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Only load descriptions if desired #202

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Only load descriptions if desired #202

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839b6a5
Removed panda_moveit_config dependency in franka_ros
c-rizz Mar 17, 2021
d938a1a
Removed franka_example_controllers dependency from franka_ros
c-rizz Mar 18, 2021
55cc935
Merge pull request #132 from c-rizz/noetic-devel
fwalch Mar 18, 2021
71ff2e0
Merge branch 'develop' into noetic-devel
gollth Aug 3, 2021
356ec11
FIX: Bump mimimum cmake version to 3.4
gollth Aug 4, 2021
fa50065
Merge branch 'develop' into noetic-devel
Maverobot Sep 8, 2021
5e3f24e
Only load descriptions if desired
fjulian Nov 18, 2021
0e76bff
Merge branch 'develop' into description-loading
fjulian Jan 19, 2022
a420982
Merge branch 'develop' into noetic-devel
Feb 22, 2022
f9202ef
Merge remote-tracking branch 'upstream/noetic-devel' into description…
fjulian Mar 8, 2022
4eb23c0
Merge branch 'develop' into description-loading
fjulian Mar 16, 2022
fd05369
Merge branch 'develop' into description-loading
fjulian Sep 15, 2023
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3 changes: 2 additions & 1 deletion franka_control/launch/franka_control.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,9 @@
<launch>
<arg name="robot_ip" />
<arg name="load_gripper" default="true" />
<arg name="load_description" default="true" />

<param name="robot_description" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm.urdf.xacro hand:=$(arg load_gripper)" />
<param name="robot_description" if="$(arg load_description)" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm.urdf.xacro hand:=$(arg load_gripper)" />

<include file="$(find franka_gripper)/launch/franka_gripper.launch" if="$(arg load_gripper)">
<arg name="robot_ip" value="$(arg robot_ip)" />
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2 changes: 2 additions & 0 deletions franka_gazebo/launch/panda.launch
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Expand Up @@ -9,6 +9,7 @@
<arg name="rviz" default="false" doc="Should RVIz be launched?" />

<!-- Robot Customization -->
<arg name="load_description" default="true" doc="Whether to load robot description" />
<arg name="arm_id" default="panda" doc="Name of the panda robot to spawn" />
<arg name="use_gripper" default="true" doc="Should a franka hand be mounted on the flange?" />
<arg name="controller" default=" " doc="Which example controller should be started? (One of {cartesian_impedance,model,force,joint_position,joint_velocity}_example_controller)" />
Expand Down Expand Up @@ -40,6 +41,7 @@
</include>

<param name="robot_description"
if="$(arg load_description)"
command="xacro $(find franka_description)/robots/panda_arm.urdf.xacro
gazebo:=true
hand:=$(arg use_gripper)
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