From 3aa8a4b223bc9c14e896744b603e3c8df680b4a2 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Tue, 13 Jun 2023 15:07:36 +0200 Subject: [PATCH] Fix MSA tutorial to use new panca.urdf.xacro and xacro argument hand:=true (#789) ... to enable hand model --- doc/setup_assistant/setup_assistant_tutorial.rst | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/doc/setup_assistant/setup_assistant_tutorial.rst b/doc/setup_assistant/setup_assistant_tutorial.rst index 1c36ccaae..095f4a0eb 100644 --- a/doc/setup_assistant/setup_assistant_tutorial.rst +++ b/doc/setup_assistant/setup_assistant_tutorial.rst @@ -49,12 +49,16 @@ Step 1: Start .. image:: setup_assistant_start.png -* Click on the browse button and navigate to the *panda_arm.urdf.xacro* file - installed when you installed the Franka package above. (This file - gets installed in - /opt/ros/noetic/share/franka_description/robots/panda/panda.urdf.xacro on Ubuntu - with ROS Noetic.) Choose that file and then click *Load Files*. The - Setup Assistant will load the files (this might take a few seconds) +* Click on the browse button, navigate to the *panda.urdf.xacro* file + installed when you installed the Franka package above, and choose that file. + On ROS Noetic, this file gets installed in + /opt/ros/noetic/share/franka_description/robots/panda/panda.urdf.xacro. + +* To enable the optionally available hand in your robot model, add the following *xacro* argument to the corresponding text field: :: + + hand:=true + +* Finally, click *Load Files*. The Setup Assistant will load the files (this might take a few seconds) and present you with this screen: .. image:: setup_assistant_panda_100.png