From c8950cc4cf68251e8959d6b6c7de221de2f4bdd9 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 14 Mar 2022 22:31:57 +0100
Subject: [PATCH] Define IK solver for manipulator group

---
 config/kinematics.yaml | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/config/kinematics.yaml b/config/kinematics.yaml
index 23ab216..9bbfb6d 100644
--- a/config/kinematics.yaml
+++ b/config/kinematics.yaml
@@ -1,4 +1,6 @@
-panda_arm:
+panda_arm: &arm_config
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.05
\ No newline at end of file
+  kinematics_solver_timeout: 0.05
+
+manipulator: *arm_config
-- 
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