From 502f5d482128292c855b8f4aabff3561aff0aa10 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Tue, 31 Jul 2018 11:23:33 +0200
Subject: [PATCH] sia: fix ros-i base frame parent.

Same location as link_l, but not connected to it (otherwise it rotates).
---
 motoman_sia10d_support/urdf/sia10d.urdf        | 6 +++---
 motoman_sia10d_support/urdf/sia10d_macro.xacro | 8 ++++----
 motoman_sia10f_support/urdf/sia10f.urdf        | 6 +++---
 motoman_sia10f_support/urdf/sia10f_macro.xacro | 8 ++++----
 motoman_sia20d_support/urdf/sia20d.urdf        | 6 +++---
 motoman_sia20d_support/urdf/sia20d_macro.xacro | 8 ++++----
 motoman_sia5d_support/urdf/sia5d.urdf          | 8 ++++----
 motoman_sia5d_support/urdf/sia5d_macro.xacro   | 8 ++++----
 8 files changed, 29 insertions(+), 29 deletions(-)

diff --git a/motoman_sia10d_support/urdf/sia10d.urdf b/motoman_sia10d_support/urdf/sia10d.urdf
index c73a9a3c..d5d87572 100644
--- a/motoman_sia10d_support/urdf/sia10d.urdf
+++ b/motoman_sia10d_support/urdf/sia10d.urdf
@@ -274,9 +274,9 @@
   </joint>
 
   <link name="base"/>
-  <joint name="link_l-base" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="link_l"/>
+  <joint name="base_link-base" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.360"/>
+    <parent link="base_link"/>
     <child link="base"/>
   </joint>
 </robot>
diff --git a/motoman_sia10d_support/urdf/sia10d_macro.xacro b/motoman_sia10d_support/urdf/sia10d_macro.xacro
index af53781a..fb2da209 100644
--- a/motoman_sia10d_support/urdf/sia10d_macro.xacro
+++ b/motoman_sia10d_support/urdf/sia10d_macro.xacro
@@ -286,11 +286,11 @@
 		</joint>
 		<!-- end of joint list -->
 
-		<!-- ROS base_link (via link_l) to Motoman Robot (not Base) Frame transform -->
+		<!-- ROS base_link (via base_link) to Motoman Robot (not Base) Frame transform -->
 		<link name="${prefix}base" />
-		<joint name="${prefix}link_l-base" type="fixed">
-			<origin xyz="0 0 0" rpy="0 0 0"/>
-			<parent link="${prefix}link_l"/>
+		<joint name="${prefix}base_link-base" type="fixed">
+			<origin xyz="0 0 0.360" rpy="0 0 0"/>
+			<parent link="${prefix}base_link"/>
 			<child link="${prefix}base"/>
 		</joint>
 	</xacro:macro>
diff --git a/motoman_sia10f_support/urdf/sia10f.urdf b/motoman_sia10f_support/urdf/sia10f.urdf
index b200313a..fe4a3449 100644
--- a/motoman_sia10f_support/urdf/sia10f.urdf
+++ b/motoman_sia10f_support/urdf/sia10f.urdf
@@ -182,9 +182,9 @@
     <limit effort="100" lower="-3.1415" upper="3.1415" velocity="6.9813" />
   </joint>
   <link name="base"/>
-  <joint name="link_l-base" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="link_l"/>
+  <joint name="base_link-base" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.360"/>
+    <parent link="base_link"/>
     <child link="base"/>
   </joint>
 </robot>
diff --git a/motoman_sia10f_support/urdf/sia10f_macro.xacro b/motoman_sia10f_support/urdf/sia10f_macro.xacro
index 9e78ba01..c3dab837 100644
--- a/motoman_sia10f_support/urdf/sia10f_macro.xacro
+++ b/motoman_sia10f_support/urdf/sia10f_macro.xacro
@@ -189,11 +189,11 @@
     </joint>
 		<!-- end of joint list -->
 
-		<!-- ROS base_link (via link_l) to Motoman Robot (not Base) Frame transform -->
+		<!-- ROS base_link (via base_link) to Motoman Robot (not Base) Frame transform -->
 		<link name="${prefix}base" />
-		<joint name="${prefix}link_2_l-base" type="fixed">
-			<origin xyz="0 0 0" rpy="0 0 0"/>
-			<parent link="${prefix}link_2_l"/>
+		<joint name="${prefix}base_link-base" type="fixed">
+			<origin xyz="0 0 0.360" rpy="0 0 0"/>
+			<parent link="${prefix}base_link"/>
 			<child link="${prefix}base"/>
 		</joint>
 	</xacro:macro>
diff --git a/motoman_sia20d_support/urdf/sia20d.urdf b/motoman_sia20d_support/urdf/sia20d.urdf
index 6702ee0e..0e65fe60 100644
--- a/motoman_sia20d_support/urdf/sia20d.urdf
+++ b/motoman_sia20d_support/urdf/sia20d.urdf
@@ -194,9 +194,9 @@
   </joint>
 
   <link name="base"/>
-  <joint name="link_l-base" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="link_l"/>
+  <joint name="base_link-base" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.410"/>
+    <parent link="base_link"/>
     <child link="base"/>
   </joint>
 </robot>
diff --git a/motoman_sia20d_support/urdf/sia20d_macro.xacro b/motoman_sia20d_support/urdf/sia20d_macro.xacro
index e9be2462..85d00474 100644
--- a/motoman_sia20d_support/urdf/sia20d_macro.xacro
+++ b/motoman_sia20d_support/urdf/sia20d_macro.xacro
@@ -191,11 +191,11 @@
     </joint>
 		<!-- end of joint list -->
 
-		<!-- ROS base_link (via link_l) to Motoman Robot (not Base) Frame transform -->
+		<!-- ROS base_link (via base_link) to Motoman Robot (not Base) Frame transform -->
 		<link name="${prefix}base" />
-		<joint name="${prefix}link_l-base" type="fixed">
-			<origin xyz="0 0 0" rpy="0 0 0"/>
-			<parent link="${prefix}link_l"/>
+		<joint name="${prefix}base_link-base" type="fixed">
+			<origin xyz="0 0 0.410" rpy="0 0 0"/>
+			<parent link="${prefix}base_link"/>
 			<child link="${prefix}base"/>
 		</joint>
 	</xacro:macro>
diff --git a/motoman_sia5d_support/urdf/sia5d.urdf b/motoman_sia5d_support/urdf/sia5d.urdf
index 73c82236..4e3c9782 100644
--- a/motoman_sia5d_support/urdf/sia5d.urdf
+++ b/motoman_sia5d_support/urdf/sia5d.urdf
@@ -174,11 +174,11 @@
     <parent link="link_t"/>
     <child link="tool0"/>
   </joint>
-  <!-- ROS base_link (via link_l) to Motoman Robot (not Base) Frame transform -->
+  <!-- ROS base_link (via base_link) to Motoman Robot (not Base) Frame transform -->
   <link name="base"/>
-  <joint name="link_l-base" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="link_l"/>
+  <joint name="base_link-base" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.310"/>
+    <parent link="base_link"/>
     <child link="base"/>
   </joint>
 </robot>
diff --git a/motoman_sia5d_support/urdf/sia5d_macro.xacro b/motoman_sia5d_support/urdf/sia5d_macro.xacro
index e96d1006..d41891b1 100644
--- a/motoman_sia5d_support/urdf/sia5d_macro.xacro
+++ b/motoman_sia5d_support/urdf/sia5d_macro.xacro
@@ -189,11 +189,11 @@
     <child link="${prefix}tool0" />
   </joint>
 
-    <!-- ROS base_link (via link_l) to Motoman Robot (not Base) Frame transform -->
+    <!-- ROS base_link (via base_link) to Motoman Robot (not Base) Frame transform -->
     <link name="${prefix}base" />
-    <joint name="${prefix}link_l-base" type="fixed">
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <parent link="${prefix}link_l"/>
+    <joint name="${prefix}base_link-base" type="fixed">
+      <origin xyz="0 0 0.310" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
       <child link="${prefix}base"/>
     </joint>
 	</xacro:macro>