From 8000c34c351f953fb2f227ae8304de090ac0ef87 Mon Sep 17 00:00:00 2001
From: Ventsi <uquzq@student.kit.edu>
Date: Tue, 16 Jul 2024 17:30:44 +0200
Subject: [PATCH] Change topic name and update theta_list
---
.../iiwa_inverse_kinematics/inverse_kinematics_node.py | 3 +--
1 file changed, 1 insertion(+), 2 deletions(-)
diff --git a/ros2_ws/src/iiwa_inverse_kinematics/iiwa_inverse_kinematics/inverse_kinematics_node.py b/ros2_ws/src/iiwa_inverse_kinematics/iiwa_inverse_kinematics/inverse_kinematics_node.py
index f735435..5714acc 100644
--- a/ros2_ws/src/iiwa_inverse_kinematics/iiwa_inverse_kinematics/inverse_kinematics_node.py
+++ b/ros2_ws/src/iiwa_inverse_kinematics/iiwa_inverse_kinematics/inverse_kinematics_node.py
@@ -16,7 +16,7 @@ class InverseKinematicsNode(Node):
super().__init__('inverse_kinematics_node')
self.subscription = self.create_subscription(
Pose,
- 'target_pose',
+ '/kuka_iiwa/target_pose',
self.pose_callback,
10)
self.publisher = self.create_publisher(JointTrajectory, '/iiwa_arm_controller/joint_trajectory', 10)
@@ -66,7 +66,6 @@ class InverseKinematicsNode(Node):
if success:
self.joint_angles = joint_angles
- self.get_logger().info('Joint angles: "%s"' %self.joint_angles)
joint_trajectory_msg = JointTrajectory()
joint_trajectory_msg.joint_names = self.joint_names
--
GitLab