Gazebo Multiple Robot and ros_control Interfaces

asked 2015-11-01 07:11:30 -0500

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I have an unique world with two Robots, first i have a Kuka-LWR taken from:

and i have a custom Gripper from:

Now LWR use a custom HW Interface, so its TRANSMISSION Parser take care about only of "LWR" transmissions in Robot_Description URDF. But Gripper use standard "" plugin to parse Transmissions in URDF. The latter so parses also LWR transmission again causing some bugs because LWR controllers now fails to actuate IK or FK.

How can i tell to "" to parse only my Gripper Transmissions?

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