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squirrel-project / squirrel_driver

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Test on kenny #138

Closed ipa-nhg closed 6 years ago

ipa-nhg commented 6 years ago

@bajo @mzillich please review @lokalmatador I needed to change the namespaces to integrate the arm driver, I hope it is ok https://github.com/ipa-nhg/squirrel_driver/blob/43b107cba848a063ea180ec6c94ca04bc86bf2f2/squirrel_control/src/squirrel_hw_interface.cpp#L41

ghost commented 6 years ago

what What WHAAAAAAAAAT?!?!?!

Nah, just joking. For the sake of having a working robot you're free to do whatever you want :)

ipa-nhg commented 6 years ago

@lokalmatador :smile: thanks

if you run robotino_bringup robot.launch with the new version all the topics and parameters for the arm will be mapped to /arm_controller/... and I you have a relay for : 

/arm_controller/robot_description -> /robot_description
/arm_controller/joint_states -> /joint_states

I tested and is working, also the tf tree look good

bajo commented 6 years ago

Other than the small comment on the comments this PR looks good to me.

ipa-nhg commented 6 years ago

Done: https://github.com/squirrel-project/squirrel_driver/pull/138/commits/6d209ed6463efb026931b10d9a68ffcdea56469d

bajo commented 6 years ago

Thanks. LGTM