From 179a59c3303ddf7c535b7a1605911168d1165fcb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=C3=81ron=20Svastits?= <49677296+Svastits@users.noreply.github.com> Date: Mon, 26 Aug 2024 09:58:22 +0200 Subject: [PATCH] Fix rviz planning sphere (#61) * fix * param fix * format --------- Co-authored-by: Aron Svastits --- .../launch/fake_hardware_planning_template.launch.py | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/kuka_resources/launch/fake_hardware_planning_template.launch.py b/kuka_resources/launch/fake_hardware_planning_template.launch.py index 461486a..562dca1 100644 --- a/kuka_resources/launch/fake_hardware_planning_template.launch.py +++ b/kuka_resources/launch/fake_hardware_planning_template.launch.py @@ -65,12 +65,21 @@ def launch_setup(context, *args, **kwargs): parameters=[robot_description, controller_config], ) + robot_description_kinematics = { + "robot_description_kinematics": { + "manipulator": {"kinematics_solver": "kdl_kinematics_plugin/KDLKinematicsPlugin"} + } + } + rviz = Node( package="rviz2", executable="rviz2", name="rviz2", output="log", arguments=["-d", rviz_config_file, "--ros-args", "--log-level", "error"], + parameters=[ + robot_description_kinematics, + ], ) robot_state_publisher = Node(