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エラー回避用のdummyジョイントの定義を削除 #22

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Merged
Kuwamai merged 2 commits into from
Jun 12, 2026
Merged

エラー回避用のdummyジョイントの定義を削除 #22

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0550517
エラー回避用のdummyジョイントの定義を削除
YusukeKato Jun 10, 2026
9f3b268
rviz_config更新
Kuwamai Jun 12, 2026
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24 changes: 4 additions & 20 deletions launch/display.rviz
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@ Panels:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 549
Tree Height: 542
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expand Down Expand Up @@ -80,20 +80,10 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
dummy_mimic_fix_l:
Alpha: 1
Show Axes: false
Show Trail: false
dummy_mimic_fix_r:
Alpha: 1
Show Axes: false
Show Trail: false
head_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripperA_link:
Alpha: 1
Show Axes: false
Expand Down Expand Up @@ -218,6 +208,8 @@ Visualization Manager:
Visual Enabled: true
- Class: rviz_default_plugins/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: true
Expand All @@ -227,10 +219,6 @@ Visualization Manager:
Value: true
chest_camera_link:
Value: true
dummy_mimic_fix_l:
Value: true
dummy_mimic_fix_r:
Value: true
head_camera_link:
Value: true
l_gripperA_link:
Expand Down Expand Up @@ -320,10 +308,6 @@ Visualization Manager:
{}
r_gripperB_link:
{}
dummy_mimic_fix_l:
{}
dummy_mimic_fix_r:
{}
Update Interval: 0
Value: true
Enabled: true
Expand Down Expand Up @@ -398,7 +382,7 @@ Window Geometry:
Height: 846
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd000000040000000000000156000002acfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000002ac000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002acfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f000002ac000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000026f00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002ac00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
Expand Down
9 changes: 0 additions & 9 deletions urdf/sciurus17_left_gripper.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -59,15 +59,6 @@
</inertial>
</link>

<!--Dummy joint/link to prevent error with mimic joint
See https://github.com/ros-controls/gazebo_ros2_control/issues/173
-->
<joint name="${NAME_JOINT_GRIPPER_L_B}_mimic" type="fixed">
<parent link="world" />
<child link="dummy_mimic_fix_l" />
</joint>
<link name="dummy_mimic_fix_l"/>

<joint name="${NAME_JOINT_GRIPPER_L_B}" type="revolute">
<parent link="${NAME_LINK_ARM_L_7}" />
<child link="${NAME_LINK_GRIPPER_L_B}" />
Expand Down
9 changes: 0 additions & 9 deletions urdf/sciurus17_right_gripper.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -60,15 +60,6 @@
</inertial>
</link>

<!--Dummy joint/link to prevent error with mimic joint
See https://github.com/ros-controls/gazebo_ros2_control/issues/173
-->
<joint name="${NAME_JOINT_GRIPPER_R_B}_mimic" type="fixed">
<parent link="world" />
<child link="dummy_mimic_fix_r" />
</joint>
<link name="dummy_mimic_fix_r"/>

<joint name="${NAME_JOINT_GRIPPER_R_B}" type="revolute">
<parent link="${NAME_LINK_ARM_R_7}" />
<child link="${NAME_LINK_GRIPPER_R_B}" />
Expand Down
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