Update gen3 lite and gripper macros #191
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Update the kinova gen3_lite macros to pass through the required parameters.
The base robotiq_gripper macro does not accept the `isaac_joint_commands` or `isaac_joint_states` parameters. Stop these parameters from being passed to the base robotiq_gripper macro. Also remove them from the gen3_lite_2f gripper macro (they were added in for compatibility last commit).
MarqRazz
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Nov 27, 2023
kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro
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MarqRazz
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Nov 27, 2023
MarqRazz
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Nov 27, 2023
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You are going to need to create a ros2_control.xacro (like this one) for this gripper if you want it to work with mock_hardware or Gazebo/Isaac.
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Created an issue for this: #193
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Thanks for creating the issue.
This reverts commit ead7609. The bug it was addressing was a result of not having the latest changes checked out for the ros2_robotiq_gripper repo. Checking that out resolves the issue.
MarqRazz
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Nov 27, 2023
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| use_fake_hardware:=false | ||
| fake_sensor_commands:=false | ||
| sim_ignition:=false | ||
| sim_isaac:=false | ||
| isaac_joint_commands:=/isaac_joint_commands | ||
| isaac_joint_states:=/isaac_joint_states | ||
| use_internal_bus_gripper_comm:=true"> |
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These are not needed if we don't want to spend the time adding the ros2_control.xacro.
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Should I remove these? They might be helpful in the future once the ros2_control.xacro is created and I don't think they hurt anything by being there for now
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It's fine to leave them.
MarqRazz
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Nov 27, 2023
kortex_description/arms/gen3_lite/6dof/urdf/kortex.ros2_control.xacro
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The velocity command interface isn't supported
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MarqRazz
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Nov 28, 2023
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