Add files to support pick_ik tutorial

Robotawi commented 1 year ago

Description: This pull request adds two files: kinematics_pick_ik.yaml and demo_pick_ik.launch.py, to support the pick_ik tutorial. The aim is to make it simple for users to launch a tutorial that is already configured with pick_ik as a solver.

Changes:

Added kinematics_pick_ik.yaml to configure pick_ik as the kinematics solver.
Added demo_pick_ik.launch.py, which is a copy of panda_moveit_config/config/demo.launch.py but uses MoveItConfigBuilder to load the kinematics_pick_ik.yaml file instead of the default kinematics.yaml file.

Please let me know if there are any changes or improvements that you suggest. Thank you!

sea-bass commented 1 year ago

As these files are specific to the tutorial, shouldn't they reside within the tutorials repo?

We'll move this to the tutorials repo -- good point

AndyZe commented 1 year ago

I also think it's a better idea to put these in the tutorials repo. If you put them here in moveit_resources, lots of people will copy/paste the files when they start a new project... which would lead to an extra kinematics.yaml for many people. Best to avoid bloat :+1:

moveit / moveit_resources

Add files to support pick_ik tutorial #180