~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/palm/palm.transmission.xacro" />

 

  <!-- Right Hand -->

  <xacro:macro name="palm" params="parent">

    <xacro:palm_base parent="${parent}" mesh="palm.dae" />

  </xacro:macro>

 

  <!-- Left Hand -->

  <xacro:macro name="palm_left" params="parent">

    <xacro:palm_base parent="${parent}" mesh="palm_left.mesh" />

  </xacro:macro>

 

  <!-- Macro to used to generate left and right handed versions.

  DO NOT use out side of here ie treat as a private macro -->

  <xacro:macro name="palm_base" params="parent mesh">

 

    <link name="palm" >

      <inertial>

        <origin xyz="0 0 0.035" rpy="0 0 0" />

        <mass value="0.3" />

        <inertia  ixx="0.5" ixy="0.0"  ixz="0.0"  iyy="0.5"  iyz="0.0"  izz="0.3" />

      </inertial>

      <visual>

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

        <geometry name="palm_visual">

      <mesh filename="package://sr_hand/model/meshes/${mesh}" scale="0.001 0.001 0.001" />

        </geometry>

        <material name="Grey"/>

      </visual>

      <collision>

        <origin xyz="0.005 0 0.035" rpy="0 0 0" />

        <geometry name="palm_collision_geom">

          <box size="0.05 0.02 0.07" />

        </geometry>

      </collision>

    </link>

    <gazebo reference="palm">

      <sensor:contact name="palm_contact_sensor">

       <geom>palm_geom</geom>

       <updateRate>100.0</updateRate>

       <controller:gazebo_ros_bumper name="palm_gazebo_ros_bumper_controller" plugin="libgazebo_ros_bumper.so">

          <alwaysOn>true</alwaysOn>

          <updateRate>100.0</updateRate>

          <frameName>palm</frameName>

          <bumperTopicName>palm_bumper</bumperTopicName>

          <interface:bumper name="palm_gazebo_ros_bumper_iface" />

       </controller:gazebo_ros_bumper>

      </sensor:contact>

      <material>Gazebo/Grey</material>

    </gazebo>

 

    <joint name="WRJ1" type="revolute">

      <parent link="${parent}"/>

      <child link="palm"/>

      <origin xyz="0 0 0.034" rpy="0 0 0" />

      <axis xyz="1 0 0" />

      <limit lower="-0.78539816339744828" upper="0.6108652381980153"

      effort="5" velocity="1.0"/>

      <dynamics damping="100.5"/>

    </joint>

 

    <xacro:shadowhand_palm_transmission />

 

  </xacro:macro>

 

</robot>