sslishy / ros_catkin

ros learning note

ROS_catkin

ros learning note

ros_catkin's Issues

robot 模型合并过程

手臂宏定义

 <?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
  <xacro:macro name="hg_description" params="arm_id='hg' description_pkg:=''">
link 信息
 </xacro:macro>
</robot>

夹持器宏定义

<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
 <xacro:macro name="hand" params="connected_to:='' ns:='' rpy:='0 0 0' xyz:='0 0 0' description_pkg:=''">
    <xacro:unless value="${connected_to == ''}">
      <joint name="${ns}_hand_joint" type="fixed">
        <parent link="${connected_to}"/>
        <child link="gripper_base"/>
        <origin xyz="${xyz}" rpy="${rpy}"/>
      </joint>
    </xacro:unless> 
模型link信息
</xacro:macro>  
</robot>

将两个xacro 文件合并

<?xml version="1.0"?>
<robot name="hg_description" xmlns:xacro="http://wiki.ros.org/xacro">
  <xacro:include filename="$(find hg_descriptiontest)/urdf/hg_arc_macro.xacro" />
  <xacro:include filename="$(find hg_descriptiontest)/urdf/hand_arc_macro.xacro" />
  <xacro:hg_description description_pkg="hg_descriptiontest"/>
  <xacro:hand ns="hg" rpy="0 0 0" xyz="0 0 0" connected_to="hg_Link6" description_pkg="hg_descriptiontest"/>
</robot>

git 使用手册