smoya23
commented
3 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
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.