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Add use_external_cable parameter to URDF #155

Merged
merged 3 commits into from
Jul 28, 2023
Merged

Add use_external_cable parameter to URDF #155

merged 3 commits into from
Jul 28, 2023

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abake48
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@abake48 abake48 commented Jul 26, 2023

When set to true, this parameter will set artificial joints limits of [-2PI, 2PI] on all continuous joints.

Testing:

  • Launch robot with MoveIt, setting use_external_cable:=true
  • In RVIZ under the "Motion Planning" widget, select the joints tab and observe that the continuous joints have the limits set.

@abake48 abake48 changed the title Add use_external_cable parameter to Urdu Add use_external_cable parameter to URDF Jul 26, 2023
@abake48 abake48 marked this pull request as ready for review July 27, 2023 17:04
@moriarty moriarty merged commit 01200a5 into main Jul 28, 2023
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@moriarty moriarty deleted the add_use_external_cable_parameter branch July 28, 2023 19:53
moriarty added a commit that referenced this pull request Aug 2, 2023
@moriarty
Merge branch 'main' into update_moveit_launch_file
a2fbca0 
manually merge and resolve conflicts from PR #155

Signed-off-by: Alex Moriarty <alex.moriarty@picknik.ai>
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@moriarty moriarty moriarty approved these changes

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