cram-urdf-projection package for any mobile manipulation robot with a urdf

[gaya-]

Should include PR2, HSR and Boxy (and Donbot will be the test scenario when the package is ready).

• Make a list of all differences currently existing
  • Neck of boxy is an arm -- only joint interface, PR2 has only an action interface
  • Boxy gripper is commanded with CM (parallel gripper) and PR2 with radiant (rotational joint)
  • HSR has 1 arm, others have 2
• Create a new package that contains all the similar code
• Make subtasks for all the differences
• Consider the differences in the code:
  • roslaunch cram_urdf_projection setup.launch robot:=pr2_description.
  • (unless robot-urdf (setf robot-urdf (roslisp:get-param ....))
  • ik solver independent of the robot

[sunava]

@gaya- i think we can close this issue since ive implemented the pkg

[gaya-]

True.