add documentation
This commit is contained in:
Paul Blum
parent
9f3e0710db
commit
7e00616182
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@ -2,6 +2,7 @@
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<robot name="b1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- B1 macro: describes Unitree B1 quadruped robot -->
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<xacro:macro name="b1">
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<xacro:include filename="$(find b1_description)/xacro/const.xacro"/>
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@ -1,14 +1,21 @@
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<?xml version="1.0"?>
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<!-- b1_description: Unitree B1 quadruped robot -->
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<robot name="b1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:arg name="DEBUG" default="false"/>
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<!-- define arguments -->
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<xacro:arg name="DEBUG" default="false"/> <!-- debug mode switch -->
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<!-- include xacro files -->
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<xacro:include filename="$(find b1_description)/xacro/b1.xacro"/>
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<xacro:include filename="$(find b1_description)/xacro/gazebo.xacro"/>
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<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
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<!-- B1 macro: expands to describe B1 quadruped robot -->
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<xacro:b1/>
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<!-- debug mode configuration -->
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<xacro:if value="$(arg DEBUG)">
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<!-- statically affix B1 base to world; i.e. "hang up" the robot -->
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<link name="world"/>
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<joint name="base_static_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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@ -17,8 +24,4 @@
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</joint>
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</xacro:if>
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<xacro:b1/>
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<!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
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</robot>
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@ -1,6 +1,9 @@
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<?xml version="1.0"?>
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<!-- Gazebo-specific elements for b1z1_description -->
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<robot>
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<!-- ros_control plugin -->
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<!-- ros_control plugin -->
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<gazebo>
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<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
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<robotNamespace>/b1z1_gazebo</robotNamespace>
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@ -13,7 +13,7 @@
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<xacro:include filename="$(find b1z1_description)/xacro/const.xacro"/>
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<xacro:include filename="$(find b1z1_description)/xacro/gazebo.xacro"/>
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<!-- B1 macro: expands to describe B1 quadruped -->
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<!-- B1 macro: expands to describe B1 quadruped robot -->
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<xacro:b1/>
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<!-- Z1 macro: expands to describe Z1 robotic arm -->
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@ -22,7 +22,8 @@
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<!-- define joint affixing Z1 to B1 -->
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<joint name="trunk_arm_joint" type="fixed">
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<!-- Z1 mounting point wrt B1 trunk; configurable in const.xacro -->
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<origin rpy="${arm_offset_r} ${arm_offset_p} ${arm_offset_yaw}" xyz="${arm_offset_x} ${arm_offset_y} ${arm_offset_z}"/>
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<origin rpy="${arm_offset_r} ${arm_offset_p} ${arm_offset_yaw}"
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xyz="${arm_offset_x} ${arm_offset_y} ${arm_offset_z}"/>
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<!-- define parent and child links -->
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<parent link="trunk"/>
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<child link="link00"/>
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@ -30,7 +31,7 @@
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<!-- debug mode configuration -->
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<xacro:if value="$(arg DEBUG)">
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<!-- debug mode hangs up the robot; i.e., statically affixes B1 base to world -->
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<!-- statically affix B1 base to world; i.e. "hang up" the robot -->
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<link name="world"/>
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<joint name="base_static_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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@ -1,20 +1,26 @@
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<?xml version="1.0"?>
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<!-- z1_description: Unitree Z1 robotic arm -->
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<robot name="z1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:arg name="UnitreeGripper" default="false"/>
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<!-- define arguments -->
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<xacro:arg name="UnitreeGripper" default="false"/> <!-- include default end-effector -->
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<!-- include xacro files -->
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<xacro:include filename="$(find z1_description)/xacro/z1.xacro"/>
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<xacro:include filename="$(find z1_description)/xacro/gazebo.xacro"/>
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<link name="world"/>
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<!-- Z1 macro: expands to describe Z1 robotic arm -->
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<xacro:z1 UnitreeGripper="$(arg UnitreeGripper)"/>
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<!-- define world link and statically affix Z1 -->
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<link name="world"/>
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<joint name="base_static_joint" type="fixed">
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<!-- Z1 mounting point wrt origin (configurable) -->
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<!-- define parent and child links -->
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<parent link="world"/>
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<child link="link00"/>
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</joint>
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<xacro:z1 UnitreeGripper="$(arg UnitreeGripper)"/>
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</robot>
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@ -2,6 +2,7 @@
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<robot name="z1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- Z1 macro: describes Unitree Z1 robotic arm -->
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<xacro:macro name="z1" params="UnitreeGripper:=false">
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<xacro:include filename="$(find z1_description)/xacro/const.xacro"/>
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