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UniversalRobots / Universal_Robots_ROS2_Description

ROS2 URDF description for Universal Robots
BSD 3-Clause "New" or "Revised" License
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Update dynamic properties #195

Closed chalongrath closed 2 months ago

chalongrath commented 2 months ago

Update some dynamic properties of the robots to reflect the most recent values. Note that the inertia matrices of UR3, UR3e, UR5, and UR5e are generated by the cylindrical inertia, since most of the values provided by UR are zeros and could potentially cause simulation to blow up. Those quantities may be updated later when appropriate values are found.

urrsk commented 2 months ago

It could be nice if e.g. @VinDp have time to test them in GZ

chalongrath commented 2 months ago

@fmauch Thank you for testing these in Gazebo sim for me. Very appreciated. I'm not sure how to change to rolling. I was just thinking that we could cherry-pick or merge from humble from rolling. Perhaps, you can guide me once everything is reviewed and accepted.

fmauch commented 2 months ago

@fmauch Thank you for testing these in Gazebo sim for me. Very appreciated. I'm not sure how to change to rolling. I was just thinking that we could cherry-pick or merge from humble from rolling. Perhaps, you can guide me once everything is reviewed and accepted.

I tried that locally and I could simply rebase your branch on rolling without any further modifications. As written, we introduce changes on rolling and then backport to all distros where we want to make that change available, in this case all 4 distributions. I'm happy to assist / do the rebase once everything is done (which I guess it is by now, so I'll take another look)