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kdl_parser
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use pr2 dscription with fixed gripper joint

This commit is contained in:
wim 2010-06-22 22:11:53 +00:00
parent fdd1094772
commit 217a5ba757
2 changed files with 8 additions and 2 deletions
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6
kdl_parser/test/pr2_desc.xml
View File

@ -2311,11 +2311,14 @@
<material value="PR2/Red"/> <material value="PR2/Red"/>
</gazebo> </gazebo>
<joint name="r_gripper_joint" type="prismatic"> <joint name="r_gripper_joint" type="prismatic">
<parent link="r_gripper_r_finger_tip_link"/>
<child link="r_gripper_l_finger_tip_frame"/>
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<dynamics damping="100.0"/> <dynamics damping="100.0"/>
<limit effort="1000.0" lower="0.0" upper="0.09" velocity="0.2"/> <limit effort="1000.0" lower="0.0" upper="0.09" velocity="0.2"/>
<safety_controller k_position="20.0" k_velocity="5000.0" soft_lower_limit="-0.01" soft_upper_limit="0.088"/> <safety_controller k_position="20.0" k_velocity="5000.0" soft_lower_limit="-0.01" soft_upper_limit="0.088"/>
</joint> </joint>
<link name="r_gripper_l_finger_tip_frame"/>
<gazebo reference="r_gripper_palm_link"> <gazebo reference="r_gripper_palm_link">
<turnGravityOff>true</turnGravityOff> <turnGravityOff>true</turnGravityOff>
<sensor:contact name="r_gripper_palm_contact_sensor"> <sensor:contact name="r_gripper_palm_contact_sensor">
@ -3202,11 +3205,14 @@
<material value="PR2/Red"/> <material value="PR2/Red"/>
</gazebo> </gazebo>
<joint name="l_gripper_joint" type="prismatic"> <joint name="l_gripper_joint" type="prismatic">
<parent link="l_gripper_r_finger_tip_link"/>
<child link="l_gripper_l_finger_tip_frame"/>
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<dynamics damping="100.0"/> <dynamics damping="100.0"/>
<limit effort="1000.0" lower="0.0" upper="0.09" velocity="0.2"/> <limit effort="1000.0" lower="0.0" upper="0.09" velocity="0.2"/>
<safety_controller k_position="20.0" k_velocity="5000.0" soft_lower_limit="-0.01" soft_upper_limit="0.088"/> <safety_controller k_position="20.0" k_velocity="5000.0" soft_lower_limit="-0.01" soft_upper_limit="0.088"/>
</joint> </joint>
<link name="l_gripper_l_finger_tip_frame"/>
<gazebo reference="l_gripper_palm_link"> <gazebo reference="l_gripper_palm_link">
<turnGravityOff>true</turnGravityOff> <turnGravityOff>true</turnGravityOff>
<sensor:contact name="l_gripper_palm_contact_sensor"> <sensor:contact name="l_gripper_palm_contact_sensor">

4
kdl_parser/test/test_kdl_parser.cpp
View File

@ -73,8 +73,8 @@ TEST_F(TestParser, test)
} }
ASSERT_TRUE(treeFromFile(g_argv[g_argc-1], my_tree)); ASSERT_TRUE(treeFromFile(g_argv[g_argc-1], my_tree));
ASSERT_EQ(my_tree.getNrOfJoints(), (unsigned int)42); ASSERT_EQ(my_tree.getNrOfJoints(), (unsigned int)44);
ASSERT_EQ(my_tree.getNrOfSegments(), (unsigned int)79); ASSERT_EQ(my_tree.getNrOfSegments(), (unsigned int)81);
ASSERT_TRUE(my_tree.getSegment("base_footprint") == my_tree.getRootSegment()); ASSERT_TRUE(my_tree.getSegment("base_footprint") == my_tree.getRootSegment());
ASSERT_EQ(my_tree.getRootSegment()->second.children.size(), (unsigned int)1); ASSERT_EQ(my_tree.getRootSegment()->second.children.size(), (unsigned int)1);
ASSERT_TRUE(my_tree.getSegment("base_link")->second.parent == my_tree.getRootSegment()); ASSERT_TRUE(my_tree.getSegment("base_link")->second.parent == my_tree.getRootSegment());