Set URDF joint dynamics from joint effort values.

UniversalRobots / Universal_Robots_ROS2_Gazebo_Simulation

BSD 3-Clause "New" or "Revised" License

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Set URDF joint dynamics from joint effort values. #24

Closed danzimmerman closed 1 year ago

danzimmerman commented 1 year ago

This PR goes along with https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/pull/56 as one way to solve #19.

It computes joint friction as a multiple of joint effort and passes those values to the ur_description .xacro file through the new joint dynamics parameter.

danzimmerman commented 1 year ago

As far as I can tell https://github.com/ros-controls/gazebo_ros2_control/pull/213 fixed the underlying issue.

I don't know of other use cases for joint dynamics, so I'll close this.