refactor(franka_gazebo): remove FrankaHWSim robot namespace warning #366
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This was referenced Sep 3, 2023
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This commit removes the robot namespace warning found in the FrankaHWSim since it is no longer needed now that frankaemika#196 has been merged. It also replaced the 'arm_id' default with the model name.
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In commit f2f82b2, a robot namespace warning was introduced in the FrankaHWSim package. This warning was added to address a specific issue at the time (see #187 (comment)). However, with the recent merge of PR #196, the conditions that necessitated this warning are no longer applicable.
To enhance the user experience and ensure clarity in error messages, I propose the following changes:
Remove Redundant Robot Namespace Warning: The warning introduced in f2f82b2 is no longer needed since this warning only would be printed if the URDF is found. The URDF will only be found when the user specifies the correct robot namespace.
Change arm_id default value: In the original code, the
robot_namespacewas used as the default value for thearm_idattribute. This could trigger cryptic hardware transmission warnings if users forget to set thearm_idparameter on therobot_namespace. This can be solved by replacing the defaultrobot_namespacewith the model name as the default value for thearm_idattribute.Introduce a warning mechanism that notifies users when they fail to load the arm_id parameter within the model parameter namespace. This will help users identify and resolve namespace-related issues more effectively.
Please let me know if you have any questions about my pull request.