Rha/noetic devel rickstaa add franka gazebo simulation #8
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This commit adjusts the 'demo_gazebo.launch' launch file such that it uses the gazebo simulation of the [franka_gazebo](https://github.com/frankaemika/franka_ros/tree/noetic-devel/franka_gazebo) package.
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rhaschke
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Oct 20, 2021
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@rhaschke I think from our side it is ready. The only thing that has to be done is improve the PID gains found in frankaemika/franka_ros#181 and merge that pull request. |
rhaschke
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Oct 20, 2021
| @@ -7,7 +7,6 @@ | |||
| <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group--> | |||
| <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names--> | |||
| <group name="panda_arm"> | |||
| <joint name="virtual_joint"/> | |||
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Obviously, for Gazebo it's important to not list the virtual joint here. This should be fixed in MSA as well. Could you please add a TODO?
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This was referenced Nov 10, 2021
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This pull request adds the franka_gazexbo gazebo simulation to the panda_moveit_config package. To keep the Noetic branch as close as possible to the melodic-branch I also used the
position_joint_trajectory_controller. For this controlller to work frankaemika/franka_ros#181 has to be merged in the upstream.Remarks
The pid gains need to be improved in the upstream pull request. I think we however can already merge #8.