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Kinovarobotics / ros_kortex

ROS packages for KINOVA® KORTEX™ robotic arms
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Added extra world option #306

Closed aashizpoudel closed 2 months ago

aashizpoudel commented 1 year ago

This pull request addresses an integration problem where the created "world" link causes conflicts when simulating robotic arm placed on top of Clearpath Husky UGV on Gazebo. By introducing a new "world" parameter in the load_robot macro, with a default value of True, developers can have the flexibility to set it as False in their customized URDF files, controlling where and how to put "world" link in their own urdf files.

smoya23 commented 7 months ago

@aashizpoudel I think that the correct way to go about this would be to instead specify a parent to the load_robot macro of the arm. This would need slight modifications in our xacro files, as we have done in our ros2 repo https://github.com/Kinovarobotics/ros2_kortex/blob/402b64519febd31212ca6585e40d9e66edfc0e79/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro#L61-L65

martinleroux commented 2 months ago

I will be closing this PR due to inactivity after our review.