From 577d0657b53815ae4822c9dd978db3fa31a5dadb Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Tue, 18 Jun 2019 18:13:09 +0200
Subject: [PATCH] [wip/tiago-data] Fix tiago_steel.urdf to make wheels revolute
joints Bump PKGREVISION to 1
---
tiago-data/Makefile | 1 +
tiago-data/distinfo | 1 +
tiago-data/patches/patch-aa | 33 +++++++++++++++++++++++++++++++++
3 files changed, 35 insertions(+)
create mode 100644 tiago-data/patches/patch-aa
diff --git a/tiago-data/Makefile b/tiago-data/Makefile
index 586777f1..c017bf37 100644
--- a/tiago-data/Makefile
+++ b/tiago-data/Makefile
@@ -10,6 +10,7 @@ PKGNAME= ${PKGBASE}-${VERSION}
ROSNAME= $(subst -,_,${PKGBASE})
WRKSRC= ${WRKDIR}/${ROSNAME}-${VERSION}
DIST_SUBDIR= ${PKGBASE}
+PKGREVISION= 1
CATEGORIES= wip
diff --git a/tiago-data/distinfo b/tiago-data/distinfo
index 45f8f741..02bf5708 100644
--- a/tiago-data/distinfo
+++ b/tiago-data/distinfo
@@ -1,3 +1,4 @@
SHA1 (tiago-data/1.0.0.tar.gz) = b1a528c212de6d972607138869c8e4d1977855e5
RMD160 (tiago-data/1.0.0.tar.gz) = 1141f351b4d9b7bbe6f526aa87dfac994c151fe8
Size (tiago-data/1.0.0.tar.gz) = 5309877 bytes
+SHA1 (patch-aa) = e71d2c9b4c579440fdb702f3b457a1146dbf2726
diff --git a/tiago-data/patches/patch-aa b/tiago-data/patches/patch-aa
new file mode 100644
index 00000000..9959882a
--- /dev/null
+++ b/tiago-data/patches/patch-aa
@@ -0,0 +1,33 @@
+--- robots/tiago_steel.urdf
++++ robots/tiago_steel.urdf
+@@ -562,12 +562,12 @@
+ <dynamics damping="100"/>
+ <safety_controller k_position="0" k_velocity="10" soft_lower_limit="-0.005" soft_upper_limit="0.005"/>
+ </joint>
+- <joint name="wheel_right_joint" type="fixed">
++ <joint name="wheel_right_joint" type="revolute">
+ <parent link="suspension_right_link"/>
+ <child link="wheel_right_link"/>
+ <origin rpy="-1.57079632679 0 0" xyz="0 -0.2022 0"/>
+ <axis xyz="0 0 1"/>
+- <limit effort="6.0" velocity="10.152284264"/>
++ <limit effort="6.0" velocity="10.152284264" lower="-inf" upper="inf"/>
+ </joint>
+ <transmission name="wheel_right_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+@@ -630,12 +630,12 @@
+ <dynamics damping="100"/>
+ <safety_controller k_position="0" k_velocity="10" soft_lower_limit="-0.005" soft_upper_limit="0.005"/>
+ </joint>
+- <joint name="wheel_left_joint" type="fixed">
++ <joint name="wheel_left_joint" type="revolute">
+ <parent link="suspension_left_link"/>
+ <child link="wheel_left_link"/>
+ <origin rpy="-1.57079632679 0 0" xyz="0 0.2022 0"/>
+ <axis xyz="0 0 1"/>
+- <limit effort="6.0" velocity="10.152284264"/>
++ <limit effort="6.0" velocity="10.152284264" lower="-inf" upper="inf"/>
+ </joint>
+ <transmission name="wheel_left_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+
--
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