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Labbe24 / Collision-Detection-Ros

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Trajectory generator uses shared urdf #1

Open jens270996 opened 2 years ago

jens270996 commented 2 years ago

Trajectory generator should use robot specific urdf, and not shared urdf for both robots

jens270996 commented 2 years ago 
{
  JointModelMap::const_iterator it = joint_model_map_.find(name);
  if (it != joint_model_map_.end())
    return it->second;
  RCLCPP_ERROR(LOGGER, "Joint '%s' not found in model '%s'", name.c_str(), model_name_.c_str());
  return nullptr;
}

In file "moveit2/moveit_core/robot_model/src/robot_model.cpp"

Throws an exception when using urdf for just ur