OPW kinematic parameters

[marip8]

Would it be beneficial to store OPW kinematic parameters in a file in the support packages for robot variants? They're not necessarily hard to set up (and the MoveIt OPW kinematics plugin has some helpful sanity checks for the parameters now), but it can be a bit confusing for those not familiar with the parameters or the means of figuring out what the parameters should be.

[gavanderhoorn]

We've already done that for some support packages over in ros-industrial/fanuc. See ros-industrial/fanuc#284 (and ros-industrial/fanuc#293).

So: yes, we can do that, and we already have that in place for others.

[gavanderhoorn]

Example: fanuc_lrmate200ib_support/config/opw_parameters_lrmate200ib.yaml

[marip8]

Fantastic; I'll close this issue since it's already been addressed. I have the parameters for the R2000iC165F; I can add those in a PR with the 125L variant. Is there a convenient way to reference this file in a MoveIt kinematics.yaml file, or would this just be for reference?

[gavanderhoorn]

I have the parameters for the R2000iC165F; I can add those in a PR with the 125L variant.

Could you please submit those in a separate PR? That way we keep PRs on-topic as much as possible.

Is there a convenient way to reference this file in a MoveIt kinematics.yaml file, or would this just be for reference?

Since moveit/moveit#1997 there is: in the UI of the MSA you can specify an "additional file" to load whatever parameters you need, which gets added to planning_context.launch.

If you have an existing MoveIt configuration pkg, you could just add the <rosparam command="load" file="$(find <your_pkg>)/config/opw_parameters_<variant>.yaml"/> line yourself in that file in the same place.