{"action":"created","comment":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/pulls/comments/25442278","id":25442278,"diff_hunk":"@@ -11,6 +12,7 @@\n   <node name=\"$(anon rviz)\" launch-prefix=\"$(arg launch_prefix)\" pkg=\"rviz\" type=\"rviz\" respawn=\"false\"\n \targs=\"$(arg command_args)\" output=\"screen\">\n     <rosparam command=\"load\" file=\"$(find ur5_moveit_config)/config/kinematics.yaml\"/>\n+    <param name=\"arm_prefix\" value=\"$(arg arm_prefix)\"/>","path":"ur5_moveit_config/launch/moveit_rviz.launch","position":12,"original_position":12,"commit_id":"e4c4508c827a97cc7a3c262f30ce85b6c919f031","original_commit_id":"e4c4508c827a97cc7a3c262f30ce85b6c919f031","user":{"login":"gavanderhoorn","id":4550046,"avatar_url":"https://avatars.githubusercontent.com/u/4550046?v=3","gravatar_id":"","url":"https://api.github.com/users/gavanderhoorn","html_url":"https://github.com/gavanderhoorn","followers_url":"https://api.github.com/users/gavanderhoorn/followers","following_url":"https://api.github.com/users/gavanderhoorn/following{/other_user}","gists_url":"https://api.github.com/users/gavanderhoorn/gists{/gist_id}","starred_url":"https://api.github.com/users/gavanderhoorn/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/gavanderhoorn/subscriptions","organizations_url":"https://api.github.com/users/gavanderhoorn/orgs","repos_url":"https://api.github.com/users/gavanderhoorn/repos","events_url":"https://api.github.com/users/gavanderhoorn/events{/privacy}","received_events_url":"https://api.github.com/users/gavanderhoorn/received_events","type":"User","site_admin":false},"body":"> The URKinematics plugin is loaded into RViz when the kinematics.yaml is parsed\r\n\r\nI'm confused: afaik, kinematics plugins are loaded by MoveIt (from [moveit/Kinematics/C++ API](http://moveit.ros.org/wiki/Kinematics/C%2B%2B_API)):\r\n\r\n> The `RobotModel` and `RobotState` classes are the core classes that give you access to the kinematics. [..]\r\n\r\nThe `kinematics.yaml` file is loaded onto the parameter server by roslaunch, and the parameters are then [used by MoveIt](http://moveit.ros.org/wiki/Kinematics/Configuration) to configure the referenced subclasses of `KinematicsBase`.\r\n\r\nMoveIt also exposes the kinematics solvers in one of its [capabilities](http://moveit.ros.org/wiki/Capabilities#Kinematics).\r\n\r\nRViz is not involved in this, other than that it provides an interface to most of the MoveGroup functionality (through the assorted services / action servers).\r\n\r\nI don't currently know where that private `NodeHandle` in `URKinematicsPlugin` resolves to, but I don't really understand how it could be RViz?\r\n","created_at":"2015-02-26T16:45:02Z","updated_at":"2015-02-26T16:45:02Z","html_url":"https://github.com/ros-industrial/universal_robot/pull/168#discussion_r25442278","pull_request_url":"https://api.github.com/repos/ros-industrial/universal_robot/pulls/168","_links":{"self":{"href":"https://api.github.com/repos/ros-industrial/universal_robot/pulls/comments/25442278"},"html":{"href":"https://github.com/ros-industrial/universal_robot/pull/168#discussion_r25442278"},"pull_request":{"href":"https://api.github.com/repos/ros-industrial/universal_robot/pulls/168"}}},"pull_request":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/pulls/168","id":29467549,"html_url":"https://github.com/ros-industrial/universal_robot/pull/168","diff_url":"https://github.com/ros-industrial/universal_robot/pull/168.diff","patch_url":"https://github.com/ros-industrial/universal_robot/pull/168.patch","issue_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/168","number":168,"state":"open","locked":false,"title":"Included 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