Closed rtkg closed 6 years ago
Hello Robert,
I added this to our KTH fork yesterday. The corresponding commit is:
https://github.com/kth-ros-pkg/yumi/commit/aac5d576bc51def78f5be1b041088c133802ba65
The files modified are:
yumi_description/urdf/yumi.urdf.xacro yumi_description/urdf/yumi_nogrippers.urdf.xacro yumi_launch/launch/yumi_gazebo_pos.launch yumi_launch/launch/yumi_gazebo_vel.launch yumi_launch/launch/yumi_pos_control.launch yumi_launch/launch/yumi_vel_control.launch
yumi_description/urdf/yumi.urdf.xacro should take two arguments such that the hardware interfaces for arms and grippers can be set independently.