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svenschneider / youbot-manipulation

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Indigo #10

Open ferherranz opened 9 years ago

ferherranz commented 9 years ago

I've added a controller manager to use the gripper

svenschneider commented 9 years ago

Hello Fernando,

first of all let me highlight that I appreciate your effort in fixing the problem and creating a pull request. However, I'm hestitant to merge this request. I know that I also proposed this solution in issue #9 , but I should have made it more clear that I don't consider it to be so much of a clean solution. Instead it is more a workaround for testing the functionality. My prefered solution was to actually add a MoveIt! controller manager plugin (for the youBot), that is more or less a mixture of the functionality in your pull request and the gripper controller handle [1]. That was the first point in my comment on issue #9 .

Best regards Sven

[1] https://github.com/ros-planning/moveit_plugins/blob/indigo-devel/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h

ferherranz commented 9 years ago

Ok! I'll do it!