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 | 1 | initial version |
There's nothing about Servo that's specific to the Panda. It should work well for any serial manipulator. There are some config files in the repo that are based on the Panda -- these are for testing purposes only.
If you want to use your own unique config files, you just need to make a new launch file to point toward the right package. These are the lines to change (for example):
https://github.com/ros-planning/moveit2_tutorials/blob/2720b86f222d1ddeb23768e5e19da99f4e9f5657/doc/examples/realtime_servo/launch/servo_cpp_interface_demo.launch.py#L12
https://github.com/ros-planning/moveit2_tutorials/blob/2720b86f222d1ddeb23768e5e19da99f4e9f5657/doc/examples/realtime_servo/launch/servo_cpp_interface_demo.launch.py#L21
https://github.com/ros-planning/moveit2_tutorials/blob/2720b86f222d1ddeb23768e5e19da99f4e9f5657/doc/examples/realtime_servo/launch/servo_cpp_interface_demo.launch.py#L32
https://github.com/ros-planning/moveit2_tutorials/blob/2720b86f222d1ddeb23768e5e19da99f4e9f5657/doc/examples/realtime_servo/launch/servo_cpp_interface_demo.launch.py#L80
| | 2 | No.2 Revision |
There's nothing about Servo that's specific to the Panda. It should work well for any serial manipulator. There are some config files in the repo that are based on the Panda -- these are for testing and tutorial purposes only.
If you want to use your own unique config files, you just need to make a new launch file to point toward the right package. These are the lines to change (for example):
https://github.com/ros-planning/moveit2_tutorials/blob/2720b86f222d1ddeb23768e5e19da99f4e9f5657/doc/examples/realtime_servo/launch/servo_cpp_interface_demo.launch.py#L12
https://github.com/ros-planning/moveit2_tutorials/blob/2720b86f222d1ddeb23768e5e19da99f4e9f5657/doc/examples/realtime_servo/launch/servo_cpp_interface_demo.launch.py#L21
https://github.com/ros-planning/moveit2_tutorials/blob/2720b86f222d1ddeb23768e5e19da99f4e9f5657/doc/examples/realtime_servo/launch/servo_cpp_interface_demo.launch.py#L32
https://github.com/ros-planning/moveit2_tutorials/blob/2720b86f222d1ddeb23768e5e19da99f4e9f5657/doc/examples/realtime_servo/launch/servo_cpp_interface_demo.launch.py#L80
| | 3 | No.3 Revision |
There's nothing about Servo that's specific to the Panda. It should work well for any serial manipulator. There are some config files in the repo that are based on the Panda -- these are for testing and tutorial purposes only.
If you want to use your own unique config files, you just need to make a new launch file to point toward the right package. These are the lines to change (for example):
https://github.com/ros-planning/moveit2_tutorials/blob/2720b86f222d1ddeb23768e5e19da99f4e9f5657/doc/examples/realtime_servo/launch/servo_cpp_interface_demo.launch.py#L12
https://github.com/ros-planning/moveit2_tutorials/blob/2720b86f222d1ddeb23768e5e19da99f4e9f5657/doc/examples/realtime_servo/launch/servo_cpp_interface_demo.launch.py#L21
https://github.com/ros-planning/moveit2_tutorials/blob/2720b86f222d1ddeb23768e5e19da99f4e9f5657/doc/examples/realtime_servo/launch/servo_cpp_interface_demo.launch.py#L32
https://github.com/ros-planning/moveit2_tutorials/blob/2720b86f222d1ddeb23768e5e19da99f4e9f5657/doc/examples/realtime_servo/launch/servo_cpp_interface_demo.launch.py#L80
It sounds like your other idea is basically to fork the Servo package then make modifications of the config files. That would work but then you'll be building a lot of code from source that you don't have to.
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