Merge pull request #73 from SalvoVirga/development

1.2.5
IFL-CAMP · Apr 19, 2017 · b9eb942 · b9eb942
2 parents 1cbde4b + 600c546
commit b9eb942
Show file tree

Hide file tree

Showing 25 changed files with 2,005 additions and 1,464 deletions.
diff --git a/CHANGELOG.txt b/CHANGELOG.txt
@@ -1,5 +1,18 @@
 # IIWA_STACK Changelog
 
+## Version 1.2.5
+
+#### New
+* `NTP updates are now automatic`
+* `Desired force accepts also negative force values (force toward the negative axis)`
+
+
+#### Bug Fixes
+* `Fixed joint velocity command mode`
+* `Removed useless "iiwa_link_ee_kuka" frame from URDF`
+* `Small fixes in the URDF: link misalignments, robot_name specific variables`
+* `Small fixes and improvements`
+
 ## Version 1.2.0 (release date: 01.02.2016)
 
 #### New

diff --git a/iiwa_description/urdf/iiwa14.xacro b/iiwa_description/urdf/iiwa14.xacro
@@ -332,22 +332,12 @@
     <joint name="${robot_name}_joint_ee" type="fixed">
       <parent link="${robot_name}_link_7"/>
       <child link="${robot_name}_link_ee"/>
-      <origin xyz="0 0 0.045" rpy="0 -${PI/2} 0"/>
+      <origin xyz="0 0 0.045" rpy="0 0 0"/>
     </joint>
 
     <link name="${robot_name}_link_ee">
     </link>
 
-    <joint name="${robot_name}_joint_ee_kuka" type="fixed">
-      <parent link="${robot_name}_link_7"/>
-      <child link="${robot_name}_link_ee_kuka"/>
-      <origin xyz="0 0 0.045" rpy="${PI} ${PI} ${PI}"/>
-      <axis xyz="0 0 1"/>
-    </joint>
-
-    <link name="${robot_name}_link_ee_kuka">
-    </link>
-
     <!--Extensions -->
     <xacro:iiwa_gazebo robot_name="${robot_name}" />
     <xacro:iiwa_transmission hardware_interface="${hardware_interface}"/>

diff --git a/iiwa_description/urdf/iiwa7.xacro b/iiwa_description/urdf/iiwa7.xacro
@@ -324,22 +324,12 @@
     <joint name="${robot_name}_joint_ee" type="fixed">
       <parent link="${robot_name}_link_7"/>
       <child link="${robot_name}_link_ee"/>
-      <origin xyz="0 0 0.045" rpy="0 -${PI/2} 0"/>
+      <origin xyz="0 0 0.045" rpy="0 0 0"/>
     </joint>
 
     <link name="${robot_name}_link_ee">
     </link>
 
-    <joint name="${robot_name}_joint_ee_kuka" type="fixed">
-      <parent link="${robot_name}_link_7"/>
-      <child link="${robot_name}_link_ee_kuka"/>
-      <origin xyz="0 0 0.045" rpy="${PI} ${PI} ${PI}"/>
-      <axis xyz="0 0 1"/>
-    </joint>
-
-    <link name="${robot_name}_link_ee_kuka">
-    </link>
-
     <!--Extensions -->
     <xacro:iiwa_gazebo robot_name="${robot_name}" />
     <xacro:iiwa_transmission hardware_interface="${hardware_interface}"/>

diff --git a/iiwa_hw/CMakeLists.txt b/iiwa_hw/CMakeLists.txt
@@ -54,10 +54,8 @@ add_dependencies(${PROJECT_NAME}-bin
 add_dependencies(${PROJECT_NAME}
 				iiwa_msgs_generate_messages_cpp)
 
-
-
 ## Specify libraries to link a library or executable target against
 target_link_libraries(${PROJECT_NAME}-bin
     ${PROJECT_NAME}
     ${catkin_LIBRARIES}
-)
+)