Add ability to describe multiple arms using xs_launch #65
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lukeschmitt-tr
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Feb 26, 2024
* [xs_modules] Add ability to describe multiple arms * Fix arg ordering * Add missing typing to args
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This PR adds the ability to create multiple robot descriptions through the xs_launch module's
DeclareInterbotixXSArmRobotDescriptionLaunchArgumentclass anddeclare_interbotix_xsarm_robot_description_launch_argumentsmethod.To do so, one can pass in custom names to
declare_interbotix_xsarm_robot_description_launch_argumentsfor the following launch configuration/arguments for each robot to be launched:These names are passed down to the
DeclareInterbotixXSArmRobotDescriptionLaunchArgumentclass which creates a custom-named robot description LaunchConfiguration that can be accessed in launch files.