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…r mobile robot integration parameter-enabled xacros to generate arm description urdf optionally change the default base_link name so it can become a link on a robot's urdf optionally add a prefix which can be used as a namespace scope to assure links and joints are uniquely named across robots in a global transform space usage example: xacro roarm_urdf_builder.xacro prefix:=mybot_ base_link_name:=left_arm_base_link > roarm_generated.urdf run without parameters to generate the default roarm urdf: xacro roarm_urdf_builder.xacro > roarm_generated.urdf
- Added self.current_positions dictionary to track last known position of each joint - Modified joint_states_callback to only update joints present in the message - Always sends complete joint states to hardware using cached values for missing joints - Incremental updates where individual joints can be controlled without affecting others
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Added partial updates where individual joints can be controlled without affecting others. Cache of joint positions maintained inside roarm_driver.py |
Fixed arm_driver Joint Name Matching (roarm_driver.py) - Solution: Normalize both namespace and joint names by stripping leading slashes before comparison. This stops enforcing and arbitrary leading slash expectation for tf frame names
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Considering adding one or more arms to a mobile robot, a series of mobility enhancements came to mind:
Added a launch file for roarm_driver with the ability to override the usb connection on start up. For example, if using udev rules to set the name of the port:
ros2 launch roarm_driver roarm.launch.py serial_port:=/dev/roarm_port
Namespaces can be used to isolate one arm from another, allowing the universal TF tree to remain conflict-free. roarm_driver will use the current namespace to select the appropriate joint_states to act on. If not using namespaces, the base of the arm can be renamed with a launch argument allowing a joint to be defined without conflicting with the chassis' base_link.
Moved the description generation system to use xacro to compile descriptions on the fly in a launch file.
Added the ability to rotate the gripper mount with an argument to support when owners change the factory orientation.
Created an example mounted.display.launch.py to show how two arms can be configured on one base:
Added README documentation supporting these mobility features. Added a new section 9.
These extended features have not been tested against the Moveit2 examples, but since by default they don't change anything if unused, I don't anticipate problems. Let me know if you see otherwise.
To see an example of using these features in cross package way, refer to:
desribe.with.arm.py