From 2f776d56a519f06a2cfbc5961c336923fc5b723b Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Sun, 7 Nov 2021 15:41:30 +0100
Subject: [PATCH] Use panda_tool frame
Introduced in https://github.com/frankaemika/franka_ros/pull/194, this allows for a more convinient configuration of the gripper.
---
config/panda.srdf.xacro | 2 +-
config/panda_arm.xacro | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/config/panda.srdf.xacro b/config/panda.srdf.xacro
index d379ec9..8ead0d9 100644
--- a/config/panda.srdf.xacro
+++ b/config/panda.srdf.xacro
@@ -15,7 +15,7 @@
<xacro:hand />
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
- <end_effector name="hand" parent_link="panda_link8" group="hand" parent_group="panda_arm" />
+ <end_effector name="hand" parent_link="panda_tool" group="hand" parent_group="panda_arm" />
</xacro:if>
</robot>
diff --git a/config/panda_arm.xacro b/config/panda_arm.xacro
index e452013..23cb073 100644
--- a/config/panda_arm.xacro
+++ b/config/panda_arm.xacro
@@ -7,7 +7,7 @@
<!--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">
- <chain base_link="panda_link0" tip_link="panda_link8"/>
+ <chain base_link="panda_link0" tip_link="panda_tool" />
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="ready" group="panda_arm">
--
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