G.A. vd. Hoorn

Trigger by @ted-miller in https://github.com/ros-industrial/motoman/pull/213#issuecomment-390716621: > The controller must be configured as two arms with a base axis on the first arm. Using the latest changes, I can control all...

driver: trajectories where len(pos) != len(vel) != len(acc) lead to strange motions

1

Observed this on our SIA20F+rail: if a `JointTrajectory` contains `JointTrajectoryPoint`s with inconsistent `position`, `velocity` or `acceleration` lists (compared to the `names` field), the driver will accept the trajectory and send...

doc: add tutorial on configuration of driver for single group setups

2

There is a (minimal) tutorial on setting up dual-arm robots ([here](http://wiki.ros.org/motoman_driver/Tutorials/Creating%20a%20Dual-Arm%20System)), but there is no corresponding one for regular single group configurations. The existing support and MoveIt packages are also...

support: add 'base' coordinate system link to URDFs

1

As discussed in ros-industrial/ros_industrial_issues#24.

cfg: suspicious effort=100 in all xacros

2

All included xacros in `motoman_cfg` specify an effort limit of 100 for all joints. I'm wondering whether those values are based on any real limits, or are merely 'placeholders'. I'm...

sia10f: urdf out of sync with xacro macro

1

Minor (as most users would use the `.xacro` or `_macro.xacro` file), but the urdf shipped in `motoman_sia10f_support` ([here](https://github.com/ros-industrial/motoman/blob/5c7e0a7bf8b8226fdf781c97edbe2c599a1c0ac9/motoman_sia10f_support/urdf/sia10f.urdf)) is significantly out of sync with the corresponding xacro macro in the...

support: missing run_depend on industrial_robot_client

1

Even though the support packages use the custom nodes in `motoman_driver`, the files in `launch/` still depend on `industrial_robot_client`, as they use the `config/robot_state_visualize.rviz` file.

Same as #32. Also for ros-industrial/ros_industrial_issues#23.

The `simple_message` and `industrial_robot_client` packages have a number of tests to make sure the (de)serialisation and data structure classes work as they are supposed to. While the `motoman_driver` package has...

Migrate to opw_kinematics for all supported robots

56

Instead of IKFast use [Jmeyer1292/opw_kinematics](https://github.com/Jmeyer1292/opw_kinematics) for all robot models and variants we support. Current status: - [ ] fanuc_cr35ia_support - [ ] fanuc_cr7ia_support - [ ] fanuc_lrmate200i_support - [x] fanuc_lrmate200ib_support...