Merge PRs #199 (modular-xacro), #191 (drop-joint-states-desired) and #…

…194 (tool-frame) into develop
frankaemika · Nov 12, 2021 · e9d9cb2 · e9d9cb2
3 parents 63ecb77 + 6942e27 + 97e73fa
commit e9d9cb2
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Showing 3 changed files with 7 additions and 11 deletions.
diff --git a/franka_control/launch/franka_control.launch b/franka_control/launch/franka_control.launch
@@ -22,10 +22,4 @@
     <rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states] </rosparam>
     <param name="rate" value="30"/>
   </node>
-  <node name="joint_state_desired_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
-    <rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
-    <rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired] </rosparam>
-    <param name="rate" value="30"/>
-    <remap from="/joint_states" to="/joint_states_desired" />
-  </node>
 </launch>
diff --git a/franka_description/robots/hand.xacro b/franka_description/robots/hand.xacro
@@ -50,6 +50,13 @@
       </collision>
       </self_collision_geometries>
     </xacro:link>
+    <!-- Define the hand_tcp frame -->
+    <link name="${prefix}hand_tcp" />
+    <joint name="${prefix}hand_tcp_joint" type="fixed">
+      <origin xyz="0 0 0.1034" rpy="0 0 0" />
+      <parent link="${prefix}hand" />
+      <child link="${prefix}hand_tcp" />
+    </joint>
     <link name="${prefix}leftfinger">
       <visual>
         <geometry>

diff --git a/franka_gazebo/launch/panda.launch b/franka_gazebo/launch/panda.launch
@@ -80,11 +80,6 @@
     <rosparam param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
     <param name="rate" value="30"/>
   </node>
-  <node name="joint_state_desired_publisher" type="joint_state_publisher" pkg="joint_state_publisher">
-    <rosparam param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
-    <param name="rate" value="30"/>
-    <remap from="joint_states" to="joint_states_desired" />
-  </node>
 
   <!-- Start only if cartesian_impedance_example_controller -->
   <node name="interactive_marker"