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ros-industrial / abb

ROS-Industrial ABB support (http://wiki.ros.org/abb)
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Add ABB IRB2400 12kg 1.55m with new naming convention #123

Closed Levi-Armstrong closed 7 years ago

Levi-Armstrong commented 7 years ago

Also include the parallel linkages as mimic joints.

Levi-Armstrong commented 7 years ago

@Jmeyer1292 or @gavanderhoorn Would either of you mind review this PR?

gavanderhoorn commented 7 years ago

Just took a look: I'd suggest adding only one of the two variants (say the 12 kg version), and then having users use that model for the 20 kg variant as well.

I would not add xacros, launch files or roslaunch tests for the 20 kg version: those files hide the fact that it is in fact the 12 kg model that is being loaded. Your rationale for not having the 20 kg variant is a good one, and we should just make that explicit.

It would perhaps be good to not have any reference to the 20 kg variant apart from in the readme and manifest, which then explains that the 12 kg xacro should be used.

The meshes/irb2400_common sub dir can probably stay. I'll leave that up to you, as I haven't checked how many variants there actually are of the 2400 that would perhaps make it worthwhile to have a common dir.

Levi-Armstrong commented 7 years ago

@gavanderhoorn, Is this what you were expecting?