-
Notifications
You must be signed in to change notification settings - Fork 543
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Change KDL IK plugin joint weight parameters specification #2750
Conversation
Ugh, seems like MoveIt Setup Assistant has some failures due to the addition of the nonzero velocity here: moveit/moveit_resources#198. This is fixed by #2751, which I temporarily included in this branch as well to see if Humble CI passes. |
…s2_controllers config file
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Do we need to update some moveit_resources packages?
Actually, no, because none of the example configs even sets joint weights in the first place! But ler's not merge this in yet, as we could also opt to fix generate_parameter_library |
Why don't you simply use a map from joint name to weight (instead of an additional indirection layer): weights:
joint1: 2.0
joint5: 1.5 |
That does sound good, but I'm not sure if |
If it doesn't, you probably should fix that library. A library implementation shouldn't impose constraints on the kind of parameter structures available. |
If humble CI jobs pass, would it make sense to merge this while a fix to |
Seems there is interest in fixing CI for now, so will open up #2756 and we'll make sure we get that in for the next MoveIt 2 release. |
Update: I think I fixed |
@sea-bass: could the branch be deleted? |
Description
This is a potential fix for #2749.
It changes the KDL parameters introduced in #1671 from:
to
Checklist