From c7d70728dbcd9130c3f8b20fea50d70493b6c6e6 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 1 Jun 2022 11:52:23 +0200
Subject: [PATCH] Fix warning about unknown link8_sc
---
config/arm.xacro | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/config/arm.xacro b/config/arm.xacro
index 9219e3a..7cb6ebf 100644
--- a/config/arm.xacro
+++ b/config/arm.xacro
@@ -35,7 +35,9 @@
<xacro:macro name="collision" params="link">
<!-- Enable (environmental) collisions of ${link}_sc -->
- <disable_default_collisions link="${link}_sc" />
+ <xacro:if value="${not link.endswith('link8')}">
+ <disable_default_collisions link="${link}_sc" />
+ </xacro:if>
<!-- Disable collisions of link with any other arm link, as these are handled by the "sc" links -->
<disable_collisions link1="${link}" link2="$(arg arm_id)_link0" reason="Never" />
<disable_collisions link1="${link}" link2="$(arg arm_id)_link1" reason="Never" />
--
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