After creating the MoveIt! configuration, we should update the controllers.yaml file 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. ...