Swapping out the Oberon7 arm with another manipulator

The folks from UUV Simulator have two main manipulators, the Oberon7 and the Oberon4 manipulators. The Oberon7 is inspired by the Schilling Robotics Orion 7P. Before you start this tutorial it is best that you have a xacro file with the joints and links of the manipulator you want to integrate with the UUV.

Understanding the call hierarchy

The following command runs the main launch file that launches several other launch files and loads many xacros. roslaunch uuv_dave uuv_dave.launch

In the uuv_dave ros pkg there is the main launch file that is run from terminal.