All Warthog attachments default to 0

Author: luis-camero

clearpath_platform_description/urdf/a200/attachments/top_plate.urdf.xacro

@@ -25,6 +25,13 @@
           <child link="${name}_link"/>
           <xacro:insert_block name="origin"/>
         </joint>
+        <!-- Top plate default link -->
+        <link name="${name}_default_mount"/>
+        <joint name="${name}_default_joint" type="fixed">
+          <parent link="${name}_link" />
+          <child link="${name}_default_mount"/>
+          <origin xyz="0.0812 0 0.00672" rpy="0 0 0"/>
+        </joint>
         <!-- Top plate front link -->
         <link name="${name}_front_mount"/>
         <joint name="${name}_front_joint" type="fixed">
@@ -79,6 +86,13 @@
           <child link="${name}_link"/>
           <origin xyz="0 0 0.021" rpy="0 0 0"/>
         </joint>
+        <!-- Top plate default link -->
+        <link name="${name}_default_mount"/>
+        <joint name="${name}_default_joint" type="fixed">
+          <parent link="${name}_link" />
+          <child link="${name}_default_mount"/>
+          <origin xyz="0.07987 0 0.00639" rpy="0 0 0"/>
+        </joint>
         <!-- Top plate front link -->
         <link name="${name}_front_mount"/>
         <joint name="${name}_front_joint" type="fixed">

clearpath_platform_description/urdf/w200/attachments/arm_mount.urdf.xacro renamed to clearpath_platform_description/urdf/w200/attachments/arm_plate.urdf.xacro

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="arm_mount" params="name:=arm_mount model:=default parent_link:=default_mount *origin">
+  <xacro:macro name="arm_plate" params="name:=arm_plate model:=default parent_link:=default_mount *origin">
     <link name="${name}_link">
       <visual>
         <origin xyz="0 0 0.02" rpy="0 0 0"/>
@@ -26,5 +26,11 @@
       <parent link="${parent_link}"/>
       <child link="${name}_link" />
     </joint>
+    <link name="${name}_mount"/>
+    <joint name="${name}_mount_joint" type="fixed">
+      <origin xyz="0 0 0.02" rpy="0 0 0"/>
+      <parent link="${name}_link"/>
+      <child link="${name}_mount"/>
+    </joint>
   </xacro:macro>
 </robot>

clearpath_platform_description/urdf/w200/attachments/bulkhead.urdf.xacro

@@ -1,17 +1,17 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:macro name="bulkhead" params="name:=bulkhead model:=default parent_link:=default_mount *origin">
-    <xacro:include filename="$(find clearpath_platform_description)/urdf/w200/attachments/arm_mount.urdf.xacro"/>
+    <xacro:include filename="$(find clearpath_platform_description)/urdf/w200/attachments/arm_plate.urdf.xacro"/>
     <link name="${name}_link">
       <visual>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <origin xyz="0.00705 0 0.24184" rpy="0 0 0"/>
         <geometry>
           <mesh filename="package://clearpath_platform_description/meshes/w200/bulkhead.stl" />
         </geometry>
         <material name="clearpath_black"><color rgba="0.15 0.15 0.15 1.0" /></material>
       </visual>
       <collision>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <origin xyz="0.00705 0 0.24184" rpy="0 0 0"/>
         <geometry>
           <mesh filename="package://clearpath_platform_description/meshes/w200/bulkhead-collision.stl" />
         </geometry>
@@ -29,17 +29,17 @@
       <child link="${name}_link" />
     </joint>
 
-    <link name="${name}_front_mount_link"/>
-    <joint name="${name}_front_mount_link_joint" type="fixed">
-      <origin xyz="0.33987 0 0.0" rpy="0 0 0" />
+    <link name="${name}_mount"/>
+    <joint name="${name}_mount_joint" type="fixed">
+      <origin xyz="0.34692 0 0.24184" rpy="0 0 0" />
       <parent link="${name}_link"/>
-      <child link="${name}_front_mount_link" />
+      <child link="${name}_mount" />
     </joint>
 
-    <xacro:if value="${model == 'arm_mount'}">
-      <xacro:arm_mount parent_link="${name}_front_mount_link">
+    <xacro:if value="${model == 'arm_plate'}">
+      <xacro:arm_plate parent_link="${name}_mount">
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-      </xacro:arm_mount>
+      </xacro:arm_plate>
     </xacro:if>
   </xacro:macro>
 </robot>

clearpath_platform_description/urdf/w200/attachments/generator.urdf.xacro

@@ -3,14 +3,14 @@
   <xacro:macro name="generator" params="name:=generator model:=default parent_link:=default_mount *origin">
     <link name="${name}_link">
       <visual>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <origin xyz="-0.42506 0.0 0.0017" rpy="0 0 0"/>
         <geometry>
           <mesh filename="package://clearpath_platform_description/meshes/w200/generator.stl" />
         </geometry>
         <material name="clearpath_black"><color rgba="0.15 0.15 0.15 1.0" /></material>
       </visual>
       <collision>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <origin xyz="-0.42506 0.0 0.0017" rpy="0 0 0"/>
         <geometry>
           <mesh filename="package://clearpath_platform_description/meshes/w200/generator.stl" />
         </geometry>