Add the implemented ros2 packages to work with moveit2

icub-tech-iit / xcub-moveit2

Collect the outcomes of our study on the use of MoveIT with our robots

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

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Add the implemented ros2 packages to work with moveit2 #10

Closed martinaxgloria closed 12 months ago

martinaxgloria commented 1 year ago

As per title. It includes the following ROS2 packages:

icub_moveit_config: it contains the configuration files used by MoveIt to load and run iCubV2_5 model on rviz;
ergocub_moveit_config: the same as above, but for ergocub;
icub_moveit: it contains icub.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.

martinaxgloria commented 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

martinaxgloria commented 12 months ago

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