Pull Request for new servo driver code#1
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futureneer wants to merge 42 commits intoamedwards:ur5_robotiq_2fingerfrom
Open
Pull Request for new servo driver code#1futureneer wants to merge 42 commits intoamedwards:ur5_robotiq_2fingerfrom
futureneer wants to merge 42 commits intoamedwards:ur5_robotiq_2fingerfrom
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… still in driver.py
…rive program that reports effort -- it would be nice if this reported joint positions as well.
Merge request for changes to robot driver, teleop code and interface panels
…somewhere else later
…obot into servo_working
…obot into servo_working
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This branch makes several changes to the ur_driver package:
Changes the ur5.urdf.xacro file to properly represent the base of the robot relative to its first joint.
Adds a new servo_driver.py file which is a clean implementation of driver.py. It does not include the trajectory actions in driver.py. Those will be added in the future. There is also a launch file, several services and program (.prog) files to support this interface.
To run the robot with this new interface:
Adds two interfaces for interacting with the robot
Changes to CMakeLists.txt and package.xml to accommodate new services for servo_driver.py