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Published 20 hours ago • verified publisher icon frankaemika

Added support for Ignition

Open ahcorde opened this issue 3 years ago • 2 comments

Hi

I have been playing around with panda and ign_ros_control. I made this changes to make it work.

  • Added inertias
  • Added a new param to setup the simulation panda_moveit

Signed-off-by: ahcorde [email protected]

ahcorde avatar Jan 27 '22 16:01 ahcorde

friendly ping @marcbone

ahcorde avatar Feb 14 '22 14:02 ahcorde

Hey @ahcorde, thanks for your contribution. We didnt forgot it, but are sadly super busy with other stuff right now. We did not take a detailed look into it, but our main concern is that you are using the position interface that we cannot implement for the real robot at the moment. So you cannot write a controller that works with the real robot and in the simulator. On the other hand, using the position interface allows at least to run moveit in simulation. Those are our initial thoughts on it without testing it.

marcbone avatar Feb 14 '22 14:02 marcbone