From 96c1f49d7996402969ff5f84b004ccb51b15e1b0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Sat, 12 Aug 2023 13:24:21 +0200 Subject: [PATCH] Fix 6dof robot links (#337) (cherry picked from commit 57a561ea28f91965893f5499159719017370ed88) --- example_7/doc/userdoc.rst | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/example_7/doc/userdoc.rst b/example_7/doc/userdoc.rst index 40ee2911b..ce2a939c5 100644 --- a/example_7/doc/userdoc.rst +++ b/example_7/doc/userdoc.rst @@ -176,7 +176,7 @@ The URDF file is generally formatted according to the following template. * The ``hardware`` and ``plugin`` tags instruct the ros2_control framework to dynamically load a hardware driver conforming to ``HardwareInterface`` as a plugin. The plugin is specified as ``<{Name_Space}/{Class_Name}``. * Finally, the ``joint`` tag specifies the state and command interfaces that the loaded plugins will offer. The joint is specified with the name attribute. The ``command_interface`` and ``state_interface`` tags specify the interface type, usually position, velocity, acceleration, or effort. -To simplify the URDF file, ``xacro`` is used to define macros, see `this tutorial `__. The complete xacro file for the robot in this tutorial is available `here `__. To verify the kinematic chain, the tool ``urdf_to_graphviz`` can be used after the URDF is generated by ``xacro``. Running +To simplify the URDF file, ``xacro`` is used to define macros, see `this tutorial `__. The complete xacro file for the robot in this tutorial is available `here `__. To verify the kinematic chain, the tool ``urdf_to_graphviz`` can be used after the URDF is generated by ``xacro``. Running .. code-block:: bash @@ -304,12 +304,12 @@ The plugin description file is a required XML file that describes a plugin's lib -The ``path`` attribute of the ``library`` tags refers to the cmake library name of the user defined hardware plugin. See `here `__ for the complete XML file. +The ``path`` attribute of the ``library`` tags refers to the cmake library name of the user defined hardware plugin. See `here `__ for the complete XML file. CMake library ************* -The general CMake template to make a hardware plugin available in ros2_control is shown below. Notice that a library is created using the plugin source code just like any other cmake library. In addition, an extra compile definition and cmake export macro (``pluginlib_export_plugin_description_file``) need to be added. See `here `__ for the complete ``CMakeLists.txt`` file. +The general CMake template to make a hardware plugin available in ros2_control is shown below. Notice that a library is created using the plugin source code just like any other cmake library. In addition, an extra compile definition and cmake export macro (``pluginlib_export_plugin_description_file``) need to be added. See `here `__ for the complete ``CMakeLists.txt`` file. .. code-block:: cmake @@ -487,7 +487,7 @@ The ``on_error`` method is called if the managed node fails a state transition. Plugin description file ************************** -The plugin description file is again required for the controller, since it is exported as a library. The controller plugin description file is formatted as follows. See `here `__ for the complete XML file. +The plugin description file is again required for the controller, since it is exported as a library. The controller plugin description file is formatted as follows. See `here `__ for the complete XML file. .. code-block:: xml @@ -507,7 +507,7 @@ The plugin description file is again required for the controller, since it is ex CMake library ************* -The plugin must be specified in the CMake file that builds the controller plugin. See `here `__ for the complete ``CMakeLists.txt`` file. +The plugin must be specified in the CMake file that builds the controller plugin. See `here `__ for the complete ``CMakeLists.txt`` file. .. code-block:: cmake