egu_50.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

    <!--degrees to radians-->

    <xacro:macro name="egu_50" params="prefix_1 prefix_2 meshType">

        <!-- imports -->
        <xacro:include filename="$(find egu_description)/urdf/egu_50_base_link.urdf.xacro" />
        <xacro:include filename="$(find egu_description)/urdf/egu_50_fingers_link.urdf.xacro" />
        <xacro:include filename="$(find egu_description)/urdf/egu_50_fingers_version2_link.urdf.xacro" />
        <!--xacro:include filename="$(find egu_description)/urdf/egu_50.gazebo.xacro" /-->
        <xacro:include filename="$(find egu_description)/urdf/egu_50.transmission.xacro" />

        <xacro:egu_50_base_link prefix="${prefix_1}_" meshType="${meshType}" />
        <!--xacro:egu_50_fingers_link prefix="${prefix_2}_" meshType="${meshType}" /-->
        <xacro:egu_50_fingers_link prefix="${prefix_2}_" meshType="${meshType}" />
        <xacro:egu_50_transmission prefix="${prefix_2}_" />
        <!-- links -->
        <!--link name="world" /-->
<!--
        <joint name="fixed" type="fixed">
            <parent link="world" />
            <child link="${prefix}base_link" />
        </joint>
-->

        <!-- <joint name="fixed_joint_gripper_base_link_right" type="fixed">
          <origin xyz="0.018 0 0.01" rpy="1.5708 0 -1.5708" />
          <parent link="${prefix_1}_translational_right" />
          <child link="${prefix_2}_base_link_right" />
          <axis xyz="0 0 0" />
        </joint>

        <joint name="fixed_joint_gripper_base_link_left" type="fixed">
          <origin xyz="-0.018 0 0.01" rpy="1.5708 0 1.5708" />
          <parent link="${prefix_1}_translational_left" />
          <child link="${prefix_2}_base_link_left" />
          <axis xyz="0 0 0" />
        </joint> -->


        <joint name="fixed_joint_gripper_base_link_right" type="fixed">
          <origin xyz="0.018 0 0.01" rpy="0 0 0" />
          <parent link="${prefix_1}_translational_right" />
          <child link="${prefix_2}_base_link_right" />
          <axis xyz="0 0 0" />
        </joint>

        <joint name="fixed_joint_gripper_base_link_left" type="fixed">
          <origin xyz="-0.018 0 0.01" rpy="0 0 0" />
          <parent link="${prefix_1}_translational_left" />
          <child link="${prefix_2}_base_link_left" />
          <axis xyz="0 0 0" />
        </joint>


    </xacro:macro>
</robot>