now moma_corner works, and wheels turn

ethz-asl · Dec 18, 2023 · 9b2079b · 9b2079b
1 parent bba3a93
commit 9b2079b
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Showing 2 changed files with 8 additions and 5 deletions.
diff --git a/moma_description/urdf/giraffe.urdf.xacro b/moma_description/urdf/giraffe.urdf.xacro
@@ -7,7 +7,6 @@
   <xacro:arg name="load_gripper" default="true" />
   <xacro:arg name="gazebo" default="true" />
   <xacro:arg name="arm_id" default="panda" />
-  <!-- <xacro:arg name="use_nominal_extrinsics" default="false"/> -->
 
   <xacro:include filename="$(find gmp_robot)/config/urdf/gmp.xacro"/>
   <xacro:gmp include_control_plugin="true" multiple_robots="true"/>
@@ -27,6 +26,7 @@
     use_fixed_camera="$(arg use_fixed_camera)"
     use_wrist_camera="$(arg use_wrist_camera)"
     use_bota="$(arg use_bota)"
-    include_control_plugin="true"/>
+    include_control_plugin="true"
+    multiple_robots="true"/>
 
 </robot>
diff --git a/moma_description/urdf/panda_arm.xacro b/moma_description/urdf/panda_arm.xacro
@@ -21,6 +21,7 @@
     fixed_calibration_xyz:='0.890 -0.162 1.293'
     fixed_camera_parent_link:='panda_link0'
     use_bota:=false
+    multiple_robots:=false
     include_control_plugin:=true,
     publish_realsense_extrinsics:=true">
 
@@ -157,9 +158,11 @@
           <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
             <controlPeriod>0.001</controlPeriod>
             <robotSimType>franka_gazebo/FrankaHWSim</robotSimType>
-            <robotNamespace>/panda</robotNamespace>
-            <robotParam>robot_description_arm</robotParam>
-            <robotDescription>robot_description_arm</robotDescription>
+            <xacro:if value="${multiple_robots}">
+              <robotNamespace>/panda</robotNamespace>
+              <robotParam>robot_description_arm</robotParam>
+              <robotDescription>robot_description_arm</robotDescription>
+            </xacro:if>
           </plugin>
           <self_collide>true</self_collide>
         </gazebo>