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F#131 rebasing 132 #157

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F#131 rebasing 132 #157

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aa53d30
Modified the robot_description arg passing (quotes are added in the a…
guihomework Oct 23, 2015
661ab91
Merge remote-tracking branch 'origin/indigo-devel' into robot_descrip…
Feb 3, 2017
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5 changes: 3 additions & 2 deletions sr_edc_launch/sr_edc.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
<!-- Set to 0 if we don't want to run calibration controllers (e.g. for the muscle hand) -->
<arg name="calibration_controllers" default="1"/>
<!-- Xacro file containing the robot description we want to load -->
<arg name="robot_description" default="$(find sr_description)/robots/shadowhand_motor.urdf.xacro"/>
<arg name="robot_description" default="'$(find sr_description)/robots/shadowhand_motor.urdf.xacro'"/>
<!-- The control mode PWM (true) or torque (false) -->
<arg name="pwm_control" default="$(optenv PWM_CONTROL 1)"/>
<!-- use ns or not -->
Expand All @@ -24,7 +24,8 @@
<param name="/use_sim_time" value="false"/>

<!-- Loads the robot description from the file passed as an argument -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(arg robot_description)' prefix:=$(arg hand_id)_ initial_z:=$(arg initial_z)"/>
<param name="robot_description" command="$(find xacro)/xacro.py $(arg robot_description) prefix:=$(arg hand_id)_ initial_z:=$(arg initial_z)"/>


<param name="/hand/mapping/$(arg hand_serial)" value="$(arg hand_id)"/>
<param name="/hand/joint_prefix/$(arg hand_serial)" value="$(arg hand_id)_"/>
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4 changes: 2 additions & 2 deletions sr_edc_launch/sr_edc_bimanual.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
<!-- Set to 0 if we don't want to run calibration controllers (e.g. for the muscle hand) -->
<arg name="calibration_controllers" default="1"/>
<!-- Xacro file containing the robot description we want to load -->
<arg name="robot_description" default="$(find sr_description)/robots/bimanual_shadowhand_motor.urdf.xacro"/>
<arg name="robot_description" default="'$(find sr_description)/robots/bimanual_shadowhand_motor.urdf.xacro'"/>
<!-- The control mode PWM (true) or torque (false) -->
<arg name="pwm_control" default="$(optenv PWM_CONTROL 0)"/>

Expand All @@ -32,7 +32,7 @@
<param name="/use_sim_time" value="false"/>

<!-- Loads the robot description from the file passed as an argument -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(arg robot_description)'"/>
<param name="robot_description" command="$(find xacro)/xacro.py $(arg robot_description)" />

<!-- Load parameters for the right hand -->
<include file="$(find sr_edc_launch)/load_hand_parameters.xml">
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