From f3b9f40d45080c8db1a26ec230a55e1436a34e4d Mon Sep 17 00:00:00 2001 From: mhubii Date: Wed, 20 Nov 2024 20:10:21 +0000 Subject: [PATCH] updated moveit servo config (#225) --- lbr_bringup/config/moveit_servo.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/lbr_bringup/config/moveit_servo.yaml b/lbr_bringup/config/moveit_servo.yaml index 9d292fba..123c1acd 100644 --- a/lbr_bringup/config/moveit_servo.yaml +++ b/lbr_bringup/config/moveit_servo.yaml @@ -40,11 +40,11 @@ ## MoveIt properties move_group_name: arm # Often 'manipulator' or 'arm' - planning_frame: link_0 # The MoveIt planning frame. Often 'base_link' or 'world' + planning_frame: lbr_link_0 # The MoveIt planning frame. Often 'base_link' or 'world' ## Other frames - ee_frame_name: link_ee # The name of the end effector link, used to return the EE pose - robot_link_command_frame: link_0 # commands must be given in the frame of a robot link. Usually either the base or end effector + ee_frame_name: lbr_link_ee # The name of the end effector link, used to return the EE pose + robot_link_command_frame: lbr_link_0 # commands must be given in the frame of a robot link. Usually either the base or end effector ## Stopping behaviour incoming_command_timeout: 0.1 # Stop servoing if X seconds elapse without a new command