Refactor multi_robot_arm package for Gazebo Harmonic simulation support #3
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jb-balaji
commented
Jan 16, 2026
jb-balaji
commented
- Updated CMakeLists.txt to replace gazebo_ros with ros_gz_sim and added installation of Python scripts.
- Modified ros_controllers_robot.yaml to remove gripper controller parameters.
- Enhanced gazebo_arm.launch.py to use xacro for loading YAML files.
- Created new launch file for Gazebo Harmonic simulation.
- Updated package.xml to reflect version change and new dependencies.
- Added new Python scripts for pose goals and continuous waving/dance like motion.
- Refined URDF and Xacro files for compatibility with new simulation framework.
- Created empty SDF and updated empty.world for improved lighting and physics.
- Add demo video and update README for ROS2 Jazzy and Gazebo Harmonic support
- Updated CMakeLists.txt to replace gazebo_ros with ros_gz_sim and added installation of Python scripts. - Modified ros_controllers_robot.yaml to remove gripper controller parameters. - Enhanced gazebo_arm.launch.py to use xacro for loading YAML files. - Created new launch file for Gazebo Harmonic simulation. - Updated package.xml to reflect version change and new dependencies. - Added new Python scripts for pose goals and continuous waving/dance like motion. - Refined URDF and Xacro files for compatibility with new simulation framework. - Created empty SDF and updated empty.world for improved lighting and physics. - Add demo video and update README for ROS2 Jazzy and Gazebo Harmonic support
add video demo file
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