 0.75 0.75 1.0"/>
 			</material>
     		</visual>
 		<collision>
@@ -31,7 +31,7 @@
 	</link>
 
 	<gazebo reference="wam_link_base">
-		<!-- <selfCollide>true</selfCollide> -->
+		<selfCollide>true</selfCollide>
 		<material>Gazebo/White</material>
 	</gazebo>
 
diff --git a/wam_description/xacro/wam_table.urdf.xacro b/wam_description/xacro/wam_table.urdf.xacro
index 468e77f..a32b6ee 100644
--- a/wam_description/xacro/wam_table.urdf.xacro
+++ b/wam_description/xacro/wam_table.urdf.xacro
@@ -8,7 +8,7 @@
 
 	<xacro:include filename="$(find wam_description)/xacro/table.urdf.xacro" />
 
-	<joint name="world_table_joint" type="fixed" static="true">
+	<joint name="world_table_joint" type="fixed">
 		<parent link="world"/>
 		<child link="table_top_link" />
 		<origin xyz="${-table_x} ${-table_y} ${-table_z}" rpy="0.0 0.0 0.0" />
@@ -17,7 +17,7 @@
   
 	<xacro:include filename="$(find wam_description)/xacro/wam.urdf.xacro" />
 
-	<joint name="table_wam_joint" type="fixed" static="true">
+	<joint name="table_wam_joint" type="fixed">
 		<parent link="table_top_link"/>
 		<child link="wam_origin" />
 		<origin xyz="${(1.0-0.220)} -0.140 ${table_height}" rpy="0.0 0.0 0.0" />
diff --git a/wam_description/xacro/wam_world.urdf.xacro b/wam_description/xacro/wam_world.urdf.xacro
index 22f2a36..33bc008 100644
--- a/wam_description/xacro/wam_world.urdf.xacro
+++ b/wam_description/xacro/wam_world.urdf.xacro
@@ -6,7 +6,7 @@
 
 	<xacro:include filename="$(find wam_description)/xacro/wam.urdf.xacro" />
 
-	<joint name="world_wam_joint" type="fixed" static="true">
+	<joint name="world_wam_joint" type="fixed">
 		<parent link="world"/>
 		<child link="wam_origin" />
 		<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />