Split ros_control hardware interface arguments for arms and gripper

OrebroUniversity / yumi

ROS packages pertaining to the ABB YuMi (IRB 14000) robot

BSD 2-Clause "Simplified" License

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Split ros_control hardware interface arguments for arms and gripper #11

Closed rtkg closed 6 years ago

rtkg commented 7 years ago

yumi_description/urdf/yumi.urdf.xacro should take two arguments such that the hardware interfaces for arms and grippers can be set independently.

YoshuaNava commented 7 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