diff --git a/src/picknik_ur_base_config/description/picknik_ur.xacro b/src/picknik_ur_base_config/description/picknik_ur.xacro index e3909c6c..b9978e18 100644 --- a/src/picknik_ur_base_config/description/picknik_ur.xacro +++ b/src/picknik_ur_base_config/description/picknik_ur.xacro @@ -24,7 +24,9 @@ <xacro:include filename="$(arg environment_xacro)"/> <!-- Robot: contains robot description from the world frame to the tool frame --> - <xacro:picknik_ur parent="world" child="tool0" initial_positions_file="$(arg initial_positions_file)" /> + <xacro:picknik_ur parent="world" child="tool0" initial_positions_file="$(arg initial_positions_file)" > + <origin xyz="0 0 0" rpy="0 0 0" /> + </xacro:picknik_ur> <!-- Gripper and UR adapter and realsense camera --> <xacro:picknik_ur_attachments parent="tool0" child="grasp_link" has_tool_changer="$(arg has_tool_changer)"/> diff --git a/src/picknik_ur_base_config/description/picknik_ur_macro.xacro b/src/picknik_ur_base_config/description/picknik_ur_macro.xacro index 67960277..4b81e37c 100644 --- a/src/picknik_ur_base_config/description/picknik_ur_macro.xacro +++ b/src/picknik_ur_base_config/description/picknik_ur_macro.xacro @@ -1,6 +1,6 @@ <?xml version="1.0" encoding="utf-8"?> <robot xmlns:xacro="http://ros.org/wiki/xacro"> - <xacro:macro name="picknik_ur" params="parent child initial_positions_file"> + <xacro:macro name="picknik_ur" params="parent child initial_positions_file *origin"> <!-- parameters --> <xacro:arg name="use_fake_hardware" default="false"/> <xacro:arg name="external_camera" default="false"/> @@ -57,7 +57,7 @@ script_filename="$(find ur_robot_driver)/resources/ros_control.urscript" output_recipe_filename="$(find ur_robot_driver)/resources/rtde_output_recipe.txt" input_recipe_filename="$(find ur_robot_driver)/resources/rtde_input_recipe.txt"> - <origin xyz="0 0 0" rpy="0 0 0"/> + <xacro:insert_block name="origin" /> </xacro:ur_robot> <xacro:unless value="$(arg has_tool_changer)"> diff --git a/src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro b/src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro index 164bee55..586e01d4 100644 --- a/src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro +++ b/src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro @@ -27,7 +27,9 @@ <xacro:include filename="$(arg environment_xacro)"/> <!-- Robot: contains robot description from the world frame to the tool frame --> - <xacro:picknik_ur parent="world" child="tool0" initial_positions_file="$(arg initial_positions_file)" /> + <xacro:picknik_ur parent="world" child="tool0" initial_positions_file="$(arg initial_positions_file)"> + <origin xyz="0 0 0" rpy="0 0 0" /> + </xacro:picknik_ur> <!-- Gripper and UR adapter and realsense camera --> <xacro:picknik_ur_attachments parent="tool0" child="grasp_link" has_tool_changer="$(arg has_tool_changer)"/> diff --git a/src/picknik_ur_mock_hw_config/description/picknik_ur_machine_tending.xacro b/src/picknik_ur_mock_hw_config/description/picknik_ur_machine_tending.xacro index e066a759..2135e3c2 100644 --- a/src/picknik_ur_mock_hw_config/description/picknik_ur_machine_tending.xacro +++ b/src/picknik_ur_mock_hw_config/description/picknik_ur_machine_tending.xacro @@ -24,7 +24,9 @@ <xacro:include filename="$(arg environment_xacro)"/> <!-- Robot: contains robot description from the world frame to the tool frame --> - <xacro:picknik_ur parent="world" child="tool0" initial_positions_file="$(arg initial_positions_file)" /> + <xacro:picknik_ur parent="world" child="tool0" initial_positions_file="$(arg initial_positions_file)"> + <origin xyz="0 0 0" rpy="0 0 ${pi/2}" /> + </xacro:picknik_ur> <!-- Gripper and UR adapter and realsense camera --> <xacro:picknik_ur_attachments parent="tool0" child="grasp_link" has_tool_changer="$(arg has_tool_changer)"/>