From 10a138f7fcdc5d81356a10b0b8e5a610f902aab3 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Wed, 9 Oct 2019 11:11:21 +0200
Subject: [PATCH] Fix SpringPlugin + add transmission to
leg_{prefix}_1_joint_passive
---
src/SpringPlugin.cc | 17 ++++++++++-------
urdf/leg/leg_passive.urdf.xacro | 12 ++++++++++++
2 files changed, 22 insertions(+), 7 deletions(-)
diff --git a/src/SpringPlugin.cc b/src/SpringPlugin.cc
index 3b753f4..300fc2d 100644
--- a/src/SpringPlugin.cc
+++ b/src/SpringPlugin.cc
@@ -29,21 +29,24 @@ SpringPlugin::SpringPlugin()
}
/////////////////////////////////////////////////
-void SpringPlugin::Load(physics::ModelPtr _model,
- sdf::ElementPtr _sdf)
+void SpringPlugin::Load(physics::ModelPtr lmodel,
+ sdf::ElementPtr lsdf)
{
- this->model = _model;
+ this->model = lmodel;
// hardcoded params for this test
- this->jointExplicitName = _sdf->Get<std::string>("joint_spring");
+ if (!lsdf->HasElement("joint_spring"))
+ ROS_ERROR_NAMED("SpringPlugin","No field joint_spring for SpringPlugin");
+ else
+ this->jointExplicitName = lsdf->Get<std::string>("joint_spring");
- this->kpExplicit = _sdf->Get<double>("kp");
+ this->kpExplicit = lsdf->Get<double>("kp");
- this->kdExplicit = _sdf->Get<double>("kd");
+ this->kdExplicit = lsdf->Get<double>("kd");
ROS_INFO_NAMED("SpringPlugin",
"Loading joint : %s kp: %f kd: %f",
- this->jointExplicitName,
+ this->jointExplicitName.c_str(),
this->kpExplicit,
this->kdExplicit);
}
diff --git a/urdf/leg/leg_passive.urdf.xacro b/urdf/leg/leg_passive.urdf.xacro
index 2b3f3f4..a061f15 100644
--- a/urdf/leg/leg_passive.urdf.xacro
+++ b/urdf/leg/leg_passive.urdf.xacro
@@ -69,6 +69,18 @@
<kd>0.0</kd>
</plugin>
</gazebo>
+
+ <transmission name="leg_${prefix}_1_passive_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="leg_${prefix}_1_motor" >
+ <mechanicalReduction>${reduction}</mechanicalReduction>
+ </actuator>
+ <joint name="leg_${prefix}_1_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+
<!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
<!-- <link name="leg_${prefix}_2_link_passive"> -->
--
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