diff --git a/.ci/Dockerfile.kinetic b/.ci/Dockerfile.kinetic
new file mode 100644
index 0000000000000000000000000000000000000000..0129ced1efdb75acf2dfe21c1ae6a3308732c655
--- /dev/null
+++ b/.ci/Dockerfile.kinetic
@@ -0,0 +1,7 @@
+FROM osrf/ros:kinetic-desktop-xenial
+RUN apt-get update && apt-get install -y \
+ clang-6.0 \
+ clang-format-6.0 \
+ clang-tidy-6.0 \
+ ros-kinetic-ros-control \
+ && rm -rf /var/lib/apt/lists/*
diff --git a/.ci/Dockerfile.melodic b/.ci/Dockerfile.melodic
new file mode 100644
index 0000000000000000000000000000000000000000..e3b20a8874f26a5bf23c2aef0961d9fa2f1f5158
--- /dev/null
+++ b/.ci/Dockerfile.melodic
@@ -0,0 +1,7 @@
+FROM osrf/ros:melodic-desktop-bionic
+RUN apt-get update && apt-get install -y \
+ clang-6.0 \
+ clang-format-6.0 \
+ clang-tidy-6.0 \
+ ros-melodic-ros-control \
+ && rm -rf /var/lib/apt/lists/*
diff --git a/.ci/debug.sh b/.ci/debug.sh
new file mode 100755
index 0000000000000000000000000000000000000000..c1b2a7ac9ec8eea24f780f3af79b10ba8d02e1b5
--- /dev/null
+++ b/.ci/debug.sh
@@ -0,0 +1,21 @@
+#!/bin/sh
+
+set -e
+set -x
+
+rm -f src/CMakeLists.txt
+catkin_init_workspace src
+
+rm -rf build-debug
+mkdir build-debug
+cd build-debug
+
+cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_EXPORT_COMPILE_COMMANDS=ON ../src
+. devel/setup.sh
+
+cmake --build .
+cmake --build . --target tests
+ctest -V
+
+cmake --build . --target check-format
+cmake --build . --target check-tidy
diff --git a/.clang-format b/.clang-format
new file mode 100644
index 0000000000000000000000000000000000000000..f31b8cb7615ac634bb0606e7643e6d01c3f3c7cb
--- /dev/null
+++ b/.clang-format
@@ -0,0 +1,4 @@
+BasedOnStyle: Chromium
+Standard: Cpp11
+SortIncludes: true
+ColumnLimit: 100
diff --git a/.clang-tidy b/.clang-tidy
new file mode 100644
index 0000000000000000000000000000000000000000..7fac802e36b9425ad1c0e1a5fb616322f4c83f70
--- /dev/null
+++ b/.clang-tidy
@@ -0,0 +1,52 @@
+Checks: 'clang-diagnostic-*,clang-analyzer-*,-clang-analyzer-optin.cplusplus.VirtualCall,-clang-analyzer-alpha*,google-*,misc-*,readability-*,modernize-*,performance-*,-clang-diagnostic-deprecated-declarations,-modernize-pass-by-value,-clang-diagnostic-reinterpret-base-class,-clang-diagnostic-return-type,-clang-diagnostic-switch'
+HeaderFilterRegex: '^franka_.*'
+CheckOptions:
+# Classes, structs, ...
+ - key: readability-identifier-naming.NamespaceCase
+ value: lower_case
+ - key: readability-identifier-naming.ClassCase
+ value: CamelCase
+ - key: readability-identifier-naming.StructCase
+ value: CamelCase
+ - key: readability-identifier-naming.EnumCase
+ value: CamelCase
+ - key: readability-identifier-naming.UnionCase
+ value: CamelCase
+ - key: readability-identifier-naming.TypedefCase
+ value: CamelCase
+
+# Variables, member variables, ...
+ - key: readability-identifier-naming.ParameterCase
+ value: lower_case
+ - key: readability-identifier-naming.VariableCase
+ value: lower_case
+ - key: readability-identifier-naming.MemberCase
+ value: lower_case
+ - key: readability-identifier-naming.PublicMemberCase
+ value: lower_case
+ - key: readability-identifier-naming.ProtectedMemberCase
+ value: lower_case
+ - key: readability-identifier-naming.PrivateMemberCase
+ value: lower_case
+ - key: readability-identifier-naming.PrivateMemberSuffix
+ value: _
+
+# Functions, methods, ...
+ - key: readability-identifier-naming.FunctionCase
+ value: camelBack
+ - key: readability-identifier-naming.MethodCase
+ value: camelBack
+
+# Constants
+ - key: readability-identifier-naming.ConstantPrefix
+ value: k
+ - key: readability-identifier-naming.ConstantCase
+ value: CamelCase
+ - key: readability-identifier-naming.ConstantMemberPrefix
+ value: ''
+ - key: readability-identifier-naming.ConstantMemberCase
+ value: lower_case
+ - key: readability-identifier-naming.ConstantParameterCase
+ value: lower_case
+ - key: readability-identifier-naming.ConstantParameterPrefix
+ value: ''
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..9f11b755a17d8192c60f61cb17b8902dffbd9f23
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+.idea/
diff --git a/.travis.yml b/.travis.yml
new file mode 100644
index 0000000000000000000000000000000000000000..3c894d13968fb37d38d00fbbcc29a66b2d7ac2af
--- /dev/null
+++ b/.travis.yml
@@ -0,0 +1,35 @@
+sudo: required
+language: none
+
+services:
+ - docker
+
+matrix:
+ include:
+ - env: CI_ROS=kinetic
+ - env: CI_ROS=melodic
+
+before_script:
+ - mkdir -p ~/workspace/catkin_ws/src
+ - |
+ cd ~/workspace
+ git clone https://github.com/frankaemika/libfranka.git
+ cd libfranka
+ git checkout ${TRAVIS_PULL_REQUEST_BRANCH:-${TRAVIS_BRANCH}} || git checkout develop
+ git submodule update --init --recursive
+ - |
+ cd ~/workspace
+ docker build -t worker -f $TRAVIS_BUILD_DIR/.ci/Dockerfile.$CI_ROS $TRAVIS_BUILD_DIR/.ci
+ ln -sf $TRAVIS_BUILD_DIR catkin_ws/src/franka_ros
+
+script:
+ - docker run
+ -v $TRAVIS_BUILD_DIR:$TRAVIS_BUILD_DIR
+ -v ~/workspace:/workspace
+ worker /bin/sh -c '
+ cd /workspace/libfranka &&
+ .ci/libonly.sh &&
+ export CMAKE_PREFIX_PATH="/workspace/libfranka/build-libonly:$CMAKE_PREFIX_PATH" &&
+ cd /workspace/catkin_ws &&
+ src/franka_ros/.ci/debug.sh
+ '
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f0de05cbda6a4541a7783ef12f505d5c416d6671..7282c39947f348162715e7e829a4aa5eb0f6e2b9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 2.8.3)
project(franka_description)
find_package(catkin REQUIRED)
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..d9a10c0d8e868ebf8da0b3dc95bb0be634c34bfe
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,176 @@
+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
+
+ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+ 1. Definitions.
+
+ "License" shall mean the terms and conditions for use, reproduction,
+ and distribution as defined by Sections 1 through 9 of this document.
+
+ "Licensor" shall mean the copyright owner or entity authorized by
+ the copyright owner that is granting the License.
+
+ "Legal Entity" shall mean the union of the acting entity and all
+ other entities that control, are controlled by, or are under common
+ control with that entity. For the purposes of this definition,
+ "control" means (i) the power, direct or indirect, to cause the
+ direction or management of such entity, whether by contract or
+ otherwise, or (ii) ownership of fifty percent (50%) or more of the
+ outstanding shares, or (iii) beneficial ownership of such entity.
+
+ "You" (or "Your") shall mean an individual or Legal Entity
+ exercising permissions granted by this License.
+
+ "Source" form shall mean the preferred form for making modifications,
+ including but not limited to software source code, documentation
+ source, and configuration files.
+
+ "Object" form shall mean any form resulting from mechanical
+ transformation or translation of a Source form, including but
+ not limited to compiled object code, generated documentation,
+ and conversions to other media types.
+
+ "Work" shall mean the work of authorship, whether in Source or
+ Object form, made available under the License, as indicated by a
+ copyright notice that is included in or attached to the work
+ (an example is provided in the Appendix below).
+
+ "Derivative Works" shall mean any work, whether in Source or Object
+ form, that is based on (or derived from) the Work and for which the
+ editorial revisions, annotations, elaborations, or other modifications
+ represent, as a whole, an original work of authorship. For the purposes
+ of this License, Derivative Works shall not include works that remain
+ separable from, or merely link (or bind by name) to the interfaces of,
+ the Work and Derivative Works thereof.
+
+ "Contribution" shall mean any work of authorship, including
+ the original version of the Work and any modifications or additions
+ to that Work or Derivative Works thereof, that is intentionally
+ submitted to Licensor for inclusion in the Work by the copyright owner
+ or by an individual or Legal Entity authorized to submit on behalf of
+ the copyright owner. For the purposes of this definition, "submitted"
+ means any form of electronic, verbal, or written communication sent
+ to the Licensor or its representatives, including but not limited to
+ communication on electronic mailing lists, source code control systems,
+ and issue tracking systems that are managed by, or on behalf of, the
+ Licensor for the purpose of discussing and improving the Work, but
+ excluding communication that is conspicuously marked or otherwise
+ designated in writing by the copyright owner as "Not a Contribution."
+
+ "Contributor" shall mean Licensor and any individual or Legal Entity
+ on behalf of whom a Contribution has been received by Licensor and
+ subsequently incorporated within the Work.
+
+ 2. Grant of Copyright License. Subject to the terms and conditions of
+ this License, each Contributor hereby grants to You a perpetual,
+ worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+ copyright license to reproduce, prepare Derivative Works of,
+ publicly display, publicly perform, sublicense, and distribute the
+ Work and such Derivative Works in Source or Object form.
+
+ 3. Grant of Patent License. Subject to the terms and conditions of
+ this License, each Contributor hereby grants to You a perpetual,
+ worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+ (except as stated in this section) patent license to make, have made,
+ use, offer to sell, sell, import, and otherwise transfer the Work,
+ where such license applies only to those patent claims licensable
+ by such Contributor that are necessarily infringed by their
+ Contribution(s) alone or by combination of their Contribution(s)
+ with the Work to which such Contribution(s) was submitted. If You
+ institute patent litigation against any entity (including a
+ cross-claim or counterclaim in a lawsuit) alleging that the Work
+ or a Contribution incorporated within the Work constitutes direct
+ or contributory patent infringement, then any patent licenses
+ granted to You under this License for that Work shall terminate
+ as of the date such litigation is filed.
+
+ 4. Redistribution. You may reproduce and distribute copies of the
+ Work or Derivative Works thereof in any medium, with or without
+ modifications, and in Source or Object form, provided that You
+ meet the following conditions:
+
+ (a) You must give any other recipients of the Work or
+ Derivative Works a copy of this License; and
+
+ (b) You must cause any modified files to carry prominent notices
+ stating that You changed the files; and
+
+ (c) You must retain, in the Source form of any Derivative Works
+ that You distribute, all copyright, patent, trademark, and
+ attribution notices from the Source form of the Work,
+ excluding those notices that do not pertain to any part of
+ the Derivative Works; and
+
+ (d) If the Work includes a "NOTICE" text file as part of its
+ distribution, then any Derivative Works that You distribute must
+ include a readable copy of the attribution notices contained
+ within such NOTICE file, excluding those notices that do not
+ pertain to any part of the Derivative Works, in at least one
+ of the following places: within a NOTICE text file distributed
+ as part of the Derivative Works; within the Source form or
+ documentation, if provided along with the Derivative Works; or,
+ within a display generated by the Derivative Works, if and
+ wherever such third-party notices normally appear. The contents
+ of the NOTICE file are for informational purposes only and
+ do not modify the License. You may add Your own attribution
+ notices within Derivative Works that You distribute, alongside
+ or as an addendum to the NOTICE text from the Work, provided
+ that such additional attribution notices cannot be construed
+ as modifying the License.
+
+ You may add Your own copyright statement to Your modifications and
+ may provide additional or different license terms and conditions
+ for use, reproduction, or distribution of Your modifications, or
+ for any such Derivative Works as a whole, provided Your use,
+ reproduction, and distribution of the Work otherwise complies with
+ the conditions stated in this License.
+
+ 5. Submission of Contributions. Unless You explicitly state otherwise,
+ any Contribution intentionally submitted for inclusion in the Work
+ by You to the Licensor shall be under the terms and conditions of
+ this License, without any additional terms or conditions.
+ Notwithstanding the above, nothing herein shall supersede or modify
+ the terms of any separate license agreement you may have executed
+ with Licensor regarding such Contributions.
+
+ 6. Trademarks. This License does not grant permission to use the trade
+ names, trademarks, service marks, or product names of the Licensor,
+ except as required for reasonable and customary use in describing the
+ origin of the Work and reproducing the content of the NOTICE file.
+
+ 7. Disclaimer of Warranty. Unless required by applicable law or
+ agreed to in writing, Licensor provides the Work (and each
+ Contributor provides its Contributions) on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+ implied, including, without limitation, any warranties or conditions
+ of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+ PARTICULAR PURPOSE. You are solely responsible for determining the
+ appropriateness of using or redistributing the Work and assume any
+ risks associated with Your exercise of permissions under this License.
+
+ 8. Limitation of Liability. In no event and under no legal theory,
+ whether in tort (including negligence), contract, or otherwise,
+ unless required by applicable law (such as deliberate and grossly
+ negligent acts) or agreed to in writing, shall any Contributor be
+ liable to You for damages, including any direct, indirect, special,
+ incidental, or consequential damages of any character arising as a
+ result of this License or out of the use or inability to use the
+ Work (including but not limited to damages for loss of goodwill,
+ work stoppage, computer failure or malfunction, or any and all
+ other commercial damages or losses), even if such Contributor
+ has been advised of the possibility of such damages.
+
+ 9. Accepting Warranty or Additional Liability. While redistributing
+ the Work or Derivative Works thereof, You may choose to offer,
+ and charge a fee for, acceptance of support, warranty, indemnity,
+ or other liability obligations and/or rights consistent with this
+ License. However, in accepting such obligations, You may act only
+ on Your own behalf and on Your sole responsibility, not on behalf
+ of any other Contributor, and only if You agree to indemnify,
+ defend, and hold each Contributor harmless for any liability
+ incurred by, or claims asserted against, such Contributor by reason
+ of your accepting any such warranty or additional liability.
+
+ END OF TERMS AND CONDITIONS
diff --git a/NOTICE b/NOTICE
new file mode 100644
index 0000000000000000000000000000000000000000..2a239fac633ce235814668b086a1040cc4810806
--- /dev/null
+++ b/NOTICE
@@ -0,0 +1,15 @@
+franka_ros
+
+Copyright 2017 Franka Emika GmbH
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
diff --git a/README.md b/README.md
index 658c512873e75a66356f4052765b7dff831247ff..1ddf2bef713b6838c8e4bb297695b6c582e4f579 100644
--- a/README.md
+++ b/README.md
@@ -1,20 +1,12 @@
-# Franka Description Package
+# ROS integration for Franka Emika research robots
-Forked august 2020 and extended with adaption of applied forces.
+See the [Franka Control Interface (FCI) documentation][fci-docs] for more information.
-Original repository: https://github.com/frankaemika/franka_ros/tree/kinetic-devel/franka_description
+## License
-## How to install it
+All packages of `franka_ros` are licensed under the [Apache 2.0 license][apache-2.0].
-* navigate into the src-folder of your workspace
-* create a folder with the name "franka_ros"
-* cd into the franka_ros folder
-* clone this repository inside the franka_ros folder
-
-
-## What has changed
-
-We modified the joint limits in the panda_arm.xacro.
-More in detail they are increased/decreased by 0.1.
-This had to be done to never let the cartesian planner hit the limits again.
-The limits were always reached, as the planner includes them in his plannable value range.
+[apache-2.0]: https://www.apache.org/licenses/LICENSE-2.0.html
+[fci-docs]: https://frankaemika.github.io/docs
+[travis-status]: https://travis-ci.org/frankaemika/franka_ros.svg?branch=kinetic-devel
+[travis]: https://travis-ci.org/frankaemika/franka_ros
diff --git a/meshes/collision/finger.stl b/meshes/collision/finger.stl
new file mode 100644
index 0000000000000000000000000000000000000000..3b87289fea8128bcec3e0b4d174b169124e8e444
Binary files /dev/null and b/meshes/collision/finger.stl differ
diff --git a/meshes/collision/hand.stl b/meshes/collision/hand.stl
new file mode 100644
index 0000000000000000000000000000000000000000..4e820902eba7b9d959a2e0cc8091f4b0f09ed77a
Binary files /dev/null and b/meshes/collision/hand.stl differ
diff --git a/meshes/collision/link0.stl b/meshes/collision/link0.stl
new file mode 100644
index 0000000000000000000000000000000000000000..def070c7077c0ddb33bbe16cd6c75f19dd318734
Binary files /dev/null and b/meshes/collision/link0.stl differ
diff --git a/meshes/collision/link1.stl b/meshes/collision/link1.stl
new file mode 100644
index 0000000000000000000000000000000000000000..426bcf2d7a04e067e01ab198d0ccfef63c6846e8
Binary files /dev/null and b/meshes/collision/link1.stl differ
diff --git a/meshes/collision/link2.stl b/meshes/collision/link2.stl
new file mode 100644
index 0000000000000000000000000000000000000000..b369f1599a3c1356611716621f998bd8b5a8863b
Binary files /dev/null and b/meshes/collision/link2.stl differ
diff --git a/meshes/collision/link3.stl b/meshes/collision/link3.stl
new file mode 100644
index 0000000000000000000000000000000000000000..25162eeedf286d1e27fdd4ba38950ae90678bb0f
Binary files /dev/null and b/meshes/collision/link3.stl differ
diff --git a/meshes/collision/link4.stl b/meshes/collision/link4.stl
new file mode 100644
index 0000000000000000000000000000000000000000..76c8c33c3e1e6c184f8c3693b390892c25b179e3
Binary files /dev/null and b/meshes/collision/link4.stl differ
diff --git a/meshes/collision/link5.stl b/meshes/collision/link5.stl
new file mode 100644
index 0000000000000000000000000000000000000000..3006a0b9a695f020e1887128d805d15aaa7fd342
Binary files /dev/null and b/meshes/collision/link5.stl differ
diff --git a/meshes/collision/link6.stl b/meshes/collision/link6.stl
new file mode 100644
index 0000000000000000000000000000000000000000..2e9594a873f97e572ec68a4e0ab6d65f41f5007e
Binary files /dev/null and b/meshes/collision/link6.stl differ
diff --git a/meshes/collision/link7.stl b/meshes/collision/link7.stl
new file mode 100644
index 0000000000000000000000000000000000000000..0532d057507637533d25f4b3ed451f213685a61d
Binary files /dev/null and b/meshes/collision/link7.stl differ
diff --git a/meshes/visual/finger.dae b/meshes/visual/finger.dae
index 8d249b9751ca2a5abf80fe1fcd1a1b951c481ba8..e09f9b80e08696a1a531b15ca44179dce77c1f20 100644
--- a/meshes/visual/finger.dae
+++ b/meshes/visual/finger.dae
@@ -34,7 +34,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -64,7 +63,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
diff --git a/meshes/visual/hand.dae b/meshes/visual/hand.dae
index 454bfcddd36f81a720ba9793b1998bfd8561ff7a..990b1f587a19bd8522cc9e3aa832e99245e548a7 100644
--- a/meshes/visual/hand.dae
+++ b/meshes/visual/hand.dae
@@ -34,7 +34,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -64,7 +63,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -94,7 +92,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -124,7 +121,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -154,7 +150,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
diff --git a/meshes/visual/link0.dae b/meshes/visual/link0.dae
index 9d65e4420b46c4498ca5c7d6390120e01443882b..573bd8e628af1468d05072afcdbf807a5d52f450 100644
--- a/meshes/visual/link0.dae
+++ b/meshes/visual/link0.dae
@@ -34,7 +34,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -64,7 +63,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -94,7 +92,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -124,7 +121,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -154,7 +150,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -184,7 +179,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -214,7 +208,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -244,7 +237,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -274,7 +266,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -304,7 +295,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -334,7 +324,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -364,7 +353,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
diff --git a/meshes/visual/link1.dae b/meshes/visual/link1.dae
index 47e5b4215f5c9d334b4ba741b571d4aabf2fc404..f55e7e0651c83b0bb73234c7cb509d294c4c8010 100644
--- a/meshes/visual/link1.dae
+++ b/meshes/visual/link1.dae
@@ -34,7 +34,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
diff --git a/meshes/visual/link2.dae b/meshes/visual/link2.dae
index 6d5788c831cfb7f6e0fa2ebe0df188673f980ce4..c017aa31c3fb812e0d01b641858a55b04cdc0e10 100644
--- a/meshes/visual/link2.dae
+++ b/meshes/visual/link2.dae
@@ -34,7 +34,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
diff --git a/meshes/visual/link3.dae b/meshes/visual/link3.dae
index 895e67be2d17a44d553a1290e9e5fcd89f4f82d1..0a21ad5cc361522f0df1971b841e4a1200b48885 100644
--- a/meshes/visual/link3.dae
+++ b/meshes/visual/link3.dae
@@ -34,7 +34,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -64,7 +63,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -94,7 +92,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -124,7 +121,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
diff --git a/meshes/visual/link4.dae b/meshes/visual/link4.dae
index 1d47af8e04af59e4420e5f59f0deaaa3feb4d72f..dce08f85dca332d18ff11177867c245ec2ae3987 100644
--- a/meshes/visual/link4.dae
+++ b/meshes/visual/link4.dae
@@ -34,7 +34,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -64,7 +63,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -94,7 +92,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -124,7 +121,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
diff --git a/meshes/visual/link5.dae b/meshes/visual/link5.dae
index b4370bb6401bc1c4b57b5bd2ab9ee89436757110..c8f4f1118f04e31d73926a7038af60d96d3ac34b 100644
--- a/meshes/visual/link5.dae
+++ b/meshes/visual/link5.dae
@@ -34,7 +34,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -64,7 +63,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -94,7 +92,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
diff --git a/meshes/visual/link6.dae b/meshes/visual/link6.dae
index 74a80bff2151dbc161238b9e86ab0c1f7d59043c..484159bfbcd06a84600490459210254d42479007 100644
--- a/meshes/visual/link6.dae
+++ b/meshes/visual/link6.dae
@@ -34,7 +34,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -64,7 +63,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -94,7 +92,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -124,7 +121,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -154,7 +150,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -184,7 +179,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -214,7 +208,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -244,7 +237,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -274,7 +266,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -304,7 +295,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -334,7 +324,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -364,7 +353,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -394,7 +382,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -424,7 +411,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -454,7 +440,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -484,7 +469,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -514,7 +498,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
diff --git a/meshes/visual/link7.dae b/meshes/visual/link7.dae
index e43db9037bafa660557ee193fef8c1d217acb01b..4abeee6bdbd31e5bd30d916957876b16db38f530 100644
--- a/meshes/visual/link7.dae
+++ b/meshes/visual/link7.dae
@@ -34,7 +34,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -64,7 +63,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -94,7 +92,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -124,7 +121,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -154,7 +150,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -184,7 +179,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -214,7 +208,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
@@ -244,7 +237,6 @@
<transparent opaque="A_ONE">
<color>1 1 1 1</color>
</transparent>
- <transparency><float>1</float></transparency>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
diff --git a/robots/panda.gazebo.xacro b/robots/panda.gazebo.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..02822caa5688d544fb76b743dcfd9b7e6685facd
--- /dev/null
+++ b/robots/panda.gazebo.xacro
@@ -0,0 +1,94 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <xacro:macro name="panda_gazebo" params="robot_name">
+
+ <!-- Link0 -->
+ <gazebo reference="${robot_name}_link0">
+ <material>Gazebo/Grey</material>
+ <mu1>0.2</mu1>
+ <mu2>0.2</mu2>
+ </gazebo>
+
+ <!-- Link1 -->
+ <gazebo reference="${robot_name}_link1">
+ <material>Gazebo/White</material>
+ <mu1>0.2</mu1>
+ <mu2>0.2</mu2>
+ </gazebo>
+
+ <!-- Link2 -->
+ <gazebo reference="${robot_name}_link2">
+ <material>Gazebo/White</material>
+ <mu1>0.2</mu1>
+ <mu2>0.2</mu2>
+ </gazebo>
+
+ <!-- Link3 -->
+ <gazebo reference="${robot_name}_link3">
+ <material>Gazebo/White</material>
+ <mu1>0.2</mu1>
+ <mu2>0.2</mu2>
+ </gazebo>
+
+ <!-- Link4 -->
+ <gazebo reference="${robot_name}_link4">
+ <material>Gazebo/White</material>
+ <mu1>0.2</mu1>
+ <mu2>0.2</mu2>
+ </gazebo>
+
+ <!-- Link5 -->
+ <gazebo reference="${robot_name}_link5">
+ <material>Gazebo/White</material>
+ <mu1>0.2</mu1>
+ <mu2>0.2</mu2>
+ </gazebo>
+
+ <!-- Link6 -->
+ <gazebo reference="${robot_name}_link6">
+ <material>Gazebo/White</material>
+ <mu1>0.2</mu1>
+ <mu2>0.2</mu2>
+ </gazebo>
+
+ <!-- Link7 -->
+ <gazebo reference="${robot_name}_link7">
+ <material>Gazebo/Grey</material>
+ <mu1>0.2</mu1>
+ <mu2>0.2</mu2>
+ </gazebo>
+
+ <!-- Link8 -->
+ <gazebo reference="${robot_name}_link8">
+ <material>Gazebo/Grey</material>
+ <mu1>0.2</mu1>
+ <mu2>0.2</mu2>
+ </gazebo>
+
+ <!-- LinkHand -->
+ <gazebo reference="${robot_name}_hand">
+ <material>Gazebo/Grey</material>
+ <mu1>0.2</mu1>
+ <mu2>0.2</mu2>
+ </gazebo>
+
+ <!-- LinkRightFinger -->
+ <gazebo reference="${robot_name}_rightfinger">
+ <material>Gazebo/Grey</material>
+ <mu1>0.2</mu1>
+ <mu2>0.2</mu2>
+ </gazebo>
+
+ <!-- LinkLeftFinger -->
+ <gazebo reference="${robot_name}_leftfinger">
+ <material>Gazebo/Grey</material>
+ <mu1>0.2</mu1>
+ <mu2>0.2</mu2>
+ </gazebo>
+
+ </xacro:macro>
+
+</robot>
+
diff --git a/robots/panda.transmission.xacro b/robots/panda.transmission.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..f29313877d62e86a3f95779428c1c38783643a92
--- /dev/null
+++ b/robots/panda.transmission.xacro
@@ -0,0 +1,114 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+ <xacro:macro name="panda_transmission" params="robot_name load_hand">
+
+
+ <!-- Load Gazebo lib and set the robot namespace -->
+ <gazebo>
+ <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+ <!-- <robotNamespace>/${robot_name}</robotNamespace> -->
+ </plugin>
+ </gazebo>
+
+ <transmission name="${robot_name}_tran_1">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="${robot_name}_joint1">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="${robot_name}_motor_1">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <transmission name="${robot_name}_tran_2">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="${robot_name}_joint2">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="${robot_name}_motor_2">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <transmission name="${robot_name}_tran_3">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="${robot_name}_joint3">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="${robot_name}_motor_3">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <transmission name="${robot_name}_tran_4">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="${robot_name}_joint4">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="${robot_name}_motor_4">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <transmission name="${robot_name}_tran_5">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="${robot_name}_joint5">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="${robot_name}_motor_5">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <transmission name="${robot_name}_tran_6">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="${robot_name}_joint6">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="${robot_name}_motor_6">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <transmission name="${robot_name}_tran_7">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="${robot_name}_joint7">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="${robot_name}_motor_7">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <xacro:if value="${load_hand}">
+ <transmission name="${robot_name}_leftfinger">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="${robot_name}_finger_joint1">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="${robot_name}_finger_joint1">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <transmission name="${robot_name}_rightfinger">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="${robot_name}_finger_joint2">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="${robot_name}_finger_joint2">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ </xacro:if>
+ </xacro:macro>
+</robot>