Add support for MH80 #52
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I'm not sure why Travis build failed. I was able to build locally using catkin. |
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@marip8 is there any reason not to merge this PR? Just checking... |
All 'special' frames should be defined after the regular links & joints.
Based on data provided by @EricMarcil (https://github.com/ros-industrial/motoman_experimental/pull/52/files#r626926765): Axis Max Acc/Dec Torque[Nm] 1(S) 4903.32 2(L) 5883.99 3(U) 2986.13 4(R) 772.27 5(B) 582.52 6(T) 250.07
Instead of manual conversions. Based on the datasheet linked in the package's manifest (DS-603-D, Jan 2019).
and move the X translation from joint_6_t to the flange joint.
now that this model has a 'flange' frame.
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I've pushed a couple of fixup commits. I'll also add a few inline comments as there are some things I'm not sure about. |
| <!-- ROS-Industrial 'flange' frame: attachment point for EEF models --> | ||
| <link name="${prefix}flange"/> | ||
| <joint name="${prefix}joint_6_t-flange" type="fixed"> | ||
| <origin xyz="0.175 0 0" rpy="0 0 0"/> |
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I've moved the 0.175 translation in X+ from joint_6_t to the joint here, as that's what we've been doing lately in other support packages in this repository.
Agreed @EricMarcil ?
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@EricMarcil: could you also confirm the value of 175 mm?
The linked datasheet seems to use the same value, but the mesh contributed by this PR seems to not align with this:
if 0.175 is correct, I'll correct the mesh origin to match.
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The T-axis model is missing.
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The mesh is there but it's inside of the B-axis. The Origin need to be moved by 0.175 or the mesh itself translated by the same amount.
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CI will not run, as our Travis integration is essentially disabled (in this repository). I'm going to ignore that here, as we've migrated to GH Actions anyway. |
| <!-- ROS-Industrial 'flange' frame: attachment point for EEF models --> | ||
| <link name="${prefix}flange"/> | ||
| <joint name="${prefix}joint_6_t-flange" type="fixed"> | ||
| <origin xyz="0.175 0 0" rpy="0 0 0"/> |
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The T-axis model is missing.
| <!-- ROS-Industrial 'flange' frame: attachment point for EEF models --> | ||
| <link name="${prefix}flange"/> | ||
| <joint name="${prefix}joint_6_t-flange" type="fixed"> | ||
| <origin xyz="0.175 0 0" rpy="0 0 0"/> |
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The mesh is there but it's inside of the B-axis. The Origin need to be moved by 0.175 or the mesh itself translated by the same amount.
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@EricMarcil @gavanderhoorn . I am a bit lost in this conversation. Is there anything I need to do to make this PR move forward? |
Moved the T-axis model forward by 0.175 so that it shows in the correct location.
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@demorise Sorry for the delay. Yes, the link_6_t model needed to be moved forward by 0.175 m so that it appear in the correct position. I've just push a commit that corrects the model. If you could please check that it is correct. |
Adding support for MH80 @shaun-edwards @gavanderhoorn @marip8
