From 78e783a1cd979b312f582748ce3f7426d16258a0 Mon Sep 17 00:00:00 2001
From: Gauthier Hentz <64833674+gautz@users.noreply.github.com>
Date: Tue, 28 Sep 2021 17:34:56 +0200
Subject: [PATCH] Use panda_arm.urdf with hand arg (#83)
---
.setup_assistant | 2 +-
launch/planning_context.launch | 3 +--
2 files changed, 2 insertions(+), 3 deletions(-)
diff --git a/.setup_assistant b/.setup_assistant
index 02532ad..76ca6b1 100644
--- a/.setup_assistant
+++ b/.setup_assistant
@@ -1,7 +1,7 @@
moveit_setup_assistant_config:
URDF:
package: franka_description
- relative_path: robots/panda_arm_hand.urdf.xacro
+ relative_path: robots/panda_arm.urdf.xacro
SRDF:
relative_path: config/panda_arm.srdf.xacro
CONFIG:
diff --git a/launch/planning_context.launch b/launch/planning_context.launch
index f0ec470..3485d67 100644
--- a/launch/planning_context.launch
+++ b/launch/planning_context.launch
@@ -8,8 +8,7 @@
<arg name="robot_description" default="robot_description"/>
<!-- Load universal robot description format (URDF) -->
- <param if="$(eval arg('load_robot_description') and arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'"/>
- <param if="$(eval arg('load_robot_description') and not arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm.urdf.xacro'"/>
+ <param name="$(arg robot_description)" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm.urdf.xacro hand:=$(arg load_gripper)" />
<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro '$(find panda_moveit_config)/config/panda_arm_hand.srdf.xacro'" if="$(arg load_gripper)" />
--
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