From 54263efcffa2bdd66ce07aa500a779c62c29dc6a Mon Sep 17 00:00:00 2001 From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de> Date: Mon, 14 Mar 2022 18:25:37 +0100 Subject: [PATCH] Define "manipulator" group only if hand:=true --- config/panda.srdf.xacro | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/config/panda.srdf.xacro b/config/panda.srdf.xacro index f1cad53..4fa5062 100644 --- a/config/panda.srdf.xacro +++ b/config/panda.srdf.xacro @@ -5,14 +5,15 @@ --> <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda"> <xacro:include filename="$(find panda_moveit_config)/config/arm.xacro" /> - <xacro:arm name="manipulator" tip_link="panda_hand_tcp" /> - <!-- old group name with old end-effector link --> + <!-- panda_arm group: eef frame aligned to robot's flanche --> <xacro:arm name="panda_arm" tip_link="panda_link8"/> <xacro:arg name="hand" default="false" /> <!--Add the hand if people request it--> <xacro:if value="$(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:hand /> -- GitLab