modify: ee_type flag#59
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Pull request overview
This PR fixes a ros2_control configuration issue in the bimanual OpenArm Xacro macros where the ee_type setting was not being forwarded to the right hardware interface, causing the right arm to fall back to its internal default regardless of the user-provided value.
Changes:
- Forward
ee_typeintoopenarm_right_hardware_interfacein the v2.0 bimanual ros2_control Xacro. - Forward
ee_typeintoopenarm_right_hardware_interfacein the v1.0 bimanual ros2_control Xacro.
Reviewed changes
Copilot reviewed 2 out of 2 changed files in this pull request and generated 2 comments.
| File | Description |
|---|---|
| assets/robot/openarm_v2.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro | Adds ee_type param forwarding to the right hardware interface; also changes the macro’s default ee_type. |
| assets/robot/openarm_v1.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro | Adds ee_type param forwarding to the right hardware interface; also changes the macro’s default hand value. |
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Comment on lines
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| right_can_interface:=^|can0 | ||
| use_fake_hardware:=^|false | ||
| fake_sensor_commands:=^|false | ||
| ee_type:=^|parallel_link | ||
| ee_type:=^|pinch_gripper | ||
| left_arm_prefix:=^|left_ |
Comment on lines
21
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| right_can_interface:=^|can0 | ||
| use_fake_hardware:=^|true | ||
| fake_sensor_commands:=^|false | ||
| hand:=^|false | ||
| hand:=^|true | ||
| ee_type:=^|parallel_link | ||
| left_arm_prefix:=^|left_ |
abetomo
approved these changes
May 25, 2026
| use_fake_hardware:=^|false | ||
| fake_sensor_commands:=^|false | ||
| ee_type:=^|parallel_link | ||
| ee_type:=^|pinch_gripper |
Contributor
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Is this change necessary?
It appears to be specified by the caller.
| use_fake_hardware:=^|true | ||
| fake_sensor_commands:=^|false | ||
| hand:=^|false | ||
| hand:=^|true |
Contributor
There was a problem hiding this comment.
Is this change necessary?
It appears to be specified by the caller.
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Summary
ee_typewas not passed to the right arm hardware interface in the bimanual ros2_control xacro, causing the right arm to always fall back to the default value (parallel_link) regardless of what was specified.Changes
<param name="ee_type">${ee_type}</param>toopenarm_right_hardware_interfaceinopenarm.bimanual.ros2_control.xacro