From 42663ad7b5c6341a9ce57d771b2db93c3debd20e Mon Sep 17 00:00:00 2001 From: s-trinh Date: Wed, 12 Jun 2024 17:17:51 +0200 Subject: [PATCH] At least on humble, error is: 'robot_description_kinematics.arm.min_joint_config_distance' has invalid type: expected [double] got [integer]. (#2865) --- moveit_kinematics/cached_ik_kinematics_plugin/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/moveit_kinematics/cached_ik_kinematics_plugin/README.md b/moveit_kinematics/cached_ik_kinematics_plugin/README.md index d935fc6869..3d7f7c3b05 100644 --- a/moveit_kinematics/cached_ik_kinematics_plugin/README.md +++ b/moveit_kinematics/cached_ik_kinematics_plugin/README.md @@ -17,8 +17,8 @@ to this: kinematics_solver: cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin # optional parameters for caching: max_cache_size: 10000 - min_pose_distance: 1 - min_joint_config_distance: 4 + min_pose_distance: 1.0 + min_joint_config_distance: 4.0 The cache size can be controlled with an absolute cap (`max_cache_size`) or with a distance threshold on the end effector pose (`min_pose_distance`) or robot joint state (`min_joint_config_distance`). Normally, the cache files are saved to the current working directory (which is usually `${HOME}/.ros`, not the directory where you ran `roslaunch`), in a subdirectory for each robot. Possible values for `kinematics_solver` are: