Skip to content

Fix lite 6 missing end effector error #47

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: rolling
Choose a base branch
from
Open

Fix lite 6 missing end effector error #47

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 5 additions & 5 deletions xarm_moveit_config/srdf/_lite6_macro.srdf.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -46,12 +46,12 @@

<!-- gripper -->
<xacro:if value="${add_gripper}">
<!-- <group name="${prefix}lite_gripper">
<joint name="${prefix}gripper_fix" />
<joint name="${prefix}joint_tcp" />
</group> -->
<group name="${prefix}lite_gripper">
<link name="${prefix}uflite_gripper_link" />
<link name="${prefix}link_tcp" />
</group>
<!-- END EFFECTOR, Purpose, Represent information about an end effector. -->
<!-- <end_effector name="${prefix}lite_gripper" parent_link="${prefix}link_tcp" group="${prefix}lite_gripper" /> -->
<end_effector name="${prefix}lite_gripper" parent_link="${prefix}link_tcp" group="${prefix}lite_gripper" />
<passive_joint name="${prefix}gripper_fix" />
<!--PASSIVE JOINT, Purpose, this element is used to mark joints that are not actuated-->
<!-- DISABLE COLLISIONS, By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
Expand Down