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mkrizmancic / franka_gazebo

A simple ROS Gazebo package for Franka Panda robot arm.
Apache License 2.0
29 stars 15 forks source link

Integration with MoveIt #2

Closed takayuki5168 closed 4 years ago

takayuki5168 commented 4 years ago

@mkrizmancic

Hi. I want to use Panda in gazebo with MoveIt. For that we have to use joint trajectory controller instead of joint position controller. I folked this repo and implemented joint trajectory controller and moveit interface. https://github.com/takayuki5168/franka_gazebo/tree/joint-trajectory-action

Could you merge if I will make this PR? Please tell me your opinion.

mkrizmancic commented 4 years ago

Hi! That sounds great and I would love to merge your changes.

However, as you can see in #1, this package only works with ROS Kinetic and there are newer and better packages for simulating Franka in Gazebo. I have also moved to Melodic some time ago so I don't maintain this one any more. That also means I won't be able to check your work, but I am willing to take your word that everything works fine. If you are planning to continue developing for Kinetic, I could also link your repo in README so others searching for Franka can have your latest code.

Let me know what you think.

takayuki5168 commented 4 years ago

@mkrizmancic Thanks you for your comment! I see. Are there any better or newer ros package to simulate Franka in Gazebo?

mkrizmancic commented 4 years ago

This one seems to be quite popular and in active development.

takayuki5168 commented 4 years ago

@mkrizmancic I see. Then I will use that repository. Thanks a lot.