[tm_driver] merge non-moveit and moveit version. - Githubissues

TechmanRobotInc / tmr_ros2

TM Robots supporting ROS2 drivers and some extended external applications. (experimental) (not support the new TM S-Series)

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[tm_driver] merge non-moveit and moveit version. #34

Open MatthijsBurgh opened 1 year ago

MatthijsBurgh commented 1 year ago

I am a robotics engineer at VBTI Eindhoven, The Netherlands

I suggest you drop the 2 versions of the tm_driver. The follow_joint interface can also be used without moveit. So make it the default. Doesn't matter when that interface is exposed, but not used. It does remove some duplicate code.

ToDo's:

[ ] Merge the moveit classes into the base class.
[ ] Drop the moveit naming
[ ] Drop the moveit check from the CMakeLists

I am happy to help you with this PR.