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Fix/bota flag for gazebo #172

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merged 2 commits into from
Nov 30, 2023
Merged

Fix/bota flag for gazebo #172

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c8c7522
Add flag to disable bota offset in sim.
nikhileshalatur Nov 29, 2023
582514f
fixed syntax error
casimirfeldmann Nov 29, 2023
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2 changes: 2 additions & 0 deletions moma_gazebo/launch/panda_moma_corner.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@
<arg name="gui" default="true" />
<arg name="moveit" default="true" />
<arg name="rviz" default="true" />
<arg name="use_bota" default="false" />
<!-- This is the controller that moveit uses: -->
<arg name="controller" default="effort_joint_trajectory_controller" />
<arg name="world_name" default="$(find moma_gazebo)/worlds/moma_corner.world"/>
Expand All @@ -12,6 +13,7 @@
<arg name="use_gripper" default="true" />
<arg name="world" default="$(arg world_name)" />
<arg name="controller" default="$(arg controller)" />
<arg name="use_bota" default="$(arg use_bota)" />
</include>

<!-- Launch moveit as well. -->
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2 changes: 2 additions & 0 deletions moveit_configs/panda_moveit_config/launch/gazebo.launch
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Expand Up @@ -7,6 +7,7 @@
<arg name="paused" default="false" doc="Should the simulation directly be stopped at 0s?" />
<arg name="world" default="$(find moma_gazebo)/worlds/test.world" doc="Filename to a SDF World for gazebo to use" />
<arg name="rviz" default="false" doc="Should RVIz be launched?" />
<arg name="use_bota" default="false" doc="Should the bota be used?" />

<!-- Robot Customization -->
<arg name="arm_id" default="panda" doc="Name of the panda robot to spawn" />
Expand Down Expand Up @@ -41,6 +42,7 @@
<arg name="load_gripper" value="$(arg use_gripper)" />
<arg name="arm_id" value="$(arg arm_id)" />
<arg name="gazebo" value="$(arg gazebo)" />
<arg name="use_bota" value="$(arg use_bota)" />
<arg name="xacro_args" value="$(arg xacro_args)" />
</include>

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5 changes: 3 additions & 2 deletions moveit_configs/panda_moveit_config/launch/robot_description.launch
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Expand Up @@ -3,13 +3,14 @@
<arg name="load_gripper" default="true" />
<arg name="arm_id" default="panda" />
<arg name="xacro_args" default="" />
<arg name="gazebo" default="false" />>
<arg name="gazebo" default="false" />
<arg name="use_bota" default="false" />

<!-- The name of the parameter under which the URDF is loaded -->
<arg name="robot_description" default="robot_description" />

<!-- Load universal robot description format (URDF) -->
<param name="$(arg robot_description)"
command="xacro '$(find moma_description)/urdf/panda.urdf.xacro' hand:=$(arg load_gripper) arm_id:=$(arg arm_id) gazebo:=$(arg gazebo) $(arg xacro_args)" />
command="xacro '$(find moma_description)/urdf/panda.urdf.xacro' hand:=$(arg load_gripper) arm_id:=$(arg arm_id) gazebo:=$(arg gazebo) $(arg xacro_args) use_bota:=$(arg use_bota)" />

</launch>
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