Add transmission_hw_interface to UR xacro and expose everywhere #392
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ipa-nhg
approved these changes
Feb 7, 2019
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For me looks good, not optimal but you have to define hierarchically a default value for the parameter. Otherwise, as you already pointed, this will be an issue when you try to compose models. About the indentation spaces I honestly don't have a clear preference. |
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gavanderhoorn
approved these changes
Apr 5, 2019
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Thanks @miguelprada. |
This was referenced Apr 11, 2019
v4hn
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Apr 12, 2019
according to the upstream update, ros-industrial/universal_robot#392 We need to update our ur5 xacro file to pass hw_interface as hardware_interface/PositionJointInterface so the launch file can also be updated for setting hw_interface
ipa-nhg
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Jul 2, 2019
ipa-nhg
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Jul 2, 2019
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Adds the capability to select the hardware interface used in the
<transmission>elements in the URDF model. This allows creating custom simulation setups with different hardware interfaces, e.g.hardware_interface/VelocityJointInterface.One thing I'm not very happy about is repeating the default value in so many places, but I cannot see a way around this to maintain backwards compatibility for users that use the different bits in this repo: e.g. users of the default
ur10_robot.urdf.xacrovs users that compose other models using the macro itself.There's also some whitespace changes. Let me know if you prefer I maintain the original lines.