What I like about this, that the description itself becomes a lot cleaner this way. What I don't like so far is the package with ros2_control support. It contains a lot of code duplication and I had to re-define reading the kinematics hash. So, there is definitively room for improvement.
fmauch
commented
10 months ago
PR aims at separating the description into a pure description of the robot's visuals, kinematics and the control structure.
This is basically motivated from #52 as I had something like that in my head for a while and I wanted to try it out.
Maybe it makes more sense to include the
ros2_controlpart in the main xacro file as suggested in https://github.com/ipa-cmh/Universal_Robots_ROS2_Description/pull/1.What I like about this, that the description itself becomes a lot cleaner this way. What I don't like so far is the package with
ros2_controlsupport. It contains a lot of code duplication and I had to re-define reading the kinematics hash. So, there is definitively room for improvement.