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Updates to run the Kinova site config #538

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Merged
JWhitleyWork merged 1 commit into from
Mar 23, 2026
Merged

Updates to run the Kinova site config #538

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2 changes: 1 addition & 1 deletion src/external_dependencies/ros2_kortex
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Submodule ros2_kortex updated 2 files
+1 −1 kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro
+2 −1 kortex_driver/src/hardware_interface.cpp
2 changes: 1 addition & 1 deletion src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/kinova_gen3.srdf
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@
<joint name="robotiq_85_right_knuckle_joint" value="-0.7929"/>
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="moveit_ee" parent_link="gripper_attachment_link" group="gripper"/>
<end_effector name="moveit_ee" parent_link="grasp_link" group="gripper"/>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link"/>
<!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
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1 change: 1 addition & 0 deletions src/moveit_pro_kinova_configs/kinova_gen3_site_config/description/kinova_gen3.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,7 @@
use_internal_bus_gripper_comm="$(arg use_internal_bus_gripper_comm)"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)"
gripper="$(arg robotiq_gripper)"
gripper_joint_name="$(arg gripper_joint_name)"
gripper_max_velocity="$(arg gripper_max_velocity)"
gripper_max_force="$(arg gripper_max_force)"
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