ros-planning/moveit_plugins

THIS REPO HAS MOVED TO https://github.com/ros-planning/moveit

This Repository Has Moved

The new location as of August 5th, 2016 is https://github.com/ros-planning/moveit

See migration notes for more details.

Please do not open new pull requests or issues in this old location.

moveit_plugins's Issues

Gripper effort is not properly handled.

Jade release

thx !

Still need to use command_joint_ to use the correct joint position as command position.

See TODO on line 86 of gripper_controller_handle.h

moveit_simple_controller_manager: name and namespace params mixed up?

I'm using the moveit_simple_controller_manager to connect moveit with the controllers of my robot. However, I got confused by the parameters for the controller's name and namespace .

My controllers.yaml looks like this

controller_list:
    - name: /my_robot
      ns: arm_controller
      [...]

I expected to put the action server's name arm_controller into name and its namespace /my_robot into ns. However, I found out it is the opposite. So, to get it working, I had to modify the parameters like shown above. Unfortunately, this prevents me from adding more controllers, since they would all be named /my_robot.

I don't know, if this behaviour is intended or has just been unnoticed. I would suggest to chance the order of namespace and name in action_based_controller_handle.h:

78    controller_action_client_.reset(new actionlib::SimpleActionClient<T>(name_ +"/" + namespace_, true));

@https://github.com/ros-planning/moveit_plugins/blob/groovy-devel/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h