From 356527dc5cfd53a213c9132ab6d8700e8345f62d Mon Sep 17 00:00:00 2001
From: Luca <luca.marchionni@pal-robotics.com>
Date: Wed, 20 Jul 2016 17:22:35 +0200
Subject: [PATCH] fixed xacro error, move property outside macro
---
tor_description/urdf/leg/leg.urdf.xacro | 70 ++-----------------------
1 file changed, 5 insertions(+), 65 deletions(-)
diff --git a/tor_description/urdf/leg/leg.urdf.xacro b/tor_description/urdf/leg/leg.urdf.xacro
index 4e90877..65f54bf 100644
--- a/tor_description/urdf/leg/leg.urdf.xacro
+++ b/tor_description/urdf/leg/leg.urdf.xacro
@@ -1,72 +1,12 @@
<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="tor">
+<robot name="tor" xmlns:xacro="http://ros.org/wiki/xacro" >
- <!--
- <link name="base_link">
- <inertial>
- <origin xyz="0.0 0.0 0.36" rpy="0 0 0"/>
- <mass value="34.0" />
- <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
- </inertial>
-
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://tor_description/meshes/torso_dummy.stl" scale="1 1 1"/>
- </geometry>
- </visual>
-
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.05"/>
- <geometry>
- <box size="0.1 0.3 0.1"/>
- </geometry>
- </collision>
-
- </link>
-
- -->
-
- <!--
- <link name="torso_link">
- <inertial>
- <origin xyz="0.0 0.0 0.4" rpy="0 0 0"/>
- <mass value="50.0" />
- <inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03" />
- </inertial>
-
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0.3"/>
- <geometry>
- <box size="0.1 0.1 0.45"/>
- </geometry>
-
- </visual>
-
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.3"/>
- <geometry>
- <box size="0.1 0.1 0.45"/>
- </geometry>
- </collision>
-
- </link>
-
- <joint name="torso_fixed_joint" type="fixed">
- <parent link="base_link" />
- <child link="torso_link" />
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
- <axis xyz="0 0 1" />
- </joint>
- -->
-
- <xacro:include filename="$(find tor_description)/urdf/leg/leg.transmission.xacro" />
- <xacro:property name="leg_reduction" value="1.0" />
+ <xacro:include filename="$(find tor_description)/urdf/leg/leg.transmission.xacro" />
+ <xacro:property name="leg_reduction" value="1.0" />
+ <xacro:property name="leg_friction" value="0.0" />
+ <xacro:property name="leg_damping" value="0.0" />
<xacro:macro name="tor_leg" params="prefix reflect">
-
- <xacro:property name="leg_friction" value="0.0" />
- <xacro:property name="leg_damping" value="0.0" />
<link name="leg_${prefix}_1_link">
<inertial>
--
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