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Use lookupParam() in kinematics plugins #714



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commented Dec 8, 2017

This PR replaces the param() calls inside moveit_kinematics plugins with the lookup function lookupParam() introduced here.

The lookup function looks for the parameters in the following locations:

  • ~/<group_name>/
  • ~/
  • robot_description_kinematics/<group_name>/
  • robot_description_kinematics/

Using this function allows setting the required parameters inside the kinematics.yaml either with or without the corresponding group name.

Since all of the plugins query some parameters under group_name in their private namespace, this location is added to lookupParam() with this commit.



v4hn approved these changes Dec 8, 2017

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I discussed these changes with @henhenhen before he filed the request.

I approve.

I believe we also want this back in indigo. It changes behavior, but it only looks at more locations for the parameters and will still work with the previous parameter locations.

@v4hn v4hn referenced this pull request Dec 10, 2017


New release 201711 #686

@130s 130s merged commit de87a6c into ros-planning:kinetic-devel Dec 18, 2017

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