The MoveIt! configuration for Universal Robot arms is in the config
directory of each moveit_config
package (ur10_moveit_config
for the UR-10 configuration).
Here is the definition of the controller.yaml
of UR-10:
controller_list: - name: "" action_ns: follow_joint_trajectory type: FollowJointTrajectory joints: - shoulder_pan_joint - shoulder_lift_joint - elbow_joint - wrist_1_joint - wrist_2_joint - wrist_3_joint
In the same directory, we can find the kinematic configuration: kinematics.yaml
. This file specifies the IK solvers used for the robotic arm. For the UR-10 robot, the content of the kinematic configuration file is shown here:
#manipulator: # kinematics_solver: ur_kinematics/UR10KinematicsPlugin # kinematics_solver_search_resolution: 0.005 # kinematics_solver_timeout: 0.005 # kinematics_solver_attempts: 3 manipulator: kinematics_solver: kdl_kinematics_plugin...