openarm/openarm_ros2
1
0
Fork 0
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

Resolve merge conflict

Browse Source
This commit is contained in:
Thomason Zhou 2025-04-15 15:32:09 +09:00
parent 9618e107a5
commit 65baa02f54
2 changed files with 7 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
openarm_description/urdf/openarm.xacro
View File

@ -188,6 +188,7 @@
<inertia ixx="0.00023465661366788053" ixy="7.609048882006294e-05" ixz="3.088694121124684e-07" iyy="0.0005065459365215377" iyz="1.9022818028658623e-07" izz="0.0003737029250058136"/> <inertia ixx="0.00023465661366788053" ixy="7.609048882006294e-05" ixz="3.088694121124684e-07" iyy="0.0005065459365215377" iyz="1.9022818028658623e-07" izz="0.0003737029250058136"/>
</inertial> </inertial>
</link> </link>
<link name="${prefix}gripper_center"/>
<link name="${prefix}link_left_jaw"> <link name="${prefix}link_left_jaw">
<visual> <visual>
<origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/> <origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
@ -234,7 +235,7 @@
<origin rpy="0 0 0" xyz="0.0 0.0 0.05325"/> <origin rpy="0 0 0" xyz="0.0 0.0 0.05325"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/> <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
</joint> </joint>
<joint name="${prefix}rev2" type="revolute"> <joint name="${prefix}rev2" type="revolute">
<parent link="${prefix}link2"/> <parent link="${prefix}link2"/>
<child link="${prefix}link3"/> <child link="${prefix}link3"/>
@ -292,5 +293,10 @@
<limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.0"/> <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.0"/>
<mimic joint="${prefix}left_pris1" multiplier="-1.0" offset="0.0"/> <mimic joint="${prefix}left_pris1" multiplier="-1.0" offset="0.0"/>
</joint> </joint>
<joint name="${prefix}virtual_gripper_center" type="fixed">
<parent link="${prefix}link8"/>
<child link="${prefix}gripper_center"/>
<origin rpy="0 0 0" xyz="-0.13 0.00 0.0132053"/>
</joint>
</xacro:macro> </xacro:macro>
</robot> </robot>

2
openarm_hardware/CMakeLists.txt
View File

@ -7,8 +7,6 @@ endif()
# find dependencies # find dependencies
find_package(ament_cmake REQUIRED) find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
find_package(hardware_interface REQUIRED) find_package(hardware_interface REQUIRED)
find_package(pluginlib REQUIRED) find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED) find_package(rclcpp REQUIRED)