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Published 20 hours ago • verified publisher icon UniversalRobots

remove use_mock_hardware from moveit launchfile

Open fdurchdewald opened this issue 2 years ago • 4 comments

The scaled JTC can be used on fake hardware as well. Therefore, there is no real reason for keeping the use_mock_hardware argument in the MoveIt launch file.

fdurchdewald avatar Oct 19 '23 11:10 fdurchdewald

@fdurchdewald Could you please fix the duplicated target in the usage.rst file? Thanks!

fmauch avatar Oct 25 '23 04:10 fmauch

@fdurchdewald does this means that you will have different robot descriptions used on driver launch and MoveIt launch

destogl avatar Nov 15 '23 17:11 destogl

@fdurchdewald does this means that you will have different robot descriptions used on driver launch and MoveIt launch

No, we should remove the description from the moveit launch. AFAIK it takes the one from the RSP's description topic by now.

fmauch avatar Nov 15 '23 17:11 fmauch

Before merging this, we should consider https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/pull/22

What do we do about the scaled jtc in gazebo? Probably we should still provide an option for the default controller.

fmauch avatar Nov 19 '23 23:11 fmauch

I think this is now obsolete with #998

fmauch avatar Jun 13 '24 07:06 fmauch