shadow-robot
Create package sr_robot_launch
This issue is very interesting and we have been working on that for a long time (we have kuka and pa10 arms and multiple tools including different types of shadow hands)
Our solution is to call a macro according to arguments/parameters. With indigo version of xacro this is not possible as macro names are in the xml element name, but the jade version contains updated features (that we added) to support macro calls with xml element attribute
<xacro:call macro="${prefix}shadow_${type}" />
This way the macro description for a particular hand (or tool) can be included according to arguments/parameters
<xacro:include filename="$(find agni_description)/robots/right_$(arg R_EE_TYPE)_ee.urdf.xacro" />
for instance R_EE_TYPE=shadow_motor which includes right_shadow_ee.urdf.xacro that provides right_shadow_motor macro name.
This way we can easily attach any hand to our arms that are also defined with generic wrapping macros (arm_with_ee) including and calling arm macros according to type.
in the end we launch
roslaunch agni_description platforms.launch ARM:=pa10 USE_PREFIX:=true R:=1 L:=1 R_EE:=right_shadow_motor L_EE:=left_shadow_muscle
What is your idea of solving this problem in a generic fashion ?
