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Dual setup with gripper fails #79

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mcres opened this issue Jul 5, 2024 · 1 comment
Open

Dual setup with gripper fails #79

mcres opened this issue Jul 5, 2024 · 1 comment

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@mcres
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mcres commented Jul 5, 2024

Launching the following dual setup with grippers:

ros2 launch xarm_moveit_config dual_uf850_moveit_fake.launch.py add_gripper:=true

leads to the ros2_control_node process being terminated:

[ros2_control_node-7]   what():  Hardware name XArmGripperSystem is duplicated. Please provide a unique 'name' in the URDF.

The fix is as easy as parametrizing each gripper ros2_control tag name using the prefix, e.g. this one. I've done that locally and was able to ros2_control both arms and both grippers.

Of course, this should be extended to the rest of the grippers as well.

@vimior
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vimior commented Jul 8, 2024

@mcres
Thanks for pointing this out, we will fix it.

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