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Kinovarobotics / ros2_kortex

ROS2 driver for the Gen3 Kinova robot arm
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Gen3 Lite MoveIt2 Config Planning Group Should Not Include Its Gripper #249

Closed htchr closed 3 weeks ago

htchr commented 3 weeks ago

Hello,

I believe the Gen3 Lite arm would be far easier to use if it had different planning groups for its arm and gripper similar to how it was configured in ros 1. As is, with the gripper included in the same planning group, it's difficult to orthogonally position the arm and to programmatically localize over objects for picking. Since inverse kinematic planning positions to the finger and changes grip width, the user has to account for a dynamic offset between the IK goal position and target objects. Pictures for reference below:

Screenshot from 2024-10-31 10-17-37

Screenshot from 2024-10-31 10-20-29

Thank you,

htchr commented 3 weeks ago

I have attempted to fix the issue in pull request 250.