Fix for issue #4: misc cleanup of KR 210 L150 support pkg #25
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@tingelst: could you take a look? Review is enough, I'll merge it. |
| <child link="${prefix}Link1"/> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| </joint> | ||
| </xacro:macro> |
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Maybe add a base_link-base to conform with the other support packages in the repo?
<!-- ROS base_link to KUKA $ROBROOT coordinate system transform -->
<link name="${prefix}base" />
<joint name="${prefix}base_link-base" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="${prefix}base_link"/>
<child link="${prefix}base"/>
</joint>
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Certainly an issue. Reported: #19.
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Other than the comment above, this looks ok to me. |
Only the Collada files are used.
Brings link name in-line with other links in xacro macro. A fixed joint linking 'Link1' with 'link_1' is added to preserve bw-compatibility.
Use private parameters with joint_state_publisher.
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Thanks for reviewing @tingelst. |
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This PR includes a nr of small fixes to the files in the KR 210 support package. Some deal with the remaining items from #4, others are things I noticed while cleaning it up.
I've included commit 1fafe38, but depending on @gomezc's reply to my comment in #4 I may revert it.
Renaming of the
Link1link in acddcd6 was done in a bw-compatible way by keeping the old link around and making it coincident with the newlink_1using a fixed joint. If/when this PR is accepted, I'll create an issue to track the eventual removal ofLink1. Alternatively, we could immediately remove it, seeing as this pkg is in an_experimentalrepository, and breakages are allowed.