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Paul Rouanet
ros2_control_bolt
Commits
ac7e7d4a
Commit
ac7e7d4a
authored
Jul 22, 2021
by
Paul Rouanet
Browse files
Add spaces between joints
parent
8a46900d
Changes
1
Hide whitespace changes
Inline
Side-by-side
ros2_description_bolt/urdf/bolt/ros2_control/system_bolt.ros2_control.xacro
View file @
ac7e7d4a
...
@@ -66,6 +66,7 @@
...
@@ -66,6 +66,7 @@
<param
name=
"motor_reversed_polarity"
>
${true}
</param>
<param
name=
"motor_reversed_polarity"
>
${true}
</param>
<param
name=
"position_offset"
>
0.238
</param>
<param
name=
"position_offset"
>
0.238
</param>
</joint>
</joint>
<joint
name=
"FLHFE"
>
<joint
name=
"FLHFE"
>
<command_interface
name=
"position"
>
<command_interface
name=
"position"
>
<param
name=
"min"
>
-1.7
</param>
<param
name=
"min"
>
-1.7
</param>
...
@@ -101,6 +102,7 @@
...
@@ -101,6 +102,7 @@
<param
name=
"motor_reversed_polarity"
>
${true}
</param>
<param
name=
"motor_reversed_polarity"
>
${true}
</param>
<param
name=
"position_offset"
>
-0.308
</param>
<param
name=
"position_offset"
>
-0.308
</param>
</joint>
</joint>
<joint
name=
"FLK"
>
<joint
name=
"FLK"
>
<command_interface
name=
"position"
>
<command_interface
name=
"position"
>
<param
name=
"min"
>
-3.4
</param>
<param
name=
"min"
>
-3.4
</param>
...
@@ -136,6 +138,7 @@
...
@@ -136,6 +138,7 @@
<param
name=
"motor_reversed_polarity"
>
${true}
</param>
<param
name=
"motor_reversed_polarity"
>
${true}
</param>
<param
name=
"position_offset"
>
0.276
</param>
<param
name=
"position_offset"
>
0.276
</param>
</joint>
</joint>
<joint
name=
"FRHAA"
>
<joint
name=
"FRHAA"
>
<command_interface
name=
"position"
>
<command_interface
name=
"position"
>
<param
name=
"min"
>
-0.5
</param>
<param
name=
"min"
>
-0.5
</param>
...
@@ -171,6 +174,7 @@
...
@@ -171,6 +174,7 @@
<param
name=
"motor_reversed_polarity"
>
${true}
</param>
<param
name=
"motor_reversed_polarity"
>
${true}
</param>
<param
name=
"position_offset"
>
-0.115
</param>
<param
name=
"position_offset"
>
-0.115
</param>
</joint>
</joint>
<joint
name=
"FRHFE"
>
<joint
name=
"FRHFE"
>
<command_interface
name=
"position"
>
<command_interface
name=
"position"
>
<param
name=
"min"
>
-1.7
</param>
<param
name=
"min"
>
-1.7
</param>
...
@@ -206,6 +210,7 @@
...
@@ -206,6 +210,7 @@
<param
name=
"motor_reversed_polarity"
>
${false}
</param>
<param
name=
"motor_reversed_polarity"
>
${false}
</param>
<param
name=
"position_offset"
>
-0.584
</param>
<param
name=
"position_offset"
>
-0.584
</param>
</joint>
</joint>
<joint
name=
"FRK"
>
<joint
name=
"FRK"
>
<command_interface
name=
"position"
>
<command_interface
name=
"position"
>
<param
name=
"min"
>
-3.4
</param>
<param
name=
"min"
>
-3.4
</param>
...
@@ -241,6 +246,7 @@
...
@@ -241,6 +246,7 @@
<param
name=
"motor_reversed_polarity"
>
${false}
</param>
<param
name=
"motor_reversed_polarity"
>
${false}
</param>
<param
name=
"position_offset"
>
0.432
</param>
<param
name=
"position_offset"
>
0.432
</param>
</joint>
</joint>
<sensor
name=
"IMU"
>
<sensor
name=
"IMU"
>
<state_interface
name=
"gyroscope"
/>
<state_interface
name=
"gyroscope"
/>
<state_interface
name=
"accelerometer"
/>
<state_interface
name=
"accelerometer"
/>
...
...
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