Dual arm setup#385
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mhubii
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Mar 29, 2026
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| # these parameters are read by the lbr_system_interface.xacro and configure the lbr_ros2_control::SystemInterface | |||
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these system configs are outdated
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| # these parameters are read by the lbr_system_interface.xacro and configure the lbr_ros2_control::SystemInterface | |||
| hardware: | |||
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same as above, outdated
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| <robot name="lbr_dual_arm" xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
| <!-- include the lbr iiwa macro --> | ||
| <xacro:include filename="$(find lbr_description)/urdf/iiwa7/iiwa7_description.xacro" /> |
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might be better to include .urdf.xacro now, also double check the URDF was updated correctly
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| cmake_minimum_required(VERSION 3.8) | |||
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check recent default cmake version
| <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <package format="3"> | ||
| <name>lbr_dual_arm_description</name> | ||
| <version>2.1.2</version> |
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have this version match the other packages
| --build-type ament_cmake \ | ||
| --license Apache-2.0 \ | ||
| --maintainer-name mhubii \ | ||
| --maintainer-email "m.huber_1994@hotmail.de" \ |
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maybe skip this for the demo
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Addresses #189
lbr_bringuppackage as it might not facilitate the dual setup right now, and users should not be forced to write their own bringup package for this purpose ...Consider moving
lbr_controllers.yaml, which currently introduces albr_ros2_controldependency for loading the URDF here:lbr_fri_ros2_stack/lbr_description/gazebo/lbr_gazebo.xacro
Line 9 in 218d723
Replaces #215