AS: connection with Pd

2025-04-07 19:20:31 +02:00
parent c95e0f4c0c
commit e00fa0a38a
30 changed files with 127 additions and 635 deletions
--- a/ros2_ws/src/joint_states_control/get_urdf.py
+++ b/ros2_ws/src/joint_states_control/get_urdf.py
@@ -38,7 +38,7 @@ def main():

    if urdf_string:
        # Save to a file
-        urdf_path = "/BA/robot.urdf"
+        urdf_path = "/BA/robot_ur5.urdf"
        with open(urdf_path, "w") as file:
            file.write(urdf_string)

--- a/ros2_ws/src/joint_states_control/move_scaled_joint_cart.py
+++ b/ros2_ws/src/joint_states_control/move_scaled_joint_cart.py
@@ -5,7 +5,6 @@ from rcl_interfaces.srv import GetParameters
 import time
 from cart_to_angles import ik_sol
 import roboticstoolbox as rtb
-import xacro

 class ScaledJointTrajectoryPublisher(Node):
    def __init__(self):