~shadowrobot/sr-ros-interface/Feature_update_controller_params

<robot xmlns:xacro="http://ros.org/wiki/xacro"

        xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"

       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"

       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"

       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"

       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"

       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">

 

  <include filename="$(find sr_hand)/model/hand_urdf/finger/proximal/proximal.transmission.xacro" />

 

  <xacro:macro name="proximal" params="link_prefix joint_prefix parent">

 

    <link name="${link_prefix}proximal">

      <inertial>

        <mass value="0.014" />

        <origin xyz="0 0 0.0225" />

        <inertia  ixx="0.1" ixy="0.0"  ixz="0.0"  iyy="0.1"  iyz="0.0"

        izz="0.0" />

      </inertial>

      <visual>

        <origin xyz="0 0 0" rpy="0 0 0" />

        <geometry name="proximal_visual">

      <mesh filename="package://sr_hand/model/meshes/F3.dae" scale="0.001 0.001 0.001" />

      </geometry>

      <material name="Grey" />

      </visual>

      <collision>

        <origin xyz="0 0 0.025" rpy="0 0 0 " />

        <geometry name="proximal_collision_geom">

          <box size="0.008 0.008 0.04" />

        </geometry>

      </collision>

    </link>

    <gazebo reference="${link_prefix}proximal">

      <sensor:contact name="${link_prefix}proximal_contact_sensor">

        <geom>${link_prefix}proximal_geom</geom>

       <updateRate>100.0</updateRate>

        <controller:gazebo_ros_bumper name="${link_prefix}proximal_gazebo_ros_bumper_controller" plugin="libgazebo_ros_bumper.so">

          <alwaysOn>true</alwaysOn>

          <updateRate>100.0</updateRate>

          <frameName>${link_prefix}proximal</frameName>

          <bumperTopicName>${link_prefix}proximal_bumper</bumperTopicName>

          <interface:bumper name="${link_prefix}proximal_gazebo_ros_bumper_iface" />

        </controller:gazebo_ros_bumper>

      </sensor:contact>

      <material>Gazebo/Grey</material>

    </gazebo>

 

    <joint name="${joint_prefix}J3" type="revolute">

      <parent link="${parent}"/>

      <child link="${link_prefix}proximal"/>

      <origin xyz="0 0 0" rpy="0 0 0" />

      <axis xyz="1 0 0" />

      <limit lower="0" upper="${M_PI/2}" effort="10"

      velocity="1.0"/>

      <dynamics damping="50.5"/>

    </joint>

 

    <xacro:proximal_transmission />

 

  </xacro:macro>

 

</robot>