Rename main joint

Author: cambel

robotiq_control/config/cmodel_action_controller.yaml

@@ -13,4 +13,4 @@ gripper_action_controller:
   min_force:  40.0
   max_force:  100.0
   # Joint name
-  joint_name: robotiq_85_left_knuckle_joint
+  joint_name: finger_joint

robotiq_control/config/gripper_85_controller.yaml

@@ -2,7 +2,7 @@
 gripper_controller:
   gripper_type: '85'
   type: position_controllers/GripperActionController
-  joint: robotiq_85_left_knuckle_joint
+  joint: finger_joint
   action_monitor_rate: 20
   goal_tolerance: 0.002
   max_effort: 100

robotiq_control/scripts/cmodel_action_controller.py

@@ -31,7 +31,7 @@ def __init__(self, activate=True):
     self._max_speed = read_parameter(self._ns + 'gripper_action_controller/max_speed', 0.1)
     self._min_force = read_parameter(self._ns + 'gripper_action_controller/min_force', 40.0)
     self._max_force = read_parameter(self._ns + 'gripper_action_controller/max_force', 100.0)
-    self._joint_name = read_parameter(self._ns + 'gripper_action_controller/joint_name', 'robotiq_85_left_knuckle_joint')
+    self._joint_name = read_parameter(self._ns + 'gripper_action_controller/joint_name', 'finger_joint')
     self._gripper_prefix = read_parameter(self._ns + 'gripper_prefix', "")   # Used for updating joint state
     # Configure and start the action server
     self._status = CModelStatus()

robotiq_description/urdf/robotiq_85_gripper.transmission.xacro

@@ -5,7 +5,7 @@
 
     <transmission name="${prefix}robotiq_85_left_knuckle_trans">
       <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${prefix}robotiq_85_left_knuckle_joint">
+      <joint name="${prefix}finger_joint">
         <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
       </joint>
       <actuator name="${prefix}robotiq_85_left_knuckle_motor">
@@ -17,25 +17,25 @@
     <!-- Mimic joints -->
     <gazebo>
       <plugin filename="libgazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_85_1">
-        <joint>${prefix}robotiq_85_left_knuckle_joint</joint>
+        <joint>${prefix}finger_joint</joint>
         <mimicJoint>${prefix}robotiq_85_right_knuckle_joint</mimicJoint>
       </plugin>
       <plugin filename="libgazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_85_2">
-        <joint>${prefix}robotiq_85_left_knuckle_joint</joint>
+        <joint>${prefix}finger_joint</joint>
         <mimicJoint>${prefix}robotiq_85_left_inner_knuckle_joint</mimicJoint>
       </plugin>
       <plugin filename="libgazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_85_3">
-        <joint>${prefix}robotiq_85_left_knuckle_joint</joint>
+        <joint>${prefix}finger_joint</joint>
         <mimicJoint>${prefix}robotiq_85_right_inner_knuckle_joint</mimicJoint>
       </plugin>
       <plugin filename="libgazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_85_4">
-        <joint>${prefix}robotiq_85_left_knuckle_joint</joint>
+        <joint>${prefix}finger_joint</joint>
         <mimicJoint>${prefix}robotiq_85_left_finger_tip_joint</mimicJoint>
         <multiplier>-1.0</multiplier>
         <offset>0.0</offset>
       </plugin>
       <plugin filename="libgazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_85_5">
-        <joint>${prefix}robotiq_85_left_knuckle_joint</joint>
+        <joint>${prefix}finger_joint</joint>
         <mimicJoint>${prefix}robotiq_85_right_finger_tip_joint</mimicJoint>
         <multiplier>-1.0</multiplier>
         <offset>0.0</offset>

robotiq_description/urdf/robotiq_85_gripper.urdf.xacro

@@ -32,7 +32,7 @@
       </inertial>
     </link>
 
-    <joint name="${prefix}robotiq_85_left_knuckle_joint" type="revolute">
+    <joint name="${prefix}finger_joint" type="revolute">
       <parent link="${prefix}robotiq_85_base_link"/>
       <child link="${prefix}robotiq_85_left_knuckle_link"/>
       <axis xyz="0 0 1"/>
@@ -46,7 +46,7 @@
       <axis xyz="0 0 1"/>
       <origin rpy="0.0 0.0 0.0" xyz="0.05490451627 -0.03060114443 0.0"/>
       <limit lower="-3.14" upper="3.14" velocity="100.0" effort="1000"/>
-      <mimic joint="${prefix}robotiq_85_left_knuckle_joint"/>
+      <mimic joint="${prefix}finger_joint"/>
     </joint>
 
     <link name="${prefix}robotiq_85_left_knuckle_link">
@@ -147,7 +147,7 @@
       <axis xyz="0 0 1"/>
       <origin xyz="0.06142 0.0127 0" rpy="${pi} 0.0 0.0" />
       <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
-      <mimic joint="${prefix}robotiq_85_left_knuckle_joint" offset="0"/>
+      <mimic joint="${prefix}finger_joint" offset="0"/>
     </joint>
 
     <joint name="${prefix}robotiq_85_right_inner_knuckle_joint" type="continuous">
@@ -156,7 +156,7 @@
       <axis xyz="0 0 1"/>
       <origin xyz="0.06142 -0.0127 0" rpy="0 0 0"/>
       <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
-      <mimic joint="${prefix}robotiq_85_left_knuckle_joint" offset="0"/>
+      <mimic joint="${prefix}finger_joint" offset="0"/>
     </joint>
 
     <link name="${prefix}robotiq_85_left_inner_knuckle_link">
@@ -204,7 +204,7 @@
       <axis xyz="0 0 1"/>
       <origin xyz="0.04303959807 -0.03759940821 0.0" rpy="0.0 0.0 0.0"/>
       <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
-      <mimic joint="${prefix}robotiq_85_left_knuckle_joint" multiplier="-1"/>
+      <mimic joint="${prefix}finger_joint" multiplier="-1"/>
     </joint>
 
     <joint name="${prefix}robotiq_85_right_finger_tip_joint" type="continuous">
@@ -213,7 +213,7 @@
       <axis xyz="0 0 1"/>
       <origin rpy="0.0 0.0 0.0" xyz="0.04303959807 -0.03759940821  0.0"/>
       <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
-      <mimic joint="${prefix}robotiq_85_left_knuckle_joint" multiplier="-1"/>
+      <mimic joint="${prefix}finger_joint" multiplier="-1"/>
     </joint>
 
 

robotiq_gazebo/scripts/cmodel_controller_emulator.py

@@ -54,7 +54,7 @@ def cb_gripper_command(self, msg):
 
   def cb_joint_states(self, msg):
     for joint_name in msg.name:
-      if joint_name == 'robotiq_85_left_knuckle_joint':
+      if joint_name == 'finger_joint':
         idx = msg.name.index(joint_name)
         self.position = msg.position[idx]
         break