Fix kinematics.yaml and launcher

Jepear19 · Jepear19 · commit 9201bc512b33 · 2026-04-14T21:10:51.000+02:00
diff --git a/Industrial/ur5_gripper_moveit_config/config/kinematics.yaml b/Industrial/ur5_gripper_moveit_config/config/kinematics.yaml
@@ -4,4 +4,6 @@
       kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
       kinematics_solver_search_resolution: 0.005
       kinematics_solver_timeout: 0.005
-      kinematics_solver_attempts: 3
+      kinematics_solver_attempts: 3
+    gripper:
+      kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
diff --git a/Launchers/pick_place_harmonic/pick_place_harmonic.launch.py b/Launchers/pick_place_harmonic/pick_place_harmonic.launch.py
@@ -113,6 +113,11 @@ def generate_launch_description():
         "config/kinematics.yaml"
     )
 
+    kinematics_yaml = {
+        "robot_description_kinematics":
+            kinematics_yaml["/**"]["ros__parameters"]
+    }
+
     moveit_controllers = load_yaml(
         "ur5_gripper_moveit_config",
         "config/moveit_controllers.yaml"
