ctaipuj/lenny_motoman

SDA10F motoman robot metapackage. With modifications for Lenny.

lenny_motoman's Issues

Avoid conflict with exiting packages

This meta-package copy-pastes the following existing packages:

• motoman_driver
• motoman_msgs
• motoman_sda10f_moveit_config
• motoman_sda10f_support
• robotiq

These packages already exist, therefore, if we want to use the original ones, we will run into naming conflicts.

You can contribute to this existing meta-package: https://github.com/fsuarez6/lenny, or you can follow a similar approach. Note that the packages are in the form lenny_*

Robot model should include only robot-related links

The robot urdf should only include links/objects that are attached to the robot such as grippers, covers or beacons:

• Create a URDF for an Industrial Robot
• URDF Examples
• URDF and SRDF

The environment/obstacles/surroundings should be added to the planning scene:

• Planning Scene ROS API Tutorial (Indigo)
• Planning Scene ROS API Tutorial (Kinetic)

Verify placement of the robotiq c2 gripper in the robot model

It seems like the placement of the robotiq c2 gripper in the robot model isn't correct:

Notice that the gripper is inside of the robot.