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Changes to at least compile under ROS distributions > Jade. Tested on… #2

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Changes to at least compile under ROS distributions > Jade. Tested on… #2

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1 change: 1 addition & 0 deletions CMakeLists.txt
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Expand Up @@ -47,6 +47,7 @@ foreach(it ${urdf_xacro_files})
message("produce expanded file :" ${expanded_file})

xacro_add_xacro_file(${it} ${expanded_file})
set(_XACRO_INORDER TRUE)

set(urdf_files ${urdf_files} ${expanded_file})
endforeach(it)
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2 changes: 1 addition & 1 deletion common/xacro/actuator_names/valkyrie_actuator_names.xacro
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<?xml version="1.0" ?>
<robot name="valkyrie_joint_names" xmlns:xacro="http://www.ros.org/wiki/xacro">
<robot name="valkyrie_joint_names" xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:property name="TorsoYawActuatorName" value="torsoYaw"/>
<xacro:property name="WaistLeftActuatorName" value="waistLeftActuator"/>
<xacro:property name="WaistRightActuatorName" value="waistRightActuator"/>
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2 changes: 1 addition & 1 deletion common/xacro/api/valkyrie_api.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_api">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_api">

<xacro:property name="HipYawApi" value="robot_hardware_interface/TurbodriverAPI_DRCv4" />
<xacro:property name="HipRollApi" value="robot_hardware_interface/TurbodriverAPI_DRCv4" />
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2 changes: 1 addition & 1 deletion common/xacro/joint_names/valkyrie_joint_names.xacro
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<?xml version="1.0" ?>
<robot name="valkyrie_joint_names" xmlns:xacro="http://www.ros.org/wiki/xacro">
<robot name="valkyrie_joint_names" xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:property name="TorsoYawJointName" value="torsoYaw"/>
<xacro:property name="TorsoPitchJointName" value="torsoPitch"/>
<xacro:property name="TorsoRollJointName" value="torsoRoll"/>
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34 changes: 34 additions & 0 deletions common/xacro/nodes/regular_nodes.xacro
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@@ -0,0 +1,34 @@
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="regular_nodes">

<xacro:property name="LowerNeckPitchNode" value="/neck/j1" />
<xacro:property name="NeckYawNode" value="/neck/j2" />
<xacro:property name="UpperNeckPitchNode" value="/neck/j3" />

<xacro:property name="TrunkYawNode" value="/pelvis/waist" /> <!--Yaw-->
<xacro:property name="WaistLeftActuatorNode" value="/trunk/left_actuator" /> <!--pitch-->
<xacro:property name="WaistRightActuatorNode" value="/trunk/right_actuator" /> <!--roll-->
<xacro:property name="WaistPitchActuatorSimNode" value="/trunk/pitch_actuator" /> <!--pitch-->
<xacro:property name="WaistRollActuatorSimNode" value="/trunk/roll_actuator" /> <!--roll-->

<xacro:property name="pelvis_imu1_node" value="/pelvis/sensors/imu1" />
<xacro:property name="pelvis_imu2_node" value="/pelvis/sensors/imu2" />
<xacro:property name="torso_imu1_node" value="/torso/sensors/imu1" />
<xacro:property name="torso_imu2_node" value="/torso/sensors/imu2" />

<xacro:property name="left_foot_ATI_node" value="/left_leg/ankle/left_actuator" />
<xacro:property name="left_foot_Sim_ATI_node" value="/sensors/leftFootSixAxis" />
<xacro:property name="right_foot_ATI_node" value="/right_leg/ankle/left_actuator" />
<xacro:property name="right_foot_Sim_ATI_node" value="/sensors/rightFootSixAxis" />

<xacro:macro name="all_channels" >
<Channels>
<Channel id="/right_arm" />
<Channel id="/left_arm" />
<Channel id="/right_leg" />
<Channel id="/left_leg" />
<Channel id="/neck" />
<Channel id="/trunk" />
</Channels>
</xacro:macro>

</robot>
2 changes: 1 addition & 1 deletion common/xacro/nodes/test_bench_nodes.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_nodes">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_nodes">

<xacro:property name="testbench_node" value="/left_arm/j0" />

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22 changes: 2 additions & 20 deletions common/xacro/nodes/valkyrie_nodes.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_nodes">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_nodes">

<xacro:property name="HipYawNode" value="/pelvis/${prefix}_leg_j1" />
<xacro:property name="HipRollNode" value="/${prefix}_leg/j2" />
Expand All @@ -19,25 +19,7 @@
<xacro:property name="WristRollActuatorSimNode" value="/${prefix}_arm/wrist/roll_actautor" />
<xacro:property name="WristPitchActuatorSimNode" value="/${prefix}_arm/wrist/pitch_actuator" />

<xacro:property name="LowerNeckPitchNode" value="/neck/j1" />
<xacro:property name="NeckYawNode" value="/neck/j2" />
<xacro:property name="UpperNeckPitchNode" value="/neck/j3" />

<xacro:property name="TrunkYawNode" value="/pelvis/waist" /> <!--Yaw-->
<xacro:property name="WaistLeftActuatorNode" value="/trunk/left_actuator" /> <!--pitch-->
<xacro:property name="WaistRightActuatorNode" value="/trunk/right_actuator" /> <!--roll-->
<xacro:property name="WaistPitchActuatorSimNode" value="/trunk/pitch_actuator" /> <!--pitch-->
<xacro:property name="WaistRollActuatorSimNode" value="/trunk/roll_actuator" /> <!--roll-->

<xacro:property name="pelvis_imu1_node" value="/pelvis/sensors/imu1" />
<xacro:property name="pelvis_imu2_node" value="/pelvis/sensors/imu2" />
<xacro:property name="torso_imu1_node" value="/torso/sensors/imu1" />
<xacro:property name="torso_imu2_node" value="/torso/sensors/imu2" />

<xacro:property name="left_foot_ATI_node" value="/left_leg/ankle/left_actuator" />
<xacro:property name="left_foot_Sim_ATI_node" value="/sensors/leftFootSixAxis" />
<xacro:property name="right_foot_ATI_node" value="/right_leg/ankle/left_actuator" />
<xacro:property name="right_foot_Sim_ATI_node" value="/sensors/rightFootSixAxis" />
<xacro:include filename="$(find val_description)/common/xacro/nodes/regular_nodes.xacro" />

<xacro:macro name="all_channels" >
<Channels>
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2 changes: 1 addition & 1 deletion common/xacro/serial_numbers/test_bench_serials.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="test_bench_serials">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="test_bench_serials">

<xacro:property name="testbench_serial_number" value="v_a_013" />

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2 changes: 1 addition & 1 deletion common/xacro/serial_numbers/valkyrie_A_serials.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_A_serials">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_A_serials">

<xacro:property name="leftLegJ1SerialNumber" value="v_a_006" />
<xacro:property name="leftLegJ2SerialNumber" value="v_b_002" />
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2 changes: 1 addition & 1 deletion common/xacro/serial_numbers/valkyrie_B_serials.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_B_serials">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_B_serials">

<xacro:property name="leftLegJ1SerialNumber" value="v_a_009" />
<xacro:property name="leftLegJ2SerialNumber" value="v_b_006" />
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2 changes: 1 addition & 1 deletion common/xacro/serial_numbers/valkyrie_C_serials.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_C_serials">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_C_serials">

<xacro:property name="leftLegJ1SerialNumber" value="v_a_015" />
<xacro:property name="leftLegJ2SerialNumber" value="v_b_011" />
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2 changes: 1 addition & 1 deletion instance/instances/robots/test_bench.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="testbench">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="testbench">

<xacro:property name="instance" value="testbench" />
<xacro:include filename="xacro/common/test_bench_template.xacro"/>
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2 changes: 1 addition & 1 deletion instance/instances/robots/valkyrie_A.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_A">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_A">

<xacro:property name="instance" value="valkyrie_A" />
<xacro:include filename="$(find val_description)/common/xacro/serial_numbers/valkyrie_A_serials.xacro" />
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2 changes: 1 addition & 1 deletion instance/instances/robots/valkyrie_B.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_B">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_B">

<xacro:property name="instance" value="valkyrie_B" />
<xacro:include filename="$(find val_description)/common/xacro/serial_numbers/valkyrie_B_serials.xacro" />
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2 changes: 1 addition & 1 deletion instance/instances/robots/valkyrie_C.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_C">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_C">

<xacro:property name="instance" value="valkyrie_C" />
<xacro:include filename="$(find val_description)/common/xacro/serial_numbers/valkyrie_C_serials.xacro" />
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2 changes: 1 addition & 1 deletion instance/instances/robots/xacro/common/test_bench_template.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="test_bench_template">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="test_bench_template">

<xacro:include filename="$(find val_description)/common/xacro/serial_numbers/test_bench_serials.xacro" />
<xacro:include filename="$(find val_description)/common/xacro/nodes/test_bench_nodes.xacro" />
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4 changes: 2 additions & 2 deletions instance/instances/robots/xacro/common/valkyrie_full_template.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_template">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_template">

<xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro" />
<xacro:include filename="$(find val_description)/common/xacro/nodes/regular_nodes.xacro" />
<xacro:include filename="$(find val_description)/instance/instances/robots/xacro/limbs/leg.xacro" />
<xacro:include filename="$(find val_description)/instance/instances/robots/xacro/limbs/arm.xacro" />
<xacro:include filename="$(find val_description)/instance/instances/robots/xacro/limbs/neck.xacro" />
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2 changes: 1 addition & 1 deletion instance/instances/robots/xacro/devices/devices.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="actuators">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="actuators">

<xacro:macro name="imu" params="name serial_number node">
<Device id="${name}" type="imu">
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8 changes: 6 additions & 2 deletions instance/instances/robots/xacro/limbs/arm.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="arm">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="arm">

<xacro:include filename="$(find val_description)/instance/instances/robots/xacro/mechanisms/mechanisms.xacro"/>
<xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>

<xacro:macro name="arm" params="prefix j1_serial_number j2_serial_number j3_serial_number j4_serial_number j5_serial_number wrist_actuator0_serial wrist_actuator1_serial" >

<xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro" />

<xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>

<xacro:simple_mechanism name="${ShoulderPitchJointName}" serial_number="${j1_serial_number}" node="${ShoulderPitchNode}"/>

<xacro:simple_mechanism name="${ShoulderRollJointName}" serial_number="${j2_serial_number}" node="${ShoulderRollNode}"/>
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10 changes: 7 additions & 3 deletions instance/instances/robots/xacro/limbs/leg.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="leg">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="leg">

<xacro:include filename="$(find val_description)/instance/instances/robots/xacro/mechanisms/mechanisms.xacro"/>
<xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>

<xacro:macro name="leg" params="prefix j1_serial_number j2_serial_number j3_serial_number j4_serial_number ankle_left_actuator_serial ankle_right_actuator_serial" >
<xacro:simple_mechanism name="${HipYawJointName}" serial_number="${j1_serial_number}" node="${HipYawNode}"/>

<xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro" />

<xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>

<xacro:simple_mechanism name="${HipYawJointName}" serial_number="${j1_serial_number}" node="${HipYawNode}"/>

<xacro:simple_mechanism name="${HipRollJointName}" serial_number="${j2_serial_number}" node="${HipRollNode}"/>

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2 changes: 1 addition & 1 deletion instance/instances/robots/xacro/limbs/neck.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="neck">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="neck">

<xacro:include filename="$(find val_description)/instance/instances/robots/xacro/mechanisms/mechanisms.xacro"/>
<xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
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4 changes: 2 additions & 2 deletions instance/instances/robots/xacro/limbs/waist.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="waist">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="waist">

<xacro:include filename="xacro/mechanisms/mechanisms.xacro"/>
<xacro:include filename="../mechanisms/mechanisms.xacro"/>

<xacro:macro name="waist" params="j1_serial_number waist_left_actuator_serial waist_right_actuator_serial" >
<xacro:simple_mechanism name="torso_yaw" serial_number="${j1_serial_number}" node="${TrunkYawNode}"/>
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2 changes: 1 addition & 1 deletion instance/instances/robots/xacro/mechanisms/mechanisms.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="actuators">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="actuators">

<xacro:macro name="simple_mechanism" params="name serial_number node">
<Mechanism id="${name}" type="simple">
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2 changes: 1 addition & 1 deletion instance/instances/robots/xacro/sensors/ati_force_torque.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="imu">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="imu">

<xacro:macro name="ati_force_torque" params="name serial_number node">
<Device id="${name}" type="force_torque">
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2 changes: 1 addition & 1 deletion instance/instances/robots/xacro/sensors/imu.xacro
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="imu">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="imu">

<xacro:macro name="microstrain_imu" params="name serial_number node">
<Device id="${name}" type="imu">
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2 changes: 1 addition & 1 deletion model/materials/materials.xacro
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<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/materials">
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/materials">
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
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