motoman_es_support package common meshes

[jimmy-mcelwain]

We are in the process of releasing the ROS2 support packages and this is a small thing thing that I mentioned during a discussion and was recommended to ask you about @marip8.

Nitpicky and maybe uninformed, but the motoman_es_support is slightly confusing to me. Links SLUBT are in the common folder, link R is under es165, and links UR are under es200-120. It seems like the U in the common folder should be moved to the es165, since it isn't common. Maybe it is common for other es arms and that is why it is there, though.

Do you know why this would be? Is there any reason to not move the U in the common folder to the es165 folder? Thanks

[gavanderhoorn]

@marip8: friendly ping?

[marip8]

To be clear, the general intent was to put as many common meshes into the es directory as possible so we didn't have to copy them for all variants.

Is there any reason to not move the U in the common folder to the es165 folder?

I don't remember exactly, but my recollection was that there were several variants of the ES that have the same link U length. We happened to have an ES 200-120 for a project; it has a longer link U, so I just added a separate link U mesh for that one variant.

If it turns out that there are not several other variants of the ES that share the same link U, then I think it would be fine to move the mesh into the es165 folder. Otherwise, we could leave it as-is for future support of those other variants (if that series of robot is still around)