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Add kinematics plugin settings

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This commit is contained in:
Nicolas Hiillos
2023-03-02 17:52:23 +02:00
parent 7802cc9241
commit 0f5826893c
2 changed files with 15 additions and 0 deletions
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8
src/lite6_controller/launch/lite6_real.launch.py
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@@ -153,6 +153,14 @@ def launch_setup(context, *args, **kwargs):
controllers_yaml = load_yaml(moveit_config_package_name, 'config', xarm_type, '{}.yaml'.format(controllers_name.perform(context)))
ompl_planning_yaml = load_yaml(moveit_config_package_name, 'config', xarm_type, 'ompl_planning.yaml')
kinematics_yaml = robot_description_parameters['robot_description_kinematics']
#kinematics_yaml['kinematics_solver'] = 'kdl_kinematics_plugin/KDLKinematicsPlugin'
#kinematics_yaml['kinematics_solver_search_resolution'] = 0.005
#kinematics_yaml['kinematics_solver_timeout'] = 0.005
#kinematics_yaml['kinematics_solver_attempts'] = 3
kinematics_yaml['kinematics_solver_timeout'] = 10.0
kinematics_yaml['kinematics_solver_attempts'] = 10
joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None)
if add_gripper.perform(context) in ('True', 'true'):