Address comments

stevendes · stevendes · commit 0b904ab6a62f · 2025-04-28T18:43:05.000-03:00
diff --git a/ar4_description/urdf/ar4.urdf.xacro b/ar4_description/urdf/ar4.urdf.xacro
@@ -2,8 +2,6 @@
 <robot name="ar4" xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:property name="package_name" value="ar4_description"/>
 
-  <xacro:arg name="include_gripper" default="true"/>
-
   <xacro:include filename="$(find ${package_name})/urdf/include/common_macros.urdf.xacro" />
   <xacro:property name="robot_properties_yaml_dir" value="$(find ${package_name})/config/link_properties.yaml" />
   <xacro:property name="robot_properties" value="${xacro.load_yaml(robot_properties_yaml_dir)}"/>
diff --git a/ar4_gazebo_sim/urdf/gz_ar4.urdf.xacro b/ar4_gazebo_sim/urdf/gz_ar4.urdf.xacro
@@ -11,6 +11,6 @@
   <xacro:include filename="$(find ar4_gazebo_sim)/urdf/includes/ros2_control.xacro" />
 
   <!-- ros2_control gripper extensions -->
-  <xacro:include filename="$(find ar4_gazebo_sim)/urdf/includes/ar_gripper.ros2_control.xacro" />
+  <xacro:include filename="$(find ar4_gazebo_sim)/urdf/includes/gripper.ros2_control.xacro" />
 
 </robot>
diff --git a/ar4_gazebo_sim/urdf/includes/gripper.ros2_control.xacro b/ar4_gazebo_sim/urdf/includes/gripper.ros2_control.xacro
diff --git a/ar4_hardware_interface/launch/main.launch.py b/ar4_hardware_interface/launch/main.launch.py
@@ -3,7 +3,7 @@
 from launch_ros.parameter_descriptions import ParameterFile
 from launch_ros.substitutions import FindPackageShare
 
-# from launch.conditions import IfCondition
+from launch.conditions import IfCondition
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
diff --git a/ar4_moveit_config/.setup_assistant b/ar4_moveit_config/.setup_assistant
@@ -7,7 +7,7 @@ moveit_setup_assistant_config:
   package_settings:
     author_name: Santiago Lopez
     author_email: santiago.mendez@creativa77.com.ar
-    generated_timestamp: 1738948185
+    generated_timestamp: 1738012897
   control_xacro:
     command:
       - position
diff --git a/ar4_moveit_config/config/kinematics.yaml b/ar4_moveit_config/config/kinematics.yaml
@@ -1,5 +1,4 @@
 arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
-  kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
+  kinematics_solver_search_resolution: 0.0050000000000000001
+  kinematics_solver_timeout: 0.0050000000000000001
diff --git a/ar4_moveit_config/config/ros2_controllers.yaml b/ar4_moveit_config/config/ros2_controllers.yaml
@@ -8,10 +8,6 @@ controller_manager:
     gripper_controller:
       type: position_controllers/GripperActionController
 
-    # gripper_controller:
-    #   type: joint_trajectory_controller/GripperActionController
-
-
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
@@ -40,10 +36,6 @@ arm_controller:
       joint_5: { trajectory: 0.3, goal: 0.03 }
       joint_6: { trajectory: 0.3, goal: 0.03 }
 
-# gripper_controller:
-#   ros__parameters:
-#     joint: finger_joint_1
-
 gripper_controller:
   ros__parameters:
     joint: finger_joint_1
diff --git a/ar4_moveit_config/config/sensors_3d.yaml b/ar4_moveit_config/config/sensors_3d.yaml
