ROS Programming: Building Powerful Robots

Updating the MoveIt! configuration files

After creating the MoveIt! configuration, we should update the controllers.yamlfile inside the config folder of the MoveIt! package. Here is an example of controllers.yaml:

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

We should also update joint_limits.yaml about the joint information. Here is a code snippet of joint_limits.yaml:

joint_limits: 
  shoulder_pan_joint: 
    has_velocity_limits: true 
    max_velocity: 2.16 
    has_acceleration_limits: true 
    max_acceleration: 2.16 

We can also change the Kinematic solver plugin by editing the kinematics.yaml file. ...