Fix kinematics.yaml and launcher

Jepear19 · Jepear19 · commit 66c982f66f7d · 2026-04-14T20:47:59.000+02:00
diff --git a/Industrial/ur5_gripper_moveit_config/config/kinematics.yaml b/Industrial/ur5_gripper_moveit_config/config/kinematics.yaml
@@ -1,5 +1,7 @@
-ur5_manipulator:
-  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
-  kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
+/**:
+  ros__parameters:
+    ur5_manipulator:
+      kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+      kinematics_solver_search_resolution: 0.005
+      kinematics_solver_timeout: 0.005
+      kinematics_solver_attempts: 3
diff --git a/Launchers/pick_place_harmonic/pick_place_harmonic.launch.py b/Launchers/pick_place_harmonic/pick_place_harmonic.launch.py
@@ -375,9 +375,9 @@ def generate_launch_description():
         set_gz_plugin_path,
         set_ld_library_path,
         gz,
+        clock_bridge,
         robot_state_publisher,
         static_tf,
-        clock_bridge,
 
         # Spawn robot
         TimerAction(period=5.0, actions=[spawn_robot]),
