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No slash in links #801

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merged 7 commits into from
Oct 27, 2023
Merged

No slash in links #801

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2428874
Adding AIT*, BIT* and ABIT* to listed OMPL planners.
alaflaquiere-sony Apr 10, 2023
3fa6906
Fix PR suggestions
alaflaquiere May 15, 2023
f238b32
Merge branch 'ros-planning:master' into master
alaflaquiere Oct 27, 2023
30904d7
Update urdf_srdf_tutorial.rst
alaflaquiere Oct 27, 2023
3c11644
Update multiple_robot_arms_tutorial.rst
alaflaquiere Oct 27, 2023
5b92a76
formatting
alaflaquiere Oct 27, 2023
46616aa
Update urdf_srdf_tutorial.rst
alaflaquiere Oct 27, 2023
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2 changes: 1 addition & 1 deletion doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst
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Expand Up @@ -49,7 +49,7 @@ Our multiple arms model has ``right_arm`` and ``left_arm`` robots. Each arm is e

Notes:

1. Two arguments ``right_arm`` and ``left_arm`` are defined as prefixes to differentiate the arms and hands names.
1. Two arguments ``right_arm`` and ``left_arm`` are defined as prefixes to differentiate the arms and hands names. Be careful not to use any of the following characters in the prefixes: ``-``, ``[``, ``]``, ``(``, ``)``, ``/``.

2. The arms and hands models are loaded from the ``franka_description`` package, which is installed as a dependency of the ``panda_moveit_config`` package. Ensure the ``franka_description`` package is installed in your ROS environment.

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7 changes: 6 additions & 1 deletion doc/urdf_srdf/urdf_srdf_tutorial.rst
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Expand Up @@ -18,10 +18,15 @@ This section contains a set of tips on making sure that the URDF that you genera

Special Characters in Joint Names
"""""""""""""""""""""""""""""""""
Joint names should not contain any of the following special characters: -,[,],(,),
Joint names should not contain any of the following special characters: ``-``, ``[``, ``]``, ``(``, ``)``.

We hope to be able to get rid of these restrictions on the joint names soon.

Special Characters in Link Names
"""""""""""""""""""""""""""""""""
Link names should not contain any of the following characters: ``-``, ``[``, ``]``, ``(``, ``)``.
Link names also should not include any ``/`` character, as Moveit will interpret any such slash as a separator for a subframe (see `Subframes <https://ros-planning.github.io/moveit_tutorials/doc/subframes/subframes_tutorial.html#/>`_). We suggest to use ``_``, ``:``, or ``\`` instead.

Safety Limits
"""""""""""""
Some URDFs have safety limits set in addition to the joint limits of the robot. Here's an example of the safety controller specified for the Panda head pan joint: ::
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