From 715f69df87e67d69b3077f957a77a51605a764a8 Mon Sep 17 00:00:00 2001
From: Ventsi <uquzq@student.kit.edu>
Date: Tue, 23 Jul 2024 16:50:29 +0200
Subject: [PATCH] Update inverse kinematic node
---
.../iiwa_inverse_kinematics/inverse_kinematics_node.py | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/ros2_ws/src/iiwa/iiwa_inverse_kinematics/iiwa_inverse_kinematics/inverse_kinematics_node.py b/ros2_ws/src/iiwa/iiwa_inverse_kinematics/iiwa_inverse_kinematics/inverse_kinematics_node.py
index 5714acc..7413c56 100644
--- a/ros2_ws/src/iiwa/iiwa_inverse_kinematics/iiwa_inverse_kinematics/inverse_kinematics_node.py
+++ b/ros2_ws/src/iiwa/iiwa_inverse_kinematics/iiwa_inverse_kinematics/inverse_kinematics_node.py
@@ -71,7 +71,8 @@ class InverseKinematicsNode(Node):
joint_trajectory_msg.joint_names = self.joint_names
point = JointTrajectoryPoint()
point.positions = joint_angles.tolist()
- point.time_from_start.sec = 1 # Example time, adjust as needed
+ # point.time_from_start.sec = 1 # Example time, adjust as needed
+ point.time_from_start.nanosec = 100000000
joint_trajectory_msg.points.append(point)
self.publisher.publish(joint_trajectory_msg)
--
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