From b12a8d87a33e08f6f99fdc4d4ec03fb395a89248 Mon Sep 17 00:00:00 2001 From: Sebastian Castro Date: Tue, 30 May 2023 18:07:24 -0400 Subject: [PATCH] Update MoveIt Servo parameters --- src/picknik_ur_base_config/config/moveit/ur5e_servo.yaml | 3 +++ src/picknik_ur_gazebo_config/config/moveit/ur5e_servo.yaml | 4 +++- 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/src/picknik_ur_base_config/config/moveit/ur5e_servo.yaml b/src/picknik_ur_base_config/config/moveit/ur5e_servo.yaml index 10fc6c5d..64e437fd 100644 --- a/src/picknik_ur_base_config/config/moveit/ur5e_servo.yaml +++ b/src/picknik_ur_base_config/config/moveit/ur5e_servo.yaml @@ -2,6 +2,9 @@ # Modify all parameters related to servoing here ############################################### +# Enable dynamic parameter updates +enable_parameter_update: true + ## Properties of incoming commands command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s scale: diff --git a/src/picknik_ur_gazebo_config/config/moveit/ur5e_servo.yaml b/src/picknik_ur_gazebo_config/config/moveit/ur5e_servo.yaml index 663eae44..c6e8230b 100644 --- a/src/picknik_ur_gazebo_config/config/moveit/ur5e_servo.yaml +++ b/src/picknik_ur_gazebo_config/config/moveit/ur5e_servo.yaml @@ -1,7 +1,9 @@ ############################################### # Modify all parameters related to servoing here ############################################### -use_gazebo: true # Whether the robot is started in a Gazebo simulation environment + +# Enable dynamic parameter updates +enable_parameter_update: true ## Properties of incoming commands command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s