Link 8 is both a child link and a parent link? Link3 not recognized as tip_link. #10
Description
Hello,
I was wondering why you have Link 8 in pro_model.xacro, as both a child of Joint 8 and a parent of Joint 9? Correct me if I'm wrong, but Link 8 seems to represent the end effector of the Swift Pro.
I am trying to adapt the joystick tutorial from the Moveit! Tutorials page to the swiftpro.
I recall that this issue was lightly addressed in Issue #8 and it was said that you currently don't support the joystick. However, it is still possible to run the joystick.launch file if you hard code a line in moveitjoy_module.py as shown below. The hard coded line was added to the MoveitJoy class in the script.
The ri.get_group_joint_tips(g) returns all of the tip_links that were declared in a robot's srdf. For the swiftpro case, if I do not add the hard coded line in the moveitjoy_module.py, the joystick.launch file will not run. I wondering if the arm group in the swiftpro.srdf was declared properly? Currently, Link3 is declared as a tip link. When I change the tip_link in the swiftpro.srdf to Link8 instead, the joystick.launch still does not run. The joystick.launch file only launches when the hard coded line is added to the moveitjoy_module.py script.
I found this out by running the joystick.launch file in parallel with the pr2 demo.launch file. I added a print statement that returned the output of the ri.get_group_joint_tips(g) function. Below I show screen-shots of the outputs of running the pr2 demo.launch and the swiftpro demo.launch with the joystick.launch file. Here is the pr2.srdf for reference. The output I would like to highlight is under the line "Planning_groups".
Output for PR2
Output for swiftpro (without hard coded line)
Output for swiftpro (without hard coded line)
I am aware that the joystick.launch file is not currently supported, but I'm hoping to come up with a better solution to my problem rather than hard coding the moveitjoy_module.py script. I am trying to figure out why Link3 is not read as a tip_link, if in fact it was created as such in the swiftpro.srdf.
Any suggestions are much appreciated.