search

xArm-Developer / xarm_ros2

ROS2 developer packages for robotic products from UFACTORY
https://www.ufactory.cc/pages/xarm
BSD 3-Clause "New" or "Revised" License
115 stars 72 forks source link

Fix lite 6 missing end effector error #47

Open manadaniel opened 1 year ago

manadaniel commented 1 year ago

Fixes rviz2 error message "lite6 is missing the end effector"

vimior commented 1 year ago

@manadaniel Thank you for your support and suggestions. Due to the structure of Lite Gripper, moveit control is not supported, so the definition of Lite Gripper has been canceled in its SRDF.

manadaniel commented 10 months ago

@vimior understood. But do I assume correctly that you added lite6 gripper support in commit c8736b5 ? Did not find time to check in detail yet, sorry.

vimior commented 10 months ago

@manadaniel Sorry, this commit did not explain the situation in detail and misled you. The lite gripper control example provided in this commit c8736b5 is not actually the planner part. It only controls the physical lite gripper through some services in xarm_api. It is not related to URDF and moveit. It cannot control changes in the lite gripper model and cannot perform simulation control.

manadaniel commented 10 months ago

What are the missing pieces that would be needed to implement simulation control for lite6 gripper with ROS2/Moveit2?

aoberai commented 8 months ago

I think this should still be included in the SRDF if only for collision checking.