Merge pull request #67 from Levi-Armstrong/issue32_fixTool0URDF

Fix #32: corrects tool0 to match robot controller for abb_common
ros-industrial · Feb 20, 2015 · 4387a40 · 4387a40
2 parents 22c2cd9 + e0fb746
commit 4387a40
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Showing 6 changed files with 6 additions and 6 deletions.
diff --git a/abb_common/urdf/irb_2400.urdf b/abb_common/urdf/irb_2400.urdf
@@ -177,7 +177,7 @@
   <joint name="joint_6-tool0" type="fixed">
     <parent link="link_6"/>
     <child link="tool0"/>
-    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
   </joint>
   <link name="base"/>
   <joint name="base_link-base" type="fixed">

diff --git a/abb_common/urdf/irb_2400_macro.xacro b/abb_common/urdf/irb_2400_macro.xacro
@@ -298,7 +298,7 @@
 		<joint name="${prefix}joint_6-tool0" type="fixed">
 			<parent link="${prefix}link_6"/>
 			<child link="${prefix}tool0"/>
-			<origin xyz="0 0 0" rpy="0 0 0"/>
+                        <origin xyz="0 0 0" rpy="0 1.57079632679 0"/>
 		</joint>
                 <!-- end of joint list -->
 

diff --git a/abb_common/urdf/irb_5400.urdf b/abb_common/urdf/irb_5400.urdf
@@ -176,7 +176,7 @@
   <joint name="joint_6-tool0" type="fixed">
     <parent link="link_6"/>
     <child link="tool0"/>
-    <origin rpy="0.0 0.6109 0.0" xyz="0.0672 0 -0.0470"/>
+    <origin rpy="0.0 1.57079632679 0.0" xyz="0 0 0"/>
   </joint>
   <link name="base"/>
   <joint name="base_link-base" type="fixed">

diff --git a/abb_common/urdf/irb_5400_macro.xacro b/abb_common/urdf/irb_5400_macro.xacro
@@ -193,7 +193,7 @@
     <joint name="${prefix}joint_6-tool0" type="fixed">
       <parent link="${prefix}link_6" />
       <child link="${prefix}tool0" />
-      <origin xyz="0.0672 0 -0.0470" rpy="0.0 0.6109 0.0" />
+      <origin xyz="0 0 0" rpy="0.0 1.57079632679 0.0" />
     </joint>
 
     <!-- end of joint list -->

diff --git a/abb_common/urdf/irb_6640.urdf b/abb_common/urdf/irb_6640.urdf
@@ -178,7 +178,7 @@
     <limit effort="0" lower="-6.283" upper="6.283" velocity="3.3161"/>
   </joint>
   <joint name="joint_6-tool0" type="fixed">
-    <origin rpy="0 0 0" xyz=".055 0 0 "/>
+    <origin rpy="0 1.57079632679 0" xyz=".055 0 0 "/>
     <axis xyz="1 0 0"/>
     <parent link="link_6"/>
     <child link="tool0"/>

diff --git a/abb_common/urdf/irb_6640_macro.xacro b/abb_common/urdf/irb_6640_macro.xacro
@@ -199,7 +199,7 @@
   </joint>
 
   <joint type="fixed" name="joint_6-tool0">
-    <origin xyz=".055 0 0 " rpy="0 0 0"/>
+    <origin xyz=".055 0 0 " rpy="0 1.57079632679 0"/>
     <axis xyz="1 0 0"/>
     <parent link="${prefix}link_6"/>
     <child link="${prefix}tool0"/>