Use sjtc and generate /clock topic #58
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VinDp
approved these changes
Oct 14, 2024
Since we now use the scaled JTC we have to depend on ur_controllers and make sure the tests use the scaled JTC.
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Let's hold on that until the SJTC without required scaling interface is released and synced. |
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With UniversalRobots/Universal_Robots_ROS2_Driver#1145 it is possible to use use the scaled JTC on systems that don't have the scaling state interface available. This way, we won't have to change the controller in the MoveIt configuration anymore in order to use the example MoveIt package with GZ Sim.
Draft until UniversalRobots/Universal_Robots_ROS2_Driver#1145 is merged.