Tune Servo params so it does not get stuck so easily #2939
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* Prevent segfault when getParentLinkModel() is NULL * Simpliy code * Add unit test operating the panda gripper --------- Co-authored-by: Captain Yoshi <captain.yoshisaur@gmail.com>
As the CHOMP planner only considers active joints, it needs to use setJointGroupActivePositions() instead of setJointGroupPositions().
Don't recreate the FCL object when moving shapes, but just update its transforms.
…ility (moveit#2943) * Deduplicate joint trajectory points before sending them to controllers * Fix max loop value * Move deduplication code to Pilz * Clean up * Add todo
A few forward ports from MoveIt1
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Description
Tune the Servo parameters so the demo does not get stuck constantly.
Before:
before.webm
After:
after.webm
Test instructions:
ros2 launch moveit_servo demo_ros_api.launch.pyros2 run moveit_servo servo_keyboard_input