Closed martinaxgloria closed 12 months ago
You're right @Nicogene. So far, this urdf is used by spaw_icub.py
which is an executable used to spawn the icub model on gazebo when the proper node is launched. I'm going to make some changes in order to use the one in icub-models instead of adding this urdf
Hi @Nicogene, with https://github.com/icub-tech-iit/study-moveit/pull/10/commits/1639e45a5884a64a1292807841d4e707ce4264b7 I removed something that is not used and I modified the executable to spawn the icub model on gazebo using the .urdf.xacro
file generated by the moveit setup assistant which relies on the urdf in icub-models
As per title. It includes the following ROS2 packages:
icub_moveit_config
: it contains the configuration files used by MoveIt to load and runiCubV2_5
model on rviz;ergocub_moveit_config
: the same as above, but forergocub
;icub_moveit
: it containsicub.launch.py
launch file used to launch all the ros2 nodes needed for the simulation;icub_controller
: pkg that handles the ros2_control framework.I also updated the README.md file with a more detailed description of how to install and use the simulation so far.