This package contains the MoveIt! config files for all possible TIAGo++ configurations (end effectors, force torque sensors..).
To make maintenance easier, there are templates of the files that differ between configurations. To understand how this template works please read https://github.com/pal-robotics/tiago_dual_robot/ readme.
If you need to modify the setup assistant, you'll need to:
end_effector_left
, end_effector_right
, ft_sensor_left
, ft_sensor_right
and base_type
. Also add no_safety_eps:=False
config/tiago_dual.srdf
if you want to load existing moveit configuration. The SRDF files used are in config/srdf
, and only changes in that directory will not reflect on the robot.Make sure that after running to reflect the changes in the auto generated files.