G.A. vd. Hoorn

Yes. See ros-industrial/abb_experimental#66.

ABB's convention is just to incrementally number joints. So `joint_1`, `joint_2`, etc. That's what `abb_robot_driver` is using, but as a YuMi is basically two robots joined together (literally), you need...

> I hope other packages agree to that naming, since it impedes using these packages together. I wouldn't count on it. As I wrote: `abb_robot_driver` is a pretty recent addition...

@shaun-edwards wrote: > I believe the accelerations can be removed Do we know what the defaults are that MoveIt would use in that case?

Yep. I recognise that. Problem is with most robots that acceleration profiles are also load dependent (as are the velocity profiles), so setting hard limits in the MoveIt configuration doesn't...

> btw, sorry if this conversation should be somewhere else I'd say it's a good place, as https://github.com/ros-industrial/abb/issues/44#issuecomment-75224752 asks for what "the defaults are". Seems we got an answer :)....

Wasn't this fixed with the merge of #81?

@Levi-Armstrong: have you had an opportunity to test this?

#117 fixed the models in this repository, `abb_experimental` would still need to be done.

@robot-mh: I'm not entirely sure why you @-mentioned me?