ROS 2 Branch
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Hi @rhaschke,
Would a pull request for ROS 2 configuration files be welcomed?
I also wished to ask, how are you deciding on what links to enable collisions for? I have been using MSA to generate a self-collision matrix, despite this I have encountered some collisions while planning. I suspect this is due to the coarse collision geometries specified in the urdf of my robot (inherited from the default description files provided by Franka Emika).
Would a pull request for ROS 2 configuration files be welcomed?
Sure. I have created a rolling-devel branch.
How are you deciding on what links to enable collisions for?
The Panda has a very specific URDF with its coarse collision geometries. This is not handled nicely by MSA's automated collision checking (essentially the coarse models always collide). Please inherit from the noetic-devel configuration and only apply required changes for ROS2.
Sure. I have created a rolling-devel branch.
Thanks @rhaschke.
Please inherit from the noetic-devel configuration and only apply required changes for ROS2.
Will do.
I've started in #136
@peterdavidfagan If you have work-in-progress that you don't mind sharing, I'd like to see.