Launch two arms with wam7_sim

Modified launch files and urdf to make them more general, added lua script for second arm.
I think the one-arm launch file should expose all of these arguments. The two arm file? Maybe not. The current approach lets you use one launch file to reposition the arms however you want, with the default positions for the WAM stage.


I do agree that it’s strange to set all of the joint positions at the same time for both arms, but I don’t think removing the option to set arm positions is a good fix. 






Best,
Chris





From: Jonathan Bohren
Sent: ‎Monday‎, ‎November‎ ‎3‎, ‎2014 ‎9‎:‎24‎ ‎AM
To: jhu-lcsr/lcsr_barrett
Cc: Chris Paxton





In launch/sim/wam7_sim.launch:
> +    <arg name="initial_group" value="$(arg initial_group)"/>
> +    <arg name="dash" value="$(arg dash)"/>
> +    <arg name="j0" value="$(arg j0)"/>
> +    <arg name="j1" value="$(arg j1)"/>
> +    <arg name="j2" value="$(arg j2)"/>
> +    <arg name="j3" value="$(arg j3)"/>
> +    <arg name="j4" value="$(arg j4)"/>
> +    <arg name="j5" value="$(arg j5)"/>
> +    <arg name="j6" value="$(arg j6)"/>
> +    <arg name="x" value="0.04"/>
> +    <arg name="y" value="-0.46"/>
> +    <arg name="z" value="1.00"/>
> +    <arg name="tf_prefix" value="wam2"/>
> +    <arg name="oro_prefix" value="w2"/>
> +    <arg name="lua_script" value="$(find lcsr_barrett)/lua/wam2_sim.lua"/>
> +  </include>


Does it make sense to expose all of these as arguments to the launchfile? It looks like it prevents you from having two arms with different initial positions / end-effectors. Maybe a good practice should just be to have an example 2-arm launchfile which people can use as a reference for various applications, instead of having one that they're meant to include.

—
Reply to this email directly or view it on GitHub.