Update MoveIt Servo parameters (#23)

PickNikRobotics · May 30, 2023 · beccab0 · beccab0
1 parent 738e937
commit beccab0
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/src/picknik_ur_base_config/config/moveit/ur5e_servo.yaml b/src/picknik_ur_base_config/config/moveit/ur5e_servo.yaml
@@ -2,6 +2,9 @@
 # Modify all parameters related to servoing here
 ###############################################
 
+# Enable dynamic parameter updates
+enable_parameter_update: true
+
 ## Properties of incoming commands
 command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
 scale:

diff --git a/src/picknik_ur_gazebo_config/config/moveit/ur5e_servo.yaml b/src/picknik_ur_gazebo_config/config/moveit/ur5e_servo.yaml
@@ -1,7 +1,9 @@
 ###############################################
 # Modify all parameters related to servoing here
 ###############################################
-use_gazebo: true  # Whether the robot is started in a Gazebo simulation environment
+
+# Enable dynamic parameter updates
+enable_parameter_update: true
 
 ## Properties of incoming commands
 command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s