qlin/moonshot_franka_description
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rename package to matching repo

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qlin960618
2025-02-22 23:26:20 +09:00
parent 33316ed937
commit 04485bfefc
25 changed files with 75 additions and 75 deletions
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robots/common/franka_arm.xacro
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@@ -1,16 +1,16 @@
<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fer">
<xacro:include filename="$(find franka_description)/robots/common/utils.xacro" />
<xacro:include filename="$(find moonshot_franka_description)/robots/common/utils.xacro" />
<!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
<!-- arm_id: Namespace of the robot arm. Serves to differentiate between arms in case of multiple instances. -->
<!-- joint_limits: description of the joint limits that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/joint_limits.yaml')} -->
<!-- kinematics: description of the kinematics that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/kinematics.yaml')} -->
<!-- inertials: description of the inertials that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/inertials.yaml')} -->
<!-- dynamics: description of the dynamics that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/dynamics.yaml')} -->
<!-- joint_limits: description of the joint limits that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find moonshot_franka_description)/robots/fr3/joint_limits.yaml')} -->
<!-- kinematics: description of the kinematics that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find moonshot_franka_description)/robots/fr3/kinematics.yaml')} -->
<!-- inertials: description of the inertials that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find moonshot_franka_description)/robots/fr3/inertials.yaml')} -->
<!-- dynamics: description of the dynamics that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find moonshot_franka_description)/robots/fr3/dynamics.yaml')} -->
<xacro:macro name="franka_arm" params="arm_id arm_prefix:='' no_prefix:=false description_pkg:='franka_description' connected_to:='base' xyz:='0 0 0' rpy:='0 0 0' gazebo:='false' safety_distance:=0 joint_limits inertials kinematics dynamics with_sc:=false" >
<xacro:macro name="franka_arm" params="arm_id arm_prefix:='' no_prefix:=false description_pkg:='moonshot_franka_description' connected_to:='base' xyz:='0 0 0' rpy:='0 0 0' gazebo:='false' safety_distance:=0 joint_limits inertials kinematics dynamics with_sc:=false" >
<!-- Define a property that defaults to 'arm_prefix_arm_id' concatenated with an underscore if 'no_prefix' is not set -->
<xacro:property name="prefix" value="${'' if no_prefix else arm_prefix + arm_id + '_'}" />