Felix Exner (fexner)

Part of making the one-entry-point documentation.

Make robots look more similar

1

Currently, all the different versions look a bit different, some of them are darker than the others. We should make sure that they all look the same. 

Currently, we use a cylinder approximation for the inertia. However, we can read proper inertia values from the robot. We should probably use this on the description.

The physical parameters contain unused, but parsed values. We could remove those to cleanup the structure a bit more.

As this comes up frequently, I think this should be added as a doc to this package. While doing this, we could add a proper rosdoc documentation.

Add initial values with new ros2_control notation

1

This should help having proper sensor values when using mock_hardware This accompanies https://github.com/ros-controls/ros2_control/pull/822 to solve https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/390 Open questions: Is this notation supported by gazebo / ignition?

First hacky implementation of reusing the initial_positions for view_ur

1

As we have the config file in place already, anyway, we can also use the parameters. There are a couple of things I don't like about this implementation: - Parsing...

We parse the IO service contents here: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/930a6cb74d8d420410e24c49364bcc2af50bb5ec/ur_robot_driver/src/hardware_interface.cpp#L852-L880 The current implementation allows setting IO pins with higher numbers than existing, which will silently do nothing. It would be nice to...

URCap could claim the Tool-IO

2

Currently, we grab the tool IOs once this URCap is installed. This makes it impossible to have this installed in conjunction with other URCaps, such as Robotiq_gripper. Similar to the...

For example, when using a CB3 that doesn't have a tool TTY, but users may want to connect hardware to the USB ports inside the controller, we could still forward...