Change Gazebo SRDF to be a xacro for parser coverage purposes (#121)

PickNikRobotics · Nov 8, 2023 · 2d8331a · 2d8331a
1 parent a879ec8
commit 2d8331a
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Showing 3 changed files with 188 additions and 184 deletions.
diff --git a/src/picknik_ur_gazebo_config/config/config.yaml b/src/picknik_ur_gazebo_config/config/config.yaml
@@ -48,14 +48,15 @@ hardware:
     package: "picknik_ur_gazebo_config"
     path: "config/cameras.yaml"
   robot_description:
-    srdf:
-      package: "picknik_ur_gazebo_config"
-      path: "config/moveit/picknik_ur_gazebo.srdf"
     urdf:
       package: "picknik_ur_gazebo_config"
       path: "description/picknik_ur_gazebo.xacro"
+    srdf:
+      package: "picknik_ur_gazebo_config"
+      path: "config/moveit/picknik_ur_gazebo.srdf.xacro"
     urdf_params:
       - name: "%>> hardware.type"
+      - gripper_name: "robotiq_85"
       # Using the ogre renderer as it is compatible with most host hardware.
       # ogre2 (which is the Gazebo default) is also an option if your system supports it.
       - gazebo_renderer: ${GAZEBO_RENDERER:-ogre}

diff --git a/src/picknik_ur_gazebo_config/config/moveit/picknik_ur_gazebo.srdf b/src/picknik_ur_gazebo_config/config/moveit/picknik_ur_gazebo.srdf