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1 vote

Reading a ros2_control xacro file in a regular node

Have a look at the component parser used within the controller_manager of ros2_control. It should be possible to use that in your node.
Christoph Froehlich's user avatar
1 vote

Can set friction direction based on link cordinate in URDF

I mistakenly used "fdir" instead of "fdir1", fixing it performs what I desired: <fdir1>1 0 0</fdir1>
Tama's user avatar
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