Mastering ROS for Robotics Programming

Understanding the Moveit! configuration of a universal robotic arm

The changes that we need to make in the industrial MoveIt! configuration are almost the same as the arm we already worked with.

First, we have to define the controller.yaml file, which has to create inside ur10_moveit_config/config. 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

The kinematics.yaml file inside the config folder contains the IK solvers used for this arm; we can use the following IK solvers. The contents of this file are given as follows:

#manipulator: # kinematics_solver: ...