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ros-industrial / motoman

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)
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Added variant model HC10DT-B10 #415

Closed EricMarcil closed 2 years ago

EricMarcil commented 3 years ago

Added variant HC10DT-B10 to the HC10 Support package. Also made some modification to existing HC10DT variant to optimize reuse of HC10 base model files.

EricMarcil commented 3 years ago

@gavanderhoorn Can you please review.

I've tried to optimized the reused of the joint_names_hc10.yaml and robot_interface_streaming_hc10.launch for the variant model.

Also in the roslaunch_test_hc10dt.xml and roslaunch_test_hc10dt_b10.xml, should the <group ns=> make reference to the generic model:

<group ns="load_hc10">

or the variant model:

<group ns="load_hc10dt">

I've also acquired a new model convertion software that will allow me to directly convert MotoSim models to dae mesh. The Motosim model are already optimized for size and contain different textures with color information which gives nicer models.

gavanderhoorn commented 3 years ago

Closing/re-opening to trigger new CI run.

gavanderhoorn commented 2 years ago

I've opened an alternative version of this: #434.

@EricMarcil: could you please check that one and if you agree close this one?

EricMarcil commented 2 years ago

@gavanderhoorn I was trying to avoid duplicating all the files that have the exact same content. But if you think it is better to duplicate everything with the DT_B10 at the end then that's fine.

gavanderhoorn commented 2 years ago

I was trying to avoid duplicating all the files that have the exact same content.

Yes, I understood.

But if you think it is better to duplicate everything with the DT_B10 at the end then that's fine.

deduplication (or prevention of duplication) is typically a good idea. However, there is quite some cognitive load already when trying to figure out which support package to use, and then which files in that package to use for new users.

Without reading the contents of the files, the filename is the "only" information users have to figure out which to use for their specific variant. If we then don't include certain files for certain variants, but do include other files (such as meshes and some .launch files), it gets confusing really quickly (is support for a variant incomplete? Were the files not included on purpose? The name of the file states it's for the HC10, can I also use it for my HC10DT? etc).

Coupled with the fact these files are basically small, simple text files, the cost of duplication isn't high enough to be a real problem.

gavanderhoorn commented 2 years ago

Closing this as we're continuing in #434