Enable initial position param in kinova xacros #190
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dyackzan
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MarqRazz
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Nov 22, 2023
The `initial_positions` parameter is already defined in the `load_arm` and `kortex_ros2_control` macros, it is just unable to be used when loading a kinova robot because it is not passed through in the `load_robot` macro. These changes add the `initial_positions` param in the `load_robot` macro and pass it through to the `load_arm` macro so that a kinova robot can be loaded with parameterized initial positions.
And add a note in the initial_positions.yaml file to let users know 6 dof bots will ignore the joint_7 position value
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The
initial_positionsparameter is already defined in theload_armandkortex_ros2_controlmacros, it is just unable to be used when loading a kinova robot because it is not passed through in theload_robotmacro.These changes add the
initial_positionsparam in theload_robotmacro and pass it through to theload_armmacro so that a kinova robot can be loaded with parameterized initial positions.