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si-machines / poli2

High level repository for Poli V2
BSD 2-Clause "Simplified" License
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Merge Jaco2 custom urdf #15

Closed maxsvetlik closed 7 years ago

maxsvetlik commented 7 years ago

This PR resolves #7 and contains a fully integrated custom Jaco2 arm with a Weiss WSG32 gripper, both in simulation and as a live system.

Running the kinova_bringup.launch file in poli_launch requires some modification to its dependent file kinova_robot.launch in kinova_bringup. Specifically the kinova launch file conditionally runs nodes based on whether it uploads a xacro description to the parameter server.

Due to the custom nature of the arm setup, we do not want the kinova file to bring up any nodes w.r.t. the urdf. One should ensure that the kinova driver is not bringing up any nodes under the use_urdf groups.

maxsvetlik commented 7 years ago

Integration of the pantilt motor is blocked on this, so I'm going to merge this PR and have a separate PR for MoveIt! changes.