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remove use_mock_hardware from moveit launchfile #853

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fdurchdewald
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The scaled JTC can be used on fake hardware as well. Therefore, there is no real reason for keeping the use_mock_hardware argument in the MoveIt launch file.

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fmauch commented Oct 25, 2023

@fdurchdewald Could you please fix the duplicated target in the usage.rst file? Thanks!

@fmauch fmauch self-requested a review November 9, 2023 14:17
@fmauch fmauch linked an issue Nov 9, 2023 that may be closed by this pull request
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@destogl
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destogl commented Nov 15, 2023

@fdurchdewald does this means that you will have different robot descriptions used on driver launch and MoveIt launch

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fmauch commented Nov 15, 2023

@fdurchdewald does this means that you will have different robot descriptions used on driver launch and MoveIt launch

No, we should remove the description from the moveit launch. AFAIK it takes the one from the RSP's description topic by now.

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fmauch commented Nov 19, 2023

Before merging this, we should consider UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation#22

What do we do about the scaled jtc in gazebo? Probably we should still provide an option for the default controller.

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fmauch commented Jun 13, 2024

I think this is now obsolete with #998

@fmauch fmauch closed this Jun 13, 2024
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remove use_mock_hardware from moveit launchfile
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