Skip to content
Snippets Groups Projects
Commit 8fc980b5 authored by Alejandro Suarez Hernandez's avatar Alejandro Suarez Hernandez
Browse files

use IK in gz gripper

parent 8b8be58a
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
gz_gripper_plugin/launch/iri_wam.launch
+ 1
− 1
View file @ 8fc980b5
...@@ -46,7 +46,7 @@ ...@@ -46,7 +46,7 @@
<!-- Here, robot_tcp and tool_tcp are the same because if not the algorithm would take <!-- Here, robot_tcp and tool_tcp are the same because if not the algorithm would take
the link_7 to link_tcp transformation twice --> the link_7 to link_tcp transformation twice -->
<param name="robot_tcp" type="str" value="/$(arg ROBOT)_link_tcp" /> <param name="robot_tcp" type="str" value="/$(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" /> <remap from="$(arg ROBOT)_tcp_ik/wamik" to="$(arg ROBOT)_ik/get_wam_ik" />
</node> </node>
</group> </group>
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment