allow static sensorring #202
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| @@ -4,7 +4,7 @@ | |||
| <xacro:include filename="$(find cob_description)/urdf/cob4_sensorring/sensorring.gazebo.xacro" /> | |||
| <xacro:include filename="$(find cob_description)/urdf/cob4_sensorring/sensorring.transmission.xacro" /> | |||
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| <xacro:macro name="sensorring" params="parent name *origin"> | |||
| <xacro:macro name="sensorring" params="parent name *origin active:=false"> | |||
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why not active:=true?
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It's the scheme that I started for torso and head, i.e. explicitly activate joints...
floweisshardt
approved these changes
Jan 17, 2017
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Introducing URDF argument to make sensorring static
This is required in case the sensorring is not operable in hardware and thus is not started....however, in simulation, a controller needs to be available for revolute joints as the joint would collapse otherwise
This is required for ipa320/cob_robots#583 in order to harmonize hardware and simulation, in particular current state of cob4-1/cob4-2 hardware state