From d6a0d846492ba4716b06b42e20e785ae2e0737fb Mon Sep 17 00:00:00 2001 From: Gregory LeMasurier <gregorylemasurier@gmail.com> Date: Wed, 18 Sep 2024 15:38:29 -0400 Subject: [PATCH] Revert "Update Humble" --- CHANGELOG.rst | 14 -------------- README.md | 2 +- config/ur10/physical_parameters.yaml | 12 ++++++------ config/ur10e/physical_parameters.yaml | 12 ++++++------ config/ur3e/physical_parameters.yaml | 12 ++++++------ config/ur5/physical_parameters.yaml | 2 +- config/ur5e/physical_parameters.yaml | 12 ++++++------ package.xml | 2 +- urdf/ur.ros2_control.xacro | 1 - 9 files changed, 27 insertions(+), 42 deletions(-) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index 5d0b37a..6bf2a68 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,20 +2,6 @@ Changelog for package ur_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -2.1.7 (2024-09-10) ------------------- -* Fix masses of robot links (backport of `#187 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/187>`_) -* Contributors: Felix Exner - -2.1.6 (2024-08-09) ------------------- -* Fixed typo in README.md (`#176 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/176>`_) -* Added dynamics tag when using mock_components/GenericSystem (backport of `#175 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/175>`_) -* Auto-update pre-commit hooks (`#171 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/171>`_) (`#172 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/172>`_) -* Remove ros2_control limit params (`#168 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/168>`_) -* Add Jazzy to the README (`#163 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/163>`_) -* Contributors: Filippo Bosi, Niccolo, Felix Exner - 2.1.5 (2024-04-25) ------------------ * Fix multi-line strings in DeclareLaunchArgument ( backport of `#140 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/140>`_) (`#153 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/issues/153>`_) diff --git a/README.md b/README.md index d9f40fb..7695c44 100644 --- a/README.md +++ b/README.md @@ -59,7 +59,7 @@ Basically, the description can be modified using configuration values stored in should be used. The four configuration files have to be passed to `ur_macro.urdf` (more specific to the macro -defined in that file) which is done inside the `ur.urdf.xacro`. Contents of the files are parsed +defined in that file) which is done inside the `ur.urdf.macro`. Contents of the files are parsed inside `ur_common.xacro`. Arguments that have to be passed to the main `ur.urdf.xacro` file are: diff --git a/config/ur10/physical_parameters.yaml b/config/ur10/physical_parameters.yaml index 4364a7b..e651538 100644 --- a/config/ur10/physical_parameters.yaml +++ b/config/ur10/physical_parameters.yaml @@ -14,13 +14,13 @@ offsets: inertia_parameters: base_mass: 4.0 # This mass might be incorrect - shoulder_mass: 7.1 - upper_arm_mass: 12.7 + shoulder_mass: 7.778 + upper_arm_mass: 12.93 upper_arm_inertia_offset: 0.175 - forearm_mass: 4.27 - wrist_1_mass: 2.0 - wrist_2_mass: 2.0 - wrist_3_mass: 0.365 + forearm_mass: 3.87 + wrist_1_mass: 1.96 + wrist_2_mass: 1.96 + wrist_3_mass: 0.202 shoulder_radius: x0.060 # FROM UR5 DON'T USE upper_arm_radius: x0.054 # FROM UR5 DON'T USE diff --git a/config/ur10e/physical_parameters.yaml b/config/ur10e/physical_parameters.yaml index 34b4e3b..e72ee84 100644 --- a/config/ur10e/physical_parameters.yaml +++ b/config/ur10e/physical_parameters.yaml @@ -14,13 +14,13 @@ offsets: inertia_parameters: base_mass: 4.0 # This mass might be incorrect - shoulder_mass: 7.369 - upper_arm_mass: 13.051 + shoulder_mass: 7.778 + upper_arm_mass: 12.93 upper_arm_inertia_offset: 0.175 # measured from model - forearm_mass: 3.989 - wrist_1_mass: 2.1 - wrist_2_mass: 1.98 - wrist_3_mass: 0.615 + forearm_mass: 3.87 + wrist_1_mass: 1.96 + wrist_2_mass: 1.96 + wrist_3_mass: 0.202 shoulder_radius: x0.060 # FROM UR5 DON'T USE upper_arm_radius: x0.054 # FROM UR5 DON'T USE diff --git a/config/ur3e/physical_parameters.yaml b/config/ur3e/physical_parameters.yaml index a8d0b10..e7b1d68 100644 --- a/config/ur3e/physical_parameters.yaml +++ b/config/ur3e/physical_parameters.yaml @@ -14,13 +14,13 @@ offsets: inertia_parameters: base_mass: 2.0 # This mass might be incorrect - shoulder_mass: 1.98 - upper_arm_mass: 3.4445 + shoulder_mass: 2.0 + upper_arm_mass: 3.42 upper_arm_inertia_offset: 0.12 # measured from model - forearm_mass: 1.437 - wrist_1_mass: 0.871 - wrist_2_mass: 0.805 - wrist_3_mass: 0.261 + forearm_mass: 1.26 + wrist_1_mass: 0.8 + wrist_2_mass: 0.8 + wrist_3_mass: 0.35 shoulder_radius: 0.060 # manually measured upper_arm_radius: 0.054 # manually measured diff --git a/config/ur5/physical_parameters.yaml b/config/ur5/physical_parameters.yaml index 07d1ebc..9d0a403 100644 --- a/config/ur5/physical_parameters.yaml +++ b/config/ur5/physical_parameters.yaml @@ -17,7 +17,7 @@ inertia_parameters: shoulder_mass: 3.7000 upper_arm_mass: 8.3930 upper_arm_inertia_offset: 0.136 - forearm_mass: 2.33 + forearm_mass: 2.2750 wrist_1_mass: 1.2190 wrist_2_mass: 1.2190 wrist_3_mass: 0.1879 diff --git a/config/ur5e/physical_parameters.yaml b/config/ur5e/physical_parameters.yaml index 6686a21..f552860 100644 --- a/config/ur5e/physical_parameters.yaml +++ b/config/ur5e/physical_parameters.yaml @@ -14,13 +14,13 @@ offsets: inertia_parameters: base_mass: 4.0 # This mass might be incorrect - shoulder_mass: 3.761 - upper_arm_mass: 8.058 + shoulder_mass: 3.7000 + upper_arm_mass: 8.3930 upper_arm_inertia_offset: 0.138 # measured from model - forearm_mass: 2.846 - wrist_1_mass: 1.37 - wrist_2_mass: 1.3 - wrist_3_mass: 0.365 + forearm_mass: 2.2750 + wrist_1_mass: 1.2190 + wrist_2_mass: 1.2190 + wrist_3_mass: 0.1879 shoulder_radius: 0.060 # manually measured upper_arm_radius: 0.054 # manually measured diff --git a/package.xml b/package.xml index 2663737..e81ded6 100644 --- a/package.xml +++ b/package.xml @@ -2,7 +2,7 @@ <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <package format="3"> <name>ur_description</name> - <version>2.1.7</version> + <version>2.1.5</version> <description> URDF description for Universal Robots </description> diff --git a/urdf/ur.ros2_control.xacro b/urdf/ur.ros2_control.xacro index 8582351..f85c086 100644 --- a/urdf/ur.ros2_control.xacro +++ b/urdf/ur.ros2_control.xacro @@ -35,7 +35,6 @@ <plugin>mock_components/GenericSystem</plugin> <param name="fake_sensor_commands">${fake_sensor_commands}</param> <param name="state_following_offset">0.0</param> - <param name="calculate_dynamics">true</param> </xacro:if> <xacro:unless value="${use_fake_hardware or sim_gazebo or sim_ignition}"> <plugin>ur_robot_driver/URPositionHardwareInterface</plugin>