Merge pull request #5 from AGH-CEAI/humble-release

Pull v0.1.0-humble release to devel

Author: macmacal

CHANGELOG.md

@@ -8,16 +8,22 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ## [Unreleased]
 
 ### Added
+### Changed
+### Deprecated
+### Removed
+### Fixed
+### Security
+
+## [0.1.0] - 2025-03-13
+
+### Added
+
 * [PR-1](https://github.com/AGH-CEAI/robotiq_hande_description/pull/1) - Configuration parameters for ModbusRTU.
 
 ### Changed
-* [PR-3](https://github.com/AGH-CEAI/robotiq_hande_description/pull/3) - Changed the coupler model and simplified URDF files by editing the models.
-
-### Deprecated
 
-### Removed
+* [PR-3](https://github.com/AGH-CEAI/robotiq_hande_description/pull/3) & [PR-4](https://github.com/AGH-CEAI/robotiq_hande_description/pull/3) - Changed the coupler model and simplified URDF files by editing the models.
 
 ### Fixed
-* [PR-2](https://github.com/AGH-CEAI/robotiq_hande_description/pull/2) - Removed unnecessary quotation marks from parameter values.
 
-### Security
+* [PR-2](https://github.com/AGH-CEAI/robotiq_hande_description/pull/2) - Removed unnecessary quotation marks from parameter values.

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>robotiq_hande_description</name>
-  <version>0.0.1</version>
+  <version>0.1.0</version>
   <description>Contains meshes and URDF description of the Robotiq Hand-E gripper.</description>
   <maintainer email="mac.aleksandrowicz@gmail.com">Maciej Aleksandrowicz</maintainer>
   <license>Apache-2.0</license>

urdf/cylinder_inertial.xacro

@@ -1,8 +1,9 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="cylinder_inertial" params="r h m">
+  <xacro:macro name="cylinder_inertial" params="r h m *origin">
     <inertial>
       <mass value="${m}"/>
+      <xacro:insert_block name="origin"/>
       <inertia ixx="${0.0833333 * m * (3 * (r * r) + h * h)}" ixy="0.0" ixz="0.0" iyy="${0.0833333 * m * (3 * (r * r) + h * h)}" iyz="0.0" izz="${0.5 * m * (r * r)}"/>
     </inertial>
   </xacro:macro>

urdf/robotiq_hande_gripper.xacro

@@ -55,7 +55,9 @@
         </geometry>
       </collision>
 
-      <xacro:cylinder_inertial r="$(arg hande_radius)" h="$(arg coupler_shell_height)" m="${coupler_mass}"/>
+      <xacro:cylinder_inertial r="$(arg hande_radius)" h="$(arg coupler_shell_height)" m="${coupler_mass}">
+        <origin xyz="0 0 ${$(arg coupler_shell_height) / 2 - $(arg coupler_parent_cutoff)}" rpy="0 0 0"/>
+      </xacro:cylinder_inertial>
     </link>
 
     <joint name="${prefix}robotiq_hande_base_joint" type="fixed">
@@ -79,7 +81,9 @@
         </geometry>
       </collision>
 
-      <xacro:cylinder_inertial r="$(arg hande_radius)" h="$(arg hande_height)" m="0.86387"/>
+      <xacro:cylinder_inertial r="$(arg hande_radius)" h="$(arg hande_height)" m="0.86387">
+        <origin xyz="0 0 ${$(arg hande_height) / 2}" rpy="0 0 0"/>
+      </xacro:cylinder_inertial>
     </link>
 
     <joint name="${prefix}robotiq_hande_left_finger_joint" type="prismatic">