Updating MoveIt! to get demo working in master! #175
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| <!-- Panda --> | ||
| <include file="$(find moma_bringup)/launch/panda_moveit_real_camera.launch"> | ||
| <!-- <include file="$(find moma_bringup)/launch/panda_moveit_real_camera.launch"> |
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no, lets get rid of the line
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Main changes by package
Demo was not working before as the
panda_moveit_configwas based on some franka default description.moma_bringuppanda_real.launch: changed controller fromeffort_joint_trajectory_controllertoposition_joint_trajectory_controllereffort_...uses a PID loop to track following error between position & velocity and requires gains and potential tuning. Theposition_...controller does not require this and is used in the older demo.moma_descriptionpanda_arm.xacro: changed some defaults and made sure bota was not being initialised in EE framemoma_demosgrasp_demo.launch: removed conflicting namespaces and calling the newpanda_real.launchdeveloped at ARCHEpanda_moveit_configpanda_moveit_configpackage using the moveit setup assistant to matchpanda.urdf.xacroin `moma_description.panda_default_eewith the chain from base to EE to match demo, frame sits in-between grippers.panda.srdf