Adding files for Staubli RX160L variant

ros-industrial / staubli

ROS-Industrial Staubli support (http://wiki.ros.org/staubli)

Apache License 2.0

17 stars 21 forks source link

Adding files for Staubli RX160L variant #10

Closed muhrix closed 9 years ago

muhrix commented 9 years ago

I have added the necessary files for the Staubli RX160L variant (longer link 4). Only after I did this, I thought of using xacro:if to distinguish between them.

gavanderhoorn commented 9 years ago

Hi, thanks for the PR. I'll add some comments in-line.

gavanderhoorn commented 9 years ago

Again, thanks for the PR. Some other comments:

not using xacro:if is actually preferred: we try to keep the nr of parameters to a minimum as they tend to lead to very messy xacros. The duplication is unfortunate, but for now acceptable
please move link_4_l.stl to a sub dir of the meshes dir, like so: meshes/rx160l/{collision,visual}/link_4.stl. That would remove the need for the _l suffix, and we typically place variant specific meshes in their own subdir of the meshes directory. Don't forget to update the _macro.xacro and to regenerate the urdf
you probably have checked this, but are the joint limits really identical to the base RX160? I haven't checked the documentation, but in most cases longer manipulators tend to be slower / have tigher limits.
could you update package.xml with info on the specs (like here)

Finally, if you could squash all commits into just a single "rx160: adding support for RX160L" (or something similar) that would be appreciated.

muhrix commented 9 years ago

Hi,

Sorry, I forgot to regenerate the URDF file (I was using a prefix in my tests). Regarding the joint limits, I was actually just checking the manual to ensure it is correct.

I'll make the changes you suggested and update the PR. Thanks!

muhrix commented 9 years ago

@gavanderhoorn I made some changes, but I didn't manage to get rid of the comments in the URDF files (I tried to regenerate the RX160 and I got the same comments there too).

I checked the manual and the specs are exactly the same for joint limits and angular speed. The RX160L has a longer link 4 (30cm) and hence lower payload, but higher linear speed.

gavanderhoorn commented 9 years ago

@muhrix wrote:

I made some changes, but I didn't manage to get rid of the comments in the URDF files

no, that is actually a feature of newer xacro versions. They preserve comments. I'd forgotten about that.

(I tried to regenerate the RX160 and I got the same comments there too).

yes, could you revert those changes? I'd like to keep this PR about the RX160L only.

I checked the manual and the specs are exactly the same for joint limits and angular speed. The RX160L has a longer link 4 (30cm) and hence lower payload, but higher linear speed.

ok. Just wanted to make sure it was correct.

muhrix commented 9 years ago

Done.

gavanderhoorn commented 9 years ago

Ok, thanks again for the PR. Much appreciated.

+1.