Mastering ROS for Robotics Programming - Second Edition

Understanding the Moveit! configuration of a Universal Robot arm

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 ...