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Add pre-commit routines for prettier formatting on Xacro, launch and package XML files (#58)
* Add pre-commit check for prettier formatting on Xacro, launch and package XML files * Run pre-commit * Update repo for Xacro pre-commit hooks, now points to PRL repo
1 parent 616a9c5 commit 944a2a1

31 files changed

+4976
-1937
lines changed

‎.pre-commit-config.yaml

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Original file line numberDiff line numberDiff line change
@@ -67,3 +67,10 @@ repos:
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- id: codespell
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args:
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- --ignore-words=.codespell-ignore
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- repo: https://github.com/personalrobotics/pr-pre-commit-hooks
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rev: v1.0.0
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hooks:
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- id: prettier-xacro
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- id: prettier-launch-xml
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- id: prettier-package-xml

‎ada_calibrate_camera/launch/publish_camera_extrinsics_launch.xml

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@@ -2,12 +2,17 @@
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Copyright (c) 2024-2025, Personal Robotics Laboratory
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License: BSD 3-Clause. See LICENSE.md file in root directory.
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-->
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<launch>
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<arg name="calibration_file_name" default="auto" description="Name of the calibration file to save" />
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<arg name="log_level" default="info" description="Log level to pass to create_action_servers: debug, info, warn" />
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<arg name="calibration_file_name" default="auto" description="Name of the calibration file to save"/>
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<arg name="log_level" default="info" description="Log level to pass to create_action_servers: debug, info, warn"/>
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<node pkg="ada_calibrate_camera" exec="publish_camera_extrinsics" name="publish_camera_extrinsics" respawn="true" args="--ros-args --log-level $(var log_level) --log-level rcl:=INFO --log-level rmw_cyclonedds_cpp:=INFO">
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<node
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pkg="ada_calibrate_camera"
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exec="publish_camera_extrinsics"
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name="publish_camera_extrinsics"
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respawn="true"
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args="--ros-args --log-level $(var log_level) --log-level rcl:=INFO --log-level rmw_cyclonedds_cpp:=INFO"
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>
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<param from="$(find-pkg-share ada_calibrate_camera)/config/calibs/$(var calibration_file_name).yaml"/>
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</node>
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</launch>

‎ada_description/package.xml

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@@ -3,9 +3,7 @@
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<package format="3">
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<name>ada_description</name>
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<version>0.0.2</version>
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<description>
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URDF description for Assistive Dexterous Arm
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</description>
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<description>URDF description for Assistive Dexterous Arm</description>
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<author>Ethan K. Gordon</author>
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‎ada_description/urdf/ada.xacro

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Original file line numberDiff line numberDiff line change
@@ -1,51 +1,82 @@
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<?xml version="1.0"?>
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<robot xmlns:xi="http://www.w3.org/2001/XInclude"
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<robot
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xmlns:xi="http://www.w3.org/2001/XInclude"
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xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
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xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
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xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
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xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
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xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
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xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
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xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
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xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
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xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
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xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
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xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
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xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
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xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
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xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
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xmlns:xacro="http://www.ros.org/wiki/xacro" name="ada">
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xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
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xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
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xmlns:xacro="http://www.ros.org/wiki/xacro"
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name="ada"
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>
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<xacro:include filename="$(find ada_description)/urdf/forque/forque.xacro"/>
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<xacro:include filename="$(find ada_description)/urdf/camera/camera.xacro"/>
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<xacro:include filename="$(find ada_description)/urdf/j2n6s200.xacro"/>
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<xacro:arg name="use_forque" default="true"/>
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<xacro:arg
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name="use_forque"
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default="true"
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/>
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<link name="root"/>
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<link name="root_tilt"/>
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<joint name="robot_tilt" type="revolute">
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<origin xyz="0 0 0" rpy="0 0 0" />
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<child link="root_tilt" />
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<parent link="root" />
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<joint
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name="robot_tilt"
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type="revolute"
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>
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<origin
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xyz="0 0 0"
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rpy="0 0 0"
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/>
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<child link="root_tilt"/>
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<parent link="root"/>
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<axis xyz="-1 0 0"/>
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<!-- effort copied from j2n6s200 joint 2, velocity is max velocity the wheelchair can tilt,
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lower and upper limits generously encompass the range of the wheelchair's tilt-->
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<limit effort="80" velocity="0.15" lower="${-J_PI}" upper="${J_PI}"/>
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<dynamics damping="0.0" friction="0.0"/>
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<limit
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effort="80"
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velocity="0.15"
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lower="${-J_PI}"
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upper="${J_PI}"
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/>
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<dynamics
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damping="0.0"
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friction="0.0"
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/>
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</joint>
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<xacro:property name="robot_root" value="root_tilt" />
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<xacro:property
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name="robot_root"
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value="root_tilt"
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/>
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<xacro:j2n6s200 base_parent="${robot_root}"/>
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<xacro:camera_assembly base_parent="j2n6s200_link_6" base_xyz="0.0165 0 0.0011" base_rpy="${3*J_PI/2} 0 ${3*J_PI/2}"/>
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<xacro:camera_assembly
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base_parent="j2n6s200_link_6"
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base_xyz="0.0165 0 0.0011"
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base_rpy="${3*J_PI/2} 0 ${3*J_PI/2}"
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/>
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<!-- Hard-coded Extrinsics -->
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<link name="camera_link" />
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<joint name="extrinsics" type="fixed">
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<origin xyz="0.0194 -0.01606 0.029014" rpy="0.17234 -1.56127 2.96967" />
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<parent link="cameraMount" />
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<child link="camera_link" />
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<link name="camera_link"/>
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<joint
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name="extrinsics"
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type="fixed"
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>
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<origin
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xyz="0.0194 -0.01606 0.029014"
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rpy="0.17234 -1.56127 2.96967"
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/>
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<parent link="cameraMount"/>
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<child link="camera_link"/>
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</joint>
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<!-- Copy Realsense in case of simulation -->
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<!--
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</joint>
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-->
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<xacro:forque_assembly_link link_name="FTArmMount" link_mesh="2024_01_18_FTArmMount" mass="0.03783" cog="0.010957 -0.019223 -0.03777">
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<inertia ixx="0.000018817" iyy="0.00001119989" iyz="-0.00000120296" izz="0.000026883" ixy="-0.0000003327" ixz="-0.000000092476"/>
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<xacro:forque_assembly_link
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link_name="FTArmMount"
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link_mesh="2024_01_18_FTArmMount"
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mass="0.03783"
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cog="0.010957 -0.019223 -0.03777"
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>
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<inertia
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ixx="0.000018817"
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iyy="0.00001119989"
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iyz="-0.00000120296"
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izz="0.000026883"
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ixy="-0.0000003327"
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ixz="-0.000000092476"
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/>
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</xacro:forque_assembly_link>
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<xacro:forque_assembly_joint joint_name="FTArmMount_to_arm" parent="j2n6s200_link_6" child="FTArmMount" joint_origin_xyz="0.0065 -0.011 -0.0075" joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}"/>
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<xacro:forque_assembly_joint
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joint_name="FTArmMount_to_arm"
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parent="j2n6s200_link_6"
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child="FTArmMount"
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joint_origin_xyz="0.0065 -0.011 -0.0075"
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joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}"
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/>
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65114
<xacro:if value="$(arg use_forque)">
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<xacro:forque_assembly base_parent="FTArmMount"/>
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68-
<link name="FTSensor" />
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<joint name="EE_to_FTSensor" type="fixed">
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<child link="FTSensor"/>
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<parent link="j2n6s200_end_effector"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.092"/>
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<link name="FTSensor"/>
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<joint
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name="EE_to_FTSensor"
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type="fixed"
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>
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<child link="FTSensor"/>
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<parent link="j2n6s200_end_effector"/>
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<origin
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rpy="0 0 0"
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xyz="0.0 0.0 0.092"
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/>
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</joint>
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</xacro:if>
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</robot>

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