Commit for Pull

Author: ykarmesh

data/urdfinfo.npz

@@ -6,6 +6,7 @@
 
   <arg name="profile_velocity"           default="10"/>
   <arg name="profile_acceleration"       default="5"/>
+  <arg name="inverse_kinematics"         default="true"/>
 
   <param name="device_name"              value="$(arg device_name)"/>
   <param name="baud_rate"                value="$(arg baud_rate)"/>
@@ -16,4 +17,5 @@
   <param name="profile_acceleration"     value="$(arg profile_acceleration)"/>
 
   <node name="position_control" pkg="dynamixel_workbench_controllers" type="position_control" required="true" output="screen"/>
+  <include file="load_urdf.launch" if="$(arg inverse_kinematics)"/>
 </launch>

launch/position_control.launch

@@ -156,4 +156,4 @@ def get_P(end_effector_position):
     return point_3D_world_frame
 
 if __name__ == "__main__":
-    main(100)
+    main(30)