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UniversalRobots / Universal_Robots_ROS2_Description

ROS2 URDF description for Universal Robots
BSD 3-Clause "New" or "Revised" License
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Generically expose URDF joint dynamics. #56

Open danzimmerman opened 1 year ago

danzimmerman commented 1 year ago

This is aimed at simulation use cases like #54 and #55, where simulation needs dictate different non-zero joint dynamics parameters.

In ur.urdf.xacro I provide an example loading the joint dynamics properties from a config file, but followed the treatment of initial_positions so that no config file is necessary to use the xacro:ur_robot macro in other contexts.

For the Gazebo Classic use case, I want to compute the dynamics parameters dynamically from other data, setting the joints' friction attributes to a multiple of the joints' effort limits like here.

(See discussion in #55 and Universal_Robots_ROS2_Gazebo_Simulation/#19 for context.)

In other user code including ur_macro.xacro I think this should not require any changes.

danzimmerman commented 1 year ago

This should likely wait and build on top of #59 or equivalent.