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Kawasaki-Robotics / khi_robot

ROS KHI robot meta-package
http://wiki.ros.org/khi_robot
BSD 3-Clause "New" or "Revised" License
55 stars 28 forks source link

descriptions: improve composability and use of xacro features #8

Closed gavanderhoorn closed 5 years ago

gavanderhoorn commented 5 years ago

As per subject.

This PR mostly improves ease-of-use when trying to integrate KHI robot macros into workcells. It does this in two ways:

  1. prefixing all macro names with khi_: this avoids name clashes with other macros
  2. adding a prefix argument to the macros: this allows xacro to automatically update joint and link names whenever a KHI macro is called. This can be used when adding two instances of the same robot model to a scene (giving each a different prefix, such as left_ and right_) or when adding a KHI robot model to a larger scene, where names like base_link and joint3 are already used by other models

The other commits in this PR introduce use of some convenience functions that xacro offers (radians(..) and use of standard constant pi).

gavanderhoorn commented 5 years ago

If/when #5 and #6 (or an alternative) are merged, I'll rebase this PR.

I believe it would be good to merge this change before the next sync, as @k-okada mentioned in #6, as having proper and usable models available from the start is important.

gavanderhoorn commented 5 years ago

Note: I've used joint limits (in degrees) from datasheets of the supported robot variants found on-line. I believe they are correct, but they should be checked.

gavanderhoorn commented 5 years ago

Just remembered: if 78c9ee5 gets merged, the MoveIt configuration packages will need to be recreated / updated, as the name of the robot changes, and MoveIt uses that for namespacing parameters and other resources.

That should not take too much time, but I omitted it from this PR.

gavanderhoorn commented 5 years ago

Incorrect joint limit fixed @matsui-hiro.

And rebased on master to include the Travis setup.

matsui-hiro commented 5 years ago

Thanks @gavanderhoorn I'll merge.