Add flange frame #506
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Add flange frame #506
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@fmauch: could I ask you to check the I've had to redo/include some more rotations and want to make sure it's all correct. |
Yep, seems to work properly. |
Also remove the tiny collision object, as it's no longer needed now that MoveIt has been fixed.
This is the correct EEF attachment point: REP-103 aligned and no unwanted rotations (as tool0).
Now that flange is its parent.
Aligned with other ROS-Industrial robot support packages.
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Thanks @fmauch for the review 👍 |
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As per subject.
This makes
ur_descriptionadhere to the (WIP) REP Coordinate Frames for Serial Industrial Manipulators and aligns it with other ROS-Industrial robot support packages (such as those for ABB and Fanuc).Users will have to use
flangeas the EEF attachment point, instead ofee_link.tool0will always be coincident with an unconfigured (or "all zeros") toolframe, and must not be changed.This is for #448.