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frankaemika / franka_description

Official models of Franka Robotics GmbH robots
Apache License 2.0
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Specify unique namespaces for robots in xacros? #5

Open shart-bdai opened 6 days ago

shart-bdai commented 6 days ago

From what I can tell, the current robot/hand xacros are not set up to support adding arbitrary namespaces to the links and joints. Is this correct?

we are looking to build a dual-fr3 setup in which we have left and right arms in the same URDF, but from what I can tell this is not currently supported, and the changes would be pretty messy due to the the different setup cases (gazebo, ros2_control, different hands), and the loaded yaml config files for the things like inertials, joint_limits, etc.

would it be possible to request this, if not currently possible?

shart-bdai commented 6 days ago

Took a stab at what this might look like (though by no means fully tested).
namespace_prefix_diff.txt

Any recs on how to do this better would be apprecaited.