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PickNikRobotics / UR10e_welding_demo

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Copy moveit_config from UR ROS2 driver package #3

Closed henningkayser closed 3 years ago

henningkayser commented 3 years ago

https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver

AdamPettinger commented 3 years ago

https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver

In that repo, they have example launch files for launching with ROS 2 Control, as well as MoveIt 2. I just pulled and tested with UR10e, and everything looked good (MoveIt, fake controller, Rviz).

Given that eventually we will want the hardware drivers, I am thinking instead of copying the moveit_config and ur_description packages here, we should just clone the Universal Robots repo (and it's depends) and use the pre-made launch files. Thoughts? @henningkayser

henningkayser commented 3 years ago

Yes, that makes a lot of sense. We probably still want a separate moveit config package that launches the custom description and includes more planner settings, if any.