Feature/mobile robot support #56
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Svastits
requested changes
Apr 30, 2024
kuka_mobile_robot_support/ros2_control/diffbot.ros2_control.xacro
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kuka_mobile_robot_support/ros2_control/mrob_kuka.ros2_control.xacro
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kuka_mobile_robot_support/ros2_control/diffbot.ros2_control.xacro
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kuka_mobile_robot_support/ros2_control/mrob_kuka.ros2_control.xacro
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| </xacro:unless> | ||
| </hardware> | ||
| <!-- define joints and command/state interfaces for each joint --> | ||
| <joint name="${prefix}twist"> |
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is this joint actually needed? is the exporting of command and state interfaces in the hwif not enough?
please see original comment
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ok, this might actually be needed as we use the forward command controller
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| <xacro:arg name="x" default="0"/> | ||
| <xacro:arg name="y" default="0"/> | ||
| <xacro:arg name="z" default="0"/> | ||
| <xacro:arg name="roll" default="0"/> | ||
| <xacro:arg name="pitch" default="0"/> | ||
| <xacro:arg name="yaw" default="0"/> |
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As I see, these are not necessary and should be removed
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Jul 3, 2024
| <xacro:arg name="pitch" default="0"/> | ||
| <xacro:arg name="yaw" default="0"/> | ||
| <xacro:mrob_kuka prefix="$(arg prefix)" controller_ip="$(arg controller_ip)" client_ip="$(arg client_ip)" use_fake_hardware="$(arg use_fake_hardware)" roundtrip_time="$(arg roundtrip_time)" qos_config_file="$(arg qos_config_file)"> | ||
| <origin xyz="$(arg x) $(arg y) $(arg z)" rpy="$(arg roll) $(arg pitch) $(arg yaw)"/> |
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| <xacro:include filename="$(find kuka_kmr_iisy_support)/urdf/kmr_iisy_ros2_control.xacro" /> | ||
| <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/> | ||
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| <xacro:macro name="mrob_kuka" params="prefix controller_ip client_ip use_fake_hardware roundtrip_time qos_config_file *origin"> |
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Before submitting this PR into master please make sure:
If you added a new robot model:
README.mdwith the new modeltest_<robot_model>.launch.pyand after launching the robot was visible inrviz<robot_model>_joint_limits.yamlfile in theconfigdirectory (to provide moveit support)If you modified an already existing robot model:
README.mdwith the changestest_<robot_model>.launch.pyand the robot was visible inrvizShort description of the change
Added a mobile robot support package with a differential KMR.