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ShotaAk
suggested changes
Oct 5, 2023
| <license>NON-COMMERCIAL LICENSE AGREEMENT</license> | ||
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| <buildtool_depend>catkin</buildtool_depend> | ||
| <author email="[email protected]">Hiroyuki Nomura</author> |
urdf/sciurus17.urdf.xacro
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| <xacro:property name="NAME_LINK_NECK_1" value="neck_yaw_link"/> | ||
| <xacro:property name="NAME_LINK_NECK_2" value="neck_pitch_link"/> | ||
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| <xacro:property name="NAME_LINK_CAMERA" value="camera_link"/> |
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CHEST_CAMERAと区別するため、NAME_LINK_HEAD_CAMERAにしてください
urdf/sciurus17.urdf.xacro
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| <xacro:property name="NAME_JOINT_NECK_1" value="neck_yaw_joint"/> | ||
| <xacro:property name="NAME_JOINT_NECK_2" value="neck_pitch_joint"/> | ||
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| <xacro:property name="NAME_JOINT_CAMERA" value="head_camera_joint"/> |
urdf/sciurus17.urdf.xacro
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| waist_yaw_upper_limit="${NAME_JOINT_BODY_LOWER_LIMIT}" | ||
| waist_yaw_lower_limit="${NAME_JOINT_BODY_UPPER_LIMIT}" |
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upperに対してlowerをセットしているので修正してください。
関連issue：#3
urdf/sciurus17.urdf.xacro
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| neck_yaw_lower_limit="${JOINT_NECK_1_LOWER_LIMIT}" | ||
| neck_yaw_upper_limit="${JOINT_NECK_1_UPPER_LIMIT}" | ||
| neck_pitch_lower_limit="${JOINT_NECK_2_LOWER_LIMIT}" | ||
| neck_pitch_upper_limit="${JOINT_NECK_2_UPPER_LIMIT}" |
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マクロに対して引数でパラメータを入れているところと、マクロ内でpropertyを参照しているところが混在しています。
わかりやすくするため、引数を撤廃し、マクロから直接propertyを参照してください。
他のマクロも同様です。
Co-authored-by: Shota Aoki <[email protected]>
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What does this implement/fix?
Does this close any currently open issues?
しません
How has this been tested?
ビルドしたのち、以下のコマンドでRViz上にロボットモデルが表示されることを確認しました。
Any other comments?
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