Pw70 description #167
Pw70 description #167
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| <mesh filename="package://schunk_description/meshes/pw70/pw70_square_holder.stl" /> | ||
| </geometry> | ||
| </visual> | ||
| <!-- <collision> |
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why is the collision model commented out?
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We left it commented out since it is not well tested. We use the same description as for the visualisation and I am not sure that is the right thing. In this way there is a place holder when someone will work with collisions.
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@ipa-nhg should I change here something to get it merged or something else? |
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@destogl could you please add the collisions of the links? |
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thanks @destogl FR: OK |
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Hi, could you please tell me how you tested the PW70. I assumed that it uses the Schunk Motion Protocol for communication instead of the Amtec protocol. Are they compatible? |
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@manuelmuehlig our PW70 modules uses Amtec protocol. I wanted to create PR with launch files for a long time. I will add it soon so you can check it. SMP and Amtec protocol are not compatible. |
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@destogl Launch files would be great. I now understand the differences between SMP and Amtec and was able to get our PW 70 running with SocketCAN and SMP. If you could submit the launch files for your PW 70 with the old protocol I would likely be able to adapt everything to also support SMP. Although the communication is different, the basic control seems very similar. |
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Thanks, that helps getting things started. I am still considering how to tackle the SMP communication (see #187 ) |
Added description and visualisation for Powercube PW70 modules. Is is tested in both configurations "upsidedown" and normal one.