Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Allow empty urdf_path #104

Merged
merged 1 commit into from
Nov 3, 2024
Merged

Allow empty urdf_path #104

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 4 additions & 2 deletions ros/kxr_controller/launch/kxr_controller.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,8 +33,9 @@
output="screen"
required="true" >
<param name="device" type="str" value="$(arg device)" />
<param name="urdf_path" type="str" value="$(arg urdf_path)"
if="$(eval len(arg('urdf_path')) > 0)"/>
<rosparam subst_value="true" >
urdf_path: $(arg urdf_path)
servo_config_path: $(arg servo_config_path)
publish_imu: $(arg publish_imu)
publish_sensor: $(arg publish_sensor)
Expand Down Expand Up @@ -68,8 +69,9 @@
output="screen"
required="true" >
<param name="device" type="str" value="$(arg device)" />
<param name="urdf_path" type="str" value="$(arg urdf_path)"
if="$(eval len(arg('urdf_path')) > 0)"/>
<rosparam subst_value="true" >
urdf_path: $(arg urdf_path)
servo_config_path: $(arg servo_config_path)
publish_imu: $(arg publish_imu)
publish_sensor: $(arg publish_sensor)
Expand Down
1 change: 1 addition & 0 deletions ros/kxr_controller/node_scripts/rcb4_ros_bridge.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -177,6 +177,7 @@ def setup_paths_and_params(self):

def setup_urdf_and_model(self):
robot_model = RobotModel()
rospy.loginfo(f"[setup_urdf_and_model] Loading URDF File. {self.urdf_path}")
if self.urdf_path is None:
self.urdf_path = make_urdf_file(self.joint_name_to_id)
rospy.loginfo("Use temporary URDF")
Expand Down
Loading