Parametrize mouting transform for the gripper#11
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sivral merged 6 commits intohumble-develfrom Jun 27, 2025
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After small changelog update, it will be ready to be merged
Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com>
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Description
This PR makes the relative pose between the robot flange and the gripper configurable.
The fixed joint between the parent link and the coupler is now parameterized via
xyzandrpyparameters inrobotiq_hande_gripper.xacro.Resolves the issue in the source repository: macmacal#8 (a reverse PR must be done afterwards).
Motivation and context
The default fixed transform assumes a specific flange alignment. On different robot arms or mounting setups, this identity transform may not be valid.
How has this been tested?
In RViz by launching the robot description.
Checklist