Split ros2_control and kinematics description #59
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This commit separates the description into a pure description of the robot's visuals, kinematics and the control structure. This is by far not at a finished state.
This was referenced May 9, 2023
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Closing in favor of #114 |
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PR aims at separating the description into a pure description of the robot's visuals, kinematics and the control structure.
This is basically motivated from #52 as I had something like that in my head for a while and I wanted to try it out.
Maybe it makes more sense to include the
ros2_controlpart in the main xacro file as suggested in hellantos#1.What I like about this, that the description itself becomes a lot cleaner this way. What I don't like so far is the package with
ros2_controlsupport. It contains a lot of code duplication and I had to re-define reading the kinematics hash. So, there is definitively room for improvement.