Fix Servo waypoint threshold and xacro initial state

PickNikRobotics / UR10e_welding_demo

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Fix Servo waypoint threshold and xacro initial state #39

Closed henningkayser closed 2 years ago

henningkayser commented 2 years ago

This should make execution more robust by increasing the waypoint distance threshold and by adding a position-based check as well (prevents possible joint jumps). The implementation is really really basic, though, we should consider implementing something more robust in the future.

christianlandgraf commented 2 years ago

I can confirm that the oscillations caused by servo disappeared :+1: The correct initial state is added here: #40 .

I also noticed that the temporary moveit branch with hybrid planning + pilz didn't contain some (namespace) fixes of the open PR, so I added it to another temprorary branch. Feel free to change this...