Commits on Apr 24, 2023

1. FIX: FrankaHWSim only controls joints beloning to robot

   

   gollth committed Apr 24, 2023
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2. ADD: parent + {xyz,rpy} params to franka_robot.xacro …

   These can be used if you want to simulate the robot on a mobile base. In these
   cases the `$(arm_id)_link0` must not be connected to `world` but instead fixed
   to a link on the mobile robot instead. You could generate a custom combined
   platform + arm URDF like so:
   
   ```xml
   <robot>
     <xacro:include filename="$(find franka_description)/robots/common/franka_robot.xacro"/>
   
     <!-- Instantiate a mobile robot here, which defines a "base_link" -->
   
     <xacro:franka_robot
            robot="fr3"
            parent="base_link"
            xyz="0 0 0.25"
            rpy="0 0 ${pi/2}">
     </xacro:franka_robot>
   
   </robot>
   ```

   

   gollth committed Apr 24, 2023
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3. ADD: CHANGELOG entry

   

   gollth committed Apr 24, 2023
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4. FIX: Unknown substitution "hand" …

   ...is now a macro argument and not a xacro arg anymore

   

   gollth committed Apr 24, 2023
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