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Kawasaki-Robotics / khi_robot

ROS KHI robot meta-package
http://wiki.ros.org/khi_robot
BSD 3-Clause "New" or "Revised" License
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Convert robot model xacros into xacro macros #2

Closed gavanderhoorn closed 5 years ago

gavanderhoorn commented 5 years ago

All supported series and variants have been converted to macros.

PR can be reviewed.

gavanderhoorn commented 5 years ago

@d-nakamichi: as discussed, this is a first PR which converts the supported robot variants into xacro:macros.

As I wrote in #1, this will greatly facilitate integrating Kawasaki robots into larger xacro-based workcell models.

A follow-up PR will propose some additional changes, but I wanted to first open this one so we can discuss the approach.

gavanderhoorn commented 5 years ago

@matsui-hiro: these are some changes that prepare the xacros for use in composite environments. It is not yet complete (at least a prefix per link and joint is needed).

I did not want to create too large a PR for the first one, so I did not add the prefix now.

If/when you merge this PR, I'll submit a new one which adds the prefix argument.