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Fix virtual pen, make moveit aware of pen

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Nicolas Hiillos
2023-03-23 09:36:49 +02:00
parent 7b99e220f5
commit 53c46c11c0
9 changed files with 472 additions and 67 deletions
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10
src/custom_xarm_description/urdf/lite6/lite6_robot_macro.xacro
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@@ -6,14 +6,14 @@
robot_ip:='' report_type:='normal' baud_checkset:='true' default_gripper_baud:=2000000 ">
<!-- include lite6 relative macros: -->
<xacro:include filename="$(find xarm_description)/urdf/lite6/lite6.ros2_control.xacro" />
<xacro:include filename="$(find xarm_description)/urdf/lite6/lite6.urdf.xacro" />
<xacro:include filename="$(find xarm_description)/urdf/lite6/lite6.transmission.xacro" />
<xacro:include filename="$(find xarm_description)/urdf/lite6/lite6.gazebo.xacro" />
<xacro:include filename="$(find custom_xarm_description)/urdf/lite6/lite6.ros2_control.xacro" />
<xacro:include filename="$(find custom_xarm_description)/urdf/lite6/lite6.urdf.xacro" />
<xacro:include filename="$(find custom_xarm_description)/urdf/lite6/lite6.transmission.xacro" />
<xacro:include filename="$(find custom_xarm_description)/urdf/lite6/lite6.gazebo.xacro" />
<!-- gazebo_plugin -->
<xacro:if value="${load_gazebo_plugin}">
<xacro:include filename="$(find xarm_description)/urdf/common/common.gazebo.xacro" />
<xacro:include filename="$(find custom_xarm_description)/urdf/common/common.gazebo.xacro" />
<xacro:gazebo_ros_control_plugin prefix="${prefix}" ros2_control_params="${ros2_control_params}"/>
</xacro:if>