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CommonplaceRobotics / iRC_ROS

ROS2 packages for the igus Robot Control
Apache License 2.0
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Gripper coordinate systems do not follow the convention #85

Closed cpr-fer closed 1 year ago

cpr-fer commented 1 year ago

Description Gripper coordinate systems do not follow the convention

Your environment

ROS Distro: Humble
OS Version: Ubuntu 22.04
Branch/Commit hash: humble @ #[64b46e5](https://github.com/CommonplaceRobotics/iRC_ROS/commit/64b46e5a72ad058af95bd1ce5d3ea5aed911f18e)

Expected behavior According to REP103 all coordinate sytems should point with the z axis away from the body. Also tool0 should exist and mirror the flange frame

Actual behavior For the grippers this is currently not the case, as the the x axis is the one pointing away. Fixing this in the urdfs also requires adapting existing code, e.g. in the irc_ros_examples package