From bd98e5f3b3b99023942d3a6df7ac9992c346744c Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Wed, 29 May 2019 13:24:50 +0200
Subject: [PATCH] Make the kinematic chain start from base_link instead of
 base.

---
 ur_description/urdf/ur10.urdf.xacro | 48 +++++++++++++++--------------
 1 file changed, 25 insertions(+), 23 deletions(-)

diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
index a2ce23591..304c73812 100644
--- a/ur_description/urdf/ur10.urdf.xacro
+++ b/ur_description/urdf/ur10.urdf.xacro
@@ -62,13 +62,34 @@
     <xacro:property name="upper_arm_length" value="${-1 * __kinematics['forearm']['x']}" />
     <xacro:property name="forearm_length" value="${-1 * __kinematics['wrist_1']['x']}" />
 
+    <!-- This is for compatibility reasons, as transformation between base and base_link was always 180 degree in the ur_description -->
+    <xacro:property name="base_correction" value="${pi}" />
+
     <link name="${prefix}base_link" >
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
+        <geometry>
+          <mesh filename="package://ur_description/meshes/ur10/visual/base.dae"/>
+        </geometry>
+        <material name="LightGrey">
+          <color rgba="0.7 0.7 0.7 1.0"/>
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
+        <geometry>
+          <mesh filename="package://ur_description/meshes/ur10/collision/base.stl"/>
+        </geometry>
+      </collision>
+      <xacro:cylinder_inertial radius="0.075" length="0.038" mass="${base_mass}">
+        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+      </xacro:cylinder_inertial>
     </link>
 
     <joint name="${prefix}shoulder_pan_joint" type="revolute">
-      <parent link="${prefix}base" />
+      <parent link="${prefix}base_link" />
       <child link = "${prefix}shoulder_link" />
-      <origin xyz="${__kinematics['shoulder']['x']} ${__kinematics['shoulder']['y']} ${__kinematics['shoulder']['z']}" rpy="${__kinematics['shoulder']['roll']} ${__kinematics['shoulder']['pitch']} ${__kinematics['shoulder']['yaw']}" />
+      <origin xyz="${__kinematics['shoulder']['x']} ${__kinematics['shoulder']['y']} ${__kinematics['shoulder']['z']}" rpy="${__kinematics['shoulder']['roll']} ${__kinematics['shoulder']['pitch']} ${__kinematics['shoulder']['yaw'] + base_correction}" />
       <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
@@ -300,33 +321,14 @@
     <xacro:ur_arm_gazebo prefix="${prefix}" />
 
     <!-- ROS base_link to UR 'Base' Coordinates transform -->
-    <link name="${prefix}base">
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
-        <geometry>
-          <mesh filename="package://ur_description/meshes/ur10/visual/base.dae"/>
-        </geometry>
-        <material name="LightGrey">
-          <color rgba="0.7 0.7 0.7 1.0"/>
-        </material>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
-        <geometry>
-          <mesh filename="package://ur_description/meshes/ur10/collision/base.stl"/>
-        </geometry>
-      </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.038" mass="${base_mass}">
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
-      </xacro:cylinder_inertial>
-    </link>
+    <link name="${prefix}base"/>
 
     <joint name="${prefix}base_link-base_fixed_joint" type="fixed">
       <!-- NOTE: this rotation is only needed as long as base_link itself is
                  not corrected wrt the real robot (ie: rotated over 180
                  degrees)
       -->
-      <origin xyz="0 0 0" rpy="0 0 ${-pi}"/>
+      <origin xyz="0 0 0" rpy="0 0 ${-base_correction}"/>
       <parent link="${prefix}base_link"/>
       <child link="${prefix}base"/>
     </joint>