-
Notifications
You must be signed in to change notification settings - Fork 52
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
lrmate200id_moveit_cfg: demo of controlling LRMate200iD with Moveit on Gazebo #21
base: indigo-devel
Are you sure you want to change the base?
lrmate200id_moveit_cfg: demo of controlling LRMate200iD with Moveit on Gazebo #21
Conversation
wkentaro
commented
Jul 6, 2016
•
edited
Loading
edited
66120f8
to
c6c4333
Compare
Hi, thanks for the PR. Can you tell me how this is related to #20? |
- name: "" | ||
action_ns: joint_trajectory_action | ||
- name: joint_trajectory_controller | ||
action_ns: follow_joint_trajectory | ||
type: FollowJointTrajectory | ||
joints: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6] |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
We cannot change this file, as it is used with the default moveit_planning_execution.launch
(or at least: MoveIt is configured to use it as it is via one of the included launch files).
You'd have to remap the AS topics to the 'ros-industrial specs'. See abb_experimental/abb_irb120_gazebo/launch/irb120_gazebo.launch for an example.
(moved to general discussion from on-commit comment) The problem with adding an In the case of the ABB IRB 120(T) and its Gazebo support package, for that reason, we chose to keep the Gazebo dependency (brought in transitively through Instead, we only included the I'd prefer something like that for this |
There was some debate over whether the An alternative could be to create a new package, It would cleanly separate the dependencies, but a drawback is that it would add The layout of |
c6c4333
to
95792dc
Compare
95792dc
to
28e5721
Compare
Ok, I removed the dependency on |
28e5721
to
5c4d764
Compare
8742e83
to
f87352a
Compare
f87352a
to
b5f58c6
Compare
Hello I'm wondering if there is a reason this hasn't been merged in yet? I think it would be very useful for the community to have a gazebo model for these robots. |
The reason is/was that there are various aspects of the PR which weren't in a state that they were acceptable for inclusion in the repository. I'd have to take another look to see what those were.
while in general I agree, we have to keep in mind that Gazebo is a moving target, with sometimes very different behaviour between the different versions. What works well in one version does not have to work in others. If we start adding Gazebo support packages for the robots here, it will significantly increase maintenance. Edit: just took a quick look: the |