From 62065f950df685b202fd6a6ca53569cd77db5107 Mon Sep 17 00:00:00 2001
From: Gabriel Schmitz <gschmitz@ece.ufrgs.br>
Date: Mon, 14 Jan 2019 00:17:06 -0200
Subject: [PATCH] =?utf8?q?Vers=C3=A3o=20atual,=20RVIZ=20com=20mimic=20join?=
 =?utf8?q?ts.?=
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---
 miitzhand_description/launch/display.launch |   2 +-
 miitzhand_description/urdf/miitzhand.urdf   | 109 ++++++++++++++++++++++++++++
 2 files changed, 110 insertions(+), 1 deletion(-)
 mode change 100755 => 100644 miitzhand_description/launch/display.launch

diff --git a/miitzhand_description/launch/display.launch b/miitzhand_description/launch/display.launch
old mode 100755
new mode 100644
index 97e795d..3854053
--- a/miitzhand_description/launch/display.launch
+++ b/miitzhand_description/launch/display.launch
@@ -1,7 +1,7 @@
 <launch>
         <arg name="use_gui" default="true" />
         <include file="$(find miitzhand_description)/launch/urdf.launch" />
-	<node pkg="tf2_ros" type="static_transform_publisher" name="montagem_publisher" args="0 0 0 0 0 0 1 map origin_link" />
+	<node pkg="tf2_ros" type="static_transform_publisher" name="montagem_publisher" args="0 0 0 0 0 0 1 map world" />
 	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" args="_use_gui:=$(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" />
diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index 7e2d869..7e2af28 100644
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -167,6 +167,7 @@
       upper="1.57"
       effort="30"
       velocity="2" />
+      <mimic joint="Min_J1" multiplier="1" offset="0" />
   </joint>
   <link
     name="Min_L3">
@@ -225,6 +226,7 @@
       upper="1.57"
       effort="30"
       velocity="2" />
+      <mimic joint="Min_J1" multiplier="1" offset="0" />
   </joint>
   <link
     name="Ane_L1">
@@ -341,6 +343,7 @@
       upper="1.57"
       effort="30"
       velocity="2" />
+      <mimic joint="Ane_J1" multiplier="1" offset="0" />
   </joint>
   <link
     name="Ane_L3">
@@ -399,6 +402,7 @@
       upper="1.57"
       effort="30"
       velocity="2" />
+      <mimic joint="Ane_J1" multiplier="1" offset="0" />
   </joint>
   <link
     name="Med_L1">
@@ -515,6 +519,7 @@
       upper="1.57"
       effort="30"
       velocity="2" />
+    <mimic joint="Med_J1" multiplier="1" offset="0" />
   </joint>
   <link
     name="Med_L3">
@@ -573,6 +578,7 @@
       upper="1.57"
       effort="30"
       velocity="2" />
+      <mimic joint="Med_J1" multiplier="1" offset="0" />
   </joint>
   <link
     name="Ind_L1">
@@ -689,6 +695,7 @@
       upper="1.57"
       effort="30"
       velocity="2" />
+    <mimic joint="Ind_J1" multiplier="1" offset="0" />
   </joint>
   <link
     name="Ind_L3">
@@ -747,6 +754,7 @@
       upper="1.57"
       effort="30"
       velocity="2" />
+      <mimic joint="Ind_J1" multiplier="1" offset="0" />
   </joint>
   <link
     name="Pol_L1">
@@ -921,6 +929,7 @@
       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>
@@ -952,6 +961,18 @@
         </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">
@@ -972,6 +993,17 @@
         </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">
@@ -982,6 +1014,17 @@
         </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">
@@ -1002,6 +1045,17 @@
         </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">
@@ -1012,6 +1066,17 @@
         </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">
@@ -1032,6 +1097,17 @@
         </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">
@@ -1042,6 +1118,17 @@
         </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">
@@ -1062,6 +1149,17 @@
         </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">
@@ -1072,6 +1170,17 @@
         </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>
-- 
2.12.0