Added config and launch files UR10 and hand lite #187
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| robot: | |||
| name: ur10srh | |||
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would it be worth having a different robot name for the ur10 with hand lite?
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It is in different parts of the launch files so I don't think it is not a good idea to change the names.
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| <launch> | |||
| <!-- This launch file is for the right ur10 arm and a shadow hand --> | |||
| <!-- Serial number of the hand to be used--> | ||
| <arg name="hand_serial" default="1082"/> | ||
| <!-- the path to the mapping files --> | ||
| <arg name="mapping_path" default="$(find sr_edc_launch)/mappings/default_mappings/rh_E_v3.yaml"/> |
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should the mapping be rh_lite_v1.yaml?
| <arg name="arm_id" value="ra"/> | ||
| <arg name="side" value="$(arg side)"/> | ||
| <arg name="robot_model" value="ur10"/> | ||
| <arg name="robot_name" value="ur10srh"/> |
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if you do change the robot name (comment above) it needs to be changed here too
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| <robot xmlns:xacro="http://ros.org/wiki/xacro" name="ur10srh"> | |||
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if changing robot name, needs to be changed here too (see next comment)
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Why do we need a new launch file? Normally we just pass the desired robot_description to the existing sr_right_ur10arm_hand.launch isn't it? |
Current coverage is 22.60% (diff: 100%)
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Gazebo still has problems with this (#136) but it will be ok with real robot