{"action":"created","issue":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/200","labels_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/200/labels{/name}","comments_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/200/comments","events_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/200/events","html_url":"https://github.com/ros-industrial/universal_robot/pull/200","id":70053257,"number":200,"title":"Fix for issues #49 and #95: ros-i compatible base and tool0 frames","user":{"login":"gavanderhoorn","id":4550046,"avatar_url":"https://avatars.githubusercontent.com/u/4550046?v=3","gravatar_id":"","url":"https://api.github.com/users/gavanderhoorn","html_url":"https://github.com/gavanderhoorn","followers_url":"https://api.github.com/users/gavanderhoorn/followers","following_url":"https://api.github.com/users/gavanderhoorn/following{/other_user}","gists_url":"https://api.github.com/users/gavanderhoorn/gists{/gist_id}","starred_url":"https://api.github.com/users/gavanderhoorn/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/gavanderhoorn/subscriptions","organizations_url":"https://api.github.com/users/gavanderhoorn/orgs","repos_url":"https://api.github.com/users/gavanderhoorn/repos","events_url":"https://api.github.com/users/gavanderhoorn/events{/privacy}","received_events_url":"https://api.github.com/users/gavanderhoorn/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":12,"created_at":"2015-04-22T08:02:39Z","updated_at":"2015-05-18T16:51:18Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/pulls/200","html_url":"https://github.com/ros-industrial/universal_robot/pull/200","diff_url":"https://github.com/ros-industrial/universal_robot/pull/200.diff","patch_url":"https://github.com/ros-industrial/universal_robot/pull/200.patch"},"body":"As per subject.\r\n\r\nQuote of commit msg of db6b163:\r\n\r\n> Note that `base` is essentially `base_link` but rotated by 180 degrees over the Z-axis. This is necessary as the visual and collision geometries appear to also have their origins rotated 180 degrees wrt the real robot.\r\n\r\n> `tool0` is similar to `ee_link`, but with its orientation such that it coincides with an all-zeros TCP setting on the UR controller. Users are expected to attach their own TCP frames to this frame, instead of changing it to match the physical setup.\r\n\r\nNote also that the two frames are siblings of `base_link` and `ee_link`, not parents or children, so the kinematic chain `base_link->ee_link` is untouched. Existing MoveIt configurations and IKFast plugins should not be affected by these changes.\r\n\r\nUser-created composite urdfs (which instantiate either the `ur5_robot` or `ur10_robot` macros) could be affected, but only if they already have a link named `base` or `tool0` in their scene and they did not use a `prefix` when calling the robot macros (that could be considered user error).\r\n"},"comment":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/comments/103127133","html_url":"https://github.com/ros-industrial/universal_robot/pull/200#issuecomment-103127133","issue_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/200","id":103127133,"user":{"login":"abubeck","id":114571,"avatar_url":"https://avatars.githubusercontent.com/u/114571?v=3","gravatar_id":"","url":"https://api.github.com/users/abubeck","html_url":"https://github.com/abubeck","followers_url":"https://api.github.com/users/abubeck/followers","following_url":"https://api.github.com/users/abubeck/following{/other_user}","gists_url":"https://api.github.com/users/abubeck/gists{/gist_id}","starred_url":"https://api.github.com/users/abubeck/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/abubeck/subscriptions","organizations_url":"https://api.github.com/users/abubeck/orgs","repos_url":"https://api.github.com/users/abubeck/repos","events_url":"https://api.github.com/users/abubeck/events{/privacy}","received_events_url":"https://api.github.com/users/abubeck/received_events","type":"User","site_admin":false},"created_at":"2015-05-18T16:51:18Z","updated_at":"2015-05-18T16:51:18Z","body":"Thanks for your extensive explanation. You convinced me wrt. the robot independent naming.\r\nAs I said I'm fine with merging. And I will do so."}}