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Enable to output transmission_interface instead of pr2_mechanism_model #35

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Jun 12, 2020
Merged

Enable to output transmission_interface instead of pr2_mechanism_model #35

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35 changes: 27 additions & 8 deletions collada_urdf/src/collada_to_urdf.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@ using namespace std;
bool use_simple_visual = false;
bool use_simple_collision = false;
bool add_gazebo_description = false;
bool use_transmission_interface = false;
bool use_assimp_export = false;
bool use_same_collision_as_visual = true;
bool rotate_inertia_frame = true;
Expand Down Expand Up @@ -480,14 +481,27 @@ void addChildJointNamesXML(urdf::LinkConstSharedPtr link, ofstream& os)
os << " </joint>" << endl;

if ( add_gazebo_description ) {
os << " <transmission type=\"pr2_mechanism_model/SimpleTransmission\" name=\"";
os << (*child)->parent_joint->name << "_trans\" >" << endl;
os << " <actuator name=\"" << (*child)->parent_joint->name << "_motor\" />" << endl;
os << " <joint name=\"" << (*child)->parent_joint->name << "\" />" << endl;
os << " <mechanicalReduction>1</mechanicalReduction>" << endl;
//os << " <motorTorqueConstant>1</motorTorqueConstant>" << endl;
//os << " <pulsesPerRevolution>90000</pulsesPerRevolution>" << endl;
os << " </transmission>" << endl;
if ( !use_transmission_interface ) {
os << " <transmission type=\"pr2_mechanism_model/SimpleTransmission\" name=\"";
os << (*child)->parent_joint->name << "_trans\" >" << endl;
os << " <actuator name=\"" << (*child)->parent_joint->name << "_motor\" />" << endl;
os << " <joint name=\"" << (*child)->parent_joint->name << "\" />" << endl;
os << " <mechanicalReduction>1</mechanicalReduction>" << endl;
//os << " <motorTorqueConstant>1</motorTorqueConstant>" << endl;
//os << " <pulsesPerRevolution>90000</pulsesPerRevolution>" << endl;
os << " </transmission>" << endl;
} else {
os << " <transmission name=\"" << (*child)->parent_joint->name << "_trans\">" << endl;
os << " <type>transmission_interface/SimpleTransmission</type>" << endl;
os << " <joint name=\"" << (*child)->parent_joint->name << "\">" << endl;
os << " <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>" << endl;
os << " </joint>" << endl;
os << " <actuator name=\"" << (*child)->parent_joint->name << "_motor\">" << endl;
os << " <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>" << endl;
os << " <mechanicalReduction>1</mechanicalReduction>" << endl;
os << " </actuator>" << endl;
os << " </transmission>" << endl;
}
#ifdef GAZEBO_1_3
os << " <gazebo reference=\"" << (*child)->parent_joint->name << "\">" << endl;
os << " <cfmDamping>0.4</cfmDamping>" << endl;
Expand Down Expand Up @@ -528,6 +542,7 @@ int main(int argc, char** argv)
("simple_collision,C", "use bounding box for collision")
("export_collision_mesh", "export collision mesh as STL")
("add_gazebo_description,G", "add description for using on gazebo")
("use_transmission_interface,T", "use transmission_interface as transmission")
("use_assimp_export,A", "use assimp library for exporting mesh")
("use_collision,U", "use collision geometry (default collision is the same as visual)")
("original_inertia_rotation,R", "does not rotate inertia frame")
Expand Down Expand Up @@ -568,6 +583,10 @@ int main(int argc, char** argv)
add_gazebo_description = true;
cerr << ";; Adding gazebo description" << endl;
}
if (vm.count("use_transmission_interface")) {
use_transmission_interface = true;
cerr << ";; Using transmission_interface as transmission" << endl;
}
if (vm.count("use_assimp_export")) {
#if defined(ASSIMP_EXPORT_API)
use_assimp_export = true;
Expand Down