Merge branch 'feat/robotiq_ros2_support' into 'humble-devel'

Fix robot description urdf error See merge request robots/pal_robotiq_gripper!20
pal-robotics · Jan 23, 2024 · e6bdcfb · e6bdcfb
2 parents 00cb16e + 0202bbe
commit e6bdcfb
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diff --git a/pal_robotiq_description/urdf/grasping_frames.xacro b/pal_robotiq_description/urdf/grasping_frames.xacro
@@ -12,9 +12,7 @@
   See the License for the specific language governing permissions and
   limitations under the License.
 -->
-
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-
   <!--
     Utility to create a grasping frame in the end effector.
 
@@ -23,7 +21,6 @@
       rpy: roll pitch yaw angles from parent link
       xyz: distances from parent link
   -->
-
   <xacro:macro name="pal_robotiq_grasping_frames" params="prefix xyz">
     <!-- Grasping frame X -->
     <joint name="${prefix}grasping_frame_joint" type="fixed">

diff --git a/pal_robotiq_description/urdf/robotiq.ros2_control.xacro b/pal_robotiq_description/urdf/robotiq.ros2_control.xacro
@@ -160,18 +160,6 @@ limitations under the License.
 
   </xacro:macro>
 
-  <!-- <xacro:macro name="ros2_control_robotiq_epick" params="name reduction" >
-    <joint name="${name}_joint">
-      <command_interface name="effort" />
 
-      <state_interface name="position" />
-      <state_interface name="velocity" />
-      <state_interface name="effort" />
-    </joint>
-
-    <xacro:include filename="$(find pal_robotiq_description)/urdf/robotiq.transmission.xacro" />
-    <xacro:robotiq_transmission name="${name}" reduction="${reduction}" />
-
-  </xacro:macro> -->
 
 </robot>