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author
Florian Weißhardt
committed
Merge pull request #23 from abubeck/groovy_dev
Added calibrations for rob@work towers
2 parents 5cb10ef + a6d7a4d commit bde7671

9 files changed

+91
-4
lines changed

‎raw3-1/calibration/calibration.urdf.xacro

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Original file line numberDiff line numberDiff line change
@@ -6,6 +6,16 @@
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<!-- *********************** -->
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<!-- upper robot calibration -->
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<!-- *********************** -->
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<!-- tower mount positions | relative to base_link -->
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<property name="tower_x" value="${def_tower_x+offset_tower_x}"/>
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<property name="tower_y" value="${def_tower_y+offset_tower_y}"/>
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<property name="tower_z" value="${def_tower_z+offset_tower_z}"/>
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<property name="tower_roll" value="${def_tower_roll+offset_tower_roll}"/>
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<property name="tower_pitch" value="${def_tower_pitch+offset_tower_pitch}"/>
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<property name="tower_yaw" value="${def_tower_yaw+offset_tower_yaw}"/>
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<!-- torso mount positions | relative to base_link -->
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<property name="torso_x" value="${def_torso_x+offset_torso_x}"/>
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<property name="torso_y" value="${def_torso_y+offset_torso_y}"/>

‎raw3-1/calibration/calibration_default.urdf.xacro

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@@ -5,6 +5,14 @@
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<!-- kinematic chain reference positions -->
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<!-- *********************************** -->
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<!-- tower mount positions | relative to base_link -->
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<property name="def_tower_x" value="0.357"/>
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<property name="def_tower_y" value="0.0"/>
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<property name="def_tower_z" value="0.306"/>
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<property name="def_tower_roll" value="0.0"/>
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<property name="def_tower_pitch" value="0.0"/>
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<property name="def_tower_yaw" value="3.14159265359"/>
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<!-- torso reference positions | used as calibration_rising for torso chain -->
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<!-- ! set these values to make torso straight with (0, 0, 0) joint angles ! -->
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<property name="torso_pan_ref" value="-0.4363323130"/>

‎raw3-1/calibration/calibration_offset.urdf.xacro

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@@ -4,6 +4,14 @@
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<!-- upper robot calibration -->
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<!-- *********************** -->
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<!-- tower mount positions | relative to base_link -->
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<property name="offset_tower_x" value="0.0"/>
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<property name="offset_tower_y" value="0.0"/>
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<property name="offset_tower_z" value="0.0"/>
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<property name="offset_tower_roll" value="0.0"/>
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<property name="offset_tower_pitch" value="0.0"/>
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<property name="offset_tower_yaw" value="0.0"/>
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<!-- torso mount positions | relative to base_link -->
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<property name="offset_torso_x" value="0.0"/>
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<property name="offset_torso_y" value="0.0"/>

‎raw3-2/calibration/calibration.urdf.xacro

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Original file line numberDiff line numberDiff line change
@@ -3,4 +3,15 @@
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<include filename="$(find cob_calibration_data)/raw3-2/calibration/calibration_default.urdf.xacro" />
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<include filename="$(find cob_calibration_data)/raw3-2/calibration/calibration_offset.urdf.xacro" />>
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6+
<!-- *********************** -->
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<!-- upper robot calibration -->
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<!-- *********************** -->
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<!-- tower mount positions | relative to base_link -->
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<property name="tower_x" value="${def_tower_x+offset_tower_x}"/>
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<property name="tower_y" value="${def_tower_y+offset_tower_y}"/>
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<property name="tower_z" value="${def_tower_z+offset_tower_z}"/>
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<property name="tower_roll" value="${def_tower_roll+offset_tower_roll}"/>
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<property name="tower_pitch" value="${def_tower_pitch+offset_tower_pitch}"/>
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<property name="tower_yaw" value="${def_tower_yaw+offset_tower_yaw}"/>
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</robot>

‎raw3-2/calibration/calibration_default.urdf.xacro

+11-1
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,14 @@
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<?xml version="1.0"?>
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<robot>
3-
3+
<!-- *********************************** -->
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<!-- kinematic chain reference positions -->
5+
<!-- *********************************** -->
6+
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<!-- tower mount positions | relative to base_link -->
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<property name="def_tower_x" value="0.356"/>
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<property name="def_tower_y" value="0.0"/>
10+
<property name="def_tower_z" value="0.306"/>
11+
<property name="def_tower_roll" value="0.0"/>
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<property name="def_tower_pitch" value="0.0"/>
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<property name="def_tower_yaw" value="3.14159265359"/>
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</robot>

‎raw3-2/calibration/calibration_offset.urdf.xacro

+12-1
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,15 @@
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<?xml version="1.0" ?>
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<robot>
3-
3+
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<!-- *********************************** -->
5+
<!-- kinematic chain reference positions -->
6+
<!-- *********************************** -->
7+
8+
<!-- tower mount positions | relative to base_link -->
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<property name="offset_tower_x" value="0.0"/>
10+
<property name="offset_tower_y" value="0.0"/>
11+
<property name="offset_tower_z" value="0.0"/>
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<property name="offset_tower_roll" value="0.0"/>
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<property name="offset_tower_pitch" value="0.0"/>
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<property name="offset_tower_yaw" value="0.0"/>
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</robot>

‎raw3-4/calibration/calibration.urdf.xacro

+9-1
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,14 @@
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<?xml version="1.0"?>
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<robot>
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<include filename="$(find cob_calibration_data)/raw3-4/calibration/calibration_default.urdf.xacro" />
4-
<include filename="$(find cob_calibration_data)/raw3-4/calibration/calibration_offset.urdf.xacro" />>
4+
<include filename="$(find cob_calibration_data)/raw3-4/calibration/calibration_offset.urdf.xacro" />
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<!-- tower mount positions | relative to base_link -->
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<property name="tower_x" value="${def_tower_x+offset_tower_x}"/>
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<property name="tower_y" value="${def_tower_y+offset_tower_y}"/>
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<property name="tower_z" value="${def_tower_z+offset_tower_z}"/>
10+
<property name="tower_roll" value="${def_tower_roll+offset_tower_roll}"/>
11+
<property name="tower_pitch" value="${def_tower_pitch+offset_tower_pitch}"/>
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<property name="tower_yaw" value="${def_tower_yaw+offset_tower_yaw}"/>
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</robot>

‎raw3-4/calibration/calibration_default.urdf.xacro

+11-1
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,14 @@
11
<?xml version="1.0"?>
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<robot>
3-
3+
<!-- *********************************** -->
4+
<!-- kinematic chain reference positions -->
5+
<!-- *********************************** -->
6+
7+
<!-- tower mount positions | relative to base_link -->
8+
<property name="def_tower_x" value="0.357"/>
9+
<property name="def_tower_y" value="0.0"/>
10+
<property name="def_tower_z" value="0.306"/>
11+
<property name="def_tower_roll" value="0.0"/>
12+
<property name="def_tower_pitch" value="0.0"/>
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<property name="def_tower_yaw" value="3.14159265359"/>
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</robot>

‎raw3-4/calibration/calibration_offset.urdf.xacro

+11
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,15 @@
11
<?xml version="1.0" ?>
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<robot>
3+
<!-- *********************** -->
4+
<!-- upper robot calibration -->
5+
<!-- *********************** -->
6+
7+
<!-- tower mount positions | relative to base_link -->
8+
<property name="offset_tower_x" value="0.0"/>
9+
<property name="offset_tower_y" value="0.0"/>
10+
<property name="offset_tower_z" value="0.0"/>
11+
<property name="offset_tower_roll" value="0.0"/>
12+
<property name="offset_tower_pitch" value="0.0"/>
13+
<property name="offset_tower_yaw" value="0.0"/>
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</robot>

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