Fix lite 6 missing end effector error

[manadaniel]

Fixes rviz2 error message "lite6 is missing the end effector"

[vimior]

@manadaniel
Thank you for your support and suggestions. Due to the structure of Lite Gripper, moveit control is not supported, so the definition of Lite Gripper has been canceled in its SRDF.

[manadaniel]

@vimior understood. But do I assume correctly that you added lite6 gripper support in commit c8736b5 ? Did not find time to check in detail yet, sorry.

[vimior]

@manadaniel
Sorry, this commit did not explain the situation in detail and misled you.
The lite gripper control example provided in this commit c8736b5 is not actually the planner part. It only controls the physical lite gripper through some services in xarm_api. It is not related to URDF and moveit. It cannot control changes in the lite gripper model and cannot perform simulation control.

[manadaniel]

What are the missing pieces that would be needed to implement simulation control for lite6 gripper with ROS2/Moveit2?

[aoberai]

I think this should still be included in the SRDF if only for collision checking.