This PR introduces a new configure_via_rws parameter that if set to false in the ros2_control.xacro, will configure the robot_controller_description proto from joint information in the ros2_control.xacro as opposed to retrieving this information from RWS which is non-trivial with Omnicore Controllers.
By default and if unspecified, this parameter is set to true which matches the current behavior.
I've tested this with an IRB1300 and CRB1100 and it works.
Addresses https://github.com/PickNikRobotics/abb_ros2/issues/25
This PR introduces a new
configure_via_rwsparameter that if set tofalsein theros2_control.xacro, will configure therobot_controller_descriptionproto from joint information in theros2_control.xacroas opposed to retrieving this information fromRWSwhich is non-trivial with Omnicore Controllers. By default and if unspecified, this parameter is set totruewhich matches the current behavior.I've tested this with an
IRB1300andCRB1100and it works.