Update moveit_servo tutorial to release 1.3.x of UR5 #753
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This attempts to fix #750 in a cleaner way (i.e. actually fix the tutorial).
The UR5 config files have considerably changed since the
moveit_servo
tutorial was written.This PR addresses all renamings of files, links, and controllers.
However, it still doesn't work, because the UR repo removed support for the
joint_group_position_controller
in Gazebo. There is only an effort controller:joint_group_eff_controller
. While interface-wise that seems to work (moveit_servo
doesn't complain), it eventually fails with:Maybe, this is due to the fact that switching controllers from
eff_joint_traj_controller
tojoint_group_eff_controller
made the robot fall back to the floor. The robot doesn't maintain its pose!@AndyZe, @gavanderhoorn, please have a look / comment.