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Dual arm tutorial for ROS2 #3
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ShahhhVihaan
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Dual arm tutorial for ROS2 #3
ShahhhVihaan
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16
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UniversalRobots:main
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ShahhhVihaan:dual_arm_tutorials
Commits on Jun 24, 2024
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Add ros2 control parameters to dual arm urdf for dual arm driver
- Add ros2 control tags/parameters for each robot arm - Some parameters are specific to each arm and some common to both - Ports and IP different for each arm - RTDE scripts, mock hardware, headless mode common to the arms
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Modify ur_control.launch.py to launch controllers for both arms
- Instantiates one controller manager for both arms and passes the controller configs and update rate - Receives the robot_description param from the robot_description_topic (robot_state_publisher) - Does not yet implement io_and_status_controller and forward_velocity_controller - Has functionality to spawn and stop controllers for both arms - Only works in simulation and not with real hardware - Limited number of launch parameters as of now
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Commits on Jun 25, 2024
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Commits on Jul 3, 2024
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Merge branch 'dual_arm_tutorials' of https://github.com/ShahhhVihaan/…
…Universal_Robots_ROS2_Tutorials into dual_arm_tutorials
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