Closed Nicogene closed 1 year ago
Hi @Nicogene,
I modified the configuration files inside the package icub_moveit_config
in order to include a ros2 controller for each part (head, l_arm, r_arm, torso, l_leg and r_leg). After that, I tried to launch gazebo and rviz and make some tests in order to see if everything worked properly. I attach here a video:
I noticed that from the generated configuration file (the ones generated from the moveit setup assistant) some joints were missing, so I checked manually those files and in the end all 32 joints were included.
Now, I will do the same for the ergocub_moveit_config
package
cc @pattacini
Today I modified the ros2/moveit configuration files within ergocub_moveit_config
package in order to have one controller for each part also for ergocub. I pushed the changes in this branch
cc @Nicogene @pattacini
This is a follow-up of #4.
We would like to add the controllers for handling also: