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doc: add tutorial on configuration of driver for single group setups #180

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gavanderhoorn opened this issue Oct 2, 2017 · 2 comments
Open

doc: add tutorial on configuration of driver for single group setups #180

gavanderhoorn opened this issue Oct 2, 2017 · 2 comments
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@gavanderhoorn
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There is a (minimal) tutorial on setting up dual-arm robots (here), but there is no corresponding one for regular single group configurations.

The existing support and MoveIt packages are also not straightforward to use as examples.
@gavanderhoorn
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Content suggestions:

  • creating a robot support package (can be skipped if using any of the existing ones)
  • creating a 'joint names' config file
  • creating a MoveIt configuration
  • updating the MoveIt configuration to work with the driver:
    • configuring the controllers
    • making sure either controller_joint_names or topic_list is set correctly

@gavanderhoorn
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Triggered by: Support Motoman Yaskawa gp-7 model.

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@gavanderhoorn