Fix tool0 link parent and orientation

Signed-off-by: Yadunund <[email protected]>
Yadunund · Dec 18, 2023 · b12b2bb · b12b2bb
1 parent 7788539
commit b12b2bb
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/robot_specific_config/abb_crb1100_support/urdf/crb1100_4_58_macro.xacro b/robot_specific_config/abb_crb1100_support/urdf/crb1100_4_58_macro.xacro
@@ -290,14 +290,14 @@
     <link name="${prefix}flange"/>
     <joint type="fixed" name="${prefix}joint_4-flange">
       <origin xyz="0 0 0" rpy="0 0 0"/>
-      <parent link="${prefix}link_4"/>
+      <parent link="${prefix}link_6"/>
       <child link="${prefix}flange"/>
     </joint>
 
     <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
     <link name="${prefix}tool0" />
-    <joint name="${prefix}link_4-tool0" type="fixed">
-      <origin xyz="0 0 0" rpy="${radians(0)} 0 0" />
+    <joint name="${prefix}link_6-tool0" type="fixed">
+      <origin xyz="0 0 0" rpy="0 ${radians(90)} 0" />
       <parent link="${prefix}flange" />
       <child link="${prefix}tool0" />
     </joint>