Introducing Gazebo support for Staubli TX90 family #6
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@gavanderhoorn I split the old PR into two PRs. I got things a bit muddled up, but I think it looks tidy now... |
| <!-- Gazebo-specific link properties --> | ||
| <gazebo reference="${prefix}base_link"> | ||
| <material>Gazebo/Yellow</material> | ||
| <turnGravityOff>true</turnGravityOff> |
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We may have discussed this before, but why is turnGravityOff set to true here?
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I cannot remember exactly (it is disabled in the xacro files for the RX160 models). I vaguely remember something related to testing, perhaps before I had the masses, coms, and inertia matrices from SolidWorks. |
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@gavanderhoorn leave it consistent with RX160 models for now? |
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Yes, that would make sense for now. |
| <launch> | ||
| <arg name="paused" default="false"/> | ||
| <arg name="gui" default="true"/> | ||
| <arg name="remap" default="false"/> |
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Just wondering: should we perhaps rename this argument to something like rosi_compat or rosind_compat?
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Sounds good!
Shall we do that for the RX160 family too?
I'll address this soon-ish.
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@MuriloMartins: did you still want to make some changes to this PR? If not, I can merge it in manually, as I've done with #5. |
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Hi @gavanderhoorn ! |
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@MuriloMartins wrote:
yes, that makes sense. See #7. I'll put this PR on my merge-TODO list then. |
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@MuriloMartins: just merged this manually (to resolve the conflicts after I merged #5). See 5d12ff4. Thanks again for contributing, much appreciated :). |
Adding Gazebo-related files to simulate the Staubli TX90 family.
Please note that this PR depends on PR #5 .