Fix/manipulator move group

moveit / panda_moveit_config

The Panda robot is the flagship MoveIt integration robot

http://docs.ros.org/kinetic/api/moveit_tutorials/html/

102 stars 170 forks source link

Fix/manipulator move group #102

Closed gollth closed 2 years ago

gollth commented 2 years ago

One potential fix to https://github.com/ros-planning/panda_moveit_config/issues/101. I think the main problem is that many configs were missing for the move group manipulator. Note, though, that with these fixes actually two gizmos will be shown in RVIZ Motion planning when the manipulator is selected. Probably a bug in the Visualization Screenshot from 2022-02-09 10-04-51

gonzalocasas commented 2 years ago

The change to kinematics.yaml makes a lot of sense to me. I just bumped into the fact that other planning groups besides the arm have no kinematics assigned.

About the other changes, I am not that familiar with those parts to say for sure.

rhaschke commented 2 years ago

Note, that with these fixes actually two gizmos will be shown in RVIZ. Probably a bug in the visualization.

Actually, this was intended behavior: interactive markers are shown for all parent links that are part of the parent group. However, I agree that this should be changed.