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Add simulated argument to ur_description xacros #227

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toliver opened this issue Apr 10, 2015 · 0 comments

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toliver commented Apr 10, 2015

This task is not for this repo, but for our fork of universal_robots.

Based on https://github.com/shadow-robot/universal_robot/tree/F_trajectory_record_play

Add a input argument to the robot xacro so that it allows to load a different transmission.xacro file when we want to run the robot in simulation.

The real robot uses the NullTransmission.
The simulated robot uses SimpleTransmission, as can be seen in:

https://github.com/shadow-robot/universal_robot/blob/F_sr_plugin_compatible/ur_description/urdf/ur10.transmission.xacro

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