Set URDF joint dynamics from joint effort values. #24
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As far as I can tell ros-controls/gazebo_ros2_control#213 fixed the underlying issue. I don't know of other use cases for joint dynamics, so I'll close this. |
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This PR goes along with UniversalRobots/Universal_Robots_ROS2_Description#56 as one way to solve #19.
It computes joint friction as a multiple of joint effort and passes those values to the
ur_description.xacrofile through the new joint dynamics parameter.