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