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ur_description and ur_gazebo are improved and simplified #624
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ur_description and ur_gazebo are improved and simplified #624
Commits on Nov 20, 2022
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Deleted model specific xacro and launch files
Will be replaced by generic ones
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Simplification of generic xacro and launch files
Model specific xacro and launch files replaced by generic ones. Default arguments and parameters only defined once in lowest level files by replacing empty strings. Omit properties same as default. Still all properties can be overridden in upper level files. Less redefining of arguments and parameters by pass_all_args in launch and using upper level parameters in xacro files. Paths, file names, names, comments and format adjusted.
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Renamed base_link_inertia to base_inertia_link
Consistent link naming desirable for link and joint macros.
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Consistent naming in joint_limits.yaml
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Consistent naming in physical_parameters.yaml and of mesh files
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Offsets of meshes added in visual_parameters.yaml
Addressing in macro.xacro: <link name="${prefix}wrist_1_link"> <visual> <!-- TODO: Move this to a parameter --> <origin xyz="0 0 ${wrist_1_visual_offset}" rpy="${pi/2} 0 0"/>
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Abbreviation of transmission_hw_interface
transmission_hw_interface only needs to contain e, v or p in lower or upper case to be replaced by hardware_interface/EffortJointInterface, hardware_interface/PositionJointInterface or hardware_interface/VelocityJointInterface.
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Gazebo arguments added in control.launch
initial_joint_positions, world_pose and unpause at spawning argument added to control.launch, as by moveit_setup_assistant.
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