Add joint blacklist property

ARC-OPT · Nov 21, 2023 · c0c0cdc · c0c0cdc
1 parent 29c42ed
commit c0c0cdc
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diff --git a/src/whole_body_controller.cpp b/src/whole_body_controller.cpp
@@ -122,6 +122,7 @@ controller_interface::CallbackReturn WholeBodyController::on_configure(const rcl
 
     RobotModelConfig robot_model_cfg;
     robot_model_cfg.file_or_string       = urdf_string;
+    robot_model_cfg.joint_blacklist      = params.robot_model.joint_blacklist;
     robot_model_cfg.type                 = params.robot_model.type;
     robot_model_cfg.submechanism_file    = params.robot_model.submechanism_file;
     robot_model_cfg.floating_base        = params.robot_model.floating_base;

diff --git a/src/whole_body_controller_parameters.yaml b/src/whole_body_controller_parameters.yaml
@@ -72,6 +72,14 @@ whole_body_controller:
             default_value: "",
             description: "Only if type:=hyrodyn. Absolute path to submechanism file, which the robot's parallel submechanisms. See Hyrodyn docs for more info.",
         }
+        joint_blacklist: {
+            type: string_array,
+            default_value: [],
+            description: "Blacklisted joints will be set to fixed joints in URDF.",
+            validation: {
+                unique<>: null,
+            }
+        }
         floating_base: {
             type: bool,
             default_value: false,