Fix kinematics.yaml

Jepear19 · Jepear19 · commit 53043acba5df · 2026-04-13T18:03:22.000+02:00
diff --git a/Launchers/pick_place_harmonic/pick_place_harmonic.launch.py b/Launchers/pick_place_harmonic/pick_place_harmonic.launch.py
@@ -81,11 +81,13 @@ def generate_launch_description():
         )
     }
 
-    kinematics_yaml = load_yaml(
+    raw_kinematics = load_yaml(
         "ur5_gripper_moveit_config",
         "config/kinematics.yaml"
     )
 
+    kinematics_yaml = raw_kinematics["/**"]["ros__parameters"]
+
     moveit_controllers = {
         "moveit_simple_controller_manager": load_yaml(
             "ur5_gripper_moveit_config",

Original file line number	Diff line number	Diff line change
`@@ -81,11 +81,13 @@ def generate_launch_description():`
`81`	`81`	`)`
`82`	`82`	`}`
`83`	`83`
`84`		`- kinematics_yaml = load_yaml(`
	`84`	`+ raw_kinematics = load_yaml(`
`85`	`85`	`"ur5_gripper_moveit_config",`
`86`	`86`	`"config/kinematics.yaml"`
`87`	`87`	`)`
`88`	`88`
	`89`	`+ kinematics_yaml = raw_kinematics["/**"]["ros__parameters"]`
	`90`	`+`
`89`	`91`	`moveit_controllers = {`
`90`	`92`	`"moveit_simple_controller_manager": load_yaml(`
`91`	`93`	`"ur5_gripper_moveit_config",`