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Finish xarm calibration implementation

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Nicolas Hiillos
2023-04-03 17:58:32 +03:00
parent 2372404732
commit 28bf1413c2
4 changed files with 71 additions and 67 deletions
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11
src/lite6_controller/launch/lite6_real_no_gui.launch.py
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@@ -233,15 +233,8 @@ def launch_setup(context, *args, **kwargs):
'publish_geometry_updates': True,
'publish_state_updates': True,
'publish_transforms_updates': True,
# "planning_scene_monitor_options": {
# "name": "planning_scene_monitor",
# "robot_description": "robot_description",
# "joint_state_topic": "/joint_states",
# "attached_collision_object_topic": "/move_group/planning_scene_monitor",
# "publish_planning_scene_topic": "/move_group/publish_planning_scene",
# "monitored_planning_scene_topic": "/move_group/monitored_planning_scene",
# "wait_for_initial_state_timeout": 10.0,
# },
'publish_robot_description': True,
'publish_robot_description_semantic' :True,
}
# Start the actual move_group node/action server