Experimental support for CRB 15000-12/1.27

[mmmarcopalma]

Extending support for CRB 15000 to model 12-1.27 (GoFa 12 kg).

Includes updates of:

• /config, /launch, /urdf directories
• .stl visual and collision mesh geometry
  (link-3, link-5 and link-6 are referenced to meshes/crb15000_5_95)

[mmmarcopalma]

/cc @gonzalocasas

[gavanderhoorn]

Thanks for the PR.

Some high-level comments:

• could you remove all the desktop.ini files please?
• could none of the meshes of the other variant be reused?
• please add a roslaunch test for the new variant
• please update the description in the manifest with the details about the new variant you added
• and if you'd like: please add yourself as an author, seeing as you added a new variant

[mmmarcopalma]

Thanks, I'll follow up on your comments.

• could none of the meshes of the other variant be reused?

I could re-use 3+3 meshes (links 3-5-6). The ones I uploaded are exact copies of the existing ones.

I'm not fluent yet in git, apologies for missing on some best-practice.

[gavanderhoorn]

• could none of the meshes of the other variant be reused?

I could re-use 3+3 meshes (links 3-5-6). The ones I uploaded are exact copies of the existing ones.

Ok, so this is perhaps due to me not being clear by what I meant by reuse.

A xacro:macro can refer to files 'anywhere', so you don't have to copy meshes if they are identical to files for other variants.

Just have your <mesh filename="..."/> point to the file you'd like to reuse from the other variant.

No need to copy anything.

[mmmarcopalma]

I added a commit with the requested changes.

• and if you'd like: please add yourself as an author, seeing as you added a new variant

Thanks, I added my name in the Package.xml

[mmmarcopalma]

Hello @gavanderhoorn, is there any news regarding this request?
Thanks!

[gavanderhoorn]

Thanks again for the PR. Holiday period got in the way.

See the inline comments for some things that need to be checked and possibly corrected.

Apart from those, I'm wondering whether there is an issue with the normals of visual meshes link_1.stl and link_4.stl:

they appear to be inverted, at least partially.

[mmmarcopalma]

Committed the requested changes.
Thanks for supporting!

[mmmarcopalma]

Hello @gavanderhoorn, is there anything else I can do to push this PR?
Thanks!

[gavanderhoorn]

I've re-enabled CI and added a couple of commits.

I believe this is in an OK state to merge. Thanks again for the PR @mmmarcopalma 👍

Let's wait on CI to turn green.

[gavanderhoorn]

To prevent all the fixups from ending up in the commit history, I'll squash-merge this.

Provenance and attribution will be retained, of course.

[gavanderhoorn]

Thanks again @mmmarcopalma 👍

[mmmarcopalma]

Great news, thanks for the support @gavanderhoorn, and thanks also to @gonzalocasas for initiating the process