added planning group name: manipulator to JTAC configs

suchkristenwow · suchkristenwow · commit fcd84d98c381 · 2026-01-26T09:34:58.000-07:00
diff --git a/src/lab_sim/config/control/picknik_ur.ros2_control.yaml b/src/lab_sim/config/control/picknik_ur.ros2_control.yaml
@@ -114,6 +114,7 @@ force_torque_sensor_broadcaster:
 
 joint_trajectory_admittance_controller:
   ros__parameters:
+    planning_group_name: manipulator
     # Specifies the frame/link name of the force torque sensor. Must exist in the robot description.
     sensor_frame: tool0
     # Specifies the frame/link name of the end-effector frame. Must exist in the robot description.
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/control/picknik_kinova_gen3.ros2_control.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/control/picknik_kinova_gen3.ros2_control.yaml
@@ -55,6 +55,7 @@ joint_trajectory_controller:
 
 joint_trajectory_admittance_controller:
   ros__parameters:
+    planning_group_name: manipulator
     sensor_frame: grasp_link
     ee_frame: grasp_link
     stop_accelerations: [3.0, 3.0, 3.0, 3.0, 5.0, 5.0, 5.0]
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/control/picknik_kinova_gen3.ros2_control.yaml b/src/moveit_pro_kinova_configs/kinova_sim/config/control/picknik_kinova_gen3.ros2_control.yaml
@@ -91,6 +91,7 @@ force_torque_sensor_broadcaster:
 
 joint_trajectory_admittance_controller:
   ros__parameters:
+    planning_group_name: manipulator
     sensor_frame: fts_link
     ee_frame: grasp_link
     ft_sensor_name: fts
diff --git a/src/moveit_pro_ur_configs/mock_sim/config/control/picknik_ur.ros2_control.yaml b/src/moveit_pro_ur_configs/mock_sim/config/control/picknik_ur.ros2_control.yaml
@@ -62,6 +62,7 @@ joint_trajectory_controller:
 
 joint_trajectory_admittance_controller:
   ros__parameters:
+    planning_group_name: manipulator
     sensor_frame: tool0
     ee_frame: grasp_link
     # Joint accelerations chosen to match MoveIt configs.
diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/control/picknik_ur.ros2_control.yaml b/src/moveit_pro_ur_configs/picknik_ur_base_config/config/control/picknik_ur.ros2_control.yaml
@@ -90,6 +90,7 @@ robotiq_activation_controller:
 
 joint_trajectory_admittance_controller:
   ros__parameters:
+    planning_group_name: manipulator
     sensor_frame: tool0
     ee_frame: grasp_link
     ft_sensor_name: tcp_fts_sensor
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/config/control/picknik_ur.ros2_control.yaml b/src/moveit_pro_ur_configs/picknik_ur_site_config/config/control/picknik_ur.ros2_control.yaml
@@ -89,6 +89,7 @@ robotiq_activation_controller:
 
 joint_trajectory_admittance_controller:
   ros__parameters:
+    planning_group_name: manipulator
     sensor_frame: tool0
     ee_frame: grasp_link
     ft_sensor_name: tcp_fts_sensor
