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🔧 update urdf and add tool0 to chain

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This commit is contained in:
Ilya Uraev 2021-11-09 17:09:02 +04:00
parent 4fe0324b25
commit dfaea654f1
13 changed files with 302 additions and 239 deletions
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2
rasms_moveit_actions/src/rasms_move_group_interface.cpp
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@ -213,7 +213,7 @@ int main(int argc, char** argv)
// Let's specify a path constraint and a pose goal for our group.
// First define the path constraint.
moveit_msgs::msg::OrientationConstraint ocm;
ocm.link_name = "link6";
ocm.link_name = "tool0";
ocm.header.frame_id = "base";
ocm.orientation.w = 1.0;
ocm.absolute_x_axis_tolerance = 0.1;