From 8fc980b527fcc34d13f2ae9fd7cc6624e6213920 Mon Sep 17 00:00:00 2001
From: Alejandro <asuarez@iri.upc.edu>
Date: Wed, 25 Apr 2018 11:57:52 +0200
Subject: [PATCH] use IK in gz gripper
---
gz_gripper_plugin/launch/iri_wam.launch | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/gz_gripper_plugin/launch/iri_wam.launch b/gz_gripper_plugin/launch/iri_wam.launch
index 3b6b8f8..ce1bfd9 100644
--- a/gz_gripper_plugin/launch/iri_wam.launch
+++ b/gz_gripper_plugin/launch/iri_wam.launch
@@ -46,7 +46,7 @@
<!-- Here, robot_tcp and tool_tcp are the same because if not the algorithm would take
the link_7 to link_tcp transformation twice -->
<param name="robot_tcp" type="str" value="/$(arg ROBOT)_link_tcp" />
- <param name="tool_tcp" type="str" value="/$(arg ROBOT)_link_tcp" />
+ <param name="tool_tcp" type="str" value="/$(arg ROBOT)_gripper_tcp" />
<remap from="$(arg ROBOT)_tcp_ik/wamik" to="$(arg ROBOT)_ik/get_wam_ik" />
</node>
</group>
--
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