moveit_servo package executabe name has changed (#886)

* moveit_servo package changed executable name to servo_node * ee-frame name updated (cherry picked from commit c4d8d61) Co-authored-by: Felix Durchdewald <[email protected]>
UniversalRobots · Nov 23, 2023 · 2d31695 · 2d31695
1 parent 40cd7b7
commit 2d31695
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diff --git a/ur_moveit_config/config/ur_servo.yaml b/ur_moveit_config/config/ur_servo.yaml
@@ -40,7 +40,7 @@ move_group_name:  ur_manipulator  # Often 'manipulator' or 'arm'
 planning_frame: base_link  # The MoveIt planning frame. Often 'base_link' or 'world'
 
 ## Other frames
-ee_frame_name: tool0  # The name of the end effector link, used to return the EE pose
+ee_frame: tool0  # The name of the end effector link, used to return the EE pose
 robot_link_command_frame:  tool0  # commands must be given in the frame of a robot link. Usually either the base or end effector
 
 ## Stopping behaviour

diff --git a/ur_moveit_config/launch/ur_moveit.launch.py b/ur_moveit_config/launch/ur_moveit.launch.py
@@ -242,7 +242,7 @@ def launch_setup(context, *args, **kwargs):
     servo_node = Node(
         package="moveit_servo",
         condition=IfCondition(launch_servo),
-        executable="servo_node_main",
+        executable="servo_node",
         parameters=[
             servo_params,
             robot_description,