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Commit 54263efc authored by Robert Haschke's avatar Robert Haschke
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Define "manipulator" group only if hand:=true

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config/panda.srdf.xacro
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...@@ -5,14 +5,15 @@ ...@@ -5,14 +5,15 @@
--> -->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:include filename="$(find panda_moveit_config)/config/arm.xacro" /> <xacro:include filename="$(find panda_moveit_config)/config/arm.xacro" />
<xacro:arm name="manipulator" tip_link="panda_hand_tcp" /> <!-- panda_arm group: eef frame aligned to robot's flanche -->
<!-- old group name with old end-effector link -->
<xacro:arm name="panda_arm" tip_link="panda_link8"/> <xacro:arm name="panda_arm" tip_link="panda_link8"/>
<xacro:arg name="hand" default="false" /> <xacro:arg name="hand" default="false" />
<!--Add the hand if people request it--> <!--Add the hand if people request it-->
<xacro:if value="$(arg hand)"> <xacro:if value="$(arg hand)">
<!-- manipulator group: eef frame aligned to hand -->
<xacro:arm name="manipulator" tip_link="panda_hand_tcp" />
<xacro:include filename="$(find panda_moveit_config)/config/hand.xacro" /> <xacro:include filename="$(find panda_moveit_config)/config/hand.xacro" />
<xacro:hand /> <xacro:hand />
......
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