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moveit / panda_moveit_config

The Panda robot is the flagship MoveIt integration robot
http://docs.ros.org/kinetic/api/moveit_tutorials/html/
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Working with gazebo #98

Closed tahsinkose closed 2 years ago

tahsinkose commented 2 years ago

This makes the necessary changes for a working Gazebo integration. I've specified effort_joint_trajectory_controller as an example, but it could be position or velocity as well.

rhaschke commented 2 years ago

franka_ros provides different default controllers for real and sim. Thus, we need to offer an argument to choose the joint trajectory controller type. I implemented this in c38a59a. Closing here. @gollth: This PR here is exactly what I was afraid of in https://github.com/frankaemika/franka_ros/pull/186#issuecomment-965279938: users will try to hard-code the controller type and they need to change between sim and real.

gollth commented 2 years ago

franka_ros provides different default controllers for real and sim

There is no "default" controller neither for real nor for sim in franka_ros. Both offer the effort_joint_trajectory_interface which you could use as "default" if you will.