ROS 2 Branch

[peterdavidfagan]

Hi @rhaschke,

Would a pull request for ROS 2 configuration files be welcomed?

I also wished to ask, how are you deciding on what links to enable collisions for? I have been using MSA to generate a self-collision matrix, despite this I have encountered some collisions while planning. I suspect this is due to the coarse collision geometries specified in the urdf of my robot (inherited from the default description files provided by Franka Emika).

[rhaschke]

Would a pull request for ROS 2 configuration files be welcomed?

Sure. I have created a rolling-devel branch.

How are you deciding on what links to enable collisions for?

The Panda has a very specific URDF with its coarse collision geometries. This is not handled nicely by MSA's automated collision checking (essentially the coarse models always collide). Please inherit from the noetic-devel configuration and only apply required changes for ROS2.

[peterdavidfagan]

Sure. I have created a rolling-devel branch.

Thanks @rhaschke.

Please inherit from the noetic-devel configuration and only apply required changes for ROS2.

Will do.

[130s]

I've started in #136
@peterdavidfagan If you have work-in-progress that you don't mind sharing, I'd like to see.

[130s]

I've started in #136

#136 is ready for the review.