{"action":"created","comment":{"url":"https://api.github.com/repos/ros-industrial-consortium/godel/pulls/comments/49747397","id":49747397,"diff_hunk":"@@ -0,0 +1,10 @@\n+scan_plan:\n+  scan_width: 0.01\n+  traverse_spd: 0.0025\n+  approach_distance: 0.15\n+  overlap: 0.001\n+  margin: 0\n+  quality_metric: \"rms\"","path":"godel_robots/abb/godel_irb2400/godel_irb2400_support/config/scan_plan.yaml","position":7,"original_position":7,"commit_id":"8fa8204ffe159700adfa9645e4382714e9ed55d1","original_commit_id":"8fa8204ffe159700adfa9645e4382714e9ed55d1","user":{"login":"jrgnicho","id":3279718,"avatar_url":"https://avatars.githubusercontent.com/u/3279718?v=3","gravatar_id":"","url":"https://api.github.com/users/jrgnicho","html_url":"https://github.com/jrgnicho","followers_url":"https://api.github.com/users/jrgnicho/followers","following_url":"https://api.github.com/users/jrgnicho/following{/other_user}","gists_url":"https://api.github.com/users/jrgnicho/gists{/gist_id}","starred_url":"https://api.github.com/users/jrgnicho/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jrgnicho/subscriptions","organizations_url":"https://api.github.com/users/jrgnicho/orgs","repos_url":"https://api.github.com/users/jrgnicho/repos","events_url":"https://api.github.com/users/jrgnicho/events{/privacy}","received_events_url":"https://api.github.com/users/jrgnicho/received_events","type":"User","site_admin":false},"body":"What is broken?","created_at":"2016-01-14T16:24:26Z","updated_at":"2016-01-14T16:24:26Z","html_url":"https://github.com/ros-industrial-consortium/godel/pull/81#discussion_r49747397","pull_request_url":"https://api.github.com/repos/ros-industrial-consortium/godel/pulls/81","_links":{"self":{"href":"https://api.github.com/repos/ros-industrial-consortium/godel/pulls/comments/49747397"},"html":{"href":"https://github.com/ros-industrial-consortium/godel/pull/81#discussion_r49747397"},"pull_request":{"href":"https://api.github.com/repos/ros-industrial-consortium/godel/pulls/81"}}},"pull_request":{"url":"https://api.github.com/repos/ros-industrial-consortium/godel/pulls/81","id":55945199,"html_url":"https://github.com/ros-industrial-consortium/godel/pull/81","diff_url":"https://github.com/ros-industrial-consortium/godel/pull/81.diff","patch_url":"https://github.com/ros-industrial-consortium/godel/pull/81.patch","issue_url":"https://api.github.com/repos/ros-industrial-consortium/godel/issues/81","number":81,"state":"open","locked":false,"title":"Godel Robots","user":{"login":"Jmeyer1292","id":4960180,"avatar_url":"https://avatars.githubusercontent.com/u/4960180?v=3","gravatar_id":"","url":"https://api.github.com/users/Jmeyer1292","html_url":"https://github.com/Jmeyer1292","followers_url":"https://api.github.com/users/Jmeyer1292/followers","following_url":"https://api.github.com/users/Jmeyer1292/following{/other_user}","gists_url":"https://api.github.com/users/Jmeyer1292/gists{/gist_id}","starred_url":"https://api.github.com/users/Jmeyer1292/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Jmeyer1292/subscriptions","organizations_url":"https://api.github.com/users/Jmeyer1292/orgs","repos_url":"https://api.github.com/users/Jmeyer1292/repos","events_url":"https://api.github.com/users/Jmeyer1292/events{/privacy}","received_events_url":"https://api.github.com/users/Jmeyer1292/received_events","type":"User","site_admin":false},"body":"This PR adds the robot configurations for the ABB IRB2400.\r\n\r\nThe original Godel repo had support for the motoman baked right into the `godel_robot_config` package. As we grew the capabilities of Godel and added many new robots, it quickly became difficult to keep all of the robot configurations inside this package. \r\n\r\nI created a `godel_robots` directory that houses a utility package `godel_robot_resources` as well as robot vendor specific sub folders. These vendor folders contain directories for each supported robot and those in turn include:\r\n 1. Descartes configuration\r\n 2. Support package (URDFs)\r\n 3. MoveIt configuration\r\n 4. IKFast plugin\r\n\r\nMore than almost anything else, this package was changed constantly and I'm very open to improve this way of handling robot configurations. I also have support for the UR5, UR10, Motoman SIA20D, ABB6600, and ABB2600 but some of these require some experimental components, so I'm holding off for 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