update robtos

MingshanHe · Jul 1, 2023 · 38123f1 · 38123f1
1 parent 96a3270
commit 38123f1
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Showing 3 changed files with 7 additions and 7 deletions.
diff --git a/robots/universal_robot/fmauch_universal_robot/ur_description/urdf/inc/ur_macro.xacro b/robots/universal_robot/fmauch_universal_robot/ur_description/urdf/inc/ur_macro.xacro
@@ -76,8 +76,8 @@
     <xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />
 
     <!-- links: main serial chain -->
-    <link name="${prefix}base_link"/>
-    <link name="${prefix}base_link_inertia">
+    <link name="${prefix}base_link_inertia"/>
+    <link name="${prefix}base_link">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
         <geometry>
@@ -221,8 +221,8 @@
 
     <!-- joints: main serial chain -->
     <joint name="${prefix}base_link-base_link_inertia" type="fixed">
-      <parent link="${prefix}base_link" />
-      <child link="${prefix}base_link_inertia" />
+      <parent link="${prefix}base_link_inertia" />
+      <child link="${prefix}base_link" />
       <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
            frames of the robot/controller have X+ pointing backwards.
            Use the joint between 'base_link' and 'base_link_inertia' (a dummy
@@ -231,7 +231,7 @@
       <origin xyz="0 0 0" rpy="0 0 ${pi}" />
     </joint>
     <joint name="${prefix}shoulder_pan_joint" type="revolute">
-      <parent link="${prefix}base_link_inertia" />
+      <parent link="${prefix}base_link" />
       <child link="${prefix}shoulder_link" />
       <origin xyz="${shoulder_x} ${shoulder_y} ${shoulder_z}" rpy="${shoulder_roll} ${shoulder_pitch} ${shoulder_yaw}" />
       <axis xyz="0 0 1" />

diff --git a/robots/universal_robot/fmauch_universal_robot/ur_gazebo/launch/ur5e_bringup.launch b/robots/universal_robot/fmauch_universal_robot/ur_gazebo/launch/ur5e_bringup.launch
@@ -37,7 +37,7 @@
   <arg name="physical_params" default="$(find ur_description)/config/ur5e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur5e/visual_parameters.yaml"/>
   <!-- 1. PositionJointInterface 2. EffortJointInterface -->
-  <arg name="transmission_hw_interface" default="hardware_interface/EffortJointInterface"/>
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
   <arg name="environment" default="empty" doc="Specify the virtual environment"/>
   <arg name="gazebo_world" default="$(find ur_gazebo)/worlds/$(arg environment).world"/>
 

diff --git a/robots/universal_robot/fmauch_universal_robot/ur_gazebo/urdf/ur.xacro b/robots/universal_robot/fmauch_universal_robot/ur_gazebo/urdf/ur.xacro
@@ -74,7 +74,7 @@
   <link name="world"/>
   <joint name="world_joint" type="fixed">
     <parent link="world"/>
-    <child link="base_link"/>
+    <child link="base_link_inertia"/>
     <origin xyz="0 0 0" rpy="0 0 0"/>
   </joint>
 </robot>