nic/drawing-robot-ros2
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Fix virtual pen, make moveit aware of pen

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This commit is contained in:
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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4
src/custom_xarm_moveit_config/srdf/xarm_macro.srdf.xacro
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@@ -9,7 +9,7 @@
</xacro:if>
<xacro:if value="${dof == 6}">
<xacro:if value="${robot_type == 'lite'}">
<xacro:include filename="$(find xarm_moveit_config)/srdf/_lite6_macro.srdf.xacro" />
<xacro:include filename="$(find custom_xarm_moveit_config)/srdf/_lite6_macro.srdf.xacro" />
<xacro:lite6_macro_srdf prefix="${prefix}"
add_gripper="${add_gripper}" add_vacuum_gripper="${add_vacuum_gripper}" add_other_geometry="${add_other_geometry}" />
</xacro:if>
@@ -25,4 +25,4 @@
add_gripper="${add_gripper}" add_vacuum_gripper="${add_vacuum_gripper}" add_other_geometry="${add_other_geometry}" />
</xacro:unless>
</xacro:macro>
</robot>
</robot>