moveit_servo pose tracking only works with Panda arm?

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I have customized those two yamls and use them just fine following along with the other examples (twist and joint cmd ones), but the pose tracking example seems to overwrite my yaml values with the values hard-coded in the struct...

I'll try it out and reproduce if I get a chance. I had a Servo+UR pose tracking setup working on Humble, but now that I think about it, I probably didn't use the PoseTracking class because I wanted to be able to use it with an existing, running Servo node.

I think maybe I just followed along to implement similar functionality.

I got the stock pose tracking demo executable working with the UR robots here: https://github.com/danzimmerman/servo...

Thanks Dan!

The pose tracking functionality is likely to change after Humble. A Google Summer of Code project is working on improvements so the PID gains of PoseTracking aren't required. Instead it will work like this:

provide target pose --> get IK solution --> move toward that solution as quickly as possible (bounded by vel/accel limits)

Thanks Dan, I am still unable to get this working on actual hardware or the docker simulator but I don't have the errors regarding panda parameters anymore...

I was working on adding the UR robot driver launch to try getting the demo executable to work with URSim as an option in addition to fake hardware. However, the pose target update loop here doesn't run for very long, so I didn't think I could get External Control running on the "robot" before the demo node terminated.

I guess I could skip launching the ROS 2 Control nodes for real hardware/URSim, assuming that the driver, "robot" and ROS2 controller are all already up and running and ready to respond to joint position commands.

Andy M, I updated the repo so that if you pass use_fake_hardware:=falseit should work with a robot driver that's already running and connected. Tested with URSim here: https://youtu.be/qYzdJA60K7w

I loaded forward_position_controller and had the External Control program already running in URSim so when I ran launched the example launch file from my repo, the robot was ready to accept commands from the pose tracker.