Comments (10)
we won't work on this for now
No need to close it.
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After cleaning up unsupported robots #588, we will start introducing a more generic robot-/module-/component-base structure for all URDF, launch and config files... as discussed with @ipa-fmw @ipa-nhg @ipa-mdl
This will allow further de-duplication of code, more consistency between robots, better harmonization of HW/Sim-behavior as well as easier future maintenance and up-scaling...
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#622 is a significant step towards a simplified configuration structure
I will apply a similar concept for the other "unifiable" components, e.g. torso, head, sensorring, arm(s),...
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Also, we would need to adjust the structure to the robot names we are using now to refer to a (physically existing) robot composition, i.e. cob4-paul-ingolstadt
...following @ipa-tif's spreadsheet Verbauliste.xlsx
The ultimate goal could be to even generate launch files based on a module configuration using a tool based on @ipa-mdl's roslaunch-dump
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@ipa-mdl asked for input about roslaunch-dump
(with the final goal being added to roslaunch
)
ros/ros_comm#1022
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reminder for @ipa-fxm: extract sick scanners from base urdf + then remove nav configs for mlr bases as they do not have laser scanners anymore
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extract sick scanners from base urdf + then remove nav configs for mlr bases as they do not have laser scanners anymore
done in #654
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atm none of the solutions proposed by @ipa-fxm and @ipa-nhg fully meet our requirements
also current efforts require a final decision regarding future maintaining responsibilities and supported hardware
thus, I'm moving it to Backlog
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we won't work on this for now
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it's been in the sprint backlog anyway...
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Related Issues (20)
- cob4-7: head axis error HOT 8
- [Enhancement] Update xacro's according to latest syntax HOT 2
- Move base home offset configuration to cob_calibration_data
- Use CMake-Macro to retrieve sub-dir-list HOT 2
- Enable heartbeat producer for Schunk arms
- cob3-6 files missing HOT 6
- verify use of image_proc in indigo/kinetic HOT 1
- base_controller not running correctly in simulation HOT 10
- upload_robot.launch HOT 7
- cob3-2 tray not moving (0) HOT 7
- urdf_tutorial not compatible with the current cobs URDF (2) HOT 1
- review camera coordinate frames HOT 5
- [diagnostics_aggregator] fix aggregator groups for c++-based hz-monitor HOT 1
- Error while doing moveit setup assistance HOT 3
- cleanup after canopen migration of all robots using base_drive_chain
- use laser_filter pipeline for scanner HOT 20
- cob_bringup 0.6.11 in kinetic fails on debian builds HOT 3
- delete EOL robots and EOL packages HOT 12
- raw3-x :Costmap2DROS transform timeout and Could not get robot pose, cancelling reconfiguration
- Prepare cob4-25 for Noetic Upgrade HOT 2
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