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CommonplaceRobotics / iRC_ROS

ROS2 packages for the igus Robot Control
Apache License 2.0
15 stars 7 forks source link

MoveIt launch file improvements #11

Closed cpr-fer closed 1 year ago

cpr-fer commented 1 year ago

The current way of loading the required files makes it difficult to use files outside the package. This means having a duplicate of the urdf/xacro file inside the package. Furthermore the launch file contains duplicate code from the irc_ros_bringup rebel.launch.py file. Loading the original launch file would simplify the code a lot. Depending on the effort required it would also be desirable to support more different kinematics with the package, at least different models of the rebel. This seems to require using a srdf/xacro file and more duplicate files, unless a different way of loading the config files is used.

I am usure how to best handle this, the approaches of manually loading the files used by e.g. UR ROS2 and franka_ros2 also seem not 100% clean.

cpr-fer commented 1 year ago

As a followup to #51 joint prefixes and namespaces should also be supported