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Toggling between iiwa1 and iiwa2 #345

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manuelli opened this issue Nov 5, 2018 · 0 comments
Open

Toggling between iiwa1 and iiwa2 #345

manuelli opened this issue Nov 5, 2018 · 0 comments

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@manuelli
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manuelli commented Nov 5, 2018

Right now there are a bunch of things in iiwa_hardware.pmd that are specific to the iiwa_1 robot. Basically any time RLG_iiwa_1 or carmine_1 shows up. We should have an easy way of toggling between the setups for the different robots. I think putting things on the ROS parameter server is a decent solution. All other processes should read their parameters from there.

Thoughts @gizatt @peteflorence?
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